+ python -m lidar_slam --result /working/result.json --no-model /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c Lidar SLAM 0.0.16 ===================================================== The recording path: /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c 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 0.019072329 Adjusted end_distance from 9.223372036854776e+18 to 452.009072329 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019072329 meters Centerline goodness : 0.600627 with order 2 Centerline is valid? [0, False] SLAMing on 0.079072329 meters Centerline goodness : 0.545921 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99996561e-01 6.38147433e-04 -2.54373956e-03 3.78166151e-03] [-6.44419878e-04 9.99996752e-01 -2.46577969e-03 1.51905935e-02] [ 2.54215776e-03 2.46741044e-03 9.99993725e-01 1.87964541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139072329 meters Centerline goodness : 0.473911 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-0.00 [[ 9.99951567e-01 -9.79762521e-03 -9.33055644e-04 7.31011218e-02] [ 9.79015672e-03 9.99922443e-01 -7.69813035e-03 5.56060195e-02] [ 1.00840667e-03 7.68862275e-03 9.99969934e-01 -1.08481570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199072329 meters Centerline goodness : 0.506058 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.00 [[ 0.99987529 -0.01445173 -0.00636752 0.13398032] [ 0.01437523 0.99982586 -0.01189974 0.09963256] [ 0.00653838 0.01180672 0.99990892 -0.00371778] [ 0. 0. 0. 1. ]] SLAMing on 0.259072329 meters Centerline goodness : 0.532882 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.13, Z:-0.00 [[ 0.99975555 -0.01936778 -0.0106646 0.15313079] [ 0.01929175 0.99978807 -0.00718635 0.12973282] [ 0.01080152 0.00697886 0.99991731 -0.00451119] [ 0. 0. 0. 1. ]] SLAMing on 0.319072329 meters Centerline goodness : 0.572324 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.17, Z:-0.00 [[ 0.99950038 -0.0290766 -0.01239129 0.18448997] [ 0.02890391 0.99948561 -0.01389496 0.17186442] [ 0.01278893 0.01352986 0.99982668 -0.00396452] [ 0. 0. 0. 1. ]] SLAMing on 0.379072329 meters Centerline goodness : 0.594084 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.21, Z:-0.00 [[ 0.99895128 -0.04286241 -0.01609839 0.22213066] [ 0.04261625 0.99897382 -0.01533495 0.21428478] [ 0.01673917 0.01463282 0.99975281 -0.00358876] [ 0. 0. 0. 1. ]] SLAMing on 0.439072329 meters Centerline goodness : 0.599050 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.24, Z:-0.01 [[ 0.99879307 -0.04707193 -0.01402261 0.24339568] [ 0.04689669 0.9988206 -0.01257403 0.23829067] [ 0.01459795 0.01190124 0.99982261 -0.00611916] [ 0. 0. 0. 1. ]] SLAMing on 0.499072329 meters Centerline goodness : 0.611668 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.27, Z:-0.01 [[ 0.99855823 -0.05105973 -0.0165641 0.2705052 ] [ 0.05089017 0.99864904 -0.01050176 0.27250171] [ 0.01707794 0.00964367 0.99980765 -0.0078163 ] [ 0. 0. 0. 1. ]] SLAMing on 0.559072329 meters Centerline goodness : 0.608877 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.30, Z:-0.01 [[ 0.99816258 -0.05626113 -0.02249765 0.30135146] [ 0.05603133 0.99837148 -0.01071823 0.30444782] [ 0.02306403 0.00943796 0.99968944 -0.01265564] [ 0. 0. 0. 1. ]] SLAMing on 0.619072329 meters Centerline goodness : 0.629340 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.32, Z:-0.01 [[ 0.99798764 -0.06076895 -0.01810519 0.31868508] [ 0.06065099 0.99813452 -0.00699503 0.32257636] [ 0.01849649 0.00588286 0.99981162 -0.01467484] [ 0. 0. 0. 1. ]] SLAMing on 0.6790723289999999 meters Centerline goodness : 0.647280 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.35, Z:-0.02 [[ 0.99794428 -0.06259286 -0.01376046 0.35270837] [ 0.06251068 0.99802426 -0.00632318 0.34983026] [ 0.01412906 0.00545001 0.99988533 -0.01511757] [ 0. 0. 0. 1. ]] SLAMing on 0.739072329 meters Centerline goodness : 0.657745 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:0.37, Z:-0.02 [[ 0.99778397 -0.06540395 -0.01222607 0.39168834] [ 0.06533311 0.99784482 -0.00610675 0.37406043] [ 0.01259913 0.00529445 0.99990661 -0.01859894] [ 0. 0. 0. 1. ]] SLAMing on 0.799072329 meters Centerline goodness : 0.659695 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.39, Z:-0.02 [[ 0.99756019 -0.06933434 -0.00814943 0.4213014 ] [ 0.06929944 0.9975858 -0.00449015 0.38556671] [ 0.00844108 0.00391445 0.99995671 -0.02224246] [ 0. 0. 0. 1. ]] SLAMing on 0.859072329 meters Centerline goodness : 0.677977 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.41, Z:-0.02 [[ 0.99664724 -0.08160149 -0.00595542 0.45983265] [ 0.08162046 0.99665893 0.00301406 0.40537028] [ 0.00568957 -0.00349004 0.99997772 -0.02438148] [ 0. 0. 0. 1. ]] SLAMing on 0.9190723289999999 meters Centerline goodness : 0.687337 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.41, Z:-0.03 [[ 0.99607639 -0.08687453 -0.01687108 0.47874209] [ 0.08703056 0.99616726 0.00874427 0.41235131] [ 0.01604677 -0.01017826 0.99981944 -0.02761588] [ 0. 0. 0. 1. ]] SLAMing on 0.979072329 meters Centerline goodness : 0.701765 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.42, Z:-0.01 [[ 0.99503827 -0.09922316 -0.00732129 0.46324506] [ 0.09907301 0.99490603 -0.0186153 0.42400293] [ 0.00913107 0.01779759 0.99979991 -0.00744929] [ 0. 0. 0. 1. ]] SLAMing on 1.0390723290000001 meters Centerline goodness : 0.712689 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.43, Z:-0.00 [[ 0.99472877 -0.09862868 -0.02805472 0.47769423] [ 0.09823057 0.99504706 -0.01523481 0.43014624] [ 0.02941835 0.01239867 0.99949029 -0.00153465] [ 0. 0. 0. 1. ]] SLAMing on 1.0990723290000002 meters Centerline goodness : 0.711232 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.44, Z:-0.01 [[ 0.99434866 -0.1029407 -0.02596056 0.50764341] [ 0.1026377 0.9946371 -0.01274928 0.43875135] [ 0.02713376 0.0100127 0.99958166 -0.00613098] [ 0. 0. 0. 1. ]] SLAMing on 1.1590723289999998 meters Centerline goodness : 0.714036 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.01 [[ 0.99371278 -0.10935439 -0.02401117 0.52993464] [ 0.10915742 0.99398031 -0.00937012 0.44761889] [ 0.0248913 0.00669021 0.99966778 -0.01106481] [ 0. 0. 0. 1. ]] SLAMing on 1.2190723289999998 meters Centerline goodness : 0.714797 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.46, Z:-0.02 [[ 0.9930121 -0.11588847 -0.02228988 0.55141292] [ 0.11580075 0.9932589 -0.00519095 0.4559804 ] [ 0.02274119 0.00257349 0.99973807 -0.01696538] [ 0. 0. 0. 1. ]] SLAMing on 1.279072329 meters Centerline goodness : 0.714429 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:0.46, Z:-0.01 [[ 0.99271507 -0.11445499 -0.03764112 0.55735528] [ 0.11412868 0.99340821 -0.01071343 0.45530259] [ 0.03861921 0.00633946 0.99923389 -0.01320004] [ 0. 0. 0. 1. ]] SLAMing on 1.339072329 meters Centerline goodness : 0.715276 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.46, Z:-0.01 [[ 0.9926008 -0.11406756 -0.04162018 0.58799635] [ 0.11343084 0.99339423 -0.01735954 0.46095404] [ 0.0433254 0.01251008 0.99898269 -0.00614807] [ 0. 0. 0. 1. ]] SLAMing on 1.399072329 meters Centerline goodness : 0.715931 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.47, Z:-0.00 [[ 0.99132745 -0.12307182 -0.04607845 0.63007457] [ 0.12260682 0.99237283 -0.01279615 0.46972154] [ 0.04730184 0.00703564 0.99885586 -0.00126798] [ 0. 0. 0. 1. ]] SLAMing on 1.459072329 meters Centerline goodness : 0.714873 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:0.47, Z:0.00 [[ 0.98931373 -0.13930166 -0.04305109 0.66038973] [ 0.13847783 0.99013051 -0.02157443 0.47045681] [ 0.04563155 0.01538226 0.9988399 0.00225879] [ 0. 0. 0. 1. ]] SLAMing on 1.519072329 meters Centerline goodness : 0.715671 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:0.47, Z:0.00 [[ 0.9879178 -0.14979589 -0.03974441 0.67757039] [ 0.14911048 0.98862429 -0.01969986 0.47285166] [ 0.04224324 0.01353554 0.99901566 0.00213839] [ 0. 0. 0. 1. ]] SLAMing on 1.5790723290000002 meters Centerline goodness : 0.714021 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:0.47, Z:0.00 [[ 0.98582324 -0.16408894 -0.0350336 0.71187341] [ 0.16313249 0.9861888 -0.02862594 0.47419476] [ 0.03924694 0.022505 0.99897608 0.00417667] [ 0. 0. 0. 1. ]] SLAMing on 1.6390723289999998 meters Centerline goodness : 0.717754 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:0.46, Z:0.01 [[ 0.98387035 -0.17187613 -0.04957543 0.71573265] [ 0.17059615 0.98491362 -0.02901938 0.45780122] [ 0.05381525 0.02009393 0.99834871 0.01141992] [ 0. 0. 0. 1. ]] SLAMing on 1.6990723289999998 meters Centerline goodness : 0.719061 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.45, Z:0.02 [[ 0.98168674 -0.18238855 -0.05500502 0.72579204] [ 0.18143467 0.98315899 -0.02190595 0.45219528] [ 0.05807407 0.01152496 0.99824575 0.01628851] [ 0. 0. 0. 1. ]] SLAMing on 1.7590723289999999 meters Centerline goodness : 0.719450 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.44, Z:0.02 [[ 0.98076834 -0.18326598 -0.06713459 0.72670332] [ 0.18178141 0.98295031 -0.02764439 0.44299276] [ 0.07105624 0.01490892 0.99736088 0.01827828] [ 0. 0. 0. 1. ]] SLAMing on 1.819072329 meters Centerline goodness : 0.719917 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:0.44, Z:0.02 [[ 0.97998283 -0.18894397 -0.06272023 0.76638132] [ 0.18739212 0.98183247 -0.0298192 0.44240176] [ 0.06721492 0.01746903 0.99758558 0.01655236] [ 0. 0. 0. 1. ]] SLAMing on 1.879072329 meters Centerline goodness : 0.721699 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:0.44, Z:0.01 [[ 0.9794559 -0.19262452 -0.059682 0.7862677 ] [ 0.19164194 0.98122219 -0.02182609 0.44202944] [ 0.06276554 0.00994012 0.9979788 0.01187063] [ 0. 0. 0. 1. ]] SLAMing on 1.939072329 meters Centerline goodness : 0.717258 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:0.44, Z:0.01 [[ 0.9777377 -0.20265154 -0.05441831 0.82027628] [ 0.20147567 0.97913914 -0.02634585 0.43727026] [ 0.05862212 0.01479536 0.9981706 0.01266634] [ 0. 0. 0. 1. ]] SLAMing on 1.999072329 meters Centerline goodness : 0.720040 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:0.42, Z:0.02 [[ 0.97683546 -0.20297334 -0.06778139 0.82048254] [ 0.20177437 0.97913396 -0.02416193 0.42272152] [ 0.07127129 0.00992569 0.99740758 0.018269 ] [ 0. 0. 0. 1. ]] SLAMing on 2.059072329 meters Centerline goodness : 0.717706 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:0.42, Z:0.02 [[ 9.74215780e-01 -2.14908647e-01 -6.86868738e-02 8.64145289e-01] [ 2.14355166e-01 9.76634111e-01 -1.54167707e-02 4.21401297e-01] [ 7.03951413e-02 2.95875025e-04 9.97519141e-01 1.67426613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.119072329 meters Centerline goodness : 0.716770 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.42, Z:0.02 [[ 0.97201928 -0.2242365 -0.0699751 0.87967247] [ 0.22285598 0.97447603 -0.02704951 0.41785882] [ 0.07425455 0.01069827 0.99718193 0.01911283] [ 0. 0. 0. 1. ]] SLAMing on 2.1790723290000003 meters Centerline goodness : 0.722793 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:0.41, Z:0.02 [[ 0.96801507 -0.24212998 -0.06572599 0.91663376] [ 0.24017944 0.9700521 -0.03623191 0.40853032] [ 0.07253046 0.019287 0.99717969 0.01732805] [ 0. 0. 0. 1. ]] SLAMing on 2.239072329 meters Centerline goodness : 0.732730 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.39, Z:0.03 [[ 0.96510203 -0.24781414 -0.08465358 0.92700427] [ 0.24673101 0.96880644 -0.02319263 0.39018931] [ 0.08776039 0.00149659 0.99614049 0.02722598] [ 0. 0. 0. 1. ]] SLAMing on 2.299072329 meters Centerline goodness : 0.738936 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.37, Z:0.04 [[ 0.9626975 -0.25785471 -0.08200289 0.9045309 ] [ 0.25512643 0.96597979 -0.04235042 0.37363671] [ 0.09013339 0.01984954 0.99573188 0.04186949] [ 0. 0. 0. 1. ]] SLAMing on 2.359072329 meters Centerline goodness : 0.745454 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.37, Z:0.04 [[ 0.96091844 -0.26390568 -0.08360353 0.92665232] [ 0.26032448 0.96415349 -0.05137331 0.3656454 ] [ 0.09416434 0.02760152 0.99517397 0.04125437] [ 0. 0. 0. 1. ]] SLAMing on 2.419072329 meters Centerline goodness : 0.737418 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.35, Z:0.04 [[ 0.95733602 -0.27258045 -0.09595649 0.95312224] [ 0.27069083 0.96211957 -0.03244077 0.34835687] [ 0.10116434 0.00508218 0.99485675 0.03605978] [ 0. 0. 0. 1. ]] SLAMing on 2.479072329 meters Centerline goodness : 0.728155 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:0.34, Z:0.04 [[ 0.9555301 -0.2789838 -0.09555241 0.95670669] [ 0.27732267 0.96029213 -0.03051511 0.33525816] [ 0.10027145 0.00265926 0.99495656 0.03772077] [ 0. 0. 0. 1. ]] SLAMing on 2.539072329 meters Centerline goodness : 0.725608 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:0.31, Z:0.03 [[ 0.95426314 -0.28363278 -0.09452149 0.96426926] [ 0.28249482 0.95893003 -0.0254926 0.31292063] [ 0.09787003 -0.00237518 0.99519637 0.02908488] [ 0. 0. 0. 1. ]] SLAMing on 2.599072329 meters Centerline goodness : 0.712536 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:0.30, Z:0.02 [[ 0.95281582 -0.2851175 -0.10416347 0.98447487] [ 0.28535977 0.95833382 -0.01288783 0.30097827] [ 0.10349792 -0.01744433 0.99447668 0.02453765] [ 0. 0. 0. 1. ]] SLAMing on 2.659072329 meters Centerline goodness : 0.689434 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.29, Z:0.02 [[ 0.95260015 -0.28628956 -0.10291375 0.99157166] [ 0.28671166 0.95795393 -0.01098632 0.28769441] [ 0.1017319 -0.01904101 0.99462961 0.0151137 ] [ 0. 0. 0. 1. ]] SLAMing on 2.719072329 meters Centerline goodness : 0.693998 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.28, Z:0.01 [[ 0.95322597 -0.28440563 -0.10234107 0.99452058] [ 0.28513258 0.95845663 -0.00776506 0.27513432] [ 0.10029791 -0.02177891 0.99471906 0.01196065] [ 0. 0. 0. 1. ]] SLAMing on 2.779072329 meters Centerline goodness : 0.682769 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:0.26, Z:0.01 [[ 9.54249089e-01 -2.80828311e-01 -1.02684641e-01 9.97254725e-01] [ 2.82263833e-01 9.59336646e-01 -5.73456301e-04 2.59853565e-01] [ 9.86701823e-02 -2.84369403e-02 9.94713796e-01 1.04329097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.839072329 meters Centerline goodness : 0.664104 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:0.25, Z:0.01 [[ 0.95459245 -0.27399708 -0.11695667 1.00074227] [ 0.27624541 0.96108198 0.00314757 0.24816166] [ 0.11154252 -0.03531339 0.99313203 0.01127616] [ 0. 0. 0. 1. ]] SLAMing on 2.899072329 meters Centerline goodness : 0.649817 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.23, Z:0.01 [[ 0.95520003 -0.27160809 -0.1175668 1.00745658] [ 0.27455682 0.96152547 0.00934437 0.23425455] [ 0.11050546 -0.04120451 0.99302101 0.00576715] [ 0. 0. 0. 1. ]] SLAMing on 2.959072329 meters Centerline goodness : 0.743405 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.22, Z:0.01 [[ 0.95673169 -0.2653905 -0.11929941 1.00984896] [ 0.26930899 0.96289072 0.01772348 0.22411105] [ 0.11016865 -0.04908502 0.99270012 0.00635863] [ 0. 0. 0. 1. ]] SLAMing on 3.019072329 meters Centerline goodness : 0.734092 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.21, Z:0.01 [[ 0.95781791 -0.26147599 -0.11922735 1.01094345] [ 0.26581533 0.96377767 0.02179002 0.2138648 ] [ 0.10921109 -0.05256333 0.99262784 0.00522965] [ 0. 0. 0. 1. ]] SLAMing on 3.079072329 meters Centerline goodness : 0.729071 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:0.21, Z:0.00 [[ 0.95785833 -0.26106301 -0.11980619 1.01578936] [ 0.26556014 0.96382081 0.0229623 0.21050262] [ 0.1094771 -0.05381038 0.99253172 0.00224617] [ 0. 0. 0. 1. ]] SLAMing on 3.139072329 meters Centerline goodness : 0.715999 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.00 [[ 0.95650775 -0.26276316 -0.12668246 1.03524498] [ 0.26845305 0.96283026 0.02984705 0.20019241] [ 0.114131 -0.06255723 0.99149418 -0.0046181 ] [ 0. 0. 0. 1. ]] SLAMing on 3.199072329 meters Centerline goodness : 0.707780 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.00 [[ 9.55262906e-01 -2.65639038e-01 -1.30033390e-01 1.04306361e+00] [ 2.72229498e-01 9.61576629e-01 3.55174242e-02 1.92229103e-01] [ 1.15602255e-01 -6.93274024e-02 9.90873266e-01 -7.79697335e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.259072329 meters Centerline goodness : 0.706764 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.18, Z:-0.00 [[ 9.53708763e-01 -2.70679229e-01 -1.31043316e-01 1.05031416e+00] [ 2.77688311e-01 9.59911489e-01 3.81986188e-02 1.78769384e-01] [ 1.15450412e-01 -7.28195546e-02 9.90640457e-01 -1.04246617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.319072329 meters Centerline goodness : 0.676253 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:0.00 [[ 0.95213058 -0.27051515 -0.14236892 1.04733383] [ 0.27861305 0.95956914 0.04002291 0.16630036] [ 0.12578602 -0.07777288 0.98900418 0.00225446] [ 0. 0. 0. 1. ]] SLAMing on 3.379072329 meters Centerline goodness : 0.671891 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.16, Z:0.01 [[ 0.94973523 -0.2710449 -0.15664502 1.05038791] [ 0.28060377 0.95890008 0.04209713 0.15564968] [ 0.13879671 -0.08393631 0.9867574 0.00777213] [ 0. 0. 0. 1. ]] SLAMing on 3.439072329 meters Centerline goodness : 0.670409 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 0.94908049 -0.27195979 -0.15900974 1.05759622] [ 0.28221327 0.95827318 0.0454773 0.14962437] [ 0.14000677 -0.08803628 0.98622904 0.008608 ] [ 0. 0. 0. 1. ]] SLAMing on 3.499072329 meters Centerline goodness : 0.662666 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.14, Z:0.01 [[ 0.94812392 -0.27558561 -0.15847272 1.06295374] [ 0.28546895 0.95742478 0.04295659 0.14475997] [ 0.13988749 -0.08596721 0.98642847 0.00564579] [ 0. 0. 0. 1. ]] SLAMing on 3.559072329 meters Centerline goodness : 0.682915 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.14, Z:0.01 [[ 0.94622337 -0.27516686 -0.17013095 1.06172866] [ 0.28620064 0.95717474 0.04365441 0.13520508] [ 0.1508328 -0.08999841 0.98445404 0.00691151] [ 0. 0. 0. 1. ]] SLAMing on 3.6190723289999998 meters Centerline goodness : 0.673925 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.13, Z:0.01 [[ 0.94358689 -0.27578438 -0.18326688 1.06304349] [ 0.28808615 0.95660463 0.04374876 0.12893791] [ 0.16324872 -0.0940774 0.98208925 0.00936846] [ 0. 0. 0. 1. ]] SLAMing on 3.679072329 meters Centerline goodness : 0.673894 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.12, Z:0.01 [[ 0.94351599 -0.2755144 -0.18403641 1.06659653] [ 0.28820928 0.95647725 0.04568015 0.12361569] [ 0.1634411 -0.09614095 0.98185739 0.00936831] [ 0. 0. 0. 1. ]] SLAMing on 3.739072329 meters Centerline goodness : 0.654835 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.12, Z:0.01 [[ 0.94179359 -0.2808581 -0.18477975 1.07234227] [ 0.2935034 0.95492188 0.04449666 0.11804961] [ 0.16395298 -0.09614015 0.98177212 0.010668 ] [ 0. 0. 0. 1. ]] SLAMing on 3.799072329 meters Centerline goodness : 0.655408 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.11, Z:0.01 [[ 0.94027215 -0.28572887 -0.18506023 1.07650692] [ 0.29821882 0.95352882 0.04299214 0.11286569] [ 0.16417617 -0.09561276 0.98178632 0.01209735] [ 0. 0. 0. 1. ]] SLAMing on 3.859072329 meters Centerline goodness : 0.648887 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.11, Z:0.01 [[ 0.93713296 -0.29569704 -0.18532424 1.08505386] [ 0.30748873 0.9507998 0.03782094 0.10820219] [ 0.16502271 -0.09242836 0.98194934 0.01176195] [ 0. 0. 0. 1. ]] SLAMing on 3.919072329 meters Centerline goodness : 0.636393 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.10, Z:0.01 [[ 0.93262666 -0.30659376 -0.19028343 1.10316044] [ 0.31863052 0.94721433 0.0354908 0.100583 ] [ 0.16935793 -0.09372978 0.98108747 0.00846664] [ 0. 0. 0. 1. ]] SLAMing on 3.979072329 meters Centerline goodness : 0.643028 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.01 [[ 0.92742677 -0.32402379 -0.18678377 1.11102987] [ 0.33382682 0.94235937 0.02277005 0.09226627] [ 0.16863939 -0.08347099 0.98213713 0.00685005] [ 0. 0. 0. 1. ]] SLAMing on 4.039072329 meters Centerline goodness : 0.640243 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.09, Z:0.01 [[ 0.92465713 -0.33485305 -0.18133567 1.12601664] [ 0.34480288 0.93832898 0.02548932 0.0879591 ] [ 0.16161734 -0.08609394 0.98309088 0.00518186] [ 0. 0. 0. 1. ]] SLAMing on 4.099072329 meters Centerline goodness : 0.632632 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.00 [[ 0.92130905 -0.34625854 -0.17690295 1.14444606] [ 0.35640118 0.93390853 0.02816135 0.08291017] [ 0.15546006 -0.08899373 0.98382533 0.00343096] [ 0. 0. 0. 1. ]] SLAMing on 4.159072329 meters Centerline goodness : 0.635860 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.08, Z:0.00 [[ 0.9159608 -0.36136464 -0.17444599 1.15982019] [ 0.36910463 0.92929671 0.01301492 0.07590211] [ 0.15740896 -0.07630998 0.98458073 0.003469 ] [ 0. 0. 0. 1. ]] SLAMing on 4.219072329 meters Centerline goodness : 0.635642 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:-0.00 [[ 0.90908139 -0.38114214 -0.16823107 1.16262758] [ 0.38749844 0.92185449 0.00540939 0.05975113] [ 0.15302282 -0.07010686 0.98573274 -0.00201606] [ 0. 0. 0. 1. ]] SLAMing on 4.279072329 meters Centerline goodness : 0.648633 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:0.00 [[ 0.89699123 -0.41232443 -0.15935905 1.17796381] [ 0.41911555 0.90787718 0.01005922 0.04604307] [ 0.14053078 -0.07581288 0.98716944 0.0032171 ] [ 0. 0. 0. 1. ]] SLAMing on 4.339072329 meters Centerline goodness : 0.671425 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.03, Z:0.00 [[ 0.8857471 -0.44077646 -0.1454929 1.17371403] [ 0.44513428 0.89545916 -0.00289305 0.02762734] [ 0.13155814 -0.06220136 0.98935507 0.00497436] [ 0. 0. 0. 1. ]] SLAMing on 4.399072329 meters Centerline goodness : 0.691467 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.00, Z:0.01 [[ 0.85634727 -0.49859867 -0.13441995 1.20017544] [ 0.50187657 0.86487257 -0.01074011 -0.00167034] [ 0.12161114 -0.05826496 0.99086625 0.01053833] [ 0. 0. 0. 1. ]] SLAMing on 4.459072329 meters Centerline goodness : 0.707242 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.03, Z:0.01 [[ 0.83039765 -0.54212071 -0.12862688 1.20051691] [ 0.54525015 0.83817881 -0.01259179 -0.0304347 ] [ 0.1146386 -0.05967763 0.99161312 0.00706683] [ 0. 0. 0. 1. ]] SLAMing on 4.519072329 meters Centerline goodness : 0.721238 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.09, Z:0.01 [[ 0.77835451 -0.61707971 -0.11565853 1.2024249 ] [ 0.61938676 0.78485257 -0.01914361 -0.08505723] [ 0.10258803 -0.05673684 0.99310454 0.00665715] [ 0. 0. 0. 1. ]] SLAMing on 4.579072329 meters Centerline goodness : 0.720027 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:0.00 [[ 0.71197015 -0.69444775 -0.10411926 1.20533481] [ 0.69601187 0.71754225 -0.02646894 -0.14495039] [ 0.09309127 -0.05362315 0.99421254 0.00478923] [ 0. 0. 0. 1. ]] SLAMing on 4.639072329 meters Centerline goodness : 0.752348 with order 2 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.20, Z:-0.00 [[ 0.65965908 -0.7460253 -0.09108323 1.15811897] [ 0.74652841 0.66441565 -0.03531536 -0.19705022] [ 0.08686327 -0.04470013 0.9952169 -0.00376114] [ 0. 0. 0. 1. ]] SLAMing on 4.699072329 meters Centerline goodness : 0.767066 with order 3 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.27, Z:-0.01 [[ 0.57251669 -0.81688821 -0.07013052 1.15127201] [ 0.81607504 0.57600733 -0.04729786 -0.27304457] [ 0.07903276 -0.03015295 0.99641589 -0.01223002] [ 0. 0. 0. 1. ]] SLAMing on 4.759072329 meters Centerline goodness : 0.772162 with order 2 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.35, Z:-0.03 [[ 0.49651902 -0.86575635 -0.06272807 1.1189245 ] [ 0.86442354 0.49974252 -0.0550396 -0.34746716] [ 0.07899876 -0.02689541 0.99651183 -0.03117321] [ 0. 0. 0. 1. ]] SLAMing on 4.819072329 meters Centerline goodness : 0.769491 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.40, Z:-0.05 [[ 0.46849202 -0.88133704 -0.0613208 1.02967582] [ 0.87946773 0.47184354 -0.06245141 -0.40324484] [ 0.08397456 -0.02467168 0.99616243 -0.05490493] [ 0. 0. 0. 1. ]] SLAMing on 4.8790723289999995 meters Centerline goodness : 0.772710 with order 3 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.48, Z:-0.08 [[ 0.46455967 -0.88379069 -0.05566262 0.94041417] [ 0.88105494 0.46761139 -0.0712866 -0.47583684] [ 0.08903091 -0.01592495 0.99590155 -0.07667332] [ 0. 0. 0. 1. ]] SLAMing on 4.939072329 meters Centerline goodness : 0.783658 with order 3 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.55, Z:-0.10 [[ 0.51578287 -0.85522862 -0.05051775 0.81814368] [ 0.85185988 0.51823647 -0.0759323 -0.54546329] [ 0.09111962 -0.00386946 0.99583244 -0.09839074] [ 0. 0. 0. 1. ]] SLAMing on 4.999072329 meters Centerline goodness : 0.788303 with order 3 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.58, Z:-0.12 [[ 0.54687263 -0.83607137 -0.04376052 0.65191756] [ 0.83211208 0.54855851 -0.08168875 -0.58490685] [ 0.09230283 0.00825968 0.99569672 -0.12064448] [ 0. 0. 0. 1. ]] SLAMing on 5.059072329 meters Centerline goodness : 0.569936 with order 3 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.64, Z:-0.14 [[ 0.61739478 -0.78572345 -0.03824074 0.46939987] [ 0.78138215 0.61815082 -0.08562423 -0.63547637] [ 0.09091551 0.02298333 0.99559336 -0.14043631] [ 0. 0. 0. 1. ]] SLAMing on 5.119072329 meters Centerline goodness : 0.815763 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.68, Z:-0.16 [[ 0.73827556 -0.67356212 -0.03554248 0.29180722] [ 0.66886513 0.73788824 -0.09022404 -0.6840423 ] [ 0.08699787 0.04283707 0.99528707 -0.15588098] [ 0. 0. 0. 1. ]] SLAMing on 5.179072329 meters Centerline goodness : 0.819986 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.72, Z:-0.16 [[ 0.81796807 -0.57423759 -0.03434278 0.15113548] [ 0.56931285 0.8166275 -0.09488105 -0.71516271] [ 0.08252953 0.05805788 0.99489606 -0.16267833] [ 0. 0. 0. 1. ]] SLAMing on 5.239072329 meters Centerline goodness : 0.822846 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.73, Z:-0.17 [[ 0.9141194 -0.40297783 -0.0446608 0.05202035] [ 0.39778884 0.9127054 -0.09344995 -0.7260878 ] [ 0.07842041 0.06765885 0.9946218 -0.16691072] [ 0. 0. 0. 1. ]] SLAMing on 5.2990723289999995 meters Centerline goodness : 0.808686 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.70, Z:-0.14 [[ 0.96997292 -0.23038136 -0.07795483 0.13835737] [ 0.22210785 0.96966764 -0.10204295 -0.6993603 ] [ 0.09909907 0.08166451 0.99172087 -0.14340491] [ 0. 0. 0. 1. ]] SLAMing on 5.359072329 meters Centerline goodness : 0.810166 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.65, Z:-0.11 [[ 0.98807281 -0.11967208 -0.09690567 0.31841368] [ 0.10254178 0.9808277 -0.16571725 -0.6517028 ] [ 0.1148795 0.15380383 0.98140057 -0.1066141 ] [ 0. 0. 0. 1. ]] SLAMing on 5.419072329 meters Centerline goodness : 0.827324 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.64, Z:-0.10 [[ 0.99658979 -0.00965739 -0.08194832 0.28771779] [-0.00274926 0.98868994 -0.14994878 -0.64250048] [ 0.08246959 0.14966273 0.98529175 -0.0986655 ] [ 0. 0. 0. 1. ]] SLAMing on 5.479072329 meters Centerline goodness : 0.825201 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.64, Z:-0.09 [[ 0.99599935 0.05412783 -0.07110181 0.25177866] [-0.06272927 0.99018204 -0.12491823 -0.63880364] [ 0.06364218 0.12887864 0.98961607 -0.09387308] [ 0. 0. 0. 1. ]] SLAMing on 5.539072329 meters Centerline goodness : 0.819583 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.63, Z:-0.09 [[ 0.993972 0.07719316 -0.07785164 0.29438325] [-0.08541142 0.9904268 -0.10844191 -0.62955332] [ 0.06873538 0.11443764 0.99104968 -0.09181256] [ 0. 0. 0. 1. ]] SLAMing on 5.599072329 meters Centerline goodness : 0.818528 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.62, Z:-0.09 [[ 0.99284873 0.08817833 -0.08047349 0.31511376] [-0.09558873 0.99102728 -0.09342229 -0.61829975] [ 0.0715136 0.10044656 0.99236903 -0.09090907] [ 0. 0. 0. 1. ]] SLAMing on 5.659072329 meters Centerline goodness : 0.818866 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.61, Z:-0.09 [[ 0.99230558 0.09157379 -0.08332988 0.33291838] [-0.09883519 0.99123661 -0.08764468 -0.60757851] [ 0.07457367 0.09520623 0.99266034 -0.09316304] [ 0. 0. 0. 1. ]] SLAMing on 5.719072329 meters Centerline goodness : 0.799370 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.60, Z:-0.10 [[ 0.99170602 0.0952424 -0.08630212 0.35078588] [-0.10229981 0.99141615 -0.08141728 -0.59856638] [ 0.07780694 0.0895707 0.99293664 -0.0962939 ] [ 0. 0. 0. 1. ]] SLAMing on 5.779072329 meters Centerline goodness : 0.811569 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.58, Z:-0.10 [[ 0.99067965 0.10113565 -0.09124369 0.36463491] [-0.10704994 0.99229185 -0.06242747 -0.58318457] [ 0.08422673 0.07161325 0.99386991 -0.10281125] [ 0. 0. 0. 1. ]] SLAMing on 5.8390723289999995 meters Centerline goodness : 0.805098 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.57, Z:-0.10 [[ 0.98971006 0.10860164 -0.09316476 0.37606125] [-0.11408632 0.99190801 -0.05570281 -0.57071219] [ 0.08636146 0.06575846 0.99409131 -0.10445693] [ 0. 0. 0. 1. ]] SLAMing on 5.899072329 meters Centerline goodness : 0.798871 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.55, Z:-0.11 [[ 0.98863547 0.11653884 -0.09496629 0.38814177] [-0.12219618 0.99091966 -0.05609203 -0.54932661] [ 0.08756706 0.06705909 0.99389893 -0.1142161 ] [ 0. 0. 0. 1. ]] SLAMing on 5.959072329 meters Centerline goodness : 0.795881 with order 2 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.53, Z:-0.12 [[ 0.98774014 0.12193833 -0.09747027 0.40290365] [-0.12735433 0.99052451 -0.05140112 -0.52866715] [ 0.09027892 0.06318421 0.99391019 -0.11673826] [ 0. 0. 0. 1. ]] SLAMing on 6.019072329 meters Centerline goodness : 0.785331 with order 3 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.49, Z:-0.12 [[ 0.98671113 0.12875488 -0.09911272 0.41849635] [-0.1335756 0.99007829 -0.04361819 -0.49491812] [ 0.0925133 0.05627759 0.99411977 -0.11756862] [ 0. 0. 0. 1. ]] SLAMing on 6.079072329 meters Centerline goodness : 0.790694 with order 3 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.46, Z:-0.12 [[ 0.98712284 0.13221824 -0.09003791 0.43116047] [-0.13696267 0.9893782 -0.04870319 -0.46423511] [ 0.0826421 0.06040787 0.99474679 -0.1190244 ] [ 0. 0. 0. 1. ]] SLAMing on 6.139072329 meters Centerline goodness : 0.795138 with order 3 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.44, Z:-0.12 [[ 0.9863458 0.14066385 -0.08564839 0.42382063] [-0.14439358 0.98875142 -0.0390016 -0.44027821] [ 0.07919885 0.05083614 0.99556177 -0.11730746] [ 0. 0. 0. 1. ]] SLAMing on 6.199072329 meters Centerline goodness : 0.801948 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.12 [[ 0.98662963 0.14588933 -0.07265179 0.42931925] [-0.14853628 0.98837466 -0.03244219 -0.39390458] [ 0.06707422 0.04279985 0.99682959 -0.11635767] [ 0. 0. 0. 1. ]] SLAMing on 6.259072329 meters Centerline goodness : 0.810943 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.35, Z:-0.12 [[ 0.98795097 0.13921882 -0.06760913 0.43921525] [-0.14118376 0.98966293 -0.02518787 -0.35062918] [ 0.06340362 0.03442969 0.99739389 -0.11548585] [ 0. 0. 0. 1. ]] SLAMing on 6.319072329 meters Centerline goodness : 0.806960 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.31, Z:-0.11 [[ 0.98917469 0.12700521 -0.07350591 0.45932058] [-0.12951963 0.99110777 -0.03049679 -0.30514782] [ 0.06897903 0.03968711 0.99682838 -0.11231544] [ 0. 0. 0. 1. ]] SLAMing on 6.3790723289999995 meters Centerline goodness : 0.806039 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.28, Z:-0.11 [[ 0.98970566 0.1211453 -0.07620052 0.4695746 ] [-0.12392387 0.99174811 -0.0328414 -0.27653511] [ 0.07159314 0.04194638 0.99655152 -0.11185378] [ 0. 0. 0. 1. ]] SLAMing on 6.439072329 meters Centerline goodness : 0.807386 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.24, Z:-0.11 [[ 0.99052281 0.11149197 -0.0802128 0.49001598] [-0.11445949 0.99286672 -0.03338705 -0.2382888 ] [ 0.07591823 0.04225175 0.99621846 -0.10757117] [ 0. 0. 0. 1. ]] SLAMing on 6.499072329 meters Centerline goodness : 0.793638 with order 2 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.11 [[ 0.99074026 0.10516344 -0.0858743 0.50776764] [-0.10862531 0.99340599 -0.03667546 -0.21522442] [ 0.08145112 0.04566398 0.99563071 -0.10610302] [ 0. 0. 0. 1. ]] SLAMing on 6.559072329 meters Centerline goodness : 0.811080 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.10 [[ 0.99336823 0.08108637 -0.08151417 0.53091822] [-0.08337537 0.99620268 -0.02507511 -0.18494076] [ 0.07917138 0.03170509 0.9963567 -0.10058394] [ 0. 0. 0. 1. ]] SLAMing on 6.619072329 meters Centerline goodness : 0.811885 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.10 [[ 0.99562102 0.05133737 -0.07812332 0.5570432 ] [-0.05310133 0.99837517 -0.02067042 -0.17102609] [ 0.07693522 0.02472836 0.99672939 -0.09691263] [ 0. 0. 0. 1. ]] SLAMing on 6.679072329 meters Centerline goodness : 0.808696 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.10 [[ 0.99643914 -0.0073446 -0.08399466 0.5920069 ] [ 0.00541454 0.99971657 -0.02318313 -0.16262954] [ 0.08414112 0.02264579 0.99619649 -0.09894744] [ 0. 0. 0. 1. ]] SLAMing on 6.739072329 meters Centerline goodness : 0.808477 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99491246 -0.04623468 -0.08950723 0.63082159] [ 0.04496997 0.99885866 -0.01609621 -0.15430169] [ 0.09014927 0.01198919 0.9958561 -0.09688073] [ 0. 0. 0. 1. ]] SLAMing on 6.7990723289999995 meters Centerline goodness : 0.804807 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.98968105 -0.10221274 -0.10041898 0.68867611] [ 0.1020401 0.99475658 -0.00686761 -0.14646764] [ 0.1005944 -0.00345002 0.99492154 -0.08848228] [ 0. 0. 0. 1. ]] SLAMing on 6.859072329 meters Centerline goodness : 0.805031 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.08 [[ 0.98740072 -0.11940182 -0.1038413 0.71024009] [ 0.11963226 0.9928101 -0.00402881 -0.14734382] [ 0.10357574 -0.00844472 0.99458572 -0.08405611] [ 0. 0. 0. 1. ]] SLAMing on 6.919072329 meters Centerline goodness : 0.812088 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.15, Z:-0.08 [[ 0.98093734 -0.16477417 -0.10301168 0.75318889] [ 0.1659985 0.98612025 0.00336836 -0.14559483] [ 0.10102688 -0.02040393 0.99467444 -0.07698879] [ 0. 0. 0. 1. ]] SLAMing on 6.979072329 meters Centerline goodness : 0.807905 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.07 [[ 0.97430734 -0.19730249 -0.10861371 0.79159572] [ 0.19881398 0.98003215 0.00315932 -0.13501023] [ 0.10582158 -0.02467207 0.99407901 -0.07078332] [ 0. 0. 0. 1. ]] SLAMing on 7.039072329 meters Centerline goodness : 0.808474 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:-0.07 [[ 0.97172611 -0.20655632 -0.11438031 0.81111896] [ 0.20711268 0.97829112 -0.00712897 -0.13080055] [ 0.11336977 -0.01676221 0.99341146 -0.06984523] [ 0. 0. 0. 1. ]] SLAMing on 7.099072329 meters Centerline goodness : 0.807224 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.07 [[ 0.97087184 -0.20909552 -0.11699114 0.82057376] [ 0.20952025 0.97776475 -0.00879484 -0.12765258] [ 0.11622877 -0.01597335 0.99309402 -0.07276472] [ 0. 0. 0. 1. ]] SLAMing on 7.159072329 meters Centerline goodness : 0.816964 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.06 [[ 0.97407248 -0.19164748 -0.12022499 0.81595768] [ 0.19340937 0.9811134 0.00305121 -0.11956199] [ 0.11736959 -0.02622474 0.99274198 -0.0632912 ] [ 0. 0. 0. 1. ]] SLAMing on 7.219072328999999 meters Centerline goodness : 0.817689 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.06 [[ 0.9769949 -0.17384361 -0.12352876 0.81524976] [ 0.17740389 0.98396711 0.01834635 -0.11783789] [ 0.11835884 -0.03983878 0.99217138 -0.06064002] [ 0. 0. 0. 1. ]] SLAMing on 7.279072329 meters Centerline goodness : 0.812397 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.10, Z:-0.06 [[ 0.97991545 -0.15076946 -0.13051546 0.83489227] [ 0.15481103 0.98771369 0.02133582 -0.10218659] [ 0.12569511 -0.04111253 0.99121668 -0.05734346] [ 0. 0. 0. 1. ]] SLAMing on 7.3390723289999995 meters Centerline goodness : 0.812339 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.09, Z:-0.06 [[ 0.98073775 -0.14431344 -0.13163243 0.83961162] [ 0.14845199 0.98867184 0.02213613 -0.09210491] [ 0.12694673 -0.04125083 0.99105141 -0.06385542] [ 0. 0. 0. 1. ]] SLAMing on 7.399072329 meters Centerline goodness : 0.811001 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:-0.06 [[ 0.98155129 -0.14353169 -0.12631597 0.85649199] [ 0.14720912 0.98889855 0.02022724 -0.07582154] [ 0.12201043 -0.03844893 0.99178381 -0.0643374 ] [ 0. 0. 0. 1. ]] SLAMing on 7.459072329 meters Centerline goodness : 0.812895 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:-0.06 [[ 0.98065568 -0.15344258 -0.12153113 0.87225435] [ 0.15732266 0.98728068 0.02294442 -0.07359831] [ 0.11646468 -0.04162017 0.9923224 -0.06427347] [ 0. 0. 0. 1. ]] SLAMing on 7.519072329 meters Centerline goodness : 0.816780 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:-0.06 [[ 0.97979924 -0.15624321 -0.1248259 0.87582234] [ 0.16065324 0.98666792 0.02601839 -0.07435691] [ 0.11909652 -0.04554648 0.99183745 -0.05632566] [ 0. 0. 0. 1. ]] SLAMing on 7.579072329 meters Centerline goodness : 0.815986 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.05 [[ 0.9766303 -0.17107886 -0.13009718 0.89197106] [ 0.17499505 0.98438199 0.01920499 -0.0845341 ] [ 0.12477976 -0.04152253 0.99131523 -0.05440898] [ 0. 0. 0. 1. ]] SLAMing on 7.639072329 meters Centerline goodness : 0.813647 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.09, Z:-0.05 [[ 0.97381444 -0.18074938 -0.13789524 0.91181829] [ 0.18439014 0.9827535 0.01399388 -0.09168148] [ 0.13298765 -0.03905396 0.99034796 -0.04877431] [ 0. 0. 0. 1. ]] SLAMing on 7.699072329 meters Centerline goodness : 0.813860 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.04 [[ 0.96889979 -0.20022398 -0.14540822 0.94257522] [ 0.20634452 0.9780744 0.02814977 -0.10048643] [ 0.13658379 -0.0572785 0.9889712 -0.03727682] [ 0. 0. 0. 1. ]] SLAMing on 7.759072328999999 meters Centerline goodness : 0.820133 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.03 [[ 0.9682928 -0.2082067 -0.13805443 0.9535875 ] [ 0.21357938 0.97660188 0.0251518 -0.10722895] [ 0.12958744 -0.05383989 0.99010523 -0.02672249] [ 0. 0. 0. 1. ]] SLAMing on 7.819072329 meters Centerline goodness : 0.821079 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.03 [[ 0.96848127 -0.20694021 -0.13863543 0.95920686] [ 0.2124436 0.97682772 0.02598702 -0.11440996] [ 0.13004517 -0.05462015 0.99000247 -0.02892246] [ 0. 0. 0. 1. ]] SLAMing on 7.8790723289999995 meters Centerline goodness : 0.819905 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.11, Z:-0.03 [[ 0.96962983 -0.19570514 -0.14668842 0.97724437] [ 0.20238299 0.97878591 0.03192587 -0.11081389] [ 0.1373285 -0.06064352 0.98866741 -0.02775328] [ 0. 0. 0. 1. ]] SLAMing on 7.939072329 meters Centerline goodness : 0.816586 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.12, Z:-0.02 [[ 0.96972193 -0.1816635 -0.16321074 0.98837867] [ 0.18973782 0.98120383 0.03519373 -0.11815903] [ 0.15374958 -0.06509538 0.98596331 -0.02305462] [ 0. 0. 0. 1. ]] SLAMing on 7.999072329 meters Centerline goodness : 0.817773 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.12, Z:-0.02 [[ 0.97060868 -0.17558275 -0.16458884 0.99002107] [ 0.18445901 0.98201886 0.0401725 -0.12024866] [ 0.15457575 -0.06935167 0.98554385 -0.02268127] [ 0. 0. 0. 1. ]] SLAMing on 8.059072329 meters Centerline goodness : 0.823902 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.12, Z:-0.02 [[ 0.97277614 -0.16151911 -0.16618712 0.98598072] [ 0.17224848 0.98366851 0.05221795 -0.11955317] [ 0.15503884 -0.07942185 0.98471068 -0.01885064] [ 0. 0. 0. 1. ]] SLAMing on 8.119072329 meters Centerline goodness : 0.827991 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.12, Z:-0.01 [[ 0.97471698 -0.15330018 -0.16256036 0.98752479] [ 0.16286107 0.98552236 0.04713751 -0.11546266] [ 0.15298068 -0.07242049 0.98557201 -0.01453426] [ 0. 0. 0. 1. ]] SLAMing on 8.179072329 meters Centerline goodness : 0.824408 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.02 [[ 0.9752243 -0.13642489 -0.17414309 1.00871351] [ 0.14499638 0.98872411 0.03742564 -0.11174522] [ 0.16707369 -0.06174851 0.98400889 -0.01557635] [ 0. 0. 0. 1. ]] SLAMing on 8.239072328999999 meters Centerline goodness : 0.824526 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.01 [[ 0.97740891 -0.12052419 -0.17362532 1.01092525] [ 0.12913209 0.99085532 0.03912348 -0.10552986] [ 0.16732224 -0.06066024 0.98403435 -0.01062403] [ 0. 0. 0. 1. ]] SLAMing on 8.299072329 meters Centerline goodness : 0.822726 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.10, Z:-0.01 [[ 0.98078839 -0.10377056 -0.16518412 1.00450538] [ 0.11147012 0.99304024 0.03801973 -0.10132935] [ 0.16008915 -0.05570241 0.98552966 -0.00812303] [ 0. 0. 0. 1. ]] SLAMing on 8.359072329 meters Centerline goodness : 0.826253 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.10, Z:-0.01 [[ 0.98184607 -0.09535127 -0.16397081 1.00240505] [ 0.10362031 0.99370339 0.04261926 -0.10437838] [ 0.15887455 -0.05883626 0.9855441 -0.01083919] [ 0. 0. 0. 1. ]] SLAMing on 8.419072329 meters Centerline goodness : 0.820304 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:-0.01 [[ 0.98201724 -0.09085804 -0.16549006 1.00546948] [ 0.09973358 0.9939448 0.04611893 -0.10139864] [ 0.16029771 -0.0617945 0.98513252 -0.01152789] [ 0. 0. 0. 1. ]] SLAMing on 8.479072329 meters Centerline goodness : 0.819922 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.10, Z:-0.01 [[ 0.98285296 -0.09552728 -0.15771683 1.02098169] [ 0.10288264 0.99392348 0.03913151 -0.10354671] [ 0.15302034 -0.05468684 0.98670873 -0.01254919] [ 0. 0. 0. 1. ]] SLAMing on 8.539072329 meters Centerline goodness : 0.825576 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.01 [[ 0.98529019 -0.08745933 -0.1468132 1.01361071] [ 0.09287356 0.99521296 0.03042472 -0.10880623] [ 0.14344947 -0.04361224 0.98869622 -0.01389731] [ 0. 0. 0. 1. ]] SLAMing on 8.599072329 meters Centerline goodness : 0.824351 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.01 [[ 0.98646637 -0.07213348 -0.14724422 1.01075146] [ 0.07921576 0.99593792 0.04280793 -0.10565221] [ 0.14355821 -0.05389264 0.98817338 -0.01262373] [ 0. 0. 0. 1. ]] SLAMing on 8.659072329 meters Centerline goodness : 0.825368 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.02 [[ 0.98657443 -0.07206782 -0.14655072 1.01474852] [ 0.07865705 0.9961122 0.03966814 -0.11133149] [ 0.14312217 -0.05066282 0.98840747 -0.01836014] [ 0. 0. 0. 1. ]] SLAMing on 8.719072329 meters Centerline goodness : 0.826419 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.02 [[ 0.98757978 -0.07251565 -0.13938312 1.0309012 ] [ 0.0782898 0.99626617 0.03639276 -0.11454453] [ 0.13622364 -0.04685303 0.98956956 -0.01991822] [ 0. 0. 0. 1. ]] SLAMing on 8.779072329 meters Centerline goodness : 0.828330 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.02 [[ 0.988523 -0.0698672 -0.13394349 1.0465061 ] [ 0.07583172 0.99631992 0.03995207 -0.11537228] [ 0.13065923 -0.04965071 0.9901833 -0.01611834] [ 0. 0. 0. 1. ]] SLAMing on 8.839072329 meters Centerline goodness : 0.828338 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.01 [[ 0.98958589 -0.06734584 -0.12721755 1.05819775] [ 0.0734372 0.99633717 0.04380881 -0.11913283] [ 0.12380123 -0.05269508 0.9909069 -0.01083357] [ 0. 0. 0. 1. ]] SLAMing on 8.899072329 meters Centerline goodness : 0.829738 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:-0.01 [[ 0.99030839 -0.0689867 -0.12054102 1.0741653 ] [ 0.07456001 0.9963169 0.042349 -0.12308079] [ 0.11717554 -0.05092611 0.99180463 -0.00957565] [ 0. 0. 0. 1. ]] SLAMing on 8.959072329 meters Centerline goodness : 0.830613 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.01 [[ 0.99135166 -0.0660612 -0.11339225 1.07507441] [ 0.06998918 0.99706557 0.03101218 -0.12328668] [ 0.11101081 -0.0386802 0.99306618 -0.00996649] [ 0. 0. 0. 1. ]] SLAMing on 9.019072329 meters Centerline goodness : 0.825567 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.01 [[ 0.9911813 -0.0578632 -0.11921192 1.08980289] [ 0.06215416 0.99753423 0.03259335 -0.12294484] [ 0.11703201 -0.03971543 0.99233371 -0.00831534] [ 0. 0. 0. 1. ]] SLAMing on 9.079072329 meters Centerline goodness : 0.825122 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.01 [[ 0.9910852 -0.0579856 -0.11994915 1.09145539] [ 0.06219352 0.99756257 0.03163685 -0.11925439] [ 0.1178223 -0.03881487 0.99227582 -0.0085697 ] [ 0. 0. 0. 1. ]] SLAMing on 9.139072329 meters Centerline goodness : 0.820670 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.12, Z:-0.01 [[ 0.99073675 -0.05818881 -0.12269786 1.09916546] [ 0.06261041 0.99750903 0.03249097 -0.11639404] [ 0.12050161 -0.03987216 0.99191208 -0.00966687] [ 0. 0. 0. 1. ]] SLAMing on 9.199072329 meters Centerline goodness : 0.820746 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.11, Z:-0.01 [[ 0.99119778 -0.06332964 -0.11625967 1.11739872] [ 0.0665273 0.99750001 0.02382944 -0.10759819] [ 0.11445991 -0.03135413 0.99293295 -0.01322376] [ 0. 0. 0. 1. ]] SLAMing on 9.259072329 meters Centerline goodness : 0.822617 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:-0.01 [[ 0.99181462 -0.06641578 -0.10905365 1.12887123] [ 0.0690845 0.9973924 0.02087435 -0.09527351] [ 0.10738289 -0.0282374 0.99381666 -0.01042808] [ 0. 0. 0. 1. ]] SLAMing on 9.319072328999999 meters Centerline goodness : 0.821096 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:-0.01 [[ 0.99212355 -0.07212299 -0.10241645 1.14160511] [ 0.07410475 0.99712728 0.01567399 -0.07869249] [ 0.10099178 -0.02314008 0.99461812 -0.00784077] [ 0. 0. 0. 1. ]] SLAMing on 9.379072329 meters Centerline goodness : 0.818432 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:-0.01 [[ 0.99146004 -0.0786133 -0.1040526 1.1486193 ] [ 0.07989039 0.99677028 0.00815665 -0.06841781] [ 0.10307532 -0.0163998 0.99453835 -0.0117365 ] [ 0. 0. 0. 1. ]] SLAMing on 9.439072329 meters Centerline goodness : 0.818821 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.06, Z:-0.01 [[ 0.98952836 -0.09831585 -0.10567699 1.16544591] [ 0.10062222 0.99478443 0.01670622 -0.06121558] [ 0.10348334 -0.02716473 0.99426017 -0.01189763] [ 0. 0. 0. 1. ]] SLAMing on 9.499072329 meters Centerline goodness : 0.823942 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.06, Z:-0.00 [[ 0.9885979 -0.11075113 -0.10202143 1.17184242] [ 0.11351269 0.99330053 0.02165477 -0.05654832] [ 0.09893965 -0.03298859 0.99454648 -0.00296407] [ 0. 0. 0. 1. ]] SLAMing on 9.559072329 meters Centerline goodness : 0.822784 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.05, Z:0.00 [[ 0.98605184 -0.12864336 -0.10560612 1.18816475] [ 0.13130632 0.9911667 0.01863367 -0.05218111] [ 0.10227618 -0.03224052 0.99423344 0.00173189] [ 0. 0. 0. 1. ]] SLAMing on 9.619072329 meters Centerline goodness : 0.818020 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.05, Z:0.00 [[ 0.98330243 -0.14061694 -0.11551279 1.21138795] [ 0.14361722 0.989469 0.01803306 -0.04772187] [ 0.11176058 -0.03432158 0.99314229 0.00236473] [ 0. 0. 0. 1. ]] SLAMing on 9.679072329 meters Centerline goodness : 0.819731 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.03, Z:0.01 [[ 0.98318045 -0.13779972 -0.11986424 1.21081811] [ 0.14174618 0.98958716 0.02500532 -0.0332433 ] [ 0.11517039 -0.04157504 0.99247534 0.0110401 ] [ 0. 0. 0. 1. ]] SLAMing on 9.739072328999999 meters Centerline goodness : 0.820201 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.02, Z:0.01 [[ 0.98338472 -0.13756394 -0.11845108 1.20729105] [ 0.1409838 0.98979015 0.02095276 -0.02375826] [ 0.11435937 -0.0373043 0.9927388 0.0100773 ] [ 0. 0. 0. 1. ]] SLAMing on 9.799072329 meters Centerline goodness : 0.816562 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.01, Z:-0.00 [[ 9.83639952e-01 -1.37198403e-01 -1.16743491e-01 1.20994008e+00] [ 1.39637858e-01 9.90118076e-01 1.29408201e-02 -9.70637340e-03] [ 1.13814381e-01 -2.90309186e-02 9.93077788e-01 -5.65782734e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859072329 meters Centerline goodness : 0.814981 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:0.00, Z:-0.00 [[ 0.98399529 -0.13338387 -0.118161 1.21335261] [ 0.13589124 0.99063331 0.01338711 0.00209118] [ 0.1152686 -0.0292299 0.99290421 -0.0039777 ] [ 0. 0. 0. 1. ]] SLAMing on 9.919072329 meters Centerline goodness : 0.814354 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:0.00 [[ 0.98466785 -0.12220736 -0.12447727 1.21898814] [ 0.12590569 0.99179243 0.02226073 0.02169271] [ 0.12073519 -0.03759183 0.99197272 0.00185456] [ 0. 0. 0. 1. ]] SLAMing on 9.979072329 meters Centerline goodness : 0.817974 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.00 [[ 9.86630041e-01 -1.17647864e-01 -1.12783607e-01 1.22015057e+00] [ 1.20751609e-01 9.92459097e-01 2.10710775e-02 3.55062596e-02] [ 1.09454149e-01 -3.44081601e-02 9.93396128e-01 -1.78666621e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039072329 meters Centerline goodness : 0.822332 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.00 [[ 0.98767681 -0.11793406 -0.10288865 1.22764409] [ 0.12029928 0.99259086 0.01707221 0.04293451] [ 0.10011294 -0.02923925 0.99454636 -0.00159123] [ 0. 0. 0. 1. ]] SLAMing on 10.099072329 meters Centerline goodness : 0.822433 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:0.00 [[ 0.98865748 -0.10773451 -0.1046406 1.22564872] [ 0.1109576 0.99349877 0.02546767 0.05366884] [ 0.10121656 -0.03678947 0.99418396 0.00144832] [ 0. 0. 0. 1. ]] SLAMing on 10.159072328999999 meters Centerline goodness : 0.816549 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.01 [[ 0.98952666 -0.09821092 -0.1057904 1.22994912] [ 0.10169923 0.99441862 0.02808697 0.06642193] [ 0.1024415 -0.03855161 0.99399171 -0.00645901] [ 0. 0. 0. 1. ]] SLAMing on 10.219072329 meters Centerline goodness : 0.818503 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.01 [[ 0.99051488 -0.09882865 -0.09546297 1.23753109] [ 0.10130314 0.99462498 0.02142012 0.07443344] [ 0.09283294 -0.03088765 0.99520249 -0.01031175] [ 0. 0. 0. 1. ]] SLAMing on 10.279072329 meters Centerline goodness : 0.819656 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.01 [[ 0.99174512 -0.09750442 -0.08327372 1.23760338] [ 0.09957472 0.99480696 0.02107113 0.08017563] [ 0.08078674 -0.02918915 0.99630392 -0.00989697] [ 0. 0. 0. 1. ]] SLAMing on 10.339072329 meters Centerline goodness : 0.819752 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.01 [[ 0.99279537 -0.09367877 -0.07471045 1.24444126] [ 0.09573657 0.99510644 0.02444751 0.09067322] [ 0.07205463 -0.0314239 0.99690555 -0.00822566] [ 0. 0. 0. 1. ]] SLAMing on 10.399072329 meters Centerline goodness : 0.813624 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.02 [[ 0.99273537 -0.09503788 -0.07378543 1.24831746] [ 0.09672312 0.99511823 0.01960453 0.09014021] [ 0.07156206 -0.02659887 0.99708143 -0.01608449] [ 0. 0. 0. 1. ]] SLAMing on 10.459072329 meters Centerline goodness : 0.811484 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.02 [[ 0.99237992 -0.09898031 -0.07338248 1.24839506] [ 0.10037988 0.99482646 0.01562702 0.08944865] [ 0.07145607 -0.02287406 0.99718143 -0.01613758] [ 0. 0. 0. 1. ]] SLAMing on 10.519072329 meters Centerline goodness : 0.810220 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.01 [[ 0.99242874 -0.0979734 -0.07407025 1.2483107 ] [ 0.09953862 0.99487564 0.01773503 0.0889166 ] [ 0.07195313 -0.0249736 0.99709531 -0.01374162] [ 0. 0. 0. 1. ]] SLAMing on 10.579072328999999 meters Centerline goodness : 0.811291 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.01 [[ 0.99298432 -0.09913921 -0.06444803 1.25611846] [ 0.10036747 0.99482016 0.01610039 0.08711371] [ 0.06251802 -0.02245592 0.99779118 -0.0130128 ] [ 0. 0. 0. 1. ]] SLAMing on 10.639072329 meters Centerline goodness : 0.808428 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.08, Z:-0.01 [[ 0.99269244 -0.10191724 -0.06461116 1.25634988] [ 0.10322731 0.99450795 0.0172643 0.07762589] [ 0.06249678 -0.02380777 0.99776116 -0.00987538] [ 0. 0. 0. 1. ]] SLAMing on 10.699072329 meters Centerline goodness : 0.809883 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.07, Z:-0.01 [[ 0.99245168 -0.10329648 -0.06610219 1.26139331] [ 0.10475679 0.99431614 0.01901149 0.07337211] [ 0.06376265 -0.02579263 0.99763173 -0.01041719] [ 0. 0. 0. 1. ]] SLAMing on 10.759072329 meters Centerline goodness : 0.805756 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:0.06, Z:-0.01 [[ 0.99092529 -0.11190347 -0.07446265 1.2801343 ] [ 0.113948 0.99320192 0.02378653 0.05923834] [ 0.07129465 -0.03205554 0.99694008 -0.01261395] [ 0. 0. 0. 1. ]] SLAMing on 10.819072328999999 meters Centerline goodness : 0.802729 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:0.05, Z:-0.01 [[ 0.99012801 -0.1176772 -0.07614855 1.28414399] [ 0.11982842 0.99249692 0.02431066 0.05114321] [ 0.07271639 -0.03319543 0.99680008 -0.00858641] [ 0. 0. 0. 1. ]] SLAMing on 10.879072329 meters Centerline goodness : 0.799877 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.04, Z:-0.01 [[ 0.98887933 -0.12461622 -0.08116933 1.29511849] [ 0.12721413 0.99149003 0.02764204 0.03835159] [ 0.07703394 -0.03766053 0.99631695 -0.00609174] [ 0. 0. 0. 1. ]] SLAMing on 10.939072329 meters Centerline goodness : 0.798016 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.01 [[ 0.9883876 -0.12803281 -0.08183862 1.30152526] [ 0.13057235 0.99108591 0.02644941 0.03063172] [ 0.07772272 -0.03682813 0.99629457 -0.00958832] [ 0. 0. 0. 1. ]] SLAMing on 10.999072329 meters Centerline goodness : 0.794325 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.01 [[ 0.98912312 -0.12209422 -0.08202719 1.30175669] [ 0.1250745 0.99162421 0.03221483 0.02596049] [ 0.0774069 -0.04212394 0.9961093 -0.01048048] [ 0. 0. 0. 1. ]] SLAMing on 11.059072329 meters Centerline goodness : 0.793856 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:-0.01 [[ 0.99006492 -0.11726537 -0.07759048 1.30211601] [ 0.11929259 0.99261508 0.02201334 0.02743863] [ 0.07443608 -0.0310506 0.99674226 -0.0084262 ] [ 0. 0. 0. 1. ]] SLAMing on 11.119072329 meters Centerline goodness : 0.796687 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:-0.01 [[ 0.99026634 -0.1157524 -0.07729137 1.30373716] [ 0.11788306 0.99274742 0.02358265 0.02118147] [ 0.07400106 -0.03246444 0.9967296 -0.01059327] [ 0. 0. 0. 1. ]] SLAMing on 11.179072329 meters Centerline goodness : 0.798828 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.03, Z:-0.01 [[ 0.99020797 -0.11443161 -0.07995988 1.30745713] [ 0.1169492 0.99275624 0.02753045 0.02514392] [ 0.07623032 -0.03661211 0.99641783 -0.00797086] [ 0. 0. 0. 1. ]] SLAMing on 11.239072328999999 meters Centerline goodness : 0.797952 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.03, Z:-0.01 [[ 0.98961271 -0.11956968 -0.07981089 1.30887843] [ 0.12168468 0.99232125 0.02216708 0.02783196] [ 0.07654753 -0.03164859 0.99656352 -0.00918517] [ 0. 0. 0. 1. ]] SLAMing on 11.299072329 meters Centerline goodness : 0.794517 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.03, Z:-0.01 [[ 0.98893575 -0.12436363 -0.08086887 1.31453996] [ 0.12622702 0.99183196 0.01833329 0.02834546] [ 0.07792834 -0.02833829 0.99655613 -0.01161686] [ 0. 0. 0. 1. ]] SLAMing on 11.359072329 meters Centerline goodness : 0.797472 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.04, Z:-0.01 [[ 0.98735389 -0.13389163 -0.08488421 1.32188772] [ 0.13562179 0.99064821 0.01492855 0.03506938] [ 0.08209158 -0.02625191 0.99627898 -0.00644601] [ 0. 0. 0. 1. ]] SLAMing on 11.419072329 meters Centerline goodness : 0.797705 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.04, Z:-0.00 [[ 0.98568393 -0.14382383 -0.08798801 1.32848994] [ 0.14532906 0.98932318 0.01091369 0.03817023] [ 0.08547893 -0.02354466 0.99606175 -0.00192845] [ 0. 0. 0. 1. ]] SLAMing on 11.479072329 meters Centerline goodness : 0.800110 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.04, Z:0.00 [[ 0.98387467 -0.15360609 -0.09162862 1.33466306] [ 0.1549932 0.9878817 0.00817691 0.04344453] [ 0.08926221 -0.02224686 0.99575968 0.00455305] [ 0. 0. 0. 1. ]] SLAMing on 11.539072329 meters Centerline goodness : 0.800457 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:0.01 [[ 0.98249716 -0.16009803 -0.09522581 1.34169576] [ 0.1615088 0.98684467 0.00724642 0.04727595] [ 0.09281294 -0.02249939 0.99542932 0.0086365 ] [ 0. 0. 0. 1. ]] SLAMing on 11.599072329 meters Centerline goodness : 0.803112 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:0.01 [[ 0.97920157 -0.17348789 -0.1051962 1.36345009] [ 0.17539975 0.98445494 0.00913242 0.05522216] [ 0.10197655 -0.02739387 0.99440955 0.01464628] [ 0. 0. 0. 1. ]] SLAMing on 11.659072328999999 meters Centerline goodness : 0.803249 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:0.07, Z:0.02 [[ 0.97707276 -0.18267952 -0.10934811 1.37181464] [ 0.18431294 0.98285522 0.00493509 0.06705823] [ 0.10657182 -0.02497621 0.99399127 0.01817728] [ 0. 0. 0. 1. ]] SLAMing on 11.719072329 meters Centerline goodness : 0.803166 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:0.02 [[ 0.97672299 -0.18300421 -0.1119002 1.3759574 ] [ 0.18482367 0.98275327 0.0060191 0.07447522] [ 0.10886877 -0.0265608 0.99370122 0.018908 ] [ 0. 0. 0. 1. ]] SLAMing on 11.779072329 meters Centerline goodness : 0.804715 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:0.09, Z:0.02 [[ 0.97579502 -0.18659417 -0.11404687 1.38290615] [ 0.18799307 0.98216915 0.00154036 0.08751361] [ 0.1117259 -0.02294309 0.99347418 0.01555427] [ 0. 0. 0. 1. ]] SLAMing on 11.839072329 meters Centerline goodness : 0.803190 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:0.02 [[ 0.97219844 -0.19990791 -0.12193036 1.39064047] [ 0.20228071 0.97930056 0.00727517 0.09236129] [ 0.11795211 -0.03173706 0.99251199 0.01527891] [ 0. 0. 0. 1. ]] SLAMing on 11.899072329 meters Centerline goodness : 0.806297 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.02 [[ 0.96978005 -0.20902851 -0.12583219 1.39580862] [ 0.21155216 0.97734244 0.00688719 0.09304643] [ 0.12154152 -0.03329913 0.99202763 0.02457984] [ 0. 0. 0. 1. ]] SLAMing on 11.959072329 meters Centerline goodness : 0.806799 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:0.04 [[ 0.96391325 -0.23532433 -0.12447369 1.40764063] [ 0.23774308 0.97131654 0.0047343 0.08985733] [ 0.11978926 -0.03415621 0.99221161 0.03559216] [ 0. 0. 0. 1. ]] SLAMing on 12.019072329 meters Centerline goodness : 0.806953 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:0.04 [[ 0.95725329 -0.26030988 -0.12611467 1.42700129] [ 0.26306204 0.96476388 0.00538744 0.08365005] [ 0.12026847 -0.03833313 0.99200104 0.04140316] [ 0. 0. 0. 1. ]] SLAMing on 12.079072328999999 meters Centerline goodness : 0.806289 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:0.04 [[ 9.53700904e-01 -2.71770346e-01 -1.28823389e-01 1.43703077e+00] [ 2.74092830e-01 9.61703189e-01 3.11833117e-04 7.85493374e-02] [ 1.23805117e-01 -3.56069627e-02 9.91667503e-01 4.24600146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139072329 meters Centerline goodness : 0.802178 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.07, Z:0.05 [[ 0.94874777 -0.28963588 -0.1264465 1.44024474] [ 0.29045868 0.9568086 -0.01229037 0.06963292] [ 0.12454483 -0.02506702 0.99189729 0.04558628] [ 0. 0. 0. 1. ]] SLAMing on 12.199072329 meters Centerline goodness : 0.807012 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:0.05 [[ 0.94822138 -0.29410494 -0.11991038 1.45183858] [ 0.29562835 0.9552884 -0.00528662 0.06061698] [ 0.11610381 -0.03043602 0.99277064 0.04544976] [ 0. 0. 0. 1. ]] SLAMing on 12.259072329 meters Centerline goodness : 0.805475 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:0.05 [[ 0.94857839 -0.29249453 -0.12102064 1.45449438] [ 0.29443317 0.95567009 -0.00194455 0.0506974 ] [ 0.11622457 -0.03378793 0.99264809 0.04592147] [ 0. 0. 0. 1. ]] SLAMing on 12.319072328999999 meters Centerline goodness : 0.804643 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:0.05 [[ 0.95022283 -0.2863175 -0.12287741 1.45731823] [ 0.28897569 0.95732808 0.00400008 0.04375773] [ 0.1164887 -0.03930955 0.9924138 0.04533628] [ 0. 0. 0. 1. ]] SLAMing on 12.379072329 meters Centerline goodness : 0.803451 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.05 [[ 0.95685756 -0.258002 -0.13363601 1.4161335 ] [ 0.2639836 0.96409544 0.02885564 0.02009733] [ 0.12139305 -0.06288846 0.9906103 0.04599624] [ 0. 0. 0. 1. ]] SLAMing on 12.439072329 meters Centerline goodness : 0.804426 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:0.01, Z:0.05 [[ 0.96388178 -0.22690078 -0.13945589 1.40282246] [ 0.23567482 0.97055596 0.04978464 0.00706929] [ 0.12405357 -0.08085275 0.98897601 0.05116811] [ 0. 0. 0. 1. ]] SLAMing on 12.499072329 meters Centerline goodness : 0.803002 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.01, Z:0.05 [[ 0.96901597 -0.19979728 -0.14522085 1.3835341 ] [ 0.20985314 0.97604484 0.05742932 -0.0093335 ] [ 0.13026784 -0.08612498 0.98773113 0.05316744] [ 0. 0. 0. 1. ]] SLAMing on 12.559072329 meters Centerline goodness : 0.801164 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.01, Z:0.06 [[ 0.97146378 -0.18261529 -0.15135977 1.38156383] [ 0.19297544 0.97956267 0.05672269 -0.01323858] [ 0.13790795 -0.08431276 0.98684992 0.05653089] [ 0. 0. 0. 1. ]] SLAMing on 12.619072329 meters Centerline goodness : 0.796898 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:0.06 [[ 0.97355573 -0.16856666 -0.15418992 1.36862224] [ 0.17897128 0.98224832 0.05619176 -0.01746014] [ 0.14198073 -0.08230138 0.98644207 0.05658689] [ 0. 0. 0. 1. ]] SLAMing on 12.679072329 meters Centerline goodness : 0.796670 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:0.05 [[ 0.97484005 -0.1615947 -0.15353838 1.3694015 ] [ 0.17253763 0.98312737 0.06075632 -0.02460509] [ 0.14112989 -0.08571884 0.9862731 0.05313817] [ 0. 0. 0. 1. ]] SLAMing on 12.739072328999999 meters Centerline goodness : 0.795069 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:0.05 [[ 0.97577992 -0.15722584 -0.1520973 1.36856238] [ 0.16849183 0.98361133 0.06418142 -0.03587922] [ 0.13951365 -0.08825409 0.98627945 0.05124295] [ 0. 0. 0. 1. ]] SLAMing on 12.799072329 meters Centerline goodness : 0.796426 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:0.05 [[ 0.97781832 -0.15053433 -0.14563911 1.3678392 ] [ 0.16025165 0.98540587 0.05739936 -0.04275163] [ 0.13487306 -0.07946506 0.98767128 0.05305299] [ 0. 0. 0. 1. ]] SLAMing on 12.859072329 meters Centerline goodness : 0.794865 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.05, Z:0.05 [[ 0.97929522 -0.14708336 -0.13909475 1.36937435] [ 0.15499764 0.98675627 0.04783088 -0.04622044] [ 0.13021749 -0.06839991 0.98912328 0.05342748] [ 0. 0. 0. 1. ]] SLAMing on 12.919072329 meters Centerline goodness : 0.796517 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.05, Z:0.05 [[ 0.98101345 -0.14142507 -0.13270853 1.3710953 ] [ 0.14795549 0.98815782 0.04066078 -0.05093824] [ 0.12538652 -0.05952373 0.99032073 0.05423337] [ 0. 0. 0. 1. ]] SLAMing on 12.979072329 meters Centerline goodness : 0.796143 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.06, Z:0.05 [[ 0.9809209 -0.14312086 -0.13156981 1.37022966] [ 0.14940291 0.98800169 0.03913347 -0.05683321] [ 0.12439038 -0.05804375 0.99053418 0.05399131] [ 0. 0. 0. 1. ]] SLAMing on 13.039072329 meters Centerline goodness : 0.796006 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.07, Z:0.05 [[ 0.97986925 -0.14998403 -0.13176134 1.37442508] [ 0.15600333 0.98707985 0.03655588 -0.07000779] [ 0.12457616 -0.05637519 0.9906072 0.05494589] [ 0. 0. 0. 1. ]] SLAMing on 13.099072329 meters Centerline goodness : 0.795441 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.08, Z:0.06 [[ 0.97879924 -0.15745959 -0.13099055 1.37441994] [ 0.16320687 0.98599563 0.0342948 -0.08417047] [ 0.12375607 -0.05494628 0.99079026 0.05900464] [ 0. 0. 0. 1. ]] SLAMing on 13.159072328999999 meters Centerline goodness : 0.796305 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.10, Z:0.06 [[ 0.97699679 -0.16895612 -0.1301196 1.377421 ] [ 0.17388648 0.98438367 0.02742771 -0.09751122] [ 0.12345353 -0.04942282 0.99111887 0.06069662] [ 0. 0. 0. 1. ]] SLAMing on 13.219072329 meters Centerline goodness : 0.795416 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.11, Z:0.06 [[ 0.97491604 -0.18098512 -0.1295496 1.38163614] [ 0.18495102 0.98256085 0.01916509 -0.10692271] [ 0.12382176 -0.04264468 0.99138772 0.0612798 ] [ 0. 0. 0. 1. ]] SLAMing on 13.279072329 meters Centerline goodness : 0.796780 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.11, Z:0.06 [[ 0.97353627 -0.18865248 -0.12898591 1.3840172 ] [ 0.1919879 0.98129999 0.01381939 -0.11461507] [ 0.12396681 -0.03821741 0.99155013 0.06187613] [ 0. 0. 0. 1. ]] SLAMing on 13.339072329 meters Centerline goodness : 0.798231 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:0.06 [[ 0.97345836 -0.19342867 -0.12232814 1.40111415] [ 0.19682597 0.98030443 0.01620974 -0.12651572] [ 0.11678339 -0.03985687 0.99235733 0.06156641] [ 0. 0. 0. 1. ]] SLAMing on 13.399072329 meters Centerline goodness : 0.795989 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.13, Z:0.06 [[ 0.97285916 -0.19651782 -0.12217121 1.4035891 ] [ 0.19975232 0.97973623 0.01469451 -0.13447784] [ 0.11680782 -0.03869967 0.99240026 0.06119338] [ 0. 0. 0. 1. ]] SLAMing on 13.459072329 meters Centerline goodness : 0.794747 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.15, Z:0.06 [[ 0.97220069 -0.19971507 -0.12222814 1.40696038] [ 0.20294386 0.97908397 0.0144348 -0.14589623] [ 0.11678877 -0.03883898 0.99239706 0.06028105] [ 0. 0. 0. 1. ]] SLAMing on 13.519072329 meters Centerline goodness : 0.793485 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.15, Z:0.06 [[ 0.97168328 -0.20226567 -0.12214831 1.40833866] [ 0.20534046 0.97860427 0.01299928 -0.15360805] [ 0.11690555 -0.03771317 0.99242673 0.06117572] [ 0. 0. 0. 1. ]] SLAMing on 13.579072328999999 meters Centerline goodness : 0.793562 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.17, Z:0.06 [[ 0.9714871 -0.20296612 -0.12254616 1.41232626] [ 0.20611054 0.97843672 0.01341722 -0.16539679] [ 0.11718042 -0.03829271 0.99237212 0.06054893] [ 0. 0. 0. 1. ]] SLAMing on 13.639072329 meters Centerline goodness : 0.794698 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.17, Z:0.06 [[ 0.9718699 -0.20071947 -0.12320951 1.41390509] [ 0.20424334 0.97878044 0.01653823 -0.17314455] [ 0.11727551 -0.04123773 0.99224287 0.06087928] [ 0. 0. 0. 1. ]] SLAMing on 13.699072329 meters Centerline goodness : 0.794536 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.18, Z:0.06 [[ 0.97158742 -0.20031 -0.12607054 1.42148083] [ 0.20374892 0.97891028 0.01486765 -0.17818538] [ 0.12043361 -0.04013196 0.99190986 0.06308129] [ 0. 0. 0. 1. ]] SLAMing on 13.759072329 meters Centerline goodness : 0.793494 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.19, Z:0.07 [[ 0.97069701 -0.20256219 -0.1292899 1.43275457] [ 0.20544218 0.97862601 0.00920006 -0.18898477] [ 0.12466287 -0.03549207 0.99156416 0.06756144] [ 0. 0. 0. 1. ]] SLAMing on 13.819072328999999 meters Centerline goodness : 0.795119 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.20, Z:0.07 [[ 0.96952802 -0.20857134 -0.12850449 1.43474422] [ 0.21101147 0.97746798 0.00552294 -0.20169132] [ 0.1244571 -0.03247057 0.99169355 0.06849746] [ 0. 0. 0. 1. ]] SLAMing on 13.879072329 meters Centerline goodness : 0.794365 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.21, Z:0.07 [[ 0.96919162 -0.21397514 -0.12199281 1.44836305] [ 0.21690627 0.97612912 0.01111849 -0.21146281] [ 0.11670165 -0.03723695 0.99246871 0.066605 ] [ 0. 0. 0. 1. ]] SLAMing on 13.939072329 meters Centerline goodness : 0.796114 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:0.07 [[ 0.96736217 -0.22647582 -0.11366238 1.46337045] [ 0.22904464 0.97336557 0.00990088 -0.22975627] [ 0.10839273 -0.0356115 0.9934701 0.06557713] [ 0. 0. 0. 1. ]] SLAMing on 13.999072328999999 meters Centerline goodness : 0.793923 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.25, Z:0.06 [[ 0.96344928 -0.24245381 -0.11393696 1.47451375] [ 0.24437632 0.96967581 0.00300688 -0.25076477] [ 0.10975289 -0.03074047 0.99348343 0.06068472] [ 0. 0. 0. 1. ]] SLAMing on 14.059072329 meters Centerline goodness : 0.796953 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.26, Z:0.06 [[ 9.61613361e-01 -2.50080533e-01 -1.12957831e-01 1.47756980e+00] [ 2.51598516e-01 9.67831326e-01 -8.43497049e-04 -2.64273779e-01] [ 1.09535070e-01 -2.76089047e-02 9.93599425e-01 6.15037104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119072329 meters Centerline goodness : 0.799092 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.29, Z:0.07 [[ 9.59991247e-01 -2.58180579e-01 -1.08441661e-01 1.47116144e+00] [ 2.59864707e-01 9.65643945e-01 1.45084075e-03 -2.88374539e-01] [ 1.04341454e-01 -2.95729549e-02 9.94101756e-01 6.83586811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179072329 meters Centerline goodness : 0.797932 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.30, Z:0.07 [[ 0.95853286 -0.26390839 -0.10755052 1.47306159] [ 0.26523396 0.96418191 -0.00204771 -0.30064118] [ 0.10423868 -0.02656325 0.99419751 0.0702579 ] [ 0. 0. 0. 1. ]] SLAMing on 14.239072328999999 meters Centerline goodness : 0.799721 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.32, Z:0.07 [[ 0.95817814 -0.26611201 -0.10525711 1.47680212] [ 0.26717953 0.96363811 -0.00408611 -0.3212522 ] [ 0.10251712 -0.02420733 0.99443665 0.06664063] [ 0. 0. 0. 1. ]] SLAMing on 14.299072329 meters Centerline goodness : 0.798619 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.34, Z:0.07 [[ 0.95826946 -0.26600254 -0.10470094 1.47734431] [ 0.26723668 0.96362813 -0.00231882 -0.33664731] [ 0.10150958 -0.02575788 0.99450105 0.06782191] [ 0. 0. 0. 1. ]] SLAMing on 14.359072329 meters Centerline goodness : 0.800988 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.36, Z:0.07 [[ 0.95958227 -0.26311573 -0.09985983 1.46467174] [ 0.26412752 0.9644825 -0.00318881 -0.35859834] [ 0.09715208 -0.02331581 0.9949964 0.06899349] [ 0. 0. 0. 1. ]] SLAMing on 14.419072328999999 meters Centerline goodness : 0.801695 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.37, Z:0.07 [[ 9.60129869e-01 -2.60716650e-01 -1.00883414e-01 1.46637224e+00] [ 2.62080494e-01 9.65045978e-01 2.75126006e-04 -3.68295699e-01] [ 9.72854032e-02 -2.67037317e-02 9.94898216e-01 7.03048714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479072329 meters Centerline goodness : 0.800215 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.37, Z:0.07 [[ 0.96035837 -0.25968907 -0.10135771 1.46713879] [ 0.2611777 0.96528962 0.00147037 -0.37103828] [ 0.09745771 -0.02788446 0.99484896 0.07066786] [ 0. 0. 0. 1. ]] SLAMing on 14.539072329 meters Centerline goodness : 0.802519 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.38, Z:0.07 [[ 0.96464612 -0.24603175 -0.09447879 1.46230504] [ 0.24690895 0.96903553 -0.0024741 -0.38421134] [ 0.09216201 -0.02094103 0.9955238 0.0693174 ] [ 0. 0. 0. 1. ]] SLAMing on 14.599072329 meters Centerline goodness : 0.803345 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.40, Z:0.07 [[ 0.96712535 -0.23736795 -0.09124153 1.45290306] [ 0.23853837 0.97113104 0.00198504 -0.39975868] [ 0.08813629 -0.02368439 0.99582681 0.06692342] [ 0. 0. 0. 1. ]] SLAMing on 14.659072328999999 meters Centerline goodness : 0.803131 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.40, Z:0.07 [[ 0.96970004 -0.22876666 -0.08571843 1.45734396] [ 0.22947038 0.97331419 -0.00168457 -0.40304493] [ 0.08381633 -0.01803631 0.99631798 0.06742981] [ 0. 0. 0. 1. ]] SLAMing on 14.719072329 meters Centerline goodness : 0.804498 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.41, Z:0.06 [[ 0.97457146 -0.20933341 -0.07993741 1.4516227 ] [ 0.20969508 0.9777589 -0.00393761 -0.40751352] [ 0.07898379 -0.012925 0.99679211 0.06232629] [ 0. 0. 0. 1. ]] SLAMing on 14.779072329 meters Centerline goodness : 0.801762 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.40, Z:0.06 [[ 0.97913555 -0.18590245 -0.08206001 1.46598848] [ 0.18586026 0.9825418 -0.00822 -0.40372696] [ 0.08215551 -0.0072032 0.99659349 0.06141764] [ 0. 0. 0. 1. ]] SLAMing on 14.839072329 meters Centerline goodness : 0.801119 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.40, Z:0.06 [[ 9.82371127e-01 -1.69993767e-01 -7.77758839e-02 1.48609935e+00] [ 1.69450468e-01 9.85445124e-01 -1.35810851e-02 -3.96543842e-01] [ 7.89525654e-02 1.62505882e-04 9.96878361e-01 6.36440245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899072329 meters Centerline goodness : 0.802777 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.36, Z:0.06 [[ 0.98789146 -0.14609468 -0.05221878 1.53962218] [ 0.14233096 0.98736074 -0.06971847 -0.36203918] [ 0.06174427 0.06144193 0.99619904 0.06242196] [ 0. 0. 0. 1. ]] SLAMing on 14.959072329 meters Centerline goodness : 0.801932 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.31, Z:0.06 [[ 0.99190179 -0.12468395 -0.02418148 1.59432455] [ 0.11974214 0.98152748 -0.14921667 -0.31127714] [ 0.04233971 0.14511275 0.9885088 0.05798645] [ 0. 0. 0. 1. ]] SLAMing on 15.019072329 meters Centerline goodness : 0.802478 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.28, Z:0.06 [[ 0.99384855 -0.11071891 0.00252783 1.6244001 ] [ 0.10872928 0.97114251 -0.21227381 -0.27654225] [ 0.02104784 0.21124287 0.97720696 0.05696162] [ 0. 0. 0. 1. ]] SLAMing on 15.079072328999999 meters Centerline goodness : 0.802883 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.27, Z:0.06 [[ 0.99443576 -0.10524341 0.00461951 1.61676876] [ 0.10384789 0.97199668 -0.2108034 -0.27396544] [ 0.01769552 0.21011016 0.97751756 0.06490298] [ 0. 0. 0. 1. ]] SLAMing on 15.139072329 meters Centerline goodness : 0.802547 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.27, Z:0.07 [[ 9.94662071e-01 -1.03176801e-01 -1.38253318e-03 1.59811631e+00] [ 1.00610382e-01 9.72721669e-01 -2.09021781e-01 -2.73547034e-01] [ 2.29110187e-02 2.07766940e-01 9.77910008e-01 6.79892802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199072329 meters Centerline goodness : 0.800152 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.27, Z:0.07 [[ 0.99447078 -0.10475854 -0.00731496 1.57965353] [ 0.10082915 0.97199226 -0.21228408 -0.26885273] [ 0.02934866 0.21037275 0.97718062 0.0737408 ] [ 0. 0. 0. 1. ]] SLAMing on 15.259072329 meters Centerline goodness : 0.800815 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.27, Z:0.08 [[ 0.99376237 -0.1107835 -0.01278173 1.56682472] [ 0.10573949 0.97247296 -0.20764274 -0.27439185] [ 0.03543328 0.20499601 0.97812122 0.07968185] [ 0. 0. 0. 1. ]] SLAMing on 15.319072328999999 meters Centerline goodness : 0.801462 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.27, Z:0.09 [[ 0.99273041 -0.11934323 -0.0156053 1.57210156] [ 0.11332829 0.9705144 -0.21274046 -0.26785494] [ 0.0405343 0.2094254 0.97698412 0.0875036 ] [ 0. 0. 0. 1. ]] SLAMing on 15.379072329 meters Centerline goodness : 0.801780 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.26, Z:0.09 [[ 0.99188114 -0.12676148 -0.01016546 1.59298272] [ 0.12172929 0.96954724 -0.21250912 -0.26043795] [ 0.03679386 0.20954635 0.97710621 0.09379784] [ 0. 0. 0. 1. ]] SLAMing on 15.439072329 meters Centerline goodness : 0.803981 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.26, Z:0.09 [[ 0.98969428 -0.14273728 -0.01145856 1.60047238] [ 0.13739158 0.9690817 -0.20494928 -0.26467283] [ 0.04035818 0.20126283 0.97870552 0.09460256] [ 0. 0. 0. 1. ]] SLAMing on 15.499072328999999 meters Centerline goodness : 0.803674 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.27, Z:0.10 [[ 0.98777021 -0.15493968 -0.01742705 1.61630608] [ 0.14889542 0.97054181 -0.18941685 -0.26712312] [ 0.04626187 0.18450551 0.9817421 0.09615491] [ 0. 0. 0. 1. ]] SLAMing on 15.559072329 meters Centerline goodness : 0.799022 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.27, Z:0.10 [[ 0.9846606 -0.17245484 -0.02651107 1.63471668] [ 0.16588784 0.97239349 -0.16411013 -0.26629049] [ 0.05408078 0.15719491 0.98608571 0.09710147] [ 0. 0. 0. 1. ]] SLAMing on 15.619072329 meters Centerline goodness : 0.800207 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.26, Z:0.11 [[ 0.98333726 -0.17990574 -0.02611046 1.64853546] [ 0.17385215 0.97262667 -0.1541843 -0.26390305] [ 0.05313437 0.14707581 0.98769704 0.10597438] [ 0. 0. 0. 1. ]] SLAMing on 15.679072329 meters Centerline goodness : 0.799716 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.26, Z:0.11 [[ 0.98267631 -0.18356604 -0.02551047 1.65594145] [ 0.17790392 0.97289575 -0.14772968 -0.26330478] [ 0.05193718 0.14063204 0.98869872 0.1098221 ] [ 0. 0. 0. 1. ]] SLAMing on 15.739072328999999 meters Centerline goodness : 0.801701 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.25, Z:0.11 [[ 0.98149419 -0.18913984 -0.02992109 1.67285333] [ 0.18370636 0.97412519 -0.13165138 -0.25475053] [ 0.05404741 0.12371837 0.99084441 0.10629496] [ 0. 0. 0. 1. ]] SLAMing on 15.799072329 meters Centerline goodness : 0.801514 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.24, Z:0.11 [[ 0.98141587 -0.18890795 -0.0337146 1.68939125] [ 0.18383302 0.97595428 -0.11712672 -0.2429236 ] [ 0.05503008 0.10875216 0.99254454 0.11251586] [ 0. 0. 0. 1. ]] SLAMing on 15.859072329 meters Centerline goodness : 0.799737 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.24, Z:0.12 [[ 0.98106525 -0.18966943 -0.03919809 1.70302763] [ 0.18460745 0.97697902 -0.10692096 -0.23504292] [ 0.05857535 0.09766018 0.99349455 0.12090957] [ 0. 0. 0. 1. ]] SLAMing on 15.919072328999999 meters Centerline goodness : 0.800859 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.22, Z:0.12 [[ 0.98095269 -0.18934363 -0.04336826 1.71232408] [ 0.18393311 0.97720463 -0.10601758 -0.21951878] [ 0.06245342 0.09602137 0.99341807 0.12110937] [ 0. 0. 0. 1. ]] SLAMing on 15.979072329 meters Centerline goodness : 0.798291 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.19, Z:0.12 [[ 0.98203203 -0.18462948 -0.03905175 1.75112966] [ 0.17941728 0.97759395 -0.11008864 -0.1923894 ] [ 0.05850236 0.10110401 0.99315429 0.12204768] [ 0. 0. 0. 1. ]] SLAMing on 16.039072329 meters Centerline goodness : 0.798984 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:0.13 [[ 0.98285168 -0.18122488 -0.03406049 1.78953507] [ 0.17643225 0.97791603 -0.11203522 -0.17246789] [ 0.05361187 0.10410463 0.99312033 0.12547585] [ 0. 0. 0. 1. ]] SLAMing on 16.099072329 meters Centerline goodness : 0.799332 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.15, Z:0.13 [[ 0.98361878 -0.17771685 -0.03017973 1.82699021] [ 0.17321795 0.97818785 -0.11464761 -0.14638873] [ 0.04989626 0.10754187 0.99294769 0.12883343] [ 0. 0. 0. 1. ]] SLAMing on 16.159072329 meters Centerline goodness : 0.799532 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.13, Z:0.13 [[ 0.98338226 -0.17848143 -0.03322224 1.85931823] [ 0.17373259 0.97827405 -0.11312326 -0.12919849] [ 0.05269085 0.10547162 0.99302538 0.13081976] [ 0. 0. 0. 1. ]] SLAMing on 16.219072329 meters Centerline goodness : 0.798423 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:0.13 [[ 0.98302338 -0.17987653 -0.03618652 1.86666703] [ 0.17508424 0.97859373 -0.10816571 -0.11576575] [ 0.05486837 0.09999373 0.99347406 0.13268853] [ 0. 0. 0. 1. ]] SLAMing on 16.279072328999998 meters Centerline goodness : 0.798872 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.10, Z:0.14 [[ 0.9825696 -0.18260368 -0.03482632 1.89386673] [ 0.17806444 0.97831753 -0.10577271 -0.10197764] [ 0.05338569 0.09772772 0.99378029 0.13696849] [ 0. 0. 0. 1. ]] SLAMing on 16.339072329 meters Centerline goodness : 0.803007 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.08, Z:0.14 [[ 0.98338398 -0.17771962 -0.03703616 1.90294359] [ 0.17406359 0.98100267 -0.08564825 -0.0826454 ] [ 0.05155395 0.07777847 0.99563683 0.14447106] [ 0. 0. 0. 1. ]] SLAMing on 16.399072329 meters Centerline goodness : 0.802354 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.08, Z:0.15 [[ 0.9834605 -0.17606072 -0.0425214 1.91298619] [ 0.17244275 0.98196657 -0.07749287 -0.07713703] [ 0.05539804 0.06887867 0.99608573 0.14870434] [ 0. 0. 0. 1. ]] SLAMing on 16.459072328999998 meters Centerline goodness : 0.803647 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.07, Z:0.15 [[ 0.98331098 -0.17763344 -0.03931762 1.90595903] [ 0.17422664 0.98163926 -0.07764948 -0.06717708] [ 0.05238886 0.06950341 0.99620514 0.14617379] [ 0. 0. 0. 1. ]] SLAMing on 16.519072329 meters Centerline goodness : 0.803880 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.06, Z:0.15 [[ 0.98215618 -0.18436611 -0.03712652 1.91206278] [ 0.18133992 0.98071487 -0.07289842 -0.05555957] [ 0.04985052 0.06486511 0.9966481 0.14655622] [ 0. 0. 0. 1. ]] SLAMing on 16.579072329 meters Centerline goodness : 0.802355 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.05, Z:0.15 [[ 0.98145001 -0.18875911 -0.03355406 1.91131801] [ 0.18652801 0.98058993 -0.06042092 -0.04941423] [ 0.04430778 0.05304133 0.99760886 0.14549522] [ 0. 0. 0. 1. ]] SLAMing on 16.639072329 meters Centerline goodness : 0.803176 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.04, Z:0.14 [[ 0.98081149 -0.19272902 -0.02939987 1.91106263] [ 0.19115082 0.98031651 -0.04940558 -0.03920477] [ 0.03834306 0.04283775 0.998346 0.14482857] [ 0. 0. 0. 1. ]] SLAMing on 16.699072329 meters Centerline goodness : 0.803538 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.03, Z:0.15 [[ 0.97978561 -0.19805826 -0.02816165 1.90916166] [ 0.19629814 0.9789716 -0.05551252 -0.03434492] [ 0.03856417 0.04886228 0.99806076 0.1463363 ] [ 0. 0. 0. 1. ]] SLAMing on 16.759072329 meters Centerline goodness : 0.803773 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.03, Z:0.15 [[ 0.9792065 -0.20144058 -0.02400671 1.91204566] [ 0.20023252 0.97870957 -0.04510557 -0.02603072] [ 0.03258169 0.03936074 0.99869373 0.14553413] [ 0. 0. 0. 1. ]] SLAMing on 16.819072329 meters Centerline goodness : 0.803120 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:0.14 [[ 0.98028497 -0.19597081 -0.02523521 1.91239292] [ 0.19487558 0.97999877 -0.04032264 -0.01725615] [ 0.03263254 0.03460995 0.99886799 0.1439963 ] [ 0. 0. 0. 1. ]] SLAMing on 16.879072329 meters Centerline goodness : 0.803530 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.01, Z:0.14 [[ 0.98094919 -0.1929398 -0.02264779 1.90516764] [ 0.19204599 0.9807027 -0.03661366 -0.00850368] [ 0.02927498 0.03156672 0.99907283 0.14084785] [ 0. 0. 0. 1. ]] SLAMing on 16.939072329 meters Centerline goodness : 0.805446 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.01, Z:0.14 [[ 0.98118165 -0.1920235 -0.02023711 1.89681948] [ 0.19122845 0.98089238 -0.03580264 0.00504642] [ 0.02672537 0.03125898 0.99915396 0.1397328 ] [ 0. 0. 0. 1. ]] SLAMing on 16.999072329 meters Centerline goodness : 0.804294 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:0.14 [[ 0.98094464 -0.19233457 -0.02747782 1.89068253] [ 0.19169791 0.98115548 -0.02420414 0.01047407] [ 0.03161531 0.01847548 0.99932934 0.14135367] [ 0. 0. 0. 1. ]] SLAMing on 17.059072329 meters Centerline goodness : 0.805202 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:0.14 [[ 0.98043173 -0.19497421 -0.02717856 1.88958212] [ 0.19419148 0.98053547 -0.0289802 0.02337064] [ 0.03229994 0.02313526 0.99921043 0.14120804] [ 0. 0. 0. 1. ]] SLAMing on 17.119072328999998 meters Centerline goodness : 0.808527 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.04, Z:0.14 [[ 0.97938953 -0.20067505 -0.02292748 1.87530775] [ 0.19993022 0.97931453 -0.03116016 0.03694316] [ 0.02870628 0.02593404 0.99925141 0.14160352] [ 0. 0. 0. 1. ]] SLAMing on 17.179072329 meters Centerline goodness : 0.811154 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.04, Z:0.14 [[ 0.97878109 -0.20353221 -0.02371092 1.87756366] [ 0.20268397 0.97865585 -0.03394015 0.04290599] [ 0.03011275 0.02841415 0.99914256 0.14093042] [ 0. 0. 0. 1. ]] SLAMing on 17.239072329 meters Centerline goodness : 0.810246 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.05, Z:0.14 [[ 0.97727618 -0.21067846 -0.02336347 1.87868714] [ 0.20961898 0.97691908 -0.04109743 0.05054663] [ 0.03148257 0.03526612 0.99888195 0.14094773] [ 0. 0. 0. 1. ]] SLAMing on 17.299072329 meters Centerline goodness : 0.811143 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:0.14 [[ 0.97666454 -0.21343431 -0.02392027 1.87817409] [ 0.21224709 0.97620717 -0.04439293 0.06198029] [ 0.03282612 0.03827999 0.99872773 0.14255881] [ 0. 0. 0. 1. ]] SLAMing on 17.359072329 meters Centerline goodness : 0.810572 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.06, Z:0.14 [[ 0.97680347 -0.2130146 -0.02190366 1.87181219] [ 0.21196718 0.97635767 -0.04237468 0.06453364] [ 0.03041223 0.03674888 0.99886166 0.14238658] [ 0. 0. 0. 1. ]] SLAMing on 17.419072329 meters Centerline goodness : 0.811342 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:0.14 [[ 0.97643172 -0.21466758 -0.0223365 1.87274432] [ 0.2135709 0.97596193 -0.04342569 0.06560091] [ 0.03112166 0.0376318 0.99880693 0.14273415] [ 0. 0. 0. 1. ]] SLAMing on 17.479072329 meters Centerline goodness : 0.813786 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:0.14 [[ 0.97590992 -0.21741601 -0.01816866 1.86368131] [ 0.21648687 0.97533623 -0.04304267 0.06688343] [ 0.02707872 0.03807249 0.99890802 0.14016634] [ 0. 0. 0. 1. ]] SLAMing on 17.539072329 meters Centerline goodness : 0.812025 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:0.14 [[ 0.97561341 -0.21866221 -0.01911298 1.86623769] [ 0.21767106 0.97503237 -0.04394516 0.07033387] [ 0.02824492 0.03871315 0.9988511 0.13928488] [ 0. 0. 0. 1. ]] SLAMing on 17.599072329 meters Centerline goodness : 0.812190 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.07, Z:0.14 [[ 0.97552354 -0.21907818 -0.01893598 1.86601655] [ 0.2181066 0.97495573 -0.04348378 0.0662845 ] [ 0.02798808 0.03828939 0.99887466 0.13969236] [ 0. 0. 0. 1. ]] SLAMing on 17.659072329 meters Centerline goodness : 0.815054 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.06, Z:0.14 [[ 0.97622695 -0.21588587 -0.01934494 1.86339289] [ 0.21501129 0.97581218 -0.03950608 0.06390055] [ 0.02740584 0.03440752 0.99903205 0.14232511] [ 0. 0. 0. 1. ]] SLAMing on 17.719072329 meters Centerline goodness : 0.817190 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.07, Z:0.14 [[ 0.97785658 -0.20818334 -0.02135882 1.86268011] [ 0.20744981 0.97771536 -0.03220641 0.06732622] [ 0.02758768 0.02706237 0.99925299 0.14379819] [ 0. 0. 0. 1. ]] SLAMing on 17.779072328999998 meters Centerline goodness : 0.815251 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.06, Z:0.14 [[ 0.97858156 -0.20396112 -0.02789236 1.84726575] [ 0.20311256 0.97868044 -0.03049412 0.05993054] [ 0.03351732 0.0241757 0.9991457 0.14380112] [ 0. 0. 0. 1. ]] SLAMing on 17.839072329 meters Centerline goodness : 0.818871 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.06, Z:0.14 [[ 0.98021878 -0.19562371 -0.03004183 1.84778066] [ 0.19502209 0.98055597 -0.02182597 0.05925019] [ 0.03372738 0.01553541 0.99931032 0.14458155] [ 0. 0. 0. 1. ]] SLAMing on 17.899072329 meters Centerline goodness : 0.816318 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.06, Z:0.15 [[ 0.98118667 -0.18914567 -0.03868628 1.83406475] [ 0.18860929 0.98190319 -0.01710719 0.05586011] [ 0.04122193 0.00948875 0.99910496 0.14546987] [ 0. 0. 0. 1. ]] SLAMing on 17.959072328999998 meters Centerline goodness : 0.815057 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:0.15 [[ 0.98151397 -0.18746259 -0.03857592 1.83431578] [ 0.18703034 0.98224628 -0.01455681 0.04856674] [ 0.04061991 0.00707284 0.99914964 0.14545421] [ 0. 0. 0. 1. ]] SLAMing on 18.019072329 meters Centerline goodness : 0.815465 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.05, Z:0.14 [[ 0.98147685 -0.18725966 -0.04045996 1.83955879] [ 0.18689713 0.98229871 -0.01259781 0.04575831] [ 0.04210282 0.00480261 0.99910174 0.14390149] [ 0. 0. 0. 1. ]] SLAMing on 18.079072329 meters Centerline goodness : 0.811472 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:0.15 [[ 0.98055769 -0.1897037 -0.05019092 1.831003 ] [ 0.1892578 0.98183413 -0.01353596 0.03886573] [ 0.05184698 0.00377376 0.99864791 0.14563247] [ 0. 0. 0. 1. ]] SLAMing on 18.139072329 meters Centerline goodness : 0.812713 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:0.15 [[ 0.9790798 -0.19759056 -0.04858728 1.82990468] [ 0.19687394 0.98024148 -0.01916467 0.0277952 ] [ 0.05141403 0.00919817 0.99863506 0.14844411] [ 0. 0. 0. 1. ]] SLAMing on 18.199072329 meters Centerline goodness : 0.813208 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.02, Z:0.15 [[ 0.97743955 -0.20718706 -0.04105435 1.84079676] [ 0.20667577 0.97827243 -0.01637622 0.01914223] [ 0.04355528 0.00752183 0.9990227 0.14783481] [ 0. 0. 0. 1. ]] SLAMing on 18.259072329 meters Centerline goodness : 0.810909 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.01, Z:0.15 [[ 0.97677107 -0.21030422 -0.04111463 1.84386193] [ 0.20971088 0.97759224 -0.01829648 0.01404141] [ 0.04404117 0.00924929 0.9989869 0.14654574] [ 0. 0. 0. 1. ]] SLAMing on 18.319072329 meters Centerline goodness : 0.809308 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.01, Z:0.14 [[ 0.97550942 -0.21613425 -0.04083336 1.84856074] [ 0.21533664 0.97626741 -0.02306682 0.00539027] [ 0.04484981 0.01370898 0.99889967 0.14497102] [ 0. 0. 0. 1. ]] SLAMing on 18.379072329 meters Centerline goodness : 0.807175 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.00, Z:0.14 [[ 0.97477457 -0.2194389 -0.04075667 1.85058209] [ 0.21859941 0.97551757 -0.02407854 -0.0027093 ] [ 0.04504262 0.01456176 0.99887893 0.14463537] [ 0. 0. 0. 1. ]] SLAMing on 18.439072329 meters Centerline goodness : 0.805013 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:0.14 [[ 0.97485296 -0.21895358 -0.0414854 1.85242499] [ 0.21819879 0.97565681 -0.02197907 -0.00928511] [ 0.04528791 0.0123743 0.99889733 0.14443884] [ 0. 0. 0. 1. ]] SLAMing on 18.499072329 meters Centerline goodness : 0.804874 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.14 [[ 0.97366944 -0.22565906 -0.03233885 1.8677492 ] [ 0.22491617 0.97405573 -0.02506285 -0.02690552] [ 0.0371555 0.0171294 0.99916268 0.14466582] [ 0. 0. 0. 1. ]] SLAMing on 18.559072329 meters Centerline goodness : 0.804869 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:0.15 [[ 0.97382246 -0.22496098 -0.03259401 1.86688271] [ 0.22427056 0.97424283 -0.02352933 -0.03123185] [ 0.03704766 0.01560351 0.99919167 0.14664275] [ 0. 0. 0. 1. ]] SLAMing on 18.619072328999998 meters Centerline goodness : 0.798825 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.04, Z:0.14 [[ 0.97453724 -0.22150784 -0.03480591 1.87470096] [ 0.22096567 0.97510099 -0.01876809 -0.03924268] [ 0.03809656 0.01059929 0.99921785 0.14189189] [ 0. 0. 0. 1. ]] SLAMing on 18.679072329 meters Centerline goodness : 0.793395 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.14 [[ 0.97432913 -0.22229244 -0.03562034 1.87849531] [ 0.22172769 0.97492076 -0.0191399 -0.04921187] [ 0.03898166 0.01075054 0.99918209 0.14227886] [ 0. 0. 0. 1. ]] SLAMing on 18.739072329 meters Centerline goodness : 0.791408 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.05, Z:0.15 [[ 0.97543675 -0.21723066 -0.03652392 1.8749738 ] [ 0.216853 0.97610316 -0.01404973 -0.05216741] [ 0.03870314 0.0057843 0.99923401 0.1465302 ] [ 0. 0. 0. 1. ]] SLAMing on 18.799072328999998 meters Centerline goodness : 0.787511 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.06, Z:0.15 [[ 0.97782343 -0.20580986 -0.03877674 1.87369738] [ 0.20583629 0.9785807 -0.00335279 -0.05634725] [ 0.0386362 -0.00470322 0.99924227 0.1492379 ] [ 0. 0. 0. 1. ]] SLAMing on 18.859072329 meters Centerline goodness : 0.783387 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.14 [[ 9.81772489e-01 -1.87213675e-01 -3.27691959e-02 1.85500317e+00] [ 1.87275075e-01 9.82306762e-01 -1.21277862e-03 -6.26412317e-02] [ 3.24164515e-02 -4.94618096e-03 9.99462210e-01 1.42955183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919072329 meters Centerline goodness : 0.779716 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.14 [[ 0.9834117 -0.1780277 -0.03474993 1.85569476] [ 0.17838168 0.98393398 0.00734203 -0.06286113] [ 0.03288455 -0.01341899 0.99936907 0.14342348] [ 0. 0. 0. 1. ]] SLAMing on 18.979072329 meters Centerline goodness : 0.773263 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:0.14 [[ 0.98632594 -0.16090337 -0.03565457 1.82502237] [ 0.16137495 0.98683462 0.01074999 -0.0651816 ] [ 0.03345545 -0.01635674 0.99930635 0.14184836] [ 0. 0. 0. 1. ]] SLAMing on 19.039072329 meters Centerline goodness : 0.771417 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:0.15 [[ 0.98796151 -0.15023441 -0.03690081 1.82061768] [ 0.15107535 0.98829588 0.02115376 -0.06807928] [ 0.0332909 -0.0264739 0.99909501 0.14681333] [ 0. 0. 0. 1. ]] SLAMing on 19.099072329 meters Centerline goodness : 0.771714 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.08, Z:0.16 [[ 0.99047518 -0.13108175 -0.04214842 1.79418943] [ 0.13293646 0.99011595 0.04470229 -0.07687163] [ 0.03587217 -0.04987957 0.99811082 0.15886355] [ 0. 0. 0. 1. ]] SLAMing on 19.159072329 meters Centerline goodness : 0.772030 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:0.16 [[ 0.99171582 -0.11833204 -0.04997268 1.78140291] [ 0.12070419 0.99155332 0.04746057 -0.06909342] [ 0.04393447 -0.05309931 0.99762229 0.16363366] [ 0. 0. 0. 1. ]] SLAMing on 19.219072329 meters Centerline goodness : 0.763497 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.07, Z:0.16 [[ 0.99220432 -0.1138522 -0.05067795 1.78215756] [ 0.11639219 0.99192604 0.05035471 -0.06556846] [ 0.04453578 -0.05586068 0.99744481 0.16266764] [ 0. 0. 0. 1. ]] SLAMing on 19.279072328999998 meters Centerline goodness : 0.767463 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.06, Z:0.17 [[ 0.99249728 -0.10864604 -0.05608192 1.77552136] [ 0.11086525 0.993105 0.0380966 -0.05609635] [ 0.05155619 -0.0440283 0.99769909 0.16669005] [ 0. 0. 0. 1. ]] SLAMing on 19.339072329 meters Centerline goodness : 0.769346 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.05, Z:0.17 [[ 0.99243752 -0.10965589 -0.05516657 1.77320444] [ 0.11167058 0.99313365 0.03486025 -0.04707292] [ 0.05096514 -0.04075711 0.99786843 0.16610422] [ 0. 0. 0. 1. ]] SLAMing on 19.399072329 meters Centerline goodness : 0.768536 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.04, Z:0.17 [[ 0.99236911 -0.1103064 -0.05510031 1.77280364] [ 0.1122219 0.99313629 0.03296286 -0.04137492] [ 0.0510861 -0.03889478 0.99793657 0.16583264] [ 0. 0. 0. 1. ]] SLAMing on 19.459072328999998 meters Centerline goodness : 0.766309 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.03, Z:0.17 [[ 0.99198412 -0.11331821 -0.05591494 1.7740941 ] [ 0.11509368 0.99291306 0.02961591 -0.03257813] [ 0.05216265 -0.03581397 0.9979962 0.16606673] [ 0. 0. 0. 1. ]] SLAMing on 19.519072329 meters Centerline goodness : 0.766450 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.03, Z:0.17 [[ 0.99031736 -0.12101255 -0.06802572 1.77190601] [ 0.12267241 0.99223003 0.02076181 -0.0273266 ] [ 0.06498472 -0.02890566 0.99746752 0.16914141] [ 0. 0. 0. 1. ]] SLAMing on 19.579072329 meters Centerline goodness : 0.773289 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.02, Z:0.17 [[ 0.98952019 -0.12729851 -0.06815343 1.77325036] [ 0.12863342 0.99157025 0.0155524 -0.02421787] [ 0.06559912 -0.02415622 0.99755362 0.16959721] [ 0. 0. 0. 1. ]] SLAMing on 19.639072329 meters Centerline goodness : 0.774333 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.02, Z:0.17 [[ 0.98896374 -0.13147774 -0.0682958 1.7711852 ] [ 0.13262897 0.99108585 0.0125852 -0.01698812] [ 0.06603233 -0.02150431 0.99758573 0.17306785] [ 0. 0. 0. 1. ]] SLAMing on 19.699072329 meters Centerline goodness : 0.777483 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.01, Z:0.17 [[ 0.9888685 -0.13218716 -0.06830549 1.77123539] [ 0.13323218 0.99102428 0.01095695 -0.0132054 ] [ 0.06624403 -0.01993547 0.99760428 0.17279269] [ 0. 0. 0. 1. ]] SLAMing on 19.759072329 meters Centerline goodness : 0.776843 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.00, Z:0.18 [[ 0.98893523 -0.126281 -0.07784747 1.76407922] [ 0.12727196 0.99183654 0.00788234 -0.00479308] [ 0.07621658 -0.01770293 0.99693412 0.17548663] [ 0. 0. 0. 1. ]] SLAMing on 19.819072329 meters Centerline goodness : 0.779835 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.00, Z:0.18 [[ 0.98934607 -0.11647228 -0.08734158 1.75658748] [ 0.11755914 0.99303841 0.00738732 0.00478359] [ 0.08587313 -0.01757642 0.99615103 0.17823968] [ 0. 0. 0. 1. ]] SLAMing on 19.879072329 meters Centerline goodness : 0.784622 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.01, Z:0.18 [[ 0.9901046 -0.11081982 -0.08609213 1.75246704] [ 0.11198945 0.99366988 0.008862 0.01142757] [ 0.08456507 -0.01841572 0.99624777 0.17773361] [ 0. 0. 0. 1. ]] SLAMing on 19.939072329 meters Centerline goodness : 0.793033 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.02, Z:0.18 [[ 0.99174079 -0.09880445 -0.08177943 1.74294826] [ 0.09995914 0.9949399 0.01013779 0.02456345] [ 0.08036396 -0.01822867 0.99659889 0.17728142] [ 0. 0. 0. 1. ]] SLAMing on 19.999072329 meters Centerline goodness : 0.799035 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.04, Z:0.17 [[ 0.99277522 -0.08625162 -0.08341475 1.74544213] [ 0.0879195 0.99599049 0.01652597 0.03984627] [ 0.0816549 -0.02374036 0.99637788 0.17347368] [ 0. 0. 0. 1. ]] SLAMing on 20.059072329 meters Centerline goodness : 0.800352 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.05, Z:0.17 [[ 0.99311971 -0.08147159 -0.08411674 1.74830173] [ 0.08318122 0.99638912 0.01701798 0.04902315] [ 0.08242652 -0.02389783 0.99631058 0.16885673] [ 0. 0. 0. 1. ]] SLAMing on 20.119072328999998 meters Centerline goodness : 0.804444 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.07, Z:0.17 [[ 0.99412771 -0.07818707 -0.07481226 1.75640449] [ 0.07959926 0.99669724 0.01608014 0.06554391] [ 0.07330791 -0.02194072 0.99706798 0.16547249] [ 0. 0. 0. 1. ]] SLAMing on 20.179072329 meters Centerline goodness : 0.807544 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.08, Z:0.17 [[ 0.99445185 -0.07741813 -0.07121767 1.747696 ] [ 0.07827884 0.99688746 0.00937091 0.07856141] [ 0.07027052 -0.01489376 0.99741678 0.17017393] [ 0. 0. 0. 1. ]] SLAMing on 20.239072329 meters Centerline goodness : 0.810571 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.08, Z:0.17 [[ 0.99440195 -0.0763021 -0.07309416 1.75109156] [ 0.0773075 0.99694637 0.01102177 0.08484274] [ 0.07202998 -0.0166108 0.99726414 0.1703454 ] [ 0. 0. 0. 1. ]] SLAMing on 20.299072328999998 meters Centerline goodness : 0.811355 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.09, Z:0.17 [[ 0.99401059 -0.07964783 -0.07482754 1.75507284] [ 0.08047807 0.99672313 0.00814154 0.09253813] [ 0.07393388 -0.01411476 0.99716325 0.17010147] [ 0. 0. 0. 1. ]] SLAMing on 20.359072329 meters Centerline goodness : 0.814797 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.10, Z:0.17 [[ 0.99319033 -0.08690944 -0.07758685 1.76128612] [ 0.08740291 0.99616858 0.00298085 0.10333845] [ 0.07703051 -0.00974187 0.99698114 0.17077625] [ 0. 0. 0. 1. ]] SLAMing on 20.419072329 meters Centerline goodness : 0.818339 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:0.17 [[ 0.99304799 -0.09401973 -0.07082364 1.77102738] [ 0.09476557 0.9954733 0.00723795 0.11445241] [ 0.06982253 -0.01389927 0.99746259 0.16884006] [ 0. 0. 0. 1. ]] SLAMing on 20.479072329 meters Centerline goodness : 0.820980 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.17 [[ 0.99260467 -0.09641344 -0.07375916 1.77552267] [ 0.09720599 0.99523807 0.00722346 0.12390102] [ 0.07271149 -0.01433987 0.99724992 0.17141749] [ 0. 0. 0. 1. ]] SLAMing on 20.539072329 meters Centerline goodness : 0.825046 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.17 [[ 0.9922678 -0.09860443 -0.07537756 1.78164645] [ 0.09929548 0.99504298 0.00546658 0.12692923] [ 0.07446488 -0.01290896 0.99714008 0.16821358] [ 0. 0. 0. 1. ]] SLAMing on 20.599072329 meters Centerline goodness : 0.824301 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.13, Z:0.17 [[ 0.99191974 -0.10019597 -0.07782034 1.78490694] [ 0.10113412 0.99483901 0.0081993 0.13058527] [ 0.07659718 -0.01600334 0.99693368 0.17205996] [ 0. 0. 0. 1. ]] SLAMing on 20.659072329 meters Centerline goodness : 0.824858 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:0.18 [[ 0.99189089 -0.0984948 -0.08031962 1.78633023] [ 0.09990786 0.99490157 0.0137584 0.13444742] [ 0.07855499 -0.0216714 0.9966742 0.17749993] [ 0. 0. 0. 1. ]] SLAMing on 20.719072329 meters Centerline goodness : 0.827615 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.14, Z:0.17 [[ 0.99205203 -0.09752071 -0.07951409 1.78766965] [ 0.09868791 0.99505901 0.01087453 0.13643224] [ 0.07806072 -0.01863518 0.99677442 0.17196379] [ 0. 0. 0. 1. ]] SLAMing on 20.779072328999998 meters Centerline goodness : 0.828315 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.14, Z:0.17 [[ 0.99205442 -0.09741571 -0.0796128 1.78926705] [ 0.09848465 0.99509224 0.00960294 0.13836134] [ 0.0782866 -0.01736728 0.99677961 0.16945893] [ 0. 0. 0. 1. ]] SLAMing on 20.839072329 meters Centerline goodness : 0.831608 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.14, Z:0.17 [[ 0.9920795 -0.095463 -0.08163991 1.79103738] [ 0.09686221 0.99520834 0.01334444 0.14234076] [ 0.07997482 -0.02114656 0.99657255 0.17256689] [ 0. 0. 0. 1. ]] SLAMing on 20.899072329 meters Centerline goodness : 0.831589 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.17 [[ 0.9928203 -0.09649494 -0.07068649 1.79386336] [ 0.09768025 0.99512628 0.01350014 0.14901684] [ 0.06903928 -0.02030789 0.99740722 0.17358043] [ 0. 0. 0. 1. ]] SLAMing on 20.959072328999998 meters Centerline goodness : 0.833522 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.17 [[ 0.99302856 -0.09477693 -0.07008284 1.7929585 ] [ 0.09590095 0.99530801 0.01284399 0.14951763] [ 0.06853669 -0.01947546 0.99745848 0.17198646] [ 0. 0. 0. 1. ]] SLAMing on 21.019072329 meters Centerline goodness : 0.836325 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.17 [[ 0.99328123 -0.0925748 -0.06944279 1.79398048] [ 0.09364847 0.99552858 0.01236134 0.14851786] [ 0.06798793 -0.0187815 0.99750935 0.16758531] [ 0. 0. 0. 1. ]] SLAMing on 21.079072329 meters Centerline goodness : 0.835855 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.15, Z:0.17 [[ 0.99340618 -0.08999998 -0.07102229 1.79430421] [ 0.09140027 0.99567399 0.01671242 0.15158532] [ 0.06921093 -0.02309368 0.99733471 0.17137164] [ 0. 0. 0. 1. ]] SLAMing on 21.139072328999998 meters Centerline goodness : 0.834950 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.17 [[ 0.99372892 -0.09338639 -0.06149654 1.80327816] [ 0.09424373 0.99548632 0.01118518 0.15584317] [ 0.06017443 -0.0169107 0.99804462 0.16935252] [ 0. 0. 0. 1. ]] SLAMing on 21.199072329 meters Centerline goodness : 0.836089 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.16 [[ 0.99425282 -0.08894413 -0.05958417 1.80175399] [ 0.08969444 0.99591879 0.01003321 0.1552309 ] [ 0.0584486 -0.01531992 0.99817286 0.16340852] [ 0. 0. 0. 1. ]] SLAMing on 21.259072329 meters Centerline goodness : 0.837126 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.16 [[ 0.99462557 -0.08533474 -0.05863408 1.79913825] [ 0.08607765 0.99623561 0.01025909 0.15628924] [ 0.0575379 -0.01525104 0.99822683 0.16244126] [ 0. 0. 0. 1. ]] SLAMing on 21.319072329 meters Centerline goodness : 0.836251 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.16, Z:0.16 [[ 0.99530639 -0.07664227 -0.05908594 1.79905985] [ 0.07773404 0.99683919 0.01640264 0.16047337] [ 0.05764204 -0.02091864 0.99811813 0.1609408 ] [ 0. 0. 0. 1. ]] SLAMing on 21.379072329 meters Centerline goodness : 0.835756 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.16, Z:0.16 [[ 0.99556278 -0.06995597 -0.06293584 1.81302286] [ 0.07117291 0.99731389 0.01730387 0.16046494] [ 0.06155628 -0.02170642 0.99786755 0.16013933] [ 0. 0. 0. 1. ]] SLAMing on 21.439072329 meters Centerline goodness : 0.839056 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.16, Z:0.17 [[ 0.99586718 -0.06412263 -0.06431827 1.82896768] [ 0.06492735 0.99783477 0.01049815 0.16410434] [ 0.06350584 -0.01463078 0.99787421 0.16639419] [ 0. 0. 0. 1. ]] SLAMing on 21.499072329 meters Centerline goodness : 0.839438 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:0.17 [[ 0.99635437 -0.05489658 -0.06530189 1.83012189] [ 0.05620203 0.99825126 0.01832341 0.16734432] [ 0.0641818 -0.02192671 0.99769731 0.16638987] [ 0. 0. 0. 1. ]] SLAMing on 21.559072329 meters Centerline goodness : 0.836371 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:0.16 [[ 0.99640038 -0.05286935 -0.06626554 1.8346976 ] [ 0.05426459 0.99833745 0.0194341 0.16891439] [ 0.0651279 -0.02296002 0.99761275 0.16357146] [ 0. 0. 0. 1. ]] SLAMing on 21.619072328999998 meters Centerline goodness : 0.838498 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.17, Z:0.16 [[ 0.99643271 -0.05073275 -0.0674392 1.84049422] [ 0.05225535 0.99841277 0.0210074 0.16772055] [ 0.06626639 -0.02445652 0.9975022 0.15971588] [ 0. 0. 0. 1. ]] SLAMing on 21.679072329 meters Centerline goodness : 0.839456 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.17, Z:0.16 [[ 0.99644627 -0.04941359 -0.06821389 1.84294453] [ 0.0509714 0.99847321 0.02128767 0.17174968] [ 0.06705784 -0.02468898 0.99744358 0.15909074] [ 0. 0. 0. 1. ]] SLAMing on 21.739072329 meters Centerline goodness : 0.840338 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:0.16 [[ 0.99713459 -0.04653518 -0.05964124 1.8525736 ] [ 0.04768705 0.99869946 0.01803688 0.1731059 ] [ 0.05872433 -0.02082931 0.99805691 0.15567882] [ 0. 0. 0. 1. ]] SLAMing on 21.799072328999998 meters Centerline goodness : 0.843155 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:0.16 [[ 0.99713277 -0.04613213 -0.05998385 1.85387277] [ 0.04728828 0.99871911 0.01799901 0.17378649] [ 0.05907669 -0.02078393 0.99803706 0.1550566 ] [ 0. 0. 0. 1. ]] SLAMing on 21.859072329 meters Centerline goodness : 0.844948 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.18, Z:0.16 [[ 0.99711611 -0.04616225 -0.06023715 1.8543909 ] [ 0.04730342 0.99872449 0.01765744 0.17524794] [ 0.05934521 -0.02045594 0.99802791 0.15518353] [ 0. 0. 0. 1. ]] SLAMing on 21.919072329 meters Centerline goodness : 0.846939 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.18, Z:0.15 [[ 0.99776092 -0.04621292 -0.04834791 1.86069918] [ 0.04706681 0.99875257 0.01667398 0.1759794 ] [ 0.04751705 -0.01891222 0.99869137 0.15086031] [ 0. 0. 0. 1. ]] SLAMing on 21.979072329 meters Centerline goodness : 0.851156 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.18, Z:0.15 [[ 0.99752615 -0.05082575 -0.04856247 1.86097472] [ 0.05145218 0.99860649 0.01173694 0.17929237] [ 0.04789826 -0.01420655 0.99875119 0.15177114] [ 0. 0. 0. 1. ]] SLAMing on 22.039072329 meters Centerline goodness : 0.848977 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.18, Z:0.15 [[ 0.99753607 -0.05396023 -0.04483403 1.88029451] [ 0.05480217 0.99833916 0.01776614 0.1775668 ] [ 0.0438009 -0.02017937 0.99883646 0.14609355] [ 0. 0. 0. 1. ]] SLAMing on 22.099072329 meters Centerline goodness : 0.849612 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.18, Z:0.14 [[ 0.99758976 -0.05718068 -0.03930695 1.8952026 ] [ 0.05815252 0.99801818 0.02404152 0.17657982] [ 0.03785434 -0.02626937 0.99893792 0.14156756] [ 0. 0. 0. 1. ]] SLAMing on 22.159072329 meters Centerline goodness : 0.847947 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.18, Z:0.14 [[ 0.99776225 -0.05965214 -0.03020127 1.90683717] [ 0.0602541 0.99799396 0.01942943 0.18014949] [ 0.02898168 -0.0212057 0.99935498 0.13642316] [ 0. 0. 0. 1. ]] SLAMing on 22.219072329 meters Centerline goodness : 0.848219 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.18, Z:0.13 [[ 0.99758484 -0.06392511 -0.02716751 1.92844159] [ 0.06452325 0.99767935 0.02174107 0.18187716] [ 0.02571466 -0.0234415 0.99939444 0.13243169] [ 0. 0. 0. 1. ]] SLAMing on 22.279072328999998 meters Centerline goodness : 0.847859 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.18, Z:0.13 [[ 0.99740061 -0.06646655 -0.02782486 1.93202396] [ 0.06699597 0.99758085 0.01854696 0.18410493] [ 0.02652479 -0.0203629 0.99944074 0.13047425] [ 0. 0. 0. 1. ]] SLAMing on 22.339072329 meters Centerline goodness : 0.848481 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.19, Z:0.13 [[ 0.99739784 -0.06628453 -0.02835331 1.93245711] [ 0.06679311 0.99761543 0.01738192 0.19024295] [ 0.02713354 -0.0192305 0.99944683 0.13160846] [ 0. 0. 0. 1. ]] SLAMing on 22.399072329 meters Centerline goodness : 0.846596 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:0.14 [[ 0.99726049 -0.06704821 -0.03124187 1.9401272 ] [ 0.06744346 0.99765363 0.01177308 0.19439075] [ 0.0303792 -0.01384789 0.99944251 0.1350179 ] [ 0. 0. 0. 1. ]] SLAMing on 22.459072328999998 meters Centerline goodness : 0.848739 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:0.13 [[ 0.9973196 -0.06577815 -0.03204465 1.9432035 ] [ 0.06618629 0.99773697 0.01184564 0.19676412] [ 0.03119295 -0.0139348 0.99941624 0.13350922] [ 0. 0. 0. 1. ]] SLAMing on 22.519072329 meters Centerline goodness : 0.844998 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.20, Z:0.13 [[ 0.9975095 -0.06225932 -0.03314472 1.94776547] [ 0.06277876 0.99791672 0.01486792 0.20026827] [ 0.03215001 -0.01691167 0.99933997 0.12998292] [ 0. 0. 0. 1. ]] SLAMing on 22.579072329 meters Centerline goodness : 0.841048 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.20, Z:0.13 [[ 0.99747702 -0.06193411 -0.03469531 1.95507202] [ 0.06247312 0.99793879 0.0146723 0.20068399] [ 0.03371508 -0.01680281 0.99929023 0.12511784] [ 0. 0. 0. 1. ]] SLAMing on 22.639072328999998 meters Centerline goodness : 0.839636 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.20, Z:0.13 [[ 0.99759165 -0.05987703 -0.03500918 1.96994959] [ 0.06008257 0.99818164 0.00484766 0.20173422] [ 0.03465526 -0.00693943 0.99937523 0.13084675] [ 0. 0. 0. 1. ]] SLAMing on 22.699072329 meters Centerline goodness : 0.843019 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:0.13 [[ 0.99797701 -0.05650333 -0.02914203 1.98208828] [ 0.05692615 0.99828178 0.01388856 0.20025058] [ 0.02830721 -0.01551941 0.99947879 0.13449238] [ 0. 0. 0. 1. ]] SLAMing on 22.759072329 meters Centerline goodness : 0.836319 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:0.13 [[ 0.99826746 -0.05049159 -0.03021045 1.98559073] [ 0.05110326 0.9984965 0.01982939 0.19771227] [ 0.02916381 -0.02133889 0.99934685 0.13231131] [ 0. 0. 0. 1. ]] SLAMing on 22.819072329 meters Centerline goodness : 0.835606 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:0.13 [[ 0.99824964 -0.04726616 -0.03554676 2.00901327] [ 0.04781341 0.99874803 0.01470562 0.19324573] [ 0.03480718 -0.01637949 0.99925981 0.13040757] [ 0. 0. 0. 1. ]] SLAMing on 22.879072329 meters Centerline goodness : 0.833326 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.18, Z:0.13 [[ 0.99840583 -0.04493635 -0.03415439 2.03873329] [ 0.04564888 0.99874971 0.02037628 0.18451879] [ 0.03319605 -0.02190291 0.99920883 0.12809864] [ 0. 0. 0. 1. ]] SLAMing on 22.939072329 meters Centerline goodness : 0.831960 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.18, Z:0.13 [[ 0.9984324 -0.04417095 -0.03437537 2.03823956] [ 0.0449183 0.99876397 0.0212808 0.18234821] [ 0.03339289 -0.02279153 0.9991824 0.12989606] [ 0. 0. 0. 1. ]] SLAMing on 22.999072329 meters Centerline goodness : 0.829102 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.17, Z:0.13 [[ 0.99835161 -0.04494303 -0.03569587 2.04382122] [ 0.04570784 0.99873606 0.0209062 0.17243202] [ 0.03471117 -0.02250332 0.999144 0.1280307 ] [ 0. 0. 0. 1. ]] SLAMing on 23.059072329 meters Centerline goodness : 0.828108 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:0.12 [[ 0.99828807 -0.04547156 -0.03678676 2.05030514] [ 0.04625181 0.99871647 0.0206442 0.16744884] [ 0.03580082 -0.02231031 0.99910988 0.12360137] [ 0. 0. 0. 1. ]] SLAMing on 23.119072328999998 meters Centerline goodness : 0.826555 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:0.12 [[ 0.99826183 -0.04299008 -0.0403133 2.06217653] [ 0.04382172 0.99883961 0.01997747 0.15984273] [ 0.03940769 -0.02170934 0.99898736 0.12362182] [ 0. 0. 0. 1. ]] SLAMing on 23.179072329 meters Centerline goodness : 0.825536 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:0.12 [[ 0.99817793 -0.04419264 -0.04108325 2.06511098] [ 0.04499901 0.99880796 0.01891414 0.15244496] [ 0.04019841 -0.02072838 0.99897669 0.12336032] [ 0. 0. 0. 1. ]] SLAMing on 23.239072329 meters Centerline goodness : 0.825214 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.15, Z:0.12 [[ 0.99819573 -0.04758601 -0.03661767 2.08427062] [ 0.04840346 0.99859058 0.02177037 0.14683349] [ 0.03553009 -0.02350352 0.99909219 0.12239753] [ 0. 0. 0. 1. ]] SLAMing on 23.299072328999998 meters Centerline goodness : 0.821651 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:0.14, Z:0.12 [[ 0.99808511 -0.05146801 -0.03430967 2.10668537] [ 0.05240866 0.99825781 0.02710495 0.13668977] [ 0.03285486 -0.02885117 0.99904363 0.11813432] [ 0. 0. 0. 1. ]] SLAMing on 23.359072329 meters Centerline goodness : 0.817831 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:0.13, Z:0.12 [[ 0.99778499 -0.05873004 -0.03123924 2.12821708] [ 0.05958551 0.99785265 0.02719672 0.1315865 ] [ 0.0295749 -0.02899788 0.99914186 0.11605383] [ 0. 0. 0. 1. ]] SLAMing on 23.419072329 meters Centerline goodness : 0.815926 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:0.13, Z:0.11 [[ 0.99744602 -0.06561893 -0.02820615 2.15099474] [ 0.06637309 0.9974379 0.0266881 0.12620446] [ 0.02638264 -0.02849207 0.99924579 0.11330987] [ 0. 0. 0. 1. ]] SLAMing on 23.479072329 meters Centerline goodness : 0.817586 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.12, Z:0.11 [[ 0.99712147 -0.07004679 -0.02902103 2.15502369] [ 0.0708035 0.9971534 0.02592227 0.11847809] [ 0.02712265 -0.02790244 0.99924262 0.11257695] [ 0. 0. 0. 1. ]] SLAMing on 23.539072329 meters Centerline goodness : 0.815672 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:0.12, Z:0.12 [[ 0.997242 -0.06768373 -0.03045183 2.15499193] [ 0.06863781 0.99714552 0.03145894 0.11905197] [ 0.02823565 -0.03346233 0.99904105 0.11752901] [ 0. 0. 0. 1. ]] SLAMing on 23.599072329 meters Centerline goodness : 0.815867 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.12, Z:0.12 [[ 0.9972874 -0.06716573 -0.03011002 2.15514936] [ 0.0680782 0.99721737 0.0303788 0.11956358] [ 0.02798582 -0.03234623 0.99908484 0.11548756] [ 0. 0. 0. 1. ]] SLAMing on 23.659072329 meters Centerline goodness : 0.813507 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:0.12, Z:0.11 [[ 0.99722794 -0.06856058 -0.0289115 2.15485231] [ 0.06929707 0.99727544 0.02529053 0.11956818] [ 0.0270988 -0.02722391 0.99926198 0.11132266] [ 0. 0. 0. 1. ]] SLAMing on 23.719072329 meters Centerline goodness : 0.813822 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.12, Z:0.11 [[ 0.99724109 -0.06749042 -0.0309073 2.15705626] [ 0.06840633 0.99721827 0.02960229 0.12139988] [ 0.02882345 -0.03163488 0.9990838 0.11494386] [ 0. 0. 0. 1. ]] SLAMing on 23.779072328999998 meters Centerline goodness : 0.811221 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.13, Z:0.12 [[ 0.99697343 -0.07030445 -0.03318519 2.16015357] [ 0.07130021 0.99700841 0.0298414 0.12594771] [ 0.03098793 -0.0321172 0.99900362 0.11858421] [ 0. 0. 0. 1. ]] SLAMing on 23.839072329 meters Centerline goodness : 0.809320 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.12, Z:0.12 [[ 0.99634966 -0.0711312 -0.04719867 2.1610065 ] [ 0.07249343 0.99698125 0.02780441 0.1232315 ] [ 0.04507843 -0.03112451 0.99849847 0.12252119] [ 0. 0. 0. 1. ]] SLAMing on 23.899072329 meters Centerline goodness : 0.806163 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.13, Z:0.12 [[ 0.99575859 -0.07734205 -0.0498301 2.1672384 ] [ 0.07872176 0.99654846 0.02634497 0.12669878] [ 0.04762054 -0.03015595 0.99841019 0.12412875] [ 0. 0. 0. 1. ]] SLAMing on 23.959072328999998 meters Centerline goodness : 0.805865 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.13, Z:0.13 [[ 0.99545459 -0.08031827 -0.0511775 2.16781045] [ 0.08171905 0.99631908 0.02588995 0.13049475] [ 0.04890969 -0.02995445 0.99835393 0.12839573] [ 0. 0. 0. 1. ]] SLAMing on 24.019072329 meters Centerline goodness : 0.805085 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.13, Z:0.13 [[ 0.99522905 -0.08154185 -0.05357292 2.17296149] [ 0.08311838 0.99614943 0.02788649 0.13410371] [ 0.05109272 -0.03220634 0.99817448 0.12934736] [ 0. 0. 0. 1. ]] SLAMing on 24.079072329 meters Centerline goodness : 0.805040 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.14, Z:0.13 [[ 0.99512845 -0.08243364 -0.05407458 2.17351797] [ 0.08393335 0.99613024 0.02607185 0.14008898] [ 0.05171612 -0.0304835 0.99819647 0.12937169] [ 0. 0. 0. 1. ]] SLAMing on 24.139072328999998 meters Centerline goodness : 0.805098 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.15, Z:0.13 [[ 0.99530595 -0.07999726 -0.05446564 2.17312365] [ 0.0814576 0.99635973 0.02513845 0.15090583] [ 0.05225636 -0.02945709 0.99819915 0.12850033] [ 0. 0. 0. 1. ]] SLAMing on 24.199072329 meters Centerline goodness : 0.802751 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.16, Z:0.13 [[ 0.99559479 -0.07612287 -0.05473863 2.17189558] [ 0.07761733 0.99665162 0.02571176 0.15948357] [ 0.05259809 -0.02984716 0.99816962 0.12851978] [ 0. 0. 0. 1. ]] SLAMing on 24.259072329 meters Centerline goodness : 0.802046 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.18, Z:0.13 [[ 0.9961464 -0.0702958 -0.05244859 2.16488173] [ 0.07143743 0.99724018 0.02021684 0.17802784] [ 0.05088268 -0.02388572 0.99841896 0.13200021] [ 0. 0. 0. 1. ]] SLAMing on 24.319072329 meters Centerline goodness : 0.800295 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.19, Z:0.13 [[ 0.99650052 -0.06454495 -0.05310988 2.16602988] [ 0.06586825 0.99755031 0.02355333 0.19292289] [ 0.05145953 -0.02696916 0.99831086 0.13047254] [ 0. 0. 0. 1. ]] SLAMing on 24.379072329 meters Centerline goodness : 0.800034 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.20, Z:0.13 [[ 0.99639259 -0.06613574 -0.0531778 2.16510879] [ 0.06727774 0.99753426 0.01997777 0.20277438] [ 0.05172543 -0.02348338 0.9983852 0.13197786] [ 0. 0. 0. 1. ]] SLAMing on 24.439072329 meters Centerline goodness : 0.801426 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.22, Z:0.13 [[ 0.99627964 -0.07274943 -0.04619951 2.17603937] [ 0.07360193 0.99714236 0.01702553 0.22097541] [ 0.04482889 -0.02036256 0.99878713 0.13392078] [ 0. 0. 0. 1. ]] SLAMing on 24.499072329 meters Centerline goodness : 0.800055 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:0.14 [[ 0.9961025 -0.07846859 -0.04028015 2.19024005] [ 0.07916065 0.99673536 0.01588142 0.23277442] [ 0.03890246 -0.01900813 0.99906221 0.13521812] [ 0. 0. 0. 1. ]] SLAMing on 24.559072329 meters Centerline goodness : 0.800731 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.25, Z:0.13 [[ 0.99588958 -0.0808774 -0.04077731 2.19160391] [ 0.08142166 0.99660912 0.01186516 0.24714746] [ 0.03967942 -0.01513655 0.99909781 0.1342471 ] [ 0. 0. 0. 1. ]] SLAMing on 24.619072328999998 meters Centerline goodness : 0.801888 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.26, Z:0.13 [[ 0.99604336 -0.07863723 -0.04139824 2.19301843] [ 0.0792213 0.99677666 0.0126599 0.25772445] [ 0.04026926 -0.01588943 0.99906252 0.13288616] [ 0. 0. 0. 1. ]] SLAMing on 24.679072329 meters Centerline goodness : 0.806122 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:0.13 [[ 0.99674811 -0.07274419 -0.03466236 2.1973078 ] [ 0.07308792 0.99728709 0.00875321 0.27645973] [ 0.03393158 -0.01125814 0.99936075 0.13297006] [ 0. 0. 0. 1. ]] SLAMing on 24.739072329 meters Centerline goodness : 0.808681 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.29, Z:0.13 [[ 0.99699268 -0.06878341 -0.0356992 2.199393 ] [ 0.06916394 0.99755974 0.00953455 0.2902225 ] [ 0.03495626 -0.01197497 0.9993171 0.13288978] [ 0. 0. 0. 1. ]] SLAMing on 24.799072328999998 meters Centerline goodness : 0.812401 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.31, Z:0.13 [[ 0.99738924 -0.06218152 -0.03671743 2.20221109] [ 0.06265628 0.99796394 0.01192311 0.30716042] [ 0.03590128 -0.01419256 0.99925456 0.13139049] [ 0. 0. 0. 1. ]] SLAMing on 24.859072329 meters Centerline goodness : 0.814644 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.32, Z:0.13 [[ 0.99756847 -0.05872892 -0.03752413 2.20247601] [ 0.05922087 0.99817114 0.01213506 0.31958767] [ 0.03674283 -0.01432777 0.99922204 0.13387581] [ 0. 0. 0. 1. ]] SLAMing on 24.919072329 meters Centerline goodness : 0.815174 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.34, Z:0.14 [[ 0.9976838 -0.05681148 -0.03740968 2.2003497 ] [ 0.05721695 0.9983131 0.00985786 0.33691676] [ 0.03678653 -0.0119755 0.99925139 0.13824078] [ 0. 0. 0. 1. ]] SLAMing on 24.979072329 meters Centerline goodness : 0.813465 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.35, Z:0.14 [[ 0.9973346 -0.06243187 -0.03776193 2.20083718] [ 0.06256884 0.99803763 0.00245527 0.35157349] [ 0.03753454 -0.00481144 0.99928375 0.1390308 ] [ 0. 0. 0. 1. ]] SLAMing on 25.039072329 meters Centerline goodness : 0.816132 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.36, Z:0.13 [[ 0.996825 -0.07259659 -0.03270542 2.21065359] [ 0.07279066 0.99733578 0.00478123 0.36201089] [ 0.03227119 -0.0071467 0.9994536 0.13376772] [ 0. 0. 0. 1. ]] SLAMing on 25.099072329 meters Centerline goodness : 0.814685 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.37, Z:0.13 [[ 0.99626574 -0.08061038 -0.03092798 2.23370336] [ 0.0807674 0.9967255 0.00385966 0.37085323] [ 0.03051557 -0.00634322 0.99951416 0.1300313 ] [ 0. 0. 0. 1. ]] SLAMing on 25.159072329 meters Centerline goodness : 0.814745 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.39, Z:0.13 [[ 0.99553131 -0.08947733 -0.03018645 2.27103117] [ 0.08976879 0.99592687 0.00843948 0.38703351] [ 0.02930836 -0.01111157 0.99950866 0.12993406] [ 0. 0. 0. 1. ]] SLAMing on 25.219072329 meters Centerline goodness : 0.813227 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.40, Z:0.13 [[ 0.99523622 -0.09128061 -0.03424504 2.27917821] [ 0.09175642 0.99570193 0.01258684 0.39588784] [ 0.03294892 -0.01566908 0.9993342 0.13061536] [ 0. 0. 0. 1. ]] SLAMing on 25.279072328999998 meters Centerline goodness : 0.801709 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.41, Z:0.11 [[ 0.99467656 -0.09493884 -0.04006451 2.30856144] [ 0.0957557 0.99522383 0.01898334 0.41142597] [ 0.0380709 -0.02271869 0.99901675 0.11377929] [ 0. 0. 0. 1. ]] SLAMing on 25.339072329 meters Centerline goodness : 0.795833 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.43, Z:0.11 [[ 0.99492478 -0.08990623 -0.04518362 2.31826815] [ 0.09121149 0.99544611 0.02770385 0.42654286] [ 0.04248711 -0.03168451 0.99859448 0.11207265] [ 0. 0. 0. 1. ]] SLAMing on 25.399072329 meters Centerline goodness : 0.792067 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:0.11 [[ 0.99540707 -0.08326682 -0.04723776 2.32100239] [ 0.08490559 0.99581509 0.03381333 0.43766065] [ 0.04422455 -0.03766878 0.9983112 0.11119331] [ 0. 0. 0. 1. ]] SLAMing on 25.459072328999998 meters Centerline goodness : 0.790765 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.45, Z:0.10 [[ 0.99585146 -0.07776629 -0.04724704 2.32359329] [ 0.07927679 0.99637106 0.0309824 0.45304647] [ 0.04466619 -0.03459946 0.99840263 0.10347428] [ 0. 0. 0. 1. ]] SLAMing on 25.519072329 meters Centerline goodness : 0.787962 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.47, Z:0.10 [[ 0.99618609 -0.07916579 -0.03668866 2.32859991] [ 0.08025403 0.99634659 0.02920204 0.46674256] [ 0.03424282 -0.03203507 0.99889999 0.09992386] [ 0. 0. 0. 1. ]] SLAMing on 25.579072329 meters Centerline goodness : 0.785241 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.48, Z:0.10 [[ 0.9967291 -0.0700712 -0.04026316 2.33501159] [ 0.07165775 0.99665029 0.0394127 0.47954359] [ 0.03736659 -0.04216896 0.9984115 0.09788522] [ 0. 0. 0. 1. ]] SLAMing on 25.639072328999998 meters Centerline goodness : 0.785104 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.49, Z:0.09 [[ 0.99726861 -0.06099295 -0.04165538 2.340543 ] [ 0.06274822 0.9971361 0.04221679 0.49318274] [ 0.03896116 -0.04471528 0.99823974 0.089926 ] [ 0. 0. 0. 1. ]] SLAMing on 25.699072329 meters Centerline goodness : 0.783704 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.50, Z:0.08 [[ 0.99758835 -0.05618607 -0.04075064 2.34082816] [ 0.05780588 0.99753721 0.03972404 0.49978516] [ 0.03841834 -0.04198387 0.99837938 0.08462051] [ 0. 0. 0. 1. ]] SLAMing on 25.759072329 meters Centerline goodness : 0.786435 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.51, Z:0.08 [[ 0.99830527 -0.05046869 -0.02897421 2.34241126] [ 0.05168239 0.99774636 0.04279166 0.51127119] [ 0.02674927 -0.04421659 0.99866379 0.08082291] [ 0. 0. 0. 1. ]] SLAMing on 25.819072329 meters Centerline goodness : 0.786773 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.52, Z:0.08 [[ 0.99857636 -0.04489521 -0.02880422 2.34139174] [ 0.0461499 0.99794359 0.04448349 0.51522039] [ 0.02674789 -0.04574948 0.99859478 0.08030205] [ 0. 0. 0. 1. ]] SLAMing on 25.879072329 meters Centerline goodness : 0.787487 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.52, Z:0.08 [[ 0.99893219 -0.03771399 -0.02668583 2.33772696] [ 0.03885163 0.99829854 0.04348086 0.51631857] [ 0.02500059 -0.04447122 0.99869779 0.07783622] [ 0. 0. 0. 1. ]] SLAMing on 25.939072329 meters Centerline goodness : 0.796057 with order 2 Centerline is valid? [False, False] Translation: X:2.32, Y:0.52, Z:0.09 [[ 0.99893469 -0.03572347 -0.0292117 2.32074465] [ 0.03665012 0.99882122 0.03182663 0.51999821] [ 0.0280403 -0.03286334 0.99906644 0.08680031] [ 0. 0. 0. 1. ]] SLAMing on 25.999072329 meters Centerline goodness : 0.795739 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.52, Z:0.09 [[ 0.99947318 -0.02651085 -0.01872259 2.28671104] [ 0.0269168 0.99940052 0.02177376 0.51739405] [ 0.01813412 -0.02226624 0.9995876 0.09195795] [ 0. 0. 0. 1. ]] SLAMing on 26.059072329 meters Centerline goodness : 0.799929 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.51, Z:0.09 [[ 0.99954736 -0.02458936 -0.01733301 2.28319471] [ 0.02497158 0.99944183 0.02219128 0.51151081] [ 0.01677767 -0.02261407 0.99960348 0.09329575] [ 0. 0. 0. 1. ]] SLAMing on 26.119072328999998 meters Centerline goodness : 0.809510 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.50, Z:0.10 [[ 0.99948367 -0.02839931 -0.01502891 2.27710591] [ 0.02868296 0.99940784 0.01900677 0.49821524] [ 0.01448023 -0.01942803 0.99970639 0.09703142] [ 0. 0. 0. 1. ]] SLAMing on 26.179072329 meters Centerline goodness : 0.817920 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.49, Z:0.10 [[ 0.99937912 -0.03288906 -0.0126368 2.27105695] [ 0.03306302 0.99935782 0.01381284 0.48704757] [ 0.01217439 -0.01422207 0.99982474 0.10018167] [ 0. 0. 0. 1. ]] SLAMing on 26.239072329 meters Centerline goodness : 0.831563 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:0.12 [[ 9.99111980e-01 -3.98777739e-02 -1.36020264e-02 2.24931109e+00] [ 3.98661652e-02 9.99204397e-01 -1.12364057e-03 4.61559898e-01] [ 1.36360129e-02 5.80382119e-04 9.99906857e-01 1.17467364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299072328999998 meters Centerline goodness : 0.843626 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.44, Z:0.13 [[ 0.99849173 -0.05368072 -0.01151713 2.24229844] [ 0.05358764 0.99852912 -0.00824374 0.43753729] [ 0.01194272 0.00761413 0.99989969 0.12635311] [ 0. 0. 0. 1. ]] SLAMing on 26.359072329 meters Centerline goodness : 0.847186 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.42, Z:0.14 [[ 0.99811006 -0.05754236 -0.02156835 2.23697956] [ 0.05716486 0.99820733 -0.0177288 0.41682648] [ 0.02254984 0.01646234 0.99961017 0.1413199 ] [ 0. 0. 0. 1. ]] SLAMing on 26.419072329 meters Centerline goodness : 0.852638 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.39, Z:0.14 [[ 0.99737414 -0.06697888 -0.02754351 2.25062677] [ 0.06640383 0.99756569 -0.02128903 0.39074627] [ 0.02890237 0.01940413 0.99939388 0.14236412] [ 0. 0. 0. 1. ]] SLAMing on 26.479072328999997 meters Centerline goodness : 0.845601 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.37, Z:0.13 [[ 0.99712223 -0.0709872 -0.02660978 2.27391604] [ 0.07069976 0.99743027 -0.01159296 0.37189084] [ 0.02736435 0.00967829 0.99957867 0.13286651] [ 0. 0. 0. 1. ]] SLAMing on 26.539072329 meters Centerline goodness : 0.836132 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.34, Z:0.12 [[ 9.96967670e-01 -7.33525105e-02 -2.59783322e-02 2.29975436e+00] [ 7.33914759e-02 9.97303059e-01 5.48366956e-04 3.43266491e-01] [ 2.58680461e-02 -2.45329227e-03 9.99662356e-01 1.20233545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599072329 meters Centerline goodness : 0.829808 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.32, Z:0.11 [[ 0.99650217 -0.07827643 -0.02926128 2.35958673] [ 0.07854182 0.99687847 0.00803129 0.32144428] [ 0.02854128 -0.01030143 0.99953953 0.11493851] [ 0. 0. 0. 1. ]] SLAMing on 26.659072329 meters Centerline goodness : 0.824988 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.31, Z:0.11 [[ 0.99626294 -0.08133846 -0.02905516 2.39247658] [ 0.08168349 0.99659882 0.0108901 0.30547335] [ 0.02807056 -0.01322273 0.99951849 0.11088496] [ 0. 0. 0. 1. ]] SLAMing on 26.719072329 meters Centerline goodness : 0.820827 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:0.11 [[ 0.99521742 -0.08946562 -0.03921977 2.46151468] [ 0.09032126 0.99569934 0.02061289 0.28457569] [ 0.03720696 -0.02405669 0.99901798 0.10979488] [ 0. 0. 0. 1. ]] SLAMing on 26.779072328999998 meters Centerline goodness : 0.816258 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:0.10 [[ 0.9950239 -0.09011393 -0.04250775 2.50604701] [ 0.09118711 0.99554409 0.02401843 0.26417717] [ 0.04015395 -0.02777507 0.99880739 0.10456346] [ 0. 0. 0. 1. ]] SLAMing on 26.839072329 meters Centerline goodness : 0.814414 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.25, Z:0.10 [[ 0.99454529 -0.09423629 -0.04471234 2.56031649] [ 0.09570257 0.99489973 0.03186775 0.25109277] [ 0.04148119 -0.03597301 0.99849149 0.10140475] [ 0. 0. 0. 1. ]] SLAMing on 26.899072329 meters Centerline goodness : 0.813678 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:0.09 [[ 0.99414897 -0.09695503 -0.04761871 2.57201877] [ 0.09870882 0.99446611 0.0359685 0.22980461] [ 0.04386787 -0.04045843 0.99821777 0.0931689 ] [ 0. 0. 0. 1. ]] SLAMing on 26.959072328999998 meters Centerline goodness : 0.811823 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.22, Z:0.09 [[ 0.99406335 -0.09796903 -0.04732988 2.57472897] [ 0.09971568 0.99436211 0.03606627 0.21900003] [ 0.04352966 -0.04057168 0.99822798 0.0907361 ] [ 0. 0. 0. 1. ]] SLAMing on 27.019072329 meters Centerline goodness : 0.811662 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.21, Z:0.09 [[ 0.99428266 -0.09647123 -0.04577446 2.57330701] [ 0.09814155 0.99452973 0.03576099 0.20813593] [ 0.04207416 -0.04004891 0.9983115 0.08892897] [ 0. 0. 0. 1. ]] SLAMing on 27.079072329 meters Centerline goodness : 0.811395 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:0.09 [[ 0.99446744 -0.09469294 -0.04547271 2.57267283] [ 0.09641924 0.99463797 0.03739834 0.20435681] [ 0.04168752 -0.04157587 0.99826529 0.08891446] [ 0. 0. 0. 1. ]] SLAMing on 27.139072328999998 meters Centerline goodness : 0.809277 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:0.08 [[ 0.99482214 -0.09135635 -0.04453007 2.57287926] [ 0.09304598 0.99495644 0.0374716 0.20122181] [ 0.04088221 -0.04142093 0.99830504 0.08440407] [ 0. 0. 0. 1. ]] SLAMing on 27.199072329 meters Centerline goodness : 0.810148 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:0.08 [[ 0.9949037 -0.09116497 -0.0430765 2.57306731] [ 0.09260426 0.99516635 0.03268615 0.20012703] [ 0.03988845 -0.03650864 0.99853695 0.07837892] [ 0. 0. 0. 1. ]] SLAMing on 27.259072329 meters Centerline goodness : 0.810569 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.20, Z:0.08 [[ 0.9948701 -0.09138425 -0.0433866 2.57341554] [ 0.09280431 0.9951724 0.03192576 0.2026865 ] [ 0.04025963 -0.03578845 0.99854812 0.07841984] [ 0. 0. 0. 1. ]] SLAMing on 27.319072329 meters Centerline goodness : 0.809339 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.08 [[ 0.99469291 -0.09272415 -0.0445898 2.5752924 ] [ 0.09419995 0.99503188 0.03221684 0.20522105] [ 0.041381 -0.03624622 0.99848577 0.08000128] [ 0. 0. 0. 1. ]] SLAMing on 27.379072329 meters Centerline goodness : 0.811863 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.08 [[ 0.99430685 -0.09633858 -0.04552768 2.57884956] [ 0.0977629 0.99475252 0.03016357 0.20642871] [ 0.04238286 -0.03444276 0.99850758 0.07915965] [ 0. 0. 0. 1. ]] SLAMing on 27.439072329 meters Centerline goodness : 0.812309 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.08 [[ 0.9938587 -0.10059046 -0.04611346 2.58250853] [ 0.10188046 0.99444287 0.02652842 0.2064709 ] [ 0.0431887 -0.03106356 0.99858389 0.07733259] [ 0. 0. 0. 1. ]] SLAMing on 27.499072329 meters Centerline goodness : 0.813416 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.08 [[ 0.99302265 -0.10678739 -0.05002476 2.59025475] [ 0.10835629 0.99366628 0.02976964 0.20562812] [ 0.0465289 -0.03498242 0.99830421 0.08260988] [ 0. 0. 0. 1. ]] SLAMing on 27.559072329 meters Centerline goodness : 0.815666 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.09 [[ 0.99217701 -0.11353519 -0.05190904 2.59435995] [ 0.11514238 0.99292303 0.02908765 0.20332722] [ 0.04823921 -0.03483703 0.99822811 0.08673915] [ 0. 0. 0. 1. ]] SLAMing on 27.619072328999998 meters Centerline goodness : 0.816738 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.20, Z:0.09 [[ 0.99019623 -0.12686961 -0.05844251 2.60948926] [ 0.12876134 0.99122736 0.02981337 0.19612414] [ 0.05414741 -0.03704622 0.9978455 0.08820523] [ 0. 0. 0. 1. ]] SLAMing on 27.679072329 meters Centerline goodness : 0.818702 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.18, Z:0.09 [[ 0.9879615 -0.14101751 -0.06360927 2.62276035] [ 0.1431038 0.98926771 0.0295078 0.18435318] [ 0.05876548 -0.0382553 0.99753855 0.08930331] [ 0. 0. 0. 1. ]] SLAMing on 27.739072329 meters Centerline goodness : 0.822757 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.18, Z:0.10 [[ 0.98732436 -0.14423267 -0.06623857 2.62633576] [ 0.14662548 0.98864871 0.03278254 0.18130291] [ 0.06075836 -0.04207926 0.99726514 0.09544397] [ 0. 0. 0. 1. ]] SLAMing on 27.799072328999998 meters Centerline goodness : 0.821975 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.10 [[ 0.98716841 -0.14493131 -0.06703318 2.62776253] [ 0.14752285 0.98842308 0.03545178 0.17425301] [ 0.06111907 -0.0448858 0.99712072 0.09801961] [ 0. 0. 0. 1. ]] SLAMing on 27.859072329 meters Centerline goodness : 0.823067 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.10 [[ 0.98712945 -0.14485404 -0.06776986 2.62988027] [ 0.14756108 0.98836878 0.03678149 0.17108047] [ 0.06165367 -0.04630829 0.99702275 0.09819944] [ 0. 0. 0. 1. ]] SLAMing on 27.919072329 meters Centerline goodness : 0.822829 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.16, Z:0.10 [[ 0.98633181 -0.14452172 -0.07913931 2.62404928] [ 0.14778504 0.98832605 0.03702972 0.16337052] [ 0.07286385 -0.04821919 0.99617557 0.10305706] [ 0. 0. 0. 1. ]] SLAMing on 27.979072328999997 meters Centerline goodness : 0.824568 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.16, Z:0.10 [[ 0.98630937 -0.14418219 -0.08003321 2.62657017] [ 0.1476861 0.98823682 0.03970897 0.15667183] [ 0.07336644 -0.05098512 0.99600095 0.10382544] [ 0. 0. 0. 1. ]] SLAMing on 28.039072329 meters Centerline goodness : 0.829712 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:0.11 [[ 0.98663396 -0.14169564 -0.08047219 2.62441441] [ 0.14551053 0.98839214 0.04367686 0.15244055] [ 0.07334926 -0.05480263 0.99579946 0.10804044] [ 0. 0. 0. 1. ]] SLAMing on 28.099072329 meters Centerline goodness : 0.831148 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:0.11 [[ 0.98677695 -0.14072902 -0.08041513 2.62378449] [ 0.1446089 0.98848205 0.0446262 0.15048915] [ 0.07320871 -0.05566485 0.99576197 0.1088589 ] [ 0. 0. 0. 1. ]] SLAMing on 28.159072329 meters Centerline goodness : 0.833506 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:0.11 [[ 0.98678248 -0.14028139 -0.08112627 2.62469648] [ 0.14428751 0.98847526 0.04580146 0.14895375] [ 0.07376621 -0.05690159 0.99565092 0.11013333] [ 0. 0. 0. 1. ]] SLAMing on 28.219072329 meters Centerline goodness : 0.833517 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:0.11 [[ 0.98661675 -0.14114811 -0.08163702 2.62456673] [ 0.14519177 0.98833863 0.04589229 0.14955183] [ 0.07420741 -0.05713112 0.99560499 0.11227129] [ 0. 0. 0. 1. ]] SLAMing on 28.279072328999998 meters Centerline goodness : 0.834134 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.15, Z:0.12 [[ 0.98635696 -0.1427495 -0.08199101 2.62307401] [ 0.14690764 0.98802753 0.04711422 0.14620627] [ 0.07428384 -0.05851654 0.99551882 0.11704363] [ 0. 0. 0. 1. ]] SLAMing on 28.339072329 meters Centerline goodness : 0.834342 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.12 [[ 0.98601771 -0.14422116 -0.08348257 2.6258663 ] [ 0.14855239 0.9877292 0.04819973 0.14572595] [ 0.07550675 -0.05992732 0.99534288 0.11902292] [ 0. 0. 0. 1. ]] SLAMing on 28.399072329 meters Centerline goodness : 0.835390 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.12 [[ 0.9849853 -0.15036932 -0.08481169 2.63160402] [ 0.15449868 0.9869951 0.04439415 0.14522809] [ 0.07703321 -0.05683088 0.99540752 0.11824062] [ 0. 0. 0. 1. ]] SLAMing on 28.459072328999998 meters Centerline goodness : 0.837312 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.15, Z:0.12 [[ 0.98441002 -0.1528793 -0.0869761 2.63665525] [ 0.15716991 0.98655531 0.04479101 0.14515004] [ 0.07895911 -0.05776274 0.99520296 0.11922243] [ 0. 0. 0. 1. ]] SLAMing on 28.519072329 meters Centerline goodness : 0.838703 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.12 [[ 0.98467766 -0.15056368 -0.08798 2.63460593] [ 0.15519478 0.98669888 0.04837258 0.14796408] [ 0.07952661 -0.06128543 0.99494704 0.12359005] [ 0. 0. 0. 1. ]] SLAMing on 28.579072329 meters Centerline goodness : 0.839273 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.13 [[ 0.98495689 -0.14836731 -0.08858368 2.63224652] [ 0.15323154 0.98688045 0.05086335 0.15239071] [ 0.07987504 -0.06367202 0.99476925 0.12669137] [ 0. 0. 0. 1. ]] SLAMing on 28.639072328999998 meters Centerline goodness : 0.840306 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.15, Z:0.12 [[ 0.98478227 -0.14901589 -0.08943238 2.63633504] [ 0.15386413 0.98682721 0.04997883 0.15293841] [ 0.08080667 -0.0629787 0.99473814 0.12398926] [ 0. 0. 0. 1. ]] SLAMing on 28.699072329 meters Centerline goodness : 0.839592 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.12 [[ 0.98432725 -0.15139799 -0.09043508 2.63836176] [ 0.15623145 0.98650622 0.04896125 0.15559993] [ 0.08180214 -0.0623227 0.99469809 0.1247918 ] [ 0. 0. 0. 1. ]] SLAMing on 28.759072329 meters Centerline goodness : 0.841375 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.13 [[ 0.98387721 -0.15295524 -0.09268407 2.63772479] [ 0.15815115 0.9860689 0.05153965 0.16008304] [ 0.08350962 -0.06536678 0.99436076 0.13216689] [ 0. 0. 0. 1. ]] SLAMing on 28.819072328999997 meters Centerline goodness : 0.839976 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.13 [[ 0.98402371 -0.15194327 -0.09279319 2.6391625 ] [ 0.15717727 0.98620393 0.05193384 0.15928237] [ 0.08362201 -0.06568911 0.99433008 0.13052374] [ 0. 0. 0. 1. ]] SLAMing on 28.879072329 meters Centerline goodness : 0.841026 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.13 [[ 0.98407045 -0.15150762 -0.09300962 2.64015433] [ 0.15679213 0.98624192 0.05237457 0.1580073 ] [ 0.08379484 -0.06612344 0.99428674 0.13009527] [ 0. 0. 0. 1. ]] SLAMing on 28.939072329 meters Centerline goodness : 0.841661 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.13 [[ 0.98378459 -0.15243024 -0.09451399 2.64360711] [ 0.15782066 0.98607582 0.05241301 0.16134839] [ 0.08520863 -0.06647937 0.99414284 0.13002949] [ 0. 0. 0. 1. ]] SLAMing on 28.999072329 meters Centerline goodness : 0.838434 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.14 [[ 0.9836704 -0.14968818 -0.0999299 2.64319149] [ 0.15423106 0.9872507 0.03935527 0.16195119] [ 0.09276484 -0.05412491 0.99421586 0.13538427] [ 0. 0. 0. 1. ]] SLAMing on 29.059072329 meters Centerline goodness : 0.840622 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.14 [[ 0.98405084 -0.14787597 -0.09887688 2.64065092] [ 0.15241629 0.9875058 0.04001954 0.15981831] [ 0.09172356 -0.05445171 0.99429462 0.13551023] [ 0. 0. 0. 1. ]] SLAMing on 29.119072328999998 meters Centerline goodness : 0.840055 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.16, Z:0.14 [[ 0.98465925 -0.14321637 -0.0996756 2.63706191] [ 0.14826735 0.98791283 0.04522203 0.16279493] [ 0.09199427 -0.05930692 0.99399182 0.14018451] [ 0. 0. 0. 1. ]] SLAMing on 29.179072329 meters Centerline goodness : 0.841399 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.14 [[ 0.98498283 -0.14177066 -0.09853889 2.63427579] [ 0.14661895 0.98822281 0.04380148 0.16561207] [ 0.09116862 -0.05759137 0.99416876 0.13927483] [ 0. 0. 0. 1. ]] SLAMing on 29.239072329 meters Centerline goodness : 0.845814 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.14 [[ 0.98634493 -0.13412352 -0.09557487 2.62647246] [ 0.1389439 0.98924637 0.04567519 0.16691346] [ 0.08842097 -0.05833104 0.99437378 0.13764711] [ 0. 0. 0. 1. ]] SLAMing on 29.299072328999998 meters Centerline goodness : 0.848481 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.14 [[ 0.98747614 -0.13168658 -0.08688792 2.63481974] [ 0.13598968 0.98966055 0.04559383 0.17330887] [ 0.07998545 -0.05683868 0.9951742 0.13754857] [ 0. 0. 0. 1. ]] SLAMing on 29.359072329 meters Centerline goodness : 0.848239 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.14 [[ 0.98844916 -0.12506026 -0.08560488 2.6311729 ] [ 0.12954109 0.99036564 0.04893888 0.17239693] [ 0.07865982 -0.05946294 0.99512652 0.1361039 ] [ 0. 0. 0. 1. ]] SLAMing on 29.419072329 meters Centerline goodness : 0.852416 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.14 [[ 0.98914117 -0.12085597 -0.08362768 2.62642389] [ 0.12530152 0.9908525 0.05010837 0.16996317] [ 0.0768068 -0.06004293 0.99523644 0.13542193] [ 0. 0. 0. 1. ]] SLAMing on 29.479072328999997 meters Centerline goodness : 0.852674 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.14 [[ 0.98933614 -0.11961749 -0.08310031 2.6252738 ] [ 0.12412789 0.99093419 0.05139747 0.16620479] [ 0.07619891 -0.06116444 0.99521487 0.1359274 ] [ 0. 0. 0. 1. ]] SLAMing on 29.539072329 meters Centerline goodness : 0.851618 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.16, Z:0.13 [[ 0.98912253 -0.12189873 -0.08232444 2.62688149] [ 0.12626013 0.9907356 0.05001354 0.15727975] [ 0.07546516 -0.05986381 0.99534985 0.13404103] [ 0. 0. 0. 1. ]] SLAMing on 29.599072329 meters Centerline goodness : 0.848380 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.13 [[ 0.98863487 -0.12540356 -0.08291592 2.63012715] [ 0.12971964 0.99034541 0.0488751 0.15130213] [ 0.07598629 -0.05907545 0.99535731 0.13442037] [ 0. 0. 0. 1. ]] SLAMing on 29.659072329 meters Centerline goodness : 0.845133 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.14 [[ 0.98758735 -0.13361213 -0.0825774 2.63121266] [ 0.13751156 0.98954599 0.04346625 0.14609758] [ 0.07590652 -0.05428207 0.99563631 0.13640557] [ 0. 0. 0. 1. ]] SLAMing on 29.719072329 meters Centerline goodness : 0.846222 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.14, Z:0.14 [[ 0.98748115 -0.13366462 -0.08375411 2.63536929] [ 0.13779645 0.9894085 0.04563934 0.14080279] [ 0.07676666 -0.05660901 0.99544076 0.1358813 ] [ 0. 0. 0. 1. ]] SLAMing on 29.779072328999998 meters Centerline goodness : 0.844375 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:0.14 [[ 0.98637166 -0.13890029 -0.08819099 2.64982104] [ 0.14288326 0.98890844 0.04055213 0.13194115] [ 0.08158012 -0.05260049 0.99527779 0.13733958] [ 0. 0. 0. 1. ]] SLAMing on 29.839072329 meters Centerline goodness : 0.842307 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:0.14 [[ 0.9858896 -0.13731455 -0.0957414 2.64944828] [ 0.14076849 0.98957955 0.03027442 0.12756865] [ 0.09058661 -0.04332461 0.99494575 0.14208192] [ 0. 0. 0. 1. ]] SLAMing on 29.899072329 meters Centerline goodness : 0.837829 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:0.14 [[ 0.98522568 -0.14143226 -0.09657779 2.65437513] [ 0.14484298 0.98902271 0.02923349 0.11940734] [ 0.09138306 -0.0427902 0.99489604 0.14114693] [ 0. 0. 0. 1. ]] SLAMing on 29.959072328999998 meters Centerline goodness : 0.835242 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.11, Z:0.14 [[ 0.98520488 -0.14039769 -0.09828447 2.66010435] [ 0.14420347 0.98900703 0.03271787 0.11079255] [ 0.09261052 -0.04640676 0.99462038 0.14005694] [ 0. 0. 0. 1. ]] SLAMing on 30.019072329 meters Centerline goodness : 0.835117 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.10, Z:0.14 [[ 0.98512101 -0.14098801 -0.09828005 2.6646624 ] [ 0.14468111 0.98897725 0.03148625 0.10330302] [ 0.09275755 -0.04523703 0.99466057 0.1363477 ] [ 0. 0. 0. 1. ]] SLAMing on 30.079072329 meters Centerline goodness : 0.834365 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:0.14 [[ 0.98523505 -0.13955111 -0.09918357 2.66742582] [ 0.14341026 0.98911723 0.03287249 0.10129974] [ 0.09351679 -0.04661107 0.99452603 0.13559756] [ 0. 0. 0. 1. ]] SLAMing on 30.139072328999998 meters Centerline goodness : 0.831640 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:0.13 [[ 0.98593275 -0.13364777 -0.1003737 2.67052964] [ 0.13805047 0.98968639 0.03824814 0.09796028] [ 0.09422671 -0.05156673 0.99421436 0.13365725] [ 0. 0. 0. 1. ]] SLAMing on 30.199072329 meters Centerline goodness : 0.829718 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:0.13 [[ 0.9865044 -0.12826768 -0.10176674 2.6760028 ] [ 0.13315418 0.99017315 0.04274448 0.09566957] [ 0.09528396 -0.05571829 0.99388955 0.12934887] [ 0. 0. 0. 1. ]] SLAMing on 30.259072329 meters Centerline goodness : 0.827453 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:0.13 [[ 0.98670612 -0.12732066 -0.1009974 2.67392447] [ 0.13211272 0.99033416 0.042243 0.09723429] [ 0.09464277 -0.05502447 0.99398946 0.12932411] [ 0. 0. 0. 1. ]] SLAMing on 30.319072328999997 meters Centerline goodness : 0.825639 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:0.13 [[ 0.98716182 -0.12339393 -0.1014174 2.67250734] [ 0.1285115 0.99066116 0.04555507 0.09960004] [ 0.09484906 -0.05800353 0.99380041 0.13073782] [ 0. 0. 0. 1. ]] SLAMing on 30.379072329 meters Centerline goodness : 0.824593 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.11, Z:0.13 [[ 0.98690951 -0.12432691 -0.10272503 2.67485134] [ 0.12938312 0.99061385 0.04409319 0.10702232] [ 0.09627887 -0.05680688 0.99373204 0.13079131] [ 0. 0. 0. 1. ]] SLAMing on 30.439072329 meters Centerline goodness : 0.823027 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.12, Z:0.13 [[ 0.98615738 -0.12838807 -0.10492911 2.67990868] [ 0.1332727 0.99023433 0.04091888 0.11690903] [ 0.09865092 -0.05433664 0.99363752 0.13058127] [ 0. 0. 0. 1. ]] SLAMing on 30.499072329 meters Centerline goodness : 0.824727 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.13, Z:0.13 [[ 0.98517388 -0.13569837 -0.10496848 2.67782726] [ 0.13991968 0.98958167 0.03392055 0.12819334] [ 0.09927192 -0.04810479 0.99389688 0.13393454] [ 0. 0. 0. 1. ]] SLAMing on 30.559072329 meters Centerline goodness : 0.824653 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.14, Z:0.14 [[ 0.98466202 -0.13704474 -0.10797895 2.68112468] [ 0.14158243 0.9892895 0.03550622 0.13621928] [ 0.1019565 -0.05024955 0.99351893 0.13798487] [ 0. 0. 0. 1. ]] SLAMing on 30.619072328999998 meters Centerline goodness : 0.822870 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.16, Z:0.14 [[ 0.98343534 -0.14316538 -0.11116928 2.68505499] [ 0.14734028 0.98862313 0.03025149 0.15731914] [ 0.10557356 -0.04613009 0.99334095 0.14092332] [ 0. 0. 0. 1. ]] SLAMing on 30.679072329 meters Centerline goodness : 0.820911 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.17, Z:0.14 [[ 0.98284397 -0.14574264 -0.1130346 2.68758071] [ 0.14943861 0.98845746 0.02489888 0.17370247] [ 0.10810107 -0.04136345 0.99327903 0.14200813] [ 0. 0. 0. 1. ]] SLAMing on 30.739072329 meters Centerline goodness : 0.824328 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.15 [[ 0.98406682 -0.14222752 -0.10669503 2.6938633 ] [ 0.14602932 0.98886477 0.02866889 0.20234197] [ 0.10142946 -0.0437927 0.9938784 0.14549566] [ 0. 0. 0. 1. ]] SLAMing on 30.799072328999998 meters Centerline goodness : 0.825181 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.15 [[ 0.98501806 -0.13511578 -0.10715946 2.68926594] [ 0.13870596 0.98997214 0.02675466 0.22523562] [ 0.1024699 -0.04121747 0.9938818 0.15055019] [ 0. 0. 0. 1. ]] SLAMing on 30.859072329 meters Centerline goodness : 0.825142 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.26, Z:0.15 [[ 0.98635654 -0.12910535 -0.10214001 2.70084389] [ 0.1319485 0.99102211 0.02155872 0.26175242] [ 0.09843966 -0.0347418 0.99453639 0.14849551] [ 0. 0. 0. 1. ]] SLAMing on 30.919072329 meters Centerline goodness : 0.829625 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.29, Z:0.15 [[ 0.98716752 -0.12932431 -0.09367773 2.70823852] [ 0.13153963 0.99115025 0.01784656 0.28711237] [ 0.09054071 -0.02993988 0.99544261 0.14653443] [ 0. 0. 0. 1. ]] SLAMing on 30.979072328999997 meters Centerline goodness : 0.837242 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.15 [[ 0.98817263 -0.1284303 -0.08378844 2.70632006] [ 0.12993571 0.9914405 0.01274524 0.3277173 ] [ 0.08143438 -0.0234816 0.99640206 0.15124247] [ 0. 0. 0. 1. ]] SLAMing on 31.039072329 meters Centerline goodness : 0.841607 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.37, Z:0.15 [[ 0.98870293 -0.13082412 -0.07315434 2.70514893] [ 0.13138502 0.99132721 0.00288763 0.36823904] [ 0.07214212 -0.0124664 0.99731645 0.15380203] [ 0. 0. 0. 1. ]] SLAMing on 31.099072329 meters Centerline goodness : 0.842972 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.40, Z:0.15 [[ 9.88988465e-01 -1.32946015e-01 -6.50167107e-02 2.71400251e+00] [ 1.33233090e-01 9.91084728e-01 8.03518371e-05 3.95889638e-01] [ 6.44263865e-02 -8.74184428e-03 9.97884172e-01 1.50294124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159072329 meters Centerline goodness : 0.846147 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.43, Z:0.14 [[ 0.98999853 -0.12444417 -0.06645716 2.7364451 ] [ 0.12590937 0.99187263 0.01831739 0.43367124] [ 0.06363754 -0.02650177 0.99762113 0.1363225 ] [ 0. 0. 0. 1. ]] SLAMing on 31.219072329 meters Centerline goodness : 0.839942 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.46, Z:0.13 [[ 0.99074272 -0.11639604 -0.06986291 2.76334339] [ 0.11868853 0.99249027 0.02959879 0.45675966] [ 0.06589308 -0.03761671 0.99711739 0.12583203] [ 0. 0. 0. 1. ]] SLAMing on 31.279072328999998 meters Centerline goodness : 0.830442 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.49, Z:0.11 [[ 0.99122594 -0.11092029 -0.07188759 2.78559409] [ 0.11403249 0.99264184 0.04072797 0.4909281 ] [ 0.06684108 -0.04856814 0.99658086 0.10997934] [ 0. 0. 0. 1. ]] SLAMing on 31.339072329 meters Centerline goodness : 0.823831 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:0.52, Z:0.11 [[ 0.99138267 -0.11343021 -0.06552859 2.79787901] [ 0.11623596 0.99238698 0.04070978 0.51701138] [ 0.060412 -0.04797575 0.99701992 0.10528637] [ 0. 0. 0. 1. ]] SLAMing on 31.399072329 meters Centerline goodness : 0.816457 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.55, Z:0.09 [[ 0.99154991 -0.11304337 -0.06363948 2.81544497] [ 0.11625933 0.99199366 0.04931887 0.54963913] [ 0.05755479 -0.0563008 0.99675356 0.0896069 ] [ 0. 0. 0. 1. ]] SLAMing on 31.459072328999998 meters Centerline goodness : 0.810001 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.59, Z:0.11 [[ 0.99174522 -0.11283833 -0.06090099 2.85053878] [ 0.1147586 0.99296998 0.02900148 0.59425258] [ 0.05720038 -0.035751 0.9977224 0.10564303] [ 0. 0. 0. 1. ]] SLAMing on 31.519072329 meters Centerline goodness : 0.806887 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.61, Z:0.10 [[ 0.99183648 -0.10842469 -0.0671155 2.86237617] [ 0.11105387 0.9931344 0.0367573 0.61262164] [ 0.06266931 -0.04391066 0.99706791 0.10185958] [ 0. 0. 0. 1. ]] SLAMing on 31.579072329 meters Centerline goodness : 0.801886 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.65, Z:0.12 [[ 0.99213257 -0.10922933 -0.06117124 2.89146454] [ 0.11059123 0.993678 0.01932897 0.65271544] [ 0.05867323 -0.02594191 0.99794011 0.1203612 ] [ 0. 0. 0. 1. ]] SLAMing on 31.639072328999998 meters Centerline goodness : 0.799267 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.67, Z:0.13 [[ 0.99222721 -0.10973775 -0.05867521 2.9029979 ] [ 0.11020221 0.99389794 0.00472947 0.6686015 ] [ 0.05779817 -0.01115885 0.99826592 0.13360246] [ 0. 0. 0. 1. ]] SLAMing on 31.699072329 meters Centerline goodness : 0.795547 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.71, Z:0.15 [[ 0.99191957 -0.11308643 -0.05750677 2.93663754] [ 0.11256748 0.99356924 -0.01219524 0.70684634] [ 0.05851607 0.00562331 0.99827063 0.14867325] [ 0. 0. 0. 1. ]] SLAMing on 31.759072329 meters Centerline goodness : 0.795219 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.73, Z:0.16 [[ 0.99146648 -0.11659176 -0.05831442 2.96717884] [ 0.11554761 0.99308036 -0.02097955 0.73142597] [ 0.06035695 0.01406243 0.9980778 0.15763259] [ 0. 0. 0. 1. ]] SLAMing on 31.819072328999997 meters Centerline goodness : 0.793643 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.82, Z:0.28 [[ 0.9950629 -0.09452961 -0.03023206 3.01105868] [ 0.0898675 0.98747096 -0.12971093 0.81702068] [ 0.04211481 0.12635366 0.99109086 0.28160513] [ 0. 0. 0. 1. ]] SLAMing on 31.879072329 meters Centerline goodness : 0.791905 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.82, Z:0.29 [[ 0.99469285 -0.09705224 -0.03416138 3.0507486 ] [ 0.09243138 0.98874436 -0.11764788 0.82324057] [ 0.04519487 0.11386592 0.99246762 0.28753883] [ 0. 0. 0. 1. ]] SLAMing on 31.939072329 meters Centerline goodness : 0.795002 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.82, Z:0.30 [[ 0.9945493 -0.09924457 -0.03197183 3.07504817] [ 0.09407241 0.98632169 -0.13535104 0.82166762] [ 0.04496737 0.13160562 0.99028173 0.29685505] [ 0. 0. 0. 1. ]] SLAMing on 31.999072329 meters Centerline goodness : 0.793836 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:0.82, Z:0.29 [[ 0.99441476 -0.10074012 -0.03147572 3.11153777] [ 0.09577746 0.98662935 -0.13186816 0.81766066] [ 0.04433928 0.12811698 0.99076741 0.28812443] [ 0. 0. 0. 1. ]] SLAMing on 32.059072328999996 meters Centerline goodness : 0.792887 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:0.82, Z:0.29 [[ 0.99387876 -0.10412734 -0.03691214 3.1422541 ] [ 0.09918603 0.98817245 -0.11695015 0.82141182] [ 0.04865327 0.1125731 0.99245159 0.29240656] [ 0. 0. 0. 1. ]] SLAMing on 32.119072329 meters Centerline goodness : 0.793723 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.82, Z:0.29 [[ 0.99446411 -0.09965302 -0.03332292 3.16228646] [ 0.09564928 0.98980352 -0.10554716 0.8238998 ] [ 0.04350124 0.10177554 0.99385581 0.29214261] [ 0. 0. 0. 1. ]] SLAMing on 32.17907232899999 meters Centerline goodness : 0.796725 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:0.82, Z:0.29 [[ 0.9944499 -0.1008166 -0.03009018 3.19279635] [ 0.09730362 0.99007234 -0.10143352 0.82069873] [ 0.04001764 0.09794267 0.99438716 0.28656165] [ 0. 0. 0. 1. ]] SLAMing on 32.239072328999995 meters Centerline goodness : 0.796120 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:0.82, Z:0.28 [[ 0.9945197 -0.10118709 -0.02630108 3.21652503] [ 0.09830121 0.99067552 -0.09433386 0.81795745] [ 0.0356012 0.09123146 0.99519314 0.28227208] [ 0. 0. 0. 1. ]] SLAMing on 32.299072329 meters Centerline goodness : 0.800318 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.82, Z:0.28 [[ 0.99461454 -0.10118281 -0.02244919 3.23610113] [ 0.09893251 0.99142814 -0.08533818 0.81656356] [ 0.03089151 0.08265764 0.99609911 0.27866468] [ 0. 0. 0. 1. ]] SLAMing on 32.35907232899999 meters Centerline goodness : 0.799674 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:0.82, Z:0.27 [[ 0.99486332 -0.09935571 -0.01937584 3.25549986] [ 0.09772669 0.99260199 -0.07204704 0.8150395 ] [ 0.02639078 0.06978342 0.99721302 0.27050814] [ 0. 0. 0. 1. ]] SLAMing on 32.419072328999995 meters Centerline goodness : 0.801881 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:0.84, Z:0.33 [[ 9.95471770e-01 -9.50504651e-02 -1.16785092e-03 3.29637182e+00] [ 9.40920559e-02 9.87032198e-01 -1.30054316e-01 8.38184495e-01] [ 1.35144297e-02 1.29355515e-01 9.91506183e-01 3.30226855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479072329 meters Centerline goodness : 0.801165 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.84, Z:0.33 [[ 9.95533549e-01 -9.43818392e-02 2.24064914e-03 3.32311367e+00] [ 9.39113258e-02 9.87580290e-01 -1.25959653e-01 8.38585208e-01] [ 9.67548277e-03 1.25607483e-01 9.92032835e-01 3.31795250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53907232899999 meters Centerline goodness : 0.801381 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.84, Z:0.33 [[ 0.99559988 -0.09357735 0.00491509 3.35234026] [ 0.09348965 0.98836522 -0.11997449 0.83710924] [ 0.00636899 0.1199061 0.99276481 0.32824759] [ 0. 0. 0. 1. ]] SLAMing on 32.599072328999995 meters Centerline goodness : 0.800150 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.86, Z:0.38 [[ 9.95477075e-01 -9.39887000e-02 1.38389869e-02 3.38696656e+00] [ 9.49848958e-02 9.81910735e-01 -1.63796146e-01 8.56207704e-01] [ 1.80633695e-03 1.64369803e-01 9.86397134e-01 3.77834957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659072329 meters Centerline goodness : 0.797100 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.86, Z:0.38 [[ 9.95349644e-01 -9.46284168e-02 1.80152189e-02 3.41338678e+00] [ 9.63004181e-02 9.81983720e-01 -1.62585989e-01 8.58056023e-01] [-2.30539688e-03 1.63564780e-01 9.86529902e-01 3.81696506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71907232899999 meters Centerline goodness : 0.797394 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.86, Z:0.38 [[ 0.99542577 -0.09337841 0.02019937 3.44399667] [ 0.09539858 0.98292652 -0.15733585 0.8588009 ] [-0.00516273 0.15854315 0.98733855 0.37886171] [ 0. 0. 0. 1. ]] SLAMing on 32.779072328999995 meters Centerline goodness : 0.792153 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.87, Z:0.40 [[ 9.94861107e-01 -9.91546413e-02 2.04874171e-02 3.48372729e+00] [ 1.01212569e-01 9.79363927e-01 -1.74935173e-01 8.66741191e-01] [-2.71900290e-03 1.76109784e-01 9.84366777e-01 3.98353871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839072329 meters Centerline goodness : 0.788400 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.87, Z:0.40 [[ 0.99454714 -0.10170882 0.02304985 3.51496545] [ 0.10418189 0.97893055 -0.1756164 0.86689214] [-0.00470247 0.17706016 0.9841888 0.39910507] [ 0. 0. 0. 1. ]] SLAMing on 32.89907232899999 meters Centerline goodness : 0.789105 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.87, Z:0.40 [[ 0.99443014 -0.10204331 0.02637908 3.53589854] [ 0.10505462 0.97982608 -0.17001285 0.86943744] [-0.00849823 0.17183715 0.98508871 0.4015187 ] [ 0. 0. 0. 1. ]] SLAMing on 32.959072328999994 meters Centerline goodness : 0.787600 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.89, Z:0.44 [[ 0.99383929 -0.10731964 0.02767615 3.58618371] [ 0.11071526 0.9727514 -0.20370772 0.88686781] [-0.00506018 0.20551691 0.97864048 0.44231179] [ 0. 0. 0. 1. ]] SLAMing on 33.019072329 meters Centerline goodness : 0.788645 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.90, Z:0.47 [[ 9.93382935e-01 -1.11676640e-01 2.68080699e-02 3.63467137e+00] [ 1.14847584e-01 9.67176070e-01 -2.26672632e-01 8.97642404e-01] [-6.14085721e-04 2.28251566e-01 9.73601995e-01 4.69735137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079072329 meters Centerline goodness : 0.787650 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.91, Z:0.51 [[ 9.92780654e-01 -1.16716096e-01 2.76392113e-02 3.68045499e+00] [ 1.19903945e-01 9.59782040e-01 -2.53853263e-01 9.10272169e-01] [ 3.10114318e-03 2.55334659e-01 9.66847762e-01 5.07639770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139072328999994 meters Centerline goodness : 0.783048 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.91, Z:0.51 [[ 0.99250727 -0.12119674 0.01551318 3.71176194] [ 0.12119483 0.96035729 -0.25104917 0.91091563] [ 0.01552815 0.25104825 0.96785002 0.50815122] [ 0. 0. 0. 1. ]] SLAMing on 33.199072328999996 meters Centerline goodness : 0.775665 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:0.91, Z:0.49 [[ 0.99275222 -0.11971471 0.01055553 3.7242111 ] [ 0.11863237 0.96214106 -0.24537916 0.90577262] [ 0.01921958 0.24485294 0.96936972 0.49467728] [ 0. 0. 0. 1. ]] SLAMing on 33.259072329 meters Centerline goodness : 0.772859 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:0.91, Z:0.50 [[ 9.92217836e-01 -1.24487748e-01 2.56252339e-03 3.76994201e+00] [ 1.21120982e-01 9.60202722e-01 -2.51675267e-01 9.06083497e-01] [ 2.88699454e-02 2.50027064e-01 9.67808345e-01 4.96961288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319072328999994 meters Centerline goodness : 0.770368 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.91, Z:0.51 [[ 9.91975908e-01 -1.26425161e-01 -6.91000576e-04 3.81560866e+00] [ 1.21775297e-01 9.56931870e-01 -2.63537803e-01 9.10087781e-01] [ 3.39790498e-02 2.61339005e-01 9.64648821e-01 5.13962814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379072328999996 meters Centerline goodness : 0.774806 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.90, Z:0.50 [[ 0.99182237 -0.12751743 -0.00526202 3.8365182 ] [ 0.12225125 0.96108501 -0.24773018 0.89776873] [ 0.03664717 0.24506105 0.96881477 0.50105702] [ 0. 0. 0. 1. ]] SLAMing on 33.439072329 meters Centerline goodness : 0.774156 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.89, Z:0.50 [[ 0.99180515 -0.12752776 -0.0076954 3.84899026] [ 0.12160764 0.96079813 -0.24915565 0.88907883] [ 0.03916798 0.24617803 0.96843288 0.49675298] [ 0. 0. 0. 1. ]] SLAMing on 33.49907232899999 meters Centerline goodness : 0.775041 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.87, Z:0.49 [[ 0.99165359 -0.12855088 -0.00989054 3.85801299] [ 0.1221632 0.96135967 -0.24670579 0.87269361] [ 0.04122261 0.24343842 0.96903995 0.4865135 ] [ 0. 0. 0. 1. ]] SLAMing on 33.559072328999996 meters Centerline goodness : 0.774504 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.87, Z:0.48 [[ 0.99143518 -0.13034739 -0.00811483 3.87560776] [ 0.12481742 0.96399232 -0.23481783 0.86575264] [ 0.03843052 0.23179379 0.97200552 0.47740838] [ 0. 0. 0. 1. ]] SLAMing on 33.619072329 meters Centerline goodness : 0.775214 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.85, Z:0.47 [[ 0.9904859 -0.13691619 -0.01384338 3.87314006] [ 0.13009556 0.9644157 -0.23016844 0.8457252 ] [ 0.04486455 0.22617764 0.97305234 0.46603133] [ 0. 0. 0. 1. ]] SLAMing on 33.67907232899999 meters Centerline goodness : 0.775340 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.83, Z:0.46 [[ 0.99004076 -0.13774377 -0.0290853 3.88332396] [ 0.12740079 0.96452359 -0.23122131 0.83280517] [ 0.05990275 0.22521303 0.97246632 0.46340412] [ 0. 0. 0. 1. ]] SLAMing on 33.739072328999995 meters Centerline goodness : 0.778213 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.82, Z:0.46 [[ 0.98974637 -0.13739833 -0.03903607 3.88362208] [ 0.12453658 0.96392803 -0.23523049 0.81645677] [ 0.06994824 0.22795711 0.97115539 0.45670838] [ 0. 0. 0. 1. ]] SLAMing on 33.799072329 meters Centerline goodness : 0.782503 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.81, Z:0.46 [[ 0.99030408 -0.13333854 -0.03897009 3.8822273 ] [ 0.12112696 0.96616336 -0.22772049 0.80514805] [ 0.06801539 0.2207922 0.97294641 0.45636184] [ 0. 0. 0. 1. ]] SLAMing on 33.85907232899999 meters Centerline goodness : 0.785121 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.80, Z:0.46 [[ 0.99077936 -0.12929681 -0.04047946 3.88437034] [ 0.11742264 0.96851576 -0.21952025 0.79953561] [ 0.06758826 0.21274292 0.97476781 0.45604225] [ 0. 0. 0. 1. ]] SLAMing on 33.919072328999995 meters Centerline goodness : 0.789403 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.79, Z:0.45 [[ 0.99094913 -0.12893689 -0.03735096 3.88204552] [ 0.11749128 0.96765495 -0.22324808 0.790227 ] [ 0.06492775 0.21683908 0.97404579 0.45018382] [ 0. 0. 0. 1. ]] SLAMing on 33.979072329 meters Centerline goodness : 0.788945 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.78, Z:0.45 [[ 0.99050221 -0.1323861 -0.03713883 3.88530559] [ 0.1208158 0.96693685 -0.22458108 0.78487466] [ 0.06564232 0.2179611 0.97374742 0.44604493] [ 0. 0. 0. 1. ]] SLAMing on 34.03907232899999 meters Centerline goodness : 0.789158 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.78, Z:0.44 [[ 0.98964794 -0.13714782 -0.04227799 3.89499514] [ 0.12511064 0.96877559 -0.21405884 0.77883387] [ 0.07031558 0.20655346 0.97590542 0.44404566] [ 0. 0. 0. 1. ]] SLAMing on 34.099072328999995 meters Centerline goodness : 0.790128 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.78, Z:0.44 [[ 0.9893194 -0.13965444 -0.04175834 3.8975936 ] [ 0.1274611 0.96781965 -0.21697646 0.7756474 ] [ 0.07071626 0.20933646 0.97528327 0.44018694] [ 0. 0. 0. 1. ]] SLAMing on 34.159072329 meters Centerline goodness : 0.789448 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.78, Z:0.43 [[ 0.98929528 -0.13996927 -0.04127278 3.90118141] [ 0.12767069 0.96716659 -0.21974754 0.77563413] [ 0.07067555 0.21212589 0.97468332 0.43438006] [ 0. 0. 0. 1. ]] SLAMing on 34.21907232899999 meters Centerline goodness : 0.791188 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.78, Z:0.43 [[ 0.98950534 -0.13787525 -0.04323875 3.90610138] [ 0.12547614 0.96828116 -0.21607251 0.77855827] [ 0.07165832 0.20837947 0.97541944 0.43282276] [ 0. 0. 0. 1. ]] SLAMing on 34.279072328999995 meters Centerline goodness : 0.790594 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.79, Z:0.42 [[ 0.98962807 -0.13505288 -0.04895916 3.91984024] [ 0.12210848 0.97036622 -0.208516 0.78557154] [ 0.075669 0.20037496 0.97679275 0.42273702] [ 0. 0. 0. 1. ]] SLAMing on 34.339072329 meters Centerline goodness : 0.790688 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.79, Z:0.42 [[ 0.98975871 -0.13254212 -0.05301215 3.9273282 ] [ 0.11941032 0.97221915 -0.20132339 0.79205299] [ 0.07822325 0.19293138 0.97808926 0.42323047] [ 0. 0. 0. 1. ]] SLAMing on 34.39907232899999 meters Centerline goodness : 0.786017 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.80, Z:0.42 [[ 0.98948404 -0.13352518 -0.05560894 3.93324585] [ 0.12009401 0.97268453 -0.19865102 0.79667036] [ 0.08061487 0.18988371 0.9784914 0.42306948] [ 0. 0. 0. 1. ]] SLAMing on 34.459072328999994 meters Centerline goodness : 0.784352 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.80, Z:0.42 [[ 0.98868571 -0.13646448 -0.06227376 3.94845646] [ 0.12229833 0.97372186 -0.1921168 0.80457663] [ 0.08685444 0.18232716 0.97939426 0.41620438] [ 0. 0. 0. 1. ]] SLAMing on 34.519072329 meters Centerline goodness : 0.783799 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.81, Z:0.42 [[ 0.98831089 -0.13727085 -0.0663197 3.95637186] [ 0.12277504 0.97455311 -0.18754339 0.81145811] [ 0.09037631 0.17720877 0.98001489 0.41715075] [ 0. 0. 0. 1. ]] SLAMing on 34.579072329 meters Centerline goodness : 0.779576 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.82, Z:0.41 [[ 0.98745542 -0.14063415 -0.07179014 3.96932003] [ 0.12515202 0.97431471 -0.18721065 0.82340054] [ 0.0962744 0.17587749 0.97969299 0.41415198] [ 0. 0. 0. 1. ]] SLAMing on 34.639072328999994 meters Centerline goodness : 0.778443 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.83, Z:0.41 [[ 0.98634905 -0.14611008 -0.07594338 3.97926611] [ 0.12976501 0.97360376 -0.18776782 0.83248941] [ 0.10137353 0.17534982 0.97927312 0.41358586] [ 0. 0. 0. 1. ]] SLAMing on 34.699072328999996 meters Centerline goodness : 0.780466 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.84, Z:0.41 [[ 0.98552184 -0.15452443 -0.06977751 3.98963348] [ 0.1400403 0.973873 -0.17877388 0.84068943] [ 0.09557936 0.1664139 0.98141276 0.40888468] [ 0. 0. 0. 1. ]] SLAMing on 34.759072329 meters Centerline goodness : 0.778585 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:0.84, Z:0.41 [[ 0.98415661 -0.16093476 -0.07440269 3.99745825] [ 0.1460162 0.97372286 -0.17476575 0.84156074] [ 0.10057349 0.16113287 0.98179487 0.41215992] [ 0. 0. 0. 1. ]] SLAMing on 34.819072328999994 meters Centerline goodness : 0.779751 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.84, Z:0.41 [[ 0.9804384 -0.17877501 -0.08234098 4.0137246 ] [ 0.16252854 0.97130796 -0.17362407 0.84223683] [ 0.1110181 0.15684494 0.98136367 0.41118743] [ 0. 0. 0. 1. ]] SLAMing on 34.879072328999996 meters Centerline goodness : 0.778664 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.84, Z:0.41 [[ 0.97752907 -0.1905391 -0.09017636 4.02860663] [ 0.17344235 0.97011799 -0.16967275 0.84492932] [ 0.119811 0.15021965 0.98136608 0.40970575] [ 0. 0. 0. 1. ]] SLAMing on 34.939072329 meters Centerline goodness : 0.777603 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.85, Z:0.41 [[ 0.97750534 -0.18931102 -0.09297663 4.03344426] [ 0.17218674 0.97088244 -0.16655035 0.8488811 ] [ 0.1217992 0.14679451 0.98163961 0.40963796] [ 0. 0. 0. 1. ]] SLAMing on 34.99907232899999 meters Centerline goodness : 0.778234 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:0.85, Z:0.41 [[ 0.97937935 -0.18103736 -0.08967479 4.04707979] [ 0.16636977 0.97452678 -0.15039497 0.85224654] [ 0.11461759 0.13237455 0.98455055 0.40887313] [ 0. 0. 0. 1. ]] SLAMing on 35.059072328999996 meters Centerline goodness : 0.775275 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.86, Z:0.41 [[ 0.98123426 -0.17257929 -0.08599837 4.06099325] [ 0.16012368 0.97779263 -0.13521083 0.85688693] [ 0.10742316 0.11890313 0.98707766 0.40959349] [ 0. 0. 0. 1. ]] SLAMing on 35.119072329 meters Centerline goodness : 0.775659 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.87, Z:0.42 [[ 0.98375998 -0.15883639 -0.08359012 4.08606619] [ 0.14630182 0.97939423 -0.13922182 0.87074096] [ 0.10398118 0.12473146 0.9867269 0.41841626] [ 0. 0. 0. 1. ]] SLAMing on 35.17907232899999 meters Centerline goodness : 0.773759 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.88, Z:0.42 [[ 0.98307131 -0.15902384 -0.09100669 4.12363408] [ 0.14556265 0.97950942 -0.13918622 0.88095477] [ 0.11127583 0.1235828 0.98607555 0.42087553] [ 0. 0. 0. 1. ]] SLAMing on 35.239072328999995 meters Centerline goodness : 0.773844 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:0.89, Z:0.42 [[ 0.9835827 -0.15688154 -0.08918107 4.14000739] [ 0.1451175 0.9813761 -0.12586448 0.88958343] [ 0.10726598 0.11085639 0.9880308 0.41506427] [ 0. 0. 0. 1. ]] SLAMing on 35.299072329 meters Centerline goodness : 0.773498 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.90, Z:0.41 [[ 0.98344102 -0.15939408 -0.08623974 4.15683929] [ 0.14877411 0.98179746 -0.11806781 0.89796299] [ 0.10348927 0.10328249 0.98925361 0.41104202] [ 0. 0. 0. 1. ]] SLAMing on 35.35907232899999 meters Centerline goodness : 0.773557 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.90, Z:0.40 [[ 0.98281806 -0.16523242 -0.08226123 4.16523748] [ 0.15605039 0.98185295 -0.10776392 0.90044213] [ 0.09857453 0.09307543 0.99076739 0.40231347] [ 0. 0. 0. 1. ]] SLAMing on 35.419072328999995 meters Centerline goodness : 0.770202 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.91, Z:0.40 [[ 0.98174579 -0.17399746 -0.07681201 4.17816987] [ 0.16554563 0.98056026 -0.1053386 0.90515799] [ 0.09364745 0.09069984 0.99146543 0.3998455 ] [ 0. 0. 0. 1. ]] SLAMing on 35.479072329 meters Centerline goodness : 0.770748 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.90, Z:0.40 [[ 0.98257153 -0.16895526 -0.0775068 4.17971769] [ 0.16092295 0.98185975 -0.10027585 0.9039522 ] [ 0.09304294 0.08605557 0.99193621 0.39732668] [ 0. 0. 0. 1. ]] SLAMing on 35.53907232899999 meters Centerline goodness : 0.770946 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:0.90, Z:0.39 [[ 0.98320955 -0.16665093 -0.07434003 4.19818211] [ 0.15999409 0.98318813 -0.08799425 0.90496096] [ 0.08775456 0.07462282 0.99334313 0.39178093] [ 0. 0. 0. 1. ]] SLAMing on 35.599072328999995 meters Centerline goodness : 0.772083 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.90, Z:0.39 [[ 0.98367461 -0.16492235 -0.07200608 4.2158542 ] [ 0.15952222 0.98432188 -0.07525361 0.90405396] [ 0.08328816 0.0625385 0.99456122 0.38691836] [ 0. 0. 0. 1. ]] SLAMing on 35.659072329 meters Centerline goodness : 0.772961 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.90, Z:0.38 [[ 0.98378651 -0.1649607 -0.07037091 4.23368729] [ 0.16069857 0.98502366 -0.06248482 0.90151574] [ 0.07962455 0.05016322 0.99556194 0.37975372] [ 0. 0. 0. 1. ]] SLAMing on 35.71907232899999 meters Centerline goodness : 0.773592 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.90, Z:0.38 [[ 0.9832456 -0.16792625 -0.07091449 4.23823591] [ 0.16335422 0.98435591 -0.06602154 0.90054551] [ 0.08089185 0.05333121 0.99529508 0.37909995] [ 0. 0. 0. 1. ]] SLAMing on 35.779072328999995 meters Centerline goodness : 0.774655 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.90, Z:0.37 [[ 0.98475038 -0.16413035 -0.05768808 4.2445767 ] [ 0.16071407 0.98520011 -0.05959641 0.89594825] [ 0.06661588 0.0494163 0.99655424 0.36873643] [ 0. 0. 0. 1. ]] SLAMing on 35.839072329 meters Centerline goodness : 0.772411 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:0.89, Z:0.36 [[ 0.98530739 -0.16181958 -0.05462389 4.26243802] [ 0.15935016 0.98610689 -0.04691192 0.89437156] [ 0.06145626 0.03751834 0.99740438 0.364281 ] [ 0. 0. 0. 1. ]] SLAMing on 35.89907232899999 meters Centerline goodness : 0.775390 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:0.89, Z:0.36 [[ 0.98560838 -0.16098713 -0.05156813 4.28103494] [ 0.15926907 0.986583 -0.0358795 0.89286046] [ 0.05665237 0.02714993 0.99802474 0.35987577] [ 0. 0. 0. 1. ]] SLAMing on 35.959072328999994 meters Centerline goodness : 0.773024 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:0.89, Z:0.36 [[ 0.98511121 -0.1637305 -0.05242356 4.28624154] [ 0.16174457 0.98601581 -0.04014366 0.8941105 ] [ 0.0582632 0.03106674 0.99781775 0.36040975] [ 0. 0. 0. 1. ]] SLAMing on 36.019072329 meters Centerline goodness : 0.774634 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:0.89, Z:0.36 [[ 0.98517829 -0.16325385 -0.05264901 4.28797398] [ 0.16133353 0.98613322 -0.03889434 0.89068367] [ 0.05826859 0.02982381 0.99785536 0.35807944] [ 0. 0. 0. 1. ]] SLAMing on 36.07907232899999 meters Centerline goodness : 0.777183 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:0.89, Z:0.35 [[ 0.98525266 -0.16266267 -0.0530854 4.29057976] [ 0.16086209 0.98629732 -0.03661944 0.88515039] [ 0.0583146 0.02753997 0.99791831 0.35396333] [ 0. 0. 0. 1. ]] SLAMing on 36.139072328999994 meters Centerline goodness : 0.778476 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:0.88, Z:0.35 [[ 0.98480635 -0.1666239 -0.04891758 4.30632905] [ 0.16537943 0.98581814 -0.02849984 0.88031684] [ 0.05297259 0.01997687 0.99839613 0.34959117] [ 0. 0. 0. 1. ]] SLAMing on 36.199072328999996 meters Centerline goodness : 0.778093 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:0.88, Z:0.35 [[ 0.98606078 -0.16264768 -0.03506961 4.30899617] [ 0.16188656 0.98652791 -0.02356731 0.87562538] [ 0.03843032 0.01756151 0.99910695 0.34502869] [ 0. 0. 0. 1. ]] SLAMing on 36.259072329 meters Centerline goodness : 0.776530 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:0.88, Z:0.35 [[ 0.98554257 -0.16569528 -0.03536821 4.31185016] [ 0.16472647 0.9859198 -0.02876335 0.87662315] [ 0.03963617 0.02252142 0.99896034 0.34853996] [ 0. 0. 0. 1. ]] SLAMing on 36.319072328999994 meters Centerline goodness : 0.776598 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:0.87, Z:0.35 [[ 0.98556079 -0.16557151 -0.03544007 4.31252357] [ 0.16465709 0.98597164 -0.0273489 0.86932113] [ 0.0394711 0.02111854 0.99899752 0.34758654] [ 0. 0. 0. 1. ]] SLAMing on 36.379072328999996 meters Centerline goodness : 0.775226 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:0.87, Z:0.35 [[ 0.98560204 -0.16524767 -0.03580254 4.31366719] [ 0.16437463 0.9860523 -0.02611197 0.86576013] [ 0.03961812 0.01985099 0.99901769 0.34648255] [ 0. 0. 0. 1. ]] SLAMing on 36.439072329 meters Centerline goodness : 0.778093 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.87, Z:0.35 [[ 0.98569301 -0.16459737 -0.03629046 4.31500437] [ 0.16370224 0.98615613 -0.02641326 0.86632206] [ 0.04013562 0.02009454 0.99899216 0.34783048] [ 0. 0. 0. 1. ]] SLAMing on 36.49907232899999 meters Centerline goodness : 0.776100 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.87, Z:0.35 [[ 0.98575287 -0.16415818 -0.03665199 4.31625006] [ 0.16324304 0.98622392 -0.02672228 0.86677353] [ 0.04053375 0.02035839 0.99897075 0.3485281 ] [ 0. 0. 0. 1. ]] SLAMing on 36.559072328999996 meters Centerline goodness : 0.776437 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.87, Z:0.35 [[ 0.98576492 -0.16410984 -0.03654436 4.31657522] [ 0.16322012 0.98624313 -0.02614735 0.86531461] [ 0.04033266 0.01981036 0.9989899 0.34723819] [ 0. 0. 0. 1. ]] SLAMing on 36.619072329 meters Centerline goodness : 0.775483 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.87, Z:0.35 [[ 0.98514845 -0.16779603 -0.03642828 4.31851831] [ 0.16674491 0.98553699 -0.03021554 0.86500608] [ 0.04097146 0.02369256 0.99887937 0.34748097] [ 0. 0. 0. 1. ]] SLAMing on 36.67907232899999 meters Centerline goodness : 0.773895 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.86, Z:0.35 [[ 0.98503464 -0.16846068 -0.03643828 4.3179283 ] [ 0.16743383 0.98543814 -0.02962422 0.86438689] [ 0.04089818 0.02307988 0.99889672 0.34635394] [ 0. 0. 0. 1. ]] SLAMing on 36.739072328999995 meters Centerline goodness : 0.773308 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.86, Z:0.34 [[ 0.98508647 -0.16808955 -0.03674997 4.31975284] [ 0.16710011 0.98552688 -0.02853619 0.86287749] [ 0.04101472 0.02196969 0.99891698 0.34380362] [ 0. 0. 0. 1. ]] SLAMing on 36.799072329 meters Centerline goodness : 0.774468 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.86, Z:0.33 [[ 0.98490826 -0.17170523 -0.02174949 4.32389095] [ 0.17105623 0.98483901 -0.02884256 0.85661668] [ 0.02637217 0.02468689 0.99934732 0.33487413] [ 0. 0. 0. 1. ]] SLAMing on 36.85907232899999 meters Centerline goodness : 0.775764 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:0.85, Z:0.33 [[ 0.98440241 -0.17511718 -0.01690751 4.33360606] [ 0.17479391 0.98442135 -0.019018 0.85302024] [ 0.01997449 0.01576604 0.99967617 0.33297813] [ 0. 0. 0. 1. ]] SLAMing on 36.919072328999995 meters Centerline goodness : 0.775492 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.85, Z:0.33 [[ 0.98444113 -0.17487588 -0.01714873 4.33505938] [ 0.17457421 0.98448394 -0.01775418 0.84817042] [ 0.01998743 0.01448422 0.99969531 0.33109785] [ 0. 0. 0. 1. ]] SLAMing on 36.979072329 meters Centerline goodness : 0.775683 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.85, Z:0.33 [[ 0.98447203 -0.17469131 -0.0172561 4.33532432] [ 0.17438205 0.98451255 -0.01805369 0.84869654] [ 0.02014267 0.0147642 0.9996881 0.33179768] [ 0. 0. 0. 1. ]] SLAMing on 37.03907232899999 meters Centerline goodness : 0.773835 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.85, Z:0.33 [[ 0.98536034 -0.16947672 -0.01851033 4.33729171] [ 0.16920989 0.9854636 -0.01514979 0.85383439] [ 0.0208088 0.01179587 0.99971388 0.33319671] [ 0. 0. 0. 1. ]] SLAMing on 37.099072328999995 meters Centerline goodness : 0.771474 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.86, Z:0.33 [[ 0.98757541 -0.15675789 -0.01103498 4.34280879] [ 0.1565182 0.98747272 -0.01999213 0.85515026] [ 0.01403066 0.01801656 0.99973924 0.32680046] [ 0. 0. 0. 1. ]] SLAMing on 37.159072329 meters Centerline goodness : 0.770902 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.86, Z:0.33 [[ 0.98775802 -0.15554342 -0.0118461 4.34541473] [ 0.15528018 0.98765557 -0.0206044 0.86150653] [ 0.01490474 0.01851269 0.99971752 0.32708808] [ 0. 0. 0. 1. ]] SLAMing on 37.21907232899999 meters Centerline goodness : 0.770138 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.87, Z:0.33 [[ 0.98822403 -0.15252373 -0.01223827 4.34334375] [ 0.15227221 0.98814873 -0.01937195 0.87033816] [ 0.01504791 0.01728028 0.99973744 0.33055405] [ 0. 0. 0. 1. ]] SLAMing on 37.279072328999995 meters Centerline goodness : 0.768380 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.87, Z:0.33 [[ 0.98762714 -0.15636473 -0.01194578 4.34519772] [ 0.15604737 0.98745752 -0.02401812 0.87357839] [ 0.01555154 0.02185684 0.99964015 0.32965471] [ 0. 0. 0. 1. ]] SLAMing on 37.339072329 meters Centerline goodness : 0.769865 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.87, Z:0.33 [[ 0.98756773 -0.15678422 -0.01134437 4.34418691] [ 0.156483 0.98739351 -0.0238144 0.87267067] [ 0.01493508 0.02174313 0.99965203 0.32855738] [ 0. 0. 0. 1. ]] SLAMing on 37.39907232899999 meters Centerline goodness : 0.770306 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.88, Z:0.32 [[ 0.98646908 -0.16382019 -0.00645788 4.35776113] [ 0.16367169 0.98632923 -0.01913711 0.87645016] [ 0.00950464 0.01782119 0.99979601 0.32367888] [ 0. 0. 0. 1. ]] SLAMing on 37.459072328999994 meters Centerline goodness : 0.771703 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.88, Z:0.32 [[ 9.86292207e-01 -1.64996178e-01 -1.98569413e-03 4.37125536e+00] [ 1.64968572e-01 9.86247857e-01 -1.00266484e-02 8.79973831e-01] [ 3.61274526e-03 9.56162810e-03 9.99947760e-01 3.21343517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519072329 meters Centerline goodness : 0.770392 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.88, Z:0.32 [[ 9.86329097e-01 -1.64770439e-01 -2.36938008e-03 4.37268023e+00] [ 1.64737736e-01 9.86282706e-01 -1.03876175e-02 8.82420825e-01] [ 4.04845090e-03 9.85528311e-03 9.99943240e-01 3.20895679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57907232899999 meters Centerline goodness : 0.769121 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.88, Z:0.32 [[ 9.86578739e-01 -1.63246975e-01 -3.58017229e-03 4.37825997e+00] [ 1.63207592e-01 9.86546941e-01 -9.40291582e-03 8.83536295e-01] [ 5.06700559e-03 8.69240553e-03 9.99949382e-01 3.16662581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639072328999994 meters Centerline goodness : 0.768388 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.88, Z:0.32 [[ 9.86628702e-01 -1.62937215e-01 -3.90737825e-03 4.37978207e+00] [ 1.62894922e-01 9.86598470e-01 -9.41825716e-03 8.84313467e-01] [ 5.38959799e-03 8.65583077e-03 9.99948013e-01 3.15810406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699072328999996 meters Centerline goodness : 0.769694 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.89, Z:0.32 [[ 9.86644616e-01 -1.62831212e-01 -4.28923037e-03 4.38055131e+00] [ 1.62782623e-01 9.86611926e-01 -9.93603959e-03 8.86524510e-01] [ 5.84970321e-03 9.10512780e-03 9.99941437e-01 3.16452245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759072329 meters Centerline goodness : 0.771508 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.89, Z:0.32 [[ 0.98669299 -0.16253087 -0.00454626 4.38169529] [ 0.16247877 0.98666004 -0.0101299 0.88751808] [ 0.00613204 0.00925643 0.99993836 0.31623142] [ 0. 0. 0. 1. ]] SLAMing on 37.819072328999994 meters Centerline goodness : 0.773397 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.89, Z:0.32 [[ 0.98671854 -0.16237093 -0.00471115 4.38220729] [ 0.16231552 0.98668395 -0.01041377 0.88824451] [ 0.00633931 0.00951077 0.99993468 0.31678865] [ 0. 0. 0. 1. ]] SLAMing on 37.879072328999996 meters Centerline goodness : 0.769956 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.89, Z:0.32 [[ 0.98667452 -0.16262424 -0.00517162 4.38196324] [ 0.16254492 0.9866129 -0.013196 0.89478404] [ 0.00724838 0.01217953 0.99989955 0.32212934] [ 0. 0. 0. 1. ]] SLAMing on 37.939072329 meters Centerline goodness : 0.769413 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.89, Z:0.32 [[ 0.9868021 -0.161826 -0.00582705 4.38529024] [ 0.16174589 0.98675597 -0.01228537 0.89379213] [ 0.00773797 0.01118073 0.99990755 0.31927112] [ 0. 0. 0. 1. ]] SLAMing on 37.99907232899999 meters Centerline goodness : 0.771683 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.89, Z:0.32 [[ 0.9865468 -0.16333997 -0.00674331 4.3930271 ] [ 0.16322564 0.98647495 -0.0149856 0.89424228] [ 0.00909985 0.01368331 0.99986497 0.31505615] [ 0. 0. 0. 1. ]] SLAMing on 38.059072328999996 meters Centerline goodness : 0.772070 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.90, Z:0.31 [[ 9.86539594e-01 -1.63504316e-01 -2.44281331e-03 4.40678411e+00] [ 1.63489763e-01 9.86530840e-01 -5.29133840e-03 8.96368343e-01] [ 3.27506733e-03 4.82073987e-03 9.99983017e-01 3.14254854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119072329 meters Centerline goodness : 0.772699 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.90, Z:0.32 [[ 9.86339247e-01 -1.64720135e-01 -1.47189159e-03 4.40246064e+00] [ 1.64705648e-01 9.86316644e-01 -7.17822856e-03 8.98349960e-01] [ 2.63414995e-03 6.83773970e-03 9.99973153e-01 3.18851394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17907232899999 meters Centerline goodness : 0.774039 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.90, Z:0.31 [[ 9.85998929e-01 -1.66736732e-01 -2.23018020e-03 4.40937423e+00] [ 1.66707717e-01 9.85957986e-01 -9.76663486e-03 8.97043798e-01] [ 3.82732075e-03 9.25810326e-03 9.99949818e-01 3.14480597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239072328999995 meters Centerline goodness : 0.771512 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.89, Z:0.31 [[ 9.85935416e-01 -1.67111902e-01 -2.22872373e-03 4.40904125e+00] [ 1.67085853e-01 9.85901471e-01 -8.97809563e-03 8.94556203e-01] [ 3.69764864e-03 8.47943424e-03 9.99957212e-01 3.13777911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299072329 meters Centerline goodness : 0.772074 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.90, Z:0.32 [[ 9.85361909e-01 -1.70455919e-01 -2.58624457e-03 4.41157462e+00] [ 1.70400867e-01 9.85265929e-01 -1.46490380e-02 8.98059618e-01] [ 5.04515390e-03 1.39939057e-02 9.99889352e-01 3.17424587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35907232899999 meters Centerline goodness : 0.775892 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.90, Z:0.32 [[ 9.85280253e-01 -1.70933944e-01 -2.09980320e-03 4.40951100e+00] [ 1.70874879e-01 9.85147562e-01 -1.69132137e-02 9.01246627e-01] [ 4.95965833e-03 1.63054518e-02 9.99854756e-01 3.22100012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419072328999995 meters Centerline goodness : 0.775993 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.90, Z:0.32 [[ 9.85297390e-01 -1.70838132e-01 -1.84018525e-03 4.40943167e+00] [ 1.70784362e-01 9.85167057e-01 -1.66904430e-02 8.98481091e-01] [ 4.66425400e-03 1.61307751e-02 9.99859011e-01 3.22134902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479072329 meters Centerline goodness : 0.777809 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.89, Z:0.32 [[ 9.85216543e-01 -1.71306142e-01 -1.60311607e-03 4.40847108e+00] [ 1.71259462e-01 9.85097158e-01 -1.59306537e-02 8.94811216e-01] [ 4.30824389e-03 1.54205947e-02 9.99871814e-01 3.21795228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53907232899999 meters Centerline goodness : 0.778158 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.89, Z:0.32 [[ 9.85121786e-01 -1.71852911e-01 -1.28208508e-03 4.40699987e+00] [ 1.71813274e-01 9.85009362e-01 -1.53868516e-02 8.91268783e-01] [ 3.90714104e-03 1.49376435e-02 9.99880793e-01 3.22262206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599072328999995 meters Centerline goodness : 0.776808 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.89, Z:0.32 [[ 9.84464644e-01 -1.75580400e-01 -9.42744483e-04 4.40838672e+00] [ 1.75530801e-01 9.84289001e-01 -1.90814351e-02 8.89519366e-01] [ 4.27825904e-03 1.86195175e-02 9.99817488e-01 3.22041350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659072329 meters Centerline goodness : 0.777638 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.88, Z:0.32 [[ 9.84560902e-01 -1.75036884e-01 -1.38534864e-03 4.41093890e+00] [ 1.74986908e-01 9.84417348e-01 -1.73800810e-02 8.84720698e-01] [ 4.40591645e-03 1.68693304e-02 9.99847995e-01 3.18875800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71907232899999 meters Centerline goodness : 0.781974 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.88, Z:0.32 [[ 9.84500440e-01 -1.75379254e-01 -1.00060759e-03 4.40897857e+00] [ 1.75333387e-01 9.84345399e-01 -1.79538142e-02 8.83958389e-01] [ 4.13367001e-03 1.75000980e-02 9.99838317e-01 3.21507106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779072328999995 meters Centerline goodness : 0.781819 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.88, Z:0.32 [[ 9.84511821e-01 -1.75315261e-01 -1.01653793e-03 4.40873056e+00] [ 1.75268661e-01 9.84354881e-01 -1.80655578e-02 8.83303192e-01] [ 4.16780206e-03 1.76075880e-02 9.99836288e-01 3.22703363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839072329 meters Centerline goodness : 0.781015 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.88, Z:0.32 [[ 9.85251180e-01 -1.71102416e-01 -2.01883432e-03 4.40989246e+00] [ 1.71060950e-01 9.85169958e-01 -1.33531219e-02 8.82819907e-01] [ 4.27364634e-03 1.28108354e-02 9.99908805e-01 3.21079065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89907232899999 meters Centerline goodness : 0.778925 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.88, Z:0.32 [[ 9.84750093e-01 -1.73957668e-01 -2.44613950e-03 4.41431433e+00] [ 1.73892435e-01 9.84618987e-01 -1.69373001e-02 8.82691605e-01] [ 5.35488863e-03 1.62536427e-02 9.99853561e-01 3.19609362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959072328999994 meters Centerline goodness : 0.779566 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.88, Z:0.32 [[ 9.83973739e-01 -1.78308080e-01 -1.38217812e-03 4.41346828e+00] [ 1.78243384e-01 9.83774877e-01 -2.04031350e-02 8.78345675e-01] [ 4.99779595e-03 1.98297849e-02 9.99790879e-01 3.19606101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019072329 meters Centerline goodness : 0.780890 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.88, Z:0.32 [[ 9.84509885e-01 -1.75319291e-01 -1.85290608e-03 4.41137062e+00] [ 1.75268384e-01 9.84392147e-01 -1.59089268e-02 8.75167107e-01] [ 4.61312796e-03 1.53377398e-02 9.99871728e-01 3.20159627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07907232899999 meters Centerline goodness : 0.781956 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.87, Z:0.33 [[ 0.98538874 -0.16909163 -0.02042171 4.4202108 ] [ 0.16892184 0.98558089 -0.00978332 0.86686027] [ 0.02178153 0.0061907 0.99974359 0.32990644] [ 0. 0. 0. 1. ]] SLAMing on 39.139072328999994 meters Centerline goodness : 0.783404 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.85, Z:0.33 [[ 0.9860722 -0.16015678 -0.04484888 4.4244155 ] [ 0.15971924 0.98707425 -0.01319829 0.85330826] [ 0.04638297 0.00585123 0.99890659 0.3347245 ] [ 0. 0. 0. 1. ]] SLAMing on 39.199072328999996 meters Centerline goodness : 0.783606 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.84, Z:0.34 [[ 0.9860581 -0.15508478 -0.06031692 4.43188325] [ 0.15450755 0.98789031 -0.01414752 0.84478083] [ 0.06178057 0.00463086 0.99807901 0.33981512] [ 0. 0. 0. 1. ]] SLAMing on 39.259072329 meters Centerline goodness : 0.786527 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.84, Z:0.34 [[ 9.86042952e-01 -1.54394259e-01 -6.23033603e-02 4.43567169e+00] [ 1.53989162e-01 9.88008134e-01 -1.12811942e-02 8.40324909e-01] [ 6.32979783e-02 1.52969978e-03 9.97993500e-01 3.41049202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319072328999994 meters Centerline goodness : 0.788541 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.84, Z:0.35 [[ 9.86096867e-01 -1.52554659e-01 -6.58790119e-02 4.43907762e+00] [ 1.52634182e-01 9.88275241e-01 -3.85409201e-03 8.37453328e-01] [ 6.56945560e-02 -6.25488105e-03 9.97820175e-01 3.45846971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379072328999996 meters Centerline goodness : 0.790584 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.84, Z:0.35 [[ 9.86001272e-01 -1.52727568e-01 -6.69012847e-02 4.44137352e+00] [ 1.52842870e-01 9.88244579e-01 -3.42185336e-03 8.35987917e-01] [ 6.66374432e-02 -6.85143262e-03 9.97753732e-01 3.46379769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439072329 meters Centerline goodness : 0.789835 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.82, Z:0.34 [[ 9.86489606e-01 -1.46366429e-01 -7.35875359e-02 4.43707055e+00] [ 1.45966604e-01 9.89230440e-01 -1.08114657e-02 8.24316828e-01] [ 7.43774661e-02 -7.59242147e-05 9.97230157e-01 3.40406594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49907232899999 meters Centerline goodness : 0.798272 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.82, Z:0.34 [[ 0.987407 -0.13992079 -0.07382136 4.43525819] [ 0.13997074 0.99014531 -0.00452211 0.81970463] [ 0.07372661 -0.00586767 0.99726123 0.3423327 ] [ 0. 0. 0. 1. ]] SLAMing on 39.559072328999996 meters Centerline goodness : 0.799008 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.82, Z:0.34 [[ 9.88052590e-01 -1.34873264e-01 -7.45739994e-02 4.43433216e+00] [ 1.35338241e-01 9.90798736e-01 1.19398794e-03 8.17756727e-01] [ 7.37267872e-02 -1.12724368e-02 9.97214768e-01 3.44652538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619072329 meters Centerline goodness : 0.801579 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.82, Z:0.34 [[ 9.89247787e-01 -1.27279251e-01 -7.20333841e-02 4.43113714e+00] [ 1.27684243e-01 9.91814337e-01 1.02688012e-03 8.15038588e-01] [ 7.13130426e-02 -1.02133670e-02 9.97401693e-01 3.40935507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67907232899999 meters Centerline goodness : 0.802381 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.82, Z:0.33 [[ 9.90557055e-01 -1.17694153e-01 -7.03193265e-02 4.43344570e+00] [ 1.18029551e-01 9.93009890e-01 6.19269838e-04 8.16902425e-01] [ 6.97549022e-02 -8.91318066e-03 9.97524340e-01 3.30140312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739072328999995 meters Centerline goodness : 0.801474 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.82, Z:0.31 [[ 9.92078857e-01 -1.13711989e-01 -5.33771905e-02 4.43091323e+00] [ 1.13815186e-01 9.93501317e-01 -1.11228850e-03 8.20350364e-01] [ 5.31567896e-02 -4.97165696e-03 9.98573802e-01 3.13621583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799072329 meters Centerline goodness : 0.802536 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.82, Z:0.31 [[ 0.99300446 -0.10477764 -0.05444063 4.43081937] [ 0.10531804 0.99441291 0.00714624 0.8179067 ] [ 0.0533877 -0.01282983 0.99849144 0.31481076] [ 0. 0. 0. 1. ]] SLAMing on 39.85907232899999 meters Centerline goodness : 0.801395 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.82, Z:0.32 [[ 0.99397401 -0.10095214 -0.04271218 4.4293194 ] [ 0.10148948 0.99478015 0.01059939 0.82177077] [ 0.0414192 -0.01487035 0.99903119 0.31626852] [ 0. 0. 0. 1. ]] SLAMing on 39.919072328999995 meters Centerline goodness : 0.800971 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.83, Z:0.34 [[ 0.99486052 -0.09417872 -0.03718768 4.41854004] [ 0.09301511 0.99515439 -0.03187364 0.83190049] [ 0.0400093 0.02825081 0.99879985 0.33963418] [ 0. 0. 0. 1. ]] SLAMing on 39.979072329 meters Centerline goodness : 0.797384 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.83, Z:0.34 [[ 0.99474789 -0.09582501 -0.03597491 4.41772383] [ 0.09451692 0.9948555 -0.03645659 0.83036383] [ 0.03928329 0.03286487 0.9986875 0.33829705] [ 0. 0. 0. 1. ]] SLAMing on 40.03907232899999 meters Centerline goodness : 0.799989 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.83, Z:0.34 [[ 0.99431937 -0.0990097 -0.03906484 4.42044996] [ 0.09788959 0.99475646 -0.02961784 0.82626998] [ 0.04179246 0.02562555 0.99879764 0.34464861] [ 0. 0. 0. 1. ]] SLAMing on 40.099072328999995 meters Centerline goodness : 0.803721 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.82, Z:0.35 [[ 0.99367126 -0.10547257 -0.03863888 4.41973896] [ 0.10418596 0.99397898 -0.03392757 0.82003706] [ 0.04198466 0.02968722 0.9986771 0.34696186] [ 0. 0. 0. 1. ]] SLAMing on 40.159072329 meters Centerline goodness : 0.805269 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.81, Z:0.35 [[ 0.99299807 -0.11165232 -0.03858228 4.42079711] [ 0.11021479 0.99319729 -0.03757446 0.81493802] [ 0.04251509 0.03305903 0.99854873 0.34780681] [ 0. 0. 0. 1. ]] SLAMing on 40.21907232899999 meters Centerline goodness : 0.809015 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.81, Z:0.35 [[ 0.99220703 -0.117863 -0.04041685 4.42467924] [ 0.11639399 0.99251512 -0.03696174 0.8109216 ] [ 0.04447076 0.03196942 0.99849903 0.34984889] [ 0. 0. 0. 1. ]] SLAMing on 40.279072328999995 meters Centerline goodness : 0.808669 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.80, Z:0.36 [[ 0.99101123 -0.1217795 -0.05537595 4.4269713 ] [ 0.11974389 0.99204974 -0.03871321 0.79832523] [ 0.05965018 0.0317343 0.99771478 0.35957344] [ 0. 0. 0. 1. ]] SLAMing on 40.339072329 meters Centerline goodness : 0.817035 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.79, Z:0.37 [[ 0.98983729 -0.13114595 -0.05498066 4.42493695] [ 0.12897169 0.99078365 -0.04140125 0.78816257] [ 0.05990355 0.03388956 0.99762872 0.36585027] [ 0. 0. 0. 1. ]] SLAMing on 40.39907232899999 meters Centerline goodness : 0.821323 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.78, Z:0.37 [[ 0.98908573 -0.13676372 -0.05481875 4.42419728] [ 0.13456254 0.99001335 -0.04202974 0.78184513] [ 0.06001944 0.03419447 0.99761135 0.36953855] [ 0. 0. 0. 1. ]] SLAMing on 40.459072328999994 meters Centerline goodness : 0.821872 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.77, Z:0.37 [[ 0.98801418 -0.14426489 -0.05491459 4.42840894] [ 0.14198288 0.98891606 -0.04342684 0.77296949] [ 0.06057089 0.0351094 0.99754624 0.36720781] [ 0. 0. 0. 1. ]] SLAMing on 40.519072329 meters Centerline goodness : 0.829358 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.76, Z:0.37 [[ 0.98736698 -0.14887405 -0.05424916 4.42926677] [ 0.14664104 0.98825168 -0.04306993 0.76261967] [ 0.06002382 0.03457068 0.99759812 0.36726134] [ 0. 0. 0. 1. ]] SLAMing on 40.57907232899999 meters Centerline goodness : 0.831477 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.76, Z:0.37 [[ 0.98716122 -0.15017999 -0.05439399 4.43109656] [ 0.14793883 0.98805512 -0.04314131 0.75673137] [ 0.06022322 0.03454044 0.99758715 0.36690084] [ 0. 0. 0. 1. ]] SLAMing on 40.639072328999994 meters Centerline goodness : 0.836540 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.75, Z:0.37 [[ 0.98730703 -0.14941558 -0.05384995 4.43119219] [ 0.1472075 0.98817517 -0.04289266 0.74930168] [ 0.05962201 0.03442111 0.99762739 0.3662598 ] [ 0. 0. 0. 1. ]] SLAMing on 40.699072328999996 meters Centerline goodness : 0.833796 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.74, Z:0.36 [[ 0.98743209 -0.14881619 -0.0532128 4.43235754] [ 0.14660238 0.98824501 -0.04335366 0.74488054] [ 0.05903901 0.03500767 0.99764165 0.36334596] [ 0. 0. 0. 1. ]] SLAMing on 40.759072329 meters Centerline goodness : 0.837977 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.74, Z:0.36 [[ 0.9877292 -0.14697874 -0.05280419 4.43415331] [ 0.14496802 0.9886234 -0.04010055 0.73685284] [ 0.05809739 0.03195356 0.99779941 0.35974247] [ 0. 0. 0. 1. ]] SLAMing on 40.819072328999994 meters Centerline goodness : 0.843949 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.73, Z:0.36 [[ 0.98815427 -0.14417437 -0.05258217 4.43447507] [ 0.14239002 0.9891465 -0.0362531 0.73035706] [ 0.05723823 0.02833648 0.99795833 0.35867452] [ 0. 0. 0. 1. ]] SLAMing on 40.879072328999996 meters Centerline goodness : 0.843334 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.73, Z:0.36 [[ 0.98840781 -0.14251094 -0.05235115 4.43530915] [ 0.1407773 0.98940641 -0.03545007 0.72729875] [ 0.05684859 0.02766927 0.99799932 0.35680976] [ 0. 0. 0. 1. ]] SLAMing on 40.939072329 meters Centerline goodness : 0.845582 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.73, Z:0.36 [[ 0.98897357 -0.13808668 -0.05351017 4.43721488] [ 0.1365846 0.99014961 -0.03079617 0.72764721] [ 0.05723561 0.02314793 0.99809231 0.35584727] [ 0. 0. 0. 1. ]] SLAMing on 40.99907232899999 meters Centerline goodness : 0.841404 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.73, Z:0.35 [[ 0.98966778 -0.13333697 -0.05271555 4.43711925] [ 0.1318633 0.99079782 -0.03052454 0.73032941] [ 0.0563005 0.02325791 0.99814294 0.35156542] [ 0. 0. 0. 1. ]] SLAMing on 41.059072328999996 meters Centerline goodness : 0.839247 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.73, Z:0.35 [[ 0.99010374 -0.12998787 -0.05289367 4.43964769] [ 0.12851488 0.99124242 -0.03037102 0.73439551] [ 0.05637832 0.02327283 0.9981382 0.34691144] [ 0. 0. 0. 1. ]] SLAMing on 41.119072329 meters Centerline goodness : 0.840591 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.74, Z:0.35 [[ 0.99072558 -0.12369294 -0.05623956 4.44472362] [ 0.12265106 0.99221417 -0.02162783 0.74374014] [ 0.05847689 0.0145294 0.99818302 0.34638615] [ 0. 0. 0. 1. ]] SLAMing on 41.17907232899999 meters Centerline goodness : 0.840757 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:0.75, Z:0.35 [[ 0.99079664 -0.12258917 -0.05739265 4.4475272 ] [ 0.1216535 0.99238036 -0.01953579 0.74667339] [ 0.05935021 0.01237398 0.99816053 0.34539026] [ 0. 0. 0. 1. ]] SLAMing on 41.239072328999995 meters Centerline goodness : 0.839295 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:0.76, Z:0.34 [[ 0.99047636 -0.12410403 -0.05962183 4.45390076] [ 0.12317816 0.99220314 -0.01897542 0.75508201] [ 0.06151189 0.01145059 0.99804067 0.34254875] [ 0. 0. 0. 1. ]] SLAMing on 41.299072329 meters Centerline goodness : 0.838958 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.76, Z:0.34 [[ 0.9898549 -0.12671676 -0.0642661 4.46267895] [ 0.12608091 0.99192298 -0.01387133 0.76320853] [ 0.06550475 0.00562788 0.99783639 0.34380441] [ 0. 0. 0. 1. ]] SLAMing on 41.35907232899999 meters Centerline goodness : 0.830892 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:0.77, Z:0.34 [[ 0.98816823 -0.13811055 -0.06670105 4.47140797] [ 0.13706637 0.99035979 -0.02000719 0.77399593] [ 0.06882125 0.010628 0.99757239 0.34143174] [ 0. 0. 0. 1. ]] SLAMing on 41.419072328999995 meters Centerline goodness : 0.833187 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:0.78, Z:0.34 [[ 0.98687194 -0.14518476 -0.07074713 4.48024278] [ 0.1441236 0.98935944 -0.01990718 0.78253299] [ 0.07288456 0.0094495 0.99729562 0.34148807] [ 0. 0. 0. 1. ]] SLAMing on 41.479072329 meters Centerline goodness : 0.832891 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:0.79, Z:0.35 [[ 9.86201189e-01 -1.46758349e-01 -7.66107191e-02 4.48749978e+00] [ 1.46393549e-01 9.89171897e-01 -1.03868232e-02 7.90170451e-01] [ 7.73055234e-02 -9.71817746e-04 9.97006977e-01 3.46509234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53907232899999 meters Centerline goodness : 0.823169 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:0.80, Z:0.34 [[ 9.84675759e-01 -1.55564867e-01 -7.88239914e-02 4.49645323e+00] [ 1.54742086e-01 9.87817464e-01 -1.64786286e-02 7.97287316e-01] [ 8.04272109e-02 4.02871731e-03 9.96752343e-01 3.42613834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599072328999995 meters Centerline goodness : 0.827788 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:0.80, Z:0.35 [[ 9.84175472e-01 -1.56817380e-01 -8.25042342e-02 4.50020993e+00] [ 1.56534455e-01 9.87622610e-01 -9.92700209e-03 8.01497781e-01] [ 8.30397736e-02 -3.14484333e-03 9.96541272e-01 3.46544792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659072329 meters Centerline goodness : 0.822817 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:0.81, Z:0.34 [[ 9.84491526e-01 -1.59101535e-01 -7.39130343e-02 4.50544077e+00] [ 1.59389795e-01 9.87213661e-01 -2.02003167e-03 8.14856229e-01] [ 7.32893474e-02 -9.79227929e-03 9.97262645e-01 3.40933486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71907232899999 meters Centerline goodness : 0.815872 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:0.83, Z:0.33 [[ 9.84538016e-01 -1.59593733e-01 -7.22131266e-02 4.51116135e+00] [ 1.59107199e-01 9.87182459e-01 -1.24776204e-02 8.27872901e-01] [ 7.32788819e-02 7.95063305e-04 9.97311172e-01 3.28105539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779072328999995 meters Centerline goodness : 0.818537 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:0.83, Z:0.33 [[ 9.84905077e-01 -1.56020449e-01 -7.49640526e-02 4.51593665e+00] [ 1.55869130e-01 9.87746115e-01 -7.90104993e-03 8.34412896e-01] [ 7.52781771e-02 -3.90279749e-03 9.97154935e-01 3.26325358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839072329 meters Centerline goodness : 0.817498 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:0.85, Z:0.34 [[ 9.85571700e-01 -1.51068552e-01 -7.63329321e-02 4.51829672e+00] [ 1.50719573e-01 9.88522423e-01 -1.03455319e-02 8.49066268e-01] [ 7.70196995e-02 -1.30860346e-03 9.97028712e-01 3.37696438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89907232899999 meters Centerline goodness : 0.812498 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:0.86, Z:0.33 [[ 9.85739970e-01 -1.49992397e-01 -7.62823183e-02 4.52450280e+00] [ 1.49223071e-01 9.88678598e-01 -1.57195896e-02 8.60077982e-01] [ 7.77765144e-02 4.11234593e-03 9.96962338e-01 3.28247612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959072328999994 meters Centerline goodness : 0.812437 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:0.86, Z:0.32 [[ 0.98606653 -0.14811597 -0.07572617 4.5264994 ] [ 0.14724195 0.98895391 -0.01702853 0.86298379] [ 0.07741189 0.00564119 0.99698324 0.32364055] [ 0. 0. 0. 1. ]] SLAMing on 42.019072329 meters Centerline goodness : 0.811116 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:0.87, Z:0.33 [[ 0.98648974 -0.14530293 -0.07566408 4.52294218] [ 0.14451496 0.9893762 -0.01581635 0.87212998] [ 0.0771584 0.00466807 0.99700792 0.32675575] [ 0. 0. 0. 1. ]] SLAMing on 42.07907232899999 meters Centerline goodness : 0.808381 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:0.89, Z:0.34 [[ 0.9866825 -0.14354 -0.07651092 4.55606265] [ 0.14253614 0.98961759 -0.01845211 0.8898869 ] [ 0.07836517 0.0073008 0.99689799 0.33787752] [ 0. 0. 0. 1. ]] SLAMing on 42.139072328999994 meters Centerline goodness : 0.803711 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:0.90, Z:0.34 [[ 0.98680005 -0.14188964 -0.07805761 4.56312246] [ 0.14067133 0.98983532 -0.02091921 0.90010459] [ 0.0802324 0.00966261 0.99672935 0.33865444] [ 0. 0. 0. 1. ]] SLAMing on 42.199072328999996 meters Centerline goodness : 0.803042 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.91, Z:0.34 [[ 0.98679166 -0.14149929 -0.07886803 4.5669558 ] [ 0.14016281 0.98987822 -0.02225962 0.90725059] [ 0.08121946 0.01091125 0.99663652 0.33775709] [ 0. 0. 0. 1. ]] SLAMing on 42.25907232899999 meters Centerline goodness : 0.801537 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:0.93, Z:0.36 [[ 0.98859203 -0.1310379 -0.07426214 4.60584587] [ 0.12816276 0.99085225 -0.0422626 0.93408569] [ 0.07912081 0.03226283 0.99634282 0.36111711] [ 0. 0. 0. 1. ]] SLAMing on 42.319072328999994 meters Centerline goodness : 0.803912 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:0.95, Z:0.38 [[ 0.99037946 -0.12158939 -0.06606469 4.63588849] [ 0.11766802 0.99121871 -0.06032999 0.95459133] [ 0.07282004 0.05197588 0.99598983 0.38449021] [ 0. 0. 0. 1. ]] SLAMing on 42.379072328999996 meters Centerline goodness : 0.804700 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.98, Z:0.41 [[ 0.99278108 -0.10864579 -0.05081159 4.66884652] [ 0.10369535 0.99038253 -0.0915954 0.98035003] [ 0.06027437 0.08566525 0.9944991 0.41243018] [ 0. 0. 0. 1. ]] SLAMing on 42.439072329 meters Centerline goodness : 0.803321 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:1.01, Z:0.46 [[ 0.99408539 -0.10211147 -0.03697957 4.7066502 ] [ 0.09593028 0.98524357 -0.14174798 1.00833121] [ 0.05090798 0.13736213 0.98921182 0.46333425] [ 0. 0. 0. 1. ]] SLAMing on 42.49907232899999 meters Centerline goodness : 0.801580 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:1.01, Z:0.45 [[ 0.99391844 -0.10351546 -0.03755918 4.73242508] [ 0.09776803 0.98647339 -0.13157376 1.00642483] [ 0.05067105 0.1271015 0.9905946 0.45485112] [ 0. 0. 0. 1. ]] SLAMing on 42.559072328999996 meters Centerline goodness : 0.797034 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:1.00, Z:0.45 [[ 0.99368176 -0.10613128 -0.03650634 4.76485154] [ 0.10063587 0.98654617 -0.12883741 1.00363368] [ 0.04968887 0.12434954 0.99099355 0.45050543] [ 0. 0. 0. 1. ]] SLAMing on 42.619072329 meters Centerline goodness : 0.800226 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:1.00, Z:0.44 [[ 0.99331189 -0.11095431 -0.0319472 4.78181962] [ 0.10631619 0.98684882 -0.12176321 0.99591999] [ 0.04503721 0.11755234 0.99204491 0.4445094 ] [ 0. 0. 0. 1. ]] SLAMing on 42.67907232899999 meters Centerline goodness : 0.803850 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:0.99, Z:0.45 [[ 0.99216079 -0.11960541 -0.03621487 4.80564509] [ 0.11518681 0.98765385 -0.10616906 0.9917245 ] [ 0.04846615 0.1011653 0.99368839 0.44726637] [ 0. 0. 0. 1. ]] SLAMing on 42.739072328999995 meters Centerline goodness : 0.801094 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:0.98, Z:0.44 [[ 0.99166459 -0.12437756 -0.03363864 4.82836922] [ 0.1205665 0.98783667 -0.09819592 0.98341763] [ 0.04544285 0.09332172 0.99459841 0.4368022 ] [ 0. 0. 0. 1. ]] SLAMing on 42.799072329 meters Centerline goodness : 0.795598 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.97, Z:0.42 [[ 0.99072011 -0.13186037 -0.03296216 4.84885813] [ 0.1284762 0.98766594 -0.08949784 0.97348961] [ 0.04435682 0.08443246 0.99544143 0.4248785 ] [ 0. 0. 0. 1. ]] SLAMing on 42.85907232899999 meters Centerline goodness : 0.795568 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.96, Z:0.41 [[ 0.98939352 -0.14156764 -0.03254336 4.85587305] [ 0.13871645 0.98729187 -0.07754039 0.96120573] [ 0.04310701 0.07220366 0.99645794 0.41458234] [ 0. 0. 0. 1. ]] SLAMing on 42.919072328999995 meters Centerline goodness : 0.795422 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:0.95, Z:0.41 [[ 0.9888127 -0.14654899 -0.02779984 4.86992866] [ 0.14426553 0.98695698 -0.07143794 0.95360238] [ 0.0379064 0.06662818 0.99705757 0.41417102] [ 0. 0. 0. 1. ]] SLAMing on 42.979072329 meters Centerline goodness : 0.793875 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:0.95, Z:0.40 [[ 0.98870252 -0.14734991 -0.02748342 4.896556 ] [ 0.14546831 0.98747418 -0.06110418 0.94688206] [ 0.03614286 0.05641589 0.99775295 0.40477691] [ 0. 0. 0. 1. ]] SLAMing on 43.03907232899999 meters Centerline goodness : 0.789774 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:0.94, Z:0.39 [[ 0.98898584 -0.14491998 -0.03008662 4.90569391] [ 0.14312732 0.98817395 -0.05501655 0.93620845] [ 0.03770381 0.05010437 0.99803205 0.39394914] [ 0. 0. 0. 1. ]] SLAMing on 43.099072328999995 meters Centerline goodness : 0.789234 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:0.94, Z:0.40 [[ 0.98878972 -0.14592206 -0.03164865 4.91424755] [ 0.14384125 0.98776329 -0.06027743 0.93822673] [ 0.04005718 0.05504932 0.99767981 0.39760024] [ 0. 0. 0. 1. ]] SLAMing on 43.159072329 meters Centerline goodness : 0.791032 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.94, Z:0.41 [[ 0.98989837 -0.13809688 -0.03210089 4.92830795] [ 0.13589074 0.98872091 -0.06296563 0.93874181] [ 0.04043418 0.05796736 0.9974993 0.40625001] [ 0. 0. 0. 1. ]] SLAMing on 43.21907232899999 meters Centerline goodness : 0.788809 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.93, Z:0.41 [[ 0.99187354 -0.11760516 -0.04853774 4.93759014] [ 0.1149469 0.99188388 -0.05434693 0.9330892 ] [ 0.05453528 0.04832602 0.99734172 0.40727062] [ 0. 0. 0. 1. ]] SLAMing on 43.279072328999995 meters Centerline goodness : 0.786448 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.94, Z:0.40 [[ 0.99251204 -0.11183314 -0.04912428 4.94288808] [ 0.10920391 0.99258949 -0.05329745 0.93520515] [ 0.05472067 0.0475338 0.99736963 0.40017671] [ 0. 0. 0. 1. ]] SLAMing on 43.339072329 meters Centerline goodness : 0.783088 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.94, Z:0.40 [[ 0.99306541 -0.1075954 -0.04737434 4.94200024] [ 0.10490185 0.99289977 -0.05608615 0.93834659] [ 0.05307258 0.05072756 0.99730137 0.39548716] [ 0. 0. 0. 1. ]] SLAMing on 43.39907232899999 meters Centerline goodness : 0.781582 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.94, Z:0.40 [[ 0.99266478 -0.1109634 -0.04799758 4.94466805] [ 0.10787286 0.99217952 -0.06279524 0.94287809] [ 0.05459019 0.05715699 0.9968716 0.40111522] [ 0. 0. 0. 1. ]] SLAMing on 43.459072328999994 meters Centerline goodness : 0.781186 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:0.94, Z:0.40 [[ 0.99281337 -0.10906261 -0.0492642 4.94681606] [ 0.10618112 0.99266842 -0.0577492 0.94222955] [ 0.05520129 0.05210325 0.99711487 0.40092969] [ 0. 0. 0. 1. ]] SLAMing on 43.519072329 meters Centerline goodness : 0.776758 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:0.94, Z:0.40 [[ 0.99182761 -0.11675763 -0.0514359 4.95256733] [ 0.11365199 0.99172781 -0.05965883 0.94134544] [ 0.05797603 0.05332549 0.99689276 0.40067873] [ 0. 0. 0. 1. ]] SLAMing on 43.57907232899999 meters Centerline goodness : 0.777267 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.94, Z:0.40 [[ 0.99108759 -0.12386175 -0.04902718 4.97056152] [ 0.12121636 0.99117291 -0.05369224 0.94123513] [ 0.05524483 0.04727082 0.99735324 0.39520019] [ 0. 0. 0. 1. ]] SLAMing on 43.639072328999994 meters Centerline goodness : 0.778665 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:0.39 [[ 0.99040705 -0.13097401 -0.04404192 4.98716319] [ 0.12874928 0.99041344 -0.05004841 0.93964937] [ 0.05017475 0.04389794 0.99777526 0.39108535] [ 0. 0. 0. 1. ]] SLAMing on 43.699072328999996 meters Centerline goodness : 0.776907 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.94, Z:0.39 [[ 0.98939099 -0.1402215 -0.03799214 5.00148699] [ 0.13829382 0.98916089 -0.04935127 0.93847693] [ 0.04450045 0.04357362 0.99805864 0.38956556] [ 0. 0. 0. 1. ]] SLAMing on 43.75907232899999 meters Centerline goodness : 0.778003 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.94, Z:0.38 [[ 0.98935288 -0.14113729 -0.0355126 5.01746641] [ 0.13982439 0.98948151 -0.03708743 0.93865691] [ 0.04037348 0.03172703 0.99868082 0.38213613] [ 0. 0. 0. 1. ]] SLAMing on 43.819072328999994 meters Centerline goodness : 0.774313 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:0.94, Z:0.38 [[ 0.98942085 -0.14053178 -0.03601657 5.01992248] [ 0.13924634 0.98960241 -0.03602117 0.93779659] [ 0.04070421 0.03062492 0.9987018 0.3796211 ] [ 0. 0. 0. 1. ]] SLAMing on 43.879072328999996 meters Centerline goodness : 0.774180 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.94, Z:0.38 [[ 0.98962666 -0.1400073 -0.03220302 5.03564958] [ 0.1392232 0.98993435 -0.02543398 0.94045512] [ 0.03543982 0.02068674 0.99915768 0.37636509] [ 0. 0. 0. 1. ]] SLAMing on 43.939072329 meters Centerline goodness : 0.773530 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.95, Z:0.38 [[ 0.98931374 -0.14201889 -0.03299939 5.04229705] [ 0.14102609 0.98952993 -0.03069446 0.94557327] [ 0.03701307 0.02571268 0.99898393 0.3765576 ] [ 0. 0. 0. 1. ]] SLAMing on 43.99907232899999 meters Centerline goodness : 0.771247 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.95, Z:0.38 [[ 0.98941161 -0.14111347 -0.03393601 5.04625053] [ 0.14008306 0.98965293 -0.03104528 0.94896646] [ 0.03796578 0.0259627 0.99894171 0.37538075] [ 0. 0. 0. 1. ]] SLAMing on 44.059072328999996 meters Centerline goodness : 0.767857 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.96, Z:0.38 [[ 0.98988761 -0.13750966 -0.03483704 5.04608461] [ 0.13651041 0.990196 -0.02961064 0.95894773] [ 0.03856725 0.02455559 0.99895425 0.37834231] [ 0. 0. 0. 1. ]] SLAMing on 44.119072329 meters Centerline goodness : 0.769931 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.97, Z:0.38 [[ 0.9898912 -0.13738123 -0.03523931 5.04742017] [ 0.13626842 0.9901467 -0.03225559 0.96628711] [ 0.0393234 0.02712752 0.99885823 0.38187844] [ 0. 0. 0. 1. ]] SLAMing on 44.17907232899999 meters Centerline goodness : 0.767190 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.97, Z:0.39 [[ 0.98952795 -0.13974901 -0.03612 5.05383057] [ 0.13834309 0.98962105 -0.03887618 0.97364876] [ 0.04117802 0.03347211 0.998591 0.38508283] [ 0. 0. 0. 1. ]] SLAMing on 44.239072328999995 meters Centerline goodness : 0.768262 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.98, Z:0.39 [[ 0.98898931 -0.14346002 -0.03632308 5.05657719] [ 0.14175334 0.98883853 -0.04587312 0.98222131] [ 0.04249862 0.0402191 0.99828668 0.38879105] [ 0. 0. 0. 1. ]] SLAMing on 44.299072329 meters Centerline goodness : 0.767617 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.99, Z:0.40 [[ 0.99010804 -0.13625366 -0.03348146 5.07292532] [ 0.13512251 0.9902451 -0.03400806 0.99283328] [ 0.03778858 0.02914755 0.99886057 0.39550157] [ 0. 0. 0. 1. ]] SLAMing on 44.35907232899999 meters Centerline goodness : 0.766282 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:1.00, Z:0.40 [[ 0.99086427 -0.12986389 -0.0363782 5.09902143] [ 0.12847269 0.99097381 -0.03828424 0.99685611] [ 0.04102158 0.03326089 0.9986045 0.39510653] [ 0. 0. 0. 1. ]] SLAMing on 44.419072328999995 meters Centerline goodness : 0.762540 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:1.00, Z:0.40 [[ 0.99077468 -0.13033857 -0.03711312 5.11537278] [ 0.12860779 0.99064044 -0.04573347 0.99795578] [ 0.04272659 0.04053853 0.99826403 0.39511025] [ 0. 0. 0. 1. ]] SLAMing on 44.479072329 meters Centerline goodness : 0.765284 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:1.00, Z:0.40 [[ 0.99150376 -0.1253546 -0.03473502 5.14191465] [ 0.1240477 0.99156625 -0.03753061 1.00303886] [ 0.03914671 0.03290294 0.99869161 0.39830788] [ 0. 0. 0. 1. ]] SLAMing on 44.53907232899999 meters Centerline goodness : 0.764914 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:1.00, Z:0.39 [[ 0.99230906 -0.12201456 -0.02086071 5.14796004] [ 0.12132607 0.99211003 -0.03158607 0.9981586 ] [ 0.02455008 0.0288122 0.99928332 0.38640208] [ 0. 0. 0. 1. ]] SLAMing on 44.599072328999995 meters Centerline goodness : 0.763199 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:1.00, Z:0.39 [[ 0.99169074 -0.12678345 -0.02180428 5.15794631] [ 0.12579098 0.99116407 -0.04207641 1.00059932] [ 0.02694621 0.03898401 0.99887644 0.39169842] [ 0. 0. 0. 1. ]] SLAMing on 44.659072329 meters Centerline goodness : 0.764224 with order 1 Centerline is valid? [False, False] Translation: X:5.18, Y:1.00, Z:0.39 [[ 0.99170415 -0.12716924 -0.01873148 5.18355823] [ 0.12638658 0.99124156 -0.03829625 1.00257661] [ 0.02343753 0.03561114 0.99909085 0.39426212] [ 0. 0. 0. 1. ]] SLAMing on 44.71907232899999 meters Centerline goodness : 0.761607 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:1.00, Z:0.39 [[ 0.99160037 -0.12849839 -0.01472653 5.20180508] [ 0.12802219 0.99132709 -0.02968044 1.00086996] [ 0.0184127 0.02754581 0.99945095 0.39013748] [ 0. 0. 0. 1. ]] SLAMing on 44.779072328999995 meters Centerline goodness : 0.757062 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:1.00, Z:0.39 [[ 0.99156333 -0.12869819 -0.01545756 5.21739184] [ 0.12804263 0.99104914 -0.03777157 1.00225665] [ 0.02018033 0.03547368 0.99916684 0.39298016] [ 0. 0. 0. 1. ]] SLAMing on 44.839072329 meters Centerline goodness : 0.757682 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:1.00, Z:0.39 [[ 0.99164438 -0.12802299 -0.01585988 5.21972316] [ 0.12739417 0.9912065 -0.03578271 0.99762274] [ 0.02030143 0.03346327 0.99923374 0.3894325 ] [ 0. 0. 0. 1. ]] SLAMing on 44.89907232899999 meters Centerline goodness : 0.756312 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:0.99, Z:0.39 [[ 0.99098896 -0.13347609 -0.011181 5.23491181] [ 0.13310409 0.99067214 -0.02918915 0.99129642] [ 0.01497275 0.02743789 0.99951137 0.38544235] [ 0. 0. 0. 1. ]] SLAMing on 44.959072328999994 meters Centerline goodness : 0.759269 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:0.99, Z:0.39 [[ 0.99049214 -0.13708082 -0.01158307 5.236976 ] [ 0.13661095 0.99002043 -0.03459753 0.99386302] [ 0.01621014 0.03268621 0.9993342 0.38882087] [ 0. 0. 0. 1. ]] SLAMing on 45.019072329 meters Centerline goodness : 0.758084 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:0.99, Z:0.38 [[ 0.98995035 -0.14117033 -0.00832143 5.25514268] [ 0.14091339 0.98968068 -0.02599149 0.98755281] [ 0.01190479 0.02455768 0.99962753 0.38178058] [ 0. 0. 0. 1. ]] SLAMing on 45.07907232899999 meters Centerline goodness : 0.757611 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:0.98, Z:0.38 [[ 9.89236157e-01 -1.46272412e-01 -4.02588569e-03 5.27428914e+00] [ 1.46163455e-01 9.89054645e-01 -2.01780407e-02 9.82126665e-01] [ 6.93331163e-03 1.93724100e-02 9.99788297e-01 3.76075796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139072328999994 meters Centerline goodness : 0.756412 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:0.98, Z:0.38 [[ 9.88471594e-01 -1.51382360e-01 -2.69972666e-03 5.27047426e+00] [ 1.51272110e-01 9.88188576e-01 -2.44966726e-02 9.78253048e-01] [ 6.37620315e-03 2.38058717e-02 9.99696266e-01 3.79541155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199072328999996 meters Centerline goodness : 0.755192 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:0.97, Z:0.37 [[ 9.88425932e-01 -1.51675489e-01 -2.95354911e-03 5.27142476e+00] [ 1.51581214e-01 9.88221075e-01 -2.10295671e-02 9.70015203e-01] [ 6.10842936e-03 2.03384669e-02 9.99774491e-01 3.73492865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25907232899999 meters Centerline goodness : 0.755286 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:0.96, Z:0.37 [[ 9.87741504e-01 -1.56078018e-01 -2.52471649e-03 5.27116913e+00] [ 1.55978952e-01 9.87489049e-01 -2.31504846e-02 9.62794267e-01] [ 6.10641163e-03 2.24728919e-02 9.99728804e-01 3.72568390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319072328999994 meters Centerline goodness : 0.756150 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.96, Z:0.37 [[ 9.86977125e-01 -1.60848534e-01 1.97582406e-03 5.28676317e+00] [ 1.60859269e-01 9.86842864e-01 -1.62928538e-02 9.58407938e-01] [ 6.70853771e-04 1.63985036e-02 9.99865310e-01 3.68851799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379072328999996 meters Centerline goodness : 0.755095 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.95, Z:0.37 [[ 9.86388240e-01 -1.64413149e-01 2.56068727e-03 5.28818700e+00] [ 1.64432062e-01 9.86207420e-01 -1.88949981e-02 9.51617883e-01] [ 5.81217368e-04 1.90588630e-02 9.99818194e-01 3.67271568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439072329 meters Centerline goodness : 0.755550 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.95, Z:0.37 [[ 9.86356688e-01 -1.64598536e-01 2.79381545e-03 5.28786299e+00] [ 1.64622162e-01 9.86197147e-01 -1.77406788e-02 9.46817725e-01] [ 1.64836921e-04 1.79585611e-02 9.99838718e-01 3.66066686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49907232899999 meters Centerline goodness : 0.756237 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.94, Z:0.36 [[ 9.85368065e-01 -1.70288104e-01 7.19291511e-03 5.30077838e+00] [ 1.70359085e-01 9.85322951e-01 -1.07919091e-02 9.41816849e-01] [-5.24961061e-03 1.18593810e-02 9.99915895e-01 3.64810946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559072328999996 meters Centerline goodness : 0.755647 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.93, Z:0.36 [[ 0.98451322 -0.17511339 0.00830739 5.30143108] [ 0.1752195 0.98442294 -0.01447784 0.93224975] [-0.00564272 0.01570924 0.99986068 0.36408696] [ 0. 0. 0. 1. ]] SLAMing on 45.619072329 meters Centerline goodness : 0.753964 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.93, Z:0.36 [[ 9.83966581e-01 -1.78163202e-01 8.22438050e-03 5.30450477e+00] [ 1.78280666e-01 9.83834157e-01 -1.69220684e-02 9.27147539e-01] [-5.07653656e-03 1.81169978e-02 9.99822986e-01 3.62457516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67907232899999 meters Centerline goodness : 0.755945 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.92, Z:0.36 [[ 9.83112738e-01 -1.82784669e-01 8.89435165e-03 5.30263564e+00] [ 1.82928277e-01 9.82930494e-01 -1.96185755e-02 9.18621731e-01] [-5.15655463e-03 2.09142999e-02 9.99767974e-01 3.64876984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739072328999995 meters Centerline goodness : 0.757515 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.90, Z:0.37 [[ 9.82767985e-01 -1.84841760e-01 -7.81954915e-04 5.29934818e+00] [ 1.84795200e-01 9.82599469e-01 -1.86820391e-02 8.99800646e-01] [ 4.22156947e-03 1.82156084e-02 9.99825170e-01 3.68893668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799072329 meters Centerline goodness : 0.760111 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.89, Z:0.37 [[ 0.98312331 -0.18260426 -0.01114631 5.29558856] [ 0.18239693 0.98307059 -0.01742349 0.88515252] [ 0.01413921 0.01509639 0.99978607 0.37197773] [ 0. 0. 0. 1. ]] SLAMing on 45.85907232899999 meters Centerline goodness : 0.760985 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.87, Z:0.37 [[ 0.9834833 -0.17973534 -0.02134965 5.29328027] [ 0.17936373 0.9836141 -0.0182194 0.86688848] [ 0.02427449 0.01408912 0.99960605 0.37333411] [ 0. 0. 0. 1. ]] SLAMing on 45.919072328999995 meters Centerline goodness : 0.763564 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.85, Z:0.38 [[ 9.84172329e-01 -1.73711172e-01 -3.50607451e-02 5.29170235e+00] [ 1.73474110e-01 9.84790490e-01 -9.71717632e-03 8.49474768e-01] [ 3.62154704e-02 3.48124451e-03 9.99337941e-01 3.80490937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979072329 meters Centerline goodness : 0.762484 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.84, Z:0.39 [[ 9.85195903e-01 -1.64502809e-01 -4.82478858e-02 5.28994307e+00] [ 1.64342044e-01 9.86376345e-01 -7.30747793e-03 8.38111817e-01] [ 4.87926739e-02 -7.29858878e-04 9.98808661e-01 3.91086448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03907232899999 meters Centerline goodness : 0.766648 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.82, Z:0.39 [[ 9.86404649e-01 -1.54846781e-01 -5.50303830e-02 5.28276309e+00] [ 1.54478969e-01 9.87935929e-01 -1.09017165e-02 8.23659849e-01] [ 5.60545883e-02 2.25246698e-03 9.98425165e-01 3.85788851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099072328999995 meters Centerline goodness : 0.768167 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.81, Z:0.39 [[ 9.87365580e-01 -1.43819320e-01 -6.65222808e-02 5.27998953e+00] [ 1.43458501e-01 9.89603825e-01 -1.01945223e-02 8.13313366e-01] [ 6.72968728e-02 5.22533699e-04 9.97732859e-01 3.92974657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159072329 meters Centerline goodness : 0.768312 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.81, Z:0.40 [[ 9.88583387e-01 -1.34407354e-01 -6.80995618e-02 5.27936694e+00] [ 1.34804369e-01 9.90871448e-01 1.24743587e-03 8.08767663e-01] [ 6.73102468e-02 -1.04133128e-02 9.97677750e-01 3.95856301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21907232899999 meters Centerline goodness : 0.769939 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.81, Z:0.39 [[ 9.89142876e-01 -1.31545930e-01 -6.55136602e-02 5.27679914e+00] [ 1.31684629e-01 9.91289186e-01 -2.21548824e-03 8.05960238e-01] [ 6.52344214e-02 -6.43570766e-03 9.97849213e-01 3.91719457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279072328999995 meters Centerline goodness : 0.771060 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.80, Z:0.39 [[ 9.89310102e-01 -1.30732505e-01 -6.46106320e-02 5.27526650e+00] [ 1.30884135e-01 9.91395854e-01 -1.89854665e-03 8.01378381e-01] [ 6.43029144e-02 -6.57825530e-03 9.97908744e-01 3.92018525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339072329 meters Centerline goodness : 0.769124 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.80, Z:0.39 [[ 9.88835023e-01 -1.34699217e-01 -6.37292652e-02 5.27589054e+00] [ 1.34652635e-01 9.90880020e-01 -5.04510729e-03 7.97069229e-01] [ 6.38276276e-02 -3.59253472e-03 9.97954472e-01 3.90844613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39907232899999 meters Centerline goodness : 0.772217 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.79, Z:0.39 [[ 9.88232629e-01 -1.40302770e-01 -6.09212848e-02 5.27533451e+00] [ 1.39735218e-01 9.90096875e-01 -1.34999034e-02 7.91786641e-01] [ 6.22120476e-02 4.82819599e-03 9.98051276e-01 3.86519657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459072328999994 meters Centerline goodness : 0.774085 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.79, Z:0.40 [[ 9.87553421e-01 -1.43626552e-01 -6.41065924e-02 5.27524812e+00] [ 1.43633564e-01 9.89620603e-01 -4.52335876e-03 7.85130848e-01] [ 6.40908790e-02 -4.74079992e-03 9.97932805e-01 3.98270473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519072329 meters Centerline goodness : 0.775439 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.78, Z:0.40 [[ 9.86918245e-01 -1.48490211e-01 -6.27935945e-02 5.27536471e+00] [ 1.48249668e-01 9.88913448e-01 -8.49871492e-03 7.80314926e-01] [ 6.33594060e-02 -9.21592698e-04 9.97990349e-01 3.97222000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57907232899999 meters Centerline goodness : 0.779144 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.77, Z:0.39 [[ 0.98606181 -0.15487902 -0.0607832 5.2766942 ] [ 0.15420358 0.98791469 -0.01567869 0.77368019] [ 0.06247691 0.00608717 0.99802785 0.39361885] [ 0. 0. 0. 1. ]] SLAMing on 46.639072328999994 meters Centerline goodness : 0.779902 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.77, Z:0.40 [[ 9.85066237e-01 -1.59924644e-01 -6.37857108e-02 5.28071648e+00] [ 1.59620257e-01 9.87129120e-01 -9.87285929e-03 7.65906530e-01] [ 6.45436461e-02 -4.56071191e-04 9.97914781e-01 3.99873693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699072328999996 meters Centerline goodness : 0.781321 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.76, Z:0.40 [[ 9.84364862e-01 -1.64204382e-01 -6.37396190e-02 5.28367095e+00] [ 1.63781521e-01 9.86425590e-01 -1.18392623e-02 7.61026467e-01] [ 6.48184500e-02 1.21478207e-03 9.97896334e-01 3.98531447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75907232899999 meters Centerline goodness : 0.785887 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.75, Z:0.40 [[ 9.83521802e-01 -1.63948247e-01 -7.61960489e-02 5.28619910e+00] [ 1.63448275e-01 9.86468933e-01 -1.27947578e-02 7.53079003e-01] [ 7.72627132e-02 1.29810483e-04 9.97010760e-01 3.97162284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819072328999994 meters Centerline goodness : 0.788269 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.75, Z:0.40 [[ 9.82517091e-01 -1.69829332e-01 -7.62768907e-02 5.28463442e+00] [ 1.69326482e-01 9.85473486e-01 -1.30595307e-02 7.46642385e-01] [ 7.73867447e-02 -8.44854380e-05 9.97001146e-01 4.03363408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879072328999996 meters Centerline goodness : 0.788398 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.74, Z:0.40 [[ 9.82323191e-01 -1.70410028e-01 -7.74698051e-02 5.28700568e+00] [ 1.70076180e-01 9.85370236e-01 -1.09357976e-02 7.44840161e-01] [ 7.82000097e-02 -2.43328086e-03 9.96934721e-01 4.04309820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939072329 meters Centerline goodness : 0.792246 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.74, Z:0.40 [[ 9.81906968e-01 -1.73103017e-01 -7.67727311e-02 5.28724532e+00] [ 1.72612154e-01 9.84903620e-01 -1.30347155e-02 7.41469520e-01] [ 7.78700893e-02 -4.53028555e-04 9.96963412e-01 4.04029400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99907232899999 meters Centerline goodness : 0.792528 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.74, Z:0.40 [[ 9.82072545e-01 -1.72301830e-01 -7.64564905e-02 5.28929880e+00] [ 1.71813900e-01 9.85044119e-01 -1.29641110e-02 7.37642070e-01] [ 7.75467564e-02 -4.04590288e-04 9.96988634e-01 4.00879495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059072328999996 meters Centerline goodness : 0.794544 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.73, Z:0.40 [[ 9.81599035e-01 -1.75716282e-01 -7.47470616e-02 5.28987603e+00] [ 1.74924217e-01 9.84433984e-01 -1.70660524e-02 7.31830377e-01] [ 7.65823309e-02 3.67694934e-03 9.97056481e-01 3.97943183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119072329 meters Centerline goodness : 0.797356 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.73, Z:0.40 [[ 9.81224398e-01 -1.77764093e-01 -7.48238425e-02 5.29118545e+00] [ 1.77032756e-01 9.84069159e-01 -1.63490861e-02 7.26847296e-01] [ 7.65381162e-02 2.79585111e-03 9.97062736e-01 3.98452940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17907232899999 meters Centerline goodness : 0.799691 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.72, Z:0.40 [[ 9.81833998e-01 -1.74027157e-01 -7.56078656e-02 5.28817104e+00] [ 1.73829513e-01 9.84732431e-01 -9.23791869e-03 7.21136094e-01] [ 7.60611660e-02 -4.07277580e-03 9.97094836e-01 4.04176540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239072328999995 meters Centerline goodness : 0.802962 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.71, Z:0.40 [[ 9.82176139e-01 -1.73610980e-01 -7.20365106e-02 5.28540733e+00] [ 1.73013529e-01 9.84812706e-01 -1.45001228e-02 7.14487831e-01] [ 7.34598514e-02 1.77838371e-03 9.97296590e-01 3.98714830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299072329 meters Centerline goodness : 0.802854 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.71, Z:0.40 [[ 9.82176946e-01 -1.74580907e-01 -6.96416033e-02 5.28045184e+00] [ 1.73800950e-01 9.84631406e-01 -1.71529294e-02 7.08404306e-01] [ 7.15658838e-02 4.74343492e-03 9.97424596e-01 4.00084121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35907232899999 meters Centerline goodness : 0.800914 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.71, Z:0.40 [[ 9.81983322e-01 -1.75131645e-01 -7.09764948e-02 5.28238203e+00] [ 1.74602330e-01 9.84544513e-01 -1.36428840e-02 7.05809073e-01] [ 7.22688193e-02 1.00442321e-03 9.97384685e-01 4.02415293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419072328999995 meters Centerline goodness : 0.798197 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:0.39 [[ 9.82787081e-01 -1.71109192e-01 -6.96505428e-02 5.28371990e+00] [ 1.70397575e-01 9.85244224e-01 -1.60775153e-02 7.03992673e-01] [ 7.13738056e-02 3.93249080e-03 9.97441886e-01 3.94863988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479072329 meters Centerline goodness : 0.799066 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:0.39 [[ 0.9833801 -0.16851225 -0.06758109 5.28408107] [ 0.16754631 0.98566624 -0.01975594 0.69958042] [ 0.06994152 0.00810463 0.99751817 0.38756982] [ 0. 0. 0. 1. ]] SLAMing on 47.53907232899999 meters Centerline goodness : 0.803607 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:0.40 [[ 9.84532466e-01 -1.59497963e-01 -7.24998158e-02 5.28300147e+00] [ 1.59892122e-01 9.87134424e-01 -3.71659075e-04 7.00161273e-01] [ 7.16263428e-02 -1.12262389e-02 9.97368357e-01 4.00002220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599072328999995 meters Centerline goodness : 0.802510 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.70, Z:0.39 [[ 9.85194631e-01 -1.55518527e-01 -7.21493323e-02 5.28532779e+00] [ 1.55777843e-01 9.87789981e-01 -2.05335393e-03 7.02790496e-01] [ 7.15877222e-02 -9.21631407e-03 9.97391727e-01 3.93407342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659072329 meters Centerline goodness : 0.800981 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.70, Z:0.38 [[ 9.85785940e-01 -1.53826090e-01 -6.75545279e-02 5.28516066e+00] [ 1.53172165e-01 9.88088889e-01 -1.47863283e-02 7.01909449e-01] [ 6.90244015e-02 4.22868127e-03 9.97606010e-01 3.78729979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71907232899999 meters Centerline goodness : 0.804727 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.71, Z:0.39 [[ 9.86555381e-01 -1.46340050e-01 -7.27534895e-02 5.28874406e+00] [ 1.46838911e-01 9.89159240e-01 1.52714851e-03 7.06414064e-01] [ 7.17413033e-02 -1.21896598e-02 9.97348784e-01 3.86347120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779072328999995 meters Centerline goodness : 0.805729 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.71, Z:0.38 [[ 9.87407873e-01 -1.41385740e-01 -7.09631179e-02 5.28867174e+00] [ 1.41636625e-01 9.89917566e-01 -1.50935463e-03 7.06146431e-01] [ 7.04610382e-02 -8.56062788e-03 9.97477798e-01 3.78618770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839072329 meters Centerline goodness : 0.801606 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.71, Z:0.38 [[ 9.87447869e-01 -1.41677350e-01 -6.98157239e-02 5.28632570e+00] [ 1.41635779e-01 9.89903165e-01 -5.57050041e-03 7.06789049e-01] [ 6.99000198e-02 -4.38782569e-03 9.97544352e-01 3.77956573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89907232899999 meters Centerline goodness : 0.803900 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.71, Z:0.38 [[ 0.98690665 -0.14768571 -0.06483976 5.2979652 ] [ 0.14840021 0.9889072 0.00631851 0.71481671] [ 0.06318736 -0.01585801 0.99787568 0.37696179] [ 0. 0. 0. 1. ]] SLAMing on 47.959072328999994 meters Centerline goodness : 0.804486 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.71, Z:0.37 [[ 9.86586179e-01 -1.50479348e-01 -6.32746104e-02 5.30129041e+00] [ 1.50696919e-01 9.88579093e-01 -1.34713647e-03 7.14250115e-01] [ 6.27546732e-02 -8.20622263e-03 9.97995245e-01 3.68859403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019072329 meters Centerline goodness : 0.803364 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.72, Z:0.37 [[ 9.85978221e-01 -1.54260029e-01 -6.36458210e-02 5.30116867e+00] [ 1.54395507e-01 9.88005116e-01 -2.81386163e-03 7.15490065e-01] [ 6.33164631e-02 -7.05222251e-03 9.97968583e-01 3.71721934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07907232899999 meters Centerline goodness : 0.800305 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.72, Z:0.38 [[ 0.98571952 -0.15388015 -0.06839534 5.30833302] [ 0.15463981 0.98795316 0.00592284 0.72277158] [ 0.06665998 -0.01641491 0.99764072 0.37502133] [ 0. 0. 0. 1. ]] SLAMing on 48.139072328999994 meters Centerline goodness : 0.797704 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.73, Z:0.37 [[ 9.85947266e-01 -1.52284695e-01 -6.86830364e-02 5.31252557e+00] [ 1.52881715e-01 9.88238330e-01 3.49047874e-03 7.26860764e-01] [ 6.73436627e-02 -1.39418084e-02 9.97632426e-01 3.68436415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199072328999996 meters Centerline goodness : 0.794273 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:0.74, Z:0.36 [[ 0.9862383 -0.15274774 -0.06326246 5.32445559] [ 0.15386775 0.98800329 0.01319892 0.73529902] [ 0.06048742 -0.02275133 0.99790964 0.36038394] [ 0. 0. 0. 1. ]] SLAMing on 48.25907232899999 meters Centerline goodness : 0.790871 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:0.74, Z:0.36 [[ 0.98648868 -0.15017546 -0.06547834 5.3292859 ] [ 0.15158891 0.98829479 0.01715248 0.73878026] [ 0.06213602 -0.02684652 0.99770656 0.35871927] [ 0. 0. 0. 1. ]] SLAMing on 48.319072328999994 meters Centerline goodness : 0.789348 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:0.74, Z:0.35 [[ 0.98615674 -0.15233412 -0.06549206 5.33286663] [ 0.15350532 0.98805952 0.01320965 0.74124251] [ 0.06269777 -0.02308017 0.99776565 0.35439346] [ 0. 0. 0. 1. ]] SLAMing on 48.379072328999996 meters Centerline goodness : 0.786487 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.74, Z:0.36 [[ 0.98515404 -0.15855899 -0.06580703 5.33505989] [ 0.15957821 0.98712946 0.01049845 0.74209295] [ 0.06329543 -0.02084396 0.99777714 0.35528129] [ 0. 0. 0. 1. ]] SLAMing on 48.439072329 meters Centerline goodness : 0.787219 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:0.74, Z:0.36 [[ 0.98462971 -0.16139729 -0.06674761 5.33339466] [ 0.16266243 0.98658331 0.01393899 0.73913446] [ 0.06360237 -0.02458208 0.99767252 0.36260677] [ 0. 0. 0. 1. ]] SLAMing on 48.49907232899999 meters Centerline goodness : 0.786536 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.74, Z:0.36 [[ 0.98410442 -0.16457869 -0.06672591 5.33632194] [ 0.16568729 0.98611248 0.01139729 0.73677234] [ 0.0639235 -0.02227176 0.99770625 0.36072906] [ 0. 0. 0. 1. ]] SLAMing on 48.559072328999996 meters Centerline goodness : 0.789802 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:0.73, Z:0.36 [[ 9.82790774e-01 -1.72869839e-01 -6.51023263e-02 5.33469716e+00] [ 1.73567396e-01 9.84808408e-01 5.17285029e-03 7.33158146e-01] [ 6.32190886e-02 -1.63834708e-02 9.97865186e-01 3.63295938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619072329 meters Centerline goodness : 0.789085 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.73, Z:0.37 [[ 0.98218416 -0.17542543 -0.06738092 5.33802375] [ 0.17636835 0.98428955 0.00826316 0.732492 ] [ 0.06487277 -0.01999981 0.99769311 0.36706366] [ 0. 0. 0. 1. ]] SLAMing on 48.67907232899999 meters Centerline goodness : 0.787766 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.73, Z:0.37 [[ 0.98239396 -0.17451458 -0.06668411 5.33614412] [ 0.17542557 0.98446008 0.00801366 0.7291704 ] [ 0.06424935 -0.01957067 0.99774196 0.36799022] [ 0. 0. 0. 1. ]] SLAMing on 48.739072328999995 meters Centerline goodness : 0.787045 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.73, Z:0.37 [[ 0.9828646 -0.171378 -0.06787306 5.33914214] [ 0.17242839 0.98497242 0.00988845 0.73188369] [ 0.06515843 -0.02142225 0.99764496 0.36531515] [ 0. 0. 0. 1. ]] SLAMing on 48.799072329 meters Centerline goodness : 0.787407 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.73, Z:0.36 [[ 0.98315412 -0.16885167 -0.06997927 5.34474711] [ 0.17017307 0.98532404 0.01332886 0.7337744 ] [ 0.06670166 -0.02501292 0.99745939 0.36257133] [ 0. 0. 0. 1. ]] SLAMing on 48.85907232899999 meters Centerline goodness : 0.783282 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.74, Z:0.35 [[ 0.98472756 -0.15920261 -0.070471 5.34775171] [ 0.16063908 0.98689659 0.01517252 0.73876742] [ 0.06713209 -0.02626119 0.99739843 0.35437637] [ 0. 0. 0. 1. ]] SLAMing on 48.919072328999995 meters Centerline goodness : 0.783625 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.75, Z:0.35 [[ 0.98728919 -0.14399587 -0.06726998 5.33961361] [ 0.14530939 0.98927204 0.01503344 0.74647082] [ 0.06438356 -0.02461731 0.99762154 0.35122061] [ 0. 0. 0. 1. ]] SLAMing on 48.979072329 meters Centerline goodness : 0.783029 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.76, Z:0.35 [[ 0.98896653 -0.13712986 -0.05604104 5.34259213] [ 0.13820779 0.99027697 0.0158158 0.75685127] [ 0.05332734 -0.02338661 0.99830319 0.34558654] [ 0. 0. 0. 1. ]] SLAMing on 49.03907232899999 meters Centerline goodness : 0.776812 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.77, Z:0.34 [[ 0.99172857 -0.11928837 -0.04737852 5.34987568] [ 0.12060515 0.99236077 0.02597111 0.77262268] [ 0.04391854 -0.03147039 0.99853932 0.33653795] [ 0. 0. 0. 1. ]] SLAMing on 49.099072328999995 meters Centerline goodness : 0.776232 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.78, Z:0.33 [[ 0.99315479 -0.10686439 -0.04715481 5.34945029] [ 0.10816805 0.99379224 0.02601261 0.78200329] [ 0.04408226 -0.03093519 0.99854883 0.33022062] [ 0. 0. 0. 1. ]] SLAMing on 49.159072329 meters Centerline goodness : 0.774415 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.79, Z:0.32 [[ 0.99425715 -0.09660176 -0.04605234 5.34812993] [ 0.09769642 0.99497001 0.02213814 0.7920372 ] [ 0.04368211 -0.02651015 0.99869369 0.32316019] [ 0. 0. 0. 1. ]] SLAMing on 49.21907232899999 meters Centerline goodness : 0.772386 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.80, Z:0.32 [[ 0.99463818 -0.09662792 -0.03685024 5.35510646] [ 0.09753022 0.99495449 0.02352495 0.80281043] [ 0.03439115 -0.02699282 0.99904386 0.32103682] [ 0. 0. 0. 1. ]] SLAMing on 49.279072328999995 meters Centerline goodness : 0.767329 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.81, Z:0.33 [[ 0.99515337 -0.08937292 -0.0410152 5.35866666] [ 0.09063363 0.99543297 0.02997925 0.81240844] [ 0.03814855 -0.03355131 0.99870867 0.32581842] [ 0. 0. 0. 1. ]] SLAMing on 49.339072329 meters Centerline goodness : 0.765963 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.82, Z:0.32 [[ 0.99546271 -0.08561428 -0.04152323 5.36234145] [ 0.08687804 0.9957777 0.02964743 0.81592976] [ 0.03880966 -0.03312037 0.99869758 0.32025696] [ 0. 0. 0. 1. ]] SLAMing on 49.39907232899999 meters Centerline goodness : 0.762674 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.82, Z:0.32 [[ 0.99559886 -0.08341491 -0.04271843 5.36460569] [ 0.08476877 0.99592064 0.03092469 0.82139157] [ 0.03996459 -0.03440977 0.99860843 0.31919361] [ 0. 0. 0. 1. ]] SLAMing on 49.459072328999994 meters Centerline goodness : 0.759542 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.83, Z:0.32 [[ 0.99544963 -0.08392037 -0.04513755 5.37147083] [ 0.08539857 0.99583671 0.03188001 0.82667677] [ 0.04227425 -0.03558962 0.99847197 0.31595165] [ 0. 0. 0. 1. ]] SLAMing on 49.519072329 meters Centerline goodness : 0.760780 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.83, Z:0.31 [[ 0.99573935 -0.0804359 -0.04509121 5.37145807] [ 0.08191428 0.99612695 0.03195529 0.82839825] [ 0.04234622 -0.03551275 0.99847165 0.3146416 ] [ 0. 0. 0. 1. ]] SLAMing on 49.57907232899999 meters Centerline goodness : 0.759568 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.83, Z:0.32 [[ 0.99614997 -0.07486931 -0.04560506 5.37043013] [ 0.0765617 0.99639412 0.03656591 0.82934816] [ 0.04270295 -0.03991673 0.99829009 0.31650871] [ 0. 0. 0. 1. ]] SLAMing on 49.639072328999994 meters Centerline goodness : 0.756793 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.84, Z:0.31 [[ 0.99700187 -0.06908591 -0.03484839 5.37347753] [ 0.0704775 0.99669397 0.04042352 0.83787915] [ 0.03194049 -0.04275835 0.99857475 0.31406787] [ 0. 0. 0. 1. ]] SLAMing on 49.699072328999996 meters Centerline goodness : 0.757112 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.84, Z:0.31 [[ 0.99741329 -0.0644636 -0.03179908 5.36928341] [ 0.06554979 0.99725661 0.03438715 0.83663471] [ 0.02949512 -0.03638263 0.99890257 0.3095233 ] [ 0. 0. 0. 1. ]] SLAMing on 49.75907232899999 meters Centerline goodness : 0.760193 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.83, Z:0.31 [[ 0.99771516 -0.06065352 -0.02975906 5.36586706] [ 0.06158471 0.99760653 0.03144089 0.83399919] [ 0.02778083 -0.03320176 0.99906249 0.30732673] [ 0. 0. 0. 1. ]] SLAMing on 49.819072328999994 meters Centerline goodness : 0.762339 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.83, Z:0.31 [[ 0.99784026 -0.05775553 -0.0312908 5.36691232] [ 0.05893993 0.99752453 0.03835234 0.83052178] [ 0.02899829 -0.04011379 0.99877424 0.31098664] [ 0. 0. 0. 1. ]] SLAMing on 49.879072328999996 meters Centerline goodness : 0.762992 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.82, Z:0.31 [[ 0.99795446 -0.05688568 -0.02917032 5.36280205] [ 0.05789694 0.99770599 0.03508127 0.82493833] [ 0.02710779 -0.03669838 0.99895866 0.31085967] [ 0. 0. 0. 1. ]] SLAMing on 49.939072329 meters Centerline goodness : 0.763561 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.82, Z:0.31 [[ 0.9981303 -0.05520747 -0.02623063 5.35701547] [ 0.05603071 0.99792375 0.03176078 0.81573336] [ 0.02442274 -0.03317112 0.99915124 0.31071016] [ 0. 0. 0. 1. ]] SLAMing on 49.99907232899999 meters Centerline goodness : 0.761198 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.81, Z:0.31 [[ 0.99810618 -0.05525902 -0.02702773 5.35653376] [ 0.05620904 0.99777868 0.03575273 0.81207323] [ 0.02499203 -0.03720423 0.99899512 0.31495553] [ 0. 0. 0. 1. ]] SLAMing on 50.059072328999996 meters Centerline goodness : 0.758348 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.80, Z:0.31 [[ 0.99802921 -0.05755832 -0.02499469 5.35363246] [ 0.05828937 0.99786149 0.02957697 0.80435206] [ 0.02323884 -0.0309756 0.99924995 0.31395243] [ 0. 0. 0. 1. ]] SLAMing on 50.119072329 meters Centerline goodness : 0.758759 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.80, Z:0.31 [[ 0.9977842 -0.0618864 -0.02442868 5.35328014] [ 0.06251297 0.99771122 0.02577697 0.79622098] [ 0.02277752 -0.02724697 0.99936919 0.31483385] [ 0. 0. 0. 1. ]] SLAMing on 50.17907232899999 meters Centerline goodness : 0.756853 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.79, Z:0.32 [[ 0.9975738 -0.06445229 -0.02631371 5.35544554] [ 0.06524794 0.99740013 0.03058904 0.79242055] [ 0.02427376 -0.03223174 0.99918562 0.31976629] [ 0. 0. 0. 1. ]] SLAMing on 50.239072328999995 meters Centerline goodness : 0.757778 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.79, Z:0.32 [[ 0.99700971 -0.07302311 -0.02528385 5.35331448] [ 0.07362304 0.99700521 0.02366985 0.78641409] [ 0.02347968 -0.02546054 0.99940005 0.32271581] [ 0. 0. 0. 1. ]] SLAMing on 50.299072329 meters Centerline goodness : 0.759347 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.78, Z:0.32 [[ 0.99643739 -0.08111603 -0.02308079 5.35050292] [ 0.0814154 0.99660387 0.01233949 0.78179613] [ 0.02200147 -0.01417466 0.99965745 0.32223472] [ 0. 0. 0. 1. ]] SLAMing on 50.35907232899999 meters Centerline goodness : 0.760280 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.78, Z:0.33 [[ 0.99582544 -0.08789466 -0.02462139 5.35162759] [ 0.08826623 0.99599235 0.01443269 0.77533786] [ 0.02325416 -0.01654568 0.99959266 0.32933196] [ 0. 0. 0. 1. ]] SLAMing on 50.419072328999995 meters Centerline goodness : 0.762654 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.77, Z:0.33 [[ 0.99557126 -0.09052222 -0.02536898 5.35136265] [ 0.0909884 0.9956917 0.01786495 0.77027118] [ 0.02364251 -0.02009412 0.99951851 0.33452988] [ 0. 0. 0. 1. ]] SLAMing on 50.479072329 meters Centerline goodness : 0.765624 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.76, Z:0.35 [[ 0.99494282 -0.09425209 -0.03471789 5.34516579] [ 0.09449666 0.99551016 0.00546855 0.75833549] [ 0.03404659 -0.00872162 0.99938219 0.34694241] [ 0. 0. 0. 1. ]] SLAMing on 50.53907232899999 meters Centerline goodness : 0.762299 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.75, Z:0.35 [[ 9.94318346e-01 -1.00527066e-01 -3.50048084e-02 5.34494617e+00] [ 1.00731983e-01 9.94905001e-01 4.13594626e-03 7.54477762e-01] [ 3.44106844e-02 -7.63855103e-03 9.99378586e-01 3.51304224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599072328999995 meters Centerline goodness : 0.760600 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.75, Z:0.36 [[ 9.93153534e-01 -1.11137553e-01 -3.59791972e-02 5.34577318e+00] [ 1.11303660e-01 9.93782934e-01 2.64096024e-03 7.48909230e-01] [ 3.54620023e-02 -6.62749533e-03 9.99349049e-01 3.58573459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659072329 meters Centerline goodness : 0.755692 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.74, Z:0.37 [[ 9.91579268e-01 -1.19177035e-01 -5.06694211e-02 5.34835956e+00] [ 1.19221691e-01 9.92865329e-01 -2.15097557e-03 7.39598876e-01] [ 5.05642584e-02 -3.90803130e-03 9.98713164e-01 3.67237486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71907232899999 meters Centerline goodness : 0.757917 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.74, Z:0.37 [[ 9.91070653e-01 -1.23238850e-01 -5.09033016e-02 5.34980560e+00] [ 1.23240799e-01 9.92371915e-01 -3.11245874e-03 7.37314471e-01] [ 5.08985828e-02 -3.18869703e-03 9.98698737e-01 3.68438471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779072328999995 meters Centerline goodness : 0.756312 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.73, Z:0.37 [[ 9.90071138e-01 -1.30755080e-01 -5.15969979e-02 5.35177829e+00] [ 1.30741138e-01 9.91409784e-01 -3.65986419e-03 7.34441614e-01] [ 5.16323144e-02 -3.12232431e-03 9.98661282e-01 3.72248726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839072329 meters Centerline goodness : 0.754543 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.73, Z:0.37 [[ 9.88849459e-01 -1.38770316e-01 -5.40328346e-02 5.35858805e+00] [ 1.38888393e-01 9.90306777e-01 -1.58186244e-03 7.31117118e-01] [ 5.37285979e-02 -5.94030975e-03 9.98537906e-01 3.74672423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89907232899999 meters Centerline goodness : 0.757823 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:0.73, Z:0.37 [[ 9.88126885e-01 -1.42084153e-01 -5.84581271e-02 5.37087575e+00] [ 1.42430834e-01 9.89803146e-01 1.78579329e-03 7.29170310e-01] [ 5.76083052e-02 -1.00908301e-02 9.98288264e-01 3.68204137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959072328999994 meters Centerline goodness : 0.761763 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.73, Z:0.37 [[ 0.98808761 -0.14144989 -0.0606201 5.37632287] [ 0.14210188 0.98983029 0.00656078 0.72940262] [ 0.05907559 -0.01509686 0.99813935 0.36764665] [ 0. 0. 0. 1. ]] SLAMing on 51.019072329 meters Centerline goodness : 0.767746 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.73, Z:0.37 [[ 0.98784807 -0.14202158 -0.06313533 5.38325234] [ 0.14292501 0.98968292 0.01000801 0.73111987] [ 0.06106261 -0.01891001 0.99795479 0.36598636] [ 0. 0. 0. 1. ]] SLAMing on 51.07907232899999 meters Centerline goodness : 0.768784 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:0.73, Z:0.36 [[ 0.98744746 -0.14419057 -0.06447172 5.38920153] [ 0.14509331 0.98937216 0.00952186 0.73287146] [ 0.06241357 -0.01875675 0.99787411 0.36283646] [ 0. 0. 0. 1. ]] SLAMing on 51.139072328999994 meters Centerline goodness : 0.773381 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:0.73, Z:0.36 [[ 0.98697932 -0.14677847 -0.06578683 5.3952221 ] [ 0.14768931 0.98899124 0.00917612 0.73335822] [ 0.06371574 -0.01877265 0.99779151 0.35989546] [ 0. 0. 0. 1. ]] SLAMing on 51.199072328999996 meters Centerline goodness : 0.777541 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:0.73, Z:0.36 [[ 0.98692076 -0.14626213 -0.06778497 5.39782083] [ 0.14756332 0.98894519 0.01457662 0.73459416] [ 0.06490361 -0.02438854 0.99759346 0.36250636] [ 0. 0. 0. 1. ]] SLAMing on 51.25907232899999 meters Centerline goodness : 0.782797 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:0.73, Z:0.36 [[ 0.98682044 -0.14628386 -0.06918418 5.40189462] [ 0.1477604 0.98888216 0.01670155 0.73414141] [ 0.06597184 -0.02670411 0.99746409 0.36156535] [ 0. 0. 0. 1. ]] SLAMing on 51.319072328999994 meters Centerline goodness : 0.783585 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:0.73, Z:0.36 [[ 0.98625993 -0.1493352 -0.07064235 5.40679512] [ 0.15090621 0.98839457 0.01742086 0.73353644] [ 0.06722096 -0.02784186 0.99734957 0.36103186] [ 0. 0. 0. 1. ]] SLAMing on 51.379072328999996 meters Centerline goodness : 0.783898 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:0.74, Z:0.36 [[ 0.98577576 -0.15176708 -0.0722005 5.40976496] [ 0.15347304 0.98797652 0.01866597 0.73590683] [ 0.06849951 -0.02948129 0.99721546 0.36254655] [ 0. 0. 0. 1. ]] SLAMing on 51.43907232899999 meters Centerline goodness : 0.783783 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:0.74, Z:0.36 [[ 0.98544844 -0.15352859 -0.07294072 5.4136377 ] [ 0.1552123 0.98771766 0.01797103 0.73689017] [ 0.06928577 -0.02903082 0.99717435 0.36037526] [ 0. 0. 0. 1. ]] SLAMing on 51.49907232899999 meters Centerline goodness : 0.788909 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:0.74, Z:0.36 [[ 0.98479538 -0.156801 -0.0747764 5.41878403] [ 0.15864248 0.98714704 0.01932073 0.73783621] [ 0.07078579 -0.03088968 0.99701314 0.3603853 ] [ 0. 0. 0. 1. ]] SLAMing on 51.559072328999996 meters Centerline goodness : 0.790804 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:0.74, Z:0.36 [[ 0.98430732 -0.15904887 -0.07643668 5.42063537] [ 0.16109737 0.98670677 0.02138661 0.74114365] [ 0.07201907 -0.03336474 0.99684505 0.36326035] [ 0. 0. 0. 1. ]] SLAMing on 51.619072329 meters Centerline goodness : 0.789441 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:0.75, Z:0.36 [[ 0.98417381 -0.15856093 -0.07912237 5.42670957] [ 0.1610017 0.98662605 0.02544565 0.74507262] [ 0.0740295 -0.03778178 0.9965401 0.36218621] [ 0. 0. 0. 1. ]] SLAMing on 51.67907232899999 meters Centerline goodness : 0.789287 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:0.75, Z:0.36 [[ 0.98385676 -0.15992681 -0.08030744 5.43180551] [ 0.16228948 0.98645691 0.02376731 0.75097964] [ 0.0754188 -0.03641668 0.99648674 0.35807521] [ 0. 0. 0. 1. ]] SLAMing on 51.739072328999995 meters Centerline goodness : 0.792570 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:0.76, Z:0.35 [[ 0.98357582 -0.16552054 -0.0719831 5.44266284] [ 0.16775452 0.98548213 0.02614163 0.75719032] [ 0.06661108 -0.03778776 0.99706321 0.34705509] [ 0. 0. 0. 1. ]] SLAMing on 51.799072329 meters Centerline goodness : 0.791861 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:0.76, Z:0.35 [[ 0.98333131 -0.16544575 -0.07541373 5.44990865] [ 0.16809703 0.98530661 0.03023696 0.7616591 ] [ 0.06930307 -0.04240977 0.99669378 0.34600298] [ 0. 0. 0. 1. ]] SLAMing on 51.85907232899999 meters Centerline goodness : 0.791530 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:0.76, Z:0.35 [[ 0.98289876 -0.16736002 -0.07681575 5.45326048] [ 0.17009604 0.98495444 0.03053003 0.76467077] [ 0.07055051 -0.04307399 0.99657777 0.34580704] [ 0. 0. 0. 1. ]] SLAMing on 51.919072328999995 meters Centerline goodness : 0.791882 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:0.77, Z:0.35 [[ 0.98305497 -0.16556278 -0.07868857 5.45458489] [ 0.1686931 0.98505026 0.03490884 0.76677876] [ 0.0717326 -0.04759153 0.99628785 0.34821834] [ 0. 0. 0. 1. ]] SLAMing on 51.979072329 meters Centerline goodness : 0.793491 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:0.77, Z:0.35 [[ 0.98318668 -0.16385318 -0.08059835 5.45756862] [ 0.16731834 0.98516035 0.03825774 0.77121019] [ 0.07313365 -0.05110008 0.99601217 0.34797552] [ 0. 0. 0. 1. ]] SLAMing on 52.03907232899999 meters Centerline goodness : 0.796153 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:0.77, Z:0.34 [[ 0.98306875 -0.16497394 -0.07974606 5.45917769] [ 0.16807374 0.98519425 0.03381567 0.77376919] [ 0.07298666 -0.04664635 0.99624147 0.34342864] [ 0. 0. 0. 1. ]] SLAMing on 52.099072328999995 meters Centerline goodness : 0.794364 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:0.78, Z:0.34 [[ 0.98238494 -0.1676934 -0.0824546 5.46568989] [ 0.17103335 0.9846357 0.03521549 0.77702578] [ 0.07528233 -0.04869765 0.99597244 0.34289623] [ 0. 0. 0. 1. ]] SLAMing on 52.159072329 meters Centerline goodness : 0.797167 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:0.79, Z:0.35 [[ 0.98227968 -0.1723325 -0.07367588 5.469315 ] [ 0.17546329 0.98373967 0.0383261 0.785316 ] [ 0.06587305 -0.05057436 0.99654552 0.34823034] [ 0. 0. 0. 1. ]] SLAMing on 52.21907232899999 meters Centerline goodness : 0.795492 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:0.79, Z:0.34 [[ 0.98269464 -0.16908014 -0.07565149 5.47474395] [ 0.17242132 0.98421024 0.04001372 0.79272726] [ 0.06769145 -0.0523652 0.99633115 0.34329878] [ 0. 0. 0. 1. ]] SLAMing on 52.279072328999995 meters Centerline goodness : 0.795170 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:0.80, Z:0.34 [[ 0.98262595 -0.16980944 -0.07490661 5.4784785 ] [ 0.17272915 0.98437034 0.03434646 0.7959922 ] [ 0.06790349 -0.04668828 0.99659888 0.33622664] [ 0. 0. 0. 1. ]] SLAMing on 52.339072329 meters Centerline goodness : 0.798328 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:0.80, Z:0.34 [[ 0.98260589 -0.16760527 -0.07996329 5.48652232] [ 0.17128701 0.98434243 0.04160209 0.80392594] [ 0.07173853 -0.05457513 0.99592928 0.33658478] [ 0. 0. 0. 1. ]] SLAMing on 52.39907232899999 meters Centerline goodness : 0.804287 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:0.81, Z:0.34 [[ 0.98295206 -0.16397588 -0.08316944 5.48937845] [ 0.16834611 0.98453236 0.04853463 0.80955778] [ 0.0739245 -0.06170846 0.99535282 0.33876948] [ 0. 0. 0. 1. ]] SLAMing on 52.459072328999994 meters Centerline goodness : 0.805248 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:0.81, Z:0.34 [[ 0.98247724 -0.16747768 -0.08179057 5.48807963] [ 0.17131523 0.98430548 0.04235351 0.81187636] [ 0.07341364 -0.05562333 0.99574921 0.33786451] [ 0. 0. 0. 1. ]] SLAMing on 52.519072329 meters Centerline goodness : 0.808866 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:0.81, Z:0.34 [[ 0.98098822 -0.17501031 -0.08386603 5.49135606] [ 0.17878531 0.98308343 0.03978427 0.81420438] [ 0.07548465 -0.05402191 0.99568253 0.34204272] [ 0. 0. 0. 1. ]] SLAMing on 52.57907232899999 meters Centerline goodness : 0.810400 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:0.82, Z:0.34 [[ 0.98038207 -0.17767059 -0.08534726 5.49429227] [ 0.18152622 0.98258421 0.03970529 0.81574818] [ 0.07680641 -0.05441912 0.99555981 0.34310645] [ 0. 0. 0. 1. ]] SLAMing on 52.639072328999994 meters Centerline goodness : 0.809353 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:0.82, Z:0.34 [[ 0.97957839 -0.18116193 -0.0872154 5.49876116] [ 0.1850905 0.98193845 0.03922225 0.81650961] [ 0.07853457 -0.05456401 0.99541704 0.34398099] [ 0. 0. 0. 1. ]] SLAMing on 52.699072328999996 meters Centerline goodness : 0.810582 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:0.82, Z:0.35 [[ 0.97909715 -0.18333002 -0.0880845 5.49801517] [ 0.1874016 0.98145422 0.0403516 0.81525921] [ 0.07905324 -0.05601531 0.99529537 0.34875592] [ 0. 0. 0. 1. ]] SLAMing on 52.75907232899999 meters Centerline goodness : 0.812491 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:0.82, Z:0.35 [[ 0.97825477 -0.18737263 -0.08893315 5.49910169] [ 0.19136299 0.98075938 0.03861654 0.81568289] [ 0.07998634 -0.05479532 0.99528873 0.35154597] [ 0. 0. 0. 1. ]] SLAMing on 52.819072328999994 meters Centerline goodness : 0.809074 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:0.82, Z:0.35 [[ 0.97784432 -0.18866619 -0.09069482 5.50370738] [ 0.1928451 0.9804264 0.03968438 0.81617918] [ 0.0814325 -0.0562952 0.99508773 0.35089295] [ 0. 0. 0. 1. ]] SLAMing on 52.879072328999996 meters Centerline goodness : 0.810025 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:0.82, Z:0.35 [[ 0.97722755 -0.19172252 -0.09093291 5.50377079] [ 0.19576101 0.9799263 0.03771038 0.8156265 ] [ 0.08187762 -0.05465274 0.99514277 0.35333399] [ 0. 0. 0. 1. ]] SLAMing on 52.93907232899999 meters Centerline goodness : 0.810540 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:0.82, Z:0.36 [[ 0.9764898 -0.19404294 -0.09388829 5.50724133] [ 0.19846284 0.97928386 0.04019476 0.81688255] [ 0.08414377 -0.05788311 0.99477101 0.35758687] [ 0. 0. 0. 1. ]] SLAMing on 52.99907232899999 meters Centerline goodness : 0.808353 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:0.82, Z:0.36 [[ 0.97505543 -0.20029466 -0.09565017 5.51464551] [ 0.20455926 0.97815533 0.03698189 0.81679638] [ 0.08615345 -0.05562552 0.99472779 0.35591189] [ 0. 0. 0. 1. ]] SLAMing on 53.059072328999996 meters Centerline goodness : 0.814522 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:0.81, Z:0.36 [[ 0.97410752 -0.20523149 -0.09483971 5.51426055] [ 0.20919616 0.97728803 0.03383902 0.81188985] [ 0.08574088 -0.05280294 0.99491726 0.3580989 ] [ 0. 0. 0. 1. ]] SLAMing on 53.119072329 meters Centerline goodness : 0.816360 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:0.81, Z:0.37 [[ 0.97407718 -0.20385013 -0.09807529 5.51455598] [ 0.20859804 0.97715147 0.04076597 0.80985302] [ 0.08752427 -0.06016752 0.99434369 0.36597698] [ 0. 0. 0. 1. ]] SLAMing on 53.17907232899999 meters Centerline goodness : 0.815107 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.81, Z:0.37 [[ 0.97344184 -0.20666155 -0.09849871 5.51625867] [ 0.21126299 0.97666208 0.03871865 0.80924482] [ 0.0881983 -0.05849948 0.99438366 0.36701918] [ 0. 0. 0. 1. ]] SLAMing on 53.239072328999995 meters Centerline goodness : 0.814619 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.81, Z:0.36 [[ 0.97338981 -0.20728444 -0.09770073 5.52003482] [ 0.21156979 0.97671268 0.035645 0.8063922 ] [ 0.08803689 -0.055367 0.9945773 0.36210382] [ 0. 0. 0. 1. ]] SLAMing on 53.299072329 meters Centerline goodness : 0.819108 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.80, Z:0.36 [[ 0.97329251 -0.20710537 -0.09904065 5.5226764 ] [ 0.21168756 0.97659339 0.03812763 0.80179871] [ 0.08882601 -0.05807501 0.99435267 0.36353262] [ 0. 0. 0. 1. ]] SLAMing on 53.35907232899999 meters Centerline goodness : 0.818487 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.37 [[ 0.97347064 -0.20449725 -0.10264398 5.52779492] [ 0.20980724 0.97676103 0.04380425 0.80173211] [ 0.09130079 -0.0641776 0.99375319 0.36537597] [ 0. 0. 0. 1. ]] SLAMing on 53.419072328999995 meters Centerline goodness : 0.816353 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.36 [[ 0.97398883 -0.20265245 -0.10137916 5.52807909] [ 0.20770398 0.97729276 0.0419276 0.80056939] [ 0.09058039 -0.06189387 0.99396395 0.36183287] [ 0. 0. 0. 1. ]] SLAMing on 53.479072329 meters Centerline goodness : 0.812900 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.36 [[ 0.974505 -0.20028429 -0.10112477 5.52902664] [ 0.20530286 0.97780426 0.04182788 0.80074978] [ 0.09050276 -0.06152268 0.99399407 0.35920051] [ 0. 0. 0. 1. ]] SLAMing on 53.53907232899999 meters Centerline goodness : 0.813023 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.36 [[ 0.97463081 -0.19892296 -0.10258867 5.53263004] [ 0.20408768 0.97803076 0.04247416 0.80175478] [ 0.09188579 -0.06233371 0.99381664 0.3584619 ] [ 0. 0. 0. 1. ]] SLAMing on 53.599072328999995 meters Centerline goodness : 0.816303 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.36 [[ 0.97538794 -0.19492311 -0.10306964 5.53389766] [ 0.20035741 0.97867957 0.04520186 0.80208592] [ 0.09206127 -0.06474011 0.99364654 0.35665757] [ 0. 0. 0. 1. ]] SLAMing on 53.659072329 meters Centerline goodness : 0.815420 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.80, Z:0.36 [[ 0.97537703 -0.19458098 -0.10381667 5.53560968] [ 0.20009898 0.97871457 0.04558717 0.80331832] [ 0.09273649 -0.06523829 0.99355116 0.35630872] [ 0. 0. 0. 1. ]] SLAMing on 53.71907232899999 meters Centerline goodness : 0.815950 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.80, Z:0.36 [[ 0.97531823 -0.19467872 -0.10418516 5.53791001] [ 0.20014996 0.97873931 0.04482581 0.80146327] [ 0.09324348 -0.06457209 0.99354723 0.35557257] [ 0. 0. 0. 1. ]] SLAMing on 53.779072328999995 meters Centerline goodness : 0.815931 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.80, Z:0.36 [[ 0.97451941 -0.1984192 -0.1046028 5.53866149] [ 0.20372515 0.97809903 0.04264211 0.8014351 ] [ 0.09385089 -0.06286579 0.99359947 0.35785396] [ 0. 0. 0. 1. ]] SLAMing on 53.839072329 meters Centerline goodness : 0.813343 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.80, Z:0.36 [[ 0.97402763 -0.20011901 -0.10593654 5.53903368] [ 0.20571351 0.97759048 0.04470796 0.80002676] [ 0.09461564 -0.06533936 0.99336733 0.36206379] [ 0. 0. 0. 1. ]] SLAMing on 53.89907232899999 meters Centerline goodness : 0.811843 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.80, Z:0.36 [[ 0.97351313 -0.20344002 -0.10432809 5.53960191] [ 0.20849774 0.97720468 0.03999642 0.79692361] [ 0.09381302 -0.06068921 0.99373836 0.3602425 ] [ 0. 0. 0. 1. ]] SLAMing on 53.959072328999994 meters Centerline goodness : 0.813723 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.79, Z:0.36 [[ 0.97210259 -0.21108767 -0.10226705 5.53671756] [ 0.21557779 0.97586204 0.03492117 0.79194397] [ 0.09242711 -0.05599346 0.99414383 0.36387964] [ 0. 0. 0. 1. ]] SLAMing on 54.019072329 meters Centerline goodness : 0.811527 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.79, Z:0.37 [[ 0.97045309 -0.21826028 -0.10287488 5.53812091] [ 0.22267588 0.9743184 0.03345311 0.78665667] [ 0.09293141 -0.05537242 0.99413161 0.36888483] [ 0. 0. 0. 1. ]] SLAMing on 54.07907232899999 meters Centerline goodness : 0.811358 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.78, Z:0.37 [[ 0.96955433 -0.22213142 -0.1030632 5.54164627] [ 0.22637573 0.9735355 0.03134723 0.78176654] [ 0.09337249 -0.05372385 0.99418073 0.36893228] [ 0. 0. 0. 1. ]] SLAMing on 54.139072328999994 meters Centerline goodness : 0.811582 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.78, Z:0.37 [[ 0.96959483 -0.22199278 -0.10298089 5.5404273 ] [ 0.22636491 0.97349132 0.03276533 0.77707177] [ 0.09297733 -0.05508036 0.99414354 0.37168763] [ 0. 0. 0. 1. ]] SLAMing on 54.199072328999996 meters Centerline goodness : 0.810157 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.78, Z:0.37 [[ 0.97052547 -0.21747478 -0.10385102 5.54212525] [ 0.22218101 0.97434091 0.03599149 0.77652969] [ 0.09335905 -0.05800438 0.99394144 0.370062 ] [ 0. 0. 0. 1. ]] SLAMing on 54.25907232899999 meters Centerline goodness : 0.808193 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.78, Z:0.36 [[ 0.97236093 -0.20961412 -0.10284041 5.5431911 ] [ 0.2142924 0.97608176 0.03664935 0.77788558] [ 0.09269842 -0.05767432 0.99402247 0.36265084] [ 0. 0. 0. 1. ]] SLAMing on 54.319072328999994 meters Centerline goodness : 0.808807 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:0.78, Z:0.36 [[ 0.97404521 -0.2003776 -0.10528408 5.54777788] [ 0.20583222 0.97761218 0.04367519 0.78023474] [ 0.09417547 -0.06421247 0.99348263 0.35841646] [ 0. 0. 0. 1. ]] SLAMing on 54.379072328999996 meters Centerline goodness : 0.802672 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.78, Z:0.36 [[ 0.97721301 -0.18717777 -0.10009601 5.53769478] [ 0.19211407 0.98046902 0.04210321 0.78413886] [ 0.09026025 -0.06037366 0.99408657 0.35506632] [ 0. 0. 0. 1. ]] SLAMing on 54.43907232899999 meters Centerline goodness : 0.798565 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.79, Z:0.35 [[ 0.98009979 -0.17218251 -0.09878046 5.53485623] [ 0.1773342 0.98307868 0.04592257 0.79019088] [ 0.0892019 -0.06252585 0.99404906 0.3481365 ] [ 0. 0. 0. 1. ]] SLAMing on 54.49907232899999 meters Centerline goodness : 0.797053 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.80, Z:0.34 [[ 0.98136865 -0.17170067 -0.08622327 5.53704659] [ 0.17626964 0.98314841 0.0484585 0.79627335] [ 0.07644991 -0.0627542 0.99509664 0.34146182] [ 0. 0. 0. 1. ]] SLAMing on 54.559072328999996 meters Centerline goodness : 0.795385 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.80, Z:0.34 [[ 0.98291014 -0.16298647 -0.08557488 5.53523727] [ 0.16764179 0.98456274 0.05032332 0.80107236] [ 0.07605182 -0.06380923 0.99506005 0.33766663] [ 0. 0. 0. 1. ]] SLAMing on 54.619072329 meters Centerline goodness : 0.793057 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.33 [[ 0.98489473 -0.15219818 -0.0825717 5.5321678 ] [ 0.15654894 0.98645283 0.04902284 0.80433076] [ 0.0739919 -0.06120885 0.99537866 0.32863342] [ 0. 0. 0. 1. ]] SLAMing on 54.67907232899999 meters Centerline goodness : 0.792681 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.81, Z:0.33 [[ 0.98624608 -0.14941361 -0.07067002 5.53428872] [ 0.1530404 0.98700377 0.04901218 0.80998359] [ 0.06242849 -0.05915344 0.99629491 0.32508103] [ 0. 0. 0. 1. ]] SLAMing on 54.739072328999995 meters Centerline goodness : 0.792719 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.81, Z:0.32 [[ 0.98720332 -0.14237885 -0.07181828 5.53417667] [ 0.14642128 0.98771724 0.05454775 0.81408462] [ 0.06316971 -0.06436544 0.99592504 0.32497627] [ 0. 0. 0. 1. ]] SLAMing on 54.799072329 meters Centerline goodness : 0.793611 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.81, Z:0.32 [[ 0.987154 -0.14393259 -0.06935702 5.53163404] [ 0.14739673 0.98792648 0.04770187 0.81404807] [ 0.06165378 -0.05731209 0.99645077 0.32229936] [ 0. 0. 0. 1. ]] SLAMing on 54.85907232899999 meters Centerline goodness : 0.793242 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.81, Z:0.33 [[ 0.98683125 -0.14580806 -0.07002926 5.53137204] [ 0.14940944 0.98754772 0.04925768 0.81278135] [ 0.06197507 -0.05907205 0.99632805 0.32594901] [ 0. 0. 0. 1. ]] SLAMing on 54.919072328999995 meters Centerline goodness : 0.790091 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.81, Z:0.33 [[ 0.98614486 -0.14926491 -0.07237609 5.53385627] [ 0.15324595 0.98676805 0.05295755 0.81235295] [ 0.06351371 -0.06331515 0.99597048 0.33096381] [ 0. 0. 0. 1. ]] SLAMing on 54.979072329 meters Centerline goodness : 0.793881 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.81, Z:0.33 [[ 0.98568859 -0.15282799 -0.07114497 5.53411425] [ 0.15642995 0.98651582 0.048127 0.81161455] [ 0.06283049 -0.05856744 0.99630426 0.32913731] [ 0. 0. 0. 1. ]] SLAMing on 55.03907232899999 meters Centerline goodness : 0.795653 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.81, Z:0.33 [[ 0.98481658 -0.15876632 -0.07021076 5.5334776 ] [ 0.16199754 0.98585494 0.04297491 0.80986801] [ 0.06239466 -0.05369638 0.99660604 0.33045393] [ 0. 0. 0. 1. ]] SLAMing on 55.099072328999995 meters Centerline goodness : 0.799760 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.81, Z:0.33 [[ 0.98441714 -0.16075695 -0.07127483 5.53548008] [ 0.16414741 0.98542958 0.04454412 0.80855133] [ 0.06307554 -0.05554958 0.9964616 0.33224985] [ 0. 0. 0. 1. ]] SLAMing on 55.159072329 meters Centerline goodness : 0.801273 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.34 [[ 0.98398919 -0.16384627 -0.07014032 5.53309191] [ 0.16703737 0.98504245 0.04230702 0.80376445] [ 0.06215935 -0.05334571 0.99663958 0.33511244] [ 0. 0. 0. 1. ]] SLAMing on 55.21907232899999 meters Centerline goodness : 0.801912 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.80, Z:0.34 [[ 0.98372091 -0.16570925 -0.06952423 5.53264113] [ 0.16878824 0.98479944 0.04099498 0.79892806] [ 0.06167417 -0.0520625 0.99673757 0.33657593] [ 0. 0. 0. 1. ]] SLAMing on 55.279072328999995 meters Centerline goodness : 0.801996 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.79, Z:0.34 [[ 0.98356284 -0.16637557 -0.0701663 5.5356467 ] [ 0.16958683 0.9845956 0.04256538 0.79475294] [ 0.06200359 -0.05376501 0.99662675 0.33632911] [ 0. 0. 0. 1. ]] SLAMing on 55.339072329 meters Centerline goodness : 0.802091 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.79, Z:0.34 [[ 0.98380954 -0.16562934 -0.06845227 5.53361762] [ 0.16865247 0.98482259 0.0409978 0.78842711] [ 0.0606229 -0.05187867 0.99681165 0.33601369] [ 0. 0. 0. 1. ]] SLAMing on 55.39907232899999 meters Centerline goodness : 0.806080 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.78, Z:0.34 [[ 0.9841306 -0.16461862 -0.06623954 5.52990702] [ 0.16737407 0.98514465 0.03841794 0.78317248] [ 0.05893122 -0.04889505 0.99706388 0.3356806 ] [ 0. 0. 0. 1. ]] SLAMing on 55.459072328999994 meters Centerline goodness : 0.805078 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.78, Z:0.34 [[ 0.98443353 -0.16277661 -0.06629023 5.52768921] [ 0.16570469 0.98530882 0.04133377 0.77914465] [ 0.05858818 -0.05167495 0.99694389 0.33932138] [ 0. 0. 0. 1. ]] SLAMing on 55.519072329 meters Centerline goodness : 0.805458 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.78, Z:0.34 [[ 0.98443573 -0.1633389 -0.06485903 5.52575289] [ 0.16600959 0.98538621 0.03814228 0.77569903] [ 0.05768107 -0.04831584 0.99716522 0.33902729] [ 0. 0. 0. 1. ]] SLAMing on 55.57907232899999 meters Centerline goodness : 0.806895 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.77, Z:0.34 [[ 0.98481617 -0.16197598 -0.06245704 5.52098215] [ 0.16437691 0.98576201 0.03540464 0.77003056] [ 0.05583308 -0.04513356 0.99741948 0.33942842] [ 0. 0. 0. 1. ]] SLAMing on 55.639072328999994 meters Centerline goodness : 0.806062 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.77, Z:0.34 [[ 0.98522408 -0.15953014 -0.0623189 5.51938814] [ 0.16199869 0.98610569 0.03676943 0.7685568 ] [ 0.05558719 -0.04632171 0.99737875 0.34070362] [ 0. 0. 0. 1. ]] SLAMing on 55.699072328999996 meters Centerline goodness : 0.805230 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.77, Z:0.34 [[ 0.98536909 -0.1585603 -0.06250116 5.52125188] [ 0.16104068 0.98625977 0.03684513 0.7679256 ] [ 0.05580021 -0.04637128 0.99736455 0.33868619] [ 0. 0. 0. 1. ]] SLAMing on 55.75907232899999 meters Centerline goodness : 0.805968 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.76, Z:0.34 [[ 0.98541991 -0.15901025 -0.06052561 5.51990544] [ 0.16113284 0.9864157 0.03194185 0.76406837] [ 0.05462433 -0.0412288 0.99765544 0.33583601] [ 0. 0. 0. 1. ]] SLAMing on 55.819072328999994 meters Centerline goodness : 0.811479 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:0.76, Z:0.34 [[ 0.98529749 -0.15866035 -0.06337 5.52275129] [ 0.16133771 0.98610409 0.03960891 0.76237215] [ 0.05620505 -0.04925053 0.99720378 0.34096107] [ 0. 0. 0. 1. ]] SLAMing on 55.879072328999996 meters Centerline goodness : 0.812981 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.76, Z:0.34 [[ 0.98455047 -0.16295777 -0.0640713 5.52684968] [ 0.16556341 0.98547915 0.03767754 0.76118079] [ 0.05700109 -0.0477033 0.99723381 0.33998086] [ 0. 0. 0. 1. ]] SLAMing on 55.93907232899999 meters Centerline goodness : 0.812489 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.76, Z:0.34 [[ 0.98263904 -0.17462757 -0.06265558 5.52861358] [ 0.17667999 0.98384621 0.02882395 0.75636083] [ 0.05660999 -0.03939353 0.99761889 0.34032375] [ 0. 0. 0. 1. ]] SLAMing on 55.99907232899999 meters Centerline goodness : 0.810811 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.75, Z:0.35 [[ 0.98013497 -0.18570088 -0.06964646 5.53935765] [ 0.18847532 0.98143307 0.0355835 0.75369733] [ 0.06174545 -0.04800327 0.9969369 0.35019638] [ 0. 0. 0. 1. ]] SLAMing on 56.059072328999996 meters Centerline goodness : 0.806551 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:0.75, Z:0.35 [[ 0.97808956 -0.19526241 -0.07220392 5.54754231] [ 0.1981195 0.9795628 0.0347187 0.7523754 ] [ 0.06394902 -0.048263 0.99678544 0.35165169] [ 0. 0. 0. 1. ]] SLAMing on 56.119072329 meters Centerline goodness : 0.803523 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:0.75, Z:0.35 [[ 0.97470443 -0.21048389 -0.07515188 5.55975267] [ 0.2130742 0.9766288 0.02820603 0.74922794] [ 0.06745857 -0.04350546 0.9967731 0.34897316] [ 0. 0. 0. 1. ]] SLAMing on 56.17907232899999 meters Centerline goodness : 0.804077 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:0.75, Z:0.35 [[ 0.97325493 -0.21677861 -0.0760387 5.56116686] [ 0.2193534 0.97526558 0.02722372 0.74739789] [ 0.0682564 -0.04317497 0.99673316 0.35375589] [ 0. 0. 0. 1. ]] SLAMing on 56.239072328999995 meters Centerline goodness : 0.804556 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.74, Z:0.37 [[ 0.97133993 -0.21846044 -0.09366846 5.56548752] [ 0.22221715 0.97448421 0.03162374 0.74395944] [ 0.0843699 -0.05153214 0.99510108 0.36539633] [ 0. 0. 0. 1. ]] SLAMing on 56.299072329 meters Centerline goodness : 0.802903 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.74, Z:0.36 [[ 0.97023026 -0.22311077 -0.09420635 5.57045722] [ 0.22671045 0.97352207 0.02927708 0.74360178] [ 0.08517993 -0.04976307 0.99512211 0.36354776] [ 0. 0. 0. 1. ]] SLAMing on 56.35907232899999 meters Centerline goodness : 0.805090 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.74, Z:0.36 [[ 0.97044398 -0.22196627 -0.09470723 5.57397938] [ 0.22563438 0.9737554 0.02982521 0.74165185] [ 0.08560149 -0.0503129 0.99505829 0.36045242] [ 0. 0. 0. 1. ]] SLAMing on 56.419072328999995 meters Centerline goodness : 0.804377 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.74, Z:0.36 [[ 0.97068794 -0.22077157 -0.09499917 5.57280057] [ 0.22453595 0.97397839 0.03081712 0.74216957] [ 0.08572359 -0.05124453 0.99500023 0.36198368] [ 0. 0. 0. 1. ]] SLAMing on 56.479072329 meters Centerline goodness : 0.803863 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.74, Z:0.36 [[ 0.97226866 -0.21276219 -0.09708713 5.5731199 ] [ 0.21721303 0.97539512 0.03772093 0.74454336] [ 0.08667272 -0.05776347 0.99456082 0.36232339] [ 0. 0. 0. 1. ]] SLAMing on 56.53907232899999 meters Centerline goodness : 0.803694 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.75, Z:0.36 [[ 0.97308412 -0.20917738 -0.0967063 5.57450815] [ 0.21344415 0.97629195 0.03599474 0.74782322] [ 0.0868843 -0.0556673 0.99466189 0.35693653] [ 0. 0. 0. 1. ]] SLAMing on 56.599072328999995 meters Centerline goodness : 0.807053 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.75, Z:0.35 [[ 0.9743247 -0.203319 -0.09670964 5.5732791 ] [ 0.20759694 0.97753917 0.03634109 0.75241989] [ 0.08714863 -0.05548465 0.99464897 0.3541796 ] [ 0. 0. 0. 1. ]] SLAMing on 56.659072329 meters Centerline goodness : 0.806415 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.76, Z:0.35 [[ 0.97617142 -0.20007164 -0.08402797 5.57076186] [ 0.20366686 0.97835732 0.03656178 0.75867033] [ 0.0748944 -0.05280428 0.99579242 0.35321458] [ 0. 0. 0. 1. ]] SLAMing on 56.71907232899999 meters Centerline goodness : 0.804260 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.76, Z:0.35 [[ 0.97701748 -0.19523623 -0.08555495 5.57333844] [ 0.19912996 0.979175 0.03954202 0.76088316] [ 0.07605324 -0.0556698 0.99554848 0.35135189] [ 0. 0. 0. 1. ]] SLAMing on 56.779072328999995 meters Centerline goodness : 0.809175 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:0.77, Z:0.35 [[ 0.97867884 -0.18596446 -0.08720634 5.57634433] [ 0.19034652 0.98069016 0.04488887 0.7659583 ] [ 0.07717467 -0.06053121 0.9951784 0.34635996] [ 0. 0. 0. 1. ]] SLAMing on 56.839072329 meters Centerline goodness : 0.813266 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:0.77, Z:0.34 [[ 0.97992633 -0.18449568 -0.07553624 5.57815674] [ 0.18822105 0.98107058 0.0455341 0.77478933] [ 0.06570554 -0.05883757 0.99610287 0.34308921] [ 0. 0. 0. 1. ]] SLAMing on 56.89907232899999 meters Centerline goodness : 0.812987 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:0.78, Z:0.34 [[ 0.98066929 -0.18035741 -0.07588772 5.57848293] [ 0.18409569 0.98185509 0.04549028 0.7802087 ] [ 0.06630624 -0.05858153 0.99607815 0.34040787] [ 0. 0. 0. 1. ]] SLAMing on 56.959072328999994 meters Centerline goodness : 0.810033 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:0.78, Z:0.34 [[ 0.9804409 -0.18102475 -0.07723782 5.58382289] [ 0.18483334 0.98172347 0.04533947 0.78401269] [ 0.06761862 -0.05872879 0.99598125 0.33700626] [ 0. 0. 0. 1. ]] SLAMing on 57.019072329 meters Centerline goodness : 0.806451 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:0.79, Z:0.34 [[ 0.98020698 -0.18016747 -0.08206067 5.59263836] [ 0.18476411 0.9813898 0.05230957 0.79024532] [ 0.07110903 -0.06643607 0.99525361 0.33667192] [ 0. 0. 0. 1. ]] SLAMing on 57.07907232899999 meters Centerline goodness : 0.804175 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:0.79, Z:0.34 [[ 0.97991154 -0.18098691 -0.08376818 5.59749979] [ 0.18575557 0.98116104 0.05308367 0.79270616] [ 0.07258262 -0.06757771 0.99507036 0.33508903] [ 0. 0. 0. 1. ]] SLAMing on 57.139072328999994 meters Centerline goodness : 0.802516 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:0.80, Z:0.33 [[ 0.9791471 -0.18411928 -0.08585476 5.60282439] [ 0.18906327 0.98050829 0.05346556 0.7976209 ] [ 0.07433726 -0.06858263 0.99487205 0.33412974] [ 0. 0. 0. 1. ]] SLAMing on 57.199072328999996 meters Centerline goodness : 0.806882 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.80, Z:0.33 [[ 0.97863259 -0.18636322 -0.08687351 5.60525377] [ 0.19139976 0.98004124 0.05371494 0.79929412] [ 0.07512913 -0.06919476 0.99477017 0.33433418] [ 0. 0. 0. 1. ]] SLAMing on 57.25907232899999 meters Centerline goodness : 0.804100 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.80, Z:0.34 [[ 0.9786782 -0.18500222 -0.08923649 5.60726887] [ 0.19050673 0.97999192 0.05764569 0.80318412] [ 0.07678645 -0.07341673 0.9943409 0.33660181] [ 0. 0. 0. 1. ]] SLAMing on 57.319072328999994 meters Centerline goodness : 0.803347 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.81, Z:0.33 [[ 0.97919122 -0.18214287 -0.08949038 5.61158151] [ 0.18755597 0.98064025 0.0562802 0.80630903] [ 0.07750683 -0.07189353 0.9943963 0.33011602] [ 0. 0. 0. 1. ]] SLAMing on 57.379072328999996 meters Centerline goodness : 0.802812 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.81, Z:0.33 [[ 0.97960388 -0.18020882 -0.08888767 5.60951367] [ 0.18547107 0.981113 0.05493414 0.80904956] [ 0.07730923 -0.07029979 0.99452563 0.32975487] [ 0. 0. 0. 1. ]] SLAMing on 57.43907232899999 meters Centerline goodness : 0.800811 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:0.82, Z:0.33 [[ 0.9802006 -0.1810087 -0.08026602 5.6152723 ] [ 0.18589492 0.98084321 0.05822087 0.8209242 ] [ 0.0681899 -0.07198918 0.9950717 0.32914605] [ 0. 0. 0. 1. ]] SLAMing on 57.49907232899999 meters Centerline goodness : 0.798673 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:0.83, Z:0.33 [[ 0.98042452 -0.17965483 -0.08057237 5.61532955] [ 0.18454808 0.98110975 0.05801433 0.82651217] [ 0.06862778 -0.07174815 0.99505901 0.32782187] [ 0. 0. 0. 1. ]] SLAMing on 57.559072328999996 meters Centerline goodness : 0.794315 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:0.83, Z:0.33 [[ 0.97998257 -0.18113067 -0.08261866 5.6207477 ] [ 0.18613767 0.98083893 0.05751314 0.83278765] [ 0.07061821 -0.07174032 0.9949203 0.32559662] [ 0. 0. 0. 1. ]] SLAMing on 57.61907232899999 meters Centerline goodness : 0.792039 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:0.84, Z:0.33 [[ 0.97962292 -0.18178996 -0.08538941 5.62498631] [ 0.1871685 0.98050421 0.05982856 0.83705545] [ 0.07284845 -0.07459164 0.99454974 0.32698215] [ 0. 0. 0. 1. ]] SLAMing on 57.67907232899999 meters Centerline goodness : 0.788557 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:0.84, Z:0.33 [[ 0.97904115 -0.1838985 -0.08752008 5.6280939 ] [ 0.18951474 0.97999188 0.06082821 0.84336539] [ 0.07458275 -0.07613966 0.99430386 0.32803009] [ 0. 0. 0. 1. ]] SLAMing on 57.739072328999995 meters Centerline goodness : 0.784734 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:0.85, Z:0.33 [[ 0.97860247 -0.18563217 -0.08875752 5.63153327] [ 0.19132127 0.97966031 0.06051326 0.84680506] [ 0.07571901 -0.07619963 0.99421338 0.32720429] [ 0. 0. 0. 1. ]] SLAMing on 57.799072329 meters Centerline goodness : 0.783612 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:0.85, Z:0.33 [[ 0.97798752 -0.1879791 -0.09057746 5.63425433] [ 0.19381052 0.9791713 0.06050654 0.85027286] [ 0.07731688 -0.0767295 0.99404964 0.32901262] [ 0. 0. 0. 1. ]] SLAMing on 57.85907232899999 meters Centerline goodness : 0.780587 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:0.85, Z:0.33 [[ 0.97739399 -0.19016812 -0.09239625 5.63608907] [ 0.19620692 0.9786441 0.06130725 0.85489873] [ 0.07876436 -0.07805012 0.99383316 0.33124524] [ 0. 0. 0. 1. ]] SLAMing on 57.919072328999995 meters Centerline goodness : 0.776385 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:0.86, Z:0.33 [[ 0.97660549 -0.19317038 -0.09448238 5.63976168] [ 0.19930914 0.97806985 0.06045861 0.86200347] [ 0.08073155 -0.07787542 0.993689 0.3316365 ] [ 0. 0. 0. 1. ]] SLAMing on 57.979072329 meters Centerline goodness : 0.776412 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:0.86, Z:0.33 [[ 0.97645754 -0.19407701 -0.09415299 5.64161359] [ 0.19991974 0.97814626 0.05711385 0.86406329] [ 0.08101091 -0.07459229 0.99391812 0.32909603] [ 0. 0. 0. 1. ]] SLAMing on 58.03907232899999 meters Centerline goodness : 0.773419 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:0.87, Z:0.33 [[ 0.97595737 -0.19446179 -0.09844711 5.64589446] [ 0.20107685 0.97758878 0.06235603 0.87083351] [ 0.08411492 -0.08065226 0.99318674 0.33294898] [ 0. 0. 0. 1. ]] SLAMing on 58.099072328999995 meters Centerline goodness : 0.769726 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:0.88, Z:0.33 [[ 0.975685 -0.19445786 -0.10111833 5.65085013] [ 0.20134333 0.97749549 0.06295573 0.87880908] [ 0.08660048 -0.08178447 0.99288049 0.33167403] [ 0. 0. 0. 1. ]] SLAMing on 58.159072329 meters Centerline goodness : 0.768886 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:0.88, Z:0.33 [[ 0.97593716 -0.19402146 -0.09951049 5.65001962] [ 0.20043025 0.97793198 0.05896408 0.88187656] [ 0.08587419 -0.07749015 0.99328792 0.32843312] [ 0. 0. 0. 1. ]] SLAMing on 58.21907232899999 meters Centerline goodness : 0.765743 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:0.89, Z:0.33 [[ 0.9761895 -0.19099366 -0.1028372 5.65242042] [ 0.19802962 0.97816112 0.06312763 0.89064172] [ 0.08853438 -0.08198934 0.99269301 0.33054721] [ 0. 0. 0. 1. ]] SLAMing on 58.279072328999995 meters Centerline goodness : 0.765961 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:0.90, Z:0.33 [[ 0.97639784 -0.19468541 -0.0935139 5.65866093] [ 0.20080652 0.97771994 0.06115931 0.90028492] [ 0.07952358 -0.07849402 0.99373774 0.32960843] [ 0. 0. 0. 1. ]] SLAMing on 58.339072329 meters Centerline goodness : 0.761465 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:0.90, Z:0.33 [[ 0.97679454 -0.19223916 -0.09442735 5.65937229] [ 0.19857712 0.97805912 0.06298797 0.90314013] [ 0.08024678 -0.08027741 0.99353711 0.32961587] [ 0. 0. 0. 1. ]] SLAMing on 58.39907232899999 meters Centerline goodness : 0.764396 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:0.91, Z:0.33 [[ 0.97687991 -0.19074167 -0.09655703 5.66374582] [ 0.19742136 0.97815779 0.06505488 0.90696355] [ 0.08203934 -0.08261322 0.99319918 0.32791796] [ 0. 0. 0. 1. ]] SLAMing on 58.459072328999994 meters Centerline goodness : 0.762443 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:0.91, Z:0.33 [[ 0.97683587 -0.19130356 -0.09588867 5.66400489] [ 0.19760294 0.97837614 0.06110002 0.91210401] [ 0.08212653 -0.07863258 0.99351505 0.32535696] [ 0. 0. 0. 1. ]] SLAMing on 58.519072329 meters Centerline goodness : 0.759710 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:0.91, Z:0.33 [[ 0.97722059 -0.18890334 -0.09672352 5.66461843] [ 0.19543846 0.97867889 0.06317782 0.91407443] [ 0.08272677 -0.08064216 0.99330414 0.32538378] [ 0. 0. 0. 1. ]] SLAMing on 58.57907232899999 meters Centerline goodness : 0.761762 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:0.92, Z:0.33 [[ 0.97774777 -0.19040755 -0.08805829 5.66711367] [ 0.19643914 0.97830845 0.06575898 0.92331381] [ 0.07362716 -0.0815938 0.9939424 0.32932112] [ 0. 0. 0. 1. ]] SLAMing on 58.639072328999994 meters Centerline goodness : 0.761553 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:0.93, Z:0.33 [[ 0.9772394 -0.19235943 -0.08944837 5.67504674] [ 0.19796733 0.9784518 0.05866009 0.92930448] [ 0.0762371 -0.07503281 0.99426253 0.33460656] [ 0. 0. 0. 1. ]] SLAMing on 58.699072328999996 meters Centerline goodness : 0.755786 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:0.93, Z:0.33 [[ 0.97659082 -0.19608592 -0.08843465 5.67869897] [ 0.20108981 0.97820913 0.05167003 0.9305542 ] [ 0.07637581 -0.06824378 0.99474093 0.32967641] [ 0. 0. 0. 1. ]] SLAMing on 58.75907232899999 meters Centerline goodness : 0.757007 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:0.93, Z:0.33 [[ 0.97602363 -0.19758779 -0.0913068 5.68047242] [ 0.20308037 0.97759903 0.05530374 0.93269669] [ 0.07833409 -0.07252038 0.99428596 0.33426582] [ 0. 0. 0. 1. ]] SLAMing on 58.819072328999994 meters Centerline goodness : 0.756436 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:0.94, Z:0.34 [[ 0.97542667 -0.20069403 -0.09091052 5.68219082] [ 0.20550549 0.97752733 0.04698734 0.94227226] [ 0.07943744 -0.06451532 0.99474995 0.34231059] [ 0. 0. 0. 1. ]] SLAMing on 58.879072328999996 meters Centerline goodness : 0.757558 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:0.94, Z:0.34 [[ 0.97555592 -0.20339138 -0.08320211 5.6764006 ] [ 0.20703467 0.97760678 0.03770461 0.94281557] [ 0.07367015 -0.05400868 0.99581915 0.34316017] [ 0. 0. 0. 1. ]] SLAMing on 58.93907232899999 meters Centerline goodness : 0.757998 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:0.95, Z:0.35 [[ 0.97497035 -0.20599859 -0.08365044 5.68099716] [ 0.20911676 0.97742088 0.03030851 0.95109379] [ 0.07551817 -0.0470426 0.99603414 0.34871283] [ 0. 0. 0. 1. ]] SLAMing on 58.99907232899999 meters Centerline goodness : 0.756779 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:0.96, Z:0.35 [[ 0.97486819 -0.20630693 -0.08408012 5.68086693] [ 0.20930938 0.97743355 0.02851726 0.95587393] [ 0.07629943 -0.04539933 0.99605085 0.35156674] [ 0. 0. 0. 1. ]] SLAMing on 59.059072328999996 meters Centerline goodness : 0.760269 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:0.96, Z:0.36 [[ 0.97422084 -0.20916684 -0.08451623 5.68528117] [ 0.21162141 0.97712372 0.0211097 0.96103942] [ 0.07816736 -0.03845095 0.99619847 0.35800055] [ 0. 0. 0. 1. ]] SLAMing on 59.11907232899999 meters Centerline goodness : 0.760588 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:0.97, Z:0.36 [[ 0.97334535 -0.21324737 -0.08440604 5.68722456] [ 0.21529038 0.97642249 0.01578518 0.96586883] [ 0.07904981 -0.03353624 0.9963064 0.35909702] [ 0. 0. 0. 1. ]] SLAMing on 59.17907232899999 meters Centerline goodness : 0.762022 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:0.97, Z:0.36 [[ 0.97259555 -0.2163162 -0.0852361 5.69194838] [ 0.21786968 0.975934 0.00925358 0.97058257] [ 0.08118311 -0.02757035 0.99631781 0.36413082] [ 0. 0. 0. 1. ]] SLAMing on 59.239072328999995 meters Centerline goodness : 0.762527 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:0.98, Z:0.37 [[ 9.71857408e-01 -2.19510416e-01 -8.54889258e-02 5.69521670e+00] [ 2.20495316e-01 9.75385692e-01 2.13696984e-03 9.76261906e-01] [ 8.29155880e-02 -2.09267377e-02 9.96336829e-01 3.70333099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299072329 meters Centerline goodness : 0.762818 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:0.98, Z:0.37 [[ 9.71690853e-01 -2.20175262e-01 -8.56722849e-02 5.69410833e+00] [ 2.21007983e-01 9.75271969e-01 2.41321581e-04 9.81380617e-01] [ 8.35006449e-02 -1.91687488e-02 9.96323342e-01 3.73392954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35907232899999 meters Centerline goodness : 0.761085 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:0.98, Z:0.37 [[ 0.97007282 -0.22748667 -0.08490313 5.69922314] [ 0.22769169 0.97370523 -0.00739003 0.98057704] [ 0.08435176 -0.01216287 0.9963618 0.37192293] [ 0. 0. 0. 1. ]] SLAMing on 59.419072328999995 meters Centerline goodness : 0.768797 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:0.98, Z:0.37 [[ 0.96907996 -0.2319862 -0.08406206 5.69909518] [ 0.23181263 0.97268699 -0.01195534 0.98103589] [ 0.08453955 -0.00790097 0.9963888 0.3733968 ] [ 0. 0. 0. 1. ]] SLAMing on 59.479072329 meters Centerline goodness : 0.762330 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:0.98, Z:0.37 [[ 9.68969652e-01 -2.33910797e-01 -7.98971348e-02 5.71025256e+00] [ 2.34416179e-01 9.72131306e-01 -3.12708339e-03 9.81806091e-01] [ 7.84019645e-02 -1.56991321e-02 9.96798209e-01 3.74406871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53907232899999 meters Centerline goodness : 0.762426 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:0.98, Z:0.38 [[ 0.96780563 -0.23910698 -0.07861376 5.70809036] [ 0.23924724 0.9709276 -0.00776884 0.98120105] [ 0.07818586 -0.0112894 0.99687488 0.37678942] [ 0. 0. 0. 1. ]] SLAMing on 59.599072328999995 meters Centerline goodness : 0.768739 with order 3 Centerline is valid? [False, False] Translation: X:5.71, Y:0.98, Z:0.37 [[ 9.65839413e-01 -2.47425996e-01 -7.70363911e-02 5.71077052e+00] [ 2.47037952e-01 9.68894633e-01 -1.46778650e-02 9.76829469e-01] [ 7.82718313e-02 -4.85445179e-03 9.96920235e-01 3.74904666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659072329 meters Centerline goodness : 0.762701 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:0.97, Z:0.39 [[ 0.96458627 -0.24592355 -0.09536734 5.71912394] [ 0.24582722 0.96922726 -0.01294202 0.97082802] [ 0.09561538 -0.01096019 0.99535801 0.38542794] [ 0. 0. 0. 1. ]] SLAMing on 59.71907232899999 meters Centerline goodness : 0.769199 with order 3 Centerline is valid? [False, False] Translation: X:5.72, Y:0.97, Z:0.39 [[ 0.96341461 -0.25108695 -0.09374236 5.71664889] [ 0.25059776 0.96793943 -0.01714712 0.96704892] [ 0.09504234 -0.00697184 0.99544882 0.38770154] [ 0. 0. 0. 1. ]] SLAMing on 59.779072328999995 meters Centerline goodness : 0.767969 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:0.96, Z:0.39 [[ 0.96277275 -0.25377817 -0.09308748 5.71348213] [ 0.25317452 0.96724495 -0.01843564 0.96210558] [ 0.09471696 -0.00581804 0.99548724 0.39041515] [ 0. 0. 0. 1. ]] SLAMing on 59.839072329 meters Centerline goodness : 0.766165 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:0.96, Z:0.39 [[ 0.96364973 -0.25015451 -0.09381854 5.71211446] [ 0.24995796 0.96815501 -0.01403166 0.9594869 ] [ 0.09434097 -0.00992909 0.99549043 0.39051916] [ 0. 0. 0. 1. ]] SLAMing on 59.89907232899999 meters Centerline goodness : 0.769864 with order 3 Centerline is valid? [False, False] Translation: X:5.72, Y:0.95, Z:0.39 [[ 0.96470082 -0.24099761 -0.10617198 5.71554736] [ 0.24070583 0.97047036 -0.01574727 0.94845508] [ 0.10683181 -0.01036481 0.99422308 0.39370508] [ 0. 0. 0. 1. ]] SLAMing on 59.959072328999994 meters Centerline goodness : 0.766933 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:0.94, Z:0.40 [[ 0.96519857 -0.23173638 -0.12120215 5.71887809] [ 0.23185562 0.97265908 -0.01331485 0.93813066] [ 0.12097391 -0.01524992 0.99253854 0.40219042] [ 0. 0. 0. 1. ]] SLAMing on 60.019072329 meters Centerline goodness : 0.768038 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:0.94, Z:0.40 [[ 0.96578537 -0.22879869 -0.12210564 5.72137569] [ 0.2291769 0.97332117 -0.01112896 0.93611865] [ 0.12139429 -0.0172356 0.99245471 0.40113799] [ 0. 0. 0. 1. ]] SLAMing on 60.07907232899999 meters Centerline goodness : 0.768739 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:0.93, Z:0.40 [[ 0.96655844 -0.22626853 -0.12069517 5.72232986] [ 0.22639185 0.97395125 -0.01287179 0.93295339] [ 0.1204637 -0.01488306 0.99260616 0.39761302] [ 0. 0. 0. 1. ]] SLAMing on 60.139072328999994 meters Centerline goodness : 0.768170 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.93, Z:0.40 [[ 0.96729957 -0.22194269 -0.12277211 5.72741486] [ 0.22268597 0.97485895 -0.00780938 0.92985349] [ 0.12141873 -0.01978562 0.99240416 0.39532563] [ 0. 0. 0. 1. ]] SLAMing on 60.199072328999996 meters Centerline goodness : 0.769409 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.93, Z:0.39 [[ 9.68330124e-01 -2.17231381e-01 -1.23074361e-01 5.72744695e+00] [ 2.18310057e-01 9.75867570e-01 -4.81704916e-03 9.28466780e-01] [ 1.21150692e-01 -2.22038770e-02 9.92385761e-01 3.94918736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25907232899999 meters Centerline goodness : 0.770095 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.93, Z:0.39 [[ 9.69134979e-01 -2.14075480e-01 -1.22266439e-01 5.72766216e+00] [ 2.15131527e-01 9.76573993e-01 -4.65424971e-03 9.27287265e-01] [ 1.20398585e-01 -2.17927696e-02 9.92486401e-01 3.92441762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319072328999994 meters Centerline goodness : 0.768704 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.93, Z:0.38 [[ 9.70766609e-01 -2.13613135e-01 -1.09460583e-01 5.73000829e+00] [ 2.14660388e-01 9.76686127e-01 -2.26426783e-03 9.31455721e-01] [ 1.07392310e-01 -2.12987756e-02 9.93988558e-01 3.84021074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379072328999996 meters Centerline goodness : 0.769600 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.93, Z:0.38 [[ 9.72172980e-01 -2.08115249e-01 -1.07553425e-01 5.72652338e+00] [ 2.09074017e-01 9.77896851e-01 -2.40937735e-03 9.30544572e-01] [ 1.05677584e-01 -2.01442950e-02 9.94196387e-01 3.82201383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43907232899999 meters Centerline goodness : 0.769964 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.93, Z:0.38 [[ 9.72547499e-01 -2.06235064e-01 -1.07788962e-01 5.72842987e+00] [ 2.07240102e-01 9.78288235e-01 -1.91572713e-03 9.29353250e-01] [ 1.05843764e-01 -2.04750599e-02 9.94171952e-01 3.80685068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49907232899999 meters Centerline goodness : 0.769202 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.93, Z:0.38 [[ 9.72342900e-01 -2.06669319e-01 -1.08798338e-01 5.73038618e+00] [ 2.07910011e-01 9.78147956e-01 6.11320778e-05 9.26875059e-01] [ 1.06408238e-01 -2.26797050e-02 9.94063840e-01 3.81764272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559072328999996 meters Centerline goodness : 0.769419 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.92, Z:0.38 [[ 9.71677721e-01 -2.10134423e-01 -1.08101482e-01 5.73188104e+00] [ 2.11184054e-01 9.77444701e-01 -1.77553730e-03 9.21081791e-01] [ 1.06036322e-01 -2.11040592e-02 9.94138279e-01 3.81404623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61907232899999 meters Centerline goodness : 0.771723 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:0.92, Z:0.38 [[ 9.70416341e-01 -2.15385009e-01 -1.09093640e-01 5.73397049e+00] [ 2.16359147e-01 9.76309327e-01 -2.96938792e-03 9.18895350e-01] [ 1.07148700e-01 -2.07218644e-02 9.94027042e-01 3.84467816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67907232899999 meters Centerline goodness : 0.773215 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:0.91, Z:0.39 [[ 9.68245028e-01 -2.24369911e-01 -1.10271072e-01 5.73886506e+00] [ 2.25126214e-01 9.74312903e-01 -5.70559414e-03 9.14548577e-01] [ 1.08718692e-01 -1.93004958e-02 9.93885173e-01 3.86562542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739072328999995 meters Centerline goodness : 0.773007 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:0.91, Z:0.39 [[ 0.96722995 -0.2289578 -0.1097477 5.73984678] [ 0.22943004 0.97328824 -0.00847696 0.90945192] [ 0.10875701 -0.01698025 0.99392333 0.38811526] [ 0. 0. 0. 1. ]] SLAMing on 60.799072329 meters Centerline goodness : 0.773639 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:0.90, Z:0.39 [[ 0.96572727 -0.23362778 -0.11308798 5.74572934] [ 0.23447483 0.97210404 -0.00594029 0.90329176] [ 0.1113211 -0.02077959 0.99356722 0.39269411] [ 0. 0. 0. 1. ]] SLAMing on 60.85907232899999 meters Centerline goodness : 0.773857 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:0.90, Z:0.39 [[ 0.96420665 -0.23898401 -0.11485721 5.75194511] [ 0.23978055 0.97080162 -0.00703541 0.89906752] [ 0.11318491 -0.02075693 0.9933571 0.3934564 ] [ 0. 0. 0. 1. ]] SLAMing on 60.919072328999995 meters Centerline goodness : 0.774780 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:0.89, Z:0.39 [[ 0.96289705 -0.24354902 -0.11624605 5.75930325] [ 0.24415832 0.96969185 -0.00918895 0.89285354] [ 0.11496081 -0.01953443 0.99317794 0.39276207] [ 0. 0. 0. 1. ]] SLAMing on 60.979072329 meters Centerline goodness : 0.773599 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:0.89, Z:0.40 [[ 0.96192256 -0.24623521 -0.11863057 5.76159236] [ 0.24720212 0.96894059 -0.0067267 0.88916672] [ 0.11660232 -0.02285516 0.99291568 0.39804903] [ 0. 0. 0. 1. ]] SLAMing on 61.03907232899999 meters Centerline goodness : 0.772114 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:0.89, Z:0.40 [[ 9.61700852e-01 -2.46686349e-01 -1.19487724e-01 5.76341646e+00] [ 2.47801053e-01 9.68794331e-01 -5.67299470e-03 8.86538454e-01] [ 1.17158480e-01 -2.41534601e-02 9.92819470e-01 3.99107548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099072328999995 meters Centerline goodness : 0.770056 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:0.89, Z:0.40 [[ 0.96217201 -0.24502188 -0.11911881 5.76564793] [ 0.24599346 0.96924828 -0.00670771 0.88716577] [ 0.11709924 -0.02284847 0.99285735 0.39523966] [ 0. 0. 0. 1. ]] SLAMing on 61.159072329 meters Centerline goodness : 0.772576 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:0.89, Z:0.39 [[ 9.63225627e-01 -2.40887859e-01 -1.19035416e-01 5.76533505e+00] [ 2.42026499e-01 9.70256681e-01 -5.01470756e-03 8.86997332e-01] [ 1.16702890e-01 -2.39794303e-02 9.92877345e-01 3.93849916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21907232899999 meters Centerline goodness : 0.774212 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:0.89, Z:0.39 [[ 9.64526457e-01 -2.34722226e-01 -1.20806416e-01 5.76844686e+00] [ 2.36460801e-01 9.71641027e-01 5.75637755e-05 8.85987033e-01] [ 1.17366958e-01 -2.86215037e-02 9.92676083e-01 3.92181452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279072328999995 meters Centerline goodness : 0.775668 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:0.89, Z:0.39 [[ 9.65607470e-01 -2.29686227e-01 -1.21846014e-01 5.76861389e+00] [ 2.31852678e-01 9.72743812e-01 3.71634155e-03 8.87090362e-01] [ 1.17671364e-01 -3.18388519e-02 9.92542058e-01 3.91841867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339072329 meters Centerline goodness : 0.774349 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:0.89, Z:0.39 [[ 0.96637964 -0.22587896 -0.12283763 5.77041066] [ 0.2283638 0.97355513 0.006354 0.88865073] [ 0.11815397 -0.03419205 0.99240644 0.39029607] [ 0. 0. 0. 1. ]] SLAMing on 61.39907232899999 meters Centerline goodness : 0.773167 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:0.89, Z:0.38 [[ 9.67165390e-01 -2.22995750e-01 -1.21918020e-01 5.77291821e+00] [ 2.25241009e-01 9.74291364e-01 4.77760195e-03 8.89894365e-01] [ 1.17718289e-01 -3.20816690e-02 9.92528675e-01 3.84330572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459072328999994 meters Centerline goodness : 0.774914 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:0.89, Z:0.38 [[ 0.96774675 -0.22597088 -0.11137052 5.77933992] [ 0.2282908 0.97355701 0.00836977 0.89464409] [ 0.10653423 -0.03352469 0.99374371 0.37535819] [ 0. 0. 0. 1. ]] SLAMing on 61.519072329 meters Centerline goodness : 0.779147 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:0.89, Z:0.38 [[ 0.96754505 -0.22605867 -0.11293388 5.78137334] [ 0.22868521 0.97344162 0.01069943 0.89498649] [ 0.10751584 -0.03617849 0.9935449 0.37708399] [ 0. 0. 0. 1. ]] SLAMing on 61.57907232899999 meters Centerline goodness : 0.779713 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:0.90, Z:0.38 [[ 0.96732445 -0.22638384 -0.11416555 5.78441991] [ 0.22911876 0.97333338 0.01125756 0.89717769] [ 0.10857261 -0.03704718 0.99339795 0.37641717] [ 0. 0. 0. 1. ]] SLAMing on 61.639072328999994 meters Centerline goodness : 0.783921 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:0.90, Z:0.37 [[ 0.96662424 -0.22972317 -0.11342326 5.78761269] [ 0.23193412 0.97270966 0.00651716 0.89846014] [ 0.10883075 -0.03260637 0.99352539 0.37289803] [ 0. 0. 0. 1. ]] SLAMing on 61.699072328999996 meters Centerline goodness : 0.780524 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:0.90, Z:0.38 [[ 0.96620079 -0.23020317 -0.11602819 5.78985787] [ 0.23292152 0.97244146 0.01025481 0.89951026] [ 0.11046993 -0.03693367 0.99319298 0.37645339] [ 0. 0. 0. 1. ]] SLAMing on 61.75907232899999 meters Centerline goodness : 0.779299 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:0.90, Z:0.38 [[ 0.96530971 -0.23262111 -0.11859424 5.79260318] [ 0.23567456 0.97175532 0.01221088 0.9023645 ] [ 0.11240407 -0.03973692 0.99286772 0.37992763] [ 0. 0. 0. 1. ]] SLAMing on 61.819072328999994 meters Centerline goodness : 0.781112 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:0.90, Z:0.38 [[ 0.96463139 -0.23563173 -0.11816922 5.79623481] [ 0.23831439 0.97114722 0.00890626 0.90244184] [ 0.11266111 -0.03675268 0.99295353 0.37664563] [ 0. 0. 0. 1. ]] SLAMing on 61.879072328999996 meters Centerline goodness : 0.782625 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:0.90, Z:0.38 [[ 0.96362984 -0.23834385 -0.12087078 5.80370753] [ 0.24133962 0.97038319 0.01056662 0.90010509] [ 0.11477248 -0.03935322 0.99261201 0.37611211] [ 0. 0. 0. 1. ]] SLAMing on 61.93907232899999 meters Centerline goodness : 0.784418 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:0.90, Z:0.38 [[ 0.96155606 -0.24437173 -0.1252693 5.80974168] [ 0.24783304 0.96872093 0.01259174 0.90055417] [ 0.11827392 -0.04315353 0.99204287 0.38245943] [ 0. 0. 0. 1. ]] SLAMing on 61.99907232899999 meters Centerline goodness : 0.784600 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:0.90, Z:0.38 [[ 0.96056263 -0.24816268 -0.1254381 5.81394237] [ 0.25129964 0.96786192 0.00958113 0.89915784] [ 0.11902908 -0.04072583 0.99205518 0.38092414] [ 0. 0. 0. 1. ]] SLAMing on 62.059072328999996 meters Centerline goodness : 0.783887 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:0.90, Z:0.39 [[ 0.95904652 -0.25395777 -0.12544013 5.81360255] [ 0.25691982 0.9664016 0.00775559 0.89504828] [ 0.11925595 -0.03966603 0.99207088 0.38576229] [ 0. 0. 0. 1. ]] SLAMing on 62.11907232899999 meters Centerline goodness : 0.781993 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:0.89, Z:0.39 [[ 0.95801836 -0.2564435 -0.12820905 5.81923431] [ 0.25980838 0.96560882 0.00996103 0.89346842] [ 0.12124534 -0.04285264 0.99169714 0.38739853] [ 0. 0. 0. 1. ]] SLAMing on 62.17907232899999 meters Centerline goodness : 0.781264 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:0.89, Z:0.39 [[ 0.95679089 -0.26099678 -0.12818691 5.82142226] [ 0.2639286 0.96452267 0.00614082 0.89372185] [ 0.12203645 -0.03970767 0.99173102 0.38793428] [ 0. 0. 0. 1. ]] SLAMing on 62.239072328999995 meters Centerline goodness : 0.780237 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:0.89, Z:0.39 [[ 0.95618251 -0.26228073 -0.13009157 5.82523754] [ 0.26547641 0.96408779 0.00755048 0.89217412] [ 0.12343935 -0.04175589 0.99147323 0.38924355] [ 0. 0. 0. 1. ]] SLAMing on 62.299072329 meters Centerline goodness : 0.781624 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:0.89, Z:0.39 [[ 0.95498157 -0.26535965 -0.1326441 5.83144032] [ 0.26893053 0.9631133 0.00944103 0.88899102] [ 0.12524603 -0.04468806 0.99111877 0.38973428] [ 0. 0. 0. 1. ]] SLAMing on 62.35907232899999 meters Centerline goodness : 0.780662 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:0.89, Z:0.39 [[ 0.95349794 -0.26946766 -0.13501427 5.83742792] [ 0.27317233 0.96191963 0.00935469 0.88896442] [ 0.12735209 -0.04580184 0.99079949 0.39050061] [ 0. 0. 0. 1. ]] SLAMing on 62.419072328999995 meters Centerline goodness : 0.780828 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:0.89, Z:0.39 [[ 0.95204726 -0.27439948 -0.1353179 5.8390515 ] [ 0.27785018 0.96059938 0.00693581 0.88666326] [ 0.12808311 -0.04420132 0.99077796 0.39312782] [ 0. 0. 0. 1. ]] SLAMing on 62.479072329 meters Centerline goodness : 0.784103 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:0.88, Z:0.39 [[ 0.95290693 -0.27043593 -0.13723264 5.84206676] [ 0.27459705 0.96148463 0.01199011 0.88292071] [ 0.12870451 -0.04910914 0.99046627 0.39300036] [ 0. 0. 0. 1. ]] SLAMing on 62.53907232899999 meters Centerline goodness : 0.785068 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.88, Z:0.39 [[ 0.95325047 -0.2691631 -0.13734905 5.84517605] [ 0.27348825 0.96178345 0.01329595 0.87793062] [ 0.12852126 -0.05023772 0.99043347 0.39037105] [ 0. 0. 0. 1. ]] SLAMing on 62.599072328999995 meters Centerline goodness : 0.784821 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.87, Z:0.39 [[ 0.9523924 -0.27238032 -0.13695865 5.84812341] [ 0.27643994 0.96096618 0.01117873 0.87455135] [ 0.12856776 -0.04850738 0.99051369 0.38899403] [ 0. 0. 0. 1. ]] SLAMing on 62.659072329 meters Centerline goodness : 0.786864 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.87, Z:0.39 [[ 0.9522092 -0.27242874 -0.13813121 5.85214454] [ 0.27677526 0.96084775 0.01292543 0.87072032] [ 0.1292018 -0.05053902 0.99032959 0.38814469] [ 0. 0. 0. 1. ]] SLAMing on 62.71907232899999 meters Centerline goodness : 0.788473 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.87, Z:0.39 [[ 0.95265918 -0.27005285 -0.13968514 5.85204869] [ 0.27508113 0.96125867 0.01766773 0.8674106 ] [ 0.12950233 -0.05525607 0.99003834 0.39142032] [ 0. 0. 0. 1. ]] SLAMing on 62.779072328999995 meters Centerline goodness : 0.792497 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.86, Z:0.39 [[ 0.9534477 -0.26790699 -0.13843164 5.85435489] [ 0.27271477 0.96195071 0.01665765 0.86301989] [ 0.12870172 -0.05363456 0.99023189 0.38628666] [ 0. 0. 0. 1. ]] SLAMing on 62.839072329 meters Centerline goodness : 0.794612 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.86, Z:0.38 [[ 0.95422861 -0.26585707 -0.13699556 5.85275269] [ 0.27043627 0.96261101 0.01562885 0.86029836] [ 0.12771839 -0.05196206 0.99044836 0.3849104 ] [ 0. 0. 0. 1. ]] SLAMing on 62.89907232899999 meters Centerline goodness : 0.797287 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.86, Z:0.38 [[ 0.9547995 -0.26229229 -0.13985948 5.85682186] [ 0.2676641 0.96328879 0.02075169 0.86218427] [ 0.12928207 -0.05724907 0.98995388 0.38447755] [ 0. 0. 0. 1. ]] SLAMing on 62.959072328999994 meters Centerline goodness : 0.799167 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.86, Z:0.37 [[ 0.95555355 -0.26522585 -0.12873484 5.86298963] [ 0.27036403 0.96246129 0.02390728 0.86373591] [ 0.11756147 -0.05764996 0.99139083 0.37473539] [ 0. 0. 0. 1. ]] SLAMing on 63.019072329 meters Centerline goodness : 0.799658 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.86, Z:0.37 [[ 0.95613522 -0.26367111 -0.12760476 5.86121499] [ 0.26873289 0.96291787 0.02391253 0.85991874] [ 0.11656787 -0.05715521 0.99153679 0.37478403] [ 0. 0. 0. 1. ]] SLAMing on 63.07907232899999 meters Centerline goodness : 0.800594 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.86, Z:0.38 [[ 0.95536892 -0.26593619 -0.12863972 5.86357025] [ 0.27102806 0.96228405 0.02352017 0.86010388] [ 0.11753308 -0.05733542 0.99141244 0.375879 ] [ 0. 0. 0. 1. ]] SLAMing on 63.139072328999994 meters Centerline goodness : 0.801249 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:0.86, Z:0.38 [[ 0.95460872 -0.26811182 -0.1297623 5.86592511] [ 0.27334066 0.96161826 0.02398356 0.85934505] [ 0.11835152 -0.05836422 0.99125503 0.37738066] [ 0. 0. 0. 1. ]] SLAMing on 63.199072328999996 meters Centerline goodness : 0.802549 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:0.85, Z:0.38 [[ 0.953634 -0.27227727 -0.12824694 5.86756184] [ 0.27701989 0.96064815 0.02037422 0.85440375] [ 0.11765275 -0.0549565 0.99153296 0.37599121] [ 0. 0. 0. 1. ]] SLAMing on 63.25907232899999 meters Centerline goodness : 0.804281 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:0.85, Z:0.38 [[ 0.95146227 -0.27915261 -0.12958925 5.87070554] [ 0.28389087 0.95866278 0.01927807 0.85029763] [ 0.11885087 -0.05513156 0.99138034 0.38090192] [ 0. 0. 0. 1. ]] SLAMing on 63.319072328999994 meters Centerline goodness : 0.802240 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:0.85, Z:0.38 [[ 0.94941122 -0.28520823 -0.13143288 5.87574579] [ 0.28999915 0.95684869 0.01846815 0.84702973] [ 0.12049411 -0.05564929 0.99115303 0.38432252] [ 0. 0. 0. 1. ]] SLAMing on 63.379072328999996 meters Centerline goodness : 0.803414 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:0.84, Z:0.39 [[ 0.94796429 -0.29015856 -0.1310409 5.8779955 ] [ 0.29456255 0.95551217 0.01514591 0.84495551] [ 0.12081646 -0.05295752 0.99126126 0.38502853] [ 0. 0. 0. 1. ]] SLAMing on 63.43907232899999 meters Centerline goodness : 0.803607 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:0.84, Z:0.39 [[ 0.94712052 -0.29012869 -0.13706959 5.88769828] [ 0.29580669 0.95498051 0.02259691 0.84321163] [ 0.12434277 -0.06194809 0.99030364 0.38732602] [ 0. 0. 0. 1. ]] SLAMing on 63.49907232899999 meters Centerline goodness : 0.805642 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:0.84, Z:0.39 [[ 0.94604774 -0.2938515 -0.13654658 5.88750174] [ 0.29924969 0.95395718 0.02037941 0.84102366] [ 0.12427107 -0.06014141 0.99042401 0.38977782] [ 0. 0. 0. 1. ]] SLAMing on 63.559072328999996 meters Centerline goodness : 0.802275 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:0.84, Z:0.39 [[ 0.9443308 -0.29882167 -0.13764063 5.89424885] [ 0.30396858 0.95252073 0.01753163 0.84230476] [ 0.12586673 -0.05839408 0.99032707 0.38784458] [ 0. 0. 0. 1. ]] SLAMing on 63.61907232899999 meters Centerline goodness : 0.802137 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:0.84, Z:0.39 [[ 0.943406 -0.30019426 -0.14095575 5.90304725] [ 0.30572547 0.95193289 0.01886013 0.84399015] [ 0.12851871 -0.06088653 0.98983623 0.38637099] [ 0. 0. 0. 1. ]] SLAMing on 63.67907232899999 meters Centerline goodness : 0.800181 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:0.84, Z:0.39 [[ 0.94323899 -0.29991213 -0.14266366 5.9062871 ] [ 0.30586487 0.95183704 0.02128225 0.84115537] [ 0.12940975 -0.06371005 0.98954239 0.38800572] [ 0. 0. 0. 1. ]] SLAMing on 63.739072328999995 meters Centerline goodness : 0.803144 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:0.84, Z:0.39 [[ 0.94252455 -0.3028608 -0.14114817 5.90412251] [ 0.30855084 0.95100162 0.01980636 0.83539014] [ 0.12823357 -0.06221937 0.98979033 0.39114947] [ 0. 0. 0. 1. ]] SLAMing on 63.799072329 meters Centerline goodness : 0.802301 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:0.83, Z:0.39 [[ 0.94295993 -0.30102256 -0.14216886 5.90823335] [ 0.30709353 0.9514166 0.02236098 0.83132377] [ 0.12853065 -0.06474465 0.98958982 0.3898332 ] [ 0. 0. 0. 1. ]] SLAMing on 63.85907232899999 meters Centerline goodness : 0.798614 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:0.83, Z:0.39 [[ 0.94396893 -0.29820854 -0.14140131 5.90794712] [ 0.30429137 0.9523004 0.02303723 0.8273653 ] [ 0.12778662 -0.06477363 0.98968427 0.38873666] [ 0. 0. 0. 1. ]] SLAMing on 63.919072328999995 meters Centerline goodness : 0.794272 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:0.82, Z:0.38 [[ 0.944032 -0.29911589 -0.13904412 5.91040065] [ 0.30450025 0.9523285 0.01870908 0.82331085] [ 0.12681949 -0.06000094 0.99010944 0.38330273] [ 0. 0. 0. 1. ]] SLAMing on 63.979072329 meters Centerline goodness : 0.794788 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:0.82, Z:0.38 [[ 0.94490437 -0.2969886 -0.13767174 5.90979939] [ 0.30242645 0.95296423 0.01993557 0.8150039 ] [ 0.12527561 -0.06047278 0.99027727 0.38232035] [ 0. 0. 0. 1. ]] SLAMing on 64.03907232899999 meters Centerline goodness : 0.795781 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:0.81, Z:0.38 [[ 0.94563992 -0.29361366 -0.13984333 5.91313478] [ 0.29984018 0.95365451 0.02527719 0.8133713 ] [ 0.1259405 -0.06583377 0.98985095 0.38229949] [ 0. 0. 0. 1. ]] SLAMing on 64.099072329 meters Centerline goodness : 0.797613 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.81, Z:0.38 [[ 0.94651509 -0.2910065 -0.13937144 5.91735727] [ 0.29713296 0.9545111 0.02491107 0.81022114] [ 0.12578231 -0.06499055 0.98992678 0.37648027] [ 0. 0. 0. 1. ]] SLAMing on 64.159072329 meters Centerline goodness : 0.801134 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.81, Z:0.37 [[ 0.94675868 -0.29048898 -0.13879539 5.92192103] [ 0.29642363 0.95476166 0.0237321 0.80508781] [ 0.1256226 -0.0636108 0.99003668 0.37181763] [ 0. 0. 0. 1. ]] SLAMing on 64.219072329 meters Centerline goodness : 0.801158 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.80, Z:0.37 [[ 0.94749692 -0.2869786 -0.14104208 5.92373567] [ 0.29372701 0.95544435 0.02916409 0.8037409 ] [ 0.12638839 -0.06906075 0.98957394 0.37356321] [ 0. 0. 0. 1. ]] SLAMing on 64.27907232899999 meters Centerline goodness : 0.800504 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.80, Z:0.37 [[ 0.94948185 -0.28033571 -0.14105355 5.92228661] [ 0.28741888 0.95726308 0.03221462 0.80206675] [ 0.12599445 -0.07112865 0.9894777 0.37194807] [ 0. 0. 0. 1. ]] SLAMing on 64.33907232899999 meters Centerline goodness : 0.805927 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.80, Z:0.36 [[ 0.95169202 -0.27323332 -0.14009232 5.92631835] [ 0.28010993 0.95944809 0.03158773 0.79938631] [ 0.12578049 -0.06930304 0.98963446 0.3624516 ] [ 0. 0. 0. 1. ]] SLAMing on 64.39907232899999 meters Centerline goodness : 0.809046 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.81, Z:0.36 [[ 0.95310788 -0.27241456 -0.1318168 5.93452877] [ 0.27896831 0.95970707 0.03374926 0.80540256] [ 0.11731173 -0.0689394 0.99069941 0.36179781] [ 0. 0. 0. 1. ]] SLAMing on 64.459072329 meters Centerline goodness : 0.810432 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.80, Z:0.36 [[ 0.95582748 -0.26304786 -0.13114744 5.93144377] [ 0.26979814 0.96223037 0.03635481 0.80419792] [ 0.11663099 -0.07013226 0.99069606 0.35913479] [ 0. 0. 0. 1. ]] SLAMing on 64.519072329 meters Centerline goodness : 0.812354 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.81, Z:0.36 [[ 0.95795673 -0.26056415 -0.12010504 5.93451237] [ 0.2664348 0.96320091 0.03544712 0.8068979 ] [ 0.10644904 -0.06595697 0.99212816 0.35810884] [ 0. 0. 0. 1. ]] SLAMing on 64.579072329 meters Centerline goodness : 0.815752 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.81, Z:0.36 [[ 0.96045878 -0.25284968 -0.11655891 5.92273156] [ 0.25841835 0.96539215 0.03518462 0.80860578] [ 0.10362864 -0.06391434 0.99256036 0.36342187] [ 0. 0. 0. 1. ]] SLAMing on 64.639072329 meters Centerline goodness : 0.812907 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.81, Z:0.36 [[ 0.96191562 -0.24781349 -0.11535515 5.92104563] [ 0.25300828 0.96691549 0.03257687 0.81178256] [ 0.1034657 -0.060522 0.99278998 0.35912057] [ 0. 0. 0. 1. ]] SLAMing on 64.69907232899999 meters Centerline goodness : 0.815079 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.82, Z:0.35 [[ 0.96340898 -0.24742379 -0.10307571 5.92805945] [ 0.25187424 0.96721546 0.03245949 0.81531376] [ 0.09166517 -0.05723388 0.99414374 0.34776295] [ 0. 0. 0. 1. ]] SLAMing on 64.75907232899999 meters Centerline goodness : 0.816954 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.82, Z:0.35 [[ 0.9651312 -0.23960093 -0.105419 5.92905012] [ 0.24470697 0.96883963 0.03831808 0.81751515] [ 0.09295305 -0.06277874 0.99368937 0.34769073] [ 0. 0. 0. 1. ]] SLAMing on 64.819072329 meters Centerline goodness : 0.816586 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.82, Z:0.35 [[ 0.96721982 -0.23240895 -0.1023323 5.91790335] [ 0.23727955 0.97069202 0.03814994 0.82086364] [ 0.09046676 -0.06118074 0.99401845 0.35460537] [ 0. 0. 0. 1. ]] SLAMing on 64.879072329 meters Centerline goodness : 0.817767 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.82, Z:0.35 [[ 0.96825074 -0.22846245 -0.10146632 5.91564656] [ 0.23320813 0.97170302 0.03751291 0.82078596] [ 0.09002484 -0.05998468 0.99413146 0.35359574] [ 0. 0. 0. 1. ]] SLAMing on 64.939072329 meters Centerline goodness : 0.817421 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.82, Z:0.35 [[ 0.96910609 -0.22452646 -0.10208455 5.91515391] [ 0.2294048 0.97256095 0.03871227 0.82451944] [ 0.09059152 -0.06093498 0.99402219 0.35301533] [ 0. 0. 0. 1. ]] SLAMing on 64.999072329 meters Centerline goodness : 0.818377 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.83, Z:0.35 [[ 0.96925425 -0.22395357 -0.10193628 5.91576802] [ 0.22875664 0.97274136 0.03800849 0.82516507] [ 0.0906455 -0.06015849 0.99406456 0.35180766] [ 0. 0. 0. 1. ]] SLAMing on 65.05907232899999 meters Centerline goodness : 0.816907 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.83, Z:0.35 [[ 0.97012239 -0.22606686 -0.08806997 5.9156993 ] [ 0.22988422 0.97255954 0.03579367 0.82826026] [ 0.07756152 -0.05497013 0.99547099 0.34793964] [ 0. 0. 0. 1. ]] SLAMing on 65.11907232899999 meters Centerline goodness : 0.814084 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.83, Z:0.35 [[ 0.97060569 -0.22344018 -0.0894376 5.9168829 ] [ 0.22758664 0.97297315 0.03908416 0.8299115 ] [ 0.07828741 -0.05829011 0.99522527 0.34842504] [ 0. 0. 0. 1. ]] SLAMing on 65.179072329 meters Centerline goodness : 0.814312 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.83, Z:0.35 [[ 0.97127388 -0.2202786 -0.09002436 5.91839249] [ 0.2246761 0.97353134 0.04192101 0.82733158] [ 0.07840724 -0.0609431 0.9950569 0.34728317] [ 0. 0. 0. 1. ]] SLAMing on 65.239072329 meters Centerline goodness : 0.812243 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.83, Z:0.35 [[ 0.97112716 -0.22010053 -0.09202061 5.92127027] [ 0.22488148 0.97333881 0.04516515 0.82971341] [ 0.07962636 -0.06455484 0.99473228 0.34834418] [ 0. 0. 0. 1. ]] SLAMing on 65.299072329 meters Centerline goodness : 0.814154 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.83, Z:0.35 [[ 0.97055285 -0.22195439 -0.09361309 5.92693327] [ 0.22684011 0.97288624 0.04512136 0.8316946 ] [ 0.08106 -0.06502786 0.99458567 0.34592595] [ 0. 0. 0. 1. ]] SLAMing on 65.359072329 meters Centerline goodness : 0.817175 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:0.84, Z:0.34 [[ 0.96911862 -0.22617075 -0.09826441 5.94824539] [ 0.23215454 0.97116137 0.0543126 0.83607895] [ 0.08314668 -0.07544788 0.99367713 0.33555672] [ 0. 0. 0. 1. ]] SLAMing on 65.41907232899999 meters Centerline goodness : 0.817609 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:0.84, Z:0.33 [[ 0.96791177 -0.2301876 -0.10079915 5.95570028] [ 0.23644255 0.97008148 0.05510762 0.83862866] [ 0.0850983 -0.07717252 0.99337942 0.33425461] [ 0. 0. 0. 1. ]] SLAMing on 65.47907232899999 meters Centerline goodness : 0.818808 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:0.84, Z:0.33 [[ 0.96622688 -0.23436731 -0.10713351 5.96898522] [ 0.24156821 0.96853342 0.05989843 0.84142221] [ 0.08972415 -0.08375552 0.99243871 0.33270093] [ 0. 0. 0. 1. ]] SLAMing on 65.53907232899999 meters Centerline goodness : 0.819971 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:0.84, Z:0.33 [[ 0.96450371 -0.2403486 -0.10938529 5.97444719] [ 0.24776862 0.96695737 0.06003459 0.84427349] [ 0.09134169 -0.08500583 0.99218481 0.33420222] [ 0. 0. 0. 1. ]] SLAMing on 65.599072329 meters Centerline goodness : 0.821017 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:0.85, Z:0.33 [[ 0.96350577 -0.2432163 -0.11181443 5.98057726] [ 0.25103489 0.96599278 0.06196311 0.84555983] [ 0.0929415 -0.08777114 0.99179539 0.33416846] [ 0. 0. 0. 1. ]] SLAMing on 65.659072329 meters Centerline goodness : 0.819754 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:0.85, Z:0.33 [[ 0.96130465 -0.25004232 -0.11563824 5.99085432] [ 0.25823067 0.96408851 0.06205056 0.84801236] [ 0.09597024 -0.08951083 0.99135136 0.33304723] [ 0. 0. 0. 1. ]] SLAMing on 65.719072329 meters Centerline goodness : 0.820901 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.85, Z:0.33 [[ 0.95916511 -0.25743846 -0.11716541 5.99567178] [ 0.26565229 0.9621583 0.06066513 0.84925601] [ 0.09711413 -0.08931314 0.99125779 0.33484854] [ 0. 0. 0. 1. ]] SLAMing on 65.77907232899999 meters Centerline goodness : 0.820923 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.85, Z:0.34 [[ 0.95808194 -0.26090417 -0.11835543 5.99677141] [ 0.26932785 0.96107733 0.06158625 0.85001948] [ 0.09768061 -0.09088109 0.9910596 0.33836177] [ 0. 0. 0. 1. ]] SLAMing on 65.83907232899999 meters Centerline goodness : 0.822202 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.85, Z:0.34 [[ 0.95649824 -0.26570721 -0.12046077 6.00200906] [ 0.27440955 0.95959466 0.06226951 0.85054342] [ 0.09904805 -0.09261626 0.9907632 0.33977951] [ 0. 0. 0. 1. ]] SLAMing on 65.89907232899999 meters Centerline goodness : 0.820496 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.85, Z:0.34 [[ 0.95410919 -0.27299178 -0.12308996 6.00724713] [ 0.28195445 0.957413 0.06214526 0.8534029 ] [ 0.10088278 -0.09399912 0.99044779 0.34307444] [ 0. 0. 0. 1. ]] SLAMing on 65.959072329 meters Centerline goodness : 0.821981 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.86, Z:0.34 [[ 0.95331072 -0.27501067 -0.12477097 6.01190319] [ 0.28422925 0.95668433 0.0629986 0.85515881] [ 0.10204115 -0.0955208 0.99018351 0.34258873] [ 0. 0. 0. 1. ]] SLAMing on 66.019072329 meters Centerline goodness : 0.819775 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.86, Z:0.34 [[ 0.95144518 -0.28098769 -0.12569003 6.01787963] [ 0.28998107 0.95516458 0.05976295 0.85717655] [ 0.10326201 -0.0933089 0.99026785 0.34074369] [ 0. 0. 0. 1. ]] SLAMing on 66.079072329 meters Centerline goodness : 0.821041 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.86, Z:0.34 [[ 0.95076173 -0.28284445 -0.12669313 6.02213188] [ 0.29194052 0.95456739 0.05976473 0.85763669] [ 0.10403301 -0.09380887 0.9901399 0.33922211] [ 0. 0. 0. 1. ]] SLAMing on 66.139072329 meters Centerline goodness : 0.821596 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.86, Z:0.34 [[ 0.9501135 -0.28397002 -0.12901691 6.02474527] [ 0.29353067 0.95393761 0.06199012 0.86074472] [ 0.10547075 -0.09676807 0.98970292 0.34128456] [ 0. 0. 0. 1. ]] SLAMing on 66.19907232899999 meters Centerline goodness : 0.820852 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.87, Z:0.34 [[ 0.95090865 -0.28009755 -0.13159825 6.02377071] [ 0.29037877 0.95460342 0.06642648 0.86585035] [ 0.10701825 -0.10137885 0.98907503 0.34432272] [ 0. 0. 0. 1. ]] SLAMing on 66.25907232899999 meters Centerline goodness : 0.824995 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.87, Z:0.34 [[ 0.95177438 -0.27862155 -0.12843502 6.0220905 ] [ 0.28800888 0.95567654 0.06110014 0.86560347] [ 0.10571852 -0.09514397 0.98983393 0.33849774] [ 0. 0. 0. 1. ]] SLAMing on 66.319072329 meters Centerline goodness : 0.822756 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.87, Z:0.34 [[ 0.95264937 -0.27477054 -0.1302318 6.02149768] [ 0.28469172 0.95644188 0.06457207 0.8693685 ] [ 0.10681664 -0.09859046 0.98937866 0.33989355] [ 0. 0. 0. 1. ]] SLAMing on 66.379072329 meters Centerline goodness : 0.830788 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.87, Z:0.34 [[ 0.95428929 -0.26904835 -0.13017272 6.020687 ] [ 0.27903906 0.95804469 0.06547951 0.87305074] [ 0.10709413 -0.09880966 0.98932679 0.33627178] [ 0. 0. 0. 1. ]] SLAMing on 66.439072329 meters Centerline goodness : 0.828065 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.87, Z:0.34 [[ 0.95661746 -0.26363768 -0.1240089 6.00780274] [ 0.27253389 0.96021145 0.06098564 0.87339296] [ 0.10299666 -0.09213655 0.99040524 0.33769229] [ 0. 0. 0. 1. ]] SLAMing on 66.499072329 meters Centerline goodness : 0.829988 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.88, Z:0.34 [[ 0.9579064 -0.26362944 -0.11364352 6.00934407] [ 0.2718763 0.96018678 0.06422319 0.87974411] [ 0.09218788 -0.09241678 0.99144366 0.33833084] [ 0. 0. 0. 1. ]] SLAMing on 66.55907232899999 meters Centerline goodness : 0.834467 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.88, Z:0.34 [[ 0.95885565 -0.25933576 -0.11550243 6.01233345] [ 0.26801706 0.96107575 0.067084 0.88266936] [ 0.0936093 -0.0952805 0.99103932 0.33591966] [ 0. 0. 0. 1. ]] SLAMing on 66.61907232899999 meters Centerline goodness : 0.825461 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.88, Z:0.33 [[ 0.95863825 -0.26146745 -0.11246104 6.00971634] [ 0.26919501 0.96122358 0.05986039 0.8845463 ] [ 0.09244866 -0.08765841 0.99185142 0.33270447] [ 0. 0. 0. 1. ]] SLAMing on 66.679072329 meters Centerline goodness : 0.827088 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.89, Z:0.34 [[ 0.95911417 -0.25912929 -0.11380694 6.00900537] [ 0.26727752 0.96154985 0.06312381 0.88565236] [ 0.09307382 -0.09096098 0.99149552 0.3351493 ] [ 0. 0. 0. 1. ]] SLAMing on 66.739072329 meters Centerline goodness : 0.825882 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.89, Z:0.34 [[ 0.96025805 -0.25346166 -0.11688312 6.01002501] [ 0.26259111 0.96232702 0.07051676 0.88719441] [ 0.09460649 -0.09840676 0.99063905 0.33757575] [ 0. 0. 0. 1. ]] SLAMing on 66.799072329 meters Centerline goodness : 0.827746 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.89, Z:0.34 [[ 0.96072572 -0.25187586 -0.11646737 6.00928929] [ 0.26091697 0.96281568 0.07005924 0.88771018] [ 0.09449038 -0.09769602 0.99072047 0.33652965] [ 0. 0. 0. 1. ]] SLAMing on 66.859072329 meters Centerline goodness : 0.826923 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.89, Z:0.33 [[ 0.96150758 -0.25018434 -0.11362643 6.00512217] [ 0.2585432 0.96375752 0.06577885 0.88702108] [ 0.09305149 -0.09262421 0.99134362 0.33435019] [ 0. 0. 0. 1. ]] SLAMing on 66.91907232899999 meters Centerline goodness : 0.824348 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.89, Z:0.34 [[ 0.96280722 -0.2447798 -0.11439012 6.00207165] [ 0.25362731 0.96474201 0.07032816 0.88722059] [ 0.09314204 -0.09672492 0.99094341 0.33690918] [ 0. 0. 0. 1. ]] SLAMing on 66.97907232899999 meters Centerline goodness : 0.824078 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.89, Z:0.33 [[ 0.96335897 -0.24322925 -0.11304435 6.00083855] [ 0.25175437 0.96537756 0.06830748 0.88616646] [ 0.0925161 -0.09426403 0.99123916 0.33486442] [ 0. 0. 0. 1. ]] SLAMing on 67.03907232899999 meters Centerline goodness : 0.826811 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.88, Z:0.34 [[ 0.9643237 -0.24033886 -0.11098214 5.99676323] [ 0.24859902 0.96624364 0.06761473 0.8808061 ] [ 0.09098534 -0.09279254 0.99151965 0.33500208] [ 0. 0. 0. 1. ]] SLAMing on 67.099072329 meters Centerline goodness : 0.826527 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.88, Z:0.34 [[ 0.96473023 -0.24327547 -0.10056158 5.99661841] [ 0.25070015 0.96559245 0.06914226 0.88204291] [ 0.08028088 -0.09191443 0.99252542 0.34123518] [ 0. 0. 0. 1. ]] SLAMing on 67.159072329 meters Centerline goodness : 0.824927 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.88, Z:0.34 [[ 0.96431788 -0.24581569 -0.09831418 5.99555471] [ 0.25264931 0.96542102 0.06426961 0.87898913] [ 0.0791161 -0.08681534 0.99307791 0.33969423] [ 0. 0. 0. 1. ]] SLAMing on 67.219072329 meters Centerline goodness : 0.826000 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:0.87, Z:0.34 [[ 0.9638459 -0.24849979 -0.09617145 5.99348929] [ 0.25487285 0.96506638 0.06071824 0.87168952] [ 0.07772336 -0.08303452 0.99351112 0.34111279] [ 0. 0. 0. 1. ]] SLAMing on 67.27907232899999 meters Centerline goodness : 0.826438 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:0.87, Z:0.35 [[ 0.96332424 -0.24954662 -0.09865547 5.99444149] [ 0.25649735 0.96433576 0.06531202 0.87095805] [ 0.07883861 -0.08822152 0.99297605 0.34662199] [ 0. 0. 0. 1. ]] SLAMing on 67.33907232899999 meters Centerline goodness : 0.822200 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.87, Z:0.35 [[ 0.96160577 -0.25671498 -0.09701423 5.99597957] [ 0.2630451 0.9629695 0.05913564 0.86641176] [ 0.07824074 -0.08238429 0.99352464 0.34656687] [ 0. 0. 0. 1. ]] SLAMing on 67.39907232899999 meters Centerline goodness : 0.820517 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.86, Z:0.35 [[ 0.95968978 -0.26411885 -0.09610803 5.99879778] [ 0.27006383 0.96126889 0.05502414 0.86003766] [ 0.07785274 -0.07876141 0.99384888 0.34734657] [ 0. 0. 0. 1. ]] SLAMing on 67.459072329 meters Centerline goodness : 0.818694 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.86, Z:0.35 [[ 0.95877035 -0.2663966 -0.09895592 6.00122384] [ 0.272946 0.96017711 0.05966913 0.85859445] [ 0.07911956 -0.08421861 0.99330122 0.35306958] [ 0. 0. 0. 1. ]] SLAMing on 67.519072329 meters Centerline goodness : 0.820334 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.85, Z:0.35 [[ 0.95730841 -0.26696999 -0.11084962 6.00370493] [ 0.27435277 0.95990875 0.05749574 0.84717218] [ 0.09105588 -0.08545305 0.99217267 0.35418323] [ 0. 0. 0. 1. ]] SLAMing on 67.579072329 meters Centerline goodness : 0.818538 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.84, Z:0.35 [[ 0.95620493 -0.27092164 -0.11078627 6.00720687] [ 0.27822092 0.95885237 0.05652655 0.83965272] [ 0.09091341 -0.08487403 0.99223543 0.35483071] [ 0. 0. 0. 1. ]] SLAMing on 67.639072329 meters Centerline goodness : 0.819513 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.84, Z:0.36 [[ 0.95560501 -0.27240821 -0.11230685 6.00849389] [ 0.28008696 0.95814965 0.05916537 0.83644082] [ 0.09148963 -0.08799441 0.9919106 0.35890688] [ 0. 0. 0. 1. ]] SLAMing on 67.69907232899999 meters Centerline goodness : 0.821366 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.83, Z:0.36 [[ 0.95494994 -0.27493889 -0.11171038 6.01133703] [ 0.28245669 0.95753019 0.0579151 0.83005552] [ 0.09104295 -0.08685936 0.99205173 0.35785395] [ 0. 0. 0. 1. ]] SLAMing on 67.75907232899999 meters Centerline goodness : 0.824666 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.82, Z:0.36 [[ 0.95431363 -0.27170159 -0.12435329 6.01505085] [ 0.28036765 0.9581285 0.05817004 0.81858685] [ 0.10334154 -0.0903771 0.99053143 0.35725438] [ 0. 0. 0. 1. ]] SLAMing on 67.819072329 meters Centerline goodness : 0.825939 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.82, Z:0.36 [[ 0.95389068 -0.27281946 -0.12514836 6.01646429] [ 0.28166409 0.95768916 0.05913387 0.81716217] [ 0.10372036 -0.09165704 0.99037421 0.3587787 ] [ 0. 0. 0. 1. ]] SLAMing on 67.879072329 meters Centerline goodness : 0.827838 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.81, Z:0.36 [[ 0.95323343 -0.2745536 -0.12635801 6.01549563] [ 0.28385406 0.95683977 0.06232592 0.81391528] [ 0.10379256 -0.09527839 0.99002481 0.36499014] [ 0. 0. 0. 1. ]] SLAMing on 67.939072329 meters Centerline goodness : 0.831422 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.81, Z:0.36 [[ 0.95301176 -0.27561866 -0.12570978 6.01629575] [ 0.28473822 0.95665274 0.06115294 0.81113871] [ 0.10340572 -0.09407385 0.99018047 0.36430335] [ 0. 0. 0. 1. ]] SLAMing on 67.999072329 meters Centerline goodness : 0.834539 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.81, Z:0.36 [[ 0.95220041 -0.27871159 -0.12503688 6.01954918] [ 0.28747646 0.95601509 0.05824454 0.80816782] [ 0.10330372 -0.09140563 0.99044099 0.36204606] [ 0. 0. 0. 1. ]] SLAMing on 68.05907232899999 meters Centerline goodness : 0.836384 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.81, Z:0.36 [[ 0.95189482 -0.27942367 -0.12577224 6.02176703] [ 0.28827323 0.95576726 0.05837379 0.80899694] [ 0.10389798 -0.09182248 0.99034027 0.36151698] [ 0. 0. 0. 1. ]] SLAMing on 68.11907232899999 meters Centerline goodness : 0.833570 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.81, Z:0.36 [[ 0.95129299 -0.28080625 -0.12723799 6.02565994] [ 0.28988013 0.95523376 0.05914374 0.80981308] [ 0.1049341 -0.09314679 0.99010732 0.36122049] [ 0. 0. 0. 1. ]] SLAMing on 68.179072329 meters Centerline goodness : 0.834413 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.81, Z:0.36 [[ 0.95090523 -0.28177954 -0.12798254 6.02798048] [ 0.29102048 0.95483274 0.06001265 0.80773912] [ 0.10529158 -0.09431188 0.98995907 0.36168171] [ 0. 0. 0. 1. ]] SLAMing on 68.239072329 meters Centerline goodness : 0.834485 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.81, Z:0.36 [[ 0.9505501 -0.28231152 -0.12943998 6.03113296] [ 0.29186539 0.95447355 0.06160222 0.80759963] [ 0.10615602 -0.09633505 0.98967189 0.36208353] [ 0. 0. 0. 1. ]] SLAMing on 68.299072329 meters Centerline goodness : 0.833760 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.81, Z:0.36 [[ 0.94957804 -0.28478618 -0.13114258 6.03505179] [ 0.29471569 0.9534775 0.06342967 0.80517071] [ 0.1069776 -0.09888119 0.98933225 0.36405579] [ 0. 0. 0. 1. ]] SLAMing on 68.359072329 meters Centerline goodness : 0.830395 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.80, Z:0.36 [[ 0.94745606 -0.29132758 -0.13211836 6.04138538] [ 0.30117704 0.95158048 0.06153853 0.80297969] [ 0.10779338 -0.09809607 0.98932186 0.36398726] [ 0. 0. 0. 1. ]] SLAMing on 68.41907232899999 meters Centerline goodness : 0.828837 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.80, Z:0.36 [[ 0.94578909 -0.29652435 -0.13250025 6.04683105] [ 0.30618451 0.95012674 0.05924715 0.80061283] [ 0.1083238 -0.09660484 0.98941066 0.36298594] [ 0. 0. 0. 1. ]] SLAMing on 68.47907232899999 meters Centerline goodness : 0.830436 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.80, Z:0.37 [[ 0.944898 -0.29774511 -0.13607215 6.05026143] [ 0.30845156 0.94898963 0.06539351 0.79633795] [ 0.10966046 -0.10376186 0.98853834 0.36979822] [ 0. 0. 0. 1. ]] SLAMing on 68.53907232899999 meters Centerline goodness : 0.828940 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.80, Z:0.37 [[ 0.94347889 -0.30175384 -0.13708468 6.05044121] [ 0.31258105 0.94763989 0.06535851 0.79706112] [ 0.11018473 -0.10451444 0.98840076 0.37422791] [ 0. 0. 0. 1. ]] SLAMing on 68.599072329 meters Centerline goodness : 0.827866 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.80, Z:0.37 [[ 0.94219497 -0.30671139 -0.13489536 6.05433183] [ 0.31658655 0.94675083 0.05861579 0.79579389] [ 0.10973417 -0.09793356 0.98912458 0.36885718] [ 0. 0. 0. 1. ]] SLAMing on 68.659072329 meters Centerline goodness : 0.828474 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.80, Z:0.37 [[ 0.9410807 -0.30925581 -0.13685014 6.05609557] [ 0.3194571 0.94572039 0.05966664 0.79764134] [ 0.11096971 -0.09986888 0.98879317 0.37256648] [ 0. 0. 0. 1. ]] SLAMing on 68.719072329 meters Centerline goodness : 0.827579 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.80, Z:0.37 [[ 0.94104606 -0.30818758 -0.13947303 6.05812767] [ 0.31902936 0.94565007 0.06297788 0.80037616] [ 0.11248368 -0.10376108 0.98822116 0.37474074] [ 0. 0. 0. 1. ]] SLAMing on 68.77907232899999 meters Centerline goodness : 0.826805 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.80, Z:0.37 [[ 0.94057712 -0.31028971 -0.13796728 6.06050787] [ 0.32053747 0.94539486 0.0590279 0.79923518] [ 0.1121178 -0.09974398 0.98867626 0.37063492] [ 0. 0. 0. 1. ]] SLAMing on 68.83907232899999 meters Centerline goodness : 0.826877 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.80, Z:0.37 [[ 0.94036214 -0.31047363 -0.13901499 6.06338978] [ 0.32107393 0.94507612 0.06117723 0.79526237] [ 0.11238583 -0.10216284 0.9883988 0.3713736 ] [ 0. 0. 0. 1. ]] SLAMing on 68.89907232899999 meters Centerline goodness : 0.825166 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.79, Z:0.37 [[ 0.94112641 -0.30697144 -0.14159666 6.06497621] [ 0.31850525 0.94554454 0.06708158 0.79238638] [ 0.11329382 -0.10823153 0.98764895 0.37430759] [ 0. 0. 0. 1. ]] SLAMing on 68.959072329 meters Centerline goodness : 0.822218 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.79, Z:0.37 [[ 0.94166552 -0.30554164 -0.14110409 6.06679687] [ 0.31699778 0.94606141 0.06693443 0.78909245] [ 0.11304188 -0.10775953 0.98772943 0.37165102] [ 0. 0. 0. 1. ]] SLAMing on 69.019072329 meters Centerline goodness : 0.821517 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.79, Z:0.37 [[ 0.94194838 -0.30447895 -0.14151263 6.06980859] [ 0.3160532 0.94632891 0.06761637 0.78712585] [ 0.11332973 -0.10841665 0.98762453 0.36952227] [ 0. 0. 0. 1. ]] SLAMing on 69.079072329 meters Centerline goodness : 0.819819 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.78, Z:0.37 [[ 0.94279079 -0.3017749 -0.14169489 6.06941919] [ 0.31353529 0.94705389 0.0691704 0.78487992] [ 0.11331881 -0.10963956 0.98749077 0.36970272] [ 0. 0. 0. 1. ]] SLAMing on 69.139072329 meters Centerline goodness : 0.819640 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.78, Z:0.37 [[ 0.94412559 -0.29787135 -0.14106566 6.07029426] [ 0.30955407 0.94835637 0.06925656 0.78384428] [ 0.11315097 -0.10905434 0.98757481 0.36534532] [ 0. 0. 0. 1. ]] SLAMing on 69.19907232899999 meters Centerline goodness : 0.819630 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.79, Z:0.36 [[ 0.94571894 -0.29231607 -0.14201059 6.06926785] [ 0.30445569 0.9497617 0.07252209 0.78550376] [ 0.11367685 -0.11182145 0.98720491 0.36467115] [ 0. 0. 0. 1. ]] SLAMing on 69.25907232899999 meters Centerline goodness : 0.821643 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.79, Z:0.36 [[ 0.94695702 -0.2886478 -0.14126165 6.06599945] [ 0.30073403 0.95091528 0.07293271 0.78569854] [ 0.113276 -0.11154633 0.98728211 0.36428862] [ 0. 0. 0. 1. ]] SLAMing on 69.319072329 meters Centerline goodness : 0.824419 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.79, Z:0.36 [[ 0.94734779 -0.28840038 -0.13913085 6.06506329] [ 0.2997755 0.9515263 0.06879214 0.78611803] [ 0.11254698 -0.1068781 0.9878817 0.36019178] [ 0. 0. 0. 1. ]] SLAMing on 69.379072329 meters Centerline goodness : 0.826846 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.79, Z:0.36 [[ 0.94821106 -0.2848958 -0.14046416 6.06430011] [ 0.29683123 0.95217081 0.07253946 0.78683609] [ 0.11307968 -0.11047687 0.98742486 0.36185686] [ 0. 0. 0. 1. ]] SLAMing on 69.439072329 meters Centerline goodness : 0.827055 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.79, Z:0.36 [[ 0.94869907 -0.28337416 -0.1402468 6.06180682] [ 0.29533517 0.95259829 0.07303171 0.78786169] [ 0.11290356 -0.11070493 0.98741947 0.36289882] [ 0. 0. 0. 1. ]] SLAMing on 69.499072329 meters Centerline goodness : 0.829271 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.79, Z:0.36 [[ 0.94882387 -0.28432026 -0.13745998 6.05986259] [ 0.29532184 0.95302861 0.06724188 0.7894138 ] [ 0.11188506 -0.10439564 0.98822228 0.35873843] [ 0. 0. 0. 1. ]] SLAMing on 69.55907232899999 meters Centerline goodness : 0.828585 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.79, Z:0.36 [[ 0.94954305 -0.28094457 -0.13942072 6.06006598] [ 0.29266686 0.95351213 0.07183819 0.79014759] [ 0.1127568 -0.10901728 0.98762399 0.3610963 ] [ 0. 0. 0. 1. ]] SLAMing on 69.61907232899999 meters Centerline goodness : 0.832752 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.79, Z:0.36 [[ 0.94967465 -0.28033887 -0.13974324 6.05752316] [ 0.29212911 0.95365412 0.07214151 0.79267743] [ 0.11304265 -0.10933403 0.98755629 0.36358611] [ 0. 0. 0. 1. ]] SLAMing on 69.679072329 meters Centerline goodness : 0.832961 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.79, Z:0.36 [[ 0.94876314 -0.28381199 -0.13892175 6.06016137] [ 0.29502039 0.95308881 0.0677103 0.79459958] [ 0.11318777 -0.10522579 0.98798586 0.36034696] [ 0. 0. 0. 1. ]] SLAMing on 69.739072329 meters Centerline goodness : 0.832931 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.80, Z:0.36 [[ 0.94862924 -0.28390884 -0.1396364 6.06143921] [ 0.29528139 0.9529539 0.06846723 0.79506324] [ 0.1136286 -0.10618205 0.98783294 0.36065915] [ 0. 0. 0. 1. ]] SLAMing on 69.799072329 meters Centerline goodness : 0.833126 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.80, Z:0.37 [[ 0.94799062 -0.2844912 -0.14275341 6.06193517] [ 0.29663361 0.95226444 0.07211754 0.80033129] [ 0.11542219 -0.11071221 0.98712741 0.36605612] [ 0. 0. 0. 1. ]] SLAMing on 69.859072329 meters Centerline goodness : 0.832113 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.80, Z:0.37 [[ 0.94712122 -0.28713975 -0.14322065 6.06278404] [ 0.29916729 0.9515863 0.07058643 0.80432804] [ 0.11601864 -0.10970084 0.9871704 0.36648165] [ 0. 0. 0. 1. ]] SLAMing on 69.91907232899999 meters Centerline goodness : 0.832098 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.81, Z:0.36 [[ 0.94539219 -0.29314651 -0.14247363 6.0678229 ] [ 0.30435511 0.95040162 0.06406817 0.80863606] [ 0.11662581 -0.10393213 0.9877229 0.3614138 ] [ 0. 0. 0. 1. ]] SLAMing on 69.97907232899999 meters Centerline goodness : 0.834546 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.82, Z:0.37 [[ 0.94444375 -0.29410651 -0.14672208 6.06818925] [ 0.30639291 0.94938829 0.06917564 0.81577454] [ 0.11895122 -0.1102871 0.98675598 0.36898019] [ 0. 0. 0. 1. ]] SLAMing on 70.03907232899999 meters Centerline goodness : 0.833802 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.82, Z:0.37 [[ 0.94384676 -0.29604374 -0.14666766 6.06888093] [ 0.30805408 0.94901699 0.06685385 0.81977605] [ 0.11939844 -0.10828136 0.98692409 0.36785791] [ 0. 0. 0. 1. ]] SLAMing on 70.099072329 meters Centerline goodness : 0.836087 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.82, Z:0.37 [[ 0.94348639 -0.29741795 -0.14620534 6.06878729] [ 0.30907598 0.94886139 0.06429703 0.823428 ] [ 0.11960551 -0.10585193 0.98716255 0.36654645] [ 0. 0. 0. 1. ]] SLAMing on 70.159072329 meters Centerline goodness : 0.837103 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.83, Z:0.37 [[ 0.9442256 -0.30015293 -0.13544827 6.06719181] [ 0.3108662 0.94816216 0.06596009 0.83367645] [ 0.10862882 -0.10438749 0.98858638 0.36936915] [ 0. 0. 0. 1. ]] SLAMing on 70.219072329 meters Centerline goodness : 0.839023 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.84, Z:0.37 [[ 0.94448094 -0.29917937 -0.13582139 6.06789391] [ 0.30997435 0.94842486 0.06637915 0.8351102 ] [ 0.10895711 -0.10479499 0.98850714 0.3684778 ] [ 0. 0. 0. 1. ]] SLAMing on 70.27907232899999 meters Centerline goodness : 0.838061 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.84, Z:0.37 [[ 0.94367091 -0.30179317 -0.13566908 6.07120608] [ 0.31229453 0.947843 0.06376338 0.83699421] [ 0.10934964 -0.10254036 0.98870022 0.36539537] [ 0. 0. 0. 1. ]] SLAMing on 70.33907232899999 meters Centerline goodness : 0.839129 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.84, Z:0.37 [[ 0.9427481 -0.30389841 -0.13737459 6.07191054] [ 0.31472592 0.94695439 0.06499982 0.84009108] [ 0.11033413 -0.1045138 0.98838416 0.3687538 ] [ 0. 0. 0. 1. ]] SLAMing on 70.39907232899999 meters Centerline goodness : 0.836267 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.84, Z:0.37 [[ 0.94165523 -0.30652015 -0.13903535 6.07304359] [ 0.31762023 0.94593638 0.06574004 0.84303573] [ 0.11136794 -0.10606489 0.98810294 0.37200468] [ 0. 0. 0. 1. ]] SLAMing on 70.459072329 meters Centerline goodness : 0.838050 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.85, Z:0.37 [[ 0.94052236 -0.31019877 -0.13854388 6.07710392] [ 0.32079343 0.94514578 0.06157138 0.84611305] [ 0.1118448 -0.10235322 0.98844047 0.36782525] [ 0. 0. 0. 1. ]] SLAMing on 70.519072329 meters Centerline goodness : 0.839704 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.85, Z:0.37 [[ 0.93988057 -0.31038768 -0.1424219 6.08116859] [ 0.32201737 0.94436125 0.06698243 0.84812225] [ 0.1137072 -0.10881781 0.98753702 0.37147366] [ 0. 0. 0. 1. ]] SLAMing on 70.579072329 meters Centerline goodness : 0.837898 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.85, Z:0.37 [[ 0.93897734 -0.31198669 -0.144865 6.08661323] [ 0.32403749 0.94358349 0.06819018 0.85257659] [ 0.11541779 -0.11097072 0.9870989 0.37058316] [ 0. 0. 0. 1. ]] SLAMing on 70.63907232899999 meters Centerline goodness : 0.839782 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.85, Z:0.36 [[ 0.93784644 -0.31585482 -0.1438047 6.09160399] [ 0.32721243 0.94284175 0.06309881 0.85414046] [ 0.11565501 -0.10623168 0.9875924 0.36475867] [ 0. 0. 0. 1. ]] SLAMing on 70.69907232899999 meters Centerline goodness : 0.839993 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.85, Z:0.37 [[ 0.93799413 -0.31395313 -0.14697091 6.09481461] [ 0.32631682 0.94275847 0.06872986 0.85384049] [ 0.11698012 -0.11242728 0.9867501 0.36723263] [ 0. 0. 0. 1. ]] SLAMing on 70.75907232899999 meters Centerline goodness : 0.842514 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.86, Z:0.37 [[ 0.9384801 -0.3112657 -0.14956194 6.09731031] [ 0.32443806 0.94307946 0.07308259 0.85586549] [ 0.11830069 -0.11711015 0.98604775 0.3678829 ] [ 0. 0. 0. 1. ]] SLAMing on 70.819072329 meters Centerline goodness : 0.840611 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.86, Z:0.37 [[ 0.9392657 -0.30878403 -0.14977438 6.09705384] [ 0.32198129 0.94391348 0.07318054 0.85926671] [ 0.11877708 -0.11696052 0.98600824 0.36598466] [ 0. 0. 0. 1. ]] SLAMing on 70.879072329 meters Centerline goodness : 0.845033 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.86, Z:0.36 [[ 0.9412935 -0.30233933 -0.1501915 6.09847923] [ 0.3158216 0.94581893 0.07538746 0.86063501] [ 0.11926137 -0.11839544 0.9857785 0.36100448] [ 0. 0. 0. 1. ]] SLAMing on 70.939072329 meters Centerline goodness : 0.848456 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.87, Z:0.36 [[ 0.94273037 -0.29728822 -0.15125863 6.09588993] [ 0.31119259 0.94714129 0.07799064 0.86504637] [ 0.12007759 -0.12059471 0.98541275 0.36170182] [ 0. 0. 0. 1. ]] SLAMing on 70.999072329 meters Centerline goodness : 0.846386 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.87, Z:0.36 [[ 0.94406068 -0.29265236 -0.15200007 6.09553241] [ 0.30668076 0.94857494 0.07843783 0.8723085 ] [ 0.12122844 -0.12066557 0.98526316 0.35865603] [ 0. 0. 0. 1. ]] SLAMing on 71.05907232899999 meters Centerline goodness : 0.850363 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.88, Z:0.35 [[ 0.94559195 -0.29381075 -0.13975374 6.09833501] [ 0.30620613 0.94884334 0.07703319 0.88095577] [ 0.10997123 -0.11563541 0.98718528 0.35313026] [ 0. 0. 0. 1. ]] SLAMing on 71.11907232899999 meters Centerline goodness : 0.849643 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.89, Z:0.35 [[ 0.9465939 -0.28987704 -0.14117821 6.09707613] [ 0.30269016 0.94977815 0.07937332 0.88581206] [ 0.11107947 -0.11786756 0.98679714 0.35381959] [ 0. 0. 0. 1. ]] SLAMing on 71.179072329 meters Centerline goodness : 0.851849 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.89, Z:0.35 [[ 0.94756917 -0.28636476 -0.1418023 6.09728581] [ 0.29926174 0.95084841 0.07955949 0.89251258] [ 0.11204946 -0.11782413 0.98669265 0.35078717] [ 0. 0. 0. 1. ]] SLAMing on 71.239072329 meters Centerline goodness : 0.850824 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.90, Z:0.35 [[ 0.94778955 -0.28591535 -0.14123519 6.0964929 ] [ 0.29845839 0.95130735 0.07705143 0.89699551] [ 0.11232789 -0.11518137 0.986973 0.34871037] [ 0. 0. 0. 1. ]] SLAMing on 71.299072329 meters Centerline goodness : 0.854567 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.90, Z:0.35 [[ 0.94961446 -0.27945101 -0.14191374 6.09271524] [ 0.29230866 0.95302951 0.07931207 0.9026648 ] [ 0.11308414 -0.1167985 0.98669655 0.34926456] [ 0. 0. 0. 1. ]] SLAMing on 71.359072329 meters Centerline goodness : 0.856551 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.91, Z:0.35 [[ 0.95225936 -0.27632717 -0.12978984 6.09046513] [ 0.28784698 0.95431755 0.08013813 0.91396693] [ 0.10171638 -0.1136719 0.98829777 0.34596618] [ 0. 0. 0. 1. ]] SLAMing on 71.41907232899999 meters Centerline goodness : 0.852553 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.92, Z:0.34 [[ 0.95444074 -0.27006319 -0.12692027 6.08602368] [ 0.28089046 0.95667227 0.07667281 0.91745988] [ 0.1007146 -0.10883035 0.98894516 0.34060108] [ 0. 0. 0. 1. ]] SLAMing on 71.47907232899999 meters Centerline goodness : 0.854023 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.92, Z:0.34 [[ 0.95617868 -0.26353506 -0.12756022 6.08416489] [ 0.27470656 0.95823689 0.07948822 0.91996524] [ 0.10128498 -0.11104657 0.98864049 0.34005346] [ 0. 0. 0. 1. ]] SLAMing on 71.53907232899999 meters Centerline goodness : 0.852992 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.92, Z:0.34 [[ 0.95905977 -0.25260868 -0.12803595 6.07985157] [ 0.26446416 0.96056883 0.08582679 0.92071182] [ 0.10130675 -0.11617394 0.98804886 0.34031423] [ 0. 0. 0. 1. ]] SLAMing on 71.599072329 meters Centerline goodness : 0.852726 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.92, Z:0.34 [[ 0.96040695 -0.24731153 -0.12827895 6.07810251] [ 0.25944218 0.96171333 0.08830189 0.92162985] [ 0.1015295 -0.11808672 0.98779921 0.3400572 ] [ 0. 0. 0. 1. ]] SLAMing on 71.659072329 meters Centerline goodness : 0.848603 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.92, Z:0.34 [[ 0.96119731 -0.24477943 -0.12721152 6.07664218] [ 0.25658968 0.96264657 0.08644839 0.92363563] [ 0.10129894 -0.11573512 0.98810116 0.33759525] [ 0. 0. 0. 1. ]] SLAMing on 71.719072329 meters Centerline goodness : 0.848178 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.93, Z:0.34 [[ 0.96168543 -0.24334551 -0.1262699 6.07499553] [ 0.25484896 0.96327806 0.08454219 0.92564278] [ 0.10106007 -0.11348274 0.98838683 0.3361098 ] [ 0. 0. 0. 1. ]] SLAMing on 71.77907232899999 meters Centerline goodness : 0.844870 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.93, Z:0.33 [[ 0.96205069 -0.24881116 -0.11203341 6.07331238] [ 0.2583973 0.96263526 0.08101964 0.92984728] [ 0.08768872 -0.10689413 0.99039605 0.3336841 ] [ 0. 0. 0. 1. ]] SLAMing on 71.83907232899999 meters Centerline goodness : 0.845240 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.93, Z:0.34 [[ 0.96148674 -0.25041407 -0.11329627 6.07241747] [ 0.26026949 0.96200576 0.08249071 0.9308179 ] [ 0.08833483 -0.10880128 0.99013092 0.33818779] [ 0. 0. 0. 1. ]] SLAMing on 71.89907232899999 meters Centerline goodness : 0.840679 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.93, Z:0.34 [[ 0.96127799 -0.25199104 -0.11155784 6.07026545] [ 0.26139234 0.96195467 0.07948121 0.9284825 ] [ 0.08728504 -0.1055639 0.99057437 0.33856237] [ 0. 0. 0. 1. ]] SLAMing on 71.959072329 meters Centerline goodness : 0.839414 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.93, Z:0.34 [[ 0.96140565 -0.25139445 -0.11180342 6.06990465] [ 0.2609116 0.96200033 0.08050156 0.92690574] [ 0.08731728 -0.10656546 0.99046428 0.33991643] [ 0. 0. 0. 1. ]] SLAMing on 72.019072329 meters Centerline goodness : 0.838899 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.92, Z:0.34 [[ 0.96130251 -0.25249975 -0.11018788 6.06603911] [ 0.26169647 0.96192795 0.0788009 0.92260834] [ 0.08609559 -0.10458729 0.99078204 0.343022 ] [ 0. 0. 0. 1. ]] SLAMing on 72.079072329 meters Centerline goodness : 0.838715 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.92, Z:0.35 [[ 0.96071138 -0.25529024 -0.1089061 6.06407405] [ 0.26413272 0.96146939 0.07622679 0.91883356] [ 0.08524993 -0.10199761 0.99112509 0.3452169 ] [ 0. 0. 0. 1. ]] SLAMing on 72.13907232899999 meters Centerline goodness : 0.838530 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.91, Z:0.35 [[ 0.96013898 -0.25802802 -0.10749265 6.06093625] [ 0.26662403 0.96087742 0.07500813 0.91230411] [ 0.08393306 -0.10067835 0.99137234 0.34939603] [ 0. 0. 0. 1. ]] SLAMing on 72.19907232899999 meters Centerline goodness : 0.832049 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.91, Z:0.35 [[ 0.95998431 -0.25863333 -0.10741935 6.0597173 ] [ 0.26733908 0.96056965 0.07639216 0.90629433] [ 0.08342621 -0.10205266 0.99127459 0.3530883 ] [ 0. 0. 0. 1. ]] SLAMing on 72.25907232899999 meters Centerline goodness : 0.830267 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.90, Z:0.35 [[ 0.96024066 -0.25911462 -0.10391094 6.05487975] [ 0.26714137 0.96092944 0.07245759 0.89966333] [ 0.08107626 -0.09733564 0.99194376 0.35355425] [ 0. 0. 0. 1. ]] SLAMing on 72.319072329 meters Centerline goodness : 0.829967 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.90, Z:0.35 [[ 0.96013945 -0.26034091 -0.10175875 6.05286527] [ 0.26786915 0.96099201 0.06885109 0.89616096] [ 0.07986459 -0.09336468 0.99242364 0.3530897 ] [ 0. 0. 0. 1. ]] SLAMing on 72.379072329 meters Centerline goodness : 0.827829 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.89, Z:0.36 [[ 0.96066454 -0.25833714 -0.10190964 6.05092703] [ 0.26608468 0.96130006 0.07142226 0.8917952 ] [ 0.07951472 -0.09572942 0.99222643 0.35621984] [ 0. 0. 0. 1. ]] SLAMing on 72.439072329 meters Centerline goodness : 0.825054 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.89, Z:0.36 [[ 0.96082124 -0.25748136 -0.10259579 6.05359793] [ 0.26546046 0.96131759 0.07347946 0.88759582] [ 0.07970754 -0.09783575 0.99200548 0.3557442 ] [ 0. 0. 0. 1. ]] SLAMing on 72.499072329 meters Centerline goodness : 0.823502 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.88, Z:0.35 [[ 0.96075078 -0.25838067 -0.100982 6.05383096] [ 0.26600697 0.96135132 0.07102064 0.87999151] [ 0.07872882 -0.09509505 0.99235009 0.35497277] [ 0. 0. 0. 1. ]] SLAMing on 72.55907232899999 meters Centerline goodness : 0.823737 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.87, Z:0.36 [[ 0.96070011 -0.25906068 -0.0997139 6.05345066] [ 0.26648717 0.96129228 0.07001249 0.87207478] [ 0.07771672 -0.09383348 0.99254994 0.35567774] [ 0. 0. 0. 1. ]] SLAMing on 72.61907232899999 meters Centerline goodness : 0.820445 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.86, Z:0.36 [[ 0.96107361 -0.25788107 -0.09917091 6.05248291] [ 0.26537117 0.96149144 0.07150065 0.86349993] [ 0.07691332 -0.09503449 0.99249826 0.35795489] [ 0. 0. 0. 1. ]] SLAMing on 72.679072329 meters Centerline goodness : 0.820849 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.86, Z:0.36 [[ 0.96114976 -0.2582746 -0.09739281 6.0511932 ] [ 0.26541762 0.96164921 0.06916848 0.85754482] [ 0.07579325 -0.09233103 0.99283955 0.35759181] [ 0. 0. 0. 1. ]] SLAMing on 72.739072329 meters Centerline goodness : 0.821982 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.85, Z:0.36 [[ 0.9618485 -0.25641911 -0.09537658 6.05071449] [ 0.26331531 0.96228357 0.06837675 0.84674011] [ 0.07424622 -0.09088219 0.99309009 0.35628057] [ 0. 0. 0. 1. ]] SLAMing on 72.799072329 meters Centerline goodness : 0.821883 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.84, Z:0.36 [[ 0.96185774 -0.25057013 -0.10974649 6.05278443] [ 0.25914072 0.96313768 0.07219341 0.83712903] [ 0.08761147 -0.09787958 0.99133436 0.35948024] [ 0. 0. 0. 1. ]] SLAMing on 72.859072329 meters Centerline goodness : 0.817269 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.83, Z:0.36 [[ 0.96200631 -0.25036913 -0.10889979 6.05283757] [ 0.25886497 0.96320403 0.07229745 0.82802963] [ 0.08679167 -0.09774095 0.99142015 0.36057805] [ 0. 0. 0. 1. ]] SLAMing on 72.91907232899999 meters Centerline goodness : 0.814964 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.82, Z:0.36 [[ 0.96380064 -0.24417917 -0.10707409 6.05201055] [ 0.25259726 0.96477126 0.07355977 0.81681122] [ 0.08534024 -0.09794358 0.99152615 0.35765763] [ 0. 0. 0. 1. ]] SLAMing on 72.97907232899999 meters Centerline goodness : 0.813797 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.81, Z:0.36 [[ 0.96606617 -0.23578178 -0.10546615 6.04793217] [ 0.2443501 0.96660214 0.0772873 0.80793176] [ 0.08372086 -0.10043531 0.99141493 0.35681901] [ 0. 0. 0. 1. ]] SLAMing on 73.03907232899999 meters Centerline goodness : 0.811373 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.80, Z:0.36 [[ 0.96774547 -0.22942154 -0.10408877 6.04464513] [ 0.23803129 0.96799937 0.0794879 0.80136166] [ 0.08252163 -0.10170044 0.9913865 0.35595421] [ 0. 0. 0. 1. ]] SLAMing on 73.099072329 meters Centerline goodness : 0.810819 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.79, Z:0.35 [[ 0.97007522 -0.22108951 -0.10036676 6.04069177] [ 0.22923818 0.97020125 0.07848177 0.78869466] [ 0.08002446 -0.09914112 0.99185035 0.35125433] [ 0. 0. 0. 1. ]] SLAMing on 73.159072329 meters Centerline goodness : 0.809869 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.78, Z:0.35 [[ 0.97159468 -0.21489991 -0.09910498 6.03929549] [ 0.22315105 0.97138348 0.08134955 0.77960798] [ 0.07878693 -0.10115417 0.99174616 0.34936613] [ 0. 0. 0. 1. ]] SLAMing on 73.219072329 meters Centerline goodness : 0.810558 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.76, Z:0.35 [[ 0.97357717 -0.20651932 -0.09745395 6.0360747 ] [ 0.21499447 0.97279197 0.08633168 0.76084247] [ 0.07697326 -0.10500261 0.99148856 0.35095057] [ 0. 0. 0. 1. ]] SLAMing on 73.27907232899999 meters Centerline goodness : 0.810348 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.75, Z:0.35 [[ 0.97431848 -0.20338147 -0.09664098 6.03623685] [ 0.21194244 0.97326408 0.08852927 0.7492386 ] [ 0.07605198 -0.10673802 0.99137434 0.35091423] [ 0. 0. 0. 1. ]] SLAMing on 73.33907232899999 meters Centerline goodness : 0.808712 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.73, Z:0.35 [[ 0.97490198 -0.20077257 -0.09621075 6.04347345] [ 0.20935193 0.97375085 0.08933678 0.72944333] [ 0.07574892 -0.10723651 0.99134375 0.34720718] [ 0. 0. 0. 1. ]] SLAMing on 73.39907232899999 meters Centerline goodness : 0.808442 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.71, Z:0.35 [[ 0.97531549 -0.19945595 -0.0947471 6.04661029] [ 0.20777044 0.97422087 0.08789276 0.70511443] [ 0.07477386 -0.10540882 0.99161376 0.34849 ] [ 0. 0. 0. 1. ]] SLAMing on 73.459072329 meters Centerline goodness : 0.810189 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.68, Z:0.35 [[ 0.97618188 -0.19574928 -0.09354767 6.04759012] [ 0.20432888 0.97446244 0.09312715 0.67715879] [ 0.07292912 -0.11002353 0.9912498 0.35140914] [ 0. 0. 0. 1. ]] SLAMing on 73.519072329 meters Centerline goodness : 0.810642 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.66, Z:0.35 [[ 0.97668013 -0.19319204 -0.09366305 6.0494739 ] [ 0.20203532 0.9746151 0.09647348 0.66002129] [ 0.07264751 -0.11314698 0.99091882 0.35433335] [ 0. 0. 0. 1. ]] SLAMing on 73.579072329 meters Centerline goodness : 0.808597 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.64, Z:0.36 [[ 0.97660185 -0.18792243 -0.10456567 6.0483913 ] [ 0.19822063 0.97516977 0.09875475 0.63681351] [ 0.08341105 -0.11717115 0.98960271 0.35713296] [ 0. 0. 0. 1. ]] SLAMing on 73.63907232899999 meters Centerline goodness : 0.808764 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.62, Z:0.36 [[ 0.97626969 -0.18906938 -0.10559485 6.05861386] [ 0.1991921 0.97531586 0.09529682 0.61714832] [ 0.08497062 -0.11406906 0.98983243 0.35873808] [ 0. 0. 0. 1. ]] SLAMing on 73.69907232899999 meters Centerline goodness : 0.805553 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.59, Z:0.36 [[ 0.9755341 -0.19254641 -0.10610888 6.06673363] [ 0.202769 0.97452832 0.0958086 0.58532144] [ 0.08495851 -0.11498015 0.98972805 0.36341409] [ 0. 0. 0. 1. ]] SLAMing on 73.75907232899999 meters Centerline goodness : 0.802132 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.56, Z:0.37 [[ 0.9743794 -0.19164142 -0.11772148 6.06504949] [ 0.20370677 0.97383388 0.10075277 0.55912076] [ 0.09533276 -0.12215209 0.98792233 0.37192201] [ 0. 0. 0. 1. ]] SLAMing on 73.819072329 meters Centerline goodness : 0.799738 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.52, Z:0.38 [[ 0.97321277 -0.19758836 -0.1175404 6.07159566] [ 0.20969685 0.9724863 0.10147722 0.52432482] [ 0.09425571 -0.12340678 0.98786974 0.37795391] [ 0. 0. 0. 1. ]] SLAMing on 73.879072329 meters Centerline goodness : 0.800080 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.49, Z:0.38 [[ 0.9719337 -0.20389303 -0.11735639 6.07681259] [ 0.21606579 0.97098833 0.10245602 0.49377394] [ 0.09306161 -0.12493716 0.98779059 0.38422053] [ 0. 0. 0. 1. ]] SLAMing on 73.939072329 meters Centerline goodness : 0.800017 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.47, Z:0.39 [[ 0.97028881 -0.21104084 -0.1183275 6.08499742] [ 0.22329572 0.96938936 0.10209455 0.46678515] [ 0.09315929 -0.12548322 0.98771216 0.38993334] [ 0. 0. 0. 1. ]] SLAMing on 73.999072329 meters Centerline goodness : 0.798866 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.45, Z:0.39 [[ 0.96926432 -0.21606107 -0.11766178 6.08840912] [ 0.22809725 0.96841594 0.10070857 0.45094056] [ 0.09218635 -0.12445155 0.98793395 0.39270964] [ 0. 0. 0. 1. ]] SLAMing on 74.05907232899999 meters Centerline goodness : 0.799309 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.43, Z:0.40 [[ 0.96817094 -0.22156264 -0.11642607 6.09460454] [ 0.2330327 0.96768913 0.09629906 0.42626361] [ 0.09132797 -0.12036503 0.98851983 0.39657475] [ 0. 0. 0. 1. ]] SLAMing on 74.11907232899999 meters Centerline goodness : 0.798504 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.41, Z:0.40 [[ 0.96765483 -0.22405538 -0.11594529 6.09518263] [ 0.23552181 0.96702494 0.09691359 0.41402536] [ 0.09040797 -0.12108655 0.98851629 0.40013773] [ 0. 0. 0. 1. ]] SLAMing on 74.179072329 meters Centerline goodness : 0.797647 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.40, Z:0.40 [[ 0.96801053 -0.22329871 -0.11442591 6.093415 ] [ 0.23401536 0.96799361 0.09069277 0.39557096] [ 0.09051198 -0.11456898 0.98928334 0.40336744] [ 0. 0. 0. 1. ]] SLAMing on 74.239072329 meters Centerline goodness : 0.797848 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.38, Z:0.40 [[ 0.96839665 -0.22324835 -0.11121196 6.08700586] [ 0.23243379 0.96949772 0.07777343 0.37527815] [ 0.09045695 -0.10116495 0.9907488 0.40021058] [ 0. 0. 0. 1. ]] SLAMing on 74.299072329 meters Centerline goodness : 0.795931 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.37, Z:0.41 [[ 0.96777925 -0.22454557 -0.11394123 6.09473335] [ 0.23362362 0.96953389 0.07364813 0.36867604] [ 0.09393253 -0.09789449 0.99075393 0.40623987] [ 0. 0. 0. 1. ]] SLAMing on 74.359072329 meters Centerline goodness : 0.798096 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.35, Z:0.41 [[ 0.96624609 -0.23109926 -0.1138491 6.09782947] [ 0.23983218 0.96828968 0.06996874 0.35448578] [ 0.09406918 -0.0949117 0.99103116 0.41072817] [ 0. 0. 0. 1. ]] SLAMing on 74.41907232899999 meters Centerline goodness : 0.796218 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.34, Z:0.41 [[ 0.96312142 -0.24478782 -0.11169628 6.10487754] [ 0.25239412 0.96577695 0.059767 0.3372629 ] [ 0.09324346 -0.08575437 0.99194347 0.41050566] [ 0. 0. 0. 1. ]] SLAMing on 74.47907232899999 meters Centerline goodness : 0.797197 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.32, Z:0.42 [[ 0.9613572 -0.2521008 -0.11062335 6.0534426 ] [ 0.25775363 0.96538453 0.0399472 0.3166131 ] [ 0.09672334 -0.0669171 0.99305926 0.41532485] [ 0. 0. 0. 1. ]] SLAMing on 74.53907232899999 meters Centerline goodness : 0.798197 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.29, Z:0.42 [[ 0.95833803 -0.26229865 -0.11308239 6.0351798 ] [ 0.26765823 0.96288237 0.03487996 0.29100719] [ 0.09973608 -0.06369422 0.99297319 0.41936115] [ 0. 0. 0. 1. ]] SLAMing on 74.599072329 meters Centerline goodness : 0.797626 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.27, Z:0.42 [[ 0.95562494 -0.27250076 -0.11191209 6.04319102] [ 0.27719989 0.9603887 0.02852663 0.27260481] [ 0.09970558 -0.05828278 0.99330857 0.41871985] [ 0. 0. 0. 1. ]] SLAMing on 74.659072329 meters Centerline goodness : 0.797039 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.26, Z:0.42 [[ 0.9535697 -0.27981996 -0.11138048 6.04952582] [ 0.2840483 0.95851513 0.02377607 0.26213426] [ 0.10010686 -0.05430957 0.99349338 0.41795017] [ 0. 0. 0. 1. ]] SLAMing on 74.719072329 meters Centerline goodness : 0.798250 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.24, Z:0.42 [[ 0.95117417 -0.28974804 -0.10636621 6.04687912] [ 0.29311486 0.95592302 0.0171714 0.24025942] [ 0.09670253 -0.04751051 0.99417874 0.42025625] [ 0. 0. 0. 1. ]] SLAMing on 74.77907232899999 meters Centerline goodness : 0.798991 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.22, Z:0.42 [[ 0.94915395 -0.29803598 -0.10139689 6.0451788 ] [ 0.30080366 0.95359965 0.01284044 0.21898705] [ 0.09286513 -0.04268811 0.99476318 0.41981294] [ 0. 0. 0. 1. ]] SLAMing on 74.83907232899999 meters Centerline goodness : 0.800034 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.21, Z:0.42 [[ 0.9474958 -0.30367368 -0.10016984 6.04673874] [ 0.30607652 0.95196259 0.00918673 0.20794764] [ 0.09256817 -0.03936402 0.99492794 0.42216248] [ 0. 0. 0. 1. ]] SLAMing on 74.89907232899999 meters Centerline goodness : 0.802053 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.19, Z:0.42 [[ 0.94745119 -0.30500421 -0.09648149 6.04609626] [ 0.30720167 0.95160699 0.00844149 0.18577304] [ 0.08923777 -0.03763717 0.99529898 0.42002887] [ 0. 0. 0. 1. ]] SLAMing on 74.959072329 meters Centerline goodness : 0.802223 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.17, Z:0.42 [[ 0.94734293 -0.30530308 -0.09659915 6.04848686] [ 0.30757672 0.95147855 0.00922677 0.17417745] [ 0.08909505 -0.03845256 0.9952806 0.42132238] [ 0. 0. 0. 1. ]] SLAMing on 75.019072329 meters Centerline goodness : 0.806467 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.14, Z:0.42 [[ 0.94977512 -0.29950295 -0.09069298 6.03523282] [ 0.30161693 0.95337406 0.01025341 0.14456983] [ 0.08339341 -0.03709297 0.99582611 0.42101226] [ 0. 0. 0. 1. ]] SLAMing on 75.079072329 meters Centerline goodness : 0.805390 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.12, Z:0.42 [[ 0.95094987 -0.29634835 -0.08872428 6.03476979] [ 0.29870761 0.95423745 0.01430587 0.1220917 ] [ 0.08042451 -0.04010678 0.99595349 0.4194961 ] [ 0. 0. 0. 1. ]] SLAMing on 75.13907232899999 meters Centerline goodness : 0.807339 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.10, Z:0.42 [[ 0.9513824 -0.2954592 -0.08703667 6.03467364] [ 0.29786896 0.95447532 0.01584126 0.10449116] [ 0.07839391 -0.04099662 0.99607915 0.41931469] [ 0. 0. 0. 1. ]] SLAMing on 75.19907232899999 meters Centerline goodness : 0.811192 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.07, Z:0.42 [[ 0.95300525 -0.29176353 -0.08157844 6.02538986] [ 0.29391782 0.95570482 0.01551152 0.07292393] [ 0.07343922 -0.03875992 0.99654621 0.41805673] [ 0. 0. 0. 1. ]] SLAMing on 75.25907232899999 meters Centerline goodness : 0.814009 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.05, Z:0.41 [[ 0.9541463 -0.28849705 -0.07983911 6.02763526] [ 0.29090208 0.95654198 0.02008551 0.04659558] [ 0.07057485 -0.04238988 0.99660538 0.41461079] [ 0. 0. 0. 1. ]] SLAMing on 75.319072329 meters Centerline goodness : 0.818411 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.02, Z:0.41 [[ 0.95523633 -0.28577256 -0.07653493 6.02335767] [ 0.28822875 0.95728519 0.02300558 0.01815493] [ 0.06669139 -0.04403533 0.99680146 0.41492366] [ 0. 0. 0. 1. ]] SLAMing on 75.379072329 meters Centerline goodness : 0.819520 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.00, Z:0.41 [[ 9.54501517e-01 -2.89030241e-01 -7.34055463e-02 6.02320847e+00] [ 2.91202900e-01 9.56439010e-01 2.06225842e-02 -1.66563362e-03] [ 6.42473775e-02 -4.10601958e-02 9.97088930e-01 4.14329912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439072329 meters Centerline goodness : 0.821033 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.01, Z:0.41 [[ 0.95373753 -0.29163668 -0.07302577 6.02588169] [ 0.29372296 0.95569293 0.01943832 -0.01037835] [ 0.06412128 -0.0399884 0.99714061 0.41473749] [ 0. 0. 0. 1. ]] SLAMing on 75.499072329 meters Centerline goodness : 0.821582 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.03, Z:0.41 [[ 0.95196447 -0.29816548 -0.0697208 6.03072584] [ 0.29995546 0.95380965 0.01654921 -0.0346185 ] [ 0.06156597 -0.03666739 0.99742926 0.41117016] [ 0. 0. 0. 1. ]] SLAMing on 75.55907232899999 meters Centerline goodness : 0.823414 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.05, Z:0.41 [[ 0.95016046 -0.30416474 -0.06840262 6.03457415] [ 0.30573425 0.95202076 0.01352938 -0.04752721] [ 0.06100555 -0.0337681 0.99756606 0.41160103] [ 0. 0. 0. 1. ]] SLAMing on 75.61907232899999 meters Centerline goodness : 0.829364 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.08, Z:0.41 [[ 0.94716096 -0.31463584 -0.06237313 6.03405111] [ 0.31562191 0.94886355 0.00638532 -0.07510261] [ 0.05717454 -0.02573425 0.99803247 0.4115763 ] [ 0. 0. 0. 1. ]] SLAMing on 75.679072329 meters Centerline goodness : 0.827970 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.10, Z:0.41 [[ 9.43928888e-01 -3.23661890e-01 -6.51247673e-02 6.02412961e+00] [ 3.24552769e-01 9.45861813e-01 3.30615080e-03 -1.03326371e-01] [ 6.05289555e-02 -2.42571948e-02 9.97871652e-01 4.08055220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739072329 meters Centerline goodness : 0.831023 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.11, Z:0.41 [[ 9.42790261e-01 -3.26946835e-01 -6.52095893e-02 6.03078422e+00] [ 3.27805249e-01 9.44741667e-01 2.62688805e-03 -1.14608441e-01] [ 6.07473634e-02 -2.38526501e-02 9.97868132e-01 4.06671851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799072329 meters Centerline goodness : 0.830068 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.13, Z:0.40 [[ 9.40725882e-01 -3.33099911e-01 -6.38691131e-02 6.03839198e+00] [ 3.33771187e-01 9.42654107e-01 -1.69177925e-04 -1.31573737e-01] [ 6.02628350e-02 -2.11585196e-02 9.97958270e-01 4.04631672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859072329 meters Centerline goodness : 0.831789 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.14, Z:0.40 [[ 9.39482513e-01 -3.36637761e-01 -6.36209485e-02 6.04410078e+00] [ 3.37208418e-01 9.41428167e-01 -1.86822433e-03 -1.40776186e-01] [ 6.05234677e-02 -1.96983553e-02 9.97972387e-01 4.03353461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91907232899999 meters Centerline goodness : 0.828384 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.15, Z:0.40 [[ 9.38264944e-01 -3.40034062e-01 -6.35274027e-02 6.05132834e+00] [ 3.40529521e-01 9.40228407e-01 -3.19188736e-03 -1.51125734e-01] [ 6.08156190e-02 -1.86381200e-02 9.97974990e-01 4.00979018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97907232899999 meters Centerline goodness : 0.826659 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.16, Z:0.40 [[ 9.37083584e-01 -3.43414701e-01 -6.27750013e-02 6.05487102e+00] [ 3.43794679e-01 9.39031614e-01 -4.98463531e-03 -1.58643010e-01] [ 6.06595078e-02 -1.69106915e-02 9.98015257e-01 4.00125302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03907232899999 meters Centerline goodness : 0.823335 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.40 [[ 9.37126269e-01 -3.43213167e-01 -6.32382667e-02 6.05694305e+00] [ 3.43632872e-01 9.39093490e-01 -4.45711059e-03 -1.60344485e-01] [ 6.09163837e-02 -1.75538718e-02 9.97988505e-01 3.99129158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099072329 meters Centerline goodness : 0.820869 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.40 [[ 9.37144065e-01 -3.43106792e-01 -6.35510061e-02 6.05920567e+00] [ 3.43540642e-01 9.39127907e-01 -4.31290558e-03 -1.61740057e-01] [ 6.11623105e-02 -1.77905396e-02 9.97969272e-01 3.97629311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159072329 meters Centerline goodness : 0.818610 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.40 [[ 9.37048681e-01 -3.43377066e-01 -6.34977237e-02 6.05966641e+00] [ 3.43776903e-01 9.39038768e-01 -4.86132824e-03 -1.60078841e-01] [ 6.12960928e-02 -1.72737496e-02 9.97970143e-01 3.96569146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219072329 meters Centerline goodness : 0.814579 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.39 [[ 9.37819120e-01 -3.41043926e-01 -6.46864633e-02 6.06130980e+00] [ 3.41572048e-01 9.39850631e-01 -3.05399108e-03 -1.54791175e-01] [ 6.18371585e-02 -1.92309965e-02 9.97900964e-01 3.93988795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27907232899999 meters Centerline goodness : 0.810395 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.39 [[ 9.37043408e-01 -3.43228323e-01 -6.43736738e-02 6.06380480e+00] [ 3.43586606e-01 9.39103285e-01 -5.76759370e-03 -1.48899400e-01] [ 6.24331300e-02 -1.67134464e-02 9.97909197e-01 3.90418791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33907232899999 meters Centerline goodness : 0.808362 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.39 [[ 0.93631875 -0.34527823 -0.06395416 6.06563161] [ 0.34546718 0.93839295 -0.00843195 -0.14162652] [ 0.0629255 -0.01419908 0.99791721 0.38660942] [ 0. 0. 0. 1. ]] SLAMing on 76.39907232899999 meters Centerline goodness : 0.804345 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.13, Z:0.38 [[ 0.93419164 -0.3513697 -0.06184918 6.06475664] [ 0.35113171 0.93620536 -0.01503475 -0.13273041] [ 0.06318629 -0.00767187 0.99797226 0.38468985] [ 0. 0. 0. 1. ]] SLAMing on 76.459072329 meters Centerline goodness : 0.802801 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.12, Z:0.38 [[ 9.33050581e-01 -3.54522539e-01 -6.10768661e-02 6.06380973e+00] [ 3.54060126e-01 9.35037712e-01 -1.85984964e-02 -1.21875823e-01] [ 6.37027593e-02 -4.27154503e-03 9.97959775e-01 3.83296714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519072329 meters Centerline goodness : 0.797452 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.12, Z:0.38 [[ 9.32414496e-01 -3.56233073e-01 -6.08375261e-02 6.06515152e+00] [ 3.55619539e-01 9.34394871e-01 -2.09992606e-02 -1.15395108e-01] [ 6.43269035e-02 -2.05499802e-03 9.97926764e-01 3.80656505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579072329 meters Centerline goodness : 0.796102 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.38 [[ 9.31564158e-01 -3.58560687e-01 -6.01868185e-02 6.06581614e+00] [ 3.57722367e-01 9.33505470e-01 -2.45407092e-02 -1.04895689e-01] [ 6.49840578e-02 1.33107399e-03 9.97885414e-01 3.77000953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63907232899999 meters Centerline goodness : 0.793004 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.10, Z:0.38 [[ 9.31316256e-01 -3.59293138e-01 -5.96529334e-02 6.06366175e+00] [ 3.58346009e-01 9.33219698e-01 -2.62513540e-02 -9.76601987e-02] [ 6.51012238e-02 3.07192213e-03 9.97873937e-01 3.76459251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69907232899999 meters Centerline goodness : 0.792690 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.09, Z:0.38 [[ 9.31788095e-01 -3.57939593e-01 -6.04168315e-02 6.06227296e+00] [ 3.56984105e-01 9.33740119e-01 -2.63009249e-02 -8.54963507e-02] [ 6.58277618e-02 2.93904023e-03 9.97826672e-01 3.75106524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75907232899999 meters Centerline goodness : 0.789213 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.07, Z:0.37 [[ 9.31573586e-01 -3.58670291e-01 -5.93824547e-02 6.05805533e+00] [ 3.57570978e-01 9.33448789e-01 -2.85719095e-02 -7.43305921e-02] [ 6.56783755e-02 5.38339378e-03 9.97826323e-01 3.74533858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.819072329 meters Centerline goodness : 0.792239 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.06, Z:0.38 [[ 9.32052476e-01 -3.57422119e-01 -5.93936948e-02 6.05315513e+00] [ 3.56308154e-01 9.33925923e-01 -2.87553376e-02 -6.21459726e-02] [ 6.57471050e-02 5.63902583e-03 9.97820384e-01 3.75293552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879072329 meters Centerline goodness : 0.789261 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.05, Z:0.37 [[ 9.32683894e-01 -3.55621974e-01 -6.02807287e-02 6.05281576e+00] [ 3.54551974e-01 9.34618010e-01 -2.79655860e-02 -5.26697055e-02] [ 6.62846316e-02 4.71040030e-03 9.97789637e-01 3.73443044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939072329 meters Centerline goodness : 0.788518 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.04, Z:0.37 [[ 0.93177672 -0.35819313 -0.05907471 6.04952259] [ 0.35688769 0.93360922 -0.03170176 -0.04209986] [ 0.06650805 0.00845592 0.99775006 0.37338353] [ 0. 0. 0. 1. ]] SLAMing on 76.999072329 meters Centerline goodness : 0.792556 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.03, Z:0.37 [[ 0.93126448 -0.35963792 -0.05836981 6.04748991] [ 0.3581842 0.93302923 -0.0340667 -0.03462729] [ 0.06671242 0.01081796 0.9977136 0.37309322] [ 0. 0. 0. 1. ]] SLAMing on 77.05907232899999 meters Centerline goodness : 0.791662 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.02, Z:0.37 [[ 0.928589 -0.36722586 -0.05355039 6.03525158] [ 0.36596047 0.93007539 -0.03213555 -0.02402256] [ 0.0616069 0.01024339 0.99804793 0.36686581] [ 0. 0. 0. 1. ]] SLAMing on 77.11907232899999 meters Centerline goodness : 0.793021 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.03, Z:0.37 [[ 0.92572176 -0.37417637 -0.05505688 6.0114027 ] [ 0.37272805 0.927282 -0.03495559 -0.02643344] [ 0.06413281 0.01183791 0.99787116 0.36935531] [ 0. 0. 0. 1. ]] SLAMing on 77.179072329 meters Centerline goodness : 0.794491 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.03, Z:0.37 [[ 0.92138152 -0.38470829 -0.05527777 5.97868286] [ 0.38354798 0.92301115 -0.03068175 -0.0250887 ] [ 0.06282553 0.00706792 0.9979995 0.36697717] [ 0. 0. 0. 1. ]] SLAMing on 77.239072329 meters Centerline goodness : 0.792771 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.03, Z:0.37 [[ 9.16775793e-01 -3.95733314e-01 -5.40119378e-02 5.94374853e+00] [ 3.94792934e-01 9.18357061e-01 -2.75472103e-02 -2.73257707e-02] [ 6.05035933e-02 3.93108421e-03 9.98160239e-01 3.66298284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299072329 meters Centerline goodness : 0.792709 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.04, Z:0.36 [[ 9.13046138e-01 -4.04953825e-01 -4.85710694e-02 5.90213170e+00] [ 4.04082203e-01 9.14323165e-01 -2.70318929e-02 -3.58999390e-02] [ 5.53563223e-02 5.05466071e-03 9.98453869e-01 3.61912031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359072329 meters Centerline goodness : 0.795277 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.04, Z:0.36 [[ 9.09080968e-01 -4.13911101e-01 -4.74277712e-02 5.86685604e+00] [ 4.13318156e-01 9.10317149e-01 -2.21537687e-02 -4.15107001e-02] [ 5.23440043e-02 5.36810569e-04 9.98628969e-01 3.61563364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41907232899999 meters Centerline goodness : 0.797500 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.05, Z:0.36 [[ 9.06283014e-01 -4.20241459e-01 -4.52572021e-02 5.82547547e+00] [ 4.19883922e-01 9.07407180e-01 -1.75983294e-02 -4.69525025e-02] [ 4.84622577e-02 -3.05370447e-03 9.98820346e-01 3.59745172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47907232899999 meters Centerline goodness : 0.793706 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.05, Z:0.36 [[ 9.02682026e-01 -4.28223410e-01 -4.23068709e-02 5.78767573e+00] [ 4.27901462e-01 9.03668275e-01 -1.68519032e-02 -5.04847068e-02] [ 4.54477566e-02 -2.89126182e-03 9.98962533e-01 3.55154347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53907232899999 meters Centerline goodness : 0.795248 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.06, Z:0.35 [[ 9.01786094e-01 -4.30674865e-01 -3.60694082e-02 5.73712831e+00] [ 4.30363575e-01 9.02506846e-01 -1.63885962e-02 -5.62932681e-02] [ 3.96110443e-02 -7.43951329e-04 9.99214898e-01 3.50763001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599072329 meters Centerline goodness : 0.796450 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.06, Z:0.35 [[ 0.9011979 -0.43196294 -0.03536042 5.69712629] [ 0.43194977 0.90185849 -0.00840561 -0.0606259 ] [ 0.03552101 -0.00769881 0.99933927 0.34833939] [ 0. 0. 0. 1. ]] SLAMing on 77.659072329 meters Centerline goodness : 0.797962 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.06, Z:0.35 [[ 9.03406462e-01 -4.27644512e-01 -3.12559627e-02 5.65424711e+00] [ 4.27446357e-01 9.03945717e-01 -1.31054706e-02 -6.41120359e-02] [ 3.38581762e-02 -1.52068056e-03 9.99425491e-01 3.46631255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719072329 meters Centerline goodness : 0.798689 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.07, Z:0.34 [[ 9.05777791e-01 -4.22876891e-01 -2.72346950e-02 5.61248419e+00] [ 4.22556248e-01 9.06179189e-01 -1.68965715e-02 -6.93443384e-02] [ 3.18246835e-02 3.79634863e-03 9.99486257e-01 3.44398280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77907232899999 meters Centerline goodness : 0.796630 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.07, Z:0.34 [[ 9.09736731e-01 -4.14340145e-01 -2.64825378e-02 5.57440242e+00] [ 4.14016375e-01 9.10111067e-01 -1.69790330e-02 -6.85231502e-02] [ 3.11371457e-02 4.48224566e-03 9.99505071e-01 3.42403947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83907232899999 meters Centerline goodness : 0.797914 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.07, Z:0.34 [[ 9.14137591e-01 -4.04595103e-01 -2.55982100e-02 5.53419381e+00] [ 4.04274335e-01 9.14481735e-01 -1.68943296e-02 -6.95594460e-02] [ 3.02444585e-02 5.09504248e-03 9.99529546e-01 3.40852366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89907232899999 meters Centerline goodness : 0.796960 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.07, Z:0.34 [[ 9.18963577e-01 -3.93625946e-01 -2.37604454e-02 5.49489620e+00] [ 3.93438761e-01 9.19268632e-01 -1.22932788e-02 -6.88934615e-02] [ 2.66811856e-02 1.94879524e-03 9.99642094e-01 3.41645903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959072329 meters Centerline goodness : 0.796384 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.07, Z:0.34 [[ 9.22465143e-01 -3.85520310e-01 -2.07882454e-02 5.47961568e+00] [ 3.85436970e-01 9.22699156e-01 -8.03795965e-03 -6.60083016e-02] [ 2.22800931e-02 -5.97820717e-04 9.99751589e-01 3.42557655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019072329 meters Centerline goodness : 0.796015 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.06, Z:0.34 [[ 9.24336721e-01 -3.80947673e-01 -2.19202279e-02 5.47678145e+00] [ 3.80919815e-01 9.24591140e-01 -5.59621996e-03 -5.96928858e-02] [ 2.23991155e-02 -3.17705756e-03 9.99744060e-01 3.42999999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079072329 meters Centerline goodness : 0.792563 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.06, Z:0.34 [[ 9.25481183e-01 -3.78110574e-01 -2.27370425e-02 5.47575487e+00] [ 3.78138205e-01 9.25743494e-01 -3.23749652e-03 -5.50517196e-02] [ 2.22728009e-02 -5.60150233e-03 9.99736238e-01 3.41577764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13907232899999 meters Centerline goodness : 0.794082 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.05, Z:0.34 [[ 9.24972623e-01 -3.79426267e-01 -2.14791696e-02 5.47052547e+00] [ 3.79405307e-01 9.25215955e-01 -5.20102032e-03 -4.90770543e-02] [ 2.18462741e-02 -3.33850951e-03 9.99755768e-01 3.43856544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19907232899999 meters Centerline goodness : 0.793793 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.05, Z:0.34 [[ 9.22545783e-01 -3.85705443e-01 -1.18570207e-02 5.45236536e+00] [ 3.85628159e-01 9.22616752e-01 -8.32176175e-03 -5.02609508e-02] [ 1.41492348e-02 3.10480514e-03 9.99895074e-01 3.42122040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25907232899999 meters Centerline goodness : 0.794456 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.05, Z:0.34 [[ 0.92001503 -0.39178293 -0.00885926 5.45022725] [ 0.39165215 0.92001387 -0.01353029 -0.04959246] [ 0.01345158 0.00897832 0.99986921 0.34262511] [ 0. 0. 0. 1. ]] SLAMing on 78.319072329 meters Centerline goodness : 0.793742 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.06, Z:0.34 [[ 9.18762108e-01 -3.94687113e-01 -9.91321532e-03 5.41509089e+00] [ 3.94649348e-01 9.18814764e-01 -5.59649867e-03 -5.69405034e-02] [ 1.13172745e-02 1.22960695e-03 9.99935202e-01 3.44502625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379072329 meters Centerline goodness : 0.795063 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.07, Z:0.34 [[ 9.21046881e-01 -3.89393922e-01 -6.70948143e-03 5.37679522e+00] [ 3.89341115e-01 9.21059207e-01 -7.96450591e-03 -6.53327847e-02] [ 9.28115984e-03 4.72340634e-03 9.99945773e-01 3.42695660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439072329 meters Centerline goodness : 0.795974 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.07, Z:0.34 [[ 9.25473558e-01 -3.78794132e-01 -3.70137306e-03 5.36402071e+00] [ 3.78774142e-01 9.25474895e-01 -5.13506658e-03 -6.75814913e-02] [ 5.37066093e-03 3.35038394e-03 9.99979965e-01 3.37069073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499072329 meters Centerline goodness : 0.794737 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.07, Z:0.34 [[ 9.29125733e-01 -3.69700556e-01 -6.84621830e-03 5.36102794e+00] [ 3.69726586e-01 9.29135789e-01 2.98959814e-03 -6.55320413e-02] [ 5.25581035e-03 -5.30894148e-03 9.99972095e-01 3.39294077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55907232899999 meters Centerline goodness : 0.795741 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.07, Z:0.34 [[ 9.35887560e-01 -3.52295202e-01 -1.60163296e-03 5.32967449e+00] [ 3.52293362e-01 9.35888688e-01 -1.32314511e-03 -7.12704328e-02] [ 1.96508784e-03 6.74070385e-04 9.99997842e-01 3.36618150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61907232899999 meters Centerline goodness : 0.793062 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.07, Z:0.33 [[ 9.41493500e-01 -3.37023212e-01 2.31163852e-03 5.30981165e+00] [ 3.37014559e-01 9.41493071e-01 3.46177406e-03 -7.27883307e-02] [-3.34308987e-03 -2.48018193e-03 9.99991336e-01 3.33574205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679072329 meters Centerline goodness : 0.793774 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.07, Z:0.34 [[ 9.43723360e-01 -3.30735130e-01 7.03324705e-04 5.30572091e+00] [ 3.30715629e-01 9.43686981e-01 9.05844117e-03 -7.11051630e-02] [-3.65966308e-03 -8.31606206e-03 9.99958724e-01 3.37035744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739072329 meters Centerline goodness : 0.793749 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.07, Z:0.34 [[ 9.47729815e-01 -3.19031689e-01 5.19409807e-03 5.30182785e+00] [ 3.19003821e-01 9.47737234e-01 5.54051012e-03 -6.69569781e-02] [-6.69023844e-03 -3.59396950e-03 9.99971162e-01 3.40281407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799072329 meters Centerline goodness : 0.791425 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.06, Z:0.34 [[ 9.48783728e-01 -3.15901049e-01 3.99559993e-03 5.30360113e+00] [ 3.15863835e-01 9.48771736e-01 7.88866981e-03 -6.29999812e-02] [-6.28295135e-03 -6.22257603e-03 9.99960901e-01 3.37251960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859072329 meters Centerline goodness : 0.791250 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.06, Z:0.34 [[ 9.50033794e-01 -3.12144582e-01 1.24506293e-03 5.30884664e+00] [ 3.12139335e-01 9.50030782e-01 3.24802384e-03 -5.50525376e-02] [-2.19670115e-03 -2.69709929e-03 9.99993950e-01 3.41016429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91907232899999 meters Centerline goodness : 0.792217 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.05, Z:0.34 [[ 9.50358699e-01 -3.11151060e-01 1.83314702e-03 5.30380363e+00] [ 3.11144453e-01 9.50357291e-01 3.18571069e-03 -4.98121360e-02] [-2.73338189e-03 -2.45719434e-03 9.99993245e-01 3.43939552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97907232899999 meters Centerline goodness : 0.791563 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.05, Z:0.34 [[ 9.50296000e-01 -3.11340643e-01 2.12528247e-03 5.30256232e+00] [ 3.11336098e-01 9.50297275e-01 2.21878006e-03 -4.63663115e-02] [-2.71044655e-03 -1.44682066e-03 9.99995280e-01 3.44137021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03907232899999 meters Centerline goodness : 0.792239 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.04, Z:0.34 [[ 9.50231837e-01 -3.11534615e-01 2.37491772e-03 5.30142117e+00] [ 3.11531948e-01 9.50234603e-01 1.42999617e-03 -4.36908132e-02] [-2.70222231e-03 -6.18965142e-04 9.99996157e-01 3.44522129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099072329 meters Centerline goodness : 0.792642 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.04, Z:0.34 [[ 9.51215370e-01 -3.08523481e-01 1.60687206e-03 5.30008285e+00] [ 3.08514382e-01 9.51209844e-01 4.32525681e-03 -4.10277101e-02] [-2.86291581e-03 -3.61850762e-03 9.99989355e-01 3.44737164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159072329 meters Centerline goodness : 0.790455 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.04, Z:0.34 [[ 9.52168751e-01 -3.05571998e-01 6.51050752e-04 5.30053453e+00] [ 3.05560539e-01 9.52147725e-01 6.88954895e-03 -3.76765222e-02] [-2.72514973e-03 -6.36107779e-03 9.99976055e-01 3.43110439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219072329 meters Centerline goodness : 0.789903 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.03, Z:0.34 [[ 9.52475381e-01 -3.04613473e-01 1.13189340e-03 5.29683486e+00] [ 3.04598621e-01 9.52454996e-01 7.01147815e-03 -3.42166249e-02] [-3.21386824e-03 -6.33348715e-03 9.99974779e-01 3.44867314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27907232899999 meters Centerline goodness : 0.789701 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.03, Z:0.35 [[ 9.52785165e-01 -3.03642070e-01 1.38640446e-03 5.29365056e+00] [ 3.03623721e-01 9.52762078e-01 7.55367602e-03 -3.23761524e-02] [-3.61452742e-03 -6.77608518e-03 9.99970509e-01 3.46858618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33907232899999 meters Centerline goodness : 0.793309 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.02, Z:0.35 [[ 9.53660992e-01 -3.00881017e-01 1.15167519e-03 5.28965330e+00] [ 3.00860396e-01 9.53628807e-01 8.66727308e-03 -2.44614692e-02] [-3.70608858e-03 -7.91914679e-03 9.99961775e-01 3.48760041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39907232899999 meters Centerline goodness : 0.794714 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.01, Z:0.35 [[ 9.55485989e-01 -2.94980855e-01 5.72882556e-03 5.29317283e+00] [ 2.94978250e-01 9.55503064e-01 1.31377335e-03 -1.33994464e-02] [-5.86144837e-03 4.34586912e-04 9.99982727e-01 3.50477848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.459072329 meters Centerline goodness : 0.795128 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.00, Z:0.35 [[ 9.56877405e-01 -2.90176533e-01 1.35355898e-02 5.30256171e+00] [ 2.90231934e-01 9.56953611e-01 -2.28273915e-03 -2.34486295e-03] [-1.22905342e-02 6.11276192e-03 9.99905784e-01 3.46104535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519072329 meters Centerline goodness : 0.792171 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.00, Z:0.34 [[ 9.58664725e-01 -2.84308047e-01 1.14402589e-02 5.30321403e+00] [ 2.84295067e-01 9.58732804e-01 2.77956822e-03 4.61009724e-03] [-1.17584051e-02 5.87735170e-04 9.99930695e-01 3.44263469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579072329 meters Centerline goodness : 0.796373 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.01, Z:0.34 [[ 0.95932083 -0.28173085 0.01820087 5.31184358] [ 0.28187518 0.95943314 -0.00586883 0.01289072] [-0.01580909 0.01076046 0.99981713 0.3417305 ] [ 0. 0. 0. 1. ]] SLAMing on 79.63907232899999 meters Centerline goodness : 0.794408 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.01, Z:0.34 [[ 0.95927001 -0.28189551 0.01832958 5.31091808] [ 0.28204895 0.95937897 -0.0063546 0.01434409] [-0.01579368 0.01126562 0.9998118 0.34254166] [ 0. 0. 0. 1. ]] SLAMing on 79.69907232899999 meters Centerline goodness : 0.796897 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.02, Z:0.34 [[ 9.60333863e-01 -2.78310361e-01 1.73843160e-02 5.30945318e+00] [ 2.78416107e-01 9.60452458e-01 -3.94292198e-03 2.09860422e-02] [-1.55994530e-02 8.62659508e-03 9.99841107e-01 3.42984633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75907232899999 meters Centerline goodness : 0.797498 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:0.03, Z:0.35 [[ 0.96231983 -0.2715511 0.01416148 5.32039174] [ 0.27167411 0.96235927 -0.00760276 0.02529205] [-0.01156389 0.01116359 0.99987082 0.34671296] [ 0. 0. 0. 1. ]] SLAMing on 79.819072329 meters Centerline goodness : 0.798931 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:0.04, Z:0.35 [[ 0.96552386 -0.25916606 0.02442591 5.3514953 ] [ 0.25977989 0.9653005 -0.0266338 0.04171049] [-0.01667577 0.03206093 0.99934679 0.34567456] [ 0. 0. 0. 1. ]] SLAMing on 79.879072329 meters Centerline goodness : 0.797552 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:0.09, Z:0.35 [[ 0.9690818 -0.23962045 0.058843 5.38710132] [ 0.24417245 0.96564112 -0.08897779 0.08695662] [-0.03550032 0.1005946 0.99429395 0.34755031] [ 0. 0. 0. 1. ]] SLAMing on 79.939072329 meters Centerline goodness : 0.794905 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:0.13, Z:0.35 [[ 0.97082486 -0.22098191 0.09309182 5.42385109] [ 0.23390917 0.95818743 -0.16481305 0.13389102] [-0.05277871 0.18177964 0.98192188 0.35393803] [ 0. 0. 0. 1. ]] SLAMing on 79.999072329 meters Centerline goodness : 0.796884 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:0.18, Z:0.37 [[ 0.97409186 -0.18831856 0.12522444 5.42975642] [ 0.21557484 0.94055623 -0.26245278 0.18135484] [-0.0683559 0.28264836 0.95678492 0.36875885] [ 0. 0. 0. 1. ]] SLAMing on 80.05907232899999 meters Centerline goodness : 0.797860 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:0.20, Z:0.39 [[ 0.97698309 -0.172184 0.12592344 5.46266213] [ 0.20303691 0.93163639 -0.30137958 0.20033489] [-0.06542212 0.32000986 0.94515271 0.38772997] [ 0. 0. 0. 1. ]] SLAMing on 80.11907232899999 meters Centerline goodness : 0.796030 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:0.18, Z:0.40 [[ 0.97843211 -0.16782372 0.12044005 5.42209808] [ 0.19677694 0.93461498 -0.29626622 0.18173244] [-0.06284458 0.3135762 0.94748115 0.39914108] [ 0. 0. 0. 1. ]] SLAMing on 80.179072329 meters Centerline goodness : 0.795969 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:0.16, Z:0.41 [[ 0.97881676 -0.16989146 0.11425695 5.37570074] [ 0.19559409 0.94086216 -0.27662493 0.15959214] [-0.06050383 0.2931131 0.95416141 0.40518441] [ 0. 0. 0. 1. ]] SLAMing on 80.239072329 meters Centerline goodness : 0.796498 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:0.13, Z:0.42 [[ 0.97895373 -0.17202123 0.10981027 5.32749633] [ 0.1964362 0.9401488 -0.27844757 0.13225418] [-0.0553391 0.294158 0.95415337 0.41683616] [ 0. 0. 0. 1. ]] SLAMing on 80.299072329 meters Centerline goodness : 0.798647 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:0.11, Z:0.42 [[ 0.97838708 -0.17784394 0.10550002 5.29548642] [ 0.20006217 0.94313062 -0.26548025 0.11043691] [-0.05228625 0.28084901 0.95832666 0.42326683] [ 0. 0. 0. 1. ]] SLAMing on 80.359072329 meters Centerline goodness : 0.795355 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:0.10, Z:0.43 [[ 0.97769492 -0.18299569 0.10307866 5.27442521] [ 0.20468314 0.94019824 -0.27227208 0.09811711] [-0.04708976 0.28729749 0.95668318 0.43261215] [ 0. 0. 0. 1. ]] SLAMing on 80.41907232899999 meters Centerline goodness : 0.793044 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.09, Z:0.43 [[ 0.97719714 -0.18565338 0.10304646 5.27717893] [ 0.20727737 0.9393417 -0.27326408 0.08803822] [-0.04606344 0.28839207 0.95640377 0.4305217 ] [ 0. 0. 0. 1. ]] SLAMing on 80.47907232899999 meters Centerline goodness : 0.791840 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:0.08, Z:0.44 [[ 0.97519602 -0.19220773 0.10976755 5.26996359] [ 0.21623422 0.93321818 -0.28696095 0.08366659] [-0.04728096 0.30357868 0.95163254 0.44067296] [ 0. 0. 0. 1. ]] SLAMing on 80.53907232899999 meters Centerline goodness : 0.791340 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:0.08, Z:0.44 [[ 0.97389423 -0.19464189 0.11680991 5.28754249] [ 0.22093611 0.93090924 -0.2908526 0.08315497] [-0.05212732 0.30906719 0.94961056 0.44104422] [ 0. 0. 0. 1. ]] SLAMing on 80.599072329 meters Centerline goodness : 0.793135 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.08, Z:0.44 [[ 0.97255722 -0.19745277 0.12306444 5.30794162] [ 0.22587748 0.92811547 -0.29594095 0.08498565] [-0.05578365 0.31561699 0.94724553 0.43936618] [ 0. 0. 0. 1. ]] SLAMing on 80.659072329 meters Centerline goodness : 0.789612 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:0.09, Z:0.44 [[ 0.97193591 -0.20031028 0.1233547 5.34020438] [ 0.22850633 0.92850193 -0.29269271 0.0881883 ] [-0.05590572 0.31266588 0.94821654 0.43768321] [ 0. 0. 0. 1. ]] SLAMing on 80.719072329 meters Centerline goodness : 0.789312 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.09, Z:0.43 [[ 0.97095855 -0.20519427 0.12302357 5.36298827] [ 0.23243229 0.93089457 -0.28179873 0.08704125] [-0.05669849 0.30220954 0.95155382 0.43452758] [ 0. 0. 0. 1. ]] SLAMing on 80.77907232899999 meters Centerline goodness : 0.790080 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:0.09, Z:0.43 [[ 0.97055906 -0.20237076 0.1306185 5.40002861] [ 0.23211724 0.93065067 -0.28286201 0.09379382] [-0.06431719 0.3048531 0.95022518 0.43436967] [ 0. 0. 0. 1. ]] SLAMing on 80.83907232899999 meters Centerline goodness : 0.789437 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:0.12, Z:0.43 [[ 0.97277744 -0.18566173 0.13868588 5.48800504] [ 0.22061569 0.92513525 -0.30895548 0.12321855] [-0.07094199 0.3311412 0.94091059 0.43468814] [ 0. 0. 0. 1. ]] SLAMing on 80.89907232899999 meters Centerline goodness : 0.791169 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:0.15, Z:0.44 [[ 0.97449004 -0.17135764 0.14493351 5.55369073] [ 0.21138232 0.91777186 -0.33617306 0.14549123] [-0.07541007 0.35823368 0.93058151 0.43757186] [ 0. 0. 0. 1. ]] SLAMing on 80.959072329 meters Centerline goodness : 0.788137 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:0.44 [[ 0.97603388 -0.15829328 0.14933556 5.60792433] [ 0.20194308 0.91454533 -0.35046515 0.16149735] [-0.08109786 0.37222314 0.92459346 0.43960908] [ 0. 0. 0. 1. ]] SLAMing on 81.019072329 meters Centerline goodness : 0.792837 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:0.44 [[ 0.97627138 -0.15582568 0.1503747 5.6062758 ] [ 0.20008064 0.91470713 -0.35111053 0.15913867] [-0.08283678 0.37286622 0.92418009 0.44447179] [ 0. 0. 0. 1. ]] SLAMing on 81.079072329 meters Centerline goodness : 0.793208 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:0.45 [[ 0.97710841 -0.15310577 0.14770843 5.58413335] [ 0.19603565 0.9176833 -0.34558267 0.14629842] [-0.08263886 0.36662785 0.92669026 0.45479851] [ 0. 0. 0. 1. ]] SLAMing on 81.13907232899999 meters Centerline goodness : 0.788116 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.13, Z:0.46 [[ 0.97842756 -0.15206892 0.13983761 5.57278014] [ 0.19119154 0.92295774 -0.33405809 0.13155755] [-0.07826435 0.35358741 0.93212158 0.46059116] [ 0. 0. 0. 1. ]] SLAMing on 81.19907232899999 meters Centerline goodness : 0.789070 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.11, Z:0.47 [[ 0.97867344 -0.15431112 0.13559638 5.53776249] [ 0.190539 0.92858194 -0.3184815 0.11170476] [-0.07676711 0.33752579 0.93818077 0.46591854] [ 0. 0. 0. 1. ]] SLAMing on 81.25907232899999 meters Centerline goodness : 0.790248 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:0.09, Z:0.47 [[ 0.97902206 -0.15497138 0.13228632 5.50402543] [ 0.18861828 0.93486883 -0.30073811 0.09015125] [-0.07706456 0.31938086 0.94448765 0.47026673] [ 0. 0. 0. 1. ]] SLAMing on 81.319072329 meters Centerline goodness : 0.788528 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:0.07, Z:0.47 [[ 0.97894873 -0.15711058 0.13029063 5.48647083] [ 0.18835182 0.94130325 -0.28012814 0.06927447] [-0.0786319 0.29877157 0.95107969 0.4711854 ] [ 0. 0. 0. 1. ]] SLAMing on 81.379072329 meters Centerline goodness : 0.789405 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:0.05, Z:0.47 [[ 0.97909899 -0.15871375 0.12718144 5.45283772] [ 0.18765293 0.94610207 -0.26396451 0.04545363] [-0.07843183 0.28231335 0.95611067 0.47355113] [ 0. 0. 0. 1. ]] SLAMing on 81.439072329 meters Centerline goodness : 0.792385 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:0.03, Z:0.47 [[ 0.97981389 -0.15816677 0.12226203 5.44063302] [ 0.18433321 0.95149332 -0.24633661 0.02681755] [-0.07736924 0.26390098 0.96144177 0.47489308] [ 0. 0. 0. 1. ]] SLAMing on 81.499072329 meters Centerline goodness : 0.792433 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:0.00, Z:0.48 [[ 9.80208360e-01 -1.56879540e-01 1.20749250e-01 5.41233692e+00] [ 1.80664503e-01 9.58255245e-01 -2.21601495e-01 1.71030974e-03] [-8.09438620e-02 2.39030741e-01 9.67632366e-01 4.76501356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55907232899999 meters Centerline goodness : 0.792092 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.02, Z:0.48 [[ 0.98131494 -0.15542913 0.11341414 5.40229235] [ 0.17645963 0.96197944 -0.20846474 -0.02287287] [-0.07670058 0.22458259 0.97143177 0.47847116] [ 0. 0. 0. 1. ]] SLAMing on 81.61907232899999 meters Centerline goodness : 0.790677 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.05, Z:0.48 [[ 0.98220076 -0.15373817 0.10791777 5.38550599] [ 0.17282058 0.96473079 -0.19856371 -0.04795028] [-0.07358478 0.21367984 0.97412844 0.48119055] [ 0. 0. 0. 1. ]] SLAMing on 81.679072329 meters Centerline goodness : 0.788629 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.08, Z:0.48 [[ 0.98227427 -0.15468648 0.10587422 5.33991585] [ 0.17191109 0.96855626 -0.17984814 -0.07600737] [-0.07472506 0.19486115 0.97798021 0.48348345] [ 0. 0. 0. 1. ]] SLAMing on 81.739072329 meters Centerline goodness : 0.788974 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.11, Z:0.48 [[ 0.98262526 -0.15666616 0.09951543 5.30549808] [ 0.1720873 0.96989396 -0.17231268 -0.10686182] [-0.06952385 0.18644413 0.98000256 0.48453259] [ 0. 0. 0. 1. ]] SLAMing on 81.799072329 meters Centerline goodness : 0.791305 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.13, Z:0.49 [[ 0.98199495 -0.162146 0.09692568 5.29970137] [ 0.17593182 0.97186343 -0.15661887 -0.13056879] [-0.0688034 0.17085125 0.98289162 0.48556779] [ 0. 0. 0. 1. ]] SLAMing on 81.859072329 meters Centerline goodness : 0.789124 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.16, Z:0.49 [[ 0.98205046 -0.16413428 0.09293461 5.25551409] [ 0.17683734 0.97259953 -0.1509262 -0.15851321] [-0.06561599 0.16465145 0.98416688 0.49289969] [ 0. 0. 0. 1. ]] SLAMing on 81.91907232899999 meters Centerline goodness : 0.791008 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.18, Z:0.50 [[ 0.98220525 -0.16798272 0.08399201 5.24927356] [ 0.17892251 0.97288395 -0.14657267 -0.18161707] [-0.0570928 0.1589925 0.98562762 0.49610049] [ 0. 0. 0. 1. ]] SLAMing on 81.97907232899999 meters Centerline goodness : 0.791907 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.20, Z:0.50 [[ 0.9816278 -0.17382119 0.07869591 5.24586096] [ 0.18309133 0.97418361 -0.13207522 -0.20003107] [-0.05370679 0.14405724 0.98811087 0.49812138] [ 0. 0. 0. 1. ]] SLAMing on 82.03907232899999 meters Centerline goodness : 0.791238 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.21, Z:0.50 [[ 0.98167283 -0.17422557 0.07722638 5.25113017] [ 0.18317259 0.97444133 -0.13004578 -0.20877074] [-0.05259528 0.14180816 0.98849592 0.49600797] [ 0. 0. 0. 1. ]] SLAMing on 82.099072329 meters Centerline goodness : 0.794413 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.22, Z:0.50 [[ 0.98015734 -0.18223931 0.07797702 5.26252032] [ 0.19100036 0.97351489 -0.12564881 -0.22082383] [-0.05301364 0.13804924 0.98900554 0.49676832] [ 0. 0. 0. 1. ]] SLAMing on 82.159072329 meters Centerline goodness : 0.797071 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.22, Z:0.50 [[ 0.97905207 -0.18929267 0.07500224 5.28591928] [ 0.19709038 0.97353176 -0.11572079 -0.22475755] [-0.05111197 0.1280789 0.99044604 0.49567276] [ 0. 0. 0. 1. ]] SLAMing on 82.219072329 meters Centerline goodness : 0.795567 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.22, Z:0.50 [[ 0.97911332 -0.19082289 0.07016936 5.32708371] [ 0.19766611 0.9742106 -0.1088201 -0.22155134] [-0.04759437 0.12041732 0.99158179 0.49515127] [ 0. 0. 0. 1. ]] SLAMing on 82.27907232899999 meters Centerline goodness : 0.797944 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.22, Z:0.50 [[ 0.97902617 -0.19091923 0.07111683 5.35525712] [ 0.19775508 0.97446539 -0.10634915 -0.22374332] [-0.04899679 0.11818231 0.99178236 0.49604375] [ 0. 0. 0. 1. ]] SLAMing on 82.33907232899999 meters Centerline goodness : 0.799750 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.22, Z:0.50 [[ 0.97910707 -0.19137034 0.06875124 5.39373044] [ 0.19753855 0.97535554 -0.09828579 -0.22063902] [-0.04824792 0.10981334 0.99278052 0.49752044] [ 0. 0. 0. 1. ]] SLAMing on 82.39907232899999 meters Centerline goodness : 0.798814 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.21, Z:0.50 [[ 0.98043447 -0.18575983 0.06512707 5.4483189 ] [ 0.19144527 0.97680207 -0.09595015 -0.21416228] [-0.04579257 0.10654111 0.99325326 0.49583357] [ 0. 0. 0. 1. ]] SLAMing on 82.459072329 meters Centerline goodness : 0.799049 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.21, Z:0.50 [[ 0.98163238 -0.18080844 0.0608784 5.49061538] [ 0.18640753 0.97692423 -0.10426549 -0.21105858] [-0.0406215 0.11369857 0.99268451 0.49769597] [ 0. 0. 0. 1. ]] SLAMing on 82.519072329 meters Centerline goodness : 0.800267 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.22, Z:0.50 [[ 0.98174169 -0.18073086 0.05932637 5.49526567] [ 0.18612461 0.9770564 -0.10352983 -0.21533757] [-0.03925417 0.11268165 0.99285546 0.4971418 ] [ 0. 0. 0. 1. ]] SLAMing on 82.579072329 meters Centerline goodness : 0.801741 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.22, Z:0.50 [[ 0.98193908 -0.18002047 0.05820896 5.49824782] [ 0.18522909 0.97739637 -0.10191429 -0.22092968] [-0.03854657 0.11085562 0.99308871 0.49761488] [ 0. 0. 0. 1. ]] SLAMing on 82.63907232899999 meters Centerline goodness : 0.802852 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.22, Z:0.50 [[ 0.98207254 -0.17919707 0.05849734 5.52722924] [ 0.18429274 0.97795837 -0.09815095 -0.22256663] [-0.0396196 0.10717199 0.99345078 0.49872708] [ 0. 0. 0. 1. ]] SLAMing on 82.69907232899999 meters Centerline goodness : 0.805362 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.23, Z:0.50 [[ 0.98354141 -0.17351956 0.05037122 5.54584454] [ 0.17778282 0.97913565 -0.09842074 -0.23233427] [-0.03224234 0.10575601 0.99386926 0.5039656 ] [ 0. 0. 0. 1. ]] SLAMing on 82.75907232899999 meters Centerline goodness : 0.803032 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.24, Z:0.51 [[ 0.98537841 -0.16510754 0.04205813 5.56758607] [ 0.16855773 0.98067891 -0.09928327 -0.24187324] [-0.0248531 0.10492082 0.99416998 0.50743 ] [ 0. 0. 0. 1. ]] SLAMing on 82.819072329 meters Centerline goodness : 0.802641 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.25, Z:0.51 [[ 0.9856596 -0.16373526 0.04081562 5.57159103] [ 0.16699955 0.98120255 -0.09670945 -0.24925043] [-0.02421364 0.10213878 0.99447542 0.50522134] [ 0. 0. 0. 1. ]] SLAMing on 82.879072329 meters Centerline goodness : 0.803800 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:0.50 [[ 0.98604124 -0.16178735 0.03933865 5.57541807] [ 0.16480117 0.98201869 -0.0920862 -0.26200923] [-0.0237329 0.09728385 0.99497367 0.50397333] [ 0. 0. 0. 1. ]] SLAMing on 82.939072329 meters Centerline goodness : 0.804592 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.28, Z:0.51 [[ 0.98696598 -0.15733564 0.033818 5.58581745] [ 0.15983349 0.98283759 -0.0921061 -0.27955648] [-0.01874603 0.09631083 0.99517476 0.51019276] [ 0. 0. 0. 1. ]] SLAMing on 82.999072329 meters Centerline goodness : 0.806209 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.29, Z:0.51 [[ 0.9877492 -0.15348229 0.02819069 5.59853081] [ 0.15545131 0.98357817 -0.09169994 -0.2928885 ] [-0.01365343 0.09495882 0.99538757 0.5117032 ] [ 0. 0. 0. 1. ]] SLAMing on 83.05907232899999 meters Centerline goodness : 0.805444 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.30, Z:0.51 [[ 0.98803558 -0.15202398 0.02596938 5.60507361] [ 0.15374944 0.9841463 -0.08841479 -0.30343036] [-0.0121165 0.09134973 0.99574516 0.50881949] [ 0. 0. 0. 1. ]] SLAMing on 83.11907232899999 meters Centerline goodness : 0.803875 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.31, Z:0.51 [[ 0.98835278 -0.15026086 0.02409286 5.60955962] [ 0.15178073 0.98478925 -0.08457386 -0.31352443] [-0.01101825 0.08724564 0.99612589 0.50753943] [ 0. 0. 0. 1. ]] SLAMing on 83.179072329 meters Centerline goodness : 0.805131 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.33, Z:0.51 [[ 0.98815383 -0.15165943 0.02348254 5.61183639] [ 0.1531087 0.98468442 -0.08339252 -0.32693328] [-0.01047563 0.08600002 0.99624006 0.50740261] [ 0. 0. 0. 1. ]] SLAMing on 83.239072329 meters Centerline goodness : 0.803778 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.34, Z:0.51 [[ 9.88627756e-01 -1.49442293e-01 1.67976637e-02 5.62761503e+00] [ 1.50335805e-01 9.84939604e-01 -8.53997826e-02 -3.37195960e-01] [-3.78234489e-03 8.69538857e-02 9.96205157e-01 5.08163685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299072329 meters Centerline goodness : 0.806034 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.35, Z:0.51 [[ 9.88233982e-01 -1.52147486e-01 1.56441629e-02 5.63330570e+00] [ 1.52932141e-01 9.84486344e-01 -8.60139490e-02 -3.47919867e-01] [-2.31465868e-03 8.73944027e-02 9.96171100e-01 5.05565820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359072329 meters Centerline goodness : 0.805566 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.36, Z:0.51 [[ 9.88310998e-01 -1.51838507e-01 1.36542862e-02 5.63703606e+00] [ 1.52447238e-01 9.84959927e-01 -8.13251660e-02 -3.60805597e-01] [-1.10063294e-03 8.24561141e-02 9.96594089e-01 5.08634815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41907232899999 meters Centerline goodness : 0.804725 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.37, Z:0.51 [[ 9.88377553e-01 -1.51559980e-01 1.18061183e-02 5.64233477e+00] [ 1.52018570e-01 9.85180440e-01 -7.94345989e-02 -3.68715160e-01] [ 4.07949425e-04 8.03061238e-02 9.96770164e-01 5.07267781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47907232899999 meters Centerline goodness : 0.804470 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.38, Z:0.50 [[ 9.88528211e-01 -1.50727568e-01 9.65276660e-03 5.64958283e+00] [ 1.51022285e-01 9.85543697e-01 -7.67847100e-02 -3.77758769e-01] [ 2.06034930e-03 7.73616349e-02 9.97000969e-01 5.03641806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53907232899999 meters Centerline goodness : 0.804157 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.39, Z:0.51 [[ 9.88920787e-01 -1.48281554e-01 6.94675430e-03 5.68199209e+00] [ 1.48395814e-01 9.86320850e-01 -7.17625413e-02 -3.85492355e-01] [ 3.78933256e-03 7.19983381e-02 9.97397554e-01 5.05287431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599072329 meters Centerline goodness : 0.804578 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.39, Z:0.51 [[ 9.89374717e-01 -1.45337841e-01 3.81853878e-03 5.71639748e+00] [ 1.45280509e-01 9.87292452e-01 -6.43986688e-02 -3.88747218e-01] [ 5.58954897e-03 6.42691740e-02 9.97916946e-01 5.09180002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659072329 meters Centerline goodness : 0.805076 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.39, Z:0.51 [[ 9.89555034e-01 -1.44153256e-01 8.20350726e-04 5.75016195e+00] [ 1.43945525e-01 9.87789944e-01 -5.95878476e-02 -3.94455505e-01] [ 7.77944803e-03 5.90835404e-02 9.98222728e-01 5.13089912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719072329 meters Centerline goodness : 0.806887 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.40, Z:0.51 [[ 9.89365466e-01 -1.45426299e-01 -2.67694626e-03 5.78268421e+00] [ 1.44976602e-01 9.87457138e-01 -6.25314789e-02 -3.95505007e-01] [ 1.17370912e-02 6.14783912e-02 9.98039402e-01 5.11999776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77907232899999 meters Centerline goodness : 0.804773 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.40, Z:0.51 [[ 9.88776005e-01 -1.49331371e-01 -4.70682856e-03 5.79043512e+00] [ 1.48751461e-01 9.86903305e-01 -6.24088927e-02 -4.02001650e-01] [ 1.39647901e-02 6.10082679e-02 9.98039566e-01 5.12476110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83907232899999 meters Centerline goodness : 0.804892 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.41, Z:0.51 [[ 9.87982333e-01 -1.54490896e-01 -4.84497320e-03 5.79447077e+00] [ 1.53844809e-01 9.85910128e-01 -6.56733905e-02 -4.08754648e-01] [ 1.49226491e-02 6.41387756e-02 9.97829410e-01 5.10872624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89907232899999 meters Centerline goodness : 0.803375 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.41, Z:0.51 [[ 0.98763169 -0.15666512 -0.00629971 5.80002553] [ 0.15592071 0.9855813 -0.06571328 -0.41310961] [ 0.01650385 0.06391826 0.99781866 0.51030506] [ 0. 0. 0. 1. ]] SLAMing on 83.959072329 meters Centerline goodness : 0.801642 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.41, Z:0.51 [[ 0.98651037 -0.16338223 -0.01017491 5.81547815] [ 0.16238227 0.98455165 -0.06549851 -0.41327397] [ 0.02071902 0.06296274 0.99780079 0.51171337] [ 0. 0. 0. 1. ]] SLAMing on 84.019072329 meters Centerline goodness : 0.803273 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.42, Z:0.51 [[ 0.98572604 -0.16807183 -0.00979932 5.81627323] [ 0.16702662 0.98358076 -0.06834468 -0.41902164] [ 0.02112524 0.06573238 0.99761364 0.51330264] [ 0. 0. 0. 1. ]] SLAMing on 84.079072329 meters Centerline goodness : 0.805439 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.42, Z:0.51 [[ 0.98544703 -0.16966674 -0.01036054 5.8201374 ] [ 0.16856312 0.98326087 -0.06917032 -0.42115594] [ 0.02192302 0.06641728 0.99755106 0.51111074] [ 0. 0. 0. 1. ]] SLAMing on 84.13907232899999 meters Centerline goodness : 0.803164 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.42, Z:0.51 [[ 0.98529767 -0.17025321 -0.01422512 5.83111629] [ 0.16899885 0.98347001 -0.06500875 -0.42101731] [ 0.02505793 0.06164894 0.9977833 0.5126519 ] [ 0. 0. 0. 1. ]] SLAMing on 84.19907232899999 meters Centerline goodness : 0.803912 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.42, Z:0.51 [[ 0.9858294 -0.16703396 -0.01549352 5.83354078] [ 0.16580621 0.9842585 -0.06118413 -0.42236263] [ 0.02546946 0.05774819 0.99800624 0.51199137] [ 0. 0. 0. 1. ]] SLAMing on 84.25907232899999 meters Centerline goodness : 0.804499 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.42, Z:0.51 [[ 0.98612876 -0.16537063 -0.01423432 5.86044546] [ 0.16416912 0.98440486 -0.06321056 -0.41590051] [ 0.02446551 0.05999691 0.9978987 0.51139796] [ 0. 0. 0. 1. ]] SLAMing on 84.319072329 meters Centerline goodness : 0.806372 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.41, Z:0.51 [[ 0.9868378 -0.16141785 -0.00976892 5.87897256] [ 0.16042184 0.98478862 -0.06675483 -0.41039928] [ 0.02039574 0.06430904 0.99772159 0.50843176] [ 0. 0. 0. 1. ]] SLAMing on 84.379072329 meters Centerline goodness : 0.804330 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.40, Z:0.51 [[ 0.98758863 -0.15686855 -0.00780691 5.90402922] [ 0.15604098 0.98561178 -0.06496639 -0.40407445] [ 0.01788577 0.06294187 0.99785691 0.5091667 ] [ 0. 0. 0. 1. ]] SLAMing on 84.439072329 meters Centerline goodness : 0.806377 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.40, Z:0.51 [[ 9.88615658e-01 -1.50412313e-01 -3.90076935e-03 5.92246127e+00] [ 1.49847637e-01 9.86584326e-01 -6.47846614e-02 -3.99576153e-01] [ 1.35928487e-02 6.34626096e-02 9.97891643e-01 5.08316042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49907232899999 meters Centerline goodness : 0.806572 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.40, Z:0.51 [[ 9.89049274e-01 -1.47496607e-01 -5.12690122e-03 5.92550894e+00] [ 1.46902228e-01 9.87214184e-01 -6.18699473e-02 -3.98035083e-01] [ 1.41869569e-02 6.04392732e-02 9.98071052e-01 5.06476160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55907232899999 meters Centerline goodness : 0.807910 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.40, Z:0.50 [[ 0.98907202 -0.14728587 -0.00658923 5.93143072] [ 0.14661423 0.98729927 -0.06119162 -0.39637192] [ 0.0155182 0.05955685 0.99810429 0.50305993] [ 0. 0. 0. 1. ]] SLAMing on 84.61907232899999 meters Centerline goodness : 0.808125 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.40, Z:0.50 [[ 0.98899712 -0.14776482 -0.00708929 5.93246329] [ 0.14706668 0.98724789 -0.06093428 -0.39856972] [ 0.01600283 0.05922123 0.9981166 0.50389001] [ 0. 0. 0. 1. ]] SLAMing on 84.679072329 meters Centerline goodness : 0.808180 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.40, Z:0.51 [[ 0.98857887 -0.15037402 -0.00997344 5.93860198] [ 0.14953396 0.98698268 -0.05920124 -0.39946452] [ 0.01874595 0.05703372 0.99819625 0.50977249] [ 0. 0. 0. 1. ]] SLAMing on 84.739072329 meters Centerline goodness : 0.807676 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.40, Z:0.51 [[ 0.98853424 -0.15060132 -0.01092244 5.9422518 ] [ 0.14970219 0.98694306 -0.05943611 -0.39890758] [ 0.01973098 0.05711952 0.99817235 0.50766619] [ 0. 0. 0. 1. ]] SLAMing on 84.799072329 meters Centerline goodness : 0.806052 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.40, Z:0.51 [[ 0.98883172 -0.14854081 -0.01214339 5.94664896] [ 0.14762926 0.98740903 -0.05682433 -0.39954505] [ 0.02043123 0.05439698 0.99831034 0.50502856] [ 0. 0. 0. 1. ]] SLAMing on 84.859072329 meters Centerline goodness : 0.805521 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.40, Z:0.50 [[ 0.98926005 -0.14555465 -0.01335629 5.94902902] [ 0.14465601 0.98804465 -0.05331433 -0.39942256] [ 0.02095676 0.05080967 0.99848845 0.5043868 ] [ 0. 0. 0. 1. ]] SLAMing on 84.91907232899999 meters Centerline goodness : 0.806208 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.39, Z:0.51 [[ 0.98911528 -0.14670269 -0.01137044 5.97588856] [ 0.14586743 0.98776257 -0.05520682 -0.39435108] [ 0.01933028 0.05294733 0.9984102 0.50694063] [ 0. 0. 0. 1. ]] SLAMing on 84.97907232899999 meters Centerline goodness : 0.806544 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.39, Z:0.51 [[ 0.98905836 -0.14704995 -0.01182672 5.97695345] [ 0.14618821 0.98770993 -0.05530015 -0.39482967] [ 0.01981325 0.05296615 0.99839973 0.50701045] [ 0. 0. 0. 1. ]] SLAMing on 85.03907232899999 meters Centerline goodness : 0.807689 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.39, Z:0.51 [[ 0.98858551 -0.15007878 -0.01323047 5.9825544 ] [ 0.14909733 0.98716531 -0.0572244 -0.39257646] [ 0.02164883 0.05459858 0.99827367 0.50558503] [ 0. 0. 0. 1. ]] SLAMing on 85.099072329 meters Centerline goodness : 0.807831 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.39, Z:0.51 [[ 0.98806323 -0.15328561 -0.01531557 5.98905254] [ 0.15215072 0.98661273 -0.05869823 -0.38962871] [ 0.02410813 0.05566728 0.99815828 0.5054072 ] [ 0. 0. 0. 1. ]] SLAMing on 85.159072329 meters Centerline goodness : 0.809184 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.39, Z:0.51 [[ 0.98789704 -0.1542094 -0.01670022 5.99223986] [ 0.15298433 0.98645605 -0.05916293 -0.38793854] [ 0.02559752 0.05589201 0.99810864 0.50553992] [ 0. 0. 0. 1. ]] SLAMing on 85.219072329 meters Centerline goodness : 0.811465 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.38, Z:0.51 [[ 0.98754113 -0.15629782 -0.01826207 5.99577648] [ 0.15494605 0.98606883 -0.06049787 -0.38420858] [ 0.02746334 0.0569145 0.99800126 0.50665218] [ 0. 0. 0. 1. ]] SLAMing on 85.27907232899999 meters Centerline goodness : 0.810811 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.38, Z:0.51 [[ 0.98779673 -0.15456865 -0.01913498 5.99814988] [ 0.15323323 0.98647236 -0.05823967 -0.38335849] [ 0.02787816 0.05459684 0.99811923 0.50580371] [ 0. 0. 0. 1. ]] SLAMing on 85.33907232899999 meters Centerline goodness : 0.808999 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.38, Z:0.51 [[ 0.98764706 -0.15519373 -0.02163769 6.00443181] [ 0.15375505 0.98645622 -0.05712713 -0.37889501] [ 0.03021041 0.05309454 0.99813241 0.50618857] [ 0. 0. 0. 1. ]] SLAMing on 85.39907232899999 meters Centerline goodness : 0.808116 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.38, Z:0.51 [[ 0.9878796 -0.15357338 -0.02256333 6.00696864] [ 0.15214758 0.98681594 -0.05518534 -0.37620192] [ 0.03074085 0.05108351 0.99822116 0.50513739] [ 0. 0. 0. 1. ]] SLAMing on 85.459072329 meters Centerline goodness : 0.807276 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.37, Z:0.50 [[ 0.98818303 -0.15142835 -0.02374346 6.00942468] [ 0.15002195 0.98727491 -0.05274153 -0.37334411] [ 0.03142788 0.04855625 0.99832589 0.50436978] [ 0. 0. 0. 1. ]] SLAMing on 85.519072329 meters Centerline goodness : 0.807821 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.37, Z:0.50 [[ 0.98788333 -0.15331254 -0.02412018 6.01154227] [ 0.15181324 0.98687717 -0.0550109 -0.36804967] [ 0.03223751 0.05068259 0.99819438 0.50309299] [ 0. 0. 0. 1. ]] SLAMing on 85.579072329 meters Centerline goodness : 0.804516 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.36, Z:0.50 [[ 0.98756963 -0.15529176 -0.02430409 6.0133508 ] [ 0.15369964 0.98644335 -0.05749728 -0.36202675] [ 0.03290346 0.05304704 0.99804979 0.50165029] [ 0. 0. 0. 1. ]] SLAMing on 85.63907232899999 meters Centerline goodness : 0.803549 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.36, Z:0.50 [[ 0.98790878 -0.15290953 -0.02559148 6.01540384] [ 0.15131997 0.98692609 -0.05549021 -0.35628345] [ 0.03374188 0.05094676 0.99813121 0.50124304] [ 0. 0. 0. 1. ]] SLAMing on 85.69907232899999 meters Centerline goodness : 0.803675 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.35, Z:0.50 [[ 0.98830656 -0.15016838 -0.02644997 6.0161318 ] [ 0.14860452 0.98744588 -0.05354749 -0.35087138] [ 0.03415905 0.04899076 0.99821494 0.50130266] [ 0. 0. 0. 1. ]] SLAMing on 85.75907232899999 meters Centerline goodness : 0.801468 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.34, Z:0.50 [[ 0.98933673 -0.14396055 -0.02209515 6.03335368] [ 0.14257461 0.98825445 -0.05500565 -0.33876337] [ 0.02975428 0.0512689 0.99824155 0.49933135] [ 0. 0. 0. 1. ]] SLAMing on 85.819072329 meters Centerline goodness : 0.800797 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.33, Z:0.50 [[ 0.99065554 -0.13508122 -0.01883271 6.05277894] [ 0.13393228 0.98958505 -0.05275963 -0.32831948] [ 0.0257634 0.04974432 0.99842964 0.49726262] [ 0. 0. 0. 1. ]] SLAMing on 85.879072329 meters Centerline goodness : 0.799788 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.32, Z:0.49 [[ 0.9920592 -0.1247496 -0.01600229 6.07221763] [ 0.12379636 0.99100319 -0.0508639 -0.31559473] [ 0.02220357 0.04847898 0.99857738 0.49484771] [ 0. 0. 0. 1. ]] SLAMing on 85.939072329 meters Centerline goodness : 0.797920 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.31, Z:0.49 [[ 0.99276781 -0.11945299 -0.01196046 6.09033308] [ 0.11866918 0.99153294 -0.0527263 -0.3069856 ] [ 0.0181575 0.05092563 0.99853737 0.49365364] [ 0. 0. 0. 1. ]] SLAMing on 85.99907232899999 meters Centerline goodness : 0.799703 with order 1 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:0.50 [[ 0.99379949 -0.11050507 -0.01229658 6.13893427] [ 0.1097607 0.99269007 -0.05018984 -0.29187857] [ 0.01775292 0.04852895 0.99866399 0.4971773 ] [ 0. 0. 0. 1. ]] SLAMing on 86.05907232899999 meters Centerline goodness : 0.799278 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:0.50 [[ 0.99418617 -0.10718372 -0.01027176 6.16389519] [ 0.10656411 0.9931103 -0.04874453 -0.28062305] [ 0.01542561 0.04736654 0.99875846 0.49912167] [ 0. 0. 0. 1. ]] SLAMing on 86.11907232899999 meters Centerline goodness : 0.797870 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.27, Z:0.50 [[ 0.99434125 -0.10580715 -0.00950446 6.19346799] [ 0.1052259 0.99325457 -0.04871204 -0.26754227] [ 0.01459443 0.04743627 0.99876764 0.49830372] [ 0. 0. 0. 1. ]] SLAMing on 86.179072329 meters Centerline goodness : 0.797076 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.26, Z:0.50 [[ 0.99434032 -0.10583735 -0.00926194 6.22360467] [ 0.10524829 0.99318581 -0.05004748 -0.25861218] [ 0.01449573 0.04878943 0.99870389 0.49809598] [ 0. 0. 0. 1. ]] SLAMing on 86.239072329 meters Centerline goodness : 0.798099 with order 1 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.25, Z:0.50 [[ 0.99450292 -0.10438585 -0.00821845 6.2517006 ] [ 0.10383602 0.99328361 -0.05104651 -0.24653636] [ 0.01349178 0.04991253 0.99866246 0.49770014] [ 0. 0. 0. 1. ]] SLAMing on 86.299072329 meters Centerline goodness : 0.797840 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.24, Z:0.50 [[ 0.99474335 -0.10210993 -0.00769588 6.28081032] [ 0.10160692 0.99358499 -0.04964771 -0.23666699] [ 0.01271604 0.04860478 0.99873714 0.49816506] [ 0. 0. 0. 1. ]] SLAMing on 86.359072329 meters Centerline goodness : 0.798965 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.22, Z:0.50 [[ 0.99549575 -0.09457415 -0.00662815 6.32404022] [ 0.09408908 0.99413136 -0.05338611 -0.22372168] [ 0.0116382 0.05252201 0.99855195 0.49738996] [ 0. 0. 0. 1. ]] SLAMing on 86.41907232899999 meters Centerline goodness : 0.796437 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.21, Z:0.50 [[ 0.99681705 -0.07889518 -0.01145925 6.40887279] [ 0.07797552 0.99477305 -0.06592722 -0.20567891] [ 0.01660069 0.06482384 0.99775863 0.50245768] [ 0. 0. 0. 1. ]] SLAMing on 86.47907232899999 meters Centerline goodness : 0.797191 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.19, Z:0.50 [[ 0.99766174 -0.06694782 -0.01374948 6.48312752] [ 0.06586764 0.99551406 -0.06792069 -0.19480953] [ 0.01823494 0.06685622 0.99759598 0.50462428] [ 0. 0. 0. 1. ]] SLAMing on 86.53907232899999 meters Centerline goodness : 0.796749 with order 1 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.16, Z:0.50 [[ 9.98692331e-01 -5.10641463e-02 -2.46592217e-03 6.56924951e+00] [ 5.05046211e-02 9.92934700e-01 -1.07377672e-01 -1.64554017e-01] [ 7.93164886e-03 1.07112717e-01 9.94215246e-01 5.02043551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599072329 meters Centerline goodness : 0.796472 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.14, Z:0.50 [[ 9.99178623e-01 -3.91730948e-02 1.03705612e-02 6.64880423e+00] [ 4.02768439e-02 9.88188017e-01 -1.47858783e-01 -1.41410248e-01] [-4.45597812e-03 1.48155029e-01 9.88954110e-01 5.01187869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659072329 meters Centerline goodness : 0.798434 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.12, Z:0.50 [[ 0.99962256 -0.01919597 0.01965348 6.74708179] [ 0.02272583 0.97974596 -0.19895072 -0.11765779] [-0.01543636 0.19932227 0.97981241 0.50055861] [ 0. 0. 0. 1. ]] SLAMing on 86.719072329 meters Centerline goodness : 0.798862 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.11, Z:0.50 [[ 9.99686234e-01 -5.52932699e-03 2.44307040e-02 6.82557032e+00] [ 1.08002212e-02 9.75161472e-01 -2.21231684e-01 -1.06980340e-01] [-2.26006190e-02 2.21426126e-01 9.74915218e-01 4.99868773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77907232899999 meters Centerline goodness : 0.796691 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.10, Z:0.50 [[ 9.99558242e-01 8.43620902e-03 2.84982597e-02 6.90887497e+00] [-1.00025858e-03 9.67874449e-01 -2.51432000e-01 -9.96303784e-02] [-2.97038703e-02 2.51292423e-01 9.67455321e-01 4.98668452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83907232899999 meters Centerline goodness : 0.799622 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.10, Z:0.50 [[ 9.99218985e-01 1.58580932e-02 3.61931184e-02 6.97613629e+00] [-5.31768381e-03 9.61571252e-01 -2.74504005e-01 -9.78023546e-02] [-3.91553723e-02 2.74097149e-01 9.60904579e-01 4.99349766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89907232899999 meters Centerline goodness : 0.798069 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.10, Z:0.50 [[ 9.99127419e-01 1.43075241e-02 3.92389454e-02 7.00804912e+00] [-3.08755453e-03 9.62225877e-01 -2.72234879e-01 -1.02371122e-01] [-4.16517357e-02 2.71876180e-01 9.61430432e-01 4.96363616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.959072329 meters Centerline goodness : 0.798565 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.11, Z:0.49 [[ 9.99050223e-01 1.22405324e-02 4.18188993e-02 7.04212603e+00] [-5.31869800e-04 9.63086309e-01 -2.69192271e-01 -1.05466925e-01] [-4.35702661e-02 2.68914357e-01 9.62178102e-01 4.92722947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019072329 meters Centerline goodness : 0.799207 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.11, Z:0.49 [[ 9.98985097e-01 9.95553378e-03 4.39279269e-02 7.09754201e+00] [ 2.12718619e-03 9.63751363e-01 -2.66793527e-01 -1.11899669e-01] [-4.49916714e-02 2.66616200e-01 9.62752072e-01 4.92963214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079072329 meters Centerline goodness : 0.799026 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.12, Z:0.49 [[ 9.98892897e-01 6.72348750e-03 4.65593800e-02 7.13352137e+00] [ 5.28960733e-03 9.67403748e-01 -2.53183745e-01 -1.21464128e-01] [-4.67439965e-02 2.53149725e-01 9.66297167e-01 4.92245662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13907232899999 meters Centerline goodness : 0.799007 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.13, Z:0.49 [[ 9.98980194e-01 4.52431550e-03 4.49232954e-02 7.15449634e+00] [ 6.25079575e-03 9.71527026e-01 -2.36846292e-01 -1.33898256e-01] [-4.47157629e-02 2.36885561e-01 9.70507976e-01 4.92899847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19907232899999 meters Centerline goodness : 0.799390 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.14, Z:0.49 [[ 9.98998083e-01 2.22061434e-03 4.46978749e-02 7.18494518e+00] [ 7.61827407e-03 9.75752447e-01 -2.18744427e-01 -1.41819405e-01] [-4.40998078e-02 2.18865784e-01 9.74757906e-01 4.92126339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25907232899999 meters Centerline goodness : 0.799898 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.15, Z:0.49 [[ 9.99045097e-01 3.83422686e-03 4.35223246e-02 7.22340756e+00] [ 5.31854858e-03 9.78060909e-01 -2.08251222e-01 -1.52414240e-01] [-4.33659668e-02 2.08283838e-01 9.77106563e-01 4.91781332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.319072329 meters Centerline goodness : 0.803427 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.16, Z:0.49 [[ 9.98970778e-01 9.82069820e-03 4.42824801e-02 7.27398969e+00] [-6.43797314e-04 9.79251247e-01 -2.02648908e-01 -1.63429237e-01] [-4.53538277e-02 2.02411829e-01 9.78249703e-01 4.90817947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379072329 meters Centerline goodness : 0.801393 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.18, Z:0.49 [[ 9.98960833e-01 9.31768136e-03 4.46142868e-02 7.29717442e+00] [-9.43277368e-04 9.82896449e-01 -1.84156676e-01 -1.76122742e-01] [-4.55671373e-02 1.83923223e-01 9.81883844e-01 4.91491909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439072329 meters Centerline goodness : 0.803139 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.19, Z:0.49 [[ 9.98959491e-01 7.86042409e-03 4.49238169e-02 7.31723495e+00] [-1.38491816e-04 9.85553395e-01 -1.69364949e-01 -1.87003816e-01] [-4.56061006e-02 1.69182501e-01 9.84529007e-01 4.91491582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49907232899999 meters Centerline goodness : 0.801894 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.20, Z:0.49 [[ 9.98815152e-01 6.56603101e-03 4.82201125e-02 7.33843028e+00] [ 1.04372539e-03 9.87737929e-01 -1.56117566e-01 -2.01265840e-01] [-4.86539069e-02 1.55982919e-01 9.86560757e-01 4.88938539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55907232899999 meters Centerline goodness : 0.803477 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.21, Z:0.49 [[ 9.98871919e-01 4.26190298e-03 4.72940298e-02 7.35553723e+00] [ 2.59791515e-03 9.89567857e-01 -1.44044115e-01 -2.12384649e-01] [-4.74145538e-02 1.44004488e-01 9.88440472e-01 4.89914274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61907232899999 meters Centerline goodness : 0.802806 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.22, Z:0.49 [[ 9.98811740e-01 3.14707473e-03 4.86333712e-02 7.38851791e+00] [ 3.12948008e-03 9.91711593e-01 -1.28445793e-01 -2.24409169e-01] [-4.86345065e-02 1.28445363e-01 9.90523333e-01 4.86115862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679072329 meters Centerline goodness : 0.802893 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.24, Z:0.49 [[ 9.98891897e-01 -7.89887904e-04 4.70569270e-02 7.40179620e+00] [ 6.44659607e-03 9.92731174e-01 -1.20180101e-01 -2.39051909e-01] [-4.66199496e-02 1.20350286e-01 9.91636218e-01 4.87915516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739072329 meters Centerline goodness : 0.803833 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.25, Z:0.49 [[ 9.98739266e-01 -4.72288717e-03 4.99757141e-02 7.40830643e+00] [ 1.02212311e-02 9.93840838e-01 -1.10344531e-01 -2.53872789e-01] [-4.91467608e-02 1.10716229e-01 9.92636143e-01 4.88135394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799072329 meters Centerline goodness : 0.803616 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.26, Z:0.49 [[ 0.99880489 -0.01001365 0.04783855 7.42616439] [ 0.01482825 0.9947379 -0.10137377 -0.26315712] [-0.04657169 0.10196198 0.99369756 0.49046773] [ 0. 0. 0. 1. ]] SLAMing on 87.859072329 meters Centerline goodness : 0.805486 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.28, Z:0.49 [[ 0.9984514 -0.01914541 0.05223279 7.42002959] [ 0.0240015 0.99528404 -0.09398722 -0.28269055] [-0.05018704 0.09509534 0.99420226 0.49174806] [ 0. 0. 0. 1. ]] SLAMing on 87.91907232899999 meters Centerline goodness : 0.805273 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.30, Z:0.50 [[ 0.99839748 -0.02444267 0.05103955 7.43051064] [ 0.02886339 0.99572383 -0.08775509 -0.29596881] [-0.04867633 0.08908763 0.99483366 0.49625531] [ 0. 0. 0. 1. ]] SLAMing on 87.97907232899999 meters Centerline goodness : 0.805828 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.31, Z:0.50 [[ 0.99830102 -0.03162339 0.04893903 7.43286091] [ 0.03518376 0.99666055 -0.07368753 -0.31252296] [-0.04644535 0.0752842 0.99607988 0.4952415 ] [ 0. 0. 0. 1. ]] SLAMing on 88.03907232899999 meters Centerline goodness : 0.803079 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.33, Z:0.49 [[ 0.99836867 -0.03224934 0.04711672 7.43904336] [ 0.03555035 0.99684331 -0.07099001 -0.3256013 ] [-0.0446786 0.07254922 0.9963636 0.49234382] [ 0. 0. 0. 1. ]] SLAMing on 88.099072329 meters Centerline goodness : 0.806404 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.34, Z:0.49 [[ 0.99839379 -0.03236357 0.04650209 7.4404982 ] [ 0.03555124 0.9969523 -0.06944223 -0.33531847] [-0.04411297 0.0709839 0.99650155 0.49206878] [ 0. 0. 0. 1. ]] SLAMing on 88.159072329 meters Centerline goodness : 0.806827 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.35, Z:0.50 [[ 0.99843828 -0.03123738 0.04631656 7.43944667] [ 0.03418891 0.99734053 -0.06436601 -0.34776256] [-0.04418276 0.065849 0.99685094 0.49686963] [ 0. 0. 0. 1. ]] SLAMing on 88.219072329 meters Centerline goodness : 0.807545 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.36, Z:0.50 [[ 0.9985196 -0.02908823 0.04596176 7.44011505] [ 0.03186716 0.997633 -0.06093349 -0.3566489 ] [-0.04408052 0.06230796 0.99708306 0.49670775] [ 0. 0. 0. 1. ]] SLAMing on 88.27907232899999 meters Centerline goodness : 0.810004 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.36, Z:0.50 [[ 0.99856408 -0.02796611 0.04569104 7.44044979] [ 0.03064005 0.99779295 -0.0589103 -0.36333745] [-0.04394271 0.06022568 0.99721708 0.49668873] [ 0. 0. 0. 1. ]] SLAMing on 88.33907232899999 meters Centerline goodness : 0.811556 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.38, Z:0.50 [[ 0.99871135 -0.02284822 0.04531663 7.43976214] [ 0.02512089 0.99842158 -0.05023239 -0.37625566] [-0.04409738 0.05130606 0.99770893 0.50042921] [ 0. 0. 0. 1. ]] SLAMing on 88.39907232899999 meters Centerline goodness : 0.813923 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.39, Z:0.50 [[ 0.99877248 -0.0212557 0.04474071 7.44105146] [ 0.02336197 0.99861726 -0.04709335 -0.38595126] [-0.04367785 0.04808077 0.99788801 0.50018877] [ 0. 0. 0. 1. ]] SLAMing on 88.459072329 meters Centerline goodness : 0.812874 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.39, Z:0.50 [[ 0.99881657 -0.02051686 0.04409678 7.44287268] [ 0.02250735 0.99872768 -0.04512689 -0.39415672] [-0.04311482 0.04606599 0.99800753 0.49955068] [ 0. 0. 0. 1. ]] SLAMing on 88.519072329 meters Centerline goodness : 0.817522 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.41, Z:0.50 [[ 0.99886703 -0.01859771 0.04380396 7.44216855] [ 0.02038072 0.99896696 -0.04061573 -0.4063096 ] [-0.04300335 0.04146247 0.99821419 0.50219607] [ 0. 0. 0. 1. ]] SLAMing on 88.579072329 meters Centerline goodness : 0.817391 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.41, Z:0.50 [[ 0.99890634 -0.01790387 0.04319239 7.44382229] [ 0.01957666 0.99906211 -0.03862206 -0.41284063] [-0.0424604 0.03942538 0.99831997 0.50173192] [ 0. 0. 0. 1. ]] SLAMing on 88.63907232899999 meters Centerline goodness : 0.817819 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.42, Z:0.50 [[ 0.99896222 -0.01694153 0.0422784 7.4452178 ] [ 0.01843075 0.99921431 -0.03508662 -0.42497352] [-0.04165076 0.03582943 0.99848959 0.50345813] [ 0. 0. 0. 1. ]] SLAMing on 88.69907232899999 meters Centerline goodness : 0.820617 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.43, Z:0.50 [[ 0.99891526 -0.01903566 0.04249641 7.4440581 ] [ 0.02056943 0.99914184 -0.03595113 -0.4347811 ] [-0.04177559 0.03678626 0.99844958 0.50463251] [ 0. 0. 0. 1. ]] SLAMing on 88.75907232899999 meters Centerline goodness : 0.820207 with order 1 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.44, Z:0.51 [[ 0.99909238 -0.01662788 0.03921641 7.48145049] [ 0.01778037 0.99941472 -0.02922447 -0.44258806] [-0.03870751 0.02989523 0.99880329 0.50565433] [ 0. 0. 0. 1. ]] SLAMing on 88.819072329 meters Centerline goodness : 0.822982 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.44, Z:0.51 [[ 0.99919764 -0.01529184 0.03701675 7.51673306] [ 0.01631269 0.99949048 -0.02743489 -0.44424779] [-0.03657836 0.02801672 0.99893798 0.50547064] [ 0. 0. 0. 1. ]] SLAMing on 88.879072329 meters Centerline goodness : 0.823641 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.45, Z:0.50 [[ 0.99946523 -0.0109478 0.03081218 7.57490745] [ 0.01189844 0.9994535 -0.03084044 -0.44692509] [-0.0304577 0.03119057 0.99904929 0.50368635] [ 0. 0. 0. 1. ]] SLAMing on 88.939072329 meters Centerline goodness : 0.829341 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.45, Z:0.50 [[ 0.9995876 -0.00980592 0.0269902 7.61240237] [ 0.01055563 0.99955842 -0.02777657 -0.45345187] [-0.02670591 0.02805001 0.99924971 0.50362785] [ 0. 0. 0. 1. ]] SLAMing on 88.99907232899999 meters Centerline goodness : 0.828007 with order 1 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.46, Z:0.50 [[ 9.99664012e-01 -7.55580380e-03 2.47946152e-02 7.64124785e+00] [ 8.27154574e-03 9.99548304e-01 -2.88923915e-02 -4.57675086e-01] [-2.45651103e-02 2.90877738e-02 9.99274966e-01 5.01806373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05907232899999 meters Centerline goodness : 0.827992 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.46, Z:0.51 [[ 9.99819736e-01 -7.09402870e-03 1.76116503e-02 7.69045919e+00] [ 7.69493988e-03 9.99382296e-01 -3.42901467e-02 -4.62669470e-01] [-1.73575162e-02 3.44194860e-02 9.99256732e-01 5.07219307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11907232899999 meters Centerline goodness : 0.828391 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.47, Z:0.51 [[ 0.99980014 -0.01183196 0.01611446 7.72356651] [ 0.0124009 0.99928646 -0.03567616 -0.4719617 ] [-0.01568084 0.03586887 0.99923347 0.51109006] [ 0. 0. 0. 1. ]] SLAMing on 89.179072329 meters Centerline goodness : 0.829026 with order 1 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.48, Z:0.51 [[ 0.99981732 -0.014777 0.01212338 7.76227807] [ 0.01517753 0.99931879 -0.03363927 -0.4782134 ] [-0.01161804 0.03381713 0.99936051 0.51351884] [ 0. 0. 0. 1. ]] SLAMing on 89.239072329 meters Centerline goodness : 0.830626 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.48, Z:0.51 [[ 0.99974217 -0.01962368 0.01142359 7.76583457] [ 0.02004032 0.99909274 -0.03757763 -0.48195942] [-0.01067581 0.03779688 0.99922841 0.51106706] [ 0. 0. 0. 1. ]] SLAMing on 89.299072329 meters Centerline goodness : 0.829987 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.49, Z:0.51 [[ 0.99973187 -0.0206015 0.0105718 7.76872991] [ 0.0209789 0.99909783 -0.03692452 -0.48785831] [-0.00980156 0.03713641 0.99926214 0.51055283] [ 0. 0. 0. 1. ]] SLAMing on 89.359072329 meters Centerline goodness : 0.828009 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.49, Z:0.51 [[ 0.99972259 -0.02140001 0.00983758 7.77152004] [ 0.02174786 0.99908861 -0.03672853 -0.49009261] [-0.00904262 0.03693229 0.99927686 0.50932358] [ 0. 0. 0. 1. ]] SLAMing on 89.41907232899999 meters Centerline goodness : 0.825960 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.49, Z:0.51 [[ 9.99862278e-01 -1.63810224e-02 2.66211442e-03 7.81986130e+00] [ 1.64731298e-02 9.99089766e-01 -3.93481346e-02 -4.91793544e-01] [-2.01512860e-03 3.93865689e-02 9.99222016e-01 5.13809525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47907232899999 meters Centerline goodness : 0.824950 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.49, Z:0.51 [[ 9.99915134e-01 -1.26456312e-02 3.13260369e-03 7.84854880e+00] [ 1.27570080e-02 9.99175793e-01 -3.85356077e-02 -4.91670450e-01] [-2.64271469e-03 3.85723000e-02 9.99252317e-01 5.13456689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53907232899999 meters Centerline goodness : 0.824060 with order 1 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.49, Z:0.52 [[ 9.99974972e-01 -1.23320423e-03 -6.96672719e-03 7.91472157e+00] [ 8.99377829e-04 9.98860406e-01 -4.77187566e-02 -4.91382977e-01] [ 7.01763493e-03 4.77112966e-02 9.98836516e-01 5.16020939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599072329 meters Centerline goodness : 0.820003 with order 1 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.49, Z:0.52 [[ 9.99967520e-01 -4.32777033e-04 -8.04807891e-03 7.95301192e+00] [ 7.44794362e-05 9.99010862e-01 -4.44667533e-02 -4.92423264e-01] [ 8.05936243e-03 4.44647096e-02 9.98978446e-01 5.18822661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659072329 meters Centerline goodness : 0.820484 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.49, Z:0.52 [[ 9.99954823e-01 2.54195066e-03 -9.15921766e-03 7.95666111e+00] [-2.91441035e-03 9.99159655e-01 -4.08838565e-02 -4.92317019e-01] [ 9.04759601e-03 4.09087032e-02 9.99121924e-01 5.17507340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719072329 meters Centerline goodness : 0.818588 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.49, Z:0.52 [[ 9.99935444e-01 6.32449023e-04 -1.13449124e-02 8.00120052e+00] [-1.08124875e-03 9.99215140e-01 -3.95971597e-02 -4.92665774e-01] [ 1.13109651e-02 3.96068702e-02 9.99151319e-01 5.18188834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77907232899999 meters Centerline goodness : 0.817231 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.49, Z:0.52 [[ 9.99926559e-01 -5.47837693e-04 -1.21068479e-02 8.04002489e+00] [ 8.08104385e-05 9.99256965e-01 -3.85423299e-02 -4.90532628e-01] [ 1.21189670e-02 3.85385210e-02 9.99183623e-01 5.19165502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83907232899999 meters Centerline goodness : 0.818572 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.49, Z:0.52 [[ 9.99908702e-01 1.39286187e-03 -1.34405477e-02 8.04474222e+00] [-1.87394629e-03 9.99355512e-01 -3.58475734e-02 -4.88706280e-01] [ 1.33819547e-02 3.58694874e-02 9.99266883e-01 5.17747560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89907232899999 meters Centerline goodness : 0.818828 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.49, Z:0.52 [[ 9.99979427e-01 -3.48607333e-03 -5.38443672e-03 8.06565507e+00] [ 3.31142020e-03 9.99478796e-01 -3.21118634e-02 -4.88430372e-01] [ 5.49357464e-03 3.20933726e-02 9.99469777e-01 5.15954102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959072329 meters Centerline goodness : 0.822882 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.49, Z:0.52 [[ 9.99969967e-01 -4.94590726e-03 -5.96686641e-03 8.06782320e+00] [ 4.74496170e-03 9.99436349e-01 -3.32335751e-02 -4.86381026e-01] [ 6.12787336e-03 3.32042645e-02 9.99429800e-01 5.15427163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019072329 meters Centerline goodness : 0.822559 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.48, Z:0.51 [[ 9.99938312e-01 -6.17003622e-03 -9.23593487e-03 8.08001105e+00] [ 5.87999635e-03 9.99498739e-01 -3.11078196e-02 -4.82499856e-01] [ 9.42324163e-03 3.10515934e-02 9.99473362e-01 5.13961902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079072329 meters Centerline goodness : 0.823661 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.48, Z:0.51 [[ 9.99914937e-01 -8.09666906e-03 -1.02255686e-02 8.08356465e+00] [ 7.76239687e-03 9.99447527e-01 -3.23169593e-02 -4.81819096e-01] [ 1.04815790e-02 3.22348355e-02 9.99425361e-01 5.13004526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13907232899999 meters Centerline goodness : 0.824690 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.48, Z:0.51 [[ 9.99875368e-01 -7.99948122e-03 -1.36109077e-02 8.09391814e+00] [ 7.60916322e-03 9.99565089e-01 -2.84909208e-02 -4.80689426e-01] [ 1.38329007e-02 2.83838023e-02 9.99501381e-01 5.14193499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19907232899999 meters Centerline goodness : 0.824610 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.48, Z:0.52 [[ 9.99838265e-01 -7.48199326e-03 -1.63542975e-02 8.10173205e+00] [ 7.07543366e-03 9.99667950e-01 -2.47775579e-02 -4.79190592e-01] [ 1.65342526e-02 2.46578367e-02 9.99559208e-01 5.16456922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25907232899999 meters Centerline goodness : 0.826020 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.48, Z:0.52 [[ 9.99826161e-01 -8.17020203e-03 -1.67599674e-02 8.10270736e+00] [ 7.74376271e-03 9.99648570e-01 -2.53529275e-02 -4.78179645e-01] [ 1.69612160e-02 2.52187350e-02 9.99538060e-01 5.16639935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319072329 meters Centerline goodness : 0.825723 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.48, Z:0.52 [[ 9.99826803e-01 -6.21270304e-03 -1.75432900e-02 8.10614848e+00] [ 5.81046720e-03 9.99721177e-01 -2.28868106e-02 -4.75927887e-01] [ 1.76805875e-02 2.27809120e-02 9.99584127e-01 5.15390240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379072329 meters Centerline goodness : 0.822666 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.47, Z:0.51 [[ 9.99824109e-01 -3.87998141e-03 -1.83492966e-02 8.10951681e+00] [ 3.50517909e-03 9.99785464e-01 -2.04142134e-02 -4.72192027e-01] [ 1.84245668e-02 2.03463051e-02 9.99623211e-01 5.13831596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439072329 meters Centerline goodness : 0.821874 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.47, Z:0.52 [[ 9.99825554e-01 -6.61418434e-04 -1.86661179e-02 8.10976705e+00] [ 3.47060568e-04 9.99858148e-01 -1.68393121e-02 -4.70791089e-01] [ 1.86746080e-02 1.68298963e-02 9.99683957e-01 5.15368104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49907232899999 meters Centerline goodness : 0.820807 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.47, Z:0.52 [[ 9.99809238e-01 2.26176547e-03 -1.94003098e-02 8.11176029e+00] [-2.52433873e-03 9.99905405e-01 -1.35206947e-02 -4.72249404e-01] [ 1.93678940e-02 1.35670884e-02 9.99720370e-01 5.15591711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55907232899999 meters Centerline goodness : 0.817207 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.47, Z:0.51 [[ 9.99773590e-01 7.38795752e-03 -1.99546028e-02 8.11577307e+00] [-7.55456038e-03 9.99937128e-01 -8.28665599e-03 -4.68675353e-01] [ 1.98921267e-02 8.43552806e-03 9.99766545e-01 5.13045254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61907232899999 meters Centerline goodness : 0.817482 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.47, Z:0.51 [[ 0.99982833 0.01163921 -0.01441678 8.13027186] [-0.01184888 0.99982401 -0.01454499 -0.4654246 ] [ 0.01424495 0.01471332 0.99979028 0.50807141] [ 0. 0. 0. 1. ]] SLAMing on 90.679072329 meters Centerline goodness : 0.817589 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.47, Z:0.51 [[ 0.99977431 0.01497852 -0.01506593 8.13236428] [-0.01514401 0.99982557 -0.01093108 -0.4668762 ] [ 0.01489957 0.01115677 0.99982675 0.50766756] [ 0. 0. 0. 1. ]] SLAMing on 90.739072329 meters Centerline goodness : 0.819794 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.46, Z:0.50 [[ 0.99967072 0.02291106 -0.01155564 8.15140707] [-0.02306032 0.99965016 -0.01295329 -0.46158978] [ 0.01125483 0.0132155 0.99984933 0.5033713 ] [ 0. 0. 0. 1. ]] SLAMing on 90.799072329 meters Centerline goodness : 0.818081 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.46, Z:0.50 [[ 0.99948146 0.03094625 -0.00889556 8.17206098] [-0.03108041 0.99939883 -0.01536164 -0.45607459] [ 0.00841482 0.01563015 0.99984243 0.49774098] [ 0. 0. 0. 1. ]] SLAMing on 90.859072329 meters Centerline goodness : 0.816543 with order 1 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.45, Z:0.49 [[ 9.99369146e-01 3.51253089e-02 -5.24622885e-03 8.19009339e+00] [-3.52275561e-02 9.99161418e-01 -2.08681782e-02 -4.54678936e-01] [ 4.50882825e-03 2.10398252e-02 9.99768471e-01 4.94249691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91907232899999 meters Centerline goodness : 0.821136 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.45, Z:0.49 [[ 9.98999873e-01 4.44881225e-02 -4.47885631e-03 8.21882053e+00] [-4.45587209e-02 9.98859741e-01 -1.71387707e-02 -4.52775136e-01] [ 3.71127752e-03 1.73212019e-02 9.99843089e-01 4.91846749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97907232899999 meters Centerline goodness : 0.820997 with order 1 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.45, Z:0.49 [[ 9.98563703e-01 5.35286206e-02 -2.28438588e-03 8.24134361e+00] [-5.35598901e-02 9.98418846e-01 -1.70630212e-02 -4.51789655e-01] [ 1.36741392e-03 1.71608651e-02 9.99851806e-01 4.87023017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03907232899999 meters Centerline goodness : 0.820551 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.45, Z:0.48 [[ 9.98311808e-01 5.80337813e-02 2.36926630e-03 8.25734932e+00] [-5.79696957e-02 9.98086920e-01 -2.14945267e-02 -4.53441860e-01] [-3.61214237e-03 2.13208942e-02 9.99766159e-01 4.84726865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099072329 meters Centerline goodness : 0.826039 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.46, Z:0.48 [[ 9.97891632e-01 6.48330276e-02 2.99489978e-03 8.28867786e+00] [-6.47685390e-02 9.97735870e-01 -1.81154913e-02 -4.55317149e-01] [-4.16260108e-03 1.78833218e-02 9.99831416e-01 4.82354874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159072329 meters Centerline goodness : 0.823469 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.46, Z:0.48 [[ 9.97628582e-01 6.87691570e-02 2.83125522e-03 8.31912866e+00] [-6.87046693e-02 9.97462138e-01 -1.86802634e-02 -4.57430230e-01] [-4.10869585e-03 1.84414443e-02 9.99821500e-01 4.78584781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219072329 meters Centerline goodness : 0.823407 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.46, Z:0.48 [[ 9.97612801e-01 6.89424147e-02 3.95514894e-03 8.34702443e+00] [-6.88346723e-02 9.97365867e-01 -2.28717000e-02 -4.60420180e-01] [-5.52156078e-03 2.25448493e-02 9.99730585e-01 4.75596287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27907232899999 meters Centerline goodness : 0.826320 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.47, Z:0.47 [[ 9.97610921e-01 6.89217708e-02 4.71596333e-03 8.37819506e+00] [-6.87911692e-02 9.97347636e-01 -2.37795591e-02 -4.65593975e-01] [-6.34238420e-03 2.33983312e-02 9.99706103e-01 4.74271364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33907232899999 meters Centerline goodness : 0.829206 with order 1 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.47, Z:0.47 [[ 9.97697402e-01 6.77425252e-02 3.29314461e-03 8.41684704e+00] [-6.76494344e-02 9.97444159e-01 -2.29935550e-02 -4.69210025e-01] [-4.84236934e-03 2.27178308e-02 9.99730189e-01 4.73558389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39907232899999 meters Centerline goodness : 0.830772 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.48, Z:0.47 [[ 9.97856425e-01 6.52981949e-02 4.32438733e-03 8.44594202e+00] [-6.51562924e-02 9.97499901e-01 -2.73606354e-02 -4.75111271e-01] [-6.10017603e-03 2.70202248e-02 9.99616274e-01 4.72052274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459072329 meters Centerline goodness : 0.829470 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.48, Z:0.47 [[ 9.98055190e-01 6.22256142e-02 3.71626383e-03 8.48331228e+00] [-6.20988798e-02 9.97682754e-01 -2.78002035e-02 -4.81351703e-01] [-5.43753707e-03 2.75153616e-02 9.99606592e-01 4.70608554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519072329 meters Centerline goodness : 0.827706 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.48, Z:0.47 [[ 9.98123224e-01 6.11762964e-02 2.73704518e-03 8.48719693e+00] [-6.10754109e-02 9.97736331e-01 -2.81426193e-02 -4.82460163e-01] [-4.45251063e-03 2.79226357e-02 9.99600171e-01 4.67886071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579072329 meters Centerline goodness : 0.827777 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.49, Z:0.46 [[ 9.98334662e-01 5.76813304e-02 8.75903445e-04 8.49290828e+00] [-5.76283543e-02 9.97877980e-01 -3.03069218e-02 -4.87602223e-01] [-2.62218833e-03 3.02059737e-02 9.99540256e-01 4.64889298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63907232899999 meters Centerline goodness : 0.828802 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.49, Z:0.46 [[ 9.98619780e-01 5.25214386e-02 -1.82547944e-04 8.49607859e+00] [-5.24962492e-02 9.98020474e-01 -3.46305710e-02 -4.90792352e-01] [-1.63666083e-03 3.45923563e-02 9.99400165e-01 4.62825041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69907232899999 meters Centerline goodness : 0.829826 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.49, Z:0.46 [[ 9.98671507e-01 5.15222144e-02 -8.25725223e-04 8.49834162e+00] [-5.15202586e-02 9.98084881e-01 -3.42378825e-02 -4.94636731e-01] [-9.39867663e-04 3.42349393e-02 9.99413371e-01 4.62403611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75907232899999 meters Centerline goodness : 0.829865 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.50, Z:0.46 [[ 9.98759013e-01 4.97248416e-02 -2.80609021e-03 8.50361608e+00] [-4.97900931e-02 9.98224187e-01 -3.27019607e-02 -4.99440598e-01] [ 1.17500731e-03 3.28010935e-02 9.99461209e-01 4.64002916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.819072329 meters Centerline goodness : 0.831709 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.50, Z:0.46 [[ 9.98965923e-01 4.51229594e-02 5.56806400e-03 8.51957115e+00] [-4.49442048e-02 9.98572015e-01 -2.88781697e-02 -5.01604260e-01] [-6.86318137e-03 2.85980553e-02 9.99567430e-01 4.61605206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879072329 meters Centerline goodness : 0.832588 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.51, Z:0.46 [[ 9.98841716e-01 4.78728314e-02 4.83926845e-03 8.52221839e+00] [-4.77399754e-02 9.98556754e-01 -2.46029313e-02 -5.05408074e-01] [-6.01009617e-03 2.43434076e-02 9.99685589e-01 4.61712229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939072329 meters Centerline goodness : 0.832202 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.51, Z:0.46 [[ 9.98888263e-01 4.69843095e-02 3.83575108e-03 8.52553441e+00] [-4.68769539e-02 9.98601524e-01 -2.44447727e-02 -5.09254532e-01] [-4.97890764e-03 2.42377882e-02 9.99693823e-01 4.60117418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99907232899999 meters Centerline goodness : 0.830856 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.51, Z:0.46 [[ 9.98914082e-01 4.64700255e-02 3.34554190e-03 8.52725374e+00] [-4.63758953e-02 9.98631393e-01 -2.41788415e-02 -5.11739622e-01] [-4.46455455e-03 2.39974327e-02 9.99702051e-01 4.59425235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05907232899999 meters Centerline goodness : 0.831765 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.52, Z:0.46 [[ 9.98801568e-01 4.89077015e-02 1.86113923e-03 8.53192171e+00] [-4.88633781e-02 9.98622963e-01 -1.90931603e-02 -5.15828710e-01] [-2.79237896e-03 1.89793369e-02 9.99815977e-01 4.60311639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11907232899999 meters Centerline goodness : 0.825707 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:0.46 [[ 9.98794021e-01 4.90943625e-02 4.96922614e-04 8.56677576e+00] [-4.90730531e-02 9.98573490e-01 -2.10432989e-02 -5.17805944e-01] [-1.52932109e-03 2.09935356e-02 9.99778442e-01 4.58260965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.179072329 meters Centerline goodness : 0.824585 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.52, Z:0.46 [[ 9.98826226e-01 4.83834525e-02 -2.28289882e-03 8.60569145e+00] [-4.84222689e-02 9.98580336e-01 -2.21945257e-02 -5.20546728e-01] [ 1.20581009e-03 2.22790175e-02 9.99751065e-01 4.55693942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239072329 meters Centerline goodness : 0.823587 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.52, Z:0.45 [[ 9.98834099e-01 4.81203517e-02 -3.85683660e-03 8.64233513e+00] [-4.82007199e-02 9.98536496e-01 -2.45266449e-02 -5.21648842e-01] [ 2.67096133e-03 2.46839516e-02 9.99691737e-01 4.51277580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299072329 meters Centerline goodness : 0.823375 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.53, Z:0.45 [[ 9.98628720e-01 5.18114314e-02 -7.50032049e-03 8.69446927e+00] [-5.20199195e-02 9.98166204e-01 -3.09541191e-02 -5.25019146e-01] [ 5.88278921e-03 3.13018384e-02 9.99492665e-01 4.51333411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359072329 meters Centerline goodness : 0.823786 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.53, Z:0.45 [[ 0.9983487 0.05613945 -0.01217532 8.74675111] [-0.05655322 0.99772018 -0.03682635 -0.52780201] [ 0.01008015 0.0374541 0.99924751 0.45162378] [ 0. 0. 0. 1. ]] SLAMing on 92.41907232899999 meters Centerline goodness : 0.826368 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.54, Z:0.45 [[ 0.9978496 0.06238838 -0.02009638 8.80905431] [-0.06311365 0.99729244 -0.03774193 -0.5358699 ] [ 0.01768731 0.03892913 0.99908542 0.45183959] [ 0. 0. 0. 1. ]] SLAMing on 92.47907232899999 meters Centerline goodness : 0.823136 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.54, Z:0.45 [[ 0.99775955 0.06374231 -0.02031753 8.80995077] [-0.06444599 0.99726809 -0.03609799 -0.53816033] [ 0.01796105 0.0373265 0.9991417 0.4511897 ] [ 0. 0. 0. 1. ]] SLAMing on 92.53907232899999 meters Centerline goodness : 0.821594 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.54, Z:0.45 [[ 0.99782438 0.06265506 -0.0205148 8.84132266] [-0.0634601 0.99713046 -0.04127543 -0.53929934] [ 0.01786982 0.0424875 0.99893718 0.44585362] [ 0. 0. 0. 1. ]] SLAMing on 92.599072329 meters Centerline goodness : 0.821362 with order 1 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.54, Z:0.44 [[ 0.99800899 0.05910879 -0.02200484 8.87808177] [-0.06007031 0.99713577 -0.04595442 -0.5411936 ] [ 0.0192255 0.04718477 0.99870115 0.44285295] [ 0. 0. 0. 1. ]] SLAMing on 92.659072329 meters Centerline goodness : 0.821482 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.55, Z:0.45 [[ 0.998088 0.05802777 -0.0212865 8.90969897] [-0.05896033 0.99719216 -0.04616783 -0.5462338 ] [ 0.01854771 0.04733462 0.99870687 0.44591045] [ 0. 0. 0. 1. ]] SLAMing on 92.719072329 meters Centerline goodness : 0.822225 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.55, Z:0.45 [[ 0.99813954 0.0572224 -0.02104874 8.94518206] [-0.05810828 0.99733104 -0.04420672 -0.55115877] [ 0.01846295 0.04534758 0.99880064 0.44906422] [ 0. 0. 0. 1. ]] SLAMing on 92.77907232899999 meters Centerline goodness : 0.818858 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.56, Z:0.45 [[ 0.9981815 0.05542264 -0.02370715 8.98663585] [-0.05643595 0.99741605 -0.04445446 -0.55568938] [ 0.02118211 0.04571156 0.99873008 0.44766858] [ 0. 0. 0. 1. ]] SLAMing on 92.83907232899999 meters Centerline goodness : 0.818761 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.56, Z:0.45 [[ 0.99829999 0.05310734 -0.02401521 9.02309538] [-0.05417313 0.99746443 -0.0461518 -0.55965804] [ 0.02150332 0.04737432 0.99864572 0.44782916] [ 0. 0. 0. 1. ]] SLAMing on 92.89907232899999 meters Centerline goodness : 0.817879 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.57, Z:0.45 [[ 0.99803145 0.05579964 -0.02862925 9.07948462] [-0.05722723 0.99701964 -0.05173852 -0.56547317] [ 0.02565694 0.05327504 0.99825022 0.44764947] [ 0. 0. 0. 1. ]] SLAMing on 92.959072329 meters Centerline goodness : 0.818368 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.57, Z:0.44 [[ 0.99808603 0.05448094 -0.02925912 9.11206297] [-0.05607149 0.99682041 -0.05661317 -0.56755694] [ 0.02608175 0.05814542 0.99796736 0.44351678] [ 0. 0. 0. 1. ]] SLAMing on 93.019072329 meters Centerline goodness : 0.812823 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.58, Z:0.44 [[ 0.99771793 0.05757411 -0.03527252 9.16735052] [-0.05971581 0.99622425 -0.06301802 -0.57823385] [ 0.03151113 0.06498054 0.99738888 0.44311426] [ 0. 0. 0. 1. ]] SLAMing on 93.079072329 meters Centerline goodness : 0.811101 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.58, Z:0.44 [[ 0.99767759 0.05789275 -0.03588661 9.16994692] [-0.0600743 0.99620198 -0.06302935 -0.58084644] [ 0.03210137 0.06503884 0.99736626 0.44117098] [ 0. 0. 0. 1. ]] SLAMing on 93.13907232899999 meters Centerline goodness : 0.807738 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.59, Z:0.44 [[ 0.99754957 0.06509297 -0.02564678 9.17532431] [-0.06650507 0.99605722 -0.05871199 -0.58894808] [ 0.02172392 0.06027376 0.99794546 0.44021645] [ 0. 0. 0. 1. ]] SLAMing on 93.19907232899999 meters Centerline goodness : 0.804030 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.59, Z:0.44 [[ 0.99738695 0.06671714 -0.02771449 9.17789565] [-0.06831636 0.99576967 -0.06144616 -0.59405132] [ 0.02349774 0.06317895 0.99772555 0.44280399] [ 0. 0. 0. 1. ]] SLAMing on 93.25907232899999 meters Centerline goodness : 0.801705 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.60, Z:0.44 [[ 0.99712876 0.07029865 -0.02814848 9.18058219] [-0.07182273 0.99576464 -0.05739575 -0.59585084] [ 0.02399442 0.05925265 0.9979546 0.44059326] [ 0. 0. 0. 1. ]] SLAMing on 93.319072329 meters Centerline goodness : 0.800849 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.60, Z:0.44 [[ 0.99702873 0.07133509 -0.02906911 9.18045402] [-0.07295944 0.995571 -0.05928993 -0.5979094 ] [ 0.02471091 0.06123463 0.99781746 0.44376737] [ 0. 0. 0. 1. ]] SLAMing on 93.379072329 meters Centerline goodness : 0.797106 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.60, Z:0.45 [[ 0.99689257 0.07251417 -0.03077168 9.18159055] [-0.07432348 0.99527886 -0.06241799 -0.60054909] [ 0.02610022 0.06451109 0.99757561 0.44754672] [ 0. 0. 0. 1. ]] SLAMing on 93.439072329 meters Centerline goodness : 0.796527 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.60, Z:0.45 [[ 0.99671243 0.07491346 -0.03085933 9.18261568] [-0.07663016 0.99532309 -0.0588198 -0.60143689] [ 0.02630861 0.06099118 0.99779153 0.44649114] [ 0. 0. 0. 1. ]] SLAMing on 93.49907232899999 meters Centerline goodness : 0.795154 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.60, Z:0.45 [[ 0.99665381 0.07539325 -0.03157579 9.18286587] [-0.07715939 0.99526832 -0.05905426 -0.60335599] [ 0.02697409 0.06129302 0.99775526 0.44810578] [ 0. 0. 0. 1. ]] SLAMing on 93.55907232899999 meters Centerline goodness : 0.795982 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.60, Z:0.45 [[ 0.99676046 0.07401748 -0.03146433 9.18116227] [-0.075795 0.99533712 -0.05965848 -0.60495951] [ 0.02690184 0.06185005 0.99772284 0.44960527] [ 0. 0. 0. 1. ]] SLAMing on 93.61907232899999 meters Centerline goodness : 0.794612 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.61, Z:0.44 [[ 0.99712317 0.06969529 -0.0297984 9.18000872] [-0.07128672 0.99587263 -0.05617753 -0.60777996] [ 0.0257601 0.05814015 0.99797602 0.44425984] [ 0. 0. 0. 1. ]] SLAMing on 93.679072329 meters Centerline goodness : 0.791062 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.61, Z:0.44 [[ 0.99764235 0.06180841 -0.02982374 9.18035329] [-0.06354421 0.99609656 -0.06126803 -0.61084432] [ 0.02592044 0.0630187 0.99767569 0.44166309] [ 0. 0. 0. 1. ]] SLAMing on 93.739072329 meters Centerline goodness : 0.792073 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.61, Z:0.44 [[ 0.99794156 0.05688208 -0.02961524 9.17882879] [-0.05868718 0.99621343 -0.06414527 -0.61309091] [ 0.02585438 0.06575127 0.99750104 0.44188101] [ 0. 0. 0. 1. ]] SLAMing on 93.799072329 meters Centerline goodness : 0.791757 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.62, Z:0.44 [[ 0.99828714 0.05172063 -0.0273452 9.17587603] [-0.05332715 0.99666848 -0.06171028 -0.61512066] [ 0.0240624 0.06306282 0.99771944 0.43761759] [ 0. 0. 0. 1. ]] SLAMing on 93.859072329 meters Centerline goodness : 0.790330 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.62, Z:0.44 [[ 0.99831232 0.05067898 -0.02835772 9.17693898] [-0.05240198 0.99659015 -0.06373458 -0.6198492 ] [ 0.02503102 0.06511302 0.9975639 0.43843152] [ 0. 0. 0. 1. ]] SLAMing on 93.91907232899999 meters Centerline goodness : 0.789149 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.62, Z:0.44 [[ 0.99823948 0.05140637 -0.02958596 9.17839057] [-0.05324137 0.99646403 -0.06499845 -0.62416651] [ 0.02614001 0.06645921 0.99744668 0.43966385] [ 0. 0. 0. 1. ]] SLAMing on 93.97907232899999 meters Centerline goodness : 0.788728 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.63, Z:0.44 [[ 0.99815123 0.05306273 -0.02963915 9.17844009] [-0.05483085 0.99654236 -0.06242513 -0.6266026 ] [ 0.02622422 0.06393486 0.99760945 0.43941615] [ 0. 0. 0. 1. ]] SLAMing on 94.03907232899999 meters Centerline goodness : 0.784569 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.63, Z:0.44 [[ 0.99794254 0.05539922 -0.0322741 9.18431938] [-0.05739879 0.99625049 -0.06473287 -0.63176613] [ 0.02856694 0.06645217 0.99738059 0.4387548 ] [ 0. 0. 0. 1. ]] SLAMing on 94.099072329 meters Centerline goodness : 0.783528 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.64, Z:0.44 [[ 0.99783678 0.05682218 -0.03306049 9.18421648] [-0.05885614 0.99619976 -0.0642028 -0.63632817] [ 0.02928671 0.06600973 0.99738909 0.44072757] [ 0. 0. 0. 1. ]] SLAMing on 94.159072329 meters Centerline goodness : 0.781182 with order 1 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.65, Z:0.45 [[ 0.99784856 0.05697459 -0.03243674 9.19904962] [-0.05862009 0.99691116 -0.05226681 -0.64716262] [ 0.02935867 0.05405581 0.99810623 0.44669441] [ 0. 0. 0. 1. ]] SLAMing on 94.219072329 meters Centerline goodness : 0.780318 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.66, Z:0.45 [[ 0.9978832 0.05670453 -0.03183895 9.21351478] [-0.05796535 0.99750964 -0.04018141 -0.6573267 ] [ 0.02948119 0.04194191 0.998685 0.45468145] [ 0. 0. 0. 1. ]] SLAMing on 94.27907232899999 meters Centerline goodness : 0.777716 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.67, Z:0.46 [[ 0.99784876 0.05711291 -0.03218631 9.22765768] [-0.05805199 0.99789114 -0.0290385 -0.66976561] [ 0.03045996 0.03084451 0.99905996 0.46036745] [ 0. 0. 0. 1. ]] SLAMing on 94.33907232899999 meters Centerline goodness : 0.776508 with order 1 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.68, Z:0.47 [[ 0.99778667 0.05750904 -0.03338368 9.23871967] [-0.05817306 0.99812048 -0.01927168 -0.67888399] [ 0.03221264 0.02117106 0.99925679 0.46867538] [ 0. 0. 0. 1. ]] SLAMing on 94.39907232899999 meters Centerline goodness : 0.778461 with order 1 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.69, Z:0.48 [[ 0.99801717 0.05307984 -0.03382691 9.2557908 ] [-0.05348543 0.99850582 -0.01119948 -0.69112413] [ 0.0331819 0.01298653 0.99936495 0.47520487] [ 0. 0. 0. 1. ]] SLAMing on 94.459072329 meters Centerline goodness : 0.776555 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.70, Z:0.48 [[ 9.98133298e-01 4.92622312e-02 -3.60991939e-02 9.26731452e+00] [-4.95411118e-02 9.98748447e-01 -6.87152282e-03 -7.01884004e-01] [ 3.57155073e-02 8.64708994e-03 9.99324587e-01 4.80826806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519072329 meters Centerline goodness : 0.773672 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.71, Z:0.49 [[ 9.97999492e-01 5.10275747e-02 -3.73256012e-02 9.27298362e+00] [-5.10822077e-02 9.98694321e-01 -5.10864580e-04 -7.08684045e-01] [ 3.72507977e-02 2.41651670e-03 9.99303026e-01 4.85006252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579072329 meters Centerline goodness : 0.774560 with order 1 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.72, Z:0.49 [[ 9.98341202e-01 4.48267829e-02 -3.61303650e-02 9.29386569e+00] [-4.45414055e-02 9.98969955e-01 8.66553664e-03 -7.18847111e-01] [ 3.64815972e-02 -7.04186503e-03 9.99309514e-01 4.92474941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63907232899999 meters Centerline goodness : 0.774862 with order 1 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.73, Z:0.50 [[ 0.99843552 0.04067656 -0.03836576 9.31269352] [-0.04014934 0.99908972 0.01441414 -0.72607679] [ 0.03891715 -0.01285123 0.9991598 0.49583476] [ 0. 0. 0. 1. ]] SLAMing on 94.69907232899999 meters Centerline goodness : 0.775637 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.73, Z:0.50 [[ 0.99839462 0.03979697 -0.04030354 9.32500376] [-0.0389734 0.99901918 0.02101807 -0.73174787] [ 0.04110047 -0.01941356 0.9989664 0.50082625] [ 0. 0. 0. 1. ]] SLAMing on 94.75907232899999 meters Centerline goodness : 0.778453 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.74, Z:0.51 [[ 0.99847392 0.03661185 -0.0413449 9.33449971] [-0.03553348 0.99901647 0.02652288 -0.73992493] [ 0.04227529 -0.02501327 0.99879284 0.50978818] [ 0. 0. 0. 1. ]] SLAMing on 94.819072329 meters Centerline goodness : 0.779483 with order 3 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.75, Z:0.51 [[ 0.99831563 0.03971569 -0.04229153 9.33828525] [-0.03835595 0.99873575 0.032492 -0.74606481] [ 0.04352851 -0.03081514 0.99857684 0.51257018] [ 0. 0. 0. 1. ]] SLAMing on 94.879072329 meters Centerline goodness : 0.773949 with order 1 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.75, Z:0.51 [[ 0.9981184 0.04317095 -0.0435422 9.34302745] [-0.04153629 0.99842273 0.03777292 -0.74994685] [ 0.04510422 -0.03589327 0.99833726 0.51374521] [ 0. 0. 0. 1. ]] SLAMing on 94.939072329 meters Centerline goodness : 0.771995 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.75, Z:0.51 [[ 0.99819601 0.0454209 -0.03926415 9.35952033] [-0.0443359 0.99862208 0.02807618 -0.74775008] [ 0.04048529 -0.02628472 0.99883435 0.50690326] [ 0. 0. 0. 1. ]] SLAMing on 94.99907232899999 meters Centerline goodness : 0.767540 with order 3 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.75, Z:0.50 [[ 0.99817503 0.04840177 -0.0361093 9.38431358] [-0.04754302 0.99857421 0.02427368 -0.74652885] [ 0.03723271 -0.02251263 0.99905301 0.50421465] [ 0. 0. 0. 1. ]] SLAMing on 95.05907232899999 meters Centerline goodness : 0.768946 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.74, Z:0.50 [[ 0.99790282 0.05665119 -0.0313146 9.40189705] [-0.05598953 0.99819729 0.02161814 -0.74275745] [ 0.03248284 -0.01981951 0.99927576 0.49872486] [ 0. 0. 0. 1. ]] SLAMing on 95.11907232899999 meters Centerline goodness : 0.766183 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.74, Z:0.49 [[ 0.99766495 0.0625556 -0.02741262 9.41809624] [-0.06217058 0.99795757 0.01468046 -0.73817656] [ 0.02827498 -0.01294192 0.9995164 0.49236864] [ 0. 0. 0. 1. ]] SLAMing on 95.179072329 meters Centerline goodness : 0.771568 with order 3 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.74, Z:0.49 [[ 9.97619587e-01 6.48813134e-02 -2.33575492e-02 9.43490968e+00] [-6.47791333e-02 9.97886564e-01 5.10579051e-03 -7.35193992e-01] [ 2.36394549e-02 -3.58055483e-03 9.99714137e-01 4.85712261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239072329 meters Centerline goodness : 0.770315 with order 3 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.74, Z:0.49 [[ 0.9972047 0.07058095 -0.02451783 9.44133171] [-0.07021087 0.99740953 0.01564146 -0.73879605] [ 0.02555831 -0.01387632 0.99957702 0.49156282] [ 0. 0. 0. 1. ]] SLAMing on 95.299072329 meters Centerline goodness : 0.768391 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.74, Z:0.49 [[ 0.9969508 0.07380441 -0.02533806 9.44464934] [-0.07330651 0.99710794 0.02004796 -0.74063894] [ 0.02674441 -0.01812938 0.99947789 0.49224549] [ 0. 0. 0. 1. ]] SLAMing on 95.359072329 meters Centerline goodness : 0.762027 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.74, Z:0.48 [[ 0.99750191 0.06953756 -0.01242887 9.45369074] [-0.06933582 0.99746529 0.01598547 -0.73524408] [ 0.01350896 -0.01508378 0.99979497 0.48267026] [ 0. 0. 0. 1. ]] SLAMing on 95.41907232899999 meters Centerline goodness : 0.765625 with order 2 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.74, Z:0.49 [[ 0.99735724 0.07119519 -0.01448391 9.46085173] [-0.07088422 0.99726438 0.02095657 -0.7378765 ] [ 0.01593629 -0.01987451 0.99967547 0.48582004] [ 0. 0. 0. 1. ]] SLAMing on 95.47907232899999 meters Centerline goodness : 0.762706 with order 3 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.73, Z:0.48 [[ 0.99739939 0.07053159 -0.01482414 9.46229746] [-0.07023284 0.99733428 0.01979113 -0.73451919] [ 0.01618052 -0.01869852 0.99969423 0.48469065] [ 0. 0. 0. 1. ]] SLAMing on 95.53907232899999 meters Centerline goodness : 0.758854 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.73, Z:0.49 [[ 0.99722466 0.07264001 -0.01632191 9.4679935 ] [-0.07225205 0.99711607 0.02322014 -0.73224928] [ 0.01796155 -0.0219764 0.99959713 0.48511063] [ 0. 0. 0. 1. ]] SLAMing on 95.599072329 meters Centerline goodness : 0.759081 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.73, Z:0.48 [[ 0.99731816 0.07100734 -0.01773249 9.47304945] [-0.07062297 0.99727273 0.02143585 -0.72915159] [ 0.01920623 -0.02012605 0.99961296 0.48271208] [ 0. 0. 0. 1. ]] SLAMing on 95.659072329 meters Centerline goodness : 0.758149 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.72, Z:0.48 [[ 0.99725957 0.07244101 -0.01502162 9.49725906] [-0.07223022 0.99728788 0.01413058 -0.72195958] [ 0.01600452 -0.01300684 0.99978732 0.47777552] [ 0. 0. 0. 1. ]] SLAMing on 95.719072329 meters Centerline goodness : 0.754897 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.72, Z:0.48 [[ 0.99728056 0.07211117 -0.01521419 9.49719565] [-0.0719078 0.9973197 0.01351638 -0.71844562] [ 0.01614809 -0.01238561 0.9997929 0.47875603] [ 0. 0. 0. 1. ]] SLAMing on 95.77907232899999 meters Centerline goodness : 0.757191 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.72, Z:0.48 [[ 0.99733769 0.07117237 -0.01587535 9.49895919] [-0.07097161 0.9973953 0.01287043 -0.71598914] [ 0.01675002 -0.01170947 0.99979114 0.47928754] [ 0. 0. 0. 1. ]] SLAMing on 95.83907232899999 meters Centerline goodness : 0.754143 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.71, Z:0.48 [[ 0.99732588 0.0707347 -0.01837628 9.5107158 ] [-0.07044249 0.99738606 0.01609039 -0.71442133] [ 0.01946639 -0.01475289 0.99970166 0.47898316] [ 0. 0. 0. 1. ]] SLAMing on 95.89907232899999 meters Centerline goodness : 0.757246 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.71, Z:0.49 [[ 0.99746295 0.06825635 -0.02021697 9.5166366 ] [-0.06786725 0.99750679 0.01934511 -0.71495581] [ 0.02148699 -0.01792396 0.99960844 0.48822081] [ 0. 0. 0. 1. ]] SLAMing on 95.959072329 meters Centerline goodness : 0.761983 with order 3 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.71, Z:0.49 [[ 9.97658982e-01 6.64030591e-02 -1.63459557e-02 9.53685834e+00] [-6.62499422e-02 9.97755543e-01 9.73760706e-03 -7.12071616e-01] [ 1.69558748e-02 -8.63189252e-03 9.99818978e-01 4.85928715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019072329 meters Centerline goodness : 0.761777 with order 3 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.71, Z:0.49 [[ 0.99765454 0.06580063 -0.01885978 9.54915517] [-0.06556335 0.99776456 0.01293527 -0.7102519 ] [ 0.01966877 -0.01166842 0.99973846 0.48511414] [ 0. 0. 0. 1. ]] SLAMing on 96.079072329 meters Centerline goodness : 0.757103 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.71, Z:0.49 [[ 0.99758785 0.06626964 -0.02065961 9.55773694] [-0.065901 0.99766305 0.01804175 -0.71154758] [ 0.02180695 -0.01663674 0.99962377 0.48857394] [ 0. 0. 0. 1. ]] SLAMing on 96.13907232899999 meters Centerline goodness : 0.760402 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.71, Z:0.48 [[ 9.97641866e-01 6.67490678e-02 -1.59771301e-02 9.57357859e+00] [-6.66298485e-02 9.97746630e-01 7.88196148e-03 -7.09012019e-01] [ 1.64672413e-02 -6.79882100e-03 9.99841290e-01 4.83987828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19907232899999 meters Centerline goodness : 0.759709 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.71, Z:0.49 [[ 0.99728412 0.07157528 -0.01735989 9.58042947] [-0.07129236 0.99732057 0.0164036 -0.71046172] [ 0.01848746 -0.01512143 0.99971474 0.48747233] [ 0. 0. 0. 1. ]] SLAMing on 96.25907232899999 meters Centerline goodness : 0.762405 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.71, Z:0.49 [[ 0.99673718 0.07874132 -0.01774283 9.58331326] [-0.07829061 0.99662187 0.02480794 -0.71296125] [ 0.0196363 -0.0233379 0.99953477 0.48851303] [ 0. 0. 0. 1. ]] SLAMing on 96.319072329 meters Centerline goodness : 0.761883 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.71, Z:0.48 [[ 0.99636261 0.08416822 -0.01331407 9.60062679] [-0.08389738 0.99627887 0.01973931 -0.70993725] [ 0.01492595 -0.0185505 0.99971651 0.4836989 ] [ 0. 0. 0. 1. ]] SLAMing on 96.379072329 meters Centerline goodness : 0.761487 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.71, Z:0.48 [[ 9.96089948e-01 8.78876664e-02 -8.97623462e-03 9.61815561e+00] [-8.77689719e-02 9.96057876e-01 1.28574707e-02 -7.08271922e-01] [ 1.00708623e-02 -1.20193624e-02 9.99877049e-01 4.77996625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439072329 meters Centerline goodness : 0.761039 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.71, Z:0.47 [[ 9.96374534e-01 8.50434444e-02 2.32399023e-03 9.62607646e+00] [-8.50659898e-02 9.96296754e-01 1.25122305e-02 -7.06336218e-01] [-1.25130074e-03 -1.26645604e-02 9.99919018e-01 4.69902010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49907232899999 meters Centerline goodness : 0.760233 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.71, Z:0.47 [[ 9.96006944e-01 8.88980684e-02 8.20366288e-03 9.63897743e+00] [-8.89551315e-02 9.96011913e-01 6.87420112e-03 -7.06217399e-01] [-7.55984276e-03 -7.57650996e-03 9.99942721e-01 4.68373178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55907232899999 meters Centerline goodness : 0.758939 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.71, Z:0.47 [[ 9.95672869e-01 9.25594385e-02 8.26369304e-03 9.63980316e+00] [-9.26590358e-02 9.95617981e-01 1.26150218e-02 -7.12053749e-01] [-7.05984205e-03 -1.33261408e-02 9.99886280e-01 4.70474475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61907232899999 meters Centerline goodness : 0.758667 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.72, Z:0.47 [[ 9.95755803e-01 9.17161851e-02 7.65003609e-03 9.64256225e+00] [-9.18107725e-02 9.95690344e-01 1.30966083e-02 -7.15551843e-01] [-6.41589612e-03 -1.37433794e-02 9.99884971e-01 4.69627185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679072329 meters Centerline goodness : 0.756267 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.72, Z:0.47 [[ 9.95770476e-01 9.15853673e-02 7.29930412e-03 9.64303907e+00] [-9.16826859e-02 9.95684866e-01 1.43503459e-02 -7.20153840e-01] [-5.95352495e-03 -1.49588706e-02 9.99870385e-01 4.71314542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739072329 meters Centerline goodness : 0.758370 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.72, Z:0.47 [[ 9.96110690e-01 8.78210340e-02 7.13861780e-03 9.64191795e+00] [-8.78962188e-02 9.96068833e-01 1.10060888e-02 -7.22331615e-01] [-6.14398860e-03 -1.15907402e-02 9.99913949e-01 4.72660443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799072329 meters Centerline goodness : 0.759631 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.73, Z:0.47 [[ 9.96252233e-01 8.63293526e-02 5.36014036e-03 9.65082239e+00] [-8.63929666e-02 9.96175552e-01 1.30584921e-02 -7.25722796e-01] [-4.21230962e-03 -1.34726303e-02 9.99900367e-01 4.72213508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859072329 meters Centerline goodness : 0.759213 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.73, Z:0.47 [[ 9.96621471e-01 8.20712904e-02 3.15400080e-03 9.66480921e+00] [-8.21107571e-02 9.96501035e-01 1.56048149e-02 -7.32551531e-01] [-1.86225777e-03 -1.58110709e-02 9.99873263e-01 4.72455919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91907232899999 meters Centerline goodness : 0.757707 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.74, Z:0.48 [[ 9.96940864e-01 7.81036479e-02 2.95543791e-03 9.67920258e+00] [-7.81509129e-02 9.96679824e-01 2.28421372e-02 -7.39566949e-01] [-1.16157110e-03 -2.30032301e-02 9.99734716e-01 4.78250605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97907232899999 meters Centerline goodness : 0.758366 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.75, Z:0.49 [[ 9.97227488e-01 7.43959090e-02 1.60790814e-03 9.68870997e+00] [-7.44116662e-02 9.96830579e-01 2.81371917e-02 -7.49553881e-01] [ 4.90479951e-04 -2.81788281e-02 9.99602778e-01 4.87115146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03907232899999 meters Centerline goodness : 0.756608 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.76, Z:0.49 [[ 9.96970100e-01 7.77714685e-02 1.48919230e-03 9.69019840e+00] [-7.77772087e-02 9.96394956e-01 3.38791653e-02 -7.56583017e-01] [ 1.15100874e-03 -3.38923400e-02 9.99424827e-01 4.89386491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099072329 meters Centerline goodness : 0.757083 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.76, Z:0.49 [[ 9.96696520e-01 8.12114114e-02 8.67688204e-04 9.69362194e+00] [-8.11849183e-02 9.95961878e-01 3.83268485e-02 -7.59954152e-01] [ 2.24839309e-03 -3.82706797e-02 9.99264880e-01 4.88521758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159072329 meters Centerline goodness : 0.754912 with order 1 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.77, Z:0.49 [[ 9.96478783e-01 8.38428134e-02 -6.46966529e-04 9.69999798e+00] [-8.37255117e-02 9.95437728e-01 4.57577156e-02 -7.65498750e-01] [ 4.48047050e-03 -4.55424251e-02 9.98952358e-01 4.94227806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219072329 meters Centerline goodness : 0.757952 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.77, Z:0.48 [[ 9.96413720e-01 8.45824313e-02 2.34759553e-03 9.71748454e+00] [-8.46135308e-02 9.95849092e-01 3.35430386e-02 -7.65120120e-01] [ 4.99300883e-04 -3.36213822e-02 9.99434517e-01 4.84291033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27907232899999 meters Centerline goodness : 0.757804 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.77, Z:0.49 [[ 9.96106984e-01 8.81383844e-02 1.58174388e-03 9.72035778e+00] [-8.81329685e-02 9.95346655e-01 3.89566009e-02 -7.68388927e-01] [ 1.85918839e-03 -3.89443460e-02 9.99239652e-01 4.86562909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33907232899999 meters Centerline goodness : 0.759557 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.77, Z:0.48 [[ 9.95940261e-01 8.98084457e-02 6.11872776e-03 9.73687451e+00] [-8.99508582e-02 9.95508839e-01 2.95126262e-02 -7.66159164e-01] [-3.44076448e-03 -2.99431974e-02 9.99545680e-01 4.79773923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39907232899999 meters Centerline goodness : 0.761241 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.77, Z:0.48 [[ 9.95629819e-01 9.32232632e-02 5.53961238e-03 9.73931591e+00] [-9.33597409e-02 9.95030609e-01 3.46128145e-02 -7.70305177e-01] [-2.28536436e-03 -3.49787270e-02 9.99385444e-01 4.81499165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459072329 meters Centerline goodness : 0.761260 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.76, Z:0.47 [[ 0.99561136 0.0921169 0.01650766 9.75266299] [-0.09261324 0.99517601 0.03236508 -0.7630683 ] [-0.01344666 -0.03375187 0.99933978 0.46845452] [ 0. 0. 0. 1. ]] SLAMing on 97.519072329 meters Centerline goodness : 0.760679 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.76, Z:0.47 [[ 0.99558828 0.09237164 0.01647626 9.75251371] [-0.09284846 0.99519745 0.03100314 -0.75829348] [-0.01353332 -0.03239615 0.99938348 0.46718637] [ 0. 0. 0. 1. ]] SLAMing on 97.579072329 meters Centerline goodness : 0.761652 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.75, Z:0.46 [[ 0.99513341 0.09647303 0.02006123 9.77343202] [-0.09696392 0.9949705 0.02513379 -0.75416474] [-0.0175356 -0.02695669 0.99948279 0.46114268] [ 0. 0. 0. 1. ]] SLAMing on 97.63907232899999 meters Centerline goodness : 0.765979 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.74, Z:0.46 [[ 9.95624484e-01 9.32312879e-02 6.30984627e-03 9.77712240e+00] [-9.33672644e-02 9.95276358e-01 2.65993409e-02 -7.43316625e-01] [-3.80015000e-03 -2.70720881e-02 9.99626261e-01 4.63441959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69907232899999 meters Centerline goodness : 0.765111 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.74, Z:0.46 [[ 9.94965054e-01 1.00082442e-01 5.29589021e-03 9.78137573e+00] [-1.00205912e-01 9.94371157e-01 3.44206055e-02 -7.42889155e-01] [-1.82118223e-03 -3.47779791e-02 9.99393404e-01 4.64844071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75907232899999 meters Centerline goodness : 0.767101 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.74, Z:0.46 [[ 9.94752052e-01 1.01835522e-01 9.89350907e-03 9.79740838e+00] [-1.02057389e-01 9.94455092e-01 2.53645189e-02 -7.37899147e-01] [-7.25564145e-03 -2.62411130e-02 9.99629311e-01 4.60516878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819072329 meters Centerline goodness : 0.767452 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.73, Z:0.46 [[ 9.94427222e-01 1.05006615e-01 9.38674006e-03 9.79952337e+00] [-1.05233674e-01 9.94043380e-01 2.83484306e-02 -7.33305102e-01] [-6.35405408e-03 -2.91782522e-02 9.99554028e-01 4.61139991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879072329 meters Centerline goodness : 0.770182 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.73, Z:0.46 [[ 9.94071610e-01 1.08355447e-01 8.98506563e-03 9.80182374e+00] [-1.08588985e-01 9.93578458e-01 3.17849127e-02 -7.31042025e-01] [-5.48329924e-03 -3.25721585e-02 9.99454345e-01 4.61055141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939072329 meters Centerline goodness : 0.772630 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.72, Z:0.46 [[ 9.93790234e-01 1.10946948e-01 8.47023115e-03 9.80540924e+00] [-1.11172879e-01 9.93220158e-01 3.39751200e-02 -7.24725807e-01] [-4.64336846e-03 -3.47058025e-02 9.99386785e-01 4.59448383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99907232899999 meters Centerline goodness : 0.774976 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.71, Z:0.47 [[ 9.94534963e-01 1.04091458e-01 -8.07316377e-03 9.81006074e+00] [-1.03828921e-01 9.94200229e-01 2.80260389e-02 -7.12094258e-01] [ 1.09436125e-02 -2.70346477e-02 9.99574592e-01 4.70206546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05907232899999 meters Centerline goodness : 0.779298 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.70, Z:0.48 [[ 0.99484341 0.09962145 -0.01903045 9.80685044] [-0.09907941 0.99469747 0.02757208 -0.69984219] [ 0.02167631 -0.02554438 0.99943865 0.48398455] [ 0. 0. 0. 1. ]] SLAMing on 98.11907232899999 meters Centerline goodness : 0.779088 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.69, Z:0.49 [[ 0.99496371 0.09411405 -0.03449293 9.81367158] [-0.09325139 0.99530768 0.02582237 -0.69139012] [ 0.03676132 -0.02247581 0.99907129 0.48637389] [ 0. 0. 0. 1. ]] SLAMing on 98.179072329 meters Centerline goodness : 0.780837 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.69, Z:0.49 [[ 0.99480448 0.09566847 -0.03480777 9.81408282] [-0.09478825 0.99515475 0.0261193 -0.68819164] [ 0.03713791 -0.02268423 0.99905265 0.48753921] [ 0. 0. 0. 1. ]] SLAMing on 98.239072329 meters Centerline goodness : 0.779883 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.69, Z:0.49 [[ 0.99482785 0.09552822 -0.03452388 9.81388159] [-0.09461533 0.99514287 0.0271772 -0.68563626] [ 0.03695239 -0.02377015 0.99903428 0.48729579] [ 0. 0. 0. 1. ]] SLAMing on 98.299072329 meters Centerline goodness : 0.781565 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.68, Z:0.49 [[ 0.99488578 0.09484012 -0.03475109 9.81519238] [-0.09394159 0.99522124 0.02663954 -0.68484681] [ 0.03711152 -0.02323872 0.99904089 0.48611646] [ 0. 0. 0. 1. ]] SLAMing on 98.359072329 meters Centerline goodness : 0.781659 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.68, Z:0.48 [[ 0.99516345 0.0916715 -0.03529944 9.81688371] [-0.09087434 0.99558353 0.02356454 -0.6834415 ] [ 0.03730374 -0.02024275 0.99909893 0.48464779] [ 0. 0. 0. 1. ]] SLAMing on 98.41907232899999 meters Centerline goodness : 0.780982 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.68, Z:0.49 [[ 0.99522509 0.09048477 -0.03659947 9.81911171] [-0.08980135 0.99576071 0.01990801 -0.68308911] [ 0.03824568 -0.01652627 0.9991317 0.48514102] [ 0. 0. 0. 1. ]] SLAMing on 98.47907232899999 meters Centerline goodness : 0.783714 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.68, Z:0.48 [[ 0.99507672 0.09203994 -0.03675546 9.82178155] [-0.09125308 0.99557252 0.02254415 -0.68308609] [ 0.03866769 -0.01907911 0.99906997 0.48222663] [ 0. 0. 0. 1. ]] SLAMing on 98.53907232899999 meters Centerline goodness : 0.783529 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.68, Z:0.48 [[ 0.99499139 0.09216786 -0.03869385 9.82572702] [-0.0914515 0.99561075 0.01989621 -0.68485486] [ 0.04035781 -0.01625795 0.99905301 0.48218716] [ 0. 0. 0. 1. ]] SLAMing on 98.599072329 meters Centerline goodness : 0.783431 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.69, Z:0.48 [[ 0.99497519 0.0911528 -0.04141913 9.83055982] [-0.09065307 0.99578704 0.01379108 -0.68652206] [ 0.04250173 -0.00996701 0.99904668 0.48305268] [ 0. 0. 0. 1. ]] SLAMing on 98.659072329 meters Centerline goodness : 0.784662 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.69, Z:0.48 [[ 0.99505619 0.09036457 -0.04119979 9.83313481] [-0.0897495 0.99582693 0.01654567 -0.69007467] [ 0.042523 -0.01276622 0.99901392 0.47815526] [ 0. 0. 0. 1. ]] SLAMing on 98.719072329 meters Centerline goodness : 0.785534 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.69, Z:0.48 [[ 0.99498062 0.09126306 -0.04104407 9.83426756] [-0.09058537 0.99572452 0.01808257 -0.6940105 ] [ 0.04251886 -0.01427381 0.9989937 0.47605661] [ 0. 0. 0. 1. ]] SLAMing on 98.77907232899999 meters Centerline goodness : 0.784440 with order 1 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.70, Z:0.48 [[ 9.94871048e-01 9.13185977e-02 -4.35030002e-02 9.83796471e+00] [-9.08318854e-02 9.95780857e-01 1.30404437e-02 -6.96308910e-01] [ 4.45102898e-02 -9.02210038e-03 9.98968186e-01 4.77800964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83907232899999 meters Centerline goodness : 0.786612 with order 1 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.70, Z:0.49 [[ 0.99451991 0.09451937 -0.04467918 9.84252801] [-0.09361794 0.99536819 0.02185969 -0.70461079] [ 0.0465384 -0.01755712 0.9987622 0.48645811] [ 0. 0. 0. 1. ]] SLAMing on 98.89907232899999 meters Centerline goodness : 0.787099 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.71, Z:0.49 [[ 0.99439146 0.09802818 -0.03970025 9.85635092] [-0.09741235 0.99509608 0.01716486 -0.71182047] [ 0.0411882 -0.0132013 0.99906419 0.48686104] [ 0. 0. 0. 1. ]] SLAMing on 98.959072329 meters Centerline goodness : 0.786421 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.72, Z:0.49 [[ 0.99393213 0.10257748 -0.03970882 9.85747697] [-0.10174516 0.99455719 0.0224481 -0.71644672] [ 0.04179536 -0.01827171 0.9989591 0.48714084] [ 0. 0. 0. 1. ]] SLAMing on 99.019072329 meters Centerline goodness : 0.784870 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.72, Z:0.48 [[ 0.99322105 0.10924873 -0.0397072 9.86146909] [-0.10812509 0.99370163 0.02942847 -0.72181373] [ 0.04267213 -0.02493563 0.99877791 0.48412629] [ 0. 0. 0. 1. ]] SLAMing on 99.079072329 meters Centerline goodness : 0.785152 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.72, Z:0.48 [[ 0.99328144 0.11002669 -0.03586236 9.87882202] [-0.10938642 0.9938108 0.01935748 -0.72420353] [ 0.03777024 -0.01530457 0.99916924 0.47770252] [ 0. 0. 0. 1. ]] SLAMing on 99.13907232899999 meters Centerline goodness : 0.786273 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.73, Z:0.48 [[ 9.93509619e-01 1.09458930e-01 -3.09415409e-02 9.89312814e+00] [-1.09183570e-01 9.93966586e-01 1.04581769e-02 -7.31885154e-01] [ 3.18995987e-02 -7.01199150e-03 9.99466481e-01 4.75901725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19907232899999 meters Centerline goodness : 0.783965 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.74, Z:0.48 [[ 9.93512939e-01 1.09424361e-01 -3.09572100e-02 9.89434993e+00] [-1.09104774e-01 9.93959786e-01 1.18360263e-02 -7.38881465e-01] [ 3.20653714e-02 -8.38166585e-03 9.99450629e-01 4.75024474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25907232899999 meters Centerline goodness : 0.785358 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.75, Z:0.48 [[ 0.99344296 0.10994036 -0.03137186 9.89429 ] [-0.10953309 0.9938785 0.01442318 -0.74758056] [ 0.0327655 -0.01089235 0.99940371 0.47810202] [ 0. 0. 0. 1. ]] SLAMing on 99.319072329 meters Centerline goodness : 0.787434 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.76, Z:0.49 [[ 0.99376406 0.10674934 -0.0322113 9.90298135] [-0.10611809 0.99413777 0.02071361 -0.75964542] [ 0.03423364 -0.01716623 0.99926642 0.48764833] [ 0. 0. 0. 1. ]] SLAMing on 99.379072329 meters Centerline goodness : 0.788010 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.76, Z:0.49 [[ 0.99376689 0.10667372 -0.03237407 9.90446757] [-0.10603092 0.99414176 0.02096683 -0.7628036 ] [ 0.03442103 -0.01740349 0.99925588 0.48599718] [ 0. 0. 0. 1. ]] SLAMing on 99.439072329 meters Centerline goodness : 0.786352 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.77, Z:0.48 [[ 0.99350869 0.11019186 -0.0282531 9.92155414] [-0.10985657 0.9938603 0.01316188 -0.76510938] [ 0.02952997 -0.00997265 0.99951415 0.4785965 ] [ 0. 0. 0. 1. ]] SLAMing on 99.49907232899999 meters Centerline goodness : 0.787372 with order 1 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.77, Z:0.47 [[ 9.93284860e-01 1.13201133e-01 -2.38891087e-02 9.93614699e+00] [-1.13127962e-01 9.93570698e-01 4.39684862e-03 -7.66304713e-01] [ 2.42332467e-02 -1.66479699e-03 9.99704946e-01 4.72991877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55907232899999 meters Centerline goodness : 0.790074 with order 1 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.77, Z:0.47 [[ 9.92779278e-01 1.17498341e-01 -2.41546245e-02 9.93721450e+00] [-1.17294655e-01 9.93049900e-01 9.68812416e-03 -7.70956611e-01] [ 2.51250860e-02 -6.78496054e-03 9.99661290e-01 4.74599276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61907232899999 meters Centerline goodness : 0.788652 with order 1 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.77, Z:0.47 [[ 0.99226778 0.1218092 -0.02381546 9.9378757 ] [-0.12149684 0.99249088 0.0141555 -0.77260242] [ 0.02536089 -0.01115255 0.99961615 0.4742795 ] [ 0. 0. 0. 1. ]] SLAMing on 99.679072329 meters Centerline goodness : 0.792779 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.77, Z:0.47 [[ 9.92258842e-01 1.22629844e-01 -1.96038494e-02 9.95365038e+00] [-1.22574602e-01 9.92451243e-01 3.99966082e-03 -7.73326772e-01] [ 1.99463425e-02 -1.56576479e-03 9.99799826e-01 4.68890541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739072329 meters Centerline goodness : 0.792871 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.77, Z:0.47 [[ 9.92297809e-01 1.22246752e-01 -2.00197183e-02 9.95516916e+00] [-1.22190688e-01 9.92498563e-01 4.00473498e-03 -7.73815538e-01] [ 2.03591075e-02 -1.52766659e-03 9.99791565e-01 4.68527314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799072329 meters Centerline goodness : 0.794076 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.77, Z:0.47 [[ 9.92405370e-01 1.21278937e-01 -2.05670110e-02 9.95792047e+00] [-1.21233123e-01 9.92618016e-01 3.46457063e-03 -7.72353239e-01] [ 2.08353651e-02 -9.44855520e-04 9.99782474e-01 4.67247618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859072329 meters Centerline goodness : 0.799735 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.78, Z:0.46 [[ 9.93125746e-01 1.14874129e-01 -2.24763752e-02 9.96406116e+00] [-1.14930751e-01 9.93372733e-01 -1.23954816e-03 -7.75439696e-01] [ 2.21850263e-02 3.81425389e-03 9.99746606e-01 4.64854033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91907232899999 meters Centerline goodness : 0.798697 with order 1 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.78, Z:0.47 [[ 9.93822664e-01 1.08302777e-01 -2.42285141e-02 9.97731736e+00] [-1.08317164e-01 9.94116126e-01 7.21668160e-04 -7.79920778e-01] [ 2.41641152e-02 1.90715376e-03 9.99706186e-01 4.69640306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97907232899999 meters Centerline goodness : 0.800929 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.78, Z:0.47 [[ 9.95581964e-01 9.25814137e-02 -1.56599701e-02 9.98875769e+00] [-9.24547641e-02 9.95679501e-01 8.62837483e-03 -7.84311235e-01] [ 1.63911384e-02 -7.14241551e-03 9.99840145e-01 4.72520703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03907232899999 meters Centerline goodness : 0.798496 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.79, Z:0.48 [[ 0.99625271 0.08489295 -0.01654442 10.01342825] [-0.08464012 0.99629216 0.01542687 -0.78983646] [ 0.0177927 -0.01396874 0.99974411 0.47836655] [ 0. 0. 0. 1. ]] SLAMing on 100.099072329 meters Centerline goodness : 0.795948 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.80, Z:0.50 [[ 9.97520972e-01 7.00737975e-02 -6.44767540e-03 1.00467141e+01] [-6.97484821e-02 9.96703353e-01 4.14436475e-02 -8.02008443e-01] [ 9.33053346e-03 -4.08911920e-02 9.99120039e-01 4.96009403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159072329 meters Centerline goodness : 0.799887 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.81, Z:0.51 [[ 9.98172767e-01 6.01582683e-02 -5.66665399e-03 1.00627569e+01] [-5.98351792e-02 9.97146863e-01 4.60204871e-02 -8.08461060e-01] [ 8.41899907e-03 -4.55973317e-02 9.98924423e-01 5.07001114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219072329 meters Centerline goodness : 0.797660 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.81, Z:0.52 [[ 9.98146069e-01 6.05993654e-02 -5.66931183e-03 1.00689718e+01] [-6.02029732e-02 9.96704031e-01 5.43753399e-02 -8.12602960e-01] [ 8.94573705e-03 -5.39332223e-02 9.98504472e-01 5.16458042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27907232899999 meters Centerline goodness : 0.795737 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.82, Z:0.53 [[ 9.98371618e-01 5.65115795e-02 -7.78166354e-03 1.00725589e+01] [-5.57373266e-02 9.95408457e-01 7.78161616e-02 -8.18321212e-01] [ 1.21434479e-02 -7.72557181e-02 9.96937355e-01 5.31914932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33907232899999 meters Centerline goodness : 0.795897 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.82, Z:0.55 [[ 0.99848367 0.05409863 -0.01018347 10.05987578] [-0.05290831 0.99417979 0.09384694 -0.8219835 ] [ 0.01520119 -0.09316585 0.99553455 0.54655217] [ 0. 0. 0. 1. ]] SLAMing on 100.39907232899999 meters Centerline goodness : 0.798232 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.83, Z:0.56 [[ 0.99868797 0.05016295 -0.0102963 10.05163458] [-0.0486902 0.99245822 0.11249862 -0.82553256] [ 0.01586191 -0.11184969 0.99359853 0.56236261] [ 0. 0. 0. 1. ]] SLAMing on 100.459072329 meters Centerline goodness : 0.799571 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.82, Z:0.56 [[ 0.99850112 0.05377013 -0.01021238 10.05242361] [-0.05221643 0.99180128 0.11663473 -0.82454373] [ 0.01640012 -0.11592665 0.99312237 0.56335847] [ 0. 0. 0. 1. ]] SLAMing on 100.519072329 meters Centerline goodness : 0.804404 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.82, Z:0.56 [[ 9.98481101e-01 5.43042867e-02 -9.30239080e-03 1.00494557e+01] [-5.28613789e-02 9.91833463e-01 1.16069186e-01 -8.20444692e-01] [ 1.55294769e-02 -1.15401152e-01 9.93197568e-01 5.64642792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579072329 meters Centerline goodness : 0.808809 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.82, Z:0.57 [[ 9.98254812e-01 5.83981587e-02 -8.77416979e-03 1.00482918e+01] [-5.69120916e-02 9.91025203e-01 1.20954785e-01 -8.20560367e-01] [ 1.57589601e-02 -1.20244340e-01 9.92619239e-01 5.67965217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63907232899999 meters Centerline goodness : 0.809115 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.82, Z:0.57 [[ 9.98049164e-01 6.17403956e-02 -9.27306167e-03 1.00507571e+01] [-6.01249573e-02 9.90504549e-01 1.23635468e-01 -8.16417277e-01] [ 1.68183124e-02 -1.22836733e-01 9.92284375e-01 5.66602632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69907232899999 meters Centerline goodness : 0.803774 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.81, Z:0.56 [[ 9.97956750e-01 6.35941664e-02 -6.17314253e-03 1.00748525e+01] [-6.24509685e-02 9.91280286e-01 1.16031334e-01 -8.10823623e-01] [ 1.34982304e-02 -1.15408734e-01 9.93226370e-01 5.58981757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75907232899999 meters Centerline goodness : 0.800400 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.80, Z:0.55 [[ 9.97919950e-01 6.43859261e-02 -3.19793726e-03 1.00952924e+01] [-6.36988423e-02 9.92468099e-01 1.04639997e-01 -8.04737572e-01] [ 9.91119384e-03 -1.04218636e-01 9.94505025e-01 5.49306839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.819072329 meters Centerline goodness : 0.798721 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.80, Z:0.55 [[ 9.97938848e-01 6.41638782e-02 1.02610430e-03 1.01206399e+01] [-6.39458776e-02 9.92952619e-01 9.97798681e-02 -8.02820380e-01] [ 5.38339035e-03 -9.96398217e-02 9.95009008e-01 5.47438315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879072329 meters Centerline goodness : 0.794247 with order 1 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.80, Z:0.54 [[ 9.97965580e-01 6.36086215e-02 4.31782442e-03 1.01480819e+01] [-6.37328649e-02 9.93543958e-01 9.38537470e-02 -7.99470350e-01] [ 1.67995911e-03 -9.39379964e-02 9.95576632e-01 5.43546429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939072329 meters Centerline goodness : 0.792580 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.80, Z:0.54 [[ 9.97976763e-01 6.32310042e-02 6.64983174e-03 1.01767377e+01] [-6.35701863e-02 9.94165193e-01 8.71458534e-02 -7.96601910e-01] [-1.10071144e-03 -8.73922677e-02 9.96173368e-01 5.36826995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99907232899999 meters Centerline goodness : 0.786821 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.79, Z:0.53 [[ 9.98178054e-01 5.95655822e-02 9.61845929e-03 1.01986758e+01] [-6.01085799e-02 9.95543243e-01 7.26678119e-02 -7.91440828e-01] [-5.24709162e-03 -7.31135670e-02 9.97309819e-01 5.27568473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05907232899999 meters Centerline goodness : 0.784547 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.79, Z:0.54 [[ 9.98115132e-01 6.08125735e-02 8.24710807e-03 1.02054440e+01] [-6.12795307e-02 9.94879244e-01 8.03748068e-02 -7.94547976e-01] [-3.31707779e-03 -8.07286898e-02 9.96730593e-01 5.36645543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11907232899999 meters Centerline goodness : 0.784709 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.79, Z:0.53 [[ 9.98130635e-01 6.02788933e-02 1.00841334e-02 1.02267154e+01] [-6.08231642e-02 9.95872286e-01 6.73716056e-02 -7.89768427e-01] [-5.98142316e-03 -6.78590125e-02 9.97676990e-01 5.26150884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.179072329 meters Centerline goodness : 0.781777 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.79, Z:0.53 [[ 9.98064369e-01 6.16976576e-02 7.80479617e-03 1.02357934e+01] [-6.21012881e-02 9.95447616e-01 7.23012644e-02 -7.90880707e-01] [-3.30844708e-03 -7.26460037e-02 9.97352301e-01 5.28193762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239072329 meters Centerline goodness : 0.780890 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.79, Z:0.53 [[ 9.98008497e-01 6.21675345e-02 1.06881839e-02 1.02659718e+01] [-6.27652543e-02 9.95571297e-01 6.99879603e-02 -7.89092516e-01] [-6.28987022e-03 -7.05194257e-02 9.97490575e-01 5.27017216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299072329 meters Centerline goodness : 0.781473 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.79, Z:0.53 [[ 9.97785628e-01 6.57989488e-02 9.71277045e-03 1.02681881e+01] [-6.63478555e-02 9.94905683e-01 7.58989036e-02 -7.93557903e-01] [-4.66922246e-03 -7.63752567e-02 9.97068212e-01 5.31573136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35907232899999 meters Centerline goodness : 0.782289 with order 1 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.79, Z:0.52 [[ 9.97535783e-01 6.89851256e-02 1.27833823e-02 1.02851052e+01] [-6.96793916e-02 9.95405370e-01 6.56729111e-02 -7.88828159e-01] [-8.19419336e-03 -6.64018170e-02 9.97759317e-01 5.23218435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41907232899999 meters Centerline goodness : 0.782102 with order 1 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.79, Z:0.52 [[ 0.99706883 0.07459548 0.01700783 10.30620976] [-0.0755361 0.99510184 0.06377012 -0.78635344] [-0.01216756 -0.0648679 0.99781968 0.52075221] [ 0. 0. 0. 1. ]] SLAMing on 101.47907232899999 meters Centerline goodness : 0.783485 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.78, Z:0.52 [[ 0.99608531 0.08571755 0.0215997 10.32210392] [-0.08693949 0.99415499 0.06401081 -0.78334063] [-0.0159866 -0.06563809 0.99771543 0.51789622] [ 0. 0. 0. 1. ]] SLAMing on 101.53907232899999 meters Centerline goodness : 0.784474 with order 1 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.78, Z:0.51 [[ 0.99521385 0.09426829 0.02574654 10.33789252] [-0.09567713 0.99357463 0.06045938 -0.78044763] [-0.01988171 -0.06263337 0.99783855 0.51313238] [ 0. 0. 0. 1. ]] SLAMing on 101.599072329 meters Centerline goodness : 0.783007 with order 1 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.78, Z:0.51 [[ 0.99459569 0.09934149 0.0301775 10.3553253 ] [-0.10090264 0.99334278 0.05557683 -0.77781303] [-0.02445551 -0.05832146 0.99799826 0.50953302] [ 0. 0. 0. 1. ]] SLAMing on 101.659072329 meters Centerline goodness : 0.782029 with order 1 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.77, Z:0.50 [[ 0.99412069 0.10273141 0.03420986 10.37176155] [-0.10426917 0.9934524 0.04669326 -0.77422077] [-0.02918901 -0.04998577 0.99832331 0.50216821] [ 0. 0. 0. 1. ]] SLAMing on 101.719072329 meters Centerline goodness : 0.782936 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.78, Z:0.50 [[ 0.99401676 0.10405805 0.0332056 10.37816487] [-0.10562508 0.99317013 0.04956246 -0.77638384] [-0.02782144 -0.05277326 0.99821889 0.49919582] [ 0. 0. 0. 1. ]] SLAMing on 101.77907232899999 meters Centerline goodness : 0.784533 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.78, Z:0.50 [[ 0.99444247 0.09992203 0.03316256 10.37791479] [-0.10135298 0.99384542 0.04470863 -0.77501903] [-0.02849108 -0.04782128 0.99844949 0.49767208] [ 0. 0. 0. 1. ]] SLAMing on 101.83907232899999 meters Centerline goodness : 0.786756 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.78, Z:0.50 [[ 0.99458779 0.0987797 0.03221341 10.38122776] [-0.10017556 0.99394913 0.04505542 -0.7793979 ] [-0.02756793 -0.04803857 0.99846497 0.49741896] [ 0. 0. 0. 1. ]] SLAMing on 101.89907232899999 meters Centerline goodness : 0.788561 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.77, Z:0.49 [[ 0.99522779 0.09230891 0.03163392 10.38032452] [-0.0933534 0.99507588 0.03330368 -0.77380348] [-0.02840392 -0.03609788 0.99894452 0.48856942] [ 0. 0. 0. 1. ]] SLAMing on 101.959072329 meters Centerline goodness : 0.789363 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.78, Z:0.49 [[ 0.99529318 0.09203928 0.03033586 10.3847186 ] [-0.09311923 0.99499128 0.03634793 -0.77872158] [-0.02683847 -0.0390017 0.99887865 0.49184657] [ 0. 0. 0. 1. ]] SLAMing on 102.019072329 meters Centerline goodness : 0.791364 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.78, Z:0.49 [[ 0.99512746 0.0927107 0.03355677 10.40214725] [-0.09359496 0.99527567 0.02581332 -0.78012857] [-0.03100507 -0.02882829 0.99910341 0.48506903] [ 0. 0. 0. 1. ]] SLAMing on 102.079072329 meters Centerline goodness : 0.792492 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.78, Z:0.48 [[ 0.99512811 0.09276986 0.03337362 10.402857 ] [-0.09364561 0.99527362 0.02570847 -0.78081521] [-0.03083091 -0.02870851 0.99911224 0.48416665] [ 0. 0. 0. 1. ]] SLAMing on 102.13907232899999 meters Centerline goodness : 0.792357 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.78, Z:0.48 [[ 0.99510937 0.09293752 0.0334657 10.40314622] [-0.09380756 0.99526532 0.02543775 -0.78073675] [-0.03094313 -0.02845268 0.99911609 0.48274059] [ 0. 0. 0. 1. ]] SLAMing on 102.19907232899999 meters Centerline goodness : 0.792222 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.78, Z:0.48 [[ 0.99531144 0.09057193 0.03393917 10.40032351] [-0.09131962 0.99559668 0.02116557 -0.77889059] [-0.03187271 -0.02416564 0.99919976 0.48164704] [ 0. 0. 0. 1. ]] SLAMing on 102.25907232899999 meters Centerline goodness : 0.794377 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.78, Z:0.48 [[ 0.9951956 0.0915629 0.03466907 10.39785431] [-0.09234869 0.99548842 0.02178343 -0.78045792] [-0.03251811 -0.02488041 0.99916142 0.48218768] [ 0. 0. 0. 1. ]] SLAMing on 102.319072329 meters Centerline goodness : 0.792485 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.78, Z:0.48 [[ 0.99513504 0.09209024 0.03500924 10.39709188] [-0.09286934 0.99545008 0.02131712 -0.77927082] [-0.03288685 -0.0244647 0.99915961 0.48088269] [ 0. 0. 0. 1. ]] SLAMing on 102.379072329 meters Centerline goodness : 0.794419 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.78, Z:0.48 [[ 0.9949909 0.09343122 0.0355487 10.39497118] [-0.09420788 0.9953345 0.02083537 -0.77808409] [-0.03343618 -0.02407997 0.99915073 0.47949782] [ 0. 0. 0. 1. ]] SLAMing on 102.439072329 meters Centerline goodness : 0.801094 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.78, Z:0.48 [[ 0.99482995 0.09478734 0.03645183 10.39145239] [-0.09560479 0.99518987 0.02137375 -0.77918581] [-0.03425053 -0.02474822 0.99910681 0.48042156] [ 0. 0. 0. 1. ]] SLAMing on 102.49907232899999 meters Centerline goodness : 0.803145 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.78, Z:0.48 [[ 0.99471097 0.09569923 0.03730602 10.38860395] [-0.09655325 0.99508903 0.02180138 -0.77886443] [-0.03503644 -0.02528809 0.99906604 0.4813312 ] [ 0. 0. 0. 1. ]] SLAMing on 102.55907232899999 meters Centerline goodness : 0.804145 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.78, Z:0.48 [[ 0.99472932 0.09557707 0.03712951 10.38985782] [-0.09640933 0.99511367 0.02130774 -0.77876212] [-0.03491155 -0.02477506 0.99908327 0.47932908] [ 0. 0. 0. 1. ]] SLAMing on 102.61907232899999 meters Centerline goodness : 0.803213 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.78, Z:0.48 [[ 0.99509811 0.09172222 0.03697019 10.39045139] [-0.09235007 0.99560369 0.01564493 -0.77525646] [-0.03537267 -0.01898244 0.9991939 0.47545165] [ 0. 0. 0. 1. ]] SLAMing on 102.679072329 meters Centerline goodness : 0.802719 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.78, Z:0.47 [[ 0.99522361 0.09066289 0.03619681 10.39339268] [-0.09128455 0.99569783 0.01590464 -0.78010742] [-0.03459913 -0.01913288 0.99921811 0.47464987] [ 0. 0. 0. 1. ]] SLAMing on 102.739072329 meters Centerline goodness : 0.807736 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.78, Z:0.47 [[ 0.99567006 0.08591626 0.03548984 10.39573807] [-0.08637666 0.99619447 0.01164714 -0.78267539] [-0.0343541 -0.0146622 0.99930216 0.47257672] [ 0. 0. 0. 1. ]] SLAMing on 102.799072329 meters Centerline goodness : 0.806885 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.79, Z:0.47 [[ 0.99579287 0.08482458 0.03466036 10.3992099 ] [-0.08528035 0.99628608 0.01188714 -0.78526858] [-0.03352331 -0.01479297 0.99932845 0.47171524] [ 0. 0. 0. 1. ]] SLAMing on 102.85907232899999 meters Centerline goodness : 0.806714 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.79, Z:0.48 [[ 0.99598768 0.08303655 0.03336877 10.40382134] [-0.08356281 0.99639413 0.0146964 -0.79286688] [-0.03202811 -0.01742582 0.99933505 0.47636654] [ 0. 0. 0. 1. ]] SLAMing on 102.91907232899999 meters Centerline goodness : 0.807710 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.80, Z:0.48 [[ 0.99610309 0.08203055 0.03239802 10.40756285] [-0.08255174 0.99647255 0.01508882 -0.79576255] [-0.03104599 -0.01770453 0.99936114 0.47576012] [ 0. 0. 0. 1. ]] SLAMing on 102.97907232899999 meters Centerline goodness : 0.809708 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.80, Z:0.48 [[ 0.9958845 0.08494715 0.03159174 10.41108429] [-0.08560613 0.99612579 0.02012471 -0.79957878] [-0.02975981 -0.02274633 0.99929823 0.4771259 ] [ 0. 0. 0. 1. ]] SLAMing on 103.03907232899999 meters Centerline goodness : 0.809871 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.80, Z:0.47 [[ 0.9955795 0.0866029 0.0363511 10.42640681] [-0.08705886 0.99614076 0.01115063 -0.79976305] [-0.03524514 -0.01426602 0.99927687 0.47246379] [ 0. 0. 0. 1. ]] SLAMing on 103.099072329 meters Centerline goodness : 0.814785 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.80, Z:0.47 [[ 9.95627961e-01 8.61079402e-02 3.61992615e-02 1.04278834e+01] [-8.65350990e-02 9.96194507e-01 1.04009601e-02 -7.98516319e-01] [-3.51659002e-02 -1.34879933e-02 9.99290465e-01 4.70452928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159072329 meters Centerline goodness : 0.813610 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.80, Z:0.47 [[ 0.99543973 0.08859738 0.03535876 10.43214581] [-0.08916957 0.99590434 0.01494442 -0.80159784] [-0.03388991 -0.01802919 0.99926294 0.47076045] [ 0. 0. 0. 1. ]] SLAMing on 103.219072329 meters Centerline goodness : 0.813583 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.81, Z:0.48 [[ 0.99570208 0.08622247 0.03380906 10.4385771 ] [-0.08686159 0.99605936 0.01791117 -0.80725962] [-0.03213149 -0.0207709 0.9992678 0.47654857] [ 0. 0. 0. 1. ]] SLAMing on 103.27907232899999 meters Centerline goodness : 0.810819 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.81, Z:0.48 [[ 0.99586541 0.08494092 0.03220433 10.44964552] [-0.0856893 0.9960652 0.02261568 -0.81081087] [-0.03015661 -0.02528174 0.99922541 0.47838783] [ 0. 0. 0. 1. ]] SLAMing on 103.33907232899999 meters Centerline goodness : 0.812828 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.81, Z:0.48 [[ 0.9960073 0.08382691 0.03070028 10.46151626] [-0.08472807 0.99597229 0.02933183 -0.81412385] [-0.02811783 -0.03181589 0.99909816 0.48363489] [ 0. 0. 0. 1. ]] SLAMing on 103.39907232899999 meters Centerline goodness : 0.812654 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.82, Z:0.49 [[ 0.99594039 0.08517022 0.02913363 10.46909706] [-0.08620944 0.99560832 0.03649677 -0.81785862] [-0.02589724 -0.0388602 0.99890901 0.49013797] [ 0. 0. 0. 1. ]] SLAMing on 103.459072329 meters Centerline goodness : 0.809756 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.82, Z:0.50 [[ 0.99592839 0.08598691 0.027072 10.47810451] [-0.08708883 0.99529091 0.04256221 -0.82081559] [-0.02328472 -0.04474658 0.99872697 0.49502352] [ 0. 0. 0. 1. ]] SLAMing on 103.519072329 meters Centerline goodness : 0.810896 with order 1 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.82, Z:0.50 [[ 0.99622837 0.08297641 0.02537609 10.49338682] [-0.08414513 0.99524286 0.04910455 -0.82299873] [-0.02118086 -0.05105462 0.99847123 0.50111436] [ 0. 0. 0. 1. ]] SLAMing on 103.579072329 meters Centerline goodness : 0.810640 with order 1 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.83, Z:0.51 [[ 0.99617445 0.08409561 0.02375717 10.50116596] [-0.08531106 0.99478612 0.05588013 -0.82556136] [-0.01893403 -0.0576931 0.9981548 0.50756693] [ 0. 0. 0. 1. ]] SLAMing on 103.63907232899999 meters Centerline goodness : 0.811276 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.83, Z:0.51 [[ 0.99640787 0.08173972 0.02213533 10.51353689] [-0.08295576 0.99467633 0.06113378 -0.82666982] [-0.01702043 -0.06275043 0.99788411 0.51246165] [ 0. 0. 0. 1. ]] SLAMing on 103.69907232899999 meters Centerline goodness : 0.810145 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.83, Z:0.53 [[ 0.99685309 0.07470257 0.02652256 10.53867854] [-0.07687383 0.99265303 0.09343648 -0.8338239 ] [-0.01934776 -0.09518133 0.99527191 0.53080416] [ 0. 0. 0. 1. ]] SLAMing on 103.75907232899999 meters Centerline goodness : 0.809308 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.83, Z:0.53 [[ 0.99691001 0.07412853 0.02598815 10.54045861] [-0.07623837 0.99276601 0.09275435 -0.83186684] [-0.01892441 -0.09444904 0.99534981 0.53043625] [ 0. 0. 0. 1. ]] SLAMing on 103.819072329 meters Centerline goodness : 0.810072 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.83, Z:0.53 [[ 0.99722792 0.06981576 0.02573402 10.5404003 ] [-0.07181734 0.9935745 0.08747556 -0.82557453] [-0.01946149 -0.08908122 0.99583422 0.5306465 ] [ 0. 0. 0. 1. ]] SLAMing on 103.879072329 meters Centerline goodness : 0.809504 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.82, Z:0.54 [[ 0.9976333 0.06524014 0.02171454 10.52835495] [-0.06708243 0.99281078 0.0991297 -0.82478518] [-0.0150912 -0.10035175 0.99483757 0.54415368] [ 0. 0. 0. 1. ]] SLAMing on 103.939072329 meters Centerline goodness : 0.808220 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.82, Z:0.54 [[ 0.99769324 0.06450071 0.02116282 10.53048355] [-0.06627489 0.99297502 0.09802164 -0.82051271] [-0.01469169 -0.09919809 0.99495924 0.54319916] [ 0. 0. 0. 1. ]] SLAMing on 103.99907232899999 meters Centerline goodness : 0.806700 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.81, Z:0.54 [[ 0.99775651 0.06373941 0.02047505 10.53215469] [-0.06542991 0.99316258 0.09667993 -0.81468969] [-0.01417273 -0.09780271 0.9951049 0.54325504] [ 0. 0. 0. 1. ]] SLAMing on 104.05907232899999 meters Centerline goodness : 0.806646 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.81, Z:0.54 [[ 0.99799648 0.05996742 0.02017252 10.53221392] [-0.06156262 0.99395123 0.09094496 -0.80884224] [-0.01459677 -0.09200463 0.99565159 0.54120863] [ 0. 0. 0. 1. ]] SLAMing on 104.11907232899999 meters Centerline goodness : 0.800849 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.80, Z:0.54 [[ 0.9980571 0.05928045 0.01917952 10.53415381] [-0.06077158 0.99410236 0.08981825 -0.80391302] [-0.01374194 -0.09080932 0.99577348 0.54233655] [ 0. 0. 0. 1. ]] SLAMing on 104.179072329 meters Centerline goodness : 0.801781 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.80, Z:0.54 [[ 0.99812229 0.05842256 0.01840393 10.53683253] [-0.05982343 0.99431784 0.08805222 -0.79682456] [-0.01315512 -0.08898787 0.99594583 0.54100484] [ 0. 0. 0. 1. ]] SLAMing on 104.239072329 meters Centerline goodness : 0.801074 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.79, Z:0.54 [[ 0.9980476 0.06032552 0.01618058 10.54351379] [-0.06155914 0.993893 0.09158148 -0.79252835] [-0.01055706 -0.09239874 0.99566612 0.54313899] [ 0. 0. 0. 1. ]] SLAMing on 104.299072329 meters Centerline goodness : 0.799261 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.79, Z:0.54 [[ 9.98158825e-01 5.89596513e-02 1.42379373e-02 1.05487833e+01] [-6.00032214e-02 9.94156748e-01 8.97327927e-02 -7.87416408e-01] [-8.86412725e-03 -9.04219011e-02 9.95864101e-01 5.42064330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35907232899999 meters Centerline goodness : 0.794851 with order 1 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.79, Z:0.55 [[ 9.98092282e-01 6.05987609e-02 1.18146519e-02 1.05567463e+01] [-6.14475544e-02 9.93606177e-01 9.47151651e-02 -7.86990237e-01] [-5.99948948e-03 -9.52604568e-02 9.95434303e-01 5.45464936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41907232899999 meters Centerline goodness : 0.798041 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.79, Z:0.56 [[ 9.98288771e-01 5.77052098e-02 9.46774881e-03 1.05488827e+01] [-5.84078892e-02 9.91812159e-01 1.13565661e-01 -7.88023564e-01] [-2.83689810e-03 -1.13924315e-01 9.93485381e-01 5.64158238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47907232899999 meters Centerline goodness : 0.798391 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.78, Z:0.57 [[ 9.98254690e-01 5.82594290e-02 9.66502195e-03 1.05475563e+01] [-5.89804460e-02 9.91799019e-01 1.13384357e-01 -7.84250793e-01] [-2.98005141e-03 -1.13756513e-01 9.93504190e-01 5.65731822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53907232899999 meters Centerline goodness : 0.796361 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.78, Z:0.57 [[ 9.97997930e-01 6.24841777e-02 9.79081296e-03 1.05471987e+01] [-6.32004492e-02 9.91160606e-01 1.16646290e-01 -7.78532918e-01] [-2.41572059e-03 -1.17031540e-01 9.93125260e-01 5.66930071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599072329 meters Centerline goodness : 0.794427 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.77, Z:0.57 [[ 9.97916461e-01 6.37512314e-02 9.92560639e-03 1.05450498e+01] [-6.44735777e-02 9.91127902e-01 1.16226673e-01 -7.73923651e-01] [-2.42795189e-03 -1.16624450e-01 9.93173118e-01 5.69137282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659072329 meters Centerline goodness : 0.798114 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.77, Z:0.57 [[ 9.97509679e-01 6.96770051e-02 1.09341604e-02 1.05397651e+01] [-7.04887053e-02 9.90162712e-01 1.20868301e-01 -7.69619673e-01] [-2.40485673e-03 -1.21338035e-01 9.92608331e-01 5.74759459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719072329 meters Centerline goodness : 0.799370 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.76, Z:0.57 [[ 9.96907182e-01 7.77917901e-02 1.11583051e-02 1.05409097e+01] [-7.85801035e-02 9.88718457e-01 1.27518548e-01 -7.63435323e-01] [-1.11252608e-03 -1.28000977e-01 9.91773418e-01 5.73266157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77907232899999 meters Centerline goodness : 0.800110 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.76, Z:0.57 [[ 9.96155274e-01 8.65231638e-02 1.37263457e-02 1.05444953e+01] [-8.75346789e-02 9.89345022e-01 1.16336179e-01 -7.56741251e-01] [-3.51431750e-03 -1.17090430e-01 9.93115039e-01 5.67525175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83907232899999 meters Centerline goodness : 0.802634 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.75, Z:0.56 [[ 9.95750961e-01 9.06634683e-02 1.61294387e-02 1.05514607e+01] [-9.18298768e-02 9.90700813e-01 1.00395085e-01 -7.50006551e-01] [-6.87728143e-03 -1.01449667e-01 9.94816902e-01 5.56815508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89907232899999 meters Centerline goodness : 0.803695 with order 1 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.74, Z:0.55 [[ 9.95249489e-01 9.54218317e-02 1.93165296e-02 1.05697891e+01] [-9.68075714e-02 9.91010673e-01 9.23371040e-02 -7.44912376e-01] [-1.03319114e-02 -9.37684419e-02 9.95540422e-01 5.47279557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959072329 meters Centerline goodness : 0.804760 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.74, Z:0.54 [[ 0.9949351 0.09784707 0.02302364 10.58718036] [-0.09943939 0.99156474 0.08313344 -0.74165997] [-0.01469507 -0.08500184 0.99627242 0.53989453] [ 0. 0. 0. 1. ]] SLAMing on 105.019072329 meters Centerline goodness : 0.805561 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.74, Z:0.53 [[ 0.99495537 0.09708715 0.02525648 10.61173799] [-0.09871127 0.99236565 0.07393583 -0.74024497] [-0.01788544 -0.07605595 0.99694313 0.53346729] [ 0. 0. 0. 1. ]] SLAMing on 105.079072329 meters Centerline goodness : 0.804872 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.74, Z:0.52 [[ 0.99474765 0.09835018 0.02836109 10.62963141] [-0.09996223 0.99302546 0.06251394 -0.73775338] [-0.02201503 -0.06502063 0.99764105 0.5236833 ] [ 0. 0. 0. 1. ]] SLAMing on 105.13907232899999 meters Centerline goodness : 0.806180 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.73, Z:0.51 [[ 0.99449133 0.10007323 0.03118235 10.6487713 ] [-0.10159414 0.99347872 0.05175575 -0.73417326] [-0.02579963 -0.05463859 0.99817283 0.51359881] [ 0. 0. 0. 1. ]] SLAMing on 105.19907232899999 meters Centerline goodness : 0.804193 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.74, Z:0.51 [[ 0.99408302 0.10322825 0.03380642 10.67120749] [-0.10473853 0.99341434 0.046452 -0.73605091] [-0.02878863 -0.04971798 0.9983483 0.50811348] [ 0. 0. 0. 1. ]] SLAMing on 105.25907232899999 meters Centerline goodness : 0.800216 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.74, Z:0.51 [[ 0.99400007 0.1039576 0.03401001 10.66988813] [-0.10549884 0.9932992 0.04718776 -0.73858802] [-0.02887659 -0.05049266 0.99830688 0.50917311] [ 0. 0. 0. 1. ]] SLAMing on 105.319072329 meters Centerline goodness : 0.799680 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.74, Z:0.50 [[ 0.99352286 0.10686258 0.0386356 10.68591801] [-0.10835881 0.99334816 0.03895898 -0.73664794] [-0.03421534 -0.04289314 0.99849361 0.50251862] [ 0. 0. 0. 1. ]] SLAMing on 105.379072329 meters Centerline goodness : 0.794152 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.74, Z:0.50 [[ 0.99338282 0.10791176 0.03931453 10.68347244] [-0.10945932 0.99320219 0.03959892 -0.73803267] [-0.03477409 -0.04364023 0.99844193 0.50331684] [ 0. 0. 0. 1. ]] SLAMing on 105.439072329 meters Centerline goodness : 0.791638 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.74, Z:0.50 [[ 0.99358587 0.10598752 0.03941772 10.68150652] [-0.10739595 0.9935819 0.03551235 -0.73694245] [-0.03540086 -0.03951787 0.99859157 0.5014609 ] [ 0. 0. 0. 1. ]] SLAMing on 105.49907232899999 meters Centerline goodness : 0.789801 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.74, Z:0.50 [[ 0.99354977 0.10617321 0.03982599 10.68096792] [-0.10758216 0.99357724 0.03507634 -0.73579041] [-0.03584603 -0.03913465 0.99859078 0.5002665 ] [ 0. 0. 0. 1. ]] SLAMing on 105.55907232899999 meters Centerline goodness : 0.788404 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.74, Z:0.49 [[ 0.99318867 0.10800867 0.04370811 10.69619236] [-0.10914543 0.9937236 0.02450894 -0.73660859] [-0.04078661 -0.02911255 0.99874367 0.49275428] [ 0. 0. 0. 1. ]] SLAMing on 105.61907232899999 meters Centerline goodness : 0.784045 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.74, Z:0.49 [[ 0.99326432 0.10755714 0.04309817 10.69829564] [-0.10868258 0.99377021 0.02467507 -0.740416 ] [-0.0401757 -0.02919288 0.99876608 0.49156293] [ 0. 0. 0. 1. ]] SLAMing on 105.679072329 meters Centerline goodness : 0.785123 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.74, Z:0.49 [[ 0.99370859 0.10345913 0.04288875 10.69911411] [-0.10439161 0.99433317 0.02009838 -0.74076403] [-0.04056634 -0.02444916 0.99887768 0.48871516] [ 0. 0. 0. 1. ]] SLAMing on 105.739072329 meters Centerline goodness : 0.779319 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.75, Z:0.49 [[ 0.99370829 0.10359204 0.04257365 10.69935911] [-0.10464441 0.99423728 0.0232763 -0.74929351] [-0.03991707 -0.02758495 0.99882216 0.49317594] [ 0. 0. 0. 1. ]] SLAMing on 105.799072329 meters Centerline goodness : 0.778265 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.75, Z:0.49 [[ 0.99373855 0.10345399 0.04220145 10.70037505] [-0.10453503 0.9942252 0.02426282 -0.75400902] [-0.03944766 -0.02852243 0.99881447 0.49367698] [ 0. 0. 0. 1. ]] SLAMing on 105.85907232899999 meters Centerline goodness : 0.776708 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.76, Z:0.49 [[ 0.99379346 0.10311381 0.04173842 10.70220287] [-0.10422582 0.99422925 0.0254003 -0.75989586] [-0.03887843 -0.02959288 0.99880565 0.49351054] [ 0. 0. 0. 1. ]] SLAMing on 105.91907232899999 meters Centerline goodness : 0.778352 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.76, Z:0.49 [[ 0.99408826 0.10005594 0.04215859 10.69985829] [-0.10101501 0.99465765 0.02126331 -0.75905657] [-0.03980585 -0.02539626 0.99888464 0.49310852] [ 0. 0. 0. 1. ]] SLAMing on 105.97907232899999 meters Centerline goodness : 0.778005 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.76, Z:0.49 [[ 0.99406843 0.10026432 0.04213093 10.69944295] [-0.10125331 0.99461673 0.02203022 -0.76160982] [-0.03969528 -0.02616544 0.99886919 0.49438459] [ 0. 0. 0. 1. ]] SLAMing on 106.03907232899999 meters Centerline goodness : 0.778682 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.76, Z:0.49 [[ 0.99418218 0.09951421 0.04121539 10.70327483] [-0.10045603 0.99471041 0.02144268 -0.76462462] [-0.03886353 -0.02545826 0.99892017 0.4909811 ] [ 0. 0. 0. 1. ]] SLAMing on 106.099072329 meters Centerline goodness : 0.777956 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.77, Z:0.49 [[ 0.99392147 0.10231133 0.04065096 10.70732231] [-0.10337819 0.99432622 0.02506621 -0.76643865] [-0.03785576 -0.02911627 0.99885894 0.48850292] [ 0. 0. 0. 1. ]] SLAMing on 106.159072329 meters Centerline goodness : 0.775946 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.77, Z:0.49 [[ 0.99383891 0.10285835 0.04128404 10.70525439] [-0.10396861 0.99424828 0.02570753 -0.76788287] [-0.03840235 -0.02984139 0.99881668 0.48973452] [ 0. 0. 0. 1. ]] SLAMing on 106.219072329 meters Centerline goodness : 0.775641 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.77, Z:0.49 [[ 0.99409371 0.10021812 0.04164154 10.70215613] [-0.10118584 0.99462833 0.02181537 -0.76732804] [-0.03923156 -0.02590005 0.99889443 0.4904946 ] [ 0. 0. 0. 1. ]] SLAMing on 106.27907232899999 meters Centerline goodness : 0.774723 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.76, Z:0.49 [[ 0.99417759 0.09953148 0.04128443 10.70481241] [-0.10043033 0.99473705 0.02029639 -0.76499336] [-0.03904702 -0.02432442 0.99894127 0.48651843] [ 0. 0. 0. 1. ]] SLAMing on 106.33907232899999 meters Centerline goodness : 0.773990 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.77, Z:0.49 [[ 0.99418957 0.09946853 0.0411474 10.7054622 ] [-0.10035965 0.99474646 0.02018469 -0.76579583] [-0.03892349 -0.02419695 0.99894918 0.48576559] [ 0. 0. 0. 1. ]] SLAMing on 106.39907232899999 meters Centerline goodness : 0.774539 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.77, Z:0.49 [[ 0.99407845 0.10036164 0.04166017 10.70316352] [-0.10128885 0.99464019 0.02077167 -0.76648466] [-0.0393522 -0.02486838 0.9989159 0.48723695] [ 0. 0. 0. 1. ]] SLAMing on 106.459072329 meters Centerline goodness : 0.771172 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.77, Z:0.49 [[ 0.9937433 0.10376303 0.04132177 10.70553831] [-0.10484363 0.99417699 0.02489827 -0.76772778] [-0.03849763 -0.02907481 0.99883562 0.48676844] [ 0. 0. 0. 1. ]] SLAMing on 106.519072329 meters Centerline goodness : 0.772264 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.77, Z:0.49 [[ 0.99368632 0.10430009 0.0413399 10.70529591] [-0.10536427 0.99413301 0.02445274 -0.76725675] [-0.03854693 -0.0286541 0.99884587 0.4856169 ] [ 0. 0. 0. 1. ]] SLAMing on 106.579072329 meters Centerline goodness : 0.770516 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.77, Z:0.49 [[ 0.9936532 0.10456604 0.04146392 10.70474766] [-0.10562367 0.99411195 0.02418839 -0.76566907] [-0.03869049 -0.02841445 0.99884717 0.48561431] [ 0. 0. 0. 1. ]] SLAMing on 106.63907232899999 meters Centerline goodness : 0.769044 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.76, Z:0.48 [[ 0.9939564 0.10167718 0.04138146 10.7037262 ] [-0.10251254 0.99455805 0.01858647 -0.76062166] [-0.03926644 -0.02271626 0.99897053 0.48252009] [ 0. 0. 0. 1. ]] SLAMing on 106.69907232899999 meters Centerline goodness : 0.768890 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.76, Z:0.48 [[ 0.99436579 0.09770922 0.04110458 10.7043885 ] [-0.09829862 0.99507762 0.01256609 -0.75648608] [-0.03967443 -0.01653582 0.99907583 0.47863655] [ 0. 0. 0. 1. ]] SLAMing on 106.75907232899999 meters Centerline goodness : 0.770393 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.75, Z:0.48 [[ 9.94669199e-01 9.46317770e-02 4.09635295e-02 1.07035166e+01] [-9.50150146e-02 9.95447529e-01 7.50765326e-03 -7.51826007e-01] [-4.00665816e-02 -1.13597818e-02 9.99132436e-01 4.77006290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819072329 meters Centerline goodness : 0.765253 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.75, Z:0.48 [[ 9.94613878e-01 9.50249143e-02 4.13944402e-02 1.07019390e+01] [-9.54005992e-02 9.95412977e-01 7.19244120e-03 -7.49470299e-01] [-4.05211018e-02 -1.11027562e-02 9.99116995e-01 4.77607586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879072329 meters Centerline goodness : 0.766541 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.74, Z:0.48 [[ 9.94582693e-01 9.52288728e-02 4.16740639e-02 1.07012744e+01] [-9.55653054e-02 9.95404151e-01 6.15211475e-03 -7.44617825e-01] [-4.08966773e-02 -1.01013815e-02 9.99112318e-01 4.76964940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939072329 meters Centerline goodness : 0.763280 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.74, Z:0.47 [[ 9.94615817e-01 9.51390649e-02 4.10844956e-02 1.07028877e+01] [-9.53878794e-02 9.95431594e-01 4.13446665e-03 -7.38355343e-01] [-4.05034557e-02 -8.03116883e-03 9.99147122e-01 4.74612295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99907232899999 meters Centerline goodness : 0.761187 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.74, Z:0.47 [[ 9.94645787e-01 9.49525928e-02 4.07892580e-02 1.07037387e+01] [-9.51562515e-02 9.95457595e-01 3.07642165e-03 -7.35273519e-01] [-4.03118625e-02 -6.94130272e-03 9.99163036e-01 4.73670315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05907232899999 meters Centerline goodness : 0.759896 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.73, Z:0.47 [[ 9.94661901e-01 9.47856230e-02 4.07846687e-02 1.07038454e+01] [-9.49555838e-02 9.95478976e-01 2.24609989e-03 -7.30428807e-01] [-4.03873823e-02 -6.10684201e-03 9.99165435e-01 4.73704318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11907232899999 meters Centerline goodness : 0.757751 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.72, Z:0.47 [[ 9.94617442e-01 9.51411065e-02 4.10404044e-02 1.07028156e+01] [-9.52897978e-02 9.95448160e-01 1.67774783e-03 -7.24746325e-01] [-4.06939722e-02 -5.57944908e-03 9.99156079e-01 4.74427827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179072329 meters Centerline goodness : 0.753853 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.72, Z:0.47 [[ 9.94659101e-01 9.47819534e-02 4.08614003e-02 1.07037414e+01] [-9.48729860e-02 9.95489343e-01 2.90112925e-04 -7.19821649e-01] [-4.06495911e-02 -4.16520652e-03 9.99164782e-01 4.73175287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239072329 meters Centerline goodness : 0.753842 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.71, Z:0.47 [[ 9.94693550e-01 9.44641680e-02 4.07585821e-02 1.07036393e+01] [-9.45183872e-02 9.95522936e-01 -5.99033029e-04 -7.14578450e-01] [-4.06326905e-02 -3.25658115e-03 9.99168844e-01 4.74184339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299072329 meters Centerline goodness : 0.752945 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.71, Z:0.47 [[ 9.94744984e-01 9.39757292e-02 4.06322459e-02 1.07041807e+01] [-9.39926089e-02 9.95571767e-01 -1.49897201e-03 -7.10672475e-01] [-4.05931838e-02 -2.32803590e-03 9.99173045e-01 4.74133326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35907232899999 meters Centerline goodness : 0.752116 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.70, Z:0.47 [[ 9.94906717e-01 9.25973995e-02 3.98289495e-02 1.07073735e+01] [-9.25378314e-02 9.95703566e-01 -3.34055509e-03 -7.04475309e-01] [-3.99671537e-02 -3.62143915e-04 9.99200928e-01 4.72526764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41907232899999 meters Centerline goodness : 0.747919 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.70, Z:0.47 [[ 9.95062325e-01 9.12814307e-02 3.89701207e-02 1.07103844e+01] [-9.11541386e-02 9.95824069e-01 -5.03454210e-03 -6.99382050e-01] [-3.92669444e-02 1.45739538e-03 9.99227693e-01 4.71362261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47907232899999 meters Centerline goodness : 0.746166 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.70, Z:0.47 [[ 9.94957122e-01 9.29997240e-02 3.75682839e-02 1.07160378e+01] [-9.30194551e-02 9.95663536e-01 -1.22615753e-03 -6.97901602e-01] [-3.75194028e-02 -2.27460713e-03 9.99293311e-01 4.72294150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53907232899999 meters Centerline goodness : 0.745987 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.69, Z:0.47 [[ 9.95162042e-01 9.12669998e-02 3.63709248e-02 1.07198033e+01] [-9.12292549e-02 9.95826258e-01 -2.69949806e-03 -6.92449354e-01] [-3.64654970e-02 -6.31654361e-04 9.99334713e-01 4.72091803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599072329 meters Centerline goodness : 0.742172 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.69, Z:0.47 [[ 9.95564442e-01 8.78007195e-02 3.38005364e-02 1.07286378e+01] [-8.77245344e-02 9.96137776e-01 -3.73326495e-03 -6.89783005e-01] [-3.39977746e-02 7.51569514e-04 9.99421626e-01 4.72014985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659072329 meters Centerline goodness : 0.742687 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.68, Z:0.48 [[ 9.96810089e-01 7.73534984e-02 1.96489723e-02 1.07326347e+01] [-7.73016448e-02 9.97002001e-01 -3.38608925e-03 -6.81031448e-01] [-1.98519906e-02 1.85639005e-03 9.99801206e-01 4.80746698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719072329 meters Centerline goodness : 0.745482 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.67, Z:0.49 [[ 9.97846892e-01 6.50090807e-02 8.68329454e-03 1.07312538e+01] [-6.49793094e-02 9.97879870e-01 -3.66808085e-03 -6.71588740e-01] [-8.90334339e-03 3.09594859e-03 9.99955572e-01 4.87645052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77907232899999 meters Centerline goodness : 0.749030 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.66, Z:0.49 [[ 9.98606194e-01 5.26672672e-02 -3.43931547e-03 1.07312546e+01] [-5.26839504e-02 9.98598943e-01 -4.95501342e-03 -6.61904153e-01] [ 3.17352978e-03 5.12930382e-03 9.99981809e-01 4.94888161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83907232899999 meters Centerline goodness : 0.750726 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.66, Z:0.50 [[ 9.98813818e-01 4.50763942e-02 -1.84140318e-02 1.07349540e+01] [-4.52027621e-02 9.98956655e-01 -6.50479430e-03 -6.55933758e-01] [ 1.81016069e-02 7.32944353e-03 9.99809287e-01 5.00909649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89907232899999 meters Centerline goodness : 0.752446 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.65, Z:0.50 [[ 9.99007338e-01 4.12187743e-02 -1.68923650e-02 1.07326057e+01] [-4.13347453e-02 9.99123724e-01 -6.57448455e-03 -6.50859002e-01] [ 1.66065704e-02 7.26619991e-03 9.99835699e-01 4.99450707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959072329 meters Centerline goodness : 0.754660 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.65, Z:0.50 [[ 9.99256501e-01 3.52536027e-02 -1.56086177e-02 1.07296471e+01] [-3.54087076e-02 9.99325111e-01 -9.77478033e-03 -6.47013863e-01] [ 1.52534874e-02 1.03201938e-02 9.99830398e-01 4.99294878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019072329 meters Centerline goodness : 0.757613 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.64, Z:0.50 [[ 9.99377000e-01 3.23063084e-02 -1.42096520e-02 1.07274333e+01] [-3.24365824e-02 9.99432957e-01 -9.03506261e-03 -6.44565703e-01] [ 1.39097050e-02 9.49034631e-03 9.99858217e-01 4.97883985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079072329 meters Centerline goodness : 0.762590 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.64, Z:0.49 [[ 9.99522797e-01 2.80044310e-02 -1.30357276e-02 1.07274235e+01] [-2.81080631e-02 9.99574179e-01 -7.83567093e-03 -6.43759854e-01] [ 1.28107432e-02 8.19834078e-03 9.99884329e-01 4.93290503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13907232899999 meters Centerline goodness : 0.762656 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.64, Z:0.49 [[ 9.99590299e-01 2.58550780e-02 -1.22779630e-02 1.07267616e+01] [-2.59569013e-02 9.99629369e-01 -8.20750551e-03 -6.43437403e-01] [ 1.20612067e-02 8.52284076e-03 9.99890938e-01 4.91820377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19907232899999 meters Centerline goodness : 0.764782 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.64, Z:0.49 [[ 0.99960318 0.02498929 -0.01300087 10.77669697] [-0.02528071 0.99942136 -0.02275587 -0.64294836] [ 0.01242469 0.02307551 0.99965651 0.48881099] [ 0. 0. 0. 1. ]] SLAMing on 108.25907232899999 meters Centerline goodness : 0.764033 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.64, Z:0.49 [[ 0.9996165 0.0247964 -0.01232809 10.77598112] [-0.02504038 0.99948543 -0.0200462 -0.64299286] [ 0.01182467 0.02034722 0.99972305 0.4873953 ] [ 0. 0. 0. 1. ]] SLAMing on 108.319072329 meters Centerline goodness : 0.763284 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.65, Z:0.48 [[ 0.99946656 0.02915822 -0.0147105 10.82472341] [-0.0295739 0.99914532 -0.02887916 -0.6454596 ] [ 0.01385587 0.0292988 0.99947466 0.48384881] [ 0. 0. 0. 1. ]] SLAMing on 108.379072329 meters Centerline goodness : 0.762819 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.65, Z:0.48 [[ 0.99941683 0.03050965 -0.01533477 10.82614409] [-0.03093646 0.99911745 -0.02841242 -0.64689751] [ 0.01445438 0.02887026 0.99947865 0.48388467] [ 0. 0. 0. 1. ]] SLAMing on 108.439072329 meters Centerline goodness : 0.763145 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.65, Z:0.48 [[ 0.9993152 0.03320366 -0.01632922 10.82951515] [-0.03364289 0.99905818 -0.02740271 -0.64933438] [ 0.01540397 0.0279333 0.99949109 0.48237028] [ 0. 0. 0. 1. ]] SLAMing on 108.49907232899999 meters Centerline goodness : 0.765408 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.65, Z:0.48 [[ 0.99926078 0.03417587 -0.01760424 10.83299547] [-0.03468341 0.99896638 -0.02938092 -0.65214526] [ 0.01658193 0.02996978 0.99941325 0.4817225 ] [ 0. 0. 0. 1. ]] SLAMing on 108.55907232899999 meters Centerline goodness : 0.765093 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.66, Z:0.48 [[ 0.9992066 0.03550269 -0.0180482 10.836033 ] [-0.03599525 0.99896685 -0.02774123 -0.65628449] [ 0.01704466 0.02836887 0.99945219 0.47854281] [ 0. 0. 0. 1. ]] SLAMing on 108.61907232899999 meters Centerline goodness : 0.763551 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.67, Z:0.49 [[ 9.99124356e-01 3.87169109e-02 -1.58594725e-02 1.08445139e+01] [-3.88883944e-02 9.99186796e-01 -1.06507895e-02 -6.70457034e-01] [ 1.54342099e-02 1.12582126e-02 9.99817502e-01 4.90875293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.679072329 meters Centerline goodness : 0.762258 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.68, Z:0.50 [[ 9.99052400e-01 4.00948121e-02 -1.69324815e-02 1.08535488e+01] [-4.01028144e-02 9.99195550e-01 -1.33182669e-04 -6.80161852e-01] [ 1.69135202e-02 8.12096627e-04 9.99856626e-01 5.00702350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739072329 meters Centerline goodness : 0.761440 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.69, Z:0.51 [[ 9.98701107e-01 4.74083248e-02 -1.86694725e-02 1.08869844e+01] [-4.72207222e-02 9.98830705e-01 1.03646719e-02 -6.92731428e-01] [ 1.91390141e-02 -9.46962333e-03 9.99771986e-01 5.06954432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799072329 meters Centerline goodness : 0.758849 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.70, Z:0.51 [[ 0.99835354 0.05396592 -0.0194393 10.91550551] [-0.05370555 0.99846315 0.01367663 -0.70276407] [ 0.0201475 -0.01261012 0.99971749 0.50790414] [ 0. 0. 0. 1. ]] SLAMing on 108.85907232899999 meters Centerline goodness : 0.758252 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.71, Z:0.51 [[ 0.99811282 0.05903607 -0.0168978 10.94442179] [-0.05877025 0.99814621 0.01581806 -0.70758404] [ 0.01780031 -0.01479513 0.99973209 0.50751939] [ 0. 0. 0. 1. ]] SLAMing on 108.91907232899999 meters Centerline goodness : 0.759647 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.71, Z:0.51 [[ 0.99764781 0.06747428 -0.01208585 10.96017539] [-0.06728425 0.99761353 0.01549443 -0.71492934] [ 0.01310249 -0.01464479 0.99980691 0.50596147] [ 0. 0. 0. 1. ]] SLAMing on 108.97907232899999 meters Centerline goodness : 0.761669 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.72, Z:0.51 [[ 9.97175923e-01 7.48719288e-02 -5.86286390e-03 1.09716593e+01] [-7.47888933e-02 9.97110806e-01 1.32913917e-02 -7.21100340e-01] [ 6.84107709e-03 -1.28153787e-02 9.99894477e-01 5.05122684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03907232899999 meters Centerline goodness : 0.759616 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.72, Z:0.50 [[ 9.96598091e-01 8.24125360e-02 -6.47345908e-04 1.09874626e+01] [-8.24016879e-02 9.96547015e-01 1.01984229e-02 -7.24940823e-01] [ 1.48558853e-03 -1.01103864e-02 9.99947785e-01 4.99028405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099072329 meters Centerline goodness : 0.759793 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.73, Z:0.49 [[ 9.96066729e-01 8.84959874e-02 4.41937984e-03 1.10028299e+01] [-8.85173381e-02 9.96062610e-01 4.89464992e-03 -7.26859175e-01] [-3.96882214e-03 -5.26658968e-03 9.99978256e-01 4.92516250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159072329 meters Centerline goodness : 0.760453 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.73, Z:0.49 [[ 9.95245039e-01 9.69062719e-02 9.82272330e-03 1.10165563e+01] [-9.69279157e-02 9.95289864e-01 1.75074608e-03 -7.29604895e-01] [-9.60679866e-03 -2.69451745e-03 9.99950223e-01 4.87451706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219072329 meters Centerline goodness : 0.761537 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.73, Z:0.49 [[ 9.95132712e-01 9.79894456e-02 1.04380669e-02 1.10146764e+01] [-9.80183265e-02 9.95181973e-01 2.29097064e-03 -7.31633290e-01] [-1.01632851e-02 -3.30294168e-03 9.99942897e-01 4.87135665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27907232899999 meters Centerline goodness : 0.763482 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.74, Z:0.49 [[ 9.94590507e-01 1.03278817e-01 1.10999990e-02 1.10128506e+01] [-1.03370282e-01 9.94610710e-01 8.00748861e-03 -7.37098931e-01] [-1.02131739e-02 -9.11158218e-03 9.99906331e-01 4.88627021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33907232899999 meters Centerline goodness : 0.763753 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.74, Z:0.49 [[ 9.95012423e-01 9.91832821e-02 1.06280250e-02 1.10131395e+01] [-9.92365971e-02 9.95053182e-01 4.61105674e-03 -7.40298817e-01] [-1.01181103e-02 -5.64274777e-03 9.99932889e-01 4.88831687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39907232899999 meters Centerline goodness : 0.764682 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.74, Z:0.49 [[ 9.95110466e-01 9.82841493e-02 9.76660837e-03 1.10165037e+01] [-9.83364773e-02 9.95140515e-01 5.02925603e-03 -7.44535068e-01] [-9.22485153e-03 -5.96507917e-03 9.99939658e-01 4.87914633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459072329 meters Centerline goodness : 0.764434 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.75, Z:0.49 [[ 9.94822493e-01 1.01192648e-01 9.39444787e-03 1.10195486e+01] [-1.01282052e-01 9.94811577e-01 9.58500800e-03 -7.48043244e-01] [-8.37577316e-03 -1.04868705e-02 9.99909932e-01 4.88027339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519072329 meters Centerline goodness : 0.761158 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.74, Z:0.49 [[ 9.95568634e-01 9.38186309e-02 -6.41557500e-03 1.10254096e+01] [-9.38090041e-02 9.95588610e-01 1.78600625e-03 -7.39889338e-01] [ 6.55483406e-03 -1.17625310e-03 9.99977825e-01 4.93761064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579072329 meters Centerline goodness : 0.759142 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.73, Z:0.50 [[ 9.95935593e-01 8.68632257e-02 -2.38133085e-02 1.10338126e+01] [-8.69522521e-02 9.96208748e-01 -2.72694038e-03 -7.32597657e-01] [ 2.34861554e-02 4.78647778e-03 9.99712704e-01 5.01606614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63907232899999 meters Centerline goodness : 0.738040 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.73, Z:0.50 [[ 9.95389245e-01 9.24226668e-02 -2.56573756e-02 1.10377046e+01] [-9.24640553e-02 9.95715931e-01 -4.28903466e-04 -7.31600308e-01] [ 2.55078172e-02 2.79931089e-03 9.99670703e-01 5.03008857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69907232899999 meters Centerline goodness : 0.710652 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.73, Z:0.50 [[ 9.94868932e-01 9.90648987e-02 -2.05415300e-02 1.10540586e+01] [-9.91804663e-02 9.95058442e-01 -4.68323226e-03 -7.25497139e-01] [ 1.99760789e-02 6.69652080e-03 9.99778032e-01 4.99015478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75907232899999 meters Centerline goodness : 0.700271 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.72, Z:0.50 [[ 9.94853567e-01 9.93071000e-02 -2.01116935e-02 1.10531700e+01] [-9.94314211e-02 9.95030428e-01 -5.27642566e-03 -7.22045583e-01] [ 1.94877605e-02 7.24900516e-03 9.99783816e-01 4.98455691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819072329 meters Centerline goodness : 0.752199 with order 2 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.71, Z:0.49 [[ 9.94139280e-01 1.07075129e-01 -1.48999761e-02 1.10686351e+01] [-1.07238655e-01 9.94176326e-01 -1.06443769e-02 -7.11981389e-01] [ 1.36734555e-02 1.21798466e-02 9.99832330e-01 4.92055934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879072329 meters Centerline goodness : 0.748406 with order 2 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.70, Z:0.49 [[ 9.93495639e-01 1.13481075e-01 -9.40538157e-03 1.10831768e+01] [-1.13625230e-01 9.93385785e-01 -1.65526383e-02 -7.04847863e-01] [ 7.46476117e-03 1.75136626e-02 9.99818758e-01 4.87464458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939072329 meters Centerline goodness : 0.730836 with order 3 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.70, Z:0.49 [[ 9.92594586e-01 1.21103463e-01 -9.48357863e-03 1.10843362e+01] [-1.21195235e-01 9.92580452e-01 -9.78573311e-03 -6.97264442e-01] [ 8.22812860e-03 1.08626302e-02 9.99907146e-01 4.89882034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99907232899999 meters Centerline goodness : 0.726335 with order 3 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.69, Z:0.49 [[ 9.92333765e-01 1.23143431e-01 -1.04591973e-02 1.10898045e+01] [-1.23238995e-01 9.92335821e-01 -9.04258285e-03 -6.86466673e-01] [ 9.26550147e-03 1.02622413e-02 9.99904414e-01 4.87408488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05907232899999 meters Centerline goodness : 0.130729 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.68, Z:0.49 [[ 9.92504434e-01 1.21734248e-01 -1.07574065e-02 1.10920731e+01] [-1.21848108e-01 9.92491620e-01 -1.06499814e-02 -6.77760297e-01] [ 9.38016835e-03 1.18809233e-02 9.99885421e-01 4.87248980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11907232899999 meters Centerline goodness : 0.134833 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.67, Z:0.49 [[ 9.92705889e-01 1.20180180e-01 -9.57821884e-03 1.10942791e+01] [-1.20286642e-01 9.92673244e-01 -1.14435211e-02 -6.66357756e-01] [ 8.13275714e-03 1.25121826e-02 9.99888646e-01 4.85637242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179072329 meters Centerline goodness : 0.139874 with order 1 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.66, Z:0.49 [[ 9.93293239e-01 1.15173767e-01 -1.01756812e-02 1.10950747e+01] [-1.15334911e-01 9.93181218e-01 -1.69978599e-02 -6.58432154e-01] [ 8.14858788e-03 1.80574706e-02 9.99803745e-01 4.86102694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239072329 meters Centerline goodness : 0.162997 with order 1 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.65, Z:0.49 [[ 9.94105330e-01 1.07741992e-01 -1.20935978e-02 1.11016213e+01] [-1.08000802e-01 9.93877663e-01 -2.33027378e-02 -6.50726495e-01] [ 9.50887335e-03 2.44714941e-02 9.99655304e-01 4.85762583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299072329 meters Centerline goodness : 0.106789 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.66, Z:0.68 [[ 0.99748238 0.06593465 -0.02610589 11.0338764 ] [-0.06005764 0.98119743 0.18342489 -0.664668 ] [ 0.03770909 -0.18139524 0.98268703 0.68192556] [ 0. 0. 0. 1. ]] SLAMing on 110.35907232899999 meters Centerline goodness : 0.113019 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.65, Z:0.68 [[ 0.99801958 0.05705323 -0.02649251 11.04359836] [-0.05147258 0.98278676 0.17742817 -0.65370088] [ 0.03615934 -0.17571315 0.9837771 0.67625051] [ 0. 0. 0. 1. ]] SLAMing on 110.41907232899999 meters Centerline goodness : 0.504450 with order 3 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.63, Z:0.67 [[ 0.99914119 0.03506556 -0.02207445 11.099709 ] [-0.03076945 0.98470114 0.17151356 -0.62874894] [ 0.02775095 -0.17068704 0.98493442 0.67459202] [ 0. 0. 0. 1. ]] SLAMing on 110.47907232899999 meters Centerline goodness : 0.480431 with order 3 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.61, Z:0.67 [[ 0.99937306 0.02632645 -0.02367276 11.14847924] [-0.02174288 0.98406475 0.17647609 -0.61008108] [ 0.02794152 -0.17585074 0.98402022 0.67350822] [ 0. 0. 0. 1. ]] SLAMing on 110.53907232899999 meters Centerline goodness : 0.440746 with order 3 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.59, Z:0.67 [[ 0.99944275 0.01976024 -0.02690193 11.19583238] [-0.0147604 0.98449806 0.17477328 -0.58977564] [ 0.02993846 -0.1742788 0.98424112 0.67266191] [ 0. 0. 0. 1. ]] SLAMing on 110.599072329 meters Centerline goodness : 0.377260 with order 3 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.57, Z:0.67 [[ 9.99592010e-01 1.32672300e-02 -2.52941697e-02 1.12306962e+01] [-8.77695852e-03 9.85403674e-01 1.70007539e-01 -5.72456592e-01] [ 2.71804969e-02 -1.69716172e-01 9.85118085e-01 6.74955606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659072329 meters Centerline goodness : 0.151711 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.55, Z:0.67 [[ 9.99600508e-01 2.22113907e-03 -2.81760553e-02 1.12888106e+01] [ 2.64980972e-03 9.85151405e-01 1.71667374e-01 -5.45197148e-01] [ 2.81389776e-02 -1.71673455e-01 9.84751960e-01 6.73916231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719072329 meters Centerline goodness : 0.304770 with order 2 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.52, Z:0.67 [[ 9.99245491e-01 -8.04288544e-03 -3.79968405e-02 1.13490077e+01] [ 1.42328746e-02 9.86095572e-01 1.65568558e-01 -5.22324556e-01] [ 3.61368673e-02 -1.65984439e-01 9.85466028e-01 6.68836360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77907232899999 meters Centerline goodness : 0.283061 with order 2 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.51, Z:0.67 [[ 0.99889693 -0.0157667 -0.04423046 11.39296137] [ 0.02276311 0.98645563 0.16244117 -0.50627243] [ 0.04107022 -0.16326881 0.9857264 0.66909124] [ 0. 0. 0. 1. ]] SLAMing on 110.83907232899999 meters Centerline goodness : 0.137690 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.49, Z:0.67 [[ 0.99851095 -0.02282416 -0.04954736 11.43674444] [ 0.03047792 0.98669733 0.15968554 -0.49027232] [ 0.04524356 -0.16095786 0.98592372 0.67121695] [ 0. 0. 0. 1. ]] SLAMing on 110.89907232899999 meters Centerline goodness : 0.153641 with order 1 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.46, Z:0.67 [[ 0.99790885 -0.03718754 -0.05286784 11.49779164] [ 0.04510067 0.98650696 0.15738474 -0.46487681] [ 0.04630174 -0.15944 0.98612121 0.67271147] [ 0. 0. 0. 1. ]] SLAMing on 110.959072329 meters Centerline goodness : 0.157496 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.44, Z:0.67 [[ 0.99713598 -0.04938251 -0.0572818 11.55959717] [ 0.05786875 0.98582594 0.15747516 -0.4400876 ] [ 0.04869336 -0.16033898 0.98586022 0.67287434] [ 0. 0. 0. 1. ]] SLAMing on 111.019072329 meters Centerline goodness : 0.153988 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.42, Z:0.67 [[ 0.99675896 -0.05487783 -0.05882177 11.62301308] [ 0.06325869 0.98640361 0.15167815 -0.42281229] [ 0.04969824 -0.15490754 0.98667813 0.67458269] [ 0. 0. 0. 1. ]] SLAMing on 111.079072329 meters Centerline goodness : 0.171389 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.40, Z:0.68 [[ 0.99578329 -0.06132137 -0.06823004 11.67950537] [ 0.07102974 0.98606705 0.15042122 -0.40422219] [ 0.05805536 -0.1546333 0.98626473 0.67602092] [ 0. 0. 0. 1. ]] SLAMing on 111.13907232899999 meters Centerline goodness : 0.137520 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.40, Z:0.67 [[ 0.99569381 -0.05814912 -0.07219781 11.71860554] [ 0.06836274 0.98659367 0.14818727 -0.39911216] [ 0.06261294 -0.15248479 0.98632044 0.67371166] [ 0. 0. 0. 1. ]] SLAMing on 111.19907232899999 meters Centerline goodness : 0.181110 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.39, Z:0.67 [[ 0.99566068 -0.0569532 -0.07359443 11.75282464] [ 0.06697348 0.98763008 0.14177934 -0.39107948] [ 0.06460928 -0.14609299 0.98715879 0.67182701] [ 0. 0. 0. 1. ]] SLAMing on 111.25907232899999 meters Centerline goodness : 0.124590 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.38, Z:0.67 [[ 0.99618268 -0.04646784 -0.07389734 11.80376958] [ 0.05636883 0.98881201 0.13810636 -0.38027978] [ 0.06665307 -0.14174467 0.98765673 0.67375686] [ 0. 0. 0. 1. ]] SLAMing on 111.319072329 meters Centerline goodness : 0.185957 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.37, Z:0.67 [[ 0.99702559 -0.0250296 -0.07289371 11.85089125] [ 0.03521212 0.98924805 0.14194506 -0.37070508] [ 0.06855713 -0.1440896 0.98718697 0.67330685] [ 0. 0. 0. 1. ]] SLAMing on 111.379072329 meters Centerline goodness : 0.181509 with order 2 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.36, Z:0.68 [[ 9.97229203e-01 7.37924684e-03 -7.40233993e-02 1.18895213e+01] [ 3.04426282e-03 9.90186170e-01 1.39721440e-01 -3.55481667e-01] [ 7.43279852e-02 -1.39559647e-01 9.87420101e-01 6.75994302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439072329 meters Centerline goodness : 0.121060 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.34, Z:0.68 [[ 0.99633889 0.03872108 -0.07622001 11.90963492] [-0.02762584 0.98954096 0.14158216 -0.34251193] [ 0.08090503 -0.13895817 0.98698784 0.67537351] [ 0. 0. 0. 1. ]] SLAMing on 111.49907232899999 meters Centerline goodness : 0.181584 with order 3 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.32, Z:0.67 [[ 0.99179044 0.09954094 -0.08027034 11.93830668] [-0.0876026 0.98618903 0.14055955 -0.32204412] [ 0.09315316 -0.13237373 0.98681289 0.6724459 ] [ 0. 0. 0. 1. ]] SLAMing on 111.55907232899999 meters Centerline goodness : 0.168289 with order 3 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.29, Z:0.67 [[ 0.98245047 0.16638387 -0.08430583 11.96491023] [-0.15378648 0.97832626 0.1386631 -0.29106728] [ 0.10554992 -0.12326454 0.98674468 0.6706291 ] [ 0. 0. 0. 1. ]] SLAMing on 111.61907232899999 meters Centerline goodness : 0.336517 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.25, Z:0.67 [[ 0.96888642 0.23240278 -0.08513546 11.98798709] [-0.21881262 0.96505317 0.14419923 -0.24510424] [ 0.11567254 -0.12108396 0.98587958 0.66861381] [ 0. 0. 0. 1. ]] SLAMing on 111.679072329 meters Centerline goodness : 0.344251 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.23, Z:0.67 [[ 0.96286796 0.2565123 -0.0841827 11.99311626] [-0.24274466 0.95906045 0.14587011 -0.23196258] [ 0.11815378 -0.12001875 0.98571557 0.66677818] [ 0. 0. 0. 1. ]] SLAMing on 111.739072329 meters Centerline goodness : 0.352466 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.19, Z:0.67 [[ 0.94006128 0.33096415 -0.08214327 12.02106167] [-0.31721788 0.9371263 0.1454892 -0.19214157] [ 0.12513033 -0.11071145 0.9859439 0.66578377] [ 0. 0. 0. 1. ]] SLAMing on 111.799072329 meters Centerline goodness : 0.329232 with order 2 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.16, Z:0.66 [[ 0.92113742 0.38054743 -0.08178937 12.04332979] [-0.36633896 0.91860074 0.14821759 -0.16390011] [ 0.1315356 -0.10656614 0.98556686 0.66415229] [ 0. 0. 0. 1. ]] SLAMing on 111.85907232899999 meters Centerline goodness : 0.328044 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.12, Z:0.66 [[ 0.88626598 0.45496963 -0.08680578 12.07891744] [-0.43970045 0.88534689 0.15107744 -0.1177298 ] [ 0.14558887 -0.09572626 0.98470319 0.65743785] [ 0. 0. 0. 1. ]] SLAMing on 111.91907232899999 meters Centerline goodness : 0.282713 with order 3 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.07, Z:0.65 [[ 0.84643178 0.52439614 -0.09253064 12.11664767] [-0.50927205 0.8479582 0.14699953 -0.07105009] [ 0.1555481 -0.0773018 0.98479908 0.65357849] [ 0. 0. 0. 1. ]] SLAMing on 111.97907232899999 meters Centerline goodness : 0.277269 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.04, Z:0.65 [[ 0.8206823 0.56385138 -0.09247805 12.14032466] [-0.54840379 0.82272906 0.14956663 -0.03590231] [ 0.16041773 -0.07203137 0.98441741 0.65282822] [ 0. 0. 0. 1. ]] SLAMing on 112.03907232899999 meters Centerline goodness : 0.242834 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:0.01, Z:0.65 [[ 0.78359765 0.6147587 -0.08970215 12.17495225] [-0.59933454 0.78603836 0.15146555 0.01426889] [ 0.16362409 -0.06492645 0.98438393 0.64985031] [ 0. 0. 0. 1. ]] SLAMing on 112.099072329 meters Centerline goodness : 0.230122 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:0.06, Z:0.64 [[ 0.75162642 0.65346929 -0.08964158 12.20729778] [-0.63831121 0.75487183 0.15075582 0.06341274] [ 0.1661822 -0.05609284 0.98449838 0.64394058] [ 0. 0. 0. 1. ]] SLAMing on 112.159072329 meters Centerline goodness : 0.226242 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:0.10, Z:0.64 [[ 0.73191357 0.67515931 -0.09199149 12.2261388 ] [-0.65974467 0.73593079 0.15212772 0.09819871] [ 0.17040982 -0.05065345 0.98407049 0.63903537] [ 0. 0. 0. 1. ]] SLAMing on 112.219072329 meters Centerline goodness : 0.215133 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:0.14, Z:0.63 [[ 0.70164067 0.70720955 -0.08691961 12.25617648] [-0.69276696 0.70561599 0.14892954 0.14032523] [ 0.16665626 -0.04427999 0.98502029 0.63272996] [ 0. 0. 0. 1. ]] SLAMing on 112.27907232899999 meters Centerline goodness : 0.209263 with order 1 Centerline is valid? [False, False] Translation: X:12.28, Y:0.18, Z:0.63 [[ 0.67062518 0.73606115 -0.09206442 12.280422 ] [-0.72068066 0.67589954 0.15420505 0.1799347 ] [ 0.17573065 -0.03706474 0.98374028 0.63238613] [ 0. 0. 0. 1. ]] SLAMing on 112.33907232899999 meters Centerline goodness : 0.204636 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:0.22, Z:0.63 [[ 0.65769935 0.74784588 -0.09032222 12.28682865] [-0.73141519 0.66268101 0.16089035 0.21638688] [ 0.180176 -0.03975443 0.9828307 0.6276014 ] [ 0. 0. 0. 1. ]] SLAMing on 112.39907232899999 meters Centerline goodness : 0.204332 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:0.26, Z:0.63 [[ 0.63358778 0.76775822 -0.09546637 12.30196201] [-0.75039224 0.63986898 0.16576844 0.25535544] [ 0.18835605 -0.03339163 0.98153298 0.62657319] [ 0. 0. 0. 1. ]] SLAMing on 112.459072329 meters Centerline goodness : 0.211394 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:0.29, Z:0.62 [[ 0.61488552 0.78153799 -0.10542375 12.3072508 ] [-0.76371326 0.62345302 0.16747653 0.29322347] [ 0.19661603 -0.02246537 0.98022316 0.62468683] [ 0. 0. 0. 1. ]] SLAMing on 112.519072329 meters Centerline goodness : 0.220194 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:0.34, Z:0.62 [[ 0.61081129 0.78499467 -0.10340665 12.29687122] [-0.76573082 0.6188811 0.17505 0.33549923] [ 0.20140973 -0.02774085 0.97911417 0.61946845] [ 0. 0. 0. 1. ]] SLAMing on 112.579072329 meters Centerline goodness : 0.222990 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:0.37, Z:0.62 [[ 0.60112711 0.79288318 -0.09991227 12.29363688] [-0.77138242 0.6083572 0.18673692 0.36927512] [ 0.20884291 -0.03518206 0.97731615 0.61549422] [ 0. 0. 0. 1. ]] SLAMing on 112.63907232899999 meters Centerline goodness : 0.226881 with order 1 Centerline is valid? [False, False] Translation: X:12.27, Y:0.41, Z:0.61 [[ 0.60677402 0.78751166 -0.10793831 12.27447753] [-0.76481227 0.61540995 0.19061164 0.40618164] [ 0.2165352 -0.03310564 0.97571334 0.60967438] [ 0. 0. 0. 1. ]] SLAMing on 112.69907232899999 meters Centerline goodness : 0.226143 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:0.43, Z:0.61 [[ 0.60958291 0.7847039 -0.11246537 12.26016741] [-0.75965573 0.61879487 0.20004022 0.4333831 ] [ 0.22656533 -0.03650614 0.97331159 0.6051858 ] [ 0. 0. 0. 1. ]] SLAMing on 112.75907232899999 meters Centerline goodness : 0.230006 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:0.47, Z:0.60 [[ 0.61837189 0.77815127 -0.10998549 12.23353825] [-0.75063978 0.62626797 0.21054299 0.46824312] [ 0.23271468 -0.04763438 0.97137781 0.59877509] [ 0. 0. 0. 1. ]] SLAMing on 112.819072329 meters Centerline goodness : 0.228982 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:0.51, Z:0.59 [[ 0.6340405 0.76539484 -0.11028776 12.19275841] [-0.736498 0.64116672 0.21558277 0.51394236] [ 0.23571879 -0.05546149 0.97023743 0.58739346] [ 0. 0. 0. 1. ]] SLAMing on 112.879072329 meters Centerline goodness : 0.231533 with order 1 Centerline is valid? [False, False] Translation: X:12.16, Y:0.55, Z:0.57 [[ 0.64502669 0.75660185 -0.10721107 12.15610464] [-0.72451414 0.65011636 0.22897156 0.5511506 ] [ 0.24293998 -0.07001683 0.96751114 0.57483979] [ 0. 0. 0. 1. ]] SLAMing on 112.939072329 meters Centerline goodness : 0.232595 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:0.59, Z:0.56 [[ 0.65393267 0.74976778 -0.10109568 12.11803968] [-0.71519147 0.65621569 0.24058706 0.59484314] [ 0.246725 -0.08502497 0.9653484 0.56160789] [ 0. 0. 0. 1. ]] SLAMing on 112.99907232899999 meters Centerline goodness : 0.240023 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:0.64, Z:0.55 [[ 0.66758856 0.73714973 -0.10457433 12.0665989 ] [-0.70133017 0.66976717 0.24402446 0.64224608] [ 0.24992302 -0.0895668 0.96411424 0.54831347] [ 0. 0. 0. 1. ]] SLAMing on 113.05907232899999 meters Centerline goodness : 0.239398 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:0.66, Z:0.54 [[ 0.66836527 0.73714174 -0.09954858 12.04322096] [-0.69762717 0.66764197 0.25994334 0.66410733] [ 0.25807789 -0.10428931 0.96047881 0.54096261] [ 0. 0. 0. 1. ]] SLAMing on 113.11907232899999 meters Centerline goodness : 0.242063 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:0.69, Z:0.53 [[ 0.67064407 0.73583093 -0.09375166 12.0170946 ] [-0.69370681 0.66691091 0.2720307 0.69122297] [ 0.26269261 -0.11739961 0.95771077 0.53347678] [ 0. 0. 0. 1. ]] SLAMing on 113.179072329 meters Centerline goodness : 0.246044 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:0.70, Z:0.53 [[ 0.6597177 0.74501355 -0.09862739 12.01900051] [-0.70261604 0.65802419 0.27080412 0.69838452] [ 0.26665195 -0.10935708 0.95756868 0.53425124] [ 0. 0. 0. 1. ]] SLAMing on 113.239072329 meters Centerline goodness : 0.247129 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:0.71, Z:0.54 [[ 0.64057022 0.76150503 -0.09889331 12.03185207] [-0.7165503 0.63906074 0.27956581 0.70582747] [ 0.2760896 -0.1082195 0.95501993 0.53571473] [ 0. 0. 0. 1. ]] SLAMing on 113.299072329 meters Centerline goodness : 0.256957 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:0.73, Z:0.54 [[ 0.61779068 0.7811237 -0.09044574 12.0433918 ] [-0.73133182 0.61302274 0.29892625 0.72900095] [ 0.28894367 -0.118528 0.94998035 0.53618096] [ 0. 0. 0. 1. ]] SLAMing on 113.35907232899999 meters Centerline goodness : 0.260302 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:0.76, Z:0.53 [[ 0.6089505 0.78767491 -0.09352819 12.03401124] [-0.73457386 0.6044939 0.30820184 0.75988502] [ 0.29930008 -0.1189763 0.94671226 0.53308642] [ 0. 0. 0. 1. ]] SLAMing on 113.41907232899999 meters Centerline goodness : 0.266463 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:0.79, Z:0.53 [[ 0.58992015 0.80104828 -0.10156708 12.03495969] [-0.74302304 0.58777044 0.32006667 0.79398162] [ 0.31608698 -0.1133471 0.94193495 0.53269603] [ 0. 0. 0. 1. ]] SLAMing on 113.47907232899999 meters Centerline goodness : 0.273636 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:0.83, Z:0.53 [[ 0.57522388 0.81180433 -0.10045501 12.03587329] [-0.74880347 0.57201286 0.3348054 0.83354048] [ 0.32925803 -0.117367 0.93691736 0.53387473] [ 0. 0. 0. 1. ]] SLAMing on 113.53907232899999 meters Centerline goodness : 0.274849 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:0.86, Z:0.53 [[ 0.57747918 0.81002545 -0.10186546 12.01994634] [-0.74409 0.57355495 0.34258544 0.85874357] [ 0.33592836 -0.12203889 0.93394788 0.5315245 ] [ 0. 0. 0. 1. ]] SLAMing on 113.599072329 meters Centerline goodness : 0.279195 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:0.87, Z:0.54 [[ 0.56453335 0.81831607 -0.10798569 12.03804473] [-0.74723025 0.56224647 0.35429629 0.86812901] [ 0.35064092 -0.1193219 0.9288774 0.53959347] [ 0. 0. 0. 1. ]] SLAMing on 113.659072329 meters Centerline goodness : 0.275991 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:0.87, Z:0.55 [[ 0.54379944 0.83178169 -0.11145132 12.07568308] [-0.75548145 0.54303157 0.36655762 0.86751921] [ 0.3654175 -0.11513442 0.9236959 0.55029357] [ 0. 0. 0. 1. ]] SLAMing on 113.719072329 meters Centerline goodness : 0.043727 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:0.86, Z:0.56 [[ 0.52488275 0.84306938 -0.1171841 12.11072307] [-0.76345382 0.52717833 0.37312368 0.86394736] [ 0.37634607 -0.10638153 0.92035135 0.56321859] [ 0. 0. 0. 1. ]] SLAMing on 113.77907232899999 meters Centerline goodness : 0.185260 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:0.86, Z:0.58 [[ 0.50715851 0.85300684 -0.12316485 12.13788827] [-0.76680562 0.5118352 0.38734205 0.86359127] [ 0.39344552 -0.10200031 0.91367202 0.57947477] [ 0. 0. 0. 1. ]] SLAMing on 113.83907232899999 meters Centerline goodness : 0.071519 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:0.87, Z:0.58 [[ 0.50421694 0.85410262 -0.12756957 12.14021569] [-0.76342969 0.50990288 0.39645197 0.87337519] [ 0.40365876 -0.1025074 0.90914896 0.58414658] [ 0. 0. 0. 1. ]] SLAMing on 113.89907232899999 meters Centerline goodness : 0.067232 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:0.88, Z:0.59 [[ 0.4993118 0.85536602 -0.13797351 12.15086153] [-0.75975702 0.50880194 0.40483312 0.87941459] [ 0.41648169 -0.09731161 0.90392116 0.58892918] [ 0. 0. 0. 1. ]] SLAMing on 113.959072329 meters Centerline goodness : 0.323035 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:0.90, Z:0.59 [[ 0.50535571 0.85158465 -0.13935272 12.14315858] [-0.75337226 0.51415969 0.40996346 0.90280365] [ 0.42076815 -0.1021929 0.9013938 0.58539511] [ 0. 0. 0. 1. ]] SLAMing on 114.019072329 meters Centerline goodness : 0.314755 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:0.94, Z:0.57 [[ 0.51982838 0.84158841 -0.146654 12.10611929] [-0.73887959 0.52909975 0.4172654 0.94351941] [ 0.42876032 -0.10854675 0.89687356 0.5743707 ] [ 0. 0. 0. 1. ]] SLAMing on 114.079072329 meters Centerline goodness : 0.308870 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:0.99, Z:0.56 [[ 0.53833516 0.82867486 -0.15327505 12.06296643] [-0.72002704 0.54678858 0.4272977 0.99097195] [ 0.4378999 -0.11966719 0.89102381 0.55641935] [ 0. 0. 0. 1. ]] SLAMing on 114.13907232899999 meters Centerline goodness : 0.338136 with order 1 Centerline is valid? [False, False] Translation: X:12.00, Y:1.05, Z:0.53 [[ 0.56154715 0.81204146 -0.15891336 12.0028309 ] [-0.70052928 0.56877662 0.43098941 1.04617985] [ 0.44036748 -0.13069741 0.88825372 0.52895026] [ 0. 0. 0. 1. ]] SLAMing on 114.19907232899999 meters Centerline goodness : 0.342007 with order 1 Centerline is valid? [False, False] Translation: X:11.92, Y:1.11, Z:0.49 [[ 0.59105051 0.78973057 -0.1642709 11.91972252] [-0.67632383 0.5961662 0.43263371 1.10615533] [ 0.43959683 -0.14460805 0.88647794 0.49162858] [ 0. 0. 0. 1. ]] SLAMing on 114.25907232899999 meters Centerline goodness : 0.337593 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:1.16, Z:0.45 [[ 0.61971754 0.76566391 -0.17236285 11.83273832] [-0.65059415 0.6240158 0.43281813 1.16409839] [ 0.43895036 -0.15608673 0.88485 0.45219849] [ 0. 0. 0. 1. ]] SLAMing on 114.319072329 meters Centerline goodness : 0.199106 with order 2 Centerline is valid? [False, False] Translation: X:11.73, Y:1.22, Z:0.41 [[ 0.64961813 0.73936918 -0.17700141 11.73187314] [-0.622533 0.65095846 0.43440274 1.21970716] [ 0.43640456 -0.17200668 0.88315613 0.41105463] [ 0. 0. 0. 1. ]] SLAMing on 114.379072329 meters Centerline goodness : 0.193538 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:1.27, Z:0.37 [[ 0.67463533 0.71616656 -0.17880891 11.63176951] [-0.59622948 0.67150726 0.43998683 1.27098045] [ 0.43517533 -0.19021951 0.88002214 0.37084271] [ 0. 0. 0. 1. ]] SLAMing on 114.439072329 meters Centerline goodness : 0.179199 with order 3 Centerline is valid? [False, False] Translation: X:11.53, Y:1.32, Z:0.33 [[ 0.69992951 0.69023615 -0.18350133 11.52602379] [-0.5706909 0.69498582 0.43738611 1.3159354 ] [ 0.42943053 -0.20141691 0.88035257 0.33434514] [ 0. 0. 0. 1. ]] SLAMing on 114.49907232899999 meters Centerline goodness : 0.343629 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:1.35, Z:0.30 [[ 0.7260887 0.66187045 -0.18634028 11.41167752] [-0.54182088 0.71759115 0.43759921 1.35350316] [ 0.42335012 -0.21677278 0.87965006 0.29818778] [ 0. 0. 0. 1. ]] SLAMing on 114.55907232899999 meters Centerline goodness : 0.348982 with order 3 Centerline is valid? [False, False] Translation: X:11.30, Y:1.38, Z:0.27 [[ 0.74791241 0.63679451 -0.18740272 11.30344089] [-0.51448635 0.73449199 0.44252153 1.38385678] [ 0.41944108 -0.2345512 0.87695776 0.26517507] [ 0. 0. 0. 1. ]] SLAMing on 114.61907232899999 meters Centerline goodness : 0.257010 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:1.40, Z:0.24 [[ 0.76860018 0.60899078 -0.19591833 11.20020807] [-0.48693466 0.75554036 0.43823898 1.4042978 ] [ 0.41490771 -0.24143113 0.87724717 0.23740355] [ 0. 0. 0. 1. ]] SLAMing on 114.679072329 meters Centerline goodness : 0.174134 with order 1 Centerline is valid? [False, False] Translation: X:11.10, Y:1.42, Z:0.21 [[ 0.7868709 0.58429167 -0.1985886 11.09851835] [-0.46076364 0.77032821 0.44078489 1.4210613 ] [ 0.41052534 -0.25533839 0.87536921 0.2130651 ] [ 0. 0. 0. 1. ]] SLAMing on 114.739072329 meters Centerline goodness : 0.251982 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:1.43, Z:0.19 [[ 0.80387529 0.55922285 -0.20261867 11.00262448] [-0.43401325 0.78442298 0.44307232 1.43238895] [ 0.40671491 -0.2682357 0.87328838 0.19100426] [ 0. 0. 0. 1. ]] SLAMing on 114.799072329 meters Centerline goodness : 0.257130 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:1.44, Z:0.17 [[ 0.81979514 0.53377567 -0.20741136 10.91147355] [-0.4086187 0.79900028 0.44116813 1.43856648] [ 0.40120654 -0.27691533 0.87312726 0.17100965] [ 0. 0. 0. 1. ]] SLAMing on 114.85907232899999 meters Centerline goodness : 0.161904 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:1.44, Z:0.15 [[ 0.83420598 0.50968904 -0.21051715 10.82120814] [-0.38419892 0.81102948 0.44116025 1.44105844] [ 0.39559016 -0.28713806 0.87238762 0.15300805] [ 0. 0. 0. 1. ]] SLAMing on 114.91907232899999 meters Centerline goodness : 0.248077 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:1.44, Z:0.14 [[ 0.84650492 0.48709367 -0.21487015 10.73831572] [-0.36069008 0.82158163 0.44148193 1.44036083] [ 0.39157642 -0.2962151 0.87116274 0.13613503] [ 0. 0. 0. 1. ]] SLAMing on 114.97907232899999 meters Centerline goodness : 0.283670 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:1.44, Z:0.12 [[ 0.85748476 0.46586015 -0.21839002 10.65647673] [-0.33883118 0.83072663 0.44168621 1.439273 ] [ 0.38718641 -0.30474184 0.87018337 0.12171236] [ 0. 0. 0. 1. ]] SLAMing on 115.03907232899999 meters Centerline goodness : 0.294358 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:1.44, Z:0.11 [[ 0.86647904 0.4465665 -0.22314218 10.57999752] [-0.31819743 0.83846662 0.44240719 1.43557217] [ 0.3846615 -0.31233329 0.86861007 0.11158647] [ 0. 0. 0. 1. ]] SLAMing on 115.099072329 meters Centerline goodness : 0.173047 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:1.43, Z:0.10 [[ 0.8756139 0.424605 -0.23024093 10.50893716] [-0.29539654 0.84788934 0.4402551 1.42626619] [ 0.38215335 -0.31748111 0.86785054 0.10189325] [ 0. 0. 0. 1. ]] SLAMing on 115.159072329 meters Centerline goodness : 0.170274 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:1.42, Z:0.09 [[ 0.88349403 0.40505231 -0.23531028 10.44438673] [-0.27488139 0.85502718 0.43973713 1.417905 ] [ 0.37931322 -0.32382271 0.86675275 0.0945712 ] [ 0. 0. 0. 1. ]] SLAMing on 115.21907232899999 meters Centerline goodness : 0.332452 with order 3 Centerline is valid? [False, False] Translation: X:10.38, Y:1.41, Z:0.09 [[ 0.89186596 0.38188991 -0.24235348 10.3843088 ] [-0.25042859 0.86313329 0.43850477 1.40618928] [ 0.3766439 -0.33039524 0.86543536 0.09148227] [ 0. 0. 0. 1. ]] SLAMing on 115.27907232899999 meters Centerline goodness : 0.190187 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:1.39, Z:0.09 [[ 0.89823331 0.36040291 -0.25156841 10.33210254] [-0.22799086 0.8714105 0.43435459 1.39242081] [ 0.37576201 -0.33279646 0.86489851 0.08971012] [ 0. 0. 0. 1. ]] SLAMing on 115.33907232899999 meters Centerline goodness : 0.160307 with order 2 Centerline is valid? [False, False] Translation: X:10.29, Y:1.38, Z:0.08 [[ 0.90607347 0.34208468 -0.24901593 10.28833102] [-0.21101244 0.87543783 0.43483602 1.37985197] [ 0.3667487 -0.34144792 0.86539512 0.08484215] [ 0. 0. 0. 1. ]] SLAMing on 115.39907232899999 meters Centerline goodness : 0.110590 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:1.36, Z:0.08 [[ 0.91444195 0.31946098 -0.24847657 10.2443085 ] [-0.18954684 0.88050934 0.4344828 1.36109757] [ 0.35758625 -0.35021135 0.86572749 0.08227172] [ 0. 0. 0. 1. ]] SLAMing on 115.459072329 meters Centerline goodness : 0.166473 with order 2 Centerline is valid? [False, False] Translation: X:10.20, Y:1.35, Z:0.07 [[ 0.92130321 0.30140861 -0.24566899 10.20068618] [-0.17287519 0.88341426 0.43553807 1.34823542] [ 0.34830241 -0.35879255 0.86599846 0.07439826] [ 0. 0. 0. 1. ]] SLAMing on 115.519072329 meters Centerline goodness : 0.252158 with order 1 Centerline is valid? [False, False] Translation: X:10.17, Y:1.33, Z:0.07 [[ 0.928211 0.27868101 -0.24649792 10.16585543] [-0.15071233 0.88737783 0.43571365 1.32730887] [ 0.34016191 -0.36728392 0.86567453 0.07438353] [ 0. 0. 0. 1. ]] SLAMing on 115.579072329 meters Centerline goodness : 0.264335 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:1.31, Z:0.08 [[ 0.93473299 0.25465488 -0.24784093 10.13696585] [-0.1278757 0.89178294 0.43401727 1.30675004] [ 0.33154493 -0.37399743 0.86614311 0.07934786] [ 0. 0. 0. 1. ]] SLAMing on 115.63907232899999 meters Centerline goodness : 0.118631 with order 3 Centerline is valid? [False, False] Translation: X:10.11, Y:1.28, Z:0.08 [[ 0.94092699 0.22954885 -0.24892514 10.11187217] [-0.1051482 0.896874 0.42960549 1.28477563] [ 0.32186993 -0.37805337 0.8680296 0.08440722] [ 0. 0. 0. 1. ]] SLAMing on 115.69907232899999 meters Centerline goodness : 0.254915 with order 1 Centerline is valid? [False, False] Translation: X:10.09, Y:1.27, Z:0.08 [[ 0.946164 0.20882059 -0.24732095 10.0879455 ] [-0.08696851 0.89997961 0.4271688 1.26549797] [ 0.31178545 -0.3826626 0.86968912 0.08466603] [ 0. 0. 0. 1. ]] SLAMing on 115.75907232899999 meters Centerline goodness : 0.269798 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:1.24, Z:0.09 [[ 0.95138991 0.18280214 -0.24787217 10.06636337] [-0.06359705 0.90406568 0.42263537 1.23929331] [ 0.30135138 -0.38632708 0.87174465 0.09104279] [ 0. 0. 0. 1. ]] SLAMing on 115.819072329 meters Centerline goodness : 0.293733 with order 2 Centerline is valid? [False, False] Translation: X:10.05, Y:1.22, Z:0.09 [[ 0.95542375 0.16637368 -0.243896 10.04547501] [-0.0498176 0.9051031 0.42226364 1.21751704] [ 0.29100458 -0.39129039 0.87304534 0.09179261] [ 0. 0. 0. 1. ]] SLAMing on 115.879072329 meters Centerline goodness : 0.315400 with order 2 Centerline is valid? [False, False] Translation: X:10.02, Y:1.19, Z:0.10 [[ 0.95854843 0.146194 -0.24456536 10.023701 ] [-0.03014474 0.90555188 0.4231632 1.19327647] [ 0.28333055 -0.39825006 0.87242231 0.10235217] [ 0. 0. 0. 1. ]] SLAMing on 115.939072329 meters Centerline goodness : 0.309788 with order 3 Centerline is valid? [False, False] Translation: X:10.00, Y:1.17, Z:0.11 [[ 0.96109061 0.13583208 -0.2405296 10.0045524 ] [-0.02069308 0.90370431 0.42765677 1.17365368] [ 0.27545714 -0.4060396 0.87135251 0.10650049] [ 0. 0. 0. 1. ]] SLAMing on 115.99907232899999 meters Centerline goodness : 0.304006 with order 3 Centerline is valid? [False, False] Translation: X:9.99, Y:1.15, Z:0.11 [[ 0.96331227 0.12615921 -0.23688252 9.98529485] [-0.01136985 0.90101961 0.43362932 1.14743899] [ 0.26814212 -0.41502712 0.86939766 0.11062776] [ 0. 0. 0. 1. ]] SLAMing on 116.05907232899999 meters Centerline goodness : 0.298090 with order 3 Centerline is valid? [False, False] Translation: X:9.98, Y:1.14, Z:0.12 [[ 0.96317399 0.12764906 -0.23664654 9.9821086 ] [-0.01219604 0.89995815 0.43580567 1.1350342 ] [ 0.26860217 -0.41687053 0.8683731 0.11657465] [ 0. 0. 0. 1. ]] SLAMing on 116.11907232899999 meters Centerline goodness : 0.307796 with order 3 Centerline is valid? [False, False] Translation: X:9.97, Y:1.13, Z:0.12 [[ 0.96335381 0.13094256 -0.23410145 9.97309615] [-0.01574659 0.89885332 0.43796662 1.12646425] [ 0.26777134 -0.41823051 0.86797566 0.12052892] [ 0. 0. 0. 1. ]] SLAMing on 116.179072329 meters Centerline goodness : 0.250907 with order 2 Centerline is valid? [False, False] Translation: X:9.95, Y:1.12, Z:0.12 [[ 0.96211729 0.13370892 -0.23759681 9.94628242] [-0.01630572 0.8981407 0.43940575 1.11843576] [ 0.27214783 -0.41888569 0.86629691 0.12339009] [ 0. 0. 0. 1. ]] SLAMing on 116.239072329 meters Centerline goodness : 0.318917 with order 3 Centerline is valid? [False, False] Translation: X:9.93, Y:1.11, Z:0.12 [[ 0.95903489 0.14442304 -0.24370897 9.92859867] [-0.02325005 0.89751193 0.44037686 1.11362664] [ 0.28233227 -0.41667053 0.8641031 0.12286396] [ 0. 0. 0. 1. ]] SLAMing on 116.299072329 meters Centerline goodness : 0.300375 with order 2 Centerline is valid? [False, False] Translation: X:9.91, Y:1.11, Z:0.12 [[ 0.9554708 0.15486167 -0.25118402 9.91330646] [-0.02954745 0.89715538 0.44072574 1.11366932] [ 0.29360262 -0.41367873 0.86178154 0.1246592 ] [ 0. 0. 0. 1. ]] SLAMing on 116.35907232899999 meters Centerline goodness : 0.316285 with order 3 Centerline is valid? [False, False] Translation: X:9.89, Y:1.11, Z:0.12 [[ 0.95206099 0.17227358 -0.25278784 9.88723842] [-0.04378628 0.89458595 0.4447457 1.11304222] [ 0.30275838 -0.41235639 0.8592436 0.12011989] [ 0. 0. 0. 1. ]] SLAMing on 116.41907232899999 meters Centerline goodness : 0.282869 with order 3 Centerline is valid? [False, False] Translation: X:9.86, Y:1.11, Z:0.11 [[ 0.94878439 0.18993204 -0.25245594 9.85959557] [-0.05949189 0.89221938 0.4476665 1.10986891] [ 0.31027229 -0.40971991 0.85782323 0.11199028] [ 0. 0. 0. 1. ]] SLAMing on 116.47907232899999 meters Centerline goodness : 0.303846 with order 3 Centerline is valid? [False, False] Translation: X:9.84, Y:1.11, Z:0.11 [[ 0.94487743 0.20098019 -0.25848326 9.84095261] [-0.06688218 0.8912716 0.44851055 1.11096441] [ 0.32052052 -0.40649957 0.85558442 0.11222318] [ 0. 0. 0. 1. ]] SLAMing on 116.53907232899999 meters Centerline goodness : 0.113744 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:1.11, Z:0.11 [[ 0.93975853 0.21919795 -0.26230928 9.81241725] [-0.08398049 0.89187347 0.44441984 1.11029311] [ 0.3313626 -0.39561847 0.85655405 0.10548466] [ 0. 0. 0. 1. ]] SLAMing on 116.599072329 meters Centerline goodness : 0.257592 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:1.11, Z:0.10 [[ 0.93502383 0.23549985 -0.26508537 9.78001236] [-0.09999847 0.8923809 0.44006435 1.10952471] [ 0.34019221 -0.38496252 0.85794704 0.10065878] [ 0. 0. 0. 1. ]] SLAMing on 116.659072329 meters Centerline goodness : 0.262070 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:1.11, Z:0.10 [[ 0.93185591 0.24213641 -0.27021199 9.75772545] [-0.1045839 0.89238282 0.43899329 1.10873651] [ 0.3474288 -0.38081866 0.85689578 0.09818375] [ 0. 0. 0. 1. ]] SLAMing on 116.71907232899999 meters Centerline goodness : 0.156637 with order 3 Centerline is valid? [False, False] Translation: X:9.74, Y:1.11, Z:0.09 [[ 0.92798886 0.25402355 -0.27259624 9.73709003] [-0.11434475 0.89043636 0.44050921 1.10749914] [ 0.35462932 -0.37761769 0.85536128 0.09040699] [ 0. 0. 0. 1. ]] SLAMing on 116.77907232899999 meters Centerline goodness : 0.244281 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:1.10, Z:0.09 [[ 0.92530099 0.25757521 -0.27833987 9.71724117] [-0.11662844 0.8916595 0.43742558 1.1042171 ] [ 0.36085437 -0.37228798 0.85509402 0.08636196] [ 0. 0. 0. 1. ]] SLAMing on 116.83907232899999 meters Centerline goodness : 0.170535 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:1.10, Z:0.08 [[ 0.92226024 0.26429416 -0.28210751 9.69343836] [-0.12227651 0.89174924 0.43569685 1.10062972] [ 0.36672129 -0.36733076 0.85474184 0.08371622] [ 0. 0. 0. 1. ]] SLAMing on 116.89907232899999 meters Centerline goodness : 0.139722 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:1.10, Z:0.09 [[ 0.9200439 0.26849056 -0.285363 9.66893073] [-0.12389322 0.89029433 0.43820826 1.09521662] [ 0.37171185 -0.3678163 0.85237402 0.08591385] [ 0. 0. 0. 1. ]] SLAMing on 116.959072329 meters Centerline goodness : 0.253435 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:1.09, Z:0.09 [[ 0.91884766 0.26583865 -0.29163124 9.64834853] [-0.11957933 0.89185914 0.4362202 1.08714 ] [ 0.37605818 -0.36594684 0.85127149 0.08750354] [ 0. 0. 0. 1. ]] SLAMing on 117.019072329 meters Centerline goodness : 0.255400 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:1.08, Z:0.09 [[ 0.92058927 0.25780842 -0.29334318 9.63511125] [-0.11149964 0.89338145 0.43524408 1.08361088] [ 0.37427695 -0.36797336 0.85118293 0.08523603] [ 0. 0. 0. 1. ]] SLAMing on 117.079072329 meters Centerline goodness : 0.280055 with order 3 Centerline is valid? [False, False] Translation: X:9.62, Y:1.08, Z:0.08 [[ 0.92343936 0.24904639 -0.29195144 9.62359971] [-0.10555078 0.8962929 0.43071809 1.07706817] [ 0.36894278 -0.36692634 0.85395918 0.08322518] [ 0. 0. 0. 1. ]] SLAMing on 117.13907232899999 meters Centerline goodness : 0.115376 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:1.07, Z:0.08 [[ 0.92634823 0.2402179 -0.29012811 9.61316648] [-0.10010341 0.89955358 0.42518544 1.07221292] [ 0.36312293 -0.36482696 0.8573465 0.07951075] [ 0. 0. 0. 1. ]] SLAMing on 117.19907232899999 meters Centerline goodness : 0.257319 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:1.06, Z:0.07 [[ 0.92936073 0.23210884 -0.28707858 9.59523162] [-0.09350637 0.90026768 0.42517605 1.06496125] [ 0.35713469 -0.36829825 0.85837708 0.07284451] [ 0. 0. 0. 1. ]] SLAMing on 117.25907232899999 meters Centerline goodness : 0.150177 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:1.06, Z:0.07 [[ 0.93284934 0.22320787 -0.28279029 9.57596547] [-0.08604532 0.90026868 0.42674642 1.05640581] [ 0.3498404 -0.37375734 0.85902104 0.06875144] [ 0. 0. 0. 1. ]] SLAMing on 117.319072329 meters Centerline goodness : 0.257106 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:1.05, Z:0.07 [[ 0.93524456 0.21164174 -0.28376995 9.56177674] [-0.07582243 0.90276199 0.42340495 1.05304839] [ 0.34578689 -0.37447105 0.86035043 0.06609724] [ 0. 0. 0. 1. ]] SLAMing on 117.379072329 meters Centerline goodness : 0.300271 with order 3 Centerline is valid? [False, False] Translation: X:9.55, Y:1.05, Z:0.06 [[ 0.93691746 0.20380655 -0.2839869 9.55215252] [-0.06862445 0.90386903 0.42226942 1.0507994 ] [ 0.34274823 -0.37614316 0.86083679 0.06244436] [ 0. 0. 0. 1. ]] SLAMing on 117.439072329 meters Centerline goodness : 0.265198 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:1.04, Z:0.06 [[ 0.94009861 0.19256236 -0.28130828 9.53320833] [-0.05756784 0.90300915 0.42574689 1.04261906] [ 0.33600678 -0.38404975 0.86000305 0.06034891] [ 0. 0. 0. 1. ]] SLAMing on 117.49907232899999 meters Centerline goodness : 0.266066 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:1.04, Z:0.06 [[ 0.94106268 0.18642005 -0.28222084 9.53023601] [-0.05292964 0.90528668 0.42149078 1.04386102] [ 0.3340651 -0.38171139 0.86179865 0.0620515 ] [ 0. 0. 0. 1. ]] SLAMing on 117.55907232899999 meters Centerline goodness : 0.100967 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:1.04, Z:0.06 [[ 0.94295216 0.17228743 -0.2848829 9.52024386] [-0.03968009 0.90774794 0.41763522 1.04101169] [ 0.33055517 -0.38250585 0.86279926 0.05891634] [ 0. 0. 0. 1. ]] SLAMing on 117.61907232899999 meters Centerline goodness : 0.160716 with order 3 Centerline is valid? [False, False] Translation: X:9.51, Y:1.03, Z:0.06 [[ 0.94499179 0.16285624 -0.28366947 9.50770609] [-0.02993543 0.90666159 0.42079524 1.03476719] [ 0.32572134 -0.38915627 0.86166293 0.05624205] [ 0. 0. 0. 1. ]] SLAMing on 117.679072329 meters Centerline goodness : 0.315218 with order 3 Centerline is valid? [False, False] Translation: X:9.49, Y:1.03, Z:0.06 [[ 0.9478804 0.14852537 -0.28189176 9.49405526] [-0.01729599 0.90738989 0.41993385 1.02639082] [ 0.31815656 -0.39317146 0.86266599 0.05684505] [ 0. 0. 0. 1. ]] SLAMing on 117.739072329 meters Centerline goodness : 0.257988 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:1.02, Z:0.06 [[ 9.50990161e-01 1.31716844e-01 -2.79764877e-01 9.48620922e+00] [-1.31565677e-03 9.06455814e-01 4.22298623e-01 1.02222010e+00] [ 3.09218341e-01 -4.01233761e-01 8.62203855e-01 5.66080410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799072329 meters Centerline goodness : 0.272961 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:1.01, Z:0.05 [[ 9.52849857e-01 1.21624811e-01 -2.78000999e-01 9.47558479e+00] [ 8.32601516e-03 9.05333860e-01 4.24618982e-01 1.01397193e+00] [ 3.03327921e-01 -4.06912777e-01 8.61634588e-01 5.47063582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85907232899999 meters Centerline goodness : 0.280364 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:1.01, Z:0.06 [[ 0.95512093 0.10482665 -0.2770476 9.46691618] [ 0.02294829 0.9062921 0.42202843 1.00509642] [ 0.29532588 -0.40944596 0.86321297 0.05648719] [ 0. 0. 0. 1. ]] SLAMing on 117.91907232899999 meters Centerline goodness : 0.117985 with order 3 Centerline is valid? [False, False] Translation: X:9.47, Y:1.00, Z:0.06 [[ 0.9571714 0.08675988 -0.27621663 9.46510158] [ 0.04028203 0.90485709 0.42380538 1.00236276] [ 0.28670588 -0.41678096 0.86260847 0.05919035] [ 0. 0. 0. 1. ]] SLAMing on 117.97907232899999 meters Centerline goodness : 0.294457 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:1.00, Z:0.06 [[ 0.95780137 0.07381227 -0.27779178 9.46287457] [ 0.05461343 0.90212412 0.42800637 0.99861649] [ 0.28219479 -0.42511625 0.86002458 0.06109487] [ 0. 0. 0. 1. ]] SLAMing on 118.03907232899999 meters Centerline goodness : 0.331228 with order 2 Centerline is valid? [False, False] Translation: X:9.47, Y:1.00, Z:0.06 [[ 0.95791007 0.05726109 -0.2812996 9.46770224] [ 0.06836314 0.90621015 0.41726447 0.9986434 ] [ 0.27880957 -0.41893236 0.86415328 0.06351361] [ 0. 0. 0. 1. ]] SLAMing on 118.099072329 meters Centerline goodness : 0.304049 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:0.99, Z:0.06 [[ 0.95993541 0.03805312 -0.27762557 9.4596023 ] [ 0.08503672 0.90445869 0.41799908 0.994428 ] [ 0.26700703 -0.42486049 0.86498601 0.05955991] [ 0. 0. 0. 1. ]] SLAMing on 118.159072329 meters Centerline goodness : 0.311636 with order 2 Centerline is valid? [False, False] Translation: X:9.46, Y:1.00, Z:0.06 [[ 0.95955862 0.03080502 -0.27981833 9.46106835] [ 0.09149823 0.90589636 0.4134971 0.99741401] [ 0.26622419 -0.42237759 0.86644206 0.0619945 ] [ 0. 0. 0. 1. ]] SLAMing on 118.21907232899999 meters Centerline goodness : 0.302755 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:1.00, Z:0.06 [[ 0.96139754 0.01446927 -0.27478249 9.45287904] [ 0.10508332 0.90362079 0.41524325 0.99803708] [ 0.25430744 -0.42808889 0.86721833 0.06166723] [ 0. 0. 0. 1. ]] SLAMing on 118.27907232899999 meters Centerline goodness : 0.299661 with order 3 Centerline is valid? [False, False] Translation: X:9.44, Y:1.00, Z:0.06 [[ 9.62947817e-01 4.15526432e-03 -2.69655773e-01 9.44418926e+00] [ 1.14312159e-01 8.99327373e-01 4.22069907e-01 9.98586266e-01] [ 2.44262630e-01 -4.37256229e-01 8.65530333e-01 5.95926374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33907232899999 meters Centerline goodness : 0.301891 with order 2 Centerline is valid? [False, False] Translation: X:9.44, Y:1.00, Z:0.06 [[ 9.62852174e-01 3.04683212e-03 -2.70011864e-01 9.44415445e+00] [ 1.15253907e-01 8.99641785e-01 4.21142726e-01 1.00239456e+00] [ 2.44197107e-01 -4.36618112e-01 8.65870890e-01 5.89387874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39907232899999 meters Centerline goodness : 0.285357 with order 3 Centerline is valid? [False, False] Translation: X:9.44, Y:1.01, Z:0.05 [[ 9.63354032e-01 -2.53604012e-03 -2.68221135e-01 9.44109050e+00] [ 1.18210148e-01 9.01628625e-01 4.16043487e-01 1.00679653e+00] [ 2.40780750e-01 -4.32503631e-01 8.68887357e-01 5.49504575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.459072329 meters Centerline goodness : 0.311631 with order 3 Centerline is valid? [False, False] Translation: X:9.44, Y:1.01, Z:0.05 [[ 9.63569610e-01 -3.89196376e-03 -2.67429355e-01 9.43855170e+00] [ 1.18726180e-01 9.02202537e-01 4.14650064e-01 1.01242963e+00] [ 2.39661640e-01 -4.31295066e-01 8.69797025e-01 5.20522289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519072329 meters Centerline goodness : 0.287403 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:1.02, Z:0.05 [[ 9.63823247e-01 -4.99839102e-03 -2.66495337e-01 9.43501283e+00] [ 1.18994071e-01 9.02727176e-01 4.13429628e-01 1.01653701e+00] [ 2.38506100e-01 -4.30184451e-01 8.70664217e-01 5.04623866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579072329 meters Centerline goodness : 0.110474 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:1.02, Z:0.05 [[ 9.64558750e-01 -9.20344178e-03 -2.63707632e-01 9.42786552e+00] [ 1.20402458e-01 9.04636862e-01 4.08821961e-01 1.02189071e+00] [ 2.34797076e-01 -4.26083847e-01 8.73683517e-01 4.74541972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63907232899999 meters Centerline goodness : 0.111439 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:1.03, Z:0.05 [[ 0.9645616 -0.0105767 -0.2636457 9.42501097] [ 0.12138101 0.90497917 0.40777366 1.02776907] [ 0.23428097 -0.42532439 0.87419196 0.04626501] [ 0. 0. 0. 1. ]] SLAMing on 118.69907232899999 meters Centerline goodness : 0.312392 with order 3 Centerline is valid? [False, False] Translation: X:9.42, Y:1.03, Z:0.05 [[ 0.96464901 -0.01623816 -0.26303729 9.42328609] [ 0.12526385 0.90639518 0.40343122 1.02932203] [ 0.23186475 -0.42211858 0.87638726 0.04544584] [ 0. 0. 0. 1. ]] SLAMing on 118.75907232899999 meters Centerline goodness : 0.108510 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:1.03, Z:0.05 [[ 0.96451547 -0.02668693 -0.26267415 9.42224848] [ 0.13291585 0.90869577 0.39573398 1.02890073] [ 0.22812996 -0.4166051 0.87999825 0.0458958 ] [ 0. 0. 0. 1. ]] SLAMing on 118.819072329 meters Centerline goodness : 0.313169 with order 3 Centerline is valid? [False, False] Translation: X:9.43, Y:1.03, Z:0.04 [[ 0.96637952 -0.03090619 -0.25525562 9.42524523] [ 0.13551965 0.90488583 0.40350472 1.02921881] [ 0.2185064 -0.42453085 0.87865153 0.0434897 ] [ 0. 0. 0. 1. ]] SLAMing on 118.879072329 meters Centerline goodness : 0.307953 with order 2 Centerline is valid? [False, False] Translation: X:9.43, Y:1.03, Z:0.04 [[ 0.96625214 -0.03099861 -0.25572621 9.426725 ] [ 0.13579739 0.90488313 0.40341738 1.03027794] [ 0.21889695 -0.42452986 0.87855479 0.04322202] [ 0. 0. 0. 1. ]] SLAMing on 118.939072329 meters Centerline goodness : 0.108885 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:1.03, Z:0.04 [[ 0.96622279 -0.03540106 -0.25526513 9.42652193] [ 0.13891129 0.90584877 0.40017704 1.02788952] [ 0.21706491 -0.42211939 0.88016933 0.04356256] [ 0. 0. 0. 1. ]] SLAMing on 118.99907232899999 meters Centerline goodness : 0.107732 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:1.03, Z:0.05 [[ 0.96599036 -0.03049951 -0.25677307 9.42749684] [ 0.13596466 0.90457152 0.40405937 1.02889545] [ 0.21994599 -0.42522952 0.87795422 0.04619881] [ 0. 0. 0. 1. ]] SLAMing on 119.05907232899999 meters Centerline goodness : 0.108417 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:1.03, Z:0.04 [[ 0.96635298 -0.02924784 -0.25555133 9.42704605] [ 0.13434295 0.90462777 0.40447568 1.02778863] [ 0.21934879 -0.4251978 0.87811898 0.04405859] [ 0. 0. 0. 1. ]] SLAMing on 119.11907232899999 meters Centerline goodness : 0.110117 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:1.03, Z:0.04 [[ 0.96686485 -0.0277898 -0.25377174 9.42464133] [ 0.13225649 0.90478382 0.40481411 1.02684866] [ 0.21835886 -0.42496349 0.87847905 0.04218831] [ 0. 0. 0. 1. ]] SLAMing on 119.179072329 meters Centerline goodness : 0.308782 with order 3 Centerline is valid? [False, False] Translation: X:9.42, Y:1.03, Z:0.04 [[ 0.96781454 -0.0202545 -0.2508481 9.41916267] [ 0.12486214 0.90406866 0.40874112 1.02854929] [ 0.21850506 -0.42690703 0.87749981 0.03928641] [ 0. 0. 0. 1. ]] SLAMing on 119.239072329 meters Centerline goodness : 0.115720 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:1.03, Z:0.04 [[ 0.96878075 -0.0170114 -0.24733472 9.41258464] [ 0.12040663 0.90436708 0.40941717 1.02897191] [ 0.21671662 -0.42641622 0.87818171 0.03637071] [ 0. 0. 0. 1. ]] SLAMing on 119.299072329 meters Centerline goodness : 0.113792 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:1.03, Z:0.03 [[ 0.96988938 -0.01378356 -0.24315552 9.40617384] [ 0.11561839 0.90477959 0.40988568 1.02858053] [ 0.21435247 -0.42565702 0.87912975 0.03197871] [ 0. 0. 0. 1. ]] SLAMing on 119.35907232899999 meters Centerline goodness : 0.306809 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:1.03, Z:0.03 [[ 0.97089111 -0.01079088 -0.2392781 9.39994952] [ 0.1111734 0.9051602 0.4102749 1.02855731] [ 0.21215779 -0.42493361 0.88001165 0.02812949] [ 0. 0. 0. 1. ]] SLAMing on 119.41907232899999 meters Centerline goodness : 0.114082 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:1.03, Z:0.02 [[ 9.71794867e-01 -3.37183536e-03 -2.35803664e-01 9.39571561e+00] [ 1.03596720e-01 9.04357362e-01 4.14011450e-01 1.02863586e+00] [ 2.11854801e-01 -4.26762688e-01 8.79199153e-01 2.35341540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47907232899999 meters Centerline goodness : 0.117903 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.03, Z:0.02 [[ 9.72928478e-01 5.25884536e-03 -2.31046577e-01 9.38911863e+00] [ 9.43920279e-02 9.03508530e-01 4.18046028e-01 1.02834375e+00] [ 2.10950992e-01 -4.28537841e-01 8.78552786e-01 1.81670887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53907232899999 meters Centerline goodness : 0.253264 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:1.03, Z:0.02 [[ 9.73868313e-01 8.62428008e-03 -2.26949622e-01 9.38128612e+00] [ 8.95684434e-02 9.03701165e-01 4.18690455e-01 1.02736430e+00] [ 2.08705542e-01 -4.28076892e-01 8.79313466e-01 1.56614955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599072329 meters Centerline goodness : 0.275730 with order 3 Centerline is valid? [False, False] Translation: X:9.37, Y:1.03, Z:0.01 [[ 0.97499245 0.01760516 -0.22153959 9.37269974] [ 0.07977661 0.90269065 0.42283008 1.02594139] [ 0.20742571 -0.42992981 0.87871209 0.01102505] [ 0. 0. 0. 1. ]] SLAMing on 119.659072329 meters Centerline goodness : 0.277443 with order 3 Centerline is valid? [False, False] Translation: X:9.37, Y:1.03, Z:0.01 [[ 0.97353972 0.03467459 -0.22587184 9.36931757] [ 0.06582734 0.90397039 0.4224977 1.02797631] [ 0.21883139 -0.42618683 0.87776854 0.01034713] [ 0. 0. 0. 1. ]] SLAMing on 119.71907232899999 meters Centerline goodness : 0.262397 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:1.03, Z:0.01 [[ 9.74196113e-01 4.21648500e-02 -2.21729696e-01 9.36245674e+00] [ 5.78972910e-02 9.02837874e-01 4.26065344e-01 1.02879728e+00] [ 2.18150949e-01 -4.27908751e-01 8.77099917e-01 6.52574913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77907232899999 meters Centerline goodness : 0.281197 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:1.03, Z:0.00 [[ 9.75233038e-01 5.02639489e-02 -2.15392797e-01 9.35031061e+00] [ 4.83133276e-02 9.01908352e-01 4.29216900e-01 1.03015327e+00] [ 2.15838698e-01 -4.28992845e-01 8.77142403e-01 1.85889530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83907232899999 meters Centerline goodness : 0.277555 with order 1 Centerline is valid? [False, False] Translation: X:9.34, Y:1.03, Z:-0.00 [[ 9.75674618e-01 5.78052018e-02 -2.11465358e-01 9.34372024e+00] [ 4.04129416e-02 9.00651767e-01 4.32658282e-01 1.03308242e+00] [ 2.15466548e-01 -4.30679641e-01 8.76406991e-01 -2.15362774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89907232899999 meters Centerline goodness : 0.142634 with order 3 Centerline is valid? [False, False] Translation: X:9.34, Y:1.03, Z:-0.01 [[ 9.76285958e-01 6.05849922e-02 -2.07834520e-01 9.33774264e+00] [ 3.62288273e-02 9.00778818e-01 4.32764361e-01 1.03346140e+00] [ 2.13431958e-01 -4.30031370e-01 8.77222788e-01 -5.44704146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.959072329 meters Centerline goodness : 0.157972 with order 3 Centerline is valid? [False, False] Translation: X:9.33, Y:1.03, Z:-0.01 [[ 0.97710028 0.06375992 -0.20300176 9.32952265] [ 0.03111328 0.90098103 0.43274143 1.03295611] [ 0.2104923 -0.42914782 0.87836504 -0.00952347] [ 0. 0. 0. 1. ]] SLAMing on 120.019072329 meters Centerline goodness : 0.270503 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:1.03, Z:-0.01 [[ 0.97748231 0.06582196 -0.2004889 9.32467676] [ 0.02807969 0.90108389 0.43273474 1.0340564 ] [ 0.20914077 -0.42862022 0.8789453 -0.01108439] [ 0. 0. 0. 1. ]] SLAMing on 120.079072329 meters Centerline goodness : 0.188801 with order 3 Centerline is valid? [False, False] Translation: X:9.32, Y:1.03, Z:-0.01 [[ 0.97826823 0.06445543 -0.19707048 9.3173258 ] [ 0.02712658 0.90249924 0.42983633 1.03265768] [ 0.20556124 -0.42584107 0.88113788 -0.01247594] [ 0. 0. 0. 1. ]] SLAMing on 120.13907232899999 meters Centerline goodness : 0.119017 with order 3 Centerline is valid? [False, False] Translation: X:9.32, Y:1.03, Z:-0.01 [[ 0.97828666 0.06486381 -0.19684486 9.31684754] [ 0.026744 0.90231711 0.43024248 1.03051789] [ 0.20552366 -0.42616489 0.88099007 -0.01183325] [ 0. 0. 0. 1. ]] SLAMing on 120.19907232899999 meters Centerline goodness : 0.148940 with order 3 Centerline is valid? [False, False] Translation: X:9.32, Y:1.03, Z:-0.01 [[ 9.77878027e-01 6.38095978e-02 -1.99205674e-01 9.32057112e+00] [ 2.88944741e-02 9.01999813e-01 4.30768437e-01 1.02987034e+00] [ 2.07170641e-01 -4.26994932e-01 8.80202053e-01 -9.27785579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25907232899999 meters Centerline goodness : 0.142830 with order 3 Centerline is valid? [False, False] Translation: X:9.32, Y:1.03, Z:-0.01 [[ 9.78346396e-01 5.50540980e-02 -1.99517856e-01 9.31993480e+00] [ 3.56131523e-02 9.04819675e-01 4.24303027e-01 1.02670097e+00] [ 2.03887302e-01 -4.22220797e-01 8.83266419e-01 -7.93811944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319072329 meters Centerline goodness : 0.181378 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:1.02, Z:-0.00 [[ 9.78311415e-01 4.54892848e-02 -2.02082905e-01 9.32291107e+00] [ 4.42189658e-02 9.07236132e-01 4.18290909e-01 1.02311009e+00] [ 2.02364667e-01 -4.18154668e-01 8.85547975e-01 -3.92512870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379072329 meters Centerline goodness : 0.155050 with order 3 Centerline is valid? [False, False] Translation: X:9.33, Y:1.02, Z:0.00 [[ 9.77689695e-01 3.91701395e-02 -2.06369960e-01 9.32731310e+00] [ 5.13668924e-02 9.08047353e-01 4.15705962e-01 1.02278931e+00] [ 2.03676957e-01 -4.17032018e-01 8.85776492e-01 1.85071030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439072329 meters Centerline goodness : 0.263257 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:1.02, Z:0.01 [[ 9.77062700e-01 2.41527576e-02 -2.11577703e-01 9.33355058e+00] [ 6.56333443e-02 9.11025811e-01 4.07092416e-01 1.01911536e+00] [ 2.02585153e-01 -4.11641367e-01 8.88544113e-01 9.02127242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49907232899999 meters Centerline goodness : 0.262500 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:1.01, Z:0.01 [[ 9.77765702e-01 4.84176991e-03 -2.09644435e-01 9.33402446e+00] [ 8.28361036e-02 9.09509195e-01 4.07346541e-01 1.01076636e+00] [ 1.92645819e-01 -4.15655605e-01 8.88885823e-01 1.07729065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55907232899999 meters Centerline goodness : 0.271709 with order 2 Centerline is valid? [False, False] Translation: X:9.34, Y:1.01, Z:0.01 [[ 9.78688087e-01 -7.69220947e-03 -2.05208327e-01 9.33597908e+00] [ 9.31930769e-02 9.07105082e-01 4.10457574e-01 1.00802887e+00] [ 1.82988190e-01 -4.20833933e-01 8.88489799e-01 1.30964099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61907232899999 meters Centerline goodness : 0.126106 with order 1 Centerline is valid? [False, False] Translation: X:9.34, Y:1.00, Z:0.02 [[ 0.97865624 -0.02651916 -0.20378592 9.3431679 ] [ 0.10973093 0.90587434 0.40908533 1.00456631] [ 0.17375583 -0.42271553 0.88944955 0.02108373] [ 0. 0. 0. 1. ]] SLAMing on 120.679072329 meters Centerline goodness : 0.117110 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:1.00, Z:0.03 [[ 0.97824356 -0.04504011 -0.20251155 9.35020605] [ 0.12611414 0.90418249 0.40810446 1.0022619 ] [ 0.16472633 -0.42476513 0.89019089 0.02840867] [ 0. 0. 0. 1. ]] SLAMing on 120.739072329 meters Centerline goodness : 0.310420 with order 3 Centerline is valid? [False, False] Translation: X:9.36, Y:1.00, Z:0.03 [[ 0.97790208 -0.06282732 -0.19939973 9.35690474] [ 0.14098718 0.90244121 0.40709026 1.00059087] [ 0.15437014 -0.42620722 0.89135698 0.0316403 ] [ 0. 0. 0. 1. ]] SLAMing on 120.799072329 meters Centerline goodness : 0.274537 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:1.00, Z:0.03 [[ 0.97691377 -0.07296144 -0.20078875 9.36091976] [ 0.14976531 0.9041412 0.40012378 0.99855056] [ 0.15234777 -0.42095762 0.89419508 0.03399702] [ 0. 0. 0. 1. ]] SLAMing on 120.85907232899999 meters Centerline goodness : 0.273568 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:1.00, Z:0.03 [[ 0.97752543 -0.08375831 -0.19346467 9.36973078] [ 0.15688549 0.90201795 0.40218224 0.99744211] [ 0.1408225 -0.42349517 0.89488595 0.03351401] [ 0. 0. 0. 1. ]] SLAMing on 120.91907232899999 meters Centerline goodness : 0.312334 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:1.00, Z:0.03 [[ 0.97848608 -0.09033325 -0.18548557 9.37716051] [ 0.16009955 0.89951659 0.40649481 0.99902055] [ 0.13012735 -0.42744567 0.89462678 0.03371697] [ 0. 0. 0. 1. ]] SLAMing on 120.97907232899999 meters Centerline goodness : 0.289048 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:1.00, Z:0.03 [[ 0.97777533 -0.0956034 -0.18658885 9.38134712] [ 0.16486941 0.90039789 0.40261857 0.9998499 ] [ 0.1295125 -0.4244333 0.89614892 0.03358601] [ 0. 0. 0. 1. ]] SLAMing on 121.03907232899999 meters Centerline goodness : 0.307925 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:1.00, Z:0.03 [[ 0.97741175 -0.09662799 -0.18796091 9.38361044] [ 0.16633852 0.90035258 0.40211531 1.00186648] [ 0.1303755 -0.42429737 0.89608815 0.03425459] [ 0. 0. 0. 1. ]] SLAMing on 121.099072329 meters Centerline goodness : 0.293361 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.01, Z:0.03 [[ 0.97892068 -0.09968342 -0.17826249 9.38953534] [ 0.16563619 0.89812214 0.40735889 1.00766638] [ 0.11949457 -0.42829876 0.89570152 0.0322792 ] [ 0. 0. 0. 1. ]] SLAMing on 121.159072329 meters Centerline goodness : 0.282119 with order 2 Centerline is valid? [False, False] Translation: X:9.39, Y:1.01, Z:0.03 [[ 0.97880805 -0.0999821 -0.17871314 9.39057725] [ 0.16606675 0.89818237 0.4070507 1.00890908] [ 0.11981921 -0.42810281 0.89575183 0.03217978] [ 0. 0. 0. 1. ]] SLAMing on 121.21907232899999 meters Centerline goodness : 0.310660 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.01, Z:0.03 [[ 0.97847621 -0.10472358 -0.17781251 9.38996785] [ 0.1694952 0.89935556 0.40302723 1.0103411 ] [ 0.11771021 -0.42449092 0.89774816 0.03075662] [ 0. 0. 0. 1. ]] SLAMing on 121.27907232899999 meters Centerline goodness : 0.309722 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.02, Z:0.03 [[ 0.97822582 -0.10545267 -0.17875676 9.39128129] [ 0.17046538 0.89954755 0.40218871 1.01579204] [ 0.11838833 -0.42390322 0.89793667 0.02954653] [ 0. 0. 0. 1. ]] SLAMing on 121.33907232899999 meters Centerline goodness : 0.164441 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.02, Z:0.03 [[ 0.97754277 -0.11117758 -0.17902425 9.39110453] [ 0.17524129 0.90069753 0.39753546 1.02031132] [ 0.11704967 -0.41998035 0.89995326 0.02987555] [ 0. 0. 0. 1. ]] SLAMing on 121.39907232899999 meters Centerline goodness : 0.318958 with order 2 Centerline is valid? [False, False] Translation: X:9.39, Y:1.02, Z:0.03 [[ 0.97684321 -0.11694596 -0.1791675 9.39080447] [ 0.18001846 0.90180793 0.39285596 1.02459865] [ 0.11563176 -0.41601213 0.90197739 0.03005375] [ 0. 0. 0. 1. ]] SLAMing on 121.459072329 meters Centerline goodness : 0.306242 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.03, Z:0.03 [[ 0.9761952 -0.11981258 -0.18079788 9.39302733] [ 0.18312666 0.90196918 0.39104504 1.03050107] [ 0.11622201 -0.4148452 0.90243887 0.02913274] [ 0. 0. 0. 1. ]] SLAMing on 121.519072329 meters Centerline goodness : 0.304806 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.03, Z:0.03 [[ 0.97565779 -0.12498228 -0.18019795 9.3928123 ] [ 0.18712493 0.90293437 0.38690282 1.03181056] [ 0.11435092 -0.41120427 0.90434225 0.02851811] [ 0. 0. 0. 1. ]] SLAMing on 121.579072329 meters Centerline goodness : 0.306367 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.04, Z:0.03 [[ 0.97529581 -0.12609683 -0.18137714 9.39469584] [ 0.18854906 0.90298757 0.3860864 1.03548239] [ 0.11509703 -0.41074693 0.90445543 0.02834839] [ 0. 0. 0. 1. ]] SLAMing on 121.63907232899999 meters Centerline goodness : 0.304736 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:1.04, Z:0.03 [[ 0.97516012 -0.12710264 -0.18140467 9.39226657] [ 0.18935893 0.90326529 0.38503897 1.03980951] [ 0.11491707 -0.40982525 0.90489631 0.02904008] [ 0. 0. 0. 1. ]] SLAMing on 121.69907232899999 meters Centerline goodness : 0.301149 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:1.04, Z:0.03 [[ 0.97489374 -0.13152793 -0.17967358 9.39000598] [ 0.19223024 0.90437619 0.38098719 1.04094311] [ 0.11238205 -0.40596073 0.90695433 0.02769231] [ 0. 0. 0. 1. ]] SLAMing on 121.75907232899999 meters Centerline goodness : 0.307816 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.04, Z:0.03 [[ 0.97479809 -0.13224252 -0.17966804 9.39022856] [ 0.19278395 0.90462199 0.38012288 1.04495915] [ 0.11226325 -0.40518017 0.90731802 0.02566094] [ 0. 0. 0. 1. ]] SLAMing on 121.819072329 meters Centerline goodness : 0.305218 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.05, Z:0.03 [[ 0.97470692 -0.13285551 -0.17971042 9.38891984] [ 0.1932935 0.90477447 0.3795007 1.04860352] [ 0.11217864 -0.40463881 0.90757004 0.02519963] [ 0. 0. 0. 1. ]] SLAMing on 121.879072329 meters Centerline goodness : 0.309997 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.05, Z:0.02 [[ 0.97456193 -0.13396692 -0.1796717 9.3882936 ] [ 0.19415006 0.90513159 0.37820967 1.05334833] [ 0.11195895 -0.40347201 0.90811647 0.0238836 ] [ 0. 0. 0. 1. ]] SLAMing on 121.939072329 meters Centerline goodness : 0.304381 with order 3 Centerline is valid? [False, False] Translation: X:9.39, Y:1.06, Z:0.02 [[ 0.9744627 -0.13485422 -0.17954606 9.38781503] [ 0.19479652 0.90541978 0.37718607 1.05686266] [ 0.11169942 -0.40252871 0.90856694 0.02259965] [ 0. 0. 0. 1. ]] SLAMing on 121.99907232899999 meters Centerline goodness : 0.310727 with order 3 Centerline is valid? [False, False] Translation: X:9.38, Y:1.06, Z:0.02 [[ 0.97435244 -0.13560034 -0.17958249 9.38477227] [ 0.19540864 0.90561385 0.37640273 1.06102074] [ 0.11159205 -0.40184088 0.90888455 0.0236269 ] [ 0. 0. 0. 1. ]] SLAMing on 122.05907232899999 meters Centerline goodness : 0.309173 with order 3 Centerline is valid? [False, False] Translation: X:9.38, Y:1.06, Z:0.02 [[ 0.97434198 -0.13588729 -0.17942225 9.38484196] [ 0.19555991 0.90574929 0.37599807 1.0625517 ] [ 0.11141822 -0.40143851 0.90908366 0.02242549] [ 0. 0. 0. 1. ]] SLAMing on 122.11907232899999 meters Centerline goodness : 0.304314 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:1.06, Z:0.02 [[ 0.97457679 -0.136577 -0.1776142 9.38665367] [ 0.19530087 0.90634956 0.37468394 1.06473538] [ 0.10980734 -0.39984648 0.90998085 0.01563809] [ 0. 0. 0. 1. ]] SLAMing on 122.179072329 meters Centerline goodness : 0.303337 with order 2 Centerline is valid? [False, False] Translation: X:9.39, Y:1.07, Z:0.01 [[ 0.97463961 -0.13680587 -0.17709259 9.3855754 ] [ 0.19525818 0.9065047 0.37433069 1.06607355] [ 0.10932463 -0.39941629 0.91022786 0.01447492] [ 0. 0. 0. 1. ]] SLAMing on 122.239072329 meters Centerline goodness : 0.308495 with order 3 Centerline is valid? [False, False] Translation: X:9.38, Y:1.07, Z:0.02 [[ 0.9750668 -0.13267458 -0.1778825 9.38394198] [ 0.19210578 0.90593091 0.37733877 1.06921701] [ 0.11108599 -0.40210276 0.90883072 0.01571251] [ 0. 0. 0. 1. ]] SLAMing on 122.299072329 meters Centerline goodness : 0.309193 with order 3 Centerline is valid? [False, False] Translation: X:9.38, Y:1.07, Z:0.01 [[ 0.97531136 -0.13226822 -0.17684136 9.38186493] [ 0.19127339 0.90619985 0.37711578 1.07076575] [ 0.11037318 -0.40163036 0.9091264 0.01435709] [ 0. 0. 0. 1. ]] SLAMing on 122.35907232899999 meters Centerline goodness : 0.298729 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:1.08, Z:0.01 [[ 9.76146023e-01 -1.27484605e-01 -1.75745888e-01 9.38476788e+00] [ 1.85417219e-01 9.10622913e-01 3.69305246e-01 1.07640908e+00] [ 1.12957499e-01 -3.93082161e-01 9.12538776e-01 9.18253621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41907232899999 meters Centerline goodness : 0.310561 with order 3 Centerline is valid? [False, False] Translation: X:9.38, Y:1.08, Z:0.01 [[ 9.76867795e-01 -1.25247111e-01 -1.73327642e-01 9.38043371e+00] [ 1.82423431e-01 9.11014937e-01 3.69828983e-01 1.07633631e+00] [ 1.11584059e-01 -3.92893047e-01 9.12789161e-01 7.72721257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47907232899999 meters Centerline goodness : 0.313202 with order 3 Centerline is valid? [False, False] Translation: X:9.38, Y:1.08, Z:0.01 [[ 9.77637686e-01 -1.20248754e-01 -1.72524758e-01 9.37706924e+00] [ 1.77899721e-01 9.10386362e-01 3.73561723e-01 1.07606938e+00] [ 1.12143855e-01 -3.95900125e-01 9.11420236e-01 7.32869088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53907232899999 meters Centerline goodness : 0.310313 with order 3 Centerline is valid? [False, False] Translation: X:9.37, Y:1.07, Z:0.01 [[ 9.78061789e-01 -1.19136937e-01 -1.70884542e-01 9.37370127e+00] [ 1.76249945e-01 9.10543851e-01 3.73959694e-01 1.07446246e+00] [ 1.11045457e-01 -3.95874079e-01 9.11566026e-01 7.19131280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599072329 meters Centerline goodness : 0.312831 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:1.08, Z:0.01 [[ 9.79091432e-01 -1.11465100e-01 -1.70163158e-01 9.37408372e+00] [ 1.68045295e-01 9.14594058e-01 3.67802240e-01 1.07639011e+00] [ 1.14633099e-01 -3.88707139e-01 9.14202391e-01 5.12878636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659072329 meters Centerline goodness : 0.311135 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:1.07, Z:0.00 [[ 9.79956044e-01 -1.08347401e-01 -1.67173543e-01 9.37127794e+00] [ 1.64112950e-01 9.14768580e-01 3.69141416e-01 1.07381634e+00] [ 1.12929591e-01 -3.89177705e-01 9.14214210e-01 1.28540322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71907232899999 meters Centerline goodness : 0.271378 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:1.07, Z:0.00 [[ 9.80233342e-01 -1.07896782e-01 -1.65833891e-01 9.36913056e+00] [ 1.63186602e-01 9.14847401e-01 3.69356693e-01 1.07224809e+00] [ 1.11860305e-01 -3.89117615e-01 9.14371234e-01 1.03337993e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77907232899999 meters Centerline goodness : 0.314846 with order 3 Centerline is valid? [False, False] Translation: X:9.36, Y:1.07, Z:0.00 [[ 9.80669534e-01 -1.07177170e-01 -1.63708028e-01 9.36294580e+00] [ 1.61684702e-01 9.15069544e-01 3.69466895e-01 1.07071043e+00] [ 1.10205814e-01 -3.88794012e-01 9.14709732e-01 1.30131453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83907232899999 meters Centerline goodness : 0.313550 with order 3 Centerline is valid? [False, False] Translation: X:9.36, Y:1.07, Z:0.00 [[ 9.80978104e-01 -1.02862679e-01 -1.64624509e-01 9.36213802e+00] [ 1.58490592e-01 9.14080233e-01 3.73280135e-01 1.07127422e+00] [ 1.12083415e-01 -3.92271075e-01 9.12995461e-01 3.02273935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89907232899999 meters Centerline goodness : 0.310953 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:1.07, Z:0.00 [[ 9.81125698e-01 -1.05457778e-01 -1.62083379e-01 9.35875019e+00] [ 1.59531490e-01 9.15126208e-01 3.70261702e-01 1.06923032e+00] [ 1.09279771e-01 -3.89130674e-01 9.14677676e-01 2.41647282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.959072329 meters Centerline goodness : 0.312826 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:1.07, Z:0.00 [[ 9.81509693e-01 -1.07485644e-01 -1.58384212e-01 9.35188954e+00] [ 1.59639134e-01 9.16217699e-01 3.67505747e-01 1.06711572e+00] [ 1.05612826e-01 -3.85994771e-01 9.16435468e-01 1.46689563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019072329 meters Centerline goodness : 0.312698 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:1.07, Z:0.00 [[ 9.81987126e-01 -1.05947547e-01 -1.56449360e-01 9.34746974e+00] [ 1.57468309e-01 9.16505287e-01 3.67725157e-01 1.06833369e+00] [ 1.04427087e-01 -3.85737187e-01 9.16679773e-01 7.68191337e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079072329 meters Centerline goodness : 0.312412 with order 3 Centerline is valid? [False, False] Translation: X:9.34, Y:1.07, Z:-0.00 [[ 9.82573437e-01 -1.04110470e-01 -1.53981982e-01 9.34267314e+00] [ 1.54815146e-01 9.16852222e-01 3.67986785e-01 1.06859431e+00] [ 1.02867445e-01 -3.85412783e-01 9.16992517e-01 -3.22052532e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13907232899999 meters Centerline goodness : 0.310277 with order 3 Centerline is valid? [False, False] Translation: X:9.34, Y:1.07, Z:-0.00 [[ 9.83210675e-01 -9.98575570e-02 -1.52726020e-01 9.33705621e+00] [ 1.50722026e-01 9.16216207e-01 3.71255617e-01 1.06964810e+00] [ 1.02857376e-01 -3.88041661e-01 9.15884288e-01 -1.45689658e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19907232899999 meters Centerline goodness : 0.320276 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:1.07, Z:-0.00 [[ 9.83896804e-01 -9.77450524e-02 -1.49642855e-01 9.33022383e+00] [ 1.47568470e-01 9.16616631e-01 3.71533980e-01 1.07058036e+00] [ 1.00849521e-01 -3.87633663e-01 9.16280261e-01 -1.19116549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25907232899999 meters Centerline goodness : 0.321320 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:1.07, Z:-0.01 [[ 9.85215685e-01 -9.13051946e-02 -1.44960049e-01 9.31960823e+00] [ 1.40076753e-01 9.16473860e-01 3.74772153e-01 1.07344644e+00] [ 9.86334510e-02 -3.89536937e-01 9.15714157e-01 -5.03270097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.319072329 meters Centerline goodness : 0.332225 with order 1 Centerline is valid? [False, False] Translation: X:9.31, Y:1.08, Z:-0.00 [[ 9.85151826e-01 -7.64500004e-02 -1.53724680e-01 9.31128899e+00] [ 1.29777109e-01 9.17794942e-01 3.75247046e-01 1.08079822e+00] [ 1.12400097e-01 -3.89625257e-01 9.14088823e-01 -2.77571410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379072329 meters Centerline goodness : 0.329145 with order 3 Centerline is valid? [False, False] Translation: X:9.30, Y:1.08, Z:-0.00 [[ 9.84477886e-01 -6.59053329e-02 -1.62664621e-01 9.30443784e+00] [ 1.23226555e-01 9.19514733e-01 3.73239698e-01 1.08499347e+00] [ 1.24974029e-01 -3.87490830e-01 9.13363207e-01 -1.48078436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439072329 meters Centerline goodness : 0.337497 with order 1 Centerline is valid? [False, False] Translation: X:9.29, Y:1.09, Z:-0.00 [[ 9.84718186e-01 -5.23848812e-02 -1.66090094e-01 9.29282195e+00] [ 1.11637593e-01 9.21846375e-01 3.71128425e-01 1.08759473e+00] [ 1.33668033e-01 -3.83998808e-01 9.13607012e-01 -4.29452375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49907232899999 meters Centerline goodness : 0.337386 with order 1 Centerline is valid? [False, False] Translation: X:9.28, Y:1.09, Z:-0.01 [[ 9.85823943e-01 -4.53853862e-02 -1.61528080e-01 9.28382161e+00] [ 1.03805279e-01 9.21331303e-01 3.74663975e-01 1.08920400e+00] [ 1.31816607e-01 -3.86120184e-01 9.12981700e-01 -7.98216827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55907232899999 meters Centerline goodness : 0.334849 with order 3 Centerline is valid? [False, False] Translation: X:9.27, Y:1.09, Z:-0.01 [[ 0.98726378 -0.03322981 -0.15558281 9.27136266] [ 0.09110476 0.91980235 0.38165896 1.09286657] [ 0.13042298 -0.3909724 0.91111494 -0.01277752] [ 0. 0. 0. 1. ]] SLAMing on 123.61907232899999 meters Centerline goodness : 0.337252 with order 3 Centerline is valid? [False, False] Translation: X:9.26, Y:1.09, Z:-0.01 [[ 0.98684902 -0.02456633 -0.15976701 9.25554881] [ 0.08411585 0.92206366 0.37778715 1.09316229] [ 0.13803451 -0.38625782 0.91200404 -0.01498853] [ 0. 0. 0. 1. ]] SLAMing on 123.679072329 meters Centerline goodness : 0.342122 with order 3 Centerline is valid? [False, False] Translation: X:9.24, Y:1.09, Z:-0.01 [[ 0.98620329 -0.01253414 -0.16506351 9.23960622] [ 0.07484954 0.92314151 0.37710382 1.09417468] [ 0.14765031 -0.38425596 0.91134337 -0.01478356] [ 0. 0. 0. 1. ]] SLAMing on 123.739072329 meters Centerline goodness : 0.245347 with order 3 Centerline is valid? [False, False] Translation: X:9.23, Y:1.09, Z:-0.02 [[ 9.87327425e-01 -5.44235459e-03 -1.58603079e-01 9.22621100e+00] [ 6.62749887e-02 9.22227226e-01 3.80925937e-01 1.09480260e+00] [ 1.44194943e-01 -3.86610042e-01 9.10900924e-01 -1.90023323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799072329 meters Centerline goodness : 0.208987 with order 3 Centerline is valid? [False, False] Translation: X:9.21, Y:1.10, Z:-0.02 [[ 9.86879300e-01 7.10429227e-03 -1.61303369e-01 9.20632761e+00] [ 5.55643675e-02 9.23066382e-01 3.80606169e-01 1.09526923e+00] [ 1.51597655e-01 -3.84575069e-01 9.10560359e-01 -2.21859451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85907232899999 meters Centerline goodness : 0.343847 with order 3 Centerline is valid? [False, False] Translation: X:9.19, Y:1.09, Z:-0.02 [[ 0.9859489 0.01572395 -0.16630554 9.19285096] [ 0.04879906 0.92502193 0.37676661 1.0949185 ] [ 0.15976053 -0.37958817 0.91125704 -0.02262976] [ 0. 0. 0. 1. ]] SLAMing on 123.91907232899999 meters Centerline goodness : 0.132310 with order 3 Centerline is valid? [False, False] Translation: X:9.18, Y:1.10, Z:-0.02 [[ 0.98472715 0.03181881 -0.17117245 9.17627971] [ 0.03608568 0.92450843 0.37944957 1.09851798] [ 0.17032401 -0.37983117 0.90924035 -0.0234418 ] [ 0. 0. 0. 1. ]] SLAMing on 123.97907232899999 meters Centerline goodness : 0.190487 with order 3 Centerline is valid? [False, False] Translation: X:9.16, Y:1.10, Z:-0.03 [[ 0.98539552 0.03906688 -0.16573908 9.16478744] [ 0.02775058 0.92347064 0.3826642 1.10108718] [ 0.16800467 -0.38167495 0.9088997 -0.02539227] [ 0. 0. 0. 1. ]] SLAMing on 124.03907232899999 meters Centerline goodness : 0.394396 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:1.10, Z:-0.02 [[ 0.98407134 0.05054292 -0.17043772 9.14850772] [ 0.01860209 0.92419323 0.38147193 1.1023985 ] [ 0.17679809 -0.37856609 0.90853187 -0.0242309 ] [ 0. 0. 0. 1. ]] SLAMing on 124.099072329 meters Centerline goodness : 0.371393 with order 3 Centerline is valid? [False, False] Translation: X:9.14, Y:1.11, Z:-0.02 [[ 0.98217867 0.06323741 -0.17699176 9.13624496] [ 0.00943836 0.92391479 0.38248186 1.10571 ] [ 0.18771247 -0.37733604 0.90685255 -0.02484013] [ 0. 0. 0. 1. ]] SLAMing on 124.159072329 meters Centerline goodness : 0.355782 with order 3 Centerline is valid? [False, False] Translation: X:9.12, Y:1.11, Z:-0.03 [[ 9.80830441e-01 7.28139783e-02 -1.80747807e-01 9.12372928e+00] [ 1.03909701e-03 9.25595263e-01 3.78513314e-01 1.10619752e+00] [ 1.94860374e-01 -3.71445195e-01 9.07776350e-01 -2.70682956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21907232899999 meters Centerline goodness : 0.356720 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:1.11, Z:-0.03 [[ 9.81430605e-01 7.57568345e-02 -1.76223920e-01 9.11529230e+00] [-3.49688686e-03 9.25619515e-01 3.78439276e-01 1.10623122e+00] [ 1.91785661e-01 -3.70795652e-01 9.08696233e-01 -2.90526026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27907232899999 meters Centerline goodness : 0.389804 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:1.11, Z:-0.03 [[ 0.98148436 0.08325369 -0.17250296 9.10800156] [-0.01121478 0.92403235 0.38214977 1.10958706] [ 0.19121369 -0.37313944 0.90785697 -0.03021897] [ 0. 0. 0. 1. ]] SLAMing on 124.33907232899999 meters Centerline goodness : 0.374607 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:1.11, Z:-0.03 [[ 0.97997564 0.08648093 -0.17935662 9.10012339] [-0.01333878 0.92724701 0.37421259 1.10824673] [ 0.19867014 -0.36432682 0.90983303 -0.02982461] [ 0. 0. 0. 1. ]] SLAMing on 124.39907232899999 meters Centerline goodness : 0.390489 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:1.11, Z:-0.03 [[ 0.98016726 0.0870314 -0.17803839 9.09766807] [-0.01440178 0.92731086 0.37401491 1.1083739 ] [ 0.19764798 -0.3640331 0.91017316 -0.03069738] [ 0. 0. 0. 1. ]] SLAMing on 124.459072329 meters Centerline goodness : 0.384646 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:1.11, Z:-0.03 [[ 0.9802062 0.08718074 -0.17775076 9.09529287] [-0.01464353 0.92729154 0.37405343 1.10971829] [ 0.19743703 -0.36404659 0.91021354 -0.02943161] [ 0. 0. 0. 1. ]] SLAMing on 124.519072329 meters Centerline goodness : 0.383540 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:1.11, Z:-0.03 [[ 0.98070073 0.08338891 -0.17683995 9.09303043] [-0.01224417 0.92890259 0.37012169 1.11039184] [ 0.19513113 -0.36081335 0.91199647 -0.03011374] [ 0. 0. 0. 1. ]] SLAMing on 124.579072329 meters Centerline goodness : 0.388600 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:1.11, Z:-0.03 [[ 0.98053534 0.08287631 -0.1779943 9.09208795] [-0.01127756 0.92882523 0.37034646 1.11397883] [ 0.19601854 -0.36113045 0.91168061 -0.02835808] [ 0. 0. 0. 1. ]] SLAMing on 124.63907232899999 meters Centerline goodness : 0.394292 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:1.12, Z:-0.03 [[ 0.98057526 0.08259448 -0.17790533 9.0887267 ] [-0.0110641 0.92886514 0.37025281 1.11594747] [ 0.1958309 -0.36109238 0.91173601 -0.0260301 ] [ 0. 0. 0. 1. ]] SLAMing on 124.69907232899999 meters Centerline goodness : 0.396684 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:1.12, Z:-0.03 [[ 0.98086004 0.08310282 -0.17608949 9.08404005] [-0.01234213 0.92906522 0.36971 1.11752259] [ 0.19432256 -0.36046044 0.91230862 -0.02593295] [ 0. 0. 0. 1. ]] SLAMing on 124.75907232899999 meters Centerline goodness : 0.393734 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:1.12, Z:-0.03 [[ 0.98188852 0.08616799 -0.16873059 9.07109156] [-0.01808621 0.92915228 0.36925457 1.11980848] [ 0.18859434 -0.35951512 0.91388241 -0.03240252] [ 0. 0. 0. 1. ]] SLAMing on 124.819072329 meters Centerline goodness : 0.390132 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:1.12, Z:-0.04 [[ 0.98268232 0.09327181 -0.16011193 9.05744308] [-0.02759895 0.9281123 0.37127599 1.12327444] [ 0.18323144 -0.36042743 0.91461375 -0.04025885] [ 0. 0. 0. 1. ]] SLAMing on 124.879072329 meters Centerline goodness : 0.392320 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:1.13, Z:-0.05 [[ 0.9828319 0.10624791 -0.15084045 9.04259439] [-0.04218874 0.9253048 0.37687019 1.12978552] [ 0.17961507 -0.36403628 0.91390153 -0.04687017] [ 0. 0. 0. 1. ]] SLAMing on 124.939072329 meters Centerline goodness : 0.155986 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:1.14, Z:-0.05 [[ 0.98004555 0.12486428 -0.15465972 9.03167379] [-0.05763146 0.92314696 0.38010301 1.13878918] [ 0.19023494 -0.363605 0.91192219 -0.05008944] [ 0. 0. 0. 1. ]] SLAMing on 124.99907232899999 meters Centerline goodness : 0.162234 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:1.14, Z:-0.05 [[ 0.98027434 0.12781621 -0.15074889 9.02534309] [-0.06199323 0.92309393 0.37954504 1.14084294] [ 0.1876674 -0.36271286 0.91280903 -0.05226876] [ 0. 0. 0. 1. ]] SLAMing on 125.05907232899999 meters Centerline goodness : 0.161232 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:1.15, Z:-0.06 [[ 0.98010513 0.1362342 -0.14434049 9.01678386] [-0.07191158 0.92156288 0.38151093 1.14582332] [ 0.18499367 -0.36354107 0.91302532 -0.05754765] [ 0. 0. 0. 1. ]] SLAMing on 125.11907232899999 meters Centerline goodness : 0.352032 with order 3 Centerline is valid? [False, False] Translation: X:9.02, Y:1.16, Z:-0.06 [[ 0.97660017 0.16029172 -0.14338298 9.01611741] [-0.09468836 0.91907892 0.38252851 1.15829672] [ 0.19309643 -0.36000071 0.91275038 -0.06344625] [ 0. 0. 0. 1. ]] SLAMing on 125.179072329 meters Centerline goodness : 0.292808 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:1.17, Z:-0.07 [[ 0.97213435 0.18558544 -0.14322308 9.02098411] [-0.11807116 0.91542685 0.38477641 1.17292875] [ 0.20251915 -0.35714385 0.91183017 -0.06851201] [ 0. 0. 0. 1. ]] SLAMing on 125.239072329 meters Centerline goodness : 0.292205 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:1.18, Z:-0.07 [[ 0.97104999 0.19493246 -0.13806973 9.01768601] [-0.12821315 0.91300166 0.3872846 1.1768377 ] [ 0.20155223 -0.35837035 0.91156316 -0.07442327] [ 0. 0. 0. 1. ]] SLAMing on 125.299072329 meters Centerline goodness : 0.312635 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:1.19, Z:-0.08 [[ 0.96662253 0.2141148 -0.14069733 9.03136902] [-0.14613149 0.91183124 0.38367873 1.18929817] [ 0.21044352 -0.35031219 0.91268554 -0.07780507] [ 0. 0. 0. 1. ]] SLAMing on 125.35907232899999 meters Centerline goodness : 0.337213 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:1.20, Z:-0.08 [[ 0.96368873 0.22593987 -0.14232079 9.0436723 ] [-0.15540613 0.90797172 0.38914817 1.19642301] [ 0.21714734 -0.35290018 0.91011455 -0.07619079] [ 0. 0. 0. 1. ]] SLAMing on 125.41907232899999 meters Centerline goodness : 0.226997 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:1.20, Z:-0.07 [[ 0.96259534 0.22943408 -0.14411878 9.05171324] [-0.1582089 0.90778115 0.38846277 1.19814182] [ 0.21995491 -0.35113158 0.91012441 -0.07490075] [ 0. 0. 0. 1. ]] SLAMing on 125.47907232899999 meters Centerline goodness : 0.269228 with order 2 Centerline is valid? [False, False] Translation: X:9.07, Y:1.20, Z:-0.07 [[ 0.96064404 0.23479656 -0.14843719 9.07043783] [-0.16193489 0.90752694 0.38752026 1.20033137] [ 0.22569917 -0.34823187 0.9098321 -0.07360657] [ 0. 0. 0. 1. ]] SLAMing on 125.53907232899999 meters Centerline goodness : 0.110777 with order 3 Centerline is valid? [False, False] Translation: X:9.10, Y:1.21, Z:-0.06 [[ 0.9574926 0.24108199 -0.15838999 9.09929477] [-0.16365787 0.90618041 0.38993994 1.20661563] [ 0.2375374 -0.34744284 0.90711601 -0.06399879] [ 0. 0. 0. 1. ]] SLAMing on 125.599072329 meters Centerline goodness : 0.117705 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:1.21, Z:-0.06 [[ 0.95606124 0.24175954 -0.16582892 9.11779683] [-0.16166808 0.90663923 0.38970339 1.20809646] [ 0.24456152 -0.34577106 0.90588743 -0.05765894] [ 0. 0. 0. 1. ]] SLAMing on 125.659072329 meters Centerline goodness : 0.213852 with order 3 Centerline is valid? [False, False] Translation: X:9.15, Y:1.21, Z:-0.05 [[ 0.95424501 0.23949139 -0.179054 9.15164524] [-0.15606285 0.90964165 0.38496292 1.21120788] [ 0.25507028 -0.33940527 0.90539672 -0.04682667] [ 0. 0. 0. 1. ]] SLAMing on 125.71907232899999 meters Centerline goodness : 0.095613 with order 1 Centerline is valid? [False, False] Translation: X:9.19, Y:1.21, Z:-0.04 [[ 0.9550501 0.2346958 -0.18109996 9.18693487] [-0.15049827 0.91018807 0.38588593 1.2130859 ] [ 0.25540083 -0.34128516 0.90459652 -0.03961195] [ 0. 0. 0. 1. ]] SLAMing on 125.77907232899999 meters Centerline goodness : 0.092893 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:1.22, Z:-0.03 [[ 0.95589439 0.22817967 -0.18493226 9.22443214] [-0.14256845 0.91096038 0.38707289 1.21501902] [ 0.25678813 -0.3436353 0.90331315 -0.02985404] [ 0. 0. 0. 1. ]] SLAMing on 125.83907232899999 meters Centerline goodness : 0.356908 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:1.21, Z:-0.02 [[ 0.95528807 0.22183293 -0.19548622 9.24557935] [-0.13346067 0.91346988 0.38439697 1.21379944] [ 0.26384268 -0.34112011 0.90223285 -0.021652 ] [ 0. 0. 0. 1. ]] SLAMing on 125.89907232899999 meters Centerline goodness : 0.292682 with order 1 Centerline is valid? [False, False] Translation: X:9.28, Y:1.22, Z:-0.01 [[ 0.95734091 0.20920585 -0.19932711 9.28141456] [-0.12112995 0.91681924 0.38048655 1.21684991] [ 0.26234694 -0.34011086 0.90304966 -0.01366806] [ 0. 0. 0. 1. ]] SLAMing on 125.959072329 meters Centerline goodness : 0.279459 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:1.22, Z:-0.00 [[ 9.59106160e-01 1.96429336e-01 -2.03791290e-01 9.31614980e+00] [-1.07841677e-01 9.19282501e-01 3.78536466e-01 1.22138597e+00] [ 2.61697434e-01 -3.41079462e-01 9.02872779e-01 -3.91394411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019072329 meters Centerline goodness : 0.339265 with order 2 Centerline is valid? [False, False] Translation: X:9.34, Y:1.22, Z:-0.00 [[ 9.61861720e-01 1.85918154e-01 -2.00640156e-01 9.33556072e+00] [-9.86814732e-02 9.19961808e-01 3.79384025e-01 1.22092083e+00] [ 2.55115659e-01 -3.45115505e-01 9.03222724e-01 -2.81222067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079072329 meters Centerline goodness : 0.219238 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:1.23, Z:0.00 [[ 9.63864379e-01 1.71247101e-01 -2.04058542e-01 9.36824824e+00] [-8.38797109e-02 9.22137379e-01 3.77659699e-01 1.22511972e+00] [ 2.52843138e-01 -3.46896359e-01 9.03179530e-01 3.44966083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13907232899999 meters Centerline goodness : 0.197307 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:1.23, Z:0.01 [[ 0.96582351 0.15501694 -0.2077371 9.39818968] [-0.06743623 0.92413216 0.3760746 1.23129972] [ 0.25027447 -0.34921268 0.90300232 0.00956013] [ 0. 0. 0. 1. ]] SLAMing on 126.19907232899999 meters Centerline goodness : 0.206927 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:1.23, Z:0.01 [[ 0.96871027 0.14178867 -0.20370663 9.4140353 ] [-0.05667223 0.92543546 0.37464311 1.23313293] [ 0.24163749 -0.35137612 0.90451431 0.01054988] [ 0. 0. 0. 1. ]] SLAMing on 126.25907232899999 meters Centerline goodness : 0.345218 with order 3 Centerline is valid? [False, False] Translation: X:9.44, Y:1.24, Z:0.02 [[ 0.97047738 0.12119995 -0.20852871 9.44369623] [-0.03606694 0.92777806 0.3713853 1.24265939] [ 0.23848024 -0.35290004 0.90475894 0.02003891] [ 0. 0. 0. 1. ]] SLAMing on 126.319072329 meters Centerline goodness : 0.292194 with order 2 Centerline is valid? [False, False] Translation: X:9.47, Y:1.25, Z:0.03 [[ 0.97223631 0.09575373 -0.21351295 9.47022607] [-0.0103881 0.92920583 0.36941659 1.24815711] [ 0.23377049 -0.35694223 0.90440234 0.02649767] [ 0. 0. 0. 1. ]] SLAMing on 126.379072329 meters Centerline goodness : 0.288604 with order 2 Centerline is valid? [False, False] Translation: X:9.49, Y:1.25, Z:0.03 [[ 9.74281207e-01 7.62452371e-02 -2.12044322e-01 9.48513116e+00] [ 6.76012153e-03 9.30702190e-01 3.65715374e-01 1.24888331e+00] [ 2.25234170e-01 -3.57743061e-01 9.06250225e-01 2.89890940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439072329 meters Centerline goodness : 0.315753 with order 2 Centerline is valid? [False, False] Translation: X:9.51, Y:1.25, Z:0.04 [[ 0.97456342 0.04579955 -0.21938219 9.51088735] [ 0.03810354 0.93078206 0.36358339 1.25293316] [ 0.22084897 -0.36269431 0.90536102 0.03923678] [ 0. 0. 0. 1. ]] SLAMing on 126.49907232899999 meters Centerline goodness : 0.327132 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:1.26, Z:0.05 [[ 0.97415828 0.01313063 -0.22548443 9.53471491] [ 0.07113398 0.92967133 0.36145701 1.25599132] [ 0.21437257 -0.36815594 0.90471299 0.05059025] [ 0. 0. 0. 1. ]] SLAMing on 126.55907232899999 meters Centerline goodness : 0.333482 with order 3 Centerline is valid? [False, False] Translation: X:9.56, Y:1.26, Z:0.06 [[ 0.97359681 -0.02354959 -0.22705652 9.55742396] [ 0.10588285 0.92778 0.35778918 1.25815889] [ 0.20223271 -0.3723838 0.90577715 0.06196715] [ 0. 0. 0. 1. ]] SLAMing on 126.61907232899999 meters Centerline goodness : 0.339502 with order 3 Centerline is valid? [False, False] Translation: X:9.57, Y:1.26, Z:0.07 [[ 0.9719531 -0.04850795 -0.23011767 9.5716248 ] [ 0.1300375 0.92615646 0.35401194 1.26000502] [ 0.19595257 -0.37400693 0.9064885 0.071381 ] [ 0. 0. 0. 1. ]] SLAMing on 126.679072329 meters Centerline goodness : 0.284899 with order 3 Centerline is valid? [False, False] Translation: X:9.59, Y:1.26, Z:0.08 [[ 0.96774578 -0.09059441 -0.23507607 9.59477618] [ 0.17153461 0.9203482 0.35147556 1.2596916 ] [ 0.18451011 -0.38046267 0.90620316 0.08064613] [ 0. 0. 0. 1. ]] SLAMing on 126.739072329 meters Centerline goodness : 0.279111 with order 2 Centerline is valid? [False, False] Translation: X:9.61, Y:1.26, Z:0.09 [[ 0.96365594 -0.11891393 -0.23922103 9.61344431] [ 0.19924212 0.91643439 0.34705993 1.26267835] [ 0.17796012 -0.38210927 0.90682011 0.09069051] [ 0. 0. 0. 1. ]] SLAMing on 126.799072329 meters Centerline goodness : 0.199669 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:1.26, Z:0.10 [[ 0.95658579 -0.16676072 -0.23902821 9.63493825] [ 0.24413152 0.90644201 0.34461964 1.26047957] [ 0.15919619 -0.38801257 0.90780109 0.10291124] [ 0. 0. 0. 1. ]] SLAMing on 126.85907232899999 meters Centerline goodness : 0.212377 with order 2 Centerline is valid? [False, False] Translation: X:9.66, Y:1.26, Z:0.12 [[ 0.94620395 -0.21514291 -0.24168496 9.66112152] [ 0.29043239 0.89397807 0.34125098 1.25890777] [ 0.14264332 -0.39308616 0.90837005 0.11574482] [ 0. 0. 0. 1. ]] SLAMing on 126.91907232899999 meters Centerline goodness : 0.219455 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:1.26, Z:0.11 [[ 0.9444856 -0.22791455 -0.23664721 9.67440284] [ 0.30076383 0.88967623 0.34353649 1.25858982] [ 0.13224243 -0.39564019 0.90883485 0.11386984] [ 0. 0. 0. 1. ]] SLAMing on 126.97907232899999 meters Centerline goodness : 0.248817 with order 2 Centerline is valid? [False, False] Translation: X:9.70, Y:1.26, Z:0.13 [[ 0.93161362 -0.2731253 -0.23978874 9.70284542] [ 0.34417204 0.8749721 0.34054285 1.25755994] [ 0.11679759 -0.39978293 0.90913802 0.12544723] [ 0. 0. 0. 1. ]] SLAMing on 127.03907232899999 meters Centerline goodness : 0.248954 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:1.26, Z:0.13 [[ 0.9227813 -0.30355292 -0.23734004 9.72326268] [ 0.37164839 0.86379589 0.34019721 1.25522119] [ 0.1017455 -0.40213467 0.90990965 0.13120191] [ 0. 0. 0. 1. ]] SLAMing on 127.099072329 meters Centerline goodness : 0.240391 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:1.26, Z:0.14 [[ 0.90716679 -0.34625373 -0.23907483 9.75923807] [ 0.41252439 0.84381866 0.34321085 1.25573272] [ 0.08289776 -0.40997369 0.90832238 0.14402085] [ 0. 0. 0. 1. ]] SLAMing on 127.159072329 meters Centerline goodness : 0.235418 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:1.26, Z:0.16 [[ 0.8905921 -0.38332261 -0.24476416 9.799934 ] [ 0.44926373 0.82521627 0.34231594 1.25994793] [ 0.07076592 -0.41482753 0.90714404 0.15638621] [ 0. 0. 0. 1. ]] SLAMing on 127.21907232899999 meters Centerline goodness : 0.227965 with order 2 Centerline is valid? [False, False] Translation: X:9.84, Y:1.26, Z:0.17 [[ 0.87464767 -0.41545661 -0.24977439 9.83782938] [ 0.48128573 0.80580509 0.34502493 1.26269625] [ 0.05792659 -0.42198811 0.90474889 0.17455676] [ 0. 0. 0. 1. ]] SLAMing on 127.27907232899999 meters Centerline goodness : 0.230230 with order 2 Centerline is valid? [False, False] Translation: X:9.87, Y:1.26, Z:0.19 [[ 0.85882562 -0.4456731 -0.25257483 9.87006066] [ 0.51032622 0.78723547 0.34616104 1.26449064] [ 0.0445612 -0.42618753 0.90353666 0.19016855] [ 0. 0. 0. 1. ]] SLAMing on 127.33907232899999 meters Centerline goodness : 0.226354 with order 2 Centerline is valid? [False, False] Translation: X:9.89, Y:1.26, Z:0.20 [[ 0.84879033 -0.46203474 -0.25705812 9.89152319] [ 0.52722062 0.77631077 0.34551413 1.26410664] [ 0.03991746 -0.42879539 0.90251931 0.20082716] [ 0. 0. 0. 1. ]] SLAMing on 127.39907232899999 meters Centerline goodness : 0.218644 with order 2 Centerline is valid? [False, False] Translation: X:9.92, Y:1.26, Z:0.21 [[ 0.83339677 -0.48923706 -0.25709322 9.9175334 ] [ 0.5518945 0.76141036 0.34009812 1.26190689] [ 0.02936484 -0.42532501 0.90456417 0.21200946] [ 0. 0. 0. 1. ]] SLAMing on 127.459072329 meters Centerline goodness : 0.362033 with order 1 Centerline is valid? [False, False] Translation: X:9.94, Y:1.26, Z:0.22 [[ 0.81959563 -0.51076691 -0.25957692 9.94427845] [ 0.57260739 0.74571747 0.34062622 1.26056031] [ 0.01959045 -0.42781142 0.90365569 0.22347462] [ 0. 0. 0. 1. ]] SLAMing on 127.519072329 meters Centerline goodness : 0.362551 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:1.26, Z:0.23 [[ 0.81285616 -0.52217065 -0.25807496 9.96105844] [ 0.58236447 0.73679857 0.34348143 1.25870525] [ 0.01079334 -0.42949468 0.90300489 0.2250028 ] [ 0. 0. 0. 1. ]] SLAMing on 127.579072329 meters Centerline goodness : 0.363644 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:1.26, Z:0.23 [[ 8.05107499e-01 -5.36410604e-01 -2.53111791e-01 9.98681496e+00] [ 5.93128857e-01 7.28314093e-01 3.43157021e-01 1.25520872e+00] [ 2.71819510e-04 -4.26406198e-01 9.04531747e-01 2.26764970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63907232899999 meters Centerline goodness : 0.364299 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:1.25, Z:0.23 [[ 8.02739090e-01 -5.40430044e-01 -2.52081975e-01 9.99194819e+00] [ 5.96328764e-01 7.26495636e-01 3.41461706e-01 1.24974279e+00] [-1.39971054e-03 -4.24428392e-01 9.05460425e-01 2.29895823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69907232899999 meters Centerline goodness : 0.364625 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:1.25, Z:0.24 [[ 8.03577488e-01 -5.38944500e-01 -2.52590672e-01 1.00066537e+01] [ 5.95198849e-01 7.28513412e-01 3.39126138e-01 1.24932384e+00] [ 1.24552531e-03 -4.22855808e-01 9.06196124e-01 2.35759754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75907232899999 meters Centerline goodness : 0.366568 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:1.25, Z:0.24 [[ 8.07265682e-01 -5.33877396e-01 -2.51589038e-01 1.00226936e+01] [ 5.90172825e-01 7.33301658e-01 3.37586603e-01 1.25127595e+00] [ 4.26080202e-03 -4.21003093e-01 9.07049195e-01 2.42539052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.819072329 meters Centerline goodness : 0.366846 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:1.25, Z:0.24 [[ 8.09868594e-01 -5.28389425e-01 -2.54789084e-01 1.00258450e+01] [ 5.86573740e-01 7.34358807e-01 3.41538271e-01 1.24829545e+00] [ 6.64139709e-03 -4.26053705e-01 9.04673495e-01 2.44764475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879072329 meters Centerline goodness : 0.364692 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:1.25, Z:0.25 [[ 8.10970770e-01 -5.25866786e-01 -2.56496655e-01 1.00316103e+01] [ 5.85017117e-01 7.35560658e-01 3.41621853e-01 1.24789443e+00] [ 9.02126229e-03 -4.27100271e-01 9.04159264e-01 2.47205215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939072329 meters Centerline goodness : 0.364505 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:1.25, Z:0.25 [[ 0.81390734 -0.5212443 -0.25663052 10.04902462] [ 0.58085386 0.73975206 0.33966995 1.24887201] [ 0.01279193 -0.42552469 0.9048564 0.25169281] [ 0. 0. 0. 1. ]] SLAMing on 127.99907232899999 meters Centerline goodness : 0.364867 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:1.25, Z:0.25 [[ 0.81650818 -0.51538179 -0.26018456 10.05343955] [ 0.57712757 0.7406772 0.34397828 1.24510491] [ 0.01543263 -0.43102076 0.90221003 0.25448225] [ 0. 0. 0. 1. ]] SLAMing on 128.059072329 meters Centerline goodness : 0.366172 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:1.25, Z:0.26 [[ 0.82111741 -0.50686164 -0.26240708 10.06950094] [ 0.57037391 0.74559184 0.34462501 1.24821174] [ 0.02097138 -0.43264775 0.9013191 0.26027738] [ 0. 0. 0. 1. ]] SLAMing on 128.119072329 meters Centerline goodness : 0.367676 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:1.24, Z:0.26 [[ 0.82163016 -0.50552585 -0.26337709 10.07460847] [ 0.5696059 0.74576508 0.34551927 1.24457103] [ 0.02174851 -0.4339102 0.90069359 0.26193048] [ 0. 0. 0. 1. ]] SLAMing on 128.179072329 meters Centerline goodness : 0.197931 with order 2 Centerline is valid? [False, False] Translation: X:10.08, Y:1.24, Z:0.26 [[ 0.82144894 -0.50560573 -0.2637887 10.08499661] [ 0.56981619 0.74638579 0.34382811 1.24182537] [ 0.02304668 -0.43274831 0.90122015 0.26354098] [ 0. 0. 0. 1. ]] SLAMing on 128.239072329 meters Centerline goodness : 0.363523 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:1.24, Z:0.27 [[ 0.82440182 -0.50226899 -0.26093581 10.10349834] [ 0.56546635 0.75098003 0.34099385 1.24413521] [ 0.02468695 -0.42866638 0.90312551 0.27151477] [ 0. 0. 0. 1. ]] SLAMing on 128.299072329 meters Centerline goodness : 0.365109 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:1.24, Z:0.27 [[ 0.82261062 -0.50582199 -0.2597227 10.10653011] [ 0.56812046 0.75001265 0.33870366 1.24088039] [ 0.02347155 -0.426175 0.90433619 0.27405861] [ 0. 0. 0. 1. ]] SLAMing on 128.359072329 meters Centerline goodness : 0.365074 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:1.23, Z:0.28 [[ 0.82286289 -0.50430903 -0.26185697 10.11548625] [ 0.56770831 0.74953148 0.34045534 1.23494439] [ 0.02457534 -0.42880644 0.90306206 0.27650555] [ 0. 0. 0. 1. ]] SLAMing on 128.41907232900002 meters Centerline goodness : 0.188242 with order 2 Centerline is valid? [False, False] Translation: X:10.12, Y:1.23, Z:0.28 [[ 0.82498991 -0.49880744 -0.2656742 10.12151642] [ 0.56449827 0.74983762 0.34508731 1.22988056] [ 0.02708039 -0.43466618 0.90018441 0.279933 ] [ 0. 0. 0. 1. ]] SLAMing on 128.47907232900002 meters Centerline goodness : 0.365569 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:1.23, Z:0.28 [[ 0.82526514 -0.49772357 -0.26684957 10.12565194] [ 0.56405716 0.74976102 0.34597388 1.2262479 ] [ 0.02787405 -0.43603859 0.89949618 0.28298412] [ 0. 0. 0. 1. ]] SLAMing on 128.539072329 meters Centerline goodness : 0.367729 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:1.22, Z:0.28 [[ 0.82392879 -0.50031052 -0.26614042 10.13127693] [ 0.56603622 0.74917973 0.34399524 1.2227615 ] [ 0.02728257 -0.4340727 0.90046463 0.28452303] [ 0. 0. 0. 1. ]] SLAMing on 128.599072329 meters Centerline goodness : 0.397180 with order 3 Centerline is valid? [False, False] Translation: X:10.13, Y:1.22, Z:0.29 [[ 0.82423404 -0.49927288 -0.26714199 10.13481575] [ 0.56555782 0.74916317 0.3448172 1.21957813] [ 0.02797506 -0.43529431 0.89985346 0.28707471] [ 0. 0. 0. 1. ]] SLAMing on 128.659072329 meters Centerline goodness : 0.217500 with order 2 Centerline is valid? [False, False] Translation: X:10.14, Y:1.22, Z:0.29 [[ 0.82447686 -0.49859397 -0.26766016 10.13664695] [ 0.56518722 0.74917262 0.3454038 1.21716375] [ 0.02830741 -0.43605554 0.89947443 0.28898439] [ 0. 0. 0. 1. ]] SLAMing on 128.719072329 meters Centerline goodness : 0.369994 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:1.22, Z:0.29 [[ 0.82558918 -0.49562601 -0.26973572 10.14296379] [ 0.56337915 0.75088173 0.34464556 1.21855772] [ 0.03172432 -0.43649913 0.89914519 0.29314332] [ 0. 0. 0. 1. ]] SLAMing on 128.779072329 meters Centerline goodness : 0.205446 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:1.22, Z:0.29 [[ 0.82605098 -0.49467674 -0.27006427 10.14397079] [ 0.56267993 0.75116154 0.34517769 1.2172864 ] [ 0.03211052 -0.43709411 0.8988424 0.29386158] [ 0. 0. 0. 1. ]] SLAMing on 128.839072329 meters Centerline goodness : 0.205174 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:1.22, Z:0.29 [[ 0.82639749 -0.49396741 -0.27030238 10.14495227] [ 0.56215992 0.75129974 0.34572376 1.21546691] [ 0.03230184 -0.43765841 0.89856091 0.294945 ] [ 0. 0. 0. 1. ]] SLAMing on 128.899072329 meters Centerline goodness : 0.208400 with order 2 Centerline is valid? [False, False] Translation: X:10.15, Y:1.21, Z:0.30 [[ 0.82672446 -0.49314398 -0.27080564 10.14626439] [ 0.561657 0.75138904 0.34634654 1.21348982] [ 0.03268168 -0.43843303 0.89816946 0.29660065] [ 0. 0. 0. 1. ]] SLAMing on 128.959072329 meters Centerline goodness : 0.372877 with order 1 Centerline is valid? [False, False] Translation: X:10.15, Y:1.21, Z:0.30 [[ 0.82695038 -0.4923769 -0.27151068 10.14861679] [ 0.56129403 0.75139648 0.34691835 1.21194941] [ 0.03319759 -0.43928158 0.89773582 0.29790883] [ 0. 0. 0. 1. ]] SLAMing on 129.019072329 meters Centerline goodness : 0.206159 with order 1 Centerline is valid? [False, False] Translation: X:10.15, Y:1.21, Z:0.30 [[ 0.82695952 -0.49184385 -0.2724474 10.15183877] [ 0.56124669 0.75118467 0.34745323 1.20968651] [ 0.03376558 -0.44023995 0.89724504 0.30003034] [ 0. 0. 0. 1. ]] SLAMing on 129.079072329 meters Centerline goodness : 0.220233 with order 2 Centerline is valid? [False, False] Translation: X:10.16, Y:1.21, Z:0.30 [[ 0.8247608 -0.49610704 -0.27138058 10.15536787] [ 0.56455406 0.74986835 0.34492923 1.20737654] [ 0.03237788 -0.43769312 0.89854127 0.30197702] [ 0. 0. 0. 1. ]] SLAMing on 129.13907232900002 meters Centerline goodness : 0.211867 with order 2 Centerline is valid? [False, False] Translation: X:10.16, Y:1.21, Z:0.30 [[ 0.82265367 -0.50022197 -0.27022014 10.15898201] [ 0.56769689 0.74863743 0.34243575 1.20511546] [ 0.03100303 -0.43510916 0.89984378 0.30340924] [ 0. 0. 0. 1. ]] SLAMing on 129.19907232900002 meters Centerline goodness : 0.236718 with order 2 Centerline is valid? [False, False] Translation: X:10.17, Y:1.20, Z:0.31 [[ 0.8199915 -0.50490561 -0.26960019 10.16522242] [ 0.57161578 0.74663618 0.34027902 1.2007797 ] [ 0.02948447 -0.43313363 0.90084734 0.30597082] [ 0. 0. 0. 1. ]] SLAMing on 129.25907232900002 meters Centerline goodness : 0.254708 with order 2 Centerline is valid? [False, False] Translation: X:10.19, Y:1.21, Z:0.31 [[ 0.81908451 -0.50712841 -0.26818154 10.19248872] [ 0.57310027 0.74423197 0.34303769 1.20839506] [ 0.02562512 -0.43467177 0.90022431 0.30801878] [ 0. 0. 0. 1. ]] SLAMing on 129.319072329 meters Centerline goodness : 0.276847 with order 2 Centerline is valid? [False, False] Translation: X:10.20, Y:1.20, Z:0.31 [[ 0.81843175 -0.50730716 -0.26983128 10.19965351] [ 0.574017 0.74305702 0.34405049 1.20395883] [ 0.02596075 -0.43646959 0.89934439 0.31040933] [ 0. 0. 0. 1. ]] SLAMing on 129.379072329 meters Centerline goodness : 0.395266 with order 3 Centerline is valid? [False, False] Translation: X:10.20, Y:1.20, Z:0.31 [[ 0.81809759 -0.5073209 -0.27081698 10.20381269] [ 0.57449017 0.74227867 0.34493973 1.20025314] [ 0.02602653 -0.43777605 0.89870726 0.31284791] [ 0. 0. 0. 1. ]] SLAMing on 129.439072329 meters Centerline goodness : 0.291934 with order 2 Centerline is valid? [False, False] Translation: X:10.21, Y:1.20, Z:0.32 [[ 0.81599721 -0.51120501 -0.2698481 10.20816154] [ 0.57752958 0.74088718 0.34284948 1.19691888] [ 0.02466062 -0.43560948 0.89979789 0.315079 ] [ 0. 0. 0. 1. ]] SLAMing on 129.499072329 meters Centerline goodness : 0.293065 with order 2 Centerline is valid? [False, False] Translation: X:10.21, Y:1.19, Z:0.32 [[ 0.81397767 -0.51499355 -0.26874149 10.21220911] [ 0.58042499 0.73967617 0.34056717 1.19467747] [ 0.02339178 -0.43319835 0.90099501 0.31626618] [ 0. 0. 0. 1. ]] SLAMing on 129.559072329 meters Centerline goodness : 0.307681 with order 2 Centerline is valid? [False, False] Translation: X:10.22, Y:1.19, Z:0.32 [[ 0.8118689 -0.51887329 -0.26765536 10.21599734] [ 0.58342154 0.73836098 0.33829331 1.19154962] [ 0.02209491 -0.43080572 0.90217418 0.31902257] [ 0. 0. 0. 1. ]] SLAMing on 129.619072329 meters Centerline goodness : 0.401099 with order 3 Centerline is valid? [False, False] Translation: X:10.22, Y:1.19, Z:0.32 [[ 0.81180223 -0.51853821 -0.26850561 10.21899319] [ 0.58350511 0.73795054 0.33904392 1.18872978] [ 0.02233663 -0.43191101 0.90163959 0.32142705] [ 0. 0. 0. 1. ]] SLAMing on 129.679072329 meters Centerline goodness : 0.400098 with order 3 Centerline is valid? [False, False] Translation: X:10.23, Y:1.18, Z:0.32 [[ 0.81202007 -0.51742137 -0.2699973 10.22515976] [ 0.58317164 0.73765928 0.34024934 1.1846096 ] [ 0.02311373 -0.43374406 0.90073961 0.32365017] [ 0. 0. 0. 1. ]] SLAMing on 129.739072329 meters Centerline goodness : 0.321513 with order 2 Centerline is valid? [False, False] Translation: X:10.23, Y:1.18, Z:0.33 [[ 0.81234974 -0.51623747 -0.27126883 10.2303819 ] [ 0.58267951 0.73759239 0.34123608 1.18098523] [ 0.02392697 -0.43526583 0.89998398 0.32586317] [ 0. 0. 0. 1. ]] SLAMing on 129.799072329 meters Centerline goodness : 0.313211 with order 2 Centerline is valid? [False, False] Translation: X:10.24, Y:1.18, Z:0.33 [[ 0.81210178 -0.51599086 -0.27247778 10.2382241 ] [ 0.58288231 0.73909815 0.33761239 1.18307848] [ 0.02718292 -0.4329981 0.90098487 0.33250502] [ 0. 0. 0. 1. ]] SLAMing on 129.859072329 meters Centerline goodness : 0.323974 with order 2 Centerline is valid? [False, False] Translation: X:10.24, Y:1.18, Z:0.33 [[ 0.81222502 -0.51551236 -0.27301563 10.23968373] [ 0.58269165 0.73910763 0.33792064 1.18192079] [ 0.02758567 -0.43355152 0.90070645 0.33393888] [ 0. 0. 0. 1. ]] SLAMing on 129.91907232900002 meters Centerline goodness : 0.399731 with order 3 Centerline is valid? [False, False] Translation: X:10.24, Y:1.18, Z:0.33 [[ 0.81243991 -0.51486779 -0.27359192 10.24200154] [ 0.58237093 0.73916587 0.33834586 1.18057263] [ 0.02802643 -0.43421766 0.90037189 0.33463172] [ 0. 0. 0. 1. ]] SLAMing on 129.97907232900002 meters Centerline goodness : 0.320816 with order 2 Centerline is valid? [False, False] Translation: X:10.24, Y:1.18, Z:0.34 [[ 0.81084438 -0.51808831 -0.27224234 10.24440321] [ 0.58462456 0.73869931 0.33546604 1.18033901] [ 0.02730419 -0.43117031 0.90185733 0.33506717] [ 0. 0. 0. 1. ]] SLAMing on 130.039072329 meters Centerline goodness : 0.401835 with order 3 Centerline is valid? [False, False] Translation: X:10.24, Y:1.18, Z:0.34 [[ 0.81095009 -0.51790937 -0.27226796 10.24421128] [ 0.58447284 0.73881708 0.33547105 1.1803544 ] [ 0.02741262 -0.43118351 0.90184773 0.33532465] [ 0. 0. 0. 1. ]] SLAMing on 130.099072329 meters Centerline goodness : 0.405858 with order 3 Centerline is valid? [False, False] Translation: X:10.25, Y:1.18, Z:0.34 [[ 0.81326567 -0.512986 -0.27467127 10.24582915] [ 0.58114422 0.73996998 0.33869724 1.17955468] [ 0.02950155 -0.43507446 0.89991104 0.3357821 ] [ 0. 0. 0. 1. ]] SLAMing on 130.159072329 meters Centerline goodness : 0.322455 with order 2 Centerline is valid? [False, False] Translation: X:10.25, Y:1.18, Z:0.34 [[ 0.81552267 -0.50817833 -0.27690713 10.24684138] [ 0.57786514 0.74112111 0.34177681 1.17900107] [ 0.03153815 -0.43874171 0.89805961 0.33620495] [ 0. 0. 0. 1. ]] SLAMing on 130.219072329 meters Centerline goodness : 0.409809 with order 3 Centerline is valid? [False, False] Translation: X:10.25, Y:1.18, Z:0.34 [[ 0.81974163 -0.49898524 -0.28113589 10.24642259] [ 0.57162601 0.74331767 0.34745152 1.18052387] [ 0.03560009 -0.44552506 0.89456138 0.3363306 ] [ 0. 0. 0. 1. ]] SLAMing on 130.279072329 meters Centerline goodness : 0.305586 with order 2 Centerline is valid? [False, False] Translation: X:10.25, Y:1.18, Z:0.33 [[ 0.82199177 -0.49420856 -0.28299723 10.24534293] [ 0.56824431 0.74472053 0.34998533 1.18288862] [ 0.0377881 -0.44849663 0.89298535 0.33496956] [ 0. 0. 0. 1. ]] SLAMing on 130.339072329 meters Centerline goodness : 0.360064 with order 3 Centerline is valid? [False, False] Translation: X:10.25, Y:1.19, Z:0.33 [[ 0.83116162 -0.48129249 -0.27843832 10.24826352] [ 0.55454396 0.75411533 0.35183954 1.18751932] [ 0.04063688 -0.44684181 0.89368957 0.32982473] [ 0. 0. 0. 1. ]] SLAMing on 130.399072329 meters Centerline goodness : 0.395574 with order 3 Centerline is valid? [False, False] Translation: X:10.26, Y:1.21, Z:0.33 [[ 0.8396134 -0.46713232 -0.2771944 10.26061053] [ 0.54108564 0.76408504 0.35128391 1.20566057] [ 0.04770403 -0.44492859 0.89429463 0.33125886] [ 0. 0. 0. 1. ]] SLAMing on 130.459072329 meters Centerline goodness : 0.397801 with order 3 Centerline is valid? [False, False] Translation: X:10.27, Y:1.23, Z:0.33 [[ 0.84782306 -0.45327964 -0.27519742 10.27102603] [ 0.52751781 0.77383382 0.35057976 1.2252196 ] [ 0.0540464 -0.44240115 0.89518725 0.33226919] [ 0. 0. 0. 1. ]] SLAMing on 130.519072329 meters Centerline goodness : 0.412480 with order 3 Centerline is valid? [False, False] Translation: X:10.27, Y:1.23, Z:0.33 [[ 0.8501271 -0.44851507 -0.27589518 10.26791252] [ 0.52356245 0.77594185 0.35184743 1.23243937] [ 0.05626974 -0.4435634 0.89447484 0.32877977] [ 0. 0. 0. 1. ]] SLAMing on 130.579072329 meters Centerline goodness : 0.411328 with order 3 Centerline is valid? [False, False] Translation: X:10.28, Y:1.26, Z:0.33 [[ 0.85732453 -0.43807664 -0.2703396 10.27504161] [ 0.5109933 0.78777498 0.34394247 1.26337473] [ 0.06229361 -0.43301204 0.89923305 0.33387525] [ 0. 0. 0. 1. ]] SLAMing on 130.63907232900002 meters Centerline goodness : 0.220232 with order 2 Centerline is valid? [False, False] Translation: X:10.28, Y:1.29, Z:0.35 [[ 0.86058694 -0.43491596 -0.26502494 10.27954396] [ 0.50481385 0.79735583 0.33073654 1.29267261] [ 0.06747658 -0.4184158 0.90574562 0.34505682] [ 0. 0. 0. 1. ]] SLAMing on 130.69907232900002 meters Centerline goodness : 0.411567 with order 3 Centerline is valid? [False, False] Translation: X:10.27, Y:1.31, Z:0.35 [[ 0.86262064 -0.43116505 -0.26454175 10.27414761] [ 0.5008052 0.80160806 0.32652513 1.31334096] [ 0.07127258 -0.4141512 0.90741336 0.34568781] [ 0. 0. 0. 1. ]] SLAMing on 130.75907232900002 meters Centerline goodness : 0.405737 with order 3 Centerline is valid? [False, False] Translation: X:10.27, Y:1.32, Z:0.34 [[ 0.86259484 -0.43145254 -0.26415685 10.27275015] [ 0.50082731 0.80201884 0.32548085 1.31806349] [ 0.07142923 -0.41305507 0.90790053 0.34253948] [ 0. 0. 0. 1. ]] SLAMing on 130.819072329 meters Centerline goodness : 0.407055 with order 3 Centerline is valid? [False, False] Translation: X:10.27, Y:1.33, Z:0.34 [[ 0.86233153 -0.43260338 -0.26313235 10.27025061] [ 0.50124074 0.80291701 0.32261742 1.32951505] [ 0.07170806 -0.41009583 0.9092191 0.33518763] [ 0. 0. 0. 1. ]] SLAMing on 130.879072329 meters Centerline goodness : 0.409894 with order 3 Centerline is valid? [False, False] Translation: X:10.26, Y:1.34, Z:0.33 [[ 0.86151305 -0.43513925 -0.26162777 10.26264141] [ 0.50271781 0.80330011 0.31934893 1.34036923] [ 0.07120436 -0.40664821 0.91080578 0.33225279] [ 0. 0. 0. 1. ]] SLAMing on 130.939072329 meters Centerline goodness : 0.061166 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:1.35, Z:0.33 [[ 0.86094473 -0.4369585 -0.26046389 10.25734457] [ 0.50373794 0.80364778 0.31685695 1.3484826 ] [ 0.07086789 -0.40400187 0.9120089 0.33061737] [ 0. 0. 0. 1. ]] SLAMing on 130.999072329 meters Centerline goodness : 0.406394 with order 3 Centerline is valid? [False, False] Translation: X:10.26, Y:1.36, Z:0.32 [[ 0.86128289 -0.43562588 -0.26157574 10.25665929] [ 0.50294213 0.80420509 0.3167071 1.35889878] [ 0.07239473 -0.40433187 0.91174269 0.32470032] [ 0. 0. 0. 1. ]] SLAMing on 131.059072329 meters Centerline goodness : 0.407302 with order 3 Centerline is valid? [False, False] Translation: X:10.25, Y:1.37, Z:0.32 [[ 0.86071847 -0.4380054 -0.25945131 10.2503815 ] [ 0.50400243 0.80497057 0.31305581 1.37048504] [ 0.07173053 -0.40021701 0.91360882 0.32094227] [ 0. 0. 0. 1. ]] SLAMing on 131.119072329 meters Centerline goodness : 0.398257 with order 3 Centerline is valid? [False, False] Translation: X:10.24, Y:1.38, Z:0.32 [[ 0.86050488 -0.4392262 -0.25809244 10.24404888] [ 0.50434682 0.80595568 0.30995117 1.3829841 ] [ 0.07187239 -0.39688259 0.91505113 0.31700943] [ 0. 0. 0. 1. ]] SLAMing on 131.179072329 meters Centerline goodness : 0.388247 with order 3 Centerline is valid? [False, False] Translation: X:10.24, Y:1.40, Z:0.32 [[ 0.86029161 -0.44050929 -0.25661238 10.23916184] [ 0.50458723 0.80756878 0.3053267 1.39582786] [ 0.07273289 -0.39215333 0.91702001 0.3170816 ] [ 0. 0. 0. 1. ]] SLAMing on 131.239072329 meters Centerline goodness : 0.368322 with order 3 Centerline is valid? [False, False] Translation: X:10.23, Y:1.41, Z:0.32 [[ 0.86046876 -0.44140293 -0.25447392 10.23040772] [ 0.50416305 0.80976814 0.30015858 1.4120137 ] [ 0.07357399 -0.38657343 0.91931923 0.31770262] [ 0. 0. 0. 1. ]] SLAMing on 131.299072329 meters Centerline goodness : 0.384388 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:1.42, Z:0.31 [[ 0.86158536 -0.43937053 -0.25421293 10.22400294] [ 0.5020758 0.81138815 0.29928107 1.42465218] [ 0.07477008 -0.38549035 0.91967746 0.31433391] [ 0. 0. 0. 1. ]] SLAMing on 131.359072329 meters Centerline goodness : 0.393731 with order 3 Centerline is valid? [False, False] Translation: X:10.22, Y:1.44, Z:0.31 [[ 0.8611177 -0.44138689 -0.25229729 10.21826627] [ 0.50278307 0.81293567 0.29384483 1.4397851 ] [ 0.07540221 -0.37988579 0.92195515 0.31329888] [ 0. 0. 0. 1. ]] SLAMing on 131.41907232900002 meters Centerline goodness : 0.384104 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:1.45, Z:0.31 [[ 0.86075571 -0.44254429 -0.2515038 10.21369449] [ 0.50341711 0.81320992 0.29199459 1.44745831] [ 0.07530484 -0.37794733 0.92275945 0.31083956] [ 0. 0. 0. 1. ]] SLAMing on 131.47907232900002 meters Centerline goodness : 0.383298 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:1.46, Z:0.31 [[ 0.86009943 -0.44447518 -0.25034133 10.20857926] [ 0.50460829 0.81328774 0.28971282 1.45659625] [ 0.07482937 -0.37550614 0.92379419 0.30654633] [ 0. 0. 0. 1. ]] SLAMing on 131.539072329 meters Centerline goodness : 0.381809 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:1.46, Z:0.30 [[ 0.85953395 -0.4460633 -0.24945725 10.20601967] [ 0.50561426 0.81335462 0.28776463 1.46277897] [ 0.07453597 -0.37347261 0.92464188 0.30386743] [ 0. 0. 0. 1. ]] SLAMing on 131.599072329 meters Centerline goodness : 0.384359 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.47, Z:0.30 [[ 0.85887975 -0.44778301 -0.24862813 10.20094229] [ 0.50677341 0.81330296 0.28586536 1.46986457] [ 0.07420434 -0.3715221 0.92545397 0.30197652] [ 0. 0. 0. 1. ]] SLAMing on 131.659072329 meters Centerline goodness : 0.382362 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.47, Z:0.30 [[ 0.85853327 -0.44867793 -0.24821107 10.19883254] [ 0.50738026 0.8132857 0.28483619 1.47331236] [ 0.0740668 -0.37047874 0.92588315 0.30114808] [ 0. 0. 0. 1. ]] SLAMing on 131.719072329 meters Centerline goodness : 0.380915 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.48, Z:0.30 [[ 0.85624937 -0.45453964 -0.24541949 10.19574665] [ 0.51150725 0.812373 0.28001863 1.4782421 ] [ 0.0720926 -0.36529963 0.9280942 0.29860086] [ 0. 0. 0. 1. ]] SLAMing on 131.779072329 meters Centerline goodness : 0.382164 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:1.48, Z:0.30 [[ 0.85559511 -0.45593243 -0.24511758 10.19422422] [ 0.51265644 0.81191398 0.27924732 1.4808417 ] [ 0.07169648 -0.36458375 0.92840633 0.29767383] [ 0. 0. 0. 1. ]] SLAMing on 131.839072329 meters Centerline goodness : 0.381047 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:1.48, Z:0.30 [[ 0.85487356 -0.45754904 -0.2446223 10.19094525] [ 0.51393674 0.8114153 0.27834194 1.48325743] [ 0.07113519 -0.36366755 0.92880875 0.2984078 ] [ 0. 0. 0. 1. ]] SLAMing on 131.899072329 meters Centerline goodness : 0.382370 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:1.48, Z:0.30 [[ 0.85466162 -0.45791725 -0.24467387 10.19098102] [ 0.51426812 0.81137213 0.27785531 1.48469483] [ 0.07128682 -0.36330024 0.92894086 0.29807871] [ 0. 0. 0. 1. ]] SLAMing on 131.959072329 meters Centerline goodness : 0.379902 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:1.49, Z:0.30 [[ 0.85436905 -0.45834153 -0.24490113 10.19268752] [ 0.51472908 0.81119661 0.27751403 1.4857966 ] [ 0.07146676 -0.36315713 0.92898299 0.29666024] [ 0. 0. 0. 1. ]] SLAMing on 132.019072329 meters Centerline goodness : 0.380258 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:1.49, Z:0.30 [[ 0.85415274 -0.45866454 -0.2450509 10.19323782] [ 0.515075 0.81104972 0.27730147 1.48643126] [ 0.07156012 -0.3630774 0.92900697 0.29651664] [ 0. 0. 0. 1. ]] SLAMing on 132.079072329 meters Centerline goodness : 0.380597 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:1.49, Z:0.30 [[ 0.85188733 -0.46383566 -0.24319634 10.19230935] [ 0.51899807 0.80991042 0.2732876 1.48847203] [ 0.07020672 -0.35902868 0.93068224 0.29699666] [ 0. 0. 0. 1. ]] SLAMing on 132.13907232900002 meters Centerline goodness : 0.289319 with order 2 Centerline is valid? [False, False] Translation: X:10.19, Y:1.49, Z:0.30 [[ 0.84946732 -0.46916772 -0.24142685 10.19304688] [ 0.52314836 0.80848098 0.26958171 1.48938177] [ 0.06870998 -0.35530291 0.9322225 0.2967786 ] [ 0. 0. 0. 1. ]] SLAMing on 132.19907232900002 meters Centerline goodness : 0.376794 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.49, Z:0.30 [[ 0.84824679 -0.47101671 -0.24211701 10.1956058 ] [ 0.52512381 0.80735669 0.26910994 1.48980215] [ 0.06871951 -0.35541305 0.93217981 0.29685968] [ 0. 0. 0. 1. ]] SLAMing on 132.25907232900002 meters Centerline goodness : 0.375685 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.49, Z:0.30 [[ 0.84601072 -0.47583243 -0.24051896 10.19658401] [ 0.52887138 0.80609564 0.26552755 1.49079155] [ 0.06753467 -0.35184275 0.9336197 0.29689982] [ 0. 0. 0. 1. ]] SLAMing on 132.319072329 meters Centerline goodness : 0.373880 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.49, Z:0.30 [[ 0.84288726 -0.48217015 -0.23885774 10.19745248] [ 0.53407919 0.80376047 0.26216126 1.48957482] [ 0.06557808 -0.34854134 0.9349965 0.29870558] [ 0. 0. 0. 1. ]] SLAMing on 132.379072329 meters Centerline goodness : 0.374087 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.49, Z:0.30 [[ 0.83972134 -0.48812667 -0.23790845 10.19858573] [ 0.53921522 0.80130948 0.25913328 1.48926155] [ 0.06414843 -0.3458836 0.936082 0.30085442] [ 0. 0. 0. 1. ]] SLAMing on 132.439072329 meters Centerline goodness : 0.372726 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.49, Z:0.30 [[ 0.83664206 -0.49394769 -0.23673984 10.20017914] [ 0.54413793 0.79904179 0.25582442 1.48904523] [ 0.06280114 -0.34285259 0.93728764 0.30287402] [ 0. 0. 0. 1. ]] SLAMing on 132.499072329 meters Centerline goodness : 0.371020 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:1.49, Z:0.30 [[ 0.83411922 -0.4988799 -0.23529549 10.20145258] [ 0.54811914 0.79741926 0.25236467 1.48968348] [ 0.06172949 -0.33947218 0.93858836 0.30369376] [ 0. 0. 0. 1. ]] SLAMing on 132.559072329 meters Centerline goodness : 0.370089 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:1.49, Z:0.30 [[ 0.83256418 -0.50071557 -0.23689832 10.20706121] [ 0.55042879 0.79582801 0.25236068 1.48926619] [ 0.0621694 -0.34050212 0.93818616 0.30382488] [ 0. 0. 0. 1. ]] SLAMing on 132.619072329 meters Centerline goodness : 0.368305 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:1.49, Z:0.30 [[ 0.83237047 -0.50090603 -0.2371762 10.20856306] [ 0.55072523 0.79553703 0.25263127 1.48826294] [ 0.06213793 -0.34090173 0.93804312 0.30414345] [ 0. 0. 0. 1. ]] SLAMing on 132.679072329 meters Centerline goodness : 0.365578 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:1.49, Z:0.31 [[ 0.82958139 -0.50611465 -0.235887 10.21096023] [ 0.55505418 0.7935153 0.24949615 1.48732108] [ 0.06090629 -0.33790743 0.93920658 0.30594728] [ 0. 0. 0. 1. ]] SLAMing on 132.739072329 meters Centerline goodness : 0.365039 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:1.49, Z:0.31 [[ 0.82673594 -0.51136172 -0.23455677 10.21287326] [ 0.55941086 0.79146973 0.24624206 1.48670226] [ 0.05972582 -0.33479077 0.94039777 0.30806142] [ 0. 0. 0. 1. ]] SLAMing on 132.799072329 meters Centerline goodness : 0.362457 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:1.49, Z:0.31 [[ 0.82627281 -0.51188657 -0.23504335 10.21553178] [ 0.56009813 0.79089101 0.24653905 1.48515601] [ 0.05969365 -0.33535585 0.94019845 0.30860226] [ 0. 0. 0. 1. ]] SLAMing on 132.859072329 meters Centerline goodness : 0.351430 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:1.48, Z:0.31 [[ 0.82559646 -0.51263398 -0.23578994 10.21881241] [ 0.56107488 0.79016763 0.24663757 1.48433093] [ 0.05987878 -0.33591891 0.93998565 0.3093869 ] [ 0. 0. 0. 1. ]] SLAMing on 132.91907232900002 meters Centerline goodness : 0.374286 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:1.48, Z:0.31 [[ 0.82529195 -0.51293812 -0.23619415 10.22001403] [ 0.56150286 0.78987051 0.24661533 1.48437692] [ 0.06006439 -0.33615333 0.93989 0.31022723] [ 0. 0. 0. 1. ]] SLAMing on 132.97907232900002 meters Centerline goodness : 0.379721 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:1.48, Z:0.31 [[ 0.82502922 -0.51304765 -0.23687315 10.22289736] [ 0.56185048 0.78957372 0.24677396 1.48363164] [ 0.06042202 -0.33668302 0.93967746 0.31101959] [ 0. 0. 0. 1. ]] SLAMing on 133.039072329 meters Centerline goodness : 0.376010 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:1.48, Z:0.31 [[ 0.82493021 -0.51283979 -0.23766677 10.22614593] [ 0.5619258 0.78951093 0.24680333 1.48323377] [ 0.06106994 -0.33714662 0.93946933 0.31176744] [ 0. 0. 0. 1. ]] SLAMing on 133.099072329 meters Centerline goodness : 0.376899 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:1.48, Z:0.31 [[ 0.82495874 -0.51242222 -0.23846708 10.22912346] [ 0.5617984 0.78961509 0.24676017 1.48295962] [ 0.06185181 -0.33753738 0.93927785 0.31286473] [ 0. 0. 0. 1. ]] SLAMing on 133.159072329 meters Centerline goodness : 0.358226 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:1.48, Z:0.31 [[ 0.82503032 -0.51212319 -0.23886148 10.23078071] [ 0.56164398 0.7897433 0.24670135 1.48233489] [ 0.06229777 -0.33769121 0.93919308 0.31399484] [ 0. 0. 0. 1. ]] SLAMing on 133.219072329 meters Centerline goodness : 0.357183 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:1.48, Z:0.31 [[ 0.82512338 -0.51159797 -0.23966419 10.23360798] [ 0.56140975 0.78994669 0.24658328 1.482528 ] [ 0.06317043 -0.33801145 0.93901957 0.31495604] [ 0. 0. 0. 1. ]] SLAMing on 133.279072329 meters Centerline goodness : 0.355280 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:1.48, Z:0.32 [[ 0.82735762 -0.5065897 -0.24258246 10.23700431] [ 0.55789009 0.79124373 0.25038372 1.48102311] [ 0.06510004 -0.34249123 0.9372629 0.31548285] [ 0. 0. 0. 1. ]] SLAMing on 133.339072329 meters Centerline goodness : 0.355115 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:1.48, Z:0.32 [[ 0.82966723 -0.50128447 -0.24569529 10.24088339] [ 0.55414302 0.79284293 0.25362495 1.48098829] [ 0.06765953 -0.34657463 0.93557908 0.31656409] [ 0. 0. 0. 1. ]] SLAMing on 133.399072329 meters Centerline goodness : 0.356866 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:1.49, Z:0.32 [[ 0.83071131 -0.49819475 -0.24843653 10.25006417] [ 0.55190162 0.79547958 0.25023357 1.48909022] [ 0.07296114 -0.34498438 0.93576837 0.32218321] [ 0. 0. 0. 1. ]] SLAMing on 133.459072329 meters Centerline goodness : 0.355070 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:1.49, Z:0.32 [[ 0.83285445 -0.49311775 -0.25137295 10.25371333] [ 0.54836419 0.7968107 0.2537507 1.48808662] [ 0.07516768 -0.34918133 0.93403545 0.32316265] [ 0. 0. 0. 1. ]] SLAMing on 133.519072329 meters Centerline goodness : 0.355313 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:1.49, Z:0.33 [[ 0.83366213 -0.48990176 -0.25495828 10.2661521 ] [ 0.5463727 0.79891837 0.25140865 1.49330541] [ 0.08052531 -0.34889212 0.93369693 0.32821208] [ 0. 0. 0. 1. ]] SLAMing on 133.579072329 meters Centerline goodness : 0.354725 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:1.49, Z:0.33 [[ 0.83379217 -0.48909092 -0.25608727 10.27038157] [ 0.54601038 0.79912979 0.25152385 1.49223892] [ 0.08162894 -0.34954493 0.93335688 0.33009305] [ 0. 0. 0. 1. ]] SLAMing on 133.63907232900002 meters Centerline goodness : 0.354488 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:1.49, Z:0.34 [[ 0.8343008 -0.48605525 -0.26017775 10.28407545] [ 0.54446776 0.80054087 0.25037806 1.49454158] [ 0.08658535 -0.35054902 0.9325333 0.33506932] [ 0. 0. 0. 1. ]] SLAMing on 133.69907232900002 meters Centerline goodness : 0.350431 with order 1 Centerline is valid? [False, False] Translation: X:10.30, Y:1.50, Z:0.34 [[ 0.83491066 -0.48264762 -0.26452876 10.29835189] [ 0.54263449 0.80222144 0.24897502 1.49610615] [ 0.09204344 -0.35141433 0.93168448 0.34264969] [ 0. 0. 0. 1. ]] SLAMing on 133.75907232900002 meters Centerline goodness : 0.349034 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:1.50, Z:0.35 [[ 0.8352234 -0.47980916 -0.26867273 10.3173659 ] [ 0.54091563 0.80483793 0.24422569 1.50167252] [ 0.09905628 -0.34931229 0.93175575 0.35151729] [ 0. 0. 0. 1. ]] SLAMing on 133.819072329 meters Centerline goodness : 0.345348 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:1.51, Z:0.36 [[ 0.83612476 -0.47608422 -0.27246872 10.33090961] [ 0.53849324 0.80702117 0.24236722 1.50598551] [ 0.10450081 -0.3493718 0.93113851 0.35571642] [ 0. 0. 0. 1. ]] SLAMing on 133.879072329 meters Centerline goodness : 0.342322 with order 1 Centerline is valid? [False, False] Translation: X:10.36, Y:1.53, Z:0.38 [[ 0.83490075 -0.46633043 -0.29236392 10.36184899] [ 0.53638207 0.80847933 0.24218885 1.53180872] [ 0.12343015 -0.35902242 0.92513129 0.38269579] [ 0. 0. 0. 1. ]] SLAMing on 133.939072329 meters Centerline goodness : 0.341748 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:1.54, Z:0.39 [[ 0.84007344 -0.45540471 -0.29475951 10.38332959] [ 0.52625753 0.81601753 0.23909915 1.53880453] [ 0.13164205 -0.35598025 0.92517481 0.39188796] [ 0. 0. 0. 1. ]] SLAMing on 133.999072329 meters Centerline goodness : 0.339738 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:1.55, Z:0.40 [[ 0.84764472 -0.43861018 -0.29852898 10.41300602] [ 0.51097567 0.826343 0.23677226 1.55204149] [ 0.14283661 -0.3532398 0.92456441 0.40392485] [ 0. 0. 0. 1. ]] SLAMing on 134.059072329 meters Centerline goodness : 0.189853 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:1.56, Z:0.41 [[ 0.84970088 -0.43042601 -0.3045355 10.42551666] [ 0.50505751 0.83028581 0.23567433 1.56121565] [ 0.15141115 -0.35406062 0.92288447 0.41092406] [ 0. 0. 0. 1. ]] SLAMing on 134.119072329 meters Centerline goodness : 0.159933 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:1.57, Z:0.42 [[ 0.85699415 -0.41269951 -0.30861002 10.45651246] [ 0.48862504 0.84103185 0.23218742 1.5742062 ] [ 0.16372722 -0.34977785 0.92241469 0.42309006] [ 0. 0. 0. 1. ]] SLAMing on 134.179072329 meters Centerline goodness : 0.166543 with order 1 Centerline is valid? [False, False] Translation: X:10.49, Y:1.58, Z:0.44 [[ 0.86188298 -0.39841772 -0.31372131 10.48581115] [ 0.47582898 0.84929549 0.22865686 1.58496435] [ 0.17534115 -0.34635315 0.92157202 0.43565133] [ 0. 0. 0. 1. ]] SLAMing on 134.239072329 meters Centerline goodness : 0.255060 with order 3 Centerline is valid? [False, False] Translation: X:10.51, Y:1.60, Z:0.45 [[ 0.86322303 -0.38770718 -0.32330966 10.51098968] [ 0.46800983 0.85469843 0.22462723 1.59711504] [ 0.18924267 -0.3452155 0.91924614 0.45230237] [ 0. 0. 0. 1. ]] SLAMing on 134.299072329 meters Centerline goodness : 0.127314 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:1.60, Z:0.46 [[ 0.86426147 -0.37977985 -0.32987783 10.52539023] [ 0.4627933 0.85730543 0.22549892 1.60241678] [ 0.1971661 -0.34755527 0.91669562 0.46124166] [ 0. 0. 0. 1. ]] SLAMing on 134.359072329 meters Centerline goodness : 0.121955 with order 1 Centerline is valid? [False, False] Translation: X:10.56, Y:1.62, Z:0.47 [[ 0.86717694 -0.37267431 -0.33033017 10.55843883] [ 0.45608324 0.86068769 0.22628472 1.61640868] [ 0.19998061 -0.34688694 0.91633902 0.4703351 ] [ 0. 0. 0. 1. ]] SLAMing on 134.41907232900002 meters Centerline goodness : 0.119480 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:1.63, Z:0.48 [[ 0.87053418 -0.36756662 -0.32720792 10.58668553] [ 0.44964398 0.86431185 0.225356 1.62911316] [ 0.19997634 -0.34330717 0.91768712 0.47842364] [ 0. 0. 0. 1. ]] SLAMing on 134.47907232900002 meters Centerline goodness : 0.148356 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:1.64, Z:0.49 [[ 0.87127879 -0.3583999 -0.33529506 10.60596824] [ 0.44314094 0.86812468 0.22357472 1.63966772] [ 0.21094876 -0.34337888 0.91520029 0.49086635] [ 0. 0. 0. 1. ]] SLAMing on 134.539072329 meters Centerline goodness : 0.133168 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:1.65, Z:0.50 [[ 0.87129653 -0.35567466 -0.33813885 10.61331112] [ 0.44060094 0.87037897 0.21979823 1.64519054] [ 0.21613228 -0.34049373 0.91506877 0.49561866] [ 0. 0. 0. 1. ]] SLAMing on 134.599072329 meters Centerline goodness : 0.155448 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:1.65, Z:0.50 [[ 0.87290576 -0.3472619 -0.34270208 10.62512506] [ 0.43359326 0.87419358 0.218592 1.65158294] [ 0.22367929 -0.33940353 0.91365903 0.50166358] [ 0. 0. 0. 1. ]] SLAMing on 134.659072329 meters Centerline goodness : 0.369133 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:1.66, Z:0.51 [[ 0.87794421 -0.33431499 -0.34270607 10.64653811] [ 0.41930076 0.88242257 0.21334777 1.66395168] [ 0.23108621 -0.33100436 0.91489632 0.5101633 ] [ 0. 0. 0. 1. ]] SLAMing on 134.719072329 meters Centerline goodness : 0.353359 with order 2 Centerline is valid? [False, False] Translation: X:10.66, Y:1.67, Z:0.52 [[ 0.88021522 -0.32045517 -0.35004235 10.66169641] [ 0.40832427 0.88728038 0.21448734 1.67422442] [ 0.24185213 -0.33172581 0.91184732 0.51995646] [ 0. 0. 0. 1. ]] SLAMing on 134.779072329 meters Centerline goodness : 0.230218 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:1.68, Z:0.53 [[ 0.88166196 -0.31178086 -0.35421023 10.67175628] [ 0.40076196 0.89101982 0.21324524 1.68171832] [ 0.24912255 -0.3299642 0.91052819 0.52539605] [ 0. 0. 0. 1. ]] SLAMing on 134.839072329 meters Centerline goodness : 0.099518 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:1.69, Z:0.53 [[ 0.88585423 -0.29687215 -0.35655183 10.68767 ] [ 0.38550707 0.898579 0.20961887 1.69423351] [ 0.25815998 -0.32314502 0.91045633 0.53325947] [ 0. 0. 0. 1. ]] SLAMing on 134.899072329 meters Centerline goodness : 0.097980 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:1.70, Z:0.53 [[ 0.89105471 -0.28940674 -0.34966448 10.70039179] [ 0.37660122 0.90140625 0.2136312 1.70329362] [ 0.25336344 -0.32204115 0.91219322 0.5320238 ] [ 0. 0. 0. 1. ]] SLAMing on 134.959072329 meters Centerline goodness : 0.232484 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:1.72, Z:0.54 [[ 0.89515331 -0.27396774 -0.35162797 10.7147474 ] [ 0.36047138 0.90894611 0.20946922 1.71957073] [ 0.26222307 -0.31425889 0.91240365 0.53909321] [ 0. 0. 0. 1. ]] SLAMing on 135.019072329 meters Centerline goodness : 0.236792 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:1.74, Z:0.54 [[ 0.89746636 -0.259882 -0.35639232 10.72780038] [ 0.34723246 0.91452918 0.20752348 1.73512834] [ 0.27199956 -0.30999633 0.91099864 0.54226531] [ 0. 0. 0. 1. ]] SLAMing on 135.079072329 meters Centerline goodness : 0.098827 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:1.75, Z:0.55 [[ 0.89991923 -0.24536505 -0.36047382 10.73807294] [ 0.3331417 0.92025676 0.20529027 1.75169273] [ 0.28135741 -0.30483353 0.90989809 0.54771284] [ 0. 0. 0. 1. ]] SLAMing on 135.13907232900002 meters Centerline goodness : 0.110979 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:1.76, Z:0.55 [[ 0.90125995 -0.23676396 -0.3628682 10.74429641] [ 0.32413361 0.92418384 0.20204363 1.76254736] [ 0.28752027 -0.29971161 0.90967304 0.55094108] [ 0. 0. 0. 1. ]] SLAMing on 135.19907232900002 meters Centerline goodness : 0.098658 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:1.78, Z:0.55 [[ 0.90340924 -0.22260982 -0.36646503 10.75441673] [ 0.31025476 0.92930584 0.2003313 1.77715682] [ 0.29596238 -0.29467866 0.90860924 0.55449516] [ 0. 0. 0. 1. ]] SLAMing on 135.25907232900002 meters Centerline goodness : 0.300568 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:1.79, Z:0.56 [[ 0.90469709 -0.21442655 -0.3681636 10.75949608] [ 0.30127933 0.93297308 0.19695684 1.78746649] [ 0.30125395 -0.28910637 0.90866031 0.55704115] [ 0. 0. 0. 1. ]] SLAMing on 135.319072329 meters Centerline goodness : 0.282150 with order 1 Centerline is valid? [False, False] Translation: X:10.77, Y:1.80, Z:0.56 [[ 0.90662967 -0.20127536 -0.37082459 10.76865705] [ 0.2878706 0.9376289 0.19489115 1.8018756 ] [ 0.30846907 -0.2834436 0.90802344 0.55887724] [ 0. 0. 0. 1. ]] SLAMing on 135.379072329 meters Centerline goodness : 0.278716 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:1.82, Z:0.56 [[ 0.9083479 -0.18779171 -0.37368219 10.77663146] [ 0.27398726 0.94227639 0.19247387 1.81803092] [ 0.3159669 -0.2772174 0.90736731 0.56197312] [ 0. 0. 0. 1. ]] SLAMing on 135.439072329 meters Centerline goodness : 0.267672 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:1.83, Z:0.57 [[ 0.91025346 -0.17380828 -0.37580489 10.78395291] [ 0.259832 0.94645064 0.19162076 1.83281164] [ 0.3223755 -0.2720696 0.90667093 0.56554277] [ 0. 0. 0. 1. ]] SLAMing on 135.499072329 meters Centerline goodness : 0.222942 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:1.84, Z:0.57 [[ 0.91135027 -0.16568684 -0.37681368 10.7885935 ] [ 0.25037205 0.94973278 0.18794012 1.84250686] [ 0.3267331 -0.26562289 0.90702258 0.56777272] [ 0. 0. 0. 1. ]] SLAMing on 135.559072329 meters Centerline goodness : 0.266766 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:1.86, Z:0.57 [[ 0.9133596 -0.15279762 -0.37739518 10.79711939] [ 0.23578093 0.95416808 0.18431124 1.85766656] [ 0.33193611 -0.25732503 0.90752534 0.5673786 ] [ 0. 0. 0. 1. ]] SLAMing on 135.619072329 meters Centerline goodness : 0.250591 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:1.87, Z:0.57 [[ 0.91513619 -0.14395927 -0.37656537 10.80022327] [ 0.22440565 0.95788515 0.17915955 1.8678023 ] [ 0.33491469 -0.24845879 0.90890064 0.5659892 ] [ 0. 0. 0. 1. ]] SLAMing on 135.679072329 meters Centerline goodness : 0.261690 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:1.88, Z:0.56 [[ 0.9174587 -0.13097069 -0.37565438 10.80847257] [ 0.20889116 0.9622075 0.17470322 1.88159237] [ 0.33857646 -0.23875386 0.91014426 0.56402352] [ 0. 0. 0. 1. ]] SLAMing on 135.739072329 meters Centerline goodness : 0.194271 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:1.90, Z:0.56 [[ 0.91972958 -0.11725224 -0.37463237 10.81716409] [ 0.19257875 0.96638641 0.17032539 1.89573442] [ 0.34206859 -0.22879953 0.91139445 0.56091384] [ 0. 0. 0. 1. ]] SLAMing on 135.799072329 meters SLAMing on 135.859072329 meters SLAMing on 135.91907232900002 meters Centerline goodness : 0.257513 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:1.94, Z:0.57 [[ 0.92603924 -0.06258375 -0.37220236 10.8455576 ] [ 0.13766655 0.97422422 0.17870391 1.94079896] [ 0.3514246 -0.21672664 0.91078555 0.56532411] [ 0. 0. 0. 1. ]] SLAMing on 135.97907232900002 meters SLAMing on 136.039072329 meters SLAMing on 136.099072329 meters Centerline goodness : 0.269701 with order 2 Centerline is valid? [False, False] Translation: X:10.88, Y:1.99, Z:0.57 [[ 9.27788457e-01 -9.16982679e-03 -3.72993959e-01 1.08753685e+01] [ 8.09689110e-02 9.80822276e-01 1.77289870e-01 1.98984274e+00] [ 3.64215067e-01 -1.94688410e-01 9.10738057e-01 5.67015837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159072329 meters Centerline goodness : 0.263475 with order 2 Centerline is valid? [False, False] Translation: X:10.89, Y:2.01, Z:0.57 [[ 0.92812824 0.0181898 -0.37181595 10.88510888] [ 0.05309619 0.982125 0.18058592 2.01178142] [ 0.36845457 -0.1873489 0.91057214 0.56527269] [ 0. 0. 0. 1. ]] SLAMing on 136.219072329 meters Centerline goodness : 0.266500 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:2.04, Z:0.56 [[ 0.92660191 0.04490655 -0.37335278 10.89475626] [ 0.02330856 0.98407624 0.17621197 2.0357438 ] [ 0.37532067 -0.17198067 0.91080022 0.56325726] [ 0. 0. 0. 1. ]] SLAMing on 136.279072329 meters Centerline goodness : 0.267980 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:2.06, Z:0.56 [[ 9.24305692e-01 7.09956163e-02 -3.74991480e-01 1.09056424e+01] [-6.74536222e-03 9.85431113e-01 1.69941228e-01 2.06163598e+00] [ 3.81593353e-01 -1.54548191e-01 9.11318478e-01 5.62737606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339072329 meters Centerline goodness : 0.274012 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:2.08, Z:0.56 [[ 0.9219 0.09504982 -0.37558744 10.91892906] [-0.03211732 0.98485103 0.17040227 2.08477794] [ 0.38609438 -0.14503099 0.91098691 0.56273448] [ 0. 0. 0. 1. ]] SLAMing on 136.399072329 meters Centerline goodness : 0.267552 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:2.10, Z:0.56 [[ 0.92166851 0.10778313 -0.37270626 10.9239283 ] [-0.04760231 0.98479404 0.167077 2.10024421] [ 0.38504698 -0.13624793 0.91278438 0.55898821] [ 0. 0. 0. 1. ]] SLAMing on 136.459072329 meters Centerline goodness : 0.257324 with order 1 Centerline is valid? [False, False] Translation: X:10.93, Y:2.10, Z:0.56 [[ 0.92134889 0.11308554 -0.37192457 10.92555975] [-0.05208177 0.98403543 0.17018154 2.10457816] [ 0.38523203 -0.13742609 0.91252965 0.55677363] [ 0. 0. 0. 1. ]] SLAMing on 136.519072329 meters Centerline goodness : 0.251921 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:2.13, Z:0.56 [[ 0.92054013 0.13230942 -0.36755963 10.93503944] [-0.07386395 0.98287643 0.16881364 2.12784548] [ 0.38360133 -0.12825032 0.91455009 0.55512968] [ 0. 0. 0. 1. ]] SLAMing on 136.579072329 meters Centerline goodness : 0.182906 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:2.15, Z:0.55 [[ 0.91911057 0.15362657 -0.36281489 10.94216553] [-0.09658965 0.98060698 0.17052971 2.15140107] [ 0.38197671 -0.1216915 0.91612498 0.55400201] [ 0. 0. 0. 1. ]] SLAMing on 136.63907232900002 meters Centerline goodness : 0.263238 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:2.17, Z:0.55 [[ 0.91469531 0.17379713 -0.36486578 10.95059016] [-0.1165893 0.97790395 0.17352466 2.17287018] [ 0.38696178 -0.11618274 0.91474704 0.55055447] [ 0. 0. 0. 1. ]] SLAMing on 136.69907232900002 meters Centerline goodness : 0.197638 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:2.19, Z:0.54 [[ 0.91442936 0.18411773 -0.36044361 10.9519772 ] [-0.12847626 0.97652766 0.17288027 2.18603382] [ 0.38381348 -0.11177835 0.91662032 0.53988859] [ 0. 0. 0. 1. ]] SLAMing on 136.75907232900002 meters Centerline goodness : 0.208879 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:2.21, Z:0.53 [[ 0.91316167 0.20007234 -0.35511522 10.95470682] [-0.14519386 0.97375751 0.17525713 2.20637191] [ 0.38086022 -0.10847754 0.91824731 0.52896309] [ 0. 0. 0. 1. ]] SLAMing on 136.819072329 meters Centerline goodness : 0.219633 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:2.23, Z:0.52 [[ 0.91139654 0.21563402 -0.35051152 10.95850593] [-0.16168572 0.97086461 0.17686048 2.2274513 ] [ 0.37843636 -0.10451732 0.91970759 0.5186511 ] [ 0. 0. 0. 1. ]] SLAMing on 136.879072329 meters Centerline goodness : 0.313226 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:2.24, Z:0.51 [[ 0.91105493 0.22376165 -0.34627972 10.95998536] [-0.17210023 0.96963136 0.17377151 2.2403388 ] [ 0.37464708 -0.09872057 0.92189686 0.50795471] [ 0. 0. 0. 1. ]] SLAMing on 136.939072329 meters Centerline goodness : 0.323483 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:2.26, Z:0.50 [[ 0.90675689 0.23995597 -0.34671759 10.96832987] [-0.18876967 0.96629053 0.17506749 2.26224398] [ 0.37703841 -0.09329389 0.921487 0.50018889] [ 0. 0. 0. 1. ]] SLAMing on 136.999072329 meters Centerline goodness : 0.342340 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:2.29, Z:0.49 [[ 0.90403074 0.25414892 -0.34371027 10.97550753] [-0.20369203 0.96302437 0.17633384 2.287077 ] [ 0.37581643 -0.08940017 0.92237174 0.49249547] [ 0. 0. 0. 1. ]] SLAMing on 137.059072329 meters Centerline goodness : 0.356800 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:2.31, Z:0.48 [[ 0.90300778 0.26299961 -0.33971775 10.98000809] [-0.21444152 0.96110436 0.17404952 2.3059942 ] [ 0.37227917 -0.08431848 0.92428276 0.48294412] [ 0. 0. 0. 1. ]] SLAMing on 137.119072329 meters Centerline goodness : 0.363222 with order 3 Centerline is valid? [False, False] Translation: X:10.98, Y:2.32, Z:0.48 [[ 0.90206863 0.26833057 -0.33803978 10.98473799] [-0.21947433 0.95960372 0.17604468 2.3186831 ] [ 0.37162239 -0.08461333 0.92452008 0.47954107] [ 0. 0. 0. 1. ]] SLAMing on 137.179072329 meters Centerline goodness : 0.196380 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:2.34, Z:0.48 [[ 0.90014328 0.27660082 -0.33650269 10.99281401] [-0.22710635 0.95721961 0.1793135 2.34000292] [ 0.37170523 -0.08498594 0.9244526 0.47751079] [ 0. 0. 0. 1. ]] SLAMing on 137.239072329 meters Centerline goodness : 0.194611 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:2.36, Z:0.47 [[ 0.89906507 0.28130832 -0.33548119 10.99946745] [-0.23175886 0.95589195 0.18043951 2.35629812] [ 0.37144291 -0.08447613 0.92460475 0.47480103] [ 0. 0. 0. 1. ]] SLAMing on 137.299072329 meters Centerline goodness : 0.192519 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:2.37, Z:0.47 [[ 0.89886046 0.28128411 -0.33604928 11.00659342] [-0.23272799 0.956146 0.17782717 2.37393474] [ 0.37133213 -0.08163374 0.92490453 0.4732867 ] [ 0. 0. 0. 1. ]] SLAMing on 137.359072329 meters Centerline goodness : 0.190915 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:2.39, Z:0.47 [[ 0.89838599 0.2815945 -0.33705661 11.01169581] [-0.23318913 0.95613755 0.17726763 2.38751438] [ 0.37219007 -0.08065682 0.92464535 0.47363172] [ 0. 0. 0. 1. ]] SLAMing on 137.41907232900002 meters Centerline goodness : 0.189928 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:2.40, Z:0.47 [[ 0.9001623 0.27645115 -0.33657482 11.0141946 ] [-0.22850187 0.95760822 0.17542348 2.40217892] [ 0.37080283 -0.08100163 0.92517241 0.46912756] [ 0. 0. 0. 1. ]] SLAMing on 137.47907232900002 meters Centerline goodness : 0.189020 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:2.42, Z:0.47 [[ 0.90265668 0.26693339 -0.3375759 11.01953822] [-0.22026661 0.96042894 0.17046662 2.41755718] [ 0.3697209 -0.07951613 0.92573411 0.46625228] [ 0. 0. 0. 1. ]] SLAMing on 137.539072329 meters Centerline goodness : 0.175994 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:2.44, Z:0.47 [[ 0.90782578 0.25609949 -0.33206234 11.02314974] [-0.20869334 0.96274456 0.17195928 2.43535813] [ 0.3637299 -0.08680987 0.9274506 0.465548 ] [ 0. 0. 0. 1. ]] SLAMing on 137.599072329 meters Centerline goodness : 0.262967 with order 3 Centerline is valid? [False, False] Translation: X:11.02, Y:2.45, Z:0.46 [[ 0.90960306 0.2493129 -0.33236328 11.02401743] [-0.20272049 0.96458573 0.16875656 2.4462704 ] [ 0.36266606 -0.08612463 0.92793097 0.46301417] [ 0. 0. 0. 1. ]] SLAMing on 137.659072329 meters Centerline goodness : 0.097152 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:2.47, Z:0.46 [[ 0.91324255 0.23173133 -0.33509497 11.03467883] [-0.18490853 0.96864784 0.16592226 2.46664122] [ 0.36303841 -0.08956534 0.92745952 0.46337772] [ 0. 0. 0. 1. ]] SLAMing on 137.719072329 meters Centerline goodness : 0.101983 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:2.49, Z:0.46 [[ 0.91675583 0.21518121 -0.33653498 11.04583723] [-0.16791615 0.97204575 0.16410738 2.48886954] [ 0.36244022 -0.09393674 0.92726101 0.46253365] [ 0. 0. 0. 1. ]] SLAMing on 137.779072329 meters Centerline goodness : 0.461629 with order 1 Centerline is valid? [False, False] Translation: X:11.06, Y:2.51, Z:0.46 [[ 0.92019474 0.19719761 -0.33816379 11.05753914] [-0.14999661 0.97553689 0.16071339 2.51029325] [ 0.36158355 -0.09716419 0.92726288 0.46186515] [ 0. 0. 0. 1. ]] SLAMing on 137.839072329 meters Centerline goodness : 0.180455 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:2.53, Z:0.46 [[ 0.92226463 0.18426064 -0.33981756 11.06696788] [-0.13616348 0.97759273 0.16053645 2.52531768] [ 0.36178373 -0.10178635 0.92668877 0.46326035] [ 0. 0. 0. 1. ]] SLAMing on 137.899072329 meters Centerline goodness : 0.531911 with order 1 Centerline is valid? [False, False] Translation: X:11.08, Y:2.55, Z:0.46 [[ 0.92499613 0.16681418 -0.3414018 11.07906472] [-0.11799218 0.98016436 0.15923465 2.54840012] [ 0.36119248 -0.10700869 0.92633101 0.46240205] [ 0. 0. 0. 1. ]] SLAMing on 137.959072329 meters Centerline goodness : 0.444522 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:2.57, Z:0.46 [[ 0.92700324 0.15036566 -0.34359155 11.09079149] [-0.10117387 0.98240814 0.15696528 2.56990453] [ 0.36114932 -0.11074484 0.92590861 0.46183493] [ 0. 0. 0. 1. ]] SLAMing on 138.019072329 meters Centerline goodness : 0.512570 with order 1 Centerline is valid? [False, False] Translation: X:11.10, Y:2.58, Z:0.46 [[ 0.92809594 0.14070955 -0.34472997 11.10061806] [-0.08991807 0.98314121 0.15921089 2.58462426] [ 0.36132073 -0.11676553 0.92510169 0.46267614] [ 0. 0. 0. 1. ]] SLAMing on 138.079072329 meters Centerline goodness : 0.208799 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:2.61, Z:0.46 [[ 0.93175448 0.12636625 -0.34038971 11.10778157] [-0.07619608 0.9846593 0.15697203 2.6111167 ] [ 0.35500386 -0.12032303 0.92708933 0.46431566] [ 0. 0. 0. 1. ]] SLAMing on 138.13907232900002 meters Centerline goodness : 0.228720 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:2.64, Z:0.46 [[ 0.93266114 0.11306356 -0.3425782 11.12121393] [-0.06213641 0.98577273 0.15617678 2.6358363 ] [ 0.35536216 -0.12437343 0.92641729 0.46372189] [ 0. 0. 0. 1. ]] SLAMing on 138.19907232900002 meters Centerline goodness : 0.517636 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:2.66, Z:0.46 [[ 0.93330935 0.10136621 -0.34446849 11.13682672] [-0.04818313 0.98600488 0.15960186 2.658596 ] [ 0.35582585 -0.13236034 0.92513172 0.46317018] [ 0. 0. 0. 1. ]] SLAMing on 138.25907232900002 meters Centerline goodness : 0.242461 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:2.67, Z:0.46 [[ 0.93285916 0.09652531 -0.34706864 11.14755313] [-0.0408132 0.98554933 0.16439829 2.67221844] [ 0.35792187 -0.13919547 0.92331823 0.46406298] [ 0. 0. 0. 1. ]] SLAMing on 138.319072329 meters Centerline goodness : 0.247219 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:2.69, Z:0.46 [[ 0.93246572 0.09176675 -0.34940886 11.15741082] [-0.03371952 0.98508535 0.16873009 2.68520111] [ 0.35968136 -0.14555312 0.92165265 0.46421533] [ 0. 0. 0. 1. ]] SLAMing on 138.379072329 meters Centerline goodness : 0.254064 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:2.70, Z:0.46 [[ 0.9322383 0.08497646 -0.3517254 11.17485631] [-0.02309496 0.98402486 0.17652677 2.7042118 ] [ 0.36110716 -0.15644193 0.91930819 0.46445233] [ 0. 0. 0. 1. ]] SLAMing on 138.439072329 meters Centerline goodness : 0.252078 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:2.72, Z:0.46 [[ 0.93617885 0.0751492 -0.34339736 11.18160092] [-0.01295928 0.98359578 0.17992054 2.71559327] [ 0.35128508 -0.16398762 0.92179545 0.45848797] [ 0. 0. 0. 1. ]] SLAMing on 138.499072329 meters Centerline goodness : 0.261202 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:2.74, Z:0.46 [[ 9.36106500e-01 6.35649509e-02 -3.45925017e-01 1.12041448e+01] [ 8.46601791e-05 9.83492417e-01 1.80949325e-01 2.73919826e+00] [ 3.51716666e-01 -1.69417125e-01 9.20648263e-01 4.62893759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559072329 meters Centerline goodness : 0.262516 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:2.76, Z:0.47 [[ 0.93459427 0.05507666 -0.35142582 11.2281017 ] [ 0.011975 0.98250914 0.18582895 2.76033858] [ 0.35551392 -0.177883 0.91758787 0.47100488] [ 0. 0. 0. 1. ]] SLAMing on 138.619072329 meters Centerline goodness : 0.469426 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:2.78, Z:0.48 [[ 0.93525908 0.03890595 -0.35181924 11.24638594] [ 0.02721101 0.98309696 0.18105228 2.78020602] [ 0.35291643 -0.17890415 0.91839169 0.47608149] [ 0. 0. 0. 1. ]] SLAMing on 138.679072329 meters Centerline goodness : 0.457158 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:2.79, Z:0.48 [[ 0.93752405 0.02534134 -0.34699635 11.25345058] [ 0.03957073 0.98310573 0.17871004 2.79209477] [ 0.34566285 -0.18127586 0.9206825 0.47859314] [ 0. 0. 0. 1. ]] SLAMing on 138.739072329 meters Centerline goodness : 0.446472 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:2.81, Z:0.48 [[ 9.39252567e-01 8.55979168e-03 -3.43120015e-01 1.12674565e+01] [ 5.48313061e-02 9.83108008e-01 1.74620081e-01 2.80765705e+00] [ 3.38818746e-01 -1.82826078e-01 9.22917376e-01 4.82946633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799072329 meters Centerline goodness : 0.432648 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:2.82, Z:0.49 [[ 9.38794771e-01 -9.51746563e-03 -3.44345461e-01 1.12881829e+01] [ 7.17502862e-02 9.83096751e-01 1.68441901e-01 2.82393962e+00] [ 3.36921764e-01 -1.82839261e-01 9.23608970e-01 4.90241222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859072329 meters Centerline goodness : 0.402734 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:2.84, Z:0.49 [[ 0.93906407 -0.02686112 -0.34269104 11.30475456] [ 0.08816355 0.98241455 0.16458691 2.83838798] [ 0.33224368 -0.18477051 0.92491837 0.49426001] [ 0. 0. 0. 1. ]] SLAMing on 138.91907232900002 meters Centerline goodness : 0.390214 with order 1 Centerline is valid? [False, False] Translation: X:11.32, Y:2.85, Z:0.50 [[ 0.93903554 -0.04052972 -0.34142289 11.32134164] [ 0.10119052 0.98162449 0.16178331 2.8500879 ] [ 0.32859204 -0.18646904 0.92588151 0.49838739] [ 0. 0. 0. 1. ]] SLAMing on 138.97907232900002 meters Centerline goodness : 0.392112 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:2.86, Z:0.51 [[ 0.9374804 -0.06012856 -0.34280469 11.34562276] [ 0.11934482 0.98078247 0.15434559 2.86375564] [ 0.32693625 -0.18560793 0.92664038 0.5079407 ] [ 0. 0. 0. 1. ]] SLAMing on 139.039072329 meters Centerline goodness : 0.232067 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:2.88, Z:0.52 [[ 0.93583624 -0.08441818 -0.34217554 11.36488673] [ 0.14109779 0.97942838 0.14426181 2.87730726] [ 0.32295811 -0.18328564 0.92849579 0.51769734] [ 0. 0. 0. 1. ]] SLAMing on 139.099072329 meters Centerline goodness : 0.223879 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:2.89, Z:0.52 [[ 0.93560737 -0.10410977 -0.33734257 11.36939901] [ 0.15873467 0.97755083 0.13855569 2.88523257] [ 0.31534451 -0.18318168 0.93112959 0.52478556] [ 0. 0. 0. 1. ]] SLAMing on 139.159072329 meters Centerline goodness : 0.187329 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:2.90, Z:0.54 [[ 0.93321568 -0.13069186 -0.33470604 11.39272266] [ 0.18524714 0.9731641 0.13651058 2.89906683] [ 0.30788308 -0.18939716 0.93238229 0.53527251] [ 0. 0. 0. 1. ]] SLAMing on 139.219072329 meters Centerline goodness : 0.172874 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:2.91, Z:0.54 [[ 0.93073742 -0.14741632 -0.33465846 11.4139991 ] [ 0.20084181 0.97083581 0.13092137 2.90935344] [ 0.30559847 -0.18906683 0.93320057 0.5434161 ] [ 0. 0. 0. 1. ]] SLAMing on 139.279072329 meters Centerline goodness : 0.140023 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:2.92, Z:0.55 [[ 0.92548403 -0.17850045 -0.33409115 11.44563869] [ 0.23132431 0.96476873 0.12534096 2.92307852] [ 0.29994728 -0.19328447 0.93416955 0.55185674] [ 0. 0. 0. 1. ]] SLAMing on 139.339072329 meters Centerline goodness : 0.371700 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:2.94, Z:0.56 [[ 0.91969223 -0.20769915 -0.33320753 11.47753408] [ 0.26023895 0.95790786 0.12119501 2.93733002] [ 0.29401001 -0.19817568 0.93503183 0.56198581] [ 0. 0. 0. 1. ]] SLAMing on 139.399072329 meters Centerline goodness : 0.413412 with order 3 Centerline is valid? [False, False] Translation: X:11.51, Y:2.95, Z:0.57 [[ 0.91319313 -0.23624881 -0.33206146 11.5097554 ] [ 0.2887186 0.95011074 0.1180303 2.95050372] [ 0.28761064 -0.20365678 0.93584402 0.57163925] [ 0. 0. 0. 1. ]] SLAMing on 139.459072329 meters Centerline goodness : 0.358659 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:2.96, Z:0.58 [[ 0.90558585 -0.26710662 -0.32949706 11.542157 ] [ 0.31874546 0.94106044 0.11316612 2.96275346] [ 0.27984924 -0.20750733 0.93735005 0.58121688] [ 0. 0. 0. 1. ]] SLAMing on 139.519072329 meters Centerline goodness : 0.120503 with order 3 Centerline is valid? [False, False] Translation: X:11.57, Y:2.97, Z:0.59 [[ 0.90202699 -0.28085577 -0.32782213 11.56576711] [ 0.3319189 0.93678709 0.11072391 2.96784586] [ 0.27600209 -0.20868632 0.93822858 0.589124 ] [ 0. 0. 0. 1. ]] SLAMing on 139.579072329 meters Centerline goodness : 0.205874 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:2.98, Z:0.60 [[ 0.89028447 -0.31808535 -0.32590685 11.59907994] [ 0.37054763 0.92199153 0.11236583 2.98264328] [ 0.26474143 -0.22080157 0.93870051 0.59795811] [ 0. 0. 0. 1. ]] SLAMing on 139.63907232900002 meters Centerline goodness : 0.053550 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:2.99, Z:0.61 [[ 0.88470879 -0.33501299 -0.32412445 11.62313911] [ 0.38614376 0.91621151 0.10700219 2.99131335] [ 0.26111943 -0.21982441 0.93994355 0.6065398 ] [ 0. 0. 0. 1. ]] SLAMing on 139.69907232900002 meters Centerline goodness : 0.203515 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:3.00, Z:0.61 [[ 0.86974713 -0.3746615 -0.32119883 11.65861401] [ 0.42655938 0.89804584 0.10752094 3.00333671] [ 0.24816731 -0.23052641 0.94088818 0.61479638] [ 0. 0. 0. 1. ]] SLAMing on 139.759072329 meters Centerline goodness : 0.264132 with order 3 Centerline is valid? [False, False] Translation: X:11.70, Y:3.00, Z:0.63 [[ 0.84680732 -0.42188904 -0.32392438 11.70444222] [ 0.47585059 0.87299885 0.10695435 3.00463541] [ 0.23766274 -0.24470933 0.94001796 0.63040932] [ 0. 0. 0. 1. ]] SLAMing on 139.819072329 meters Centerline goodness : 0.300016 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:3.00, Z:0.64 [[ 0.8353681 -0.44977705 -0.31600751 11.72981225] [ 0.49965504 0.86095055 0.09544104 3.00295512] [ 0.22913965 -0.23762314 0.94394399 0.63738821] [ 0. 0. 0. 1. ]] SLAMing on 139.879072329 meters Centerline goodness : 0.304440 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:3.01, Z:0.66 [[ 0.810035 -0.49264293 -0.31803496 11.77401868] [ 0.54469112 0.83301087 0.09697663 3.01152453] [ 0.21715173 -0.25178528 0.9431062 0.65542685] [ 0. 0. 0. 1. ]] SLAMing on 139.939072329 meters Centerline goodness : 0.331860 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:3.02, Z:0.67 [[ 0.78328555 -0.53221527 -0.32126415 11.81690604] [ 0.58684003 0.80355285 0.09960718 3.02247557] [ 0.20514027 -0.26655153 0.94173656 0.67212542] [ 0. 0. 0. 1. ]] SLAMing on 139.999072329 meters Centerline goodness : 0.321226 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:3.03, Z:0.68 [[ 0.75586419 -0.57098621 -0.32038114 11.85753298] [ 0.6251439 0.77483243 0.093967 3.03361864] [ 0.19458784 -0.27131061 0.94261664 0.68377834] [ 0. 0. 0. 1. ]] SLAMing on 140.059072329 meters Centerline goodness : 0.199061 with order 2 Centerline is valid? [False, False] Translation: X:11.88, Y:3.04, Z:0.69 [[ 0.73796611 -0.59232225 -0.32335797 11.880224 ] [ 0.64799181 0.75577015 0.09443565 3.0404056 ] [ 0.18844796 -0.27922362 0.94155273 0.6898356 ] [ 0. 0. 0. 1. ]] SLAMing on 140.119072329 meters Centerline goodness : 0.168346 with order 2 Centerline is valid? [False, False] Translation: X:11.91, Y:3.05, Z:0.70 [[ 0.71048379 -0.62512527 -0.32315813 11.91485529] [ 0.68167683 0.72539584 0.09548599 3.0511073 ] [ 0.17472685 -0.28813066 0.9415154 0.69760058] [ 0. 0. 0. 1. ]] SLAMing on 140.179072329 meters Centerline goodness : 0.148588 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:3.06, Z:0.71 [[ 0.68447981 -0.65402676 -0.32208133 11.94758523] [ 0.71061379 0.69722338 0.09438002 3.06230187] [ 0.16283558 -0.29347666 0.94199577 0.70812894] [ 0. 0. 0. 1. ]] SLAMing on 140.239072329 meters Centerline goodness : 0.153670 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:3.06, Z:0.71 [[ 0.6830952 -0.65499813 -0.32304549 11.95194118] [ 0.71204532 0.69565458 0.09516396 3.05900557] [ 0.16239586 -0.29502907 0.94158666 0.70674431] [ 0. 0. 0. 1. ]] SLAMing on 140.299072329 meters Centerline goodness : 0.368963 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:3.07, Z:0.71 [[ 0.65818546 -0.678067 -0.3271346 11.97965707] [ 0.73692363 0.6691766 0.095636 3.07001407] [ 0.15406321 -0.30401944 0.9401259 0.71265968] [ 0. 0. 0. 1. ]] SLAMing on 140.359072329 meters Centerline goodness : 0.385192 with order 1 Centerline is valid? [False, False] Translation: X:12.00, Y:3.08, Z:0.72 [[ 0.63730169 -0.69705815 -0.32856734 12.00342551] [ 0.75644961 0.64724779 0.09409721 3.07762623] [ 0.14707326 -0.30851295 0.93978147 0.71880857] [ 0. 0. 0. 1. ]] SLAMing on 140.41907232900002 meters Centerline goodness : 0.386193 with order 1 Centerline is valid? [False, False] Translation: X:12.01, Y:3.08, Z:0.72 [[ 0.62951269 -0.70295892 -0.3310023 12.01489217] [ 0.76285727 0.64005615 0.09152549 3.07839604] [ 0.1475214 -0.31012397 0.93918079 0.72464309] [ 0. 0. 0. 1. ]] SLAMing on 140.47907232900002 meters Centerline goodness : 0.400692 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:3.08, Z:0.73 [[ 0.6117719 -0.71632915 -0.33557071 12.03770537] [ 0.77809203 0.62135573 0.09214039 3.08388364] [ 0.14250594 -0.31747379 0.93749797 0.7302171 ] [ 0. 0. 0. 1. ]] SLAMing on 140.539072329 meters Centerline goodness : 0.403658 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:3.08, Z:0.73 [[ 0.60653394 -0.72072892 -0.33565817 12.0490379 ] [ 0.78242231 0.61605974 0.09102596 3.08114445] [ 0.14118044 -0.31783678 0.93757553 0.73084143] [ 0. 0. 0. 1. ]] SLAMing on 140.599072329 meters Centerline goodness : 0.362813 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:3.08, Z:0.74 [[ 0.59552066 -0.72895043 -0.33761875 12.07057511] [ 0.79090976 0.6056593 0.08739884 3.0816884 ] [ 0.14077251 -0.31907378 0.93721664 0.74051267] [ 0. 0. 0. 1. ]] SLAMing on 140.659072329 meters Centerline goodness : 0.367083 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:3.08, Z:0.75 [[ 0.58789658 -0.73212783 -0.34404425 12.09417774] [ 0.79641035 0.59839137 0.08751184 3.08103255] [ 0.14180325 -0.32544831 0.93486643 0.74798695] [ 0. 0. 0. 1. ]] SLAMing on 140.719072329 meters Centerline goodness : 0.312094 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:3.07, Z:0.75 [[ 0.59358641 -0.72646187 -0.34627781 12.10539454] [ 0.79196978 0.60374289 0.09098565 3.07197495] [ 0.14296516 -0.32824941 0.93370942 0.74768258] [ 0. 0. 0. 1. ]] SLAMing on 140.779072329 meters Centerline goodness : 0.293539 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:3.07, Z:0.75 [[ 0.59508955 -0.72474399 -0.3472961 12.1233052 ] [ 0.79077208 0.60512871 0.09218879 3.0688618 ] [ 0.14334557 -0.32949264 0.93321308 0.75230686] [ 0. 0. 0. 1. ]] SLAMing on 140.839072329 meters Centerline goodness : 0.344168 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:3.06, Z:0.76 [[ 0.60340336 -0.71602492 -0.35101665 12.14021802] [ 0.78347679 0.61431842 0.09368565 3.06033676] [ 0.14855473 -0.33154364 0.93167071 0.75598346] [ 0. 0. 0. 1. ]] SLAMing on 140.899072329 meters Centerline goodness : 0.272983 with order 1 Centerline is valid? [False, False] Translation: X:12.16, Y:3.05, Z:0.76 [[ 0.61163429 -0.70749517 -0.3540538 12.1576487 ] [ 0.77609549 0.6234274 0.09494246 3.05285825] [ 0.15355551 -0.33284961 0.93039338 0.75973926] [ 0. 0. 0. 1. ]] SLAMing on 140.959072329 meters Centerline goodness : 0.258661 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:3.05, Z:0.76 [[ 0.62070707 -0.69948282 -0.35418429 12.17632092] [ 0.76826837 0.63278183 0.09669989 3.04670542] [ 0.15648147 -0.33213089 0.93016268 0.76405805] [ 0. 0. 0. 1. ]] SLAMing on 141.019072329 meters Centerline goodness : 0.254932 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:3.03, Z:0.77 [[ 0.63737042 -0.68236406 -0.35796401 12.18051116] [ 0.7522771 0.65161928 0.09732152 3.03307748] [ 0.16684754 -0.33131799 0.92864971 0.76579157] [ 0. 0. 0. 1. ]] SLAMing on 141.079072329 meters Centerline goodness : 0.258381 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:3.03, Z:0.77 [[ 0.65093671 -0.66625023 -0.36385715 12.194921 ] [ 0.73836909 0.66700059 0.09960574 3.02870889] [ 0.17633059 -0.33349791 0.92611375 0.76856477] [ 0. 0. 0. 1. ]] SLAMing on 141.13907232900002 meters Centerline goodness : 0.224684 with order 3 Centerline is valid? [False, False] Translation: X:12.20, Y:3.01, Z:0.77 [[ 0.67296992 -0.64380731 -0.36417527 12.19630402] [ 0.71604525 0.69048301 0.10253004 3.01462076] [ 0.18544725 -0.3297656 0.92566947 0.76711914] [ 0. 0. 0. 1. ]] SLAMing on 141.19907232900002 meters Centerline goodness : 0.253722 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:3.02, Z:0.77 [[ 0.68997484 -0.6257216 -0.363878 12.21365694] [ 0.69773996 0.70871167 0.10433943 3.01897785] [ 0.19259715 -0.3258838 0.92558419 0.76981012] [ 0. 0. 0. 1. ]] SLAMing on 141.259072329 meters Centerline goodness : 0.274136 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:3.03, Z:0.77 [[ 0.70490244 -0.60717343 -0.36667831 12.23494053] [ 0.68089883 0.72407137 0.10998836 3.0265056 ] [ 0.19871925 -0.32720189 0.92382335 0.77190244] [ 0. 0. 0. 1. ]] SLAMing on 141.319072329 meters Centerline goodness : 0.116545 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:3.03, Z:0.77 [[ 0.71832042 -0.59055707 -0.36777454 12.24776354] [ 0.66518262 0.73787089 0.11436188 3.02808411] [ 0.20383291 -0.3267857 0.92285603 0.77039247] [ 0. 0. 0. 1. ]] SLAMing on 141.379072329 meters Centerline goodness : 0.040559 with order 1 Centerline is valid? [False, False] Translation: X:12.28, Y:3.05, Z:0.78 [[ 0.72530953 -0.58055269 -0.36997928 12.27962251] [ 0.65575234 0.74622801 0.11459763 3.05077973] [ 0.20955894 -0.32573353 0.92194507 0.77884145] [ 0. 0. 0. 1. ]] SLAMing on 141.439072329 meters Centerline goodness : 0.123459 with order 2 Centerline is valid? [False, False] Translation: X:12.31, Y:3.08, Z:0.79 [[ 0.73206954 -0.57039913 -0.37245003 12.31304333] [ 0.64630695 0.75435027 0.11507825 3.07682748] [ 0.21531724 -0.32496232 0.92088977 0.78771812] [ 0. 0. 0. 1. ]] SLAMing on 141.499072329 meters Centerline goodness : 0.097372 with order 1 Centerline is valid? [False, False] Translation: X:12.28, Y:3.01, Z:0.79 [[ 0.77056963 -0.46243627 -0.4386059 12.27537536] [ 0.58371687 0.78836372 0.19431227 3.0141958 ] [ 0.25592393 -0.4057528 0.877421 0.78756939] [ 0. 0. 0. 1. ]] SLAMing on 141.559072329 meters Centerline goodness : 0.169915 with order 2 Centerline is valid? [False, False] Translation: X:12.35, Y:3.08, Z:0.83 [[ 0.74026534 -0.46059385 -0.48975558 12.34895471] [ 0.62138506 0.74685091 0.2368424 3.07973694] [ 0.25668625 -0.47965302 0.83907398 0.82693313] [ 0. 0. 0. 1. ]] SLAMing on 141.619072329 meters Centerline goodness : 0.164535 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:3.11, Z:0.84 [[ 0.73368029 -0.45385584 -0.50569567 12.40285803] [ 0.63344802 0.72614132 0.26732451 3.11373964] [ 0.24587973 -0.51646264 0.82024966 0.83669524] [ 0. 0. 0. 1. ]] SLAMing on 141.679072329 meters Centerline goodness : 0.182282 with order 3 Centerline is valid? [False, False] Translation: X:12.44, Y:3.12, Z:0.84 [[ 0.73686091 -0.43130616 -0.52058716 12.44050579] [ 0.63379048 0.70869287 0.309942 3.11634626] [ 0.23525652 -0.55832733 0.79556581 0.84297879] [ 0. 0. 0. 1. ]] SLAMing on 141.739072329 meters Centerline goodness : 0.201465 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:3.12, Z:0.85 [[ 0.73442869 -0.4336644 -0.52206291 12.45277182] [ 0.63533923 0.70980881 0.30416363 3.12145849] [ 0.23865991 -0.55507355 0.79682796 0.85419178] [ 0. 0. 0. 1. ]] SLAMing on 141.799072329 meters Centerline goodness : 0.110073 with order 1 Centerline is valid? [False, False] Translation: X:12.47, Y:3.13, Z:0.87 [[ 0.72920134 -0.44084845 -0.52337181 12.46943193] [ 0.64086004 0.70811403 0.29643368 3.12725498] [ 0.23992459 -0.55156792 0.79887986 0.8692349 ] [ 0. 0. 0. 1. ]] SLAMing on 141.859072329 meters Centerline goodness : 0.111957 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:3.13, Z:0.88 [[ 0.72454276 -0.44901223 -0.52290134 12.47932711] [ 0.64563072 0.70771007 0.28689271 3.13317152] [ 0.24124421 -0.5454672 0.8026623 0.8813508 ] [ 0. 0. 0. 1. ]] SLAMing on 141.91907232900002 meters Centerline goodness : 0.118656 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:3.15, Z:0.90 [[ 0.71631127 -0.46219828 -0.52275321 12.49679326] [ 0.65400333 0.70588376 0.27204367 3.14646877] [ 0.24326489 -0.53675029 0.80791171 0.89992186] [ 0. 0. 0. 1. ]] SLAMing on 141.97907232900002 meters Centerline goodness : 0.199000 with order 2 Centerline is valid? [False, False] Translation: X:12.51, Y:3.16, Z:0.92 [[ 0.70801019 -0.47549024 -0.52214039 12.51349706] [ 0.66223096 0.70384361 0.25701038 3.15843687] [ 0.24529925 -0.5277435 0.81321281 0.91820386] [ 0. 0. 0. 1. ]] SLAMing on 142.039072329 meters Centerline goodness : 0.221120 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:3.17, Z:0.93 [[ 0.70009446 -0.48955394 -0.51981217 12.52442388] [ 0.66993347 0.70224675 0.24091212 3.17235066] [ 0.24709693 -0.51690081 0.81960762 0.93270127] [ 0. 0. 0. 1. ]] SLAMing on 142.099072329 meters Centerline goodness : 0.807452 with order 1 Centerline is valid? [False, False] Translation: X:12.54, Y:3.19, Z:0.95 [[ 0.69142397 -0.50340572 -0.51818489 12.54320955] [ 0.67845948 0.69891372 0.22630144 3.18839909] [ 0.24824509 -0.50803769 0.82478608 0.95094813] [ 0. 0. 0. 1. ]] SLAMing on 142.159072329 meters Centerline goodness : 0.423737 with order 2 Centerline is valid? [False, False] Translation: X:12.55, Y:3.20, Z:0.96 [[ 0.68626203 -0.51278396 -0.51584595 12.54915419] [ 0.68238368 0.69940669 0.21256244 3.20196406] [ 0.2517875 -0.49787839 0.82989166 0.9629614 ] [ 0. 0. 0. 1. ]] SLAMing on 142.219072329 meters Centerline goodness : 0.130896 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:3.21, Z:0.98 [[ 0.67746848 -0.52601256 -0.51414711 12.56081976] [ 0.69059569 0.6954882 0.1984282 3.21134788] [ 0.25320752 -0.48949663 0.83443334 0.9800106 ] [ 0. 0. 0. 1. ]] SLAMing on 142.279072329 meters Centerline goodness : 0.231423 with order 3 Centerline is valid? [False, False] Translation: X:12.57, Y:3.21, Z:0.99 [[ 0.67008679 -0.53396776 -0.5156182 12.57381896] [ 0.69855324 0.68853592 0.19478621 3.20950624] [ 0.25101209 -0.49071043 0.83438373 0.9889302 ] [ 0. 0. 0. 1. ]] SLAMing on 142.339072329 meters Centerline goodness : 0.117215 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:3.22, Z:1.00 [[ 0.66346649 -0.54268624 -0.51507656 12.58230721] [ 0.70434749 0.68524701 0.18528669 3.21535707] [ 0.25240213 -0.48572439 0.83687812 0.99970881] [ 0. 0. 0. 1. ]] SLAMing on 142.399072329 meters Centerline goodness : 0.235278 with order 3 Centerline is valid? [False, False] Translation: X:12.59, Y:3.22, Z:1.02 [[ 0.65452338 -0.55626225 -0.51202681 12.59320024] [ 0.71208699 0.68112691 0.17028873 3.22482161] [ 0.25403005 -0.47606558 0.8419206 1.01679501] [ 0. 0. 0. 1. ]] SLAMing on 142.459072329 meters Centerline goodness : 0.888988 with order 2 Centerline is valid? [False, False] Translation: X:12.61, Y:3.22, Z:1.02 [[ 0.64936058 -0.56062371 -0.51384034 12.60515304] [ 0.71714463 0.67625948 0.16845381 3.22143167] [ 0.2530502 -0.4778851 0.84118454 1.02496536] [ 0. 0. 0. 1. ]] SLAMing on 142.519072329 meters Centerline goodness : 0.384821 with order 2 Centerline is valid? [False, False] Translation: X:12.61, Y:3.23, Z:1.04 [[ 0.63879296 -0.57347498 -0.5129035 12.61432298] [ 0.72676053 0.66856062 0.1576256 3.2267962 ] [ 0.25251274 -0.47344814 0.8438508 1.03717095] [ 0. 0. 0. 1. ]] SLAMing on 142.579072329 meters Centerline goodness : 0.400818 with order 2 Centerline is valid? [False, False] Translation: X:12.62, Y:3.23, Z:1.04 [[ 0.63151083 -0.58303922 -0.51113534 12.61823468] [ 0.73339801 0.66310488 0.14973066 3.23056252] [ 0.25163749 -0.46942218 0.84635772 1.04490535] [ 0. 0. 0. 1. ]] SLAMing on 142.63907232900002 meters Centerline goodness : 0.670723 with order 3 Centerline is valid? [False, False] Translation: X:12.63, Y:3.23, Z:1.05 [[ 0.6259011 -0.58587038 -0.51478511 12.63085295] [ 0.73817975 0.65802933 0.14862049 3.22879704] [ 0.25167136 -0.47302567 0.84433894 1.05411818] [ 0. 0. 0. 1. ]] SLAMing on 142.69907232900002 meters Centerline goodness : 0.683398 with order 3 Centerline is valid? [False, False] Translation: X:12.64, Y:3.23, Z:1.06 [[ 0.61810842 -0.59461629 -0.51417258 12.63813161] [ 0.74543551 0.65099899 0.14326972 3.22993215] [ 0.24953532 -0.47183872 0.84563606 1.06175242] [ 0. 0. 0. 1. ]] SLAMing on 142.759072329 meters Centerline goodness : 0.772701 with order 2 Centerline is valid? [False, False] Translation: X:12.64, Y:3.23, Z:1.07 [[ 0.61110901 -0.6043829 -0.51114292 12.64016912] [ 0.75214159 0.64458911 0.13706903 3.23225315] [ 0.24663498 -0.46821596 0.84849573 1.06579223] [ 0. 0. 0. 1. ]] SLAMing on 142.819072329 meters Centerline goodness : 0.733989 with order 3 Centerline is valid? [False, False] Translation: X:12.65, Y:3.23, Z:1.07 [[ 0.60283097 -0.61350892 -0.51009962 12.64674491] [ 0.75946833 0.63718107 0.1311798 3.23491228] [ 0.24454584 -0.46648375 0.85005308 1.07259845] [ 0. 0. 0. 1. ]] SLAMing on 142.879072329 meters Centerline goodness : 0.895056 with order 3 Centerline is valid? [False, False] Translation: X:12.65, Y:3.24, Z:1.08 [[ 0.5924982 -0.62772775 -0.50487995 12.64645992] [ 0.76831248 0.62874068 0.11992117 3.24194978] [ 0.24216071 -0.45895864 0.85481878 1.07885926] [ 0. 0. 0. 1. ]] SLAMing on 142.939072329 meters Centerline goodness : 0.876968 with order 3 Centerline is valid? [False, False] Translation: X:12.64, Y:3.25, Z:1.09 [[ 0.58012051 -0.64774344 -0.49385082 12.64478529] [ 0.7781723 0.61986228 0.10108718 3.25432343] [ 0.24064094 -0.44294378 0.86365082 1.09026557] [ 0. 0. 0. 1. ]] SLAMing on 142.999072329 meters Centerline goodness : 0.904981 with order 3 Centerline is valid? [False, False] Translation: X:12.64, Y:3.26, Z:1.10 [[ 0.57169339 -0.66377628 -0.48225276 12.63696535] [ 0.78410617 0.61505692 0.08296089 3.25669708] [ 0.24154543 -0.42556555 0.87209505 1.096939 ] [ 0. 0. 0. 1. ]] SLAMing on 143.059072329 meters Centerline goodness : 0.979624 with order 1 Centerline is valid? [False, True] Translation: X:12.62, Y:3.25, Z:1.10 [[ 0.56165585 -0.67644416 -0.47640949 12.62234983] [ 0.7900555 0.60946614 0.06605553 3.25238867] [ 0.24567258 -0.41349041 0.87673865 1.10117383] [ 0. 0. 0. 1. ]] SLAMing on 143.119072329 meters Centerline goodness : 0.983194 with order 1 Centerline is valid? [True, True] Translation: X:12.53, Y:3.37, Z:1.24 [[ 0.51567198 -0.81783512 -0.25539799 12.52932275] [ 0.79179137 0.56877375 -0.22262714 3.37261478] [ 0.32733597 -0.08741935 0.94085547 1.24492878] [ 0. 0. 0. 1. ]] SLAMing on 143.179072329 meters Centerline goodness : 0.979216 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:3.41, Z:1.28 [[ 0.50353384 -0.82537871 -0.25535007 12.56069321] [ 0.80009961 0.55700385 -0.2226821 3.41100617] [ 0.32602803 -0.09217752 0.94085548 1.28191167] [ 0. 0. 0. 1. ]] SLAMing on 143.239072329 meters Centerline goodness : 0.935817 with order 3 Centerline is valid? [True, False] Translation: X:12.56, Y:3.39, Z:1.26 [[ 0.50189356 -0.81605096 -0.2866421 12.55550446] [ 0.80475364 0.56203834 -0.19100913 3.3857384 ] [ 0.31697703 -0.13481002 0.9388034 1.25677659] [ 0. 0. 0. 1. ]] SLAMing on 143.299072329 meters Centerline goodness : 0.983430 with order 1 Centerline is valid? [False, True] Translation: X:12.56, Y:3.37, Z:1.24 [[ 0.49697134 -0.80872868 -0.31460676 12.5618443 ] [ 0.81290992 0.56073942 -0.15731739 3.37199595] [ 0.3036395 -0.17756472 0.93609499 1.2383952 ] [ 0. 0. 0. 1. ]] SLAMing on 143.359072329 meters Centerline goodness : 0.986905 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:3.42, Z:1.30 [[ 0.47828668 -0.83900744 -0.25943854 12.57355472] [ 0.81548858 0.53394274 -0.22334618 3.42109942] [ 0.32591444 -0.10474567 0.9395787 1.29581941] [ 0. 0. 0. 1. ]] SLAMing on 143.41907232900002 meters Centerline goodness : 0.990863 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:3.48, Z:1.25 [[ 0.45491224 -0.85191391 -0.25941772 12.62960578] [ 0.82993211 0.51119309 -0.22337037 3.47923875] [ 0.32290487 -0.11368517 0.9395787 1.24642405] [ 0. 0. 0. 1. ]] SLAMing on 143.47907232900002 meters Centerline goodness : 0.995587 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:3.49, Z:1.32 [[ 0.46392465 -0.84704305 -0.25940701 12.66088645] [ 0.8244601 0.51996699 -0.2233828 3.49378795] [ 0.32409793 -0.11023794 0.9395787 1.31975554] [ 0. 0. 0. 1. ]] SLAMing on 143.539072329 meters Centerline goodness : 0.996044 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:3.53, Z:1.34 [[ 0.4512647 -0.85386528 -0.25937282 12.70104786] [ 0.83210201 0.50763041 -0.2234225 3.52962951] [ 0.32243824 -0.11500196 0.9395787 1.3427265 ] [ 0. 0. 0. 1. ]] SLAMing on 143.599072329 meters Centerline goodness : 0.997006 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:3.57, Z:1.35 [[ 0.43943993 -0.86002356 -0.25932996 12.74591674] [ 0.83901864 0.49609262 -0.22347223 3.56976794] [ 0.32084306 -0.11938005 0.9395787 1.34784381] [ 0. 0. 0. 1. ]] SLAMing on 143.659072329 meters Centerline goodness : 0.997166 with order 1 Centerline is valid? [True, True] Translation: X:12.79, Y:3.60, Z:1.38 [[ 0.42991469 -0.86483372 -0.25929906 12.78526986] [ 0.84444023 0.48679034 -0.22350808 3.60204205] [ 0.3195216 -0.12287316 0.9395787 1.37773199] [ 0. 0. 0. 1. ]] SLAMing on 143.719072329 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:3.64, Z:1.40 [[ 0.42368712 -0.86791608 -0.25925067 12.82836425] [ 0.84790755 0.48069932 -0.22356419 3.63687372] [ 0.31865658 -0.12509934 0.9395787 1.39512201] [ 0. 0. 0. 1. ]] SLAMing on 143.779072329 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:3.67, Z:1.43 [[ 0.4111841 -0.87392263 -0.25920432 12.8678429 ] [ 0.85471111 0.46846979 -0.22361793 3.66550423] [ 0.31685416 -0.12959668 0.93957871 1.42933134] [ 0. 0. 0. 1. ]] SLAMing on 143.839072329 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:12.92, Y:3.69, Z:1.45 [[ 0.39859745 -0.87974415 -0.25917234 12.91588006] [ 0.8613406 0.4561478 -0.22365498 3.69311633] [ 0.31498006 -0.13408735 0.93957871 1.4465909 ] [ 0. 0. 0. 1. ]] SLAMing on 143.899072329 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:3.72, Z:1.47 [[ 0.38548903 -0.88557586 -0.25914014 12.95897044] [ 0.8680125 0.44330132 -0.22369229 3.72419633] [ 0.31297366 -0.13870595 0.93957871 1.46708838] [ 0. 0. 0. 1. ]] SLAMing on 143.959072329 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:3.76, Z:1.49 [[ 0.3718163 -0.89141688 -0.25909184 13.00324883] [ 0.87472038 0.42988487 -0.22374822 3.75513335] [ 0.3108326 -0.14343968 0.93957871 1.48918719] [ 0. 0. 0. 1. ]] SLAMing on 144.019072329 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:13.05, Y:3.79, Z:1.51 [[ 0.36257732 -0.89522752 -0.25904705 13.04633248] [ 0.87910935 0.42080907 -0.22380006 3.78742224] [ 0.30936132 -0.14658586 0.93957871 1.50891795] [ 0. 0. 0. 1. ]] SLAMing on 144.079072329 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:3.82, Z:1.53 [[ 0.3583856 -0.89692732 -0.25900027 13.08424772] [ 0.88105758 0.41668554 -0.22385419 3.82428703] [ 0.30870261 -0.14796803 0.93957871 1.53157638] [ 0. 0. 0. 1. ]] SLAMing on 144.13907232900002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:3.85, Z:1.55 [[ 0.34494951 -0.90219241 -0.25895693 13.12906166] [ 0.88717271 0.40347421 -0.22390431 3.85359657] [ 0.30648722 -0.15250384 0.93957872 1.55487175] [ 0. 0. 0. 1. ]] SLAMing on 144.19907232900002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:3.88, Z:1.57 [[ 0.33028054 -0.90767767 -0.25891313 13.17930927] [ 0.89358577 0.38903554 -0.22395495 3.87980524] [ 0.30400532 -0.15739313 0.93957872 1.57330282] [ 0. 0. 0. 1. ]] SLAMing on 144.259072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:3.91, Z:1.59 [[ 0.31593981 -0.91278032 -0.25887085 13.22612885] [ 0.89959371 0.37490458 -0.22400381 3.90775104] [ 0.30151814 -0.16210687 0.93957872 1.59205007] [ 0. 0. 0. 1. ]] SLAMing on 144.319072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.27, Y:3.94, Z:1.61 [[ 0.30616844 -0.91611722 -0.25882452 13.27146238] [ 0.90353714 0.36526558 -0.22405734 3.93928629] [ 0.29980248 -0.16525828 0.93957872 1.61175579] [ 0. 0. 0. 1. ]] SLAMing on 144.379072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:3.97, Z:1.64 [[ 0.29211197 -0.92070774 -0.2587815 13.31826887] [ 0.90901096 0.35139026 -0.22410702 3.96690911] [ 0.29727036 -0.16977087 0.93957873 1.63531063] [ 0. 0. 0. 1. ]] SLAMing on 144.439072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:4.00, Z:1.66 [[ 0.28314657 -0.92351588 -0.25874011 13.36360269] [ 0.91237419 0.34253169 -0.2241548 3.99672385] [ 0.2956372 -0.17259913 0.93957873 1.65678912] [ 0. 0. 0. 1. ]] SLAMing on 144.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.41, Y:4.02, Z:1.67 [[ 0.26954641 -0.92758877 -0.25869635 13.41122044] [ 0.91729775 0.32908484 -0.22420528 4.02466549] [ 0.29310335 -0.17686785 0.93957873 1.67457601] [ 0. 0. 0. 1. ]] SLAMing on 144.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.46, Y:4.06, Z:1.69 [[ 0.26065244 -0.93013602 -0.25866444 13.4562946 ] [ 0.92039866 0.32028392 -0.22424209 4.05522705] [ 0.29142171 -0.17962516 0.93957873 1.69453963] [ 0. 0. 0. 1. ]] SLAMing on 144.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.50, Y:4.08, Z:1.72 [[ 0.24894438 -0.93334968 -0.25862148 13.50392389] [ 0.9243396 0.30869008 -0.22429163 4.08174649] [ 0.28917641 -0.18321793 0.93957873 1.71560537] [ 0. 0. 0. 1. ]] SLAMing on 144.679072329 meters Centerline goodness : 0.889278 with order 3 Centerline is valid? [True, False] Translation: X:13.24, Y:3.80, Z:1.56 [[ 0.25172082 -0.91382724 -0.31867917 13.24105489] [ 0.9378968 0.31155967 -0.15257842 3.80229157] [ 0.23871789 -0.26048101 0.93550169 1.55743097] [ 0. 0. 0. 1. ]] SLAMing on 144.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:12.98, Y:3.53, Z:1.41 [[ 0.25936234 -0.89357656 -0.3664043 12.97901448] [ 0.94547632 0.31231108 -0.09239222 3.53049637] [ 0.19699164 -0.32246353 0.92585721 1.407621 ] [ 0. 0. 0. 1. ]] SLAMing on 144.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.98, Y:3.59, Z:1.47 [[ 0.22027243 -0.94078586 -0.2576859 12.97795481] [ 0.93330225 0.28007553 -0.22473231 3.58857714] [ 0.2835965 -0.19099649 0.93973048 1.47475025] [ 0. 0. 0. 1. ]] SLAMing on 144.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.03, Y:3.62, Z:1.50 [[ 0.21231487 -0.94262654 -0.2576385 13.02593263] [ 0.93562338 0.27217614 -0.22478664 3.61589277] [ 0.2820129 -0.19332706 0.93973048 1.49659797] [ 0. 0. 0. 1. ]] SLAMing on 144.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:3.65, Z:1.52 [[ 0.20522155 -0.94420035 -0.25762341 13.07361042] [ 0.93763945 0.2651329 -0.22480394 3.64566371] [ 0.2805644 -0.19542325 0.93973048 1.51940838] [ 0. 0. 0. 1. ]] SLAMing on 144.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:3.67, Z:1.54 [[ 0.20211612 -0.94487281 -0.25761298 13.11881631] [ 0.93850338 0.26204813 -0.22481588 3.67425434] [ 0.27992941 -0.19633174 0.93973048 1.54263873] [ 0. 0. 0. 1. ]] SLAMing on 145.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.17, Y:3.70, Z:1.56 [[ 0.19710897 -0.94593425 -0.25759747 13.16980325] [ 0.93987408 0.25707303 -0.22483365 3.70221217] [ 0.27889921 -0.19779246 0.93973048 1.55994732] [ 0. 0. 0. 1. ]] SLAMing on 145.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.21, Y:3.73, Z:1.59 [[ 0.19551924 -0.94626662 -0.25758826 13.21373145] [ 0.94030232 0.25549292 -0.2248442 3.7326979 ] [ 0.27857454 -0.19824947 0.93973048 1.58848489] [ 0. 0. 0. 1. ]] SLAMing on 145.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:3.76, Z:1.60 [[ 0.19331295 -0.9467215 -0.25758202 13.26349571] [ 0.9408937 0.25330005 -0.22485136 3.76262488] [ 0.27811715 -0.19889062 0.93973048 1.60295518] [ 0. 0. 0. 1. ]] SLAMing on 145.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:3.79, Z:1.63 [[ 0.1940766 -0.94656779 -0.25757269 13.30768513] [ 0.94068664 0.25405849 -0.22486204 3.79365512] [ 0.27828569 -0.19865473 0.93973048 1.62932163] [ 0. 0. 0. 1. ]] SLAMing on 145.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:3.82, Z:1.65 [[ 0.19462728 -0.94646486 -0.25753543 13.35683587] [ 0.94052899 0.25460378 -0.22490471 3.82355817] [ 0.2784339 -0.19844695 0.93973048 1.6456577 ] [ 0. 0. 0. 1. ]] SLAMing on 145.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.40, Y:3.85, Z:1.67 [[ 0.1971877 -0.9459372 -0.25752635 13.40164464] [ 0.93983424 0.25714743 -0.22491511 3.8531154 ] [ 0.2789778 -0.19768159 0.93973048 1.67174424] [ 0. 0. 0. 1. ]] SLAMing on 145.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.45, Y:3.88, Z:1.69 [[ 0.19923032 -0.94552058 -0.25748418 13.44905959] [ 0.93926573 0.2591744 -0.22496337 3.88426103] [ 0.2794408 -0.19702655 0.93973048 1.68645039] [ 0. 0. 0. 1. ]] SLAMing on 145.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.50, Y:3.91, Z:1.71 [[ 0.20515669 -0.94425877 -0.25746087 13.4958323 ] [ 0.93761571 0.26505898 -0.22499005 3.91389013] [ 0.28069114 -0.19524114 0.93973048 1.71013275] [ 0. 0. 0. 1. ]] SLAMing on 145.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:3.94, Z:1.73 [[ 0.21091208 -0.94299524 -0.25744139 13.54150243] [ 0.93597662 0.27077153 -0.22501233 3.9440278 ] [ 0.28189336 -0.19350131 0.93973048 1.73052593] [ 0. 0. 0. 1. ]] SLAMing on 145.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.59, Y:3.98, Z:1.75 [[ 0.21544197 -0.94197408 -0.2574288 13.5860485 ] [ 0.93466117 0.27526618 -0.22502674 3.97652703] [ 0.2828308 -0.1921285 0.93973048 1.75164197] [ 0. 0. 0. 1. ]] SLAMing on 145.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:4.01, Z:1.77 [[ 0.22334246 -0.94014392 -0.25738599 13.63217666] [ 0.93230639 0.2831002 -0.22507569 4.00729099] [ 0.28446957 -0.18969365 0.93973049 1.7731738 ] [ 0. 0. 0. 1. ]] SLAMing on 145.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:4.04, Z:1.79 [[ 0.23197877 -0.93806225 -0.25734229 13.67800891] [ 0.92965245 0.29165866 -0.22512564 4.03823317] [ 0.28623798 -0.18701452 0.93973049 1.79284783] [ 0. 0. 0. 1. ]] SLAMing on 145.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:4.07, Z:1.81 [[ 0.23856772 -0.93642023 -0.25729866 13.72195283] [ 0.92756808 0.2981836 -0.2251755 4.07083836] [ 0.28758113 -0.18494242 0.93973049 1.81227858] [ 0. 0. 0. 1. ]] SLAMing on 145.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.77, Y:4.10, Z:1.84 [[ 0.2483805 -0.9338696 -0.25728329 13.76616473] [ 0.9243843 0.30789892 -0.22519307 4.10035881] [ 0.28951821 -0.18189507 0.93973049 1.83646361] [ 0. 0. 0. 1. ]] SLAMing on 145.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.81, Y:4.13, Z:1.86 [[ 0.25846691 -0.93114244 -0.25723262 13.81193682] [ 0.92098734 0.31787472 -0.22525093 4.13129023] [ 0.29150844 -0.17868808 0.93973049 1.85726565] [ 0. 0. 0. 1. ]] SLAMing on 145.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.85, Y:4.17, Z:1.88 [[ 0.26246617 -0.93003585 -0.25718635 13.85459895] [ 0.9196013 0.32182553 -0.22530374 4.16503769] [ 0.29230969 -0.1773743 0.93973049 1.87577966] [ 0. 0. 0. 1. ]] SLAMing on 145.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:4.20, Z:1.90 [[ 0.27391974 -0.92673169 -0.25716989 13.899642 ] [ 0.91555703 0.33314424 -0.22532254 4.19650118] [ 0.2944882 -0.17373341 0.93973049 1.89871658] [ 0. 0. 0. 1. ]] SLAMing on 146.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.94, Y:4.23, Z:1.92 [[ 0.28205804 -0.92430027 -0.25712307 13.94407955] [ 0.91258087 0.34117715 -0.22537595 4.2295241 ] [ 0.29603957 -0.1710765 0.9397305 1.91925065] [ 0. 0. 0. 1. ]] SLAMing on 146.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:4.26, Z:1.94 [[ 0.29395057 -0.92060045 -0.25707562 13.98921581] [ 0.90809521 0.35290845 -0.22543006 4.26092166] [ 0.29825518 -0.16718384 0.9397305 1.93850307] [ 0. 0. 0. 1. ]] SLAMing on 146.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.03, Y:4.29, Z:1.96 [[ 0.30526177 -0.91691659 -0.25705879 14.03451613] [ 0.90367776 0.36405927 -0.22544925 4.29280813] [ 0.30030279 -0.16347728 0.9397305 1.95827392] [ 0. 0. 0. 1. ]] SLAMing on 146.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:4.33, Z:1.98 [[ 0.31304179 -0.91430303 -0.25701128 14.07829487] [ 0.90054054 0.37171893 -0.2255034 4.32553245] [ 0.3017144 -0.16085709 0.9397305 1.97804387] [ 0. 0. 0. 1. ]] SLAMing on 146.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.12, Y:4.36, Z:2.00 [[ 0.3250279 -0.91011579 -0.25699438 14.12333724] [ 0.89557482 0.38351698 -0.22552266 4.35693786] [ 0.30381344 -0.15685654 0.9397305 2.0009563 ] [ 0. 0. 0. 1. ]] SLAMing on 146.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:4.39, Z:2.02 [[ 0.33654376 -0.90593444 -0.2569457 14.16879895] [ 0.89062793 0.39483719 -0.22557812 4.38817285] [ 0.3058107 -0.1529261 0.93973051 2.01976698] [ 0. 0. 0. 1. ]] SLAMing on 146.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.21, Y:4.42, Z:2.04 [[ 0.34449976 -0.90294392 -0.25692837 14.21254142] [ 0.88711638 0.40265387 -0.22559785 4.42100772] [ 0.30715541 -0.15020696 0.93973051 2.04021013] [ 0. 0. 0. 1. ]] SLAMing on 146.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:4.45, Z:2.07 [[ 0.35690499 -0.89812838 -0.25687399 14.25702007] [ 0.88147361 0.41482761 -0.22565976 4.45196559] [ 0.30922985 -0.14588855 0.93973051 2.06540698] [ 0. 0. 0. 1. ]] SLAMing on 146.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:4.49, Z:2.08 [[ 0.36393717 -0.89531422 -0.25683102 14.30047808] [ 0.87818395 0.42172095 -0.22570865 4.48605405] [ 0.31039118 -0.14340112 0.93973051 2.08323067] [ 0. 0. 0. 1. ]] SLAMing on 146.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.35, Y:4.52, Z:2.11 [[ 0.37597813 -0.89034033 -0.25677723 14.3455399 ] [ 0.87240521 0.43351718 -0.22576982 4.51729132] [ 0.31232932 -0.13912928 0.93973051 2.10508903] [ 0. 0. 0. 1. ]] SLAMing on 146.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:4.55, Z:2.12 [[ 0.38666864 -0.88575821 -0.25674841 14.3905567 ] [ 0.86711727 0.44398292 -0.2258026 4.55021816] [ 0.31399842 -0.13532019 0.93973051 2.12231182] [ 0. 0. 0. 1. ]] SLAMing on 146.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.43, Y:4.58, Z:2.14 [[ 0.39767228 -0.88088807 -0.25669625 14.43484813] [ 0.86150855 0.45474105 -0.22586188 4.58089603] [ 0.31568936 -0.13132701 0.93973052 2.14408837] [ 0. 0. 0. 1. ]] SLAMing on 146.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:4.61, Z:2.16 [[ 0.40512767 -0.87749992 -0.25664267 14.47792541] [ 0.85761049 0.46202073 -0.22592275 4.61406822] [ 0.31682143 -0.12857189 0.93973052 2.16456196] [ 0. 0. 0. 1. ]] SLAMing on 146.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.52, Y:4.65, Z:2.19 [[ 0.41617446 -0.87233126 -0.25658719 14.52222564] [ 0.85169762 0.47280187 -0.22598574 4.64555779] [ 0.31844933 -0.1244852 0.93973052 2.18516071] [ 0. 0. 0. 1. ]] SLAMing on 146.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:4.68, Z:2.20 [[ 0.42637573 -0.86740772 -0.25652989 14.5664441 ] [ 0.8460832 0.48274659 -0.22605077 4.6772231 ] [ 0.31991712 -0.12066306 0.93973053 2.20368946] [ 0. 0. 0. 1. ]] SLAMing on 146.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:4.71, Z:2.23 [[ 0.43344218 -0.8639135 -0.25647873 14.60910589] [ 0.84210443 0.48962735 -0.2261088 4.71052992] [ 0.32091745 -0.11797678 0.93973053 2.22540273] [ 0. 0. 0. 1. ]] SLAMing on 147.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.65, Y:4.74, Z:2.25 [[ 0.44420797 -0.85844487 -0.2564209 14.65259479] [ 0.83590693 0.50010475 -0.22617437 4.74286975] [ 0.32239554 -0.11387554 0.93973053 2.24630839] [ 0. 0. 0. 1. ]] SLAMing on 147.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.70, Y:4.78, Z:2.27 [[ 0.4545427 -0.85303495 -0.25636365 14.69614301] [ 0.82979584 0.51015161 -0.22623925 4.77540548] [ 0.32377431 -0.10989409 0.93973054 2.26735362] [ 0. 0. 0. 1. ]] SLAMing on 147.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.74, Y:4.81, Z:2.29 [[ 0.46145029 -0.84933582 -0.25630509 14.73884615] [ 0.82561792 0.51685669 -0.22630557 4.80932576] [ 0.32468243 -0.10718131 0.93973054 2.28807891] [ 0. 0. 0. 1. ]] SLAMing on 147.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.78, Y:4.84, Z:2.31 [[ 0.4714979 -0.84381762 -0.2562451 14.78222654] [ 0.81941503 0.52660617 -0.22637348 4.84195982] [ 0.32595818 -0.10323647 0.93973055 2.30851214] [ 0. 0. 0. 1. ]] SLAMing on 147.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.83, Y:4.87, Z:2.33 [[ 0.48209924 -0.8378245 -0.25618436 14.8255622 ] [ 0.8127001 0.53688218 -0.2264422 4.87405189] [ 0.32725964 -0.09903344 0.93973055 2.32733546] [ 0. 0. 0. 1. ]] SLAMing on 147.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.87, Y:4.91, Z:2.35 [[ 0.49158597 -0.83230478 -0.25614837 14.86806531] [ 0.80654261 0.5460719 -0.2264829 4.90737495] [ 0.32837823 -0.09525876 0.93973055 2.34794881] [ 0. 0. 0. 1. ]] SLAMing on 147.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:4.94, Z:2.37 [[ 0.49812895 -0.82842374 -0.25608916 14.90949012] [ 0.80220512 0.55239671 -0.22654984 4.94091914] [ 0.32914207 -0.092585 0.93973055 2.36756755] [ 0. 0. 0. 1. ]] SLAMing on 147.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.95, Y:4.97, Z:2.39 [[ 0.50730216 -0.82285748 -0.25602751 14.95193158] [ 0.79600867 0.56126091 -0.22661948 4.97468913] [ 0.33017377 -0.08883557 0.93973056 2.38842809] [ 0. 0. 0. 1. ]] SLAMing on 147.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:5.01, Z:2.41 [[ 0.51611974 -0.81737436 -0.2559679 14.99513493] [ 0.78991922 0.56977252 -0.22668679 5.00799618] [ 0.33113145 -0.08519644 0.93973056 2.40900136] [ 0. 0. 0. 1. ]] SLAMing on 147.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:5.04, Z:2.43 [[ 0.52229493 -0.81346168 -0.25590644 15.03781753] [ 0.78557254 0.5757234 -0.22675617 5.04206167] [ 0.33178877 -0.08259947 0.93973057 2.42621649] [ 0. 0. 0. 1. ]] SLAMing on 147.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:5.08, Z:2.45 [[ 0.53069773 -0.80801849 -0.25586331 15.08034447] [ 0.77955726 0.58382364 -0.22680482 5.07567237] [ 0.33264154 -0.07909529 0.93973057 2.44672491] [ 0. 0. 0. 1. ]] SLAMing on 147.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.12, Y:5.11, Z:2.47 [[ 0.53730135 -0.80366159 -0.25580325 15.12177321] [ 0.77473847 0.59017722 -0.22687254 5.11012731] [ 0.333298 -0.0762817 0.93973057 2.46883612] [ 0. 0. 0. 1. ]] SLAMing on 147.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:5.14, Z:2.49 [[ 0.54247852 -0.80019417 -0.25574666 15.16322848] [ 0.7709045 0.59515222 -0.22693631 5.14450643] [ 0.33380131 -0.07404818 0.93973058 2.48999412] [ 0. 0. 0. 1. ]] SLAMing on 147.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:5.18, Z:2.51 [[ 0.54967097 -0.79529068 -0.25568449 15.20571201] [ 0.76549913 0.60206245 -0.22700635 5.1785345 ] [ 0.33447406 -0.07094745 0.93973058 2.51049578] [ 0. 0. 0. 1. ]] SLAMing on 147.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:5.21, Z:2.53 [[ 0.55159731 -0.79397579 -0.25562249 15.24606178] [ 0.7640293 0.60390037 -0.22707613 5.21354309] [ 0.33466347 -0.07004849 0.93973058 2.53 ] [ 0. 0. 0. 1. ]] SLAMing on 147.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.29, Y:5.25, Z:2.55 [[ 0.55845132 -0.78918454 -0.25557755 15.28947501] [ 0.75876611 0.61048133 -0.22712671 5.24861594] [ 0.33527021 -0.06708437 0.93973059 2.54837989] [ 0. 0. 0. 1. ]] SLAMing on 147.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.33, Y:5.28, Z:2.57 [[ 0.5644142 -0.78494946 -0.25552096 15.33158283] [ 0.75411243 0.6161972 -0.22719036 5.28226957] [ 0.33578425 -0.06446207 0.93973059 2.56803453] [ 0. 0. 0. 1. ]] SLAMing on 148.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:5.32, Z:2.59 [[ 0.56804992 -0.78233593 -0.2554795 15.37363558] [ 0.75124051 0.61967818 -0.22723697 5.31770345] [ 0.33609072 -0.06284461 0.93973059 2.58843624] [ 0. 0. 0. 1. ]] SLAMing on 148.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.41, Y:5.35, Z:2.61 [[ 0.57335538 -0.77847481 -0.25542238 15.41455298] [ 0.74700381 0.62475555 -0.22730117 5.35165492] [ 0.33652478 -0.06047714 0.93973059 2.61003514] [ 0. 0. 0. 1. ]] SLAMing on 148.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.46, Y:5.39, Z:2.63 [[ 0.57904968 -0.77426901 -0.25536046 15.4569329 ] [ 0.74239458 0.63020064 -0.2273707 5.38589063] [ 0.33697442 -0.05791929 0.9397306 2.62961486] [ 0. 0. 0. 1. ]] SLAMing on 148.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:5.42, Z:2.65 [[ 0.58266602 -0.77157243 -0.25529647 15.49779346] [ 0.73943092 0.63364959 -0.22744254 5.42041218] [ 0.33725689 -0.05625106 0.9397306 2.64944819] [ 0. 0. 0. 1. ]] SLAMing on 148.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:5.46, Z:2.67 [[ 0.587543 -0.76787853 -0.25525633 15.53868838] [ 0.7353971 0.63831067 -0.22748757 5.45594199] [ 0.33761566 -0.05405604 0.9397306 2.67231015] [ 0. 0. 0. 1. ]] SLAMing on 148.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.58, Y:5.49, Z:2.69 [[ 0.59164807 -0.76473985 -0.25519702 15.58064186] [ 0.73196113 0.6422243 -0.22755409 5.49214664] [ 0.33791341 -0.05216237 0.93973061 2.68994061] [ 0. 0. 0. 1. ]] SLAMing on 148.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:5.53, Z:2.71 [[ 0.59664584 -0.7608678 -0.25513514 15.62214011] [ 0.72773163 0.64698859 -0.22762346 5.52705901] [ 0.33826088 -0.04985932 0.93973061 2.70985427] [ 0. 0. 0. 1. ]] SLAMing on 148.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:5.56, Z:2.73 [[ 0.60100561 -0.75745046 -0.2550707 15.6625912 ] [ 0.72399797 0.65113872 -0.22769565 5.56176929] [ 0.33855458 -0.04782431 0.93973062 2.73097725] [ 0. 0. 0. 1. ]] SLAMing on 148.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.70, Y:5.60, Z:2.75 [[ 0.60436574 -0.75479323 -0.25500829 15.70383149] [ 0.72109151 0.65433165 -0.22776552 5.59696359] [ 0.33877587 -0.04623064 0.93973062 2.75045418] [ 0. 0. 0. 1. ]] SLAMing on 148.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.75, Y:5.63, Z:2.77 [[ 0.60889759 -0.75116417 -0.25494336 15.74568273] [ 0.71713462 0.6586408 -0.22783818 5.63203358] [ 0.33905997 -0.04409859 0.93973063 2.7708191 ] [ 0. 0. 0. 1. ]] SLAMing on 148.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:5.67, Z:2.79 [[ 0.61385729 -0.74713923 -0.25487684 15.78623628] [ 0.71275287 0.66335451 -0.22791257 5.66645266] [ 0.33935612 -0.0417584 0.93973063 2.79242107] [ 0. 0. 0. 1. ]] SLAMing on 148.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.83, Y:5.70, Z:2.81 [[ 0.616718 -0.74479976 -0.25481805 15.82606843] [ 0.71019897 0.66606556 -0.22797829 5.70133081] [ 0.3395237 -0.0403732 0.93973063 2.81291557] [ 0. 0. 0. 1. ]] SLAMing on 148.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.87, Y:5.74, Z:2.83 [[ 0.62039299 -0.74176426 -0.25475149 15.86754183] [ 0.70689188 0.669549 -0.22805264 5.73682932] [ 0.3397299 -0.0385995 0.93973064 2.8329436 ] [ 0. 0. 0. 1. ]] SLAMing on 148.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:5.77, Z:2.85 [[ 0.6239749 -0.73877623 -0.25468609 15.90881461] [ 0.703639 0.67294193 -0.22812566 5.77216741] [ 0.33992276 -0.03686238 0.93973064 2.85254878] [ 0. 0. 0. 1. ]] SLAMing on 148.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.95, Y:5.81, Z:2.87 [[ 0.62605648 -0.73703585 -0.25462021 15.94987879] [ 0.70173309 0.6749043 -0.22819917 5.80776641] [ 0.34003524 -0.03580986 0.93973065 2.87273062] [ 0. 0. 0. 1. ]] SLAMing on 148.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:5.84, Z:2.89 [[ 0.62959166 -0.73404144 -0.25455354 15.99110098] [ 0.69847658 0.67824898 -0.22827351 5.84242123] [ 0.3402129 -0.03408059 0.93973065 2.89379403] [ 0. 0. 0. 1. ]] SLAMing on 148.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:5.88, Z:2.92 [[ 0.63251788 -0.73154441 -0.25448755 16.03221729] [ 0.69575818 0.68101261 -0.22834706 5.876748 ] [ 0.34035525 -0.0326282 0.93973066 2.91500408] [ 0. 0. 0. 1. ]] SLAMing on 149.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.07, Y:5.91, Z:2.93 [[ 0.63435258 -0.72997757 -0.25442005 16.07338076] [ 0.6940418 0.6827366 -0.22842224 5.91217019] [ 0.34044499 -0.03167791 0.93973066 2.93303023] [ 0. 0. 0. 1. ]] SLAMing on 149.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.11, Y:5.95, Z:2.95 [[ 0.63718899 -0.72752392 -0.25436025 16.11392907] [ 0.69137549 0.68541433 -0.22848881 5.94641876] [ 0.34057324 -0.03026789 0.93973067 2.95243442] [ 0. 0. 0. 1. ]] SLAMing on 149.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:5.98, Z:2.97 [[ 0.63922671 -0.72575237 -0.25430832 16.1552048 ] [ 0.68944751 0.6873344 -0.2285466 5.98193933] [ 0.34066309 -0.02923915 0.93973067 2.97263576] [ 0. 0. 0. 1. ]] SLAMing on 149.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.20, Y:6.02, Z:2.99 [[ 0.64198248 -0.72333813 -0.25424483 16.19618579] [ 0.6868246 0.68993198 -0.22861721 6.01644529] [ 0.34077919 -0.02785336 0.93973067 2.99435928] [ 0. 0. 0. 1. ]] SLAMing on 149.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.24, Y:6.05, Z:3.01 [[ 0.64416644 -0.72141771 -0.25417727 16.23761737] [ 0.68473184 0.6919842 -0.22869231 6.0516116 ] [ 0.34086933 -0.02672736 0.93973068 3.01151505] [ 0. 0. 0. 1. ]] SLAMing on 149.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:6.09, Z:3.03 [[ 0.64581998 -0.71995816 -0.25411964 16.27884541] [ 0.68313925 0.69353537 -0.22875632 6.08562003] [ 0.34093594 -0.0258637 0.93973068 3.0349025 ] [ 0. 0. 0. 1. ]] SLAMing on 149.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.32, Y:6.12, Z:3.05 [[ 0.64708742 -0.71884323 -0.25405173 16.32057208] [ 0.68191276 0.69471651 -0.22883172 6.12093682] [ 0.34098807 -0.02516699 0.93973069 3.05469792] [ 0. 0. 0. 1. ]] SLAMing on 149.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:6.16, Z:3.07 [[ 0.64902556 -0.71711767 -0.25398437 16.36181572] [ 0.68003152 0.69653353 -0.22890646 6.15600581] [ 0.3410615 -0.02415124 0.93973069 3.07312404] [ 0. 0. 0. 1. ]] SLAMing on 149.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:6.19, Z:3.09 [[ 0.65014997 -0.71611951 -0.25392493 16.40327245] [ 0.67893487 0.69758088 -0.22897239 6.19063219] [ 0.34110477 -0.0235321 0.93973069 3.0941602 ] [ 0. 0. 0. 1. ]] SLAMing on 149.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.45, Y:6.22, Z:3.11 [[ 0.65157666 -0.71484578 -0.25385699 16.44526367] [ 0.67753928 0.69891178 -0.22904769 6.22370473] [ 0.34115741 -0.02275596 0.9397307 3.11489866] [ 0. 0. 0. 1. ]] SLAMing on 149.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:6.26, Z:3.13 [[ 0.65266611 -0.71387299 -0.25379577 16.48739276] [ 0.67646975 0.69992482 -0.2291155 6.25876476] [ 0.34119733 -0.02214924 0.9397307 3.13495935] [ 0. 0. 0. 1. ]] SLAMing on 149.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.53, Y:6.29, Z:3.15 [[ 0.65348187 -0.71314966 -0.2537302 16.52933383] [ 0.67566611 0.7006769 -0.2291881 6.29363893] [ 0.3412283 -0.02166663 0.93973071 3.15320346] [ 0. 0. 0. 1. ]] SLAMing on 149.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.57, Y:6.33, Z:3.17 [[ 0.65366004 -0.71300327 -0.25368266 16.57101074] [ 0.67548888 0.70083056 -0.22924071 6.32833014] [ 0.34123793 -0.02151432 0.93973071 3.17260187] [ 0. 0. 0. 1. ]] SLAMing on 149.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:6.36, Z:3.19 [[ 0.65415598 -0.71257113 -0.25361848 16.61288877] [ 0.67499825 0.70127991 -0.22931169 6.36205487] [ 0.34125844 -0.02118642 0.93973071 3.19392268] [ 0. 0. 0. 1. ]] SLAMing on 149.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:6.40, Z:3.21 [[ 0.65461748 -0.71216988 -0.25355477 16.65349429] [ 0.67454101 0.70169671 -0.22938212 6.39590444] [ 0.34127758 -0.02087554 0.93973072 3.21413389] [ 0. 0. 0. 1. ]] SLAMing on 149.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:6.43, Z:3.23 [[ 0.65482048 -0.71200689 -0.25348831 16.69617764] [ 0.67433806 0.70186775 -0.22945555 6.43000694] [ 0.3412892 -0.02068462 0.93973072 3.23306188] [ 0. 0. 0. 1. ]] SLAMing on 150.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.74, Y:6.46, Z:3.25 [[ 0.65520293 -0.71167714 -0.25342606 16.73828323] [ 0.67395821 0.70221004 -0.22952427 6.46302023] [ 0.3413055 -0.0204136 0.93973073 3.25180116] [ 0. 0. 0. 1. ]] SLAMing on 150.079072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:16.78, Y:6.50, Z:3.27 [[ 0.65551556 -0.71141238 -0.25336098 16.77989251] [ 0.67364687 0.70248525 -0.2295961 6.49732154] [ 0.34131985 -0.02017202 0.93973073 3.27251656] [ 0. 0. 0. 1. ]] SLAMing on 150.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.82, Y:6.53, Z:3.29 [[ 0.65536854 -0.71157266 -0.2532912 16.82218151] [ 0.67378908 0.70232368 -0.22967306 6.53080792] [ 0.34132147 -0.02014435 0.93973074 3.29330979] [ 0. 0. 0. 1. ]] SLAMing on 150.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.86, Y:6.57, Z:3.31 [[ 0.65544795 -0.71151163 -0.25325716 16.86372136] [ 0.67370927 0.70238797 -0.22971058 6.56530494] [ 0.34132653 -0.02005837 0.93973074 3.31351388] [ 0. 0. 0. 1. ]] SLAMing on 150.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.91, Y:6.60, Z:3.34 [[ 0.65555312 -0.71143848 -0.25319044 16.90569941] [ 0.67360266 0.70246617 -0.2297841 6.59889048] [ 0.34133497 -0.01991408 0.93973074 3.33638902] [ 0. 0. 0. 1. ]] SLAMing on 150.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.95, Y:6.63, Z:3.35 [[ 0.65638854 -0.71069181 -0.25312297 16.94900864] [ 0.67277413 0.70323544 -0.22985841 6.6337004 ] [ 0.34136353 -0.01941816 0.93973075 3.35330745] [ 0. 0. 0. 1. ]] SLAMing on 150.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.99, Y:6.67, Z:3.37 [[ 0.65673419 -0.71039549 -0.2530582 16.99021633] [ 0.67242935 0.70354183 -0.22992969 6.66909461] [ 0.34137804 -0.01916107 0.93973075 3.37475921] [ 0. 0. 0. 1. ]] SLAMing on 150.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:6.70, Z:3.40 [[ 0.6575118 -0.70970017 -0.25298993 17.03174319] [ 0.67165578 0.70425585 -0.23000478 6.70336039] [ 0.34140407 -0.01869129 0.93973076 3.39709951] [ 0. 0. 0. 1. ]] SLAMing on 150.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.07, Y:6.74, Z:3.42 [[ 0.65846668 -0.70883783 -0.25292404 17.07430375] [ 0.67070453 0.70513822 -0.23007722 6.73824414] [ 0.34143384 -0.01813911 0.93973076 3.41698469] [ 0. 0. 0. 1. ]] SLAMing on 150.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.12, Y:6.77, Z:3.44 [[ 0.65946916 -0.70793013 -0.25285443 17.1163548 ] [ 0.66970339 0.70606419 -0.2301537 6.77350761] [ 0.3414642 -0.0175582 0.93973077 3.4359451 ] [ 0. 0. 0. 1. ]] SLAMing on 150.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:6.81, Z:3.45 [[ 6.60354557e-01 -7.07129024e-01 -2.52785290e-01 1.71583248e+01] [ 6.68816816e-01 7.06879333e-01 -2.30229616e-01 6.80764068e+00] [ 3.41490741e-01 -1.70338764e-02 9.39730770e-01 3.45436171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:6.84, Z:3.48 [[ 6.60408580e-01 -7.07105242e-01 -2.52710673e-01 1.71994405e+01] [ 6.68760163e-01 7.06906260e-01 -2.30311494e-01 6.84152537e+00] [ 3.41497221e-01 -1.69031438e-02 9.39730776e-01 3.47747618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.24, Y:6.88, Z:3.49 [[ 6.60930736e-01 -7.06632878e-01 -2.52666850e-01 1.72425147e+01] [ 6.68236266e-01 7.07385868e-01 -2.30359561e-01 6.87785283e+00] [ 3.41512599e-01 -1.65894380e-02 9.39730778e-01 3.49395921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:6.91, Z:3.52 [[ 6.60659719e-01 -7.06910472e-01 -2.52599129e-01 1.72830009e+01] [ 6.68505113e-01 7.07107614e-01 -2.30433799e-01 6.91034425e+00] [ 3.41510833e-01 -1.66254803e-02 9.39730783e-01 3.51928145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:6.94, Z:3.54 [[ 6.60660579e-01 -7.06933335e-01 -2.52532889e-01 1.73250801e+01] [ 6.68501958e-01 7.07086943e-01 -2.30506371e-01 6.94419292e+00] [ 3.41515346e-01 -1.65322585e-02 9.39730787e-01 3.54007486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.37, Y:6.98, Z:3.56 [[ 6.60226922e-01 -7.07363284e-01 -2.52463057e-01 1.73670201e+01] [ 6.68933025e-01 7.06654205e-01 -2.30582832e-01 6.97986925e+00] [ 3.41509910e-01 -1.66438825e-02 9.39730792e-01 3.55883698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:7.01, Z:3.58 [[ 6.60300334e-01 -7.07319987e-01 -2.52392363e-01 1.74094905e+01] [ 6.68857237e-01 7.06700696e-01 -2.30660189e-01 7.01365409e+00] [ 3.41516421e-01 -1.65094586e-02 9.39730798e-01 3.57729982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:7.05, Z:3.60 [[ 6.59601467e-01 -7.07998200e-01 -2.52318160e-01 1.74513828e+01] [ 6.69552247e-01 7.06015740e-01 -2.30741335e-01 7.04670405e+00] [ 3.41505042e-01 -1.67428678e-02 9.39730803e-01 3.59842532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.49, Y:7.08, Z:3.62 [[ 6.59146861e-01 -7.08447078e-01 -2.52246215e-01 1.74930060e+01] [ 6.70002773e-01 7.05562492e-01 -2.30819960e-01 7.08120506e+00] [ 3.41499195e-01 -1.68614114e-02 9.39730809e-01 3.61930145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:7.12, Z:3.64 [[ 6.58350729e-01 -7.09211793e-01 -2.52176426e-01 1.75352471e+01] [ 6.70792330e-01 7.04786919e-01 -2.30896185e-01 7.11544547e+00] [ 3.41484943e-01 -1.71473406e-02 9.39730814e-01 3.63868869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:7.15, Z:3.66 [[ 6.57465617e-01 -7.10057099e-01 -2.52106879e-01 1.75776787e+01] [ 6.71668359e-01 7.03927202e-01 -2.30972098e-01 7.14904577e+00] [ 3.41468268e-01 -1.74760004e-02 9.39730819e-01 3.65610769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.62, Y:7.18, Z:3.67 [[ 6.56965988e-01 -7.10545327e-01 -2.52033786e-01 1.76202121e+01] [ 6.72160669e-01 7.03430939e-01 -2.31051832e-01 7.18436093e+00] [ 3.41461162e-01 -1.76140029e-02 9.39730824e-01 3.67498029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:7.22, Z:3.70 [[ 0.65586064 -0.71159061 -0.25196353 17.66232866] [ 0.67325072 0.70236253 -0.23112843 7.21776443] [ 0.34143856 -0.01804658 0.93973083 3.69616 ] [ 0. 0. 0. 1. ]] SLAMing on 151.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:7.25, Z:3.72 [[ 0.65468716 -0.7126933 -0.25189876 17.70412944] [ 0.6744047 0.70123129 -0.231199 7.25230045] [ 0.34141327 -0.01851869 0.93973083 3.71681634] [ 0. 0. 0. 1. ]] SLAMing on 151.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:7.28, Z:3.74 [[ 0.6523229 -0.71488329 -0.25182676 17.7462219 ] [ 0.6767208 0.69897047 -0.2312774 7.2841178 ] [ 0.34135582 -0.01954886 0.93973084 3.73971253] [ 0. 0. 0. 1. ]] SLAMing on 151.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.79, Y:7.32, Z:3.76 [[ 0.65073011 -0.71635599 -0.25176263 17.78979465] [ 0.67827221 0.69744196 -0.23134718 7.31830001] [ 0.34131676 -0.02021902 0.93973084 3.75756528] [ 0. 0. 0. 1. ]] SLAMing on 151.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.83, Y:7.35, Z:3.78 [[ 0.64889201 -0.71804672 -0.25169041 17.83085293] [ 0.68005435 0.69567824 -0.23142573 7.3524176 ] [ 0.34127003 -0.02099285 0.93973085 3.77907533] [ 0. 0. 0. 1. ]] SLAMing on 151.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.87, Y:7.39, Z:3.80 [[ 0.64694091 -0.71983182 -0.25161401 17.8745311 ] [ 0.68193644 0.69380572 -0.23150877 7.38566759] [ 0.34121862 -0.02181227 0.93973085 3.79811608] [ 0. 0. 0. 1. ]] SLAMing on 151.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.92, Y:7.42, Z:3.82 [[ 0.64530704 -0.72132112 -0.25154456 17.91630723] [ 0.68350469 0.69223558 -0.23158421 7.42034807] [ 0.34117467 -0.02248897 0.93973086 3.81819431] [ 0. 0. 0. 1. ]] SLAMing on 151.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.96, Y:7.46, Z:3.84 [[ 0.6439659 -0.72254315 -0.25147429 17.95852731] [ 0.68478621 0.6909423 -0.23166049 7.4551401 ] [ 0.34113893 -0.02302467 0.93973086 3.83831977] [ 0. 0. 0. 1. ]] SLAMing on 151.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.00, Y:7.49, Z:3.86 [[ 0.6419017 -0.72440176 -0.25140464 18.0018896 ] [ 0.68675145 0.6889636 -0.23173606 7.48800448] [ 0.34107865 -0.02390073 0.93973087 3.85659713] [ 0. 0. 0. 1. ]] SLAMing on 151.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.04, Y:7.52, Z:3.88 [[ 0.64055683 -0.72561641 -0.251332 18.04432429] [ 0.6880247 0.68766554 -0.23181481 7.52279654] [ 0.34104099 -0.02443207 0.93973087 3.87654077] [ 0. 0. 0. 1. ]] SLAMing on 151.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.09, Y:7.56, Z:3.90 [[ 0.63940587 -0.72665447 -0.25126363 18.08701486] [ 0.6891104 0.68655254 -0.2318889 7.55616376] [ 0.34100879 -0.02487726 0.93973088 3.89659365] [ 0. 0. 0. 1. ]] SLAMing on 151.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:7.59, Z:3.92 [[ 0.63848159 -0.72749134 -0.25119238 18.12975256] [ 0.68997899 0.68565351 -0.23196606 7.58900846] [ 0.34098424 -0.0252114 0.93973088 3.91687551] [ 0. 0. 0. 1. ]] SLAMing on 152.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.17, Y:7.62, Z:3.94 [[ 0.63777675 -0.72813491 -0.25111826 18.17161142] [ 0.69063889 0.68496164 -0.23204627 7.62325637] [ 0.34096737 -0.02543832 0.93973089 3.93773741] [ 0. 0. 0. 1. ]] SLAMing on 152.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:7.66, Z:3.96 [[ 0.63786568 -0.72807981 -0.2510521 18.21566715] [ 0.69055184 0.68502516 -0.23211784 7.65761963] [ 0.34097731 -0.02530449 0.93973089 3.95509251] [ 0. 0. 0. 1. ]] SLAMing on 152.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:7.69, Z:3.98 [[ 0.63612831 -0.72962209 -0.25098282 18.25791124] [ 0.69217917 0.68335535 -0.23219272 7.69141792] [ 0.34092339 -0.02602072 0.9397309 3.97627977] [ 0. 0. 0. 1. ]] SLAMing on 152.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.30, Y:7.73, Z:4.00 [[ 0.63544835 -0.73023813 -0.25091368 18.29984839] [ 0.69281182 0.68268853 -0.23226741 7.72609983] [ 0.34090641 -0.02624202 0.9397309 3.99633694] [ 0. 0. 0. 1. ]] SLAMing on 152.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:7.76, Z:4.02 [[ 0.63445667 -0.73112352 -0.25084484 18.3431501 ] [ 0.69373406 0.68172602 -0.23234174 7.75868907] [ 0.34087797 -0.02660884 0.93973091 4.01822785] [ 0. 0. 0. 1. ]] SLAMing on 152.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:7.79, Z:4.04 [[ 0.63375689 -0.7317537 -0.25077625 18.38598554] [ 0.69438228 0.68104051 -0.23241575 7.79194543] [ 0.34085987 -0.0268395 0.93973091 4.03856936] [ 0. 0. 0. 1. ]] SLAMing on 152.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.43, Y:7.83, Z:4.06 [[ 0.63367685 -0.7318466 -0.2507074 18.4294895 ] [ 0.69445307 0.68094297 -0.23249 7.82568717] [ 0.34086446 -0.02678099 0.93973092 4.05785879] [ 0. 0. 0. 1. ]] SLAMing on 152.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:7.86, Z:4.08 [[ 0.63350305 -0.7320205 -0.25063894 18.47203025] [ 0.69461108 0.68075659 -0.23256378 7.85970746] [ 0.34086557 -0.02676672 0.93973092 4.07713164] [ 0. 0. 0. 1. ]] SLAMing on 152.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.52, Y:7.89, Z:4.10 [[ 0.63292142 -0.73254655 -0.25057141 18.5152934 ] [ 0.69514794 0.6801835 -0.23263652 7.89422551] [ 0.34085162 -0.02694356 0.93973093 4.09645207] [ 0. 0. 0. 1. ]] SLAMing on 152.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:7.93, Z:4.12 [[ 0.63308756 -0.73242639 -0.25050293 18.55657645] [ 0.69498997 0.6803197 -0.23271024 7.92886171] [ 0.3408652 -0.02677106 0.93973093 4.11604284] [ 0. 0. 0. 1. ]] SLAMing on 152.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.60, Y:7.96, Z:4.14 [[ 0.63333271 -0.73223897 -0.25043117 18.59975492] [ 0.69475838 0.6805298 -0.23278744 7.96177049] [ 0.34088191 -0.02655725 0.93973094 4.13592274] [ 0. 0. 0. 1. ]] SLAMing on 152.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:8.00, Z:4.16 [[ 0.63317303 -0.73240298 -0.25035531 18.642351 ] [ 0.69490273 0.68035449 -0.232869 7.9954787 ] [ 0.34088431 -0.02652622 0.93973094 4.15547917] [ 0. 0. 0. 1. ]] SLAMing on 152.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:8.03, Z:4.17 [[ 0.63468222 -0.7311215 -0.25027953 18.68658193] [ 0.69349416 0.68176238 -0.23295042 8.02903945] [ 0.34094623 -0.0257179 0.93973095 4.17248592] [ 0. 0. 0. 1. ]] SLAMing on 152.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.73, Y:8.06, Z:4.20 [[ 0.63442434 -0.73136958 -0.25020852 18.7268203 ] [ 0.6937309 0.68149542 -0.23302667 8.06261278] [ 0.34094458 -0.02573959 0.93973096 4.19515125] [ 0. 0. 0. 1. ]] SLAMing on 152.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.77, Y:8.10, Z:4.22 [[ 0.63586495 -0.73014297 -0.25013398 18.76962275] [ 0.6923823 0.68283822 -0.23310666 8.09644629] [ 0.34100223 -0.02496398 0.93973096 4.21561664] [ 0. 0. 0. 1. ]] SLAMing on 152.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:8.13, Z:4.23 [[ 0.63718856 -0.72901277 -0.25006223 18.81141031] [ 0.69113884 0.68407055 -0.2331836 8.13136066] [ 0.34105403 -0.0242458 0.93973097 4.23198605] [ 0. 0. 0. 1. ]] SLAMing on 153.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.85, Y:8.16, Z:4.26 [[ 0.63754427 -0.72872759 -0.24998679 18.85333272] [ 0.69080127 0.68438389 -0.23326446 8.1640983 ] [ 0.34107318 -0.02397477 0.93973097 4.25535699] [ 0. 0. 0. 1. ]] SLAMing on 153.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:8.20, Z:4.27 [[ 0.63931602 -0.72719765 -0.24991719 18.8974036 ] [ 0.68913029 0.68604107 -0.23333901 8.19930078] [ 0.34113703 -0.02304814 0.93973098 4.27032278] [ 0. 0. 0. 1. ]] SLAMing on 153.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.94, Y:8.23, Z:4.29 [[ 0.63997337 -0.72664368 -0.24984604 18.93938404] [ 0.68850637 0.68664135 -0.23341516 8.23227667] [ 0.34116428 -0.0226411 0.93973098 4.29354336] [ 0. 0. 0. 1. ]] SLAMing on 153.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.98, Y:8.27, Z:4.31 [[ 0.6409243 -0.72583006 -0.24977345 18.98040627] [ 0.68760346 0.68751916 -0.23349282 8.2664133 ] [ 0.34120014 -0.02209387 0.93973099 4.31400566] [ 0. 0. 0. 1. ]] SLAMing on 153.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:8.30, Z:4.33 [[ 0.64238817 -0.72456072 -0.24969824 19.02218667] [ 0.68621098 0.68888173 -0.23357323 8.30057335] [ 0.34125054 -0.02130099 0.93973099 4.33449316] [ 0. 0. 0. 1. ]] SLAMing on 153.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.06, Y:8.34, Z:4.35 [[ 0.64344366 -0.72364812 -0.24962703 19.06421799] [ 0.68520311 0.68985847 -0.2336493 8.33599046] [ 0.3412872 -0.02070506 0.939731 4.35419264] [ 0. 0. 0. 1. ]] SLAMing on 153.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:8.37, Z:4.37 [[ 0.64402901 -0.72315203 -0.24955514 19.10742105] [ 0.68464171 0.69038964 -0.23372607 8.36957872] [ 0.34130976 -0.02032949 0.939731 4.37220977] [ 0. 0. 0. 1. ]] SLAMing on 153.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:8.40, Z:4.39 [[ 0.64521646 -0.72211876 -0.24947989 19.1503709 ] [ 0.68350332 0.69148955 -0.23380637 8.40402489] [ 0.3413487 -0.01966461 0.93973101 4.38743531] [ 0. 0. 0. 1. ]] SLAMing on 153.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.19, Y:8.44, Z:4.41 [[ 6.46919955e-01 -7.20620361e-01 -2.49401016e-01 1.91931417e+01] [ 6.81865453e-01 6.93076295e-01 -2.33890472e-01 8.43815817e+00] [ 3.41400169e-01 -1.87495225e-02 9.39731015e-01 4.40842384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.23, Y:8.47, Z:4.43 [[ 6.47001499e-01 -7.20572792e-01 -2.49326917e-01 1.92333734e+01] [ 6.81784226e-01 6.93129549e-01 -2.33969438e-01 8.47446402e+00] [ 3.41407865e-01 -1.86085821e-02 9.39731020e-01 4.42887573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:8.51, Z:4.45 [[ 6.47714309e-01 -7.19958197e-01 -2.49251616e-01 1.92743656e+01] [ 6.81095153e-01 6.93779621e-01 -2.34049633e-01 8.50942555e+00] [ 3.41431643e-01 -1.81667709e-02 9.39731026e-01 4.45135641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:8.54, Z:4.47 [[ 6.49822908e-01 -7.18081771e-01 -2.49176160e-01 1.93152275e+01] [ 6.79054997e-01 6.95749583e-01 -2.34129941e-01 8.54389159e+00] [ 3.41488652e-01 -1.70613173e-02 9.39731032e-01 4.47163166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:8.58, Z:4.49 [[ 6.52310081e-01 -7.15850536e-01 -2.49097508e-01 1.93558926e+01] [ 6.76634773e-01 6.98075480e-01 -2.34213594e-01 8.57860686e+00] [ 3.41550789e-01 -1.57681469e-02 9.39731038e-01 4.49207766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.40, Y:8.61, Z:4.51 [[ 6.54619544e-01 -7.13766096e-01 -2.49020508e-01 1.93981992e+01] [ 6.74373514e-01 7.00232827e-01 -2.34295437e-01 8.61409114e+00] [ 3.41604473e-01 -1.45584633e-02 9.39731044e-01 4.51145325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.44, Y:8.65, Z:4.53 [[ 6.56573480e-01 -7.11993983e-01 -2.48949458e-01 1.94400537e+01] [ 6.72449712e-01 7.02055313e-01 -2.34370909e-01 8.65097340e+00] [ 3.41646967e-01 -1.35242676e-02 9.39731049e-01 4.52812076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:8.69, Z:4.55 [[ 6.58660966e-01 -7.10089503e-01 -2.48874725e-01 1.94789817e+01] [ 6.70383772e-01 7.04001905e-01 -2.34450243e-01 8.68516253e+00] [ 3.41688937e-01 -1.24183531e-02 9.39731055e-01 4.55202524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.52, Y:8.72, Z:4.57 [[ 6.61538623e-01 -7.07437339e-01 -2.48795219e-01 1.95202546e+01] [ 6.67518088e-01 7.06691679e-01 -2.34534587e-01 8.72078289e+00] [ 3.41740035e-01 -1.09216211e-02 9.39731061e-01 4.57331206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.56, Y:8.76, Z:4.59 [[ 6.63993397e-01 -7.05158665e-01 -2.48724802e-01 1.95608720e+01] [ 6.65056477e-01 7.08984051e-01 -2.34609243e-01 8.75836412e+00] [ 3.41778658e-01 -9.63705237e-03 9.39731066e-01 4.59189192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.60, Y:8.80, Z:4.61 [[ 6.67494202e-01 -7.01871013e-01 -2.48653516e-01 1.96018918e+01] [ 6.61519021e-01 7.12260936e-01 -2.34684775e-01 8.79633243e+00] [ 3.41824627e-01 -7.83830362e-03 9.39731071e-01 4.60853029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:8.83, Z:4.63 [[ 6.71041622e-01 -6.98505390e-01 -2.48582707e-01 1.96414939e+01] [ 6.57901017e-01 7.15579562e-01 -2.34759756e-01 8.83277435e+00] [ 3.41861659e-01 -6.00924854e-03 9.39731076e-01 4.63027628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.68, Y:8.87, Z:4.65 [[ 6.73582620e-01 -6.96081817e-01 -2.48508668e-01 1.96795480e+01] [ 6.55288252e-01 7.17947331e-01 -2.34838107e-01 8.86966005e+00] [ 3.41882671e-01 -4.66194317e-03 9.39731081e-01 4.65170337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.72, Y:8.91, Z:4.67 [[ 6.77742870e-01 -6.92059574e-01 -2.48431376e-01 1.97183905e+01] [ 6.50972659e-01 7.21836036e-01 -2.34919848e-01 8.90780702e+00] [ 3.41905249e-01 -2.50678180e-03 9.39731087e-01 4.67060779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:8.95, Z:4.69 [[ 6.80261020e-01 -6.89609374e-01 -2.48362349e-01 1.97584922e+01] [ 6.48336973e-01 7.24180607e-01 -2.34992805e-01 8.94658614e+00] [ 3.41912438e-01 -1.16604796e-03 9.39731092e-01 4.68646002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.80, Y:8.98, Z:4.71 [[ 6.84019053e-01 -6.85907228e-01 -2.48292589e-01 1.97963939e+01] [ 6.44370318e-01 7.27688558e-01 -2.35066492e-01 8.98410124e+00] [ 3.41913482e-01 7.97584493e-04 9.39731097e-01 4.70843109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:9.02, Z:4.73 [[ 6.87663260e-01 -6.82280136e-01 -2.48219774e-01 1.98337958e+01] [ 6.40485109e-01 7.31085786e-01 -2.35143359e-01 9.02217947e+00] [ 3.41903592e-01 2.71837947e-03 9.39731102e-01 4.72844075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.87, Y:9.06, Z:4.75 [[ 6.91298192e-01 -6.78624565e-01 -2.48144130e-01 1.98720196e+01] [ 6.36571259e-01 7.34470623e-01 -2.35223162e-01 9.06004195e+00] [ 3.41882790e-01 4.64792550e-03 9.39731108e-01 4.74809222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.91, Y:9.10, Z:4.77 [[ 6.93224493e-01 -6.76683052e-01 -2.48072267e-01 1.99097002e+01] [ 6.34481724e-01 7.36252236e-01 -2.35298929e-01 9.09876383e+00] [ 3.41866558e-01 5.71766092e-03 9.39731113e-01 4.76849918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:9.14, Z:4.79 [[ 6.96619079e-01 -6.73213358e-01 -2.48003293e-01 1.99476840e+01] [ 6.30771865e-01 7.39409941e-01 -2.35371606e-01 9.13904176e+00] [ 3.41831410e-01 7.53085209e-03 9.39731118e-01 4.78779302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:9.18, Z:4.81 [[ 6.99492720e-01 -6.70252591e-01 -2.47934265e-01 1.99853597e+01] [ 6.27604247e-01 7.42077416e-01 -2.35444299e-01 9.17846683e+00] [ 3.41793570e-01 9.08697558e-03 9.39731122e-01 4.80716072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.02, Y:9.22, Z:4.83 [[ 7.00897228e-01 -6.68809785e-01 -2.47863971e-01 2.00227629e+01] [ 6.26047656e-01 7.43367656e-01 -2.35518280e-01 9.21669875e+00] [ 3.41770990e-01 9.89945161e-03 9.39731127e-01 4.82646286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.06, Y:9.26, Z:4.85 [[ 7.02528766e-01 -6.67123042e-01 -2.47790598e-01 2.00601133e+01] [ 6.24231773e-01 7.44868764e-01 -2.35595454e-01 9.25603877e+00] [ 3.41742632e-01 1.08338190e-02 9.39731133e-01 4.84594822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:9.29, Z:4.86 [[ 7.03644920e-01 -6.65970789e-01 -2.47723103e-01 2.00987888e+01] [ 6.22985259e-01 7.45889210e-01 -2.35666404e-01 9.29485789e+00] [ 3.41720931e-01 1.14976268e-02 9.39731137e-01 4.86463391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.14, Y:9.33, Z:4.89 [[ 7.05515379e-01 -6.64015194e-01 -2.47652726e-01 2.01364698e+01] [ 6.20886685e-01 7.47613681e-01 -2.35740341e-01 9.33450026e+00] [ 3.41683734e-01 1.25541559e-02 9.39731142e-01 4.88533552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:9.37, Z:4.91 [[ 7.07302262e-01 -6.62137744e-01 -2.47582549e-01 2.01735867e+01] [ 6.18871781e-01 7.49259278e-01 -2.35814022e-01 9.37427860e+00] [ 3.41644886e-01 1.35699384e-02 9.39731147e-01 4.90579720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.21, Y:9.41, Z:4.92 [[ 7.08229809e-01 -6.61171507e-01 -2.47513184e-01 2.02108680e+01] [ 6.17822946e-01 7.50101474e-01 -2.35886809e-01 9.41369151e+00] [ 3.41621641e-01 1.41427448e-02 9.39731152e-01 4.92469108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:9.45, Z:4.94 [[ 7.09547658e-01 -6.59784228e-01 -2.47440686e-01 2.02486433e+01] [ 6.16327385e-01 7.51306924e-01 -2.35962835e-01 9.45426594e+00] [ 3.41588458e-01 1.49224061e-02 9.39731157e-01 4.94271974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:9.49, Z:4.96 [[ 7.09969418e-01 -6.59356084e-01 -2.47372149e-01 2.02846813e+01] [ 6.15849122e-01 7.51676457e-01 -2.36034667e-01 9.49327774e+00] [ 3.41574714e-01 1.52334743e-02 9.39731161e-01 4.96264246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.32, Y:9.53, Z:4.98 [[ 7.09946013e-01 -6.59408222e-01 -2.47300334e-01 2.03221920e+01] [ 6.15878216e-01 7.51628994e-01 -2.36109888e-01 9.53229706e+00] [ 3.41570903e-01 1.53183854e-02 9.39731167e-01 4.98338199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.36, Y:9.57, Z:5.00 [[ 7.09540346e-01 -6.59870297e-01 -2.47232054e-01 2.03599584e+01] [ 6.16342622e-01 7.51225755e-01 -2.36181366e-01 9.57230093e+00] [ 3.41576154e-01 1.52005556e-02 9.39731171e-01 5.00254092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:9.61, Z:5.02 [[ 7.09038328e-01 -6.60435390e-01 -2.47163397e-01 2.03983551e+01] [ 6.16915990e-01 7.50732368e-01 -2.36253196e-01 9.61076513e+00] [ 3.41583534e-01 1.50335199e-02 9.39731176e-01 5.02196753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:9.65, Z:5.04 [[ 7.07871191e-01 -6.61712022e-01 -2.47094268e-01 2.04350085e+01] [ 6.18242678e-01 7.49617409e-01 -2.36325478e-01 9.65011234e+00] [ 3.41605574e-01 1.45237757e-02 9.39731180e-01 5.04159243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:9.69, Z:5.06 [[ 7.07524606e-01 -6.62109551e-01 -2.47022010e-01 2.04736323e+01] [ 6.18637388e-01 7.49267881e-01 -2.36400984e-01 9.68795146e+00] [ 3.41609008e-01 1.44424618e-02 9.39731186e-01 5.06194866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:9.73, Z:5.08 [[ 7.06371725e-01 -6.63365037e-01 -2.46953060e-01 2.05116728e+01] [ 6.19941977e-01 7.48166070e-01 -2.36472993e-01 9.72761987e+00] [ 3.41629816e-01 1.39412673e-02 9.39731190e-01 5.08147392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.55, Y:9.77, Z:5.10 [[ 7.05628755e-01 -6.64181015e-01 -2.46883859e-01 2.05486382e+01] [ 6.20781092e-01 7.47447118e-01 -2.36545221e-01 9.76782843e+00] [ 3.41641474e-01 1.36522785e-02 9.39731195e-01 5.10103154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:9.81, Z:5.12 [[ 7.05034969e-01 -6.64836715e-01 -2.46815388e-01 2.05864227e+01] [ 6.21450753e-01 7.46867810e-01 -2.36616646e-01 9.80681771e+00] [ 3.41649901e-01 1.34394012e-02 9.39731200e-01 5.12041379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:9.85, Z:5.14 [[ 7.04911837e-01 -6.64993306e-01 -2.46745223e-01 2.06242208e+01] [ 6.21591105e-01 7.46727822e-01 -2.36689794e-01 9.84702887e+00] [ 3.41648651e-01 1.34708018e-02 9.39731204e-01 5.14008657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.66, Y:9.89, Z:5.16 [[ 7.05102288e-01 -6.64817248e-01 -2.46675476e-01 2.06601729e+01] [ 6.21379256e-01 7.46881086e-01 -2.36762464e-01 9.88845010e+00] [ 3.41641017e-01 1.36627314e-02 9.39731209e-01 5.15968192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:9.93, Z:5.18 [[ 7.05454666e-01 -6.64468906e-01 -2.46606543e-01 2.06970717e+01] [ 6.20985268e-01 7.47185946e-01 -2.36834243e-01 9.92772226e+00] [ 3.41629934e-01 1.39367916e-02 9.39731214e-01 5.18010989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:9.97, Z:5.20 [[ 7.06580780e-01 -6.63296930e-01 -2.46537590e-01 2.07335054e+01] [ 6.19719123e-01 7.48213709e-01 -2.36906002e-01 9.96877044e+00] [ 3.41601829e-01 1.46091690e-02 9.39731218e-01 5.20027220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.77, Y:10.01, Z:5.22 [[ 7.07525104e-01 -6.62315716e-01 -2.46467280e-01 2.07704900e+01] [ 6.18654792e-01 7.49070852e-01 -2.36979130e-01 1.00094039e+01] [ 3.41576457e-01 1.51905194e-02 9.39731223e-01 5.22029153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:10.05, Z:5.24 [[ 7.08983113e-01 -6.60780934e-01 -2.46397042e-01 2.08061245e+01] [ 6.17004811e-01 7.50407453e-01 -2.37052139e-01 1.00505646e+01] [ 3.41537711e-01 1.60378029e-02 9.39731228e-01 5.23938937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.84, Y:10.09, Z:5.26 [[ 7.09814193e-01 -6.59911521e-01 -2.46334318e-01 2.08420504e+01] [ 6.16062146e-01 7.51160979e-01 -2.37117304e-01 1.00908559e+01] [ 3.41513168e-01 1.65519793e-02 9.39731232e-01 5.26028347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:10.13, Z:5.28 [[ 7.11760130e-01 -6.57837867e-01 -2.46265827e-01 2.08773938e+01] [ 6.13843569e-01 7.52952673e-01 -2.37188418e-01 1.01325826e+01] [ 3.41458036e-01 1.76525648e-02 9.39731237e-01 5.28056254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:10.17, Z:5.30 [[ 7.12654684e-01 -6.56894060e-01 -2.46198083e-01 2.09131656e+01] [ 6.12821054e-01 7.53762998e-01 -2.37258717e-01 1.01745205e+01] [ 3.41428847e-01 1.82081668e-02 9.39731241e-01 5.29939625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.95, Y:10.22, Z:5.32 [[ 7.13400682e-01 -6.56109388e-01 -2.46129921e-01 2.09492393e+01] [ 6.11966917e-01 7.54434387e-01 -2.37329408e-01 1.02167958e+01] [ 3.41402929e-01 1.86875925e-02 9.39731246e-01 5.31772794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.99, Y:10.26, Z:5.34 [[ 7.13740426e-01 -6.55765257e-01 -2.46062050e-01 2.09859475e+01] [ 6.11578888e-01 7.54726850e-01 -2.37399758e-01 1.02570626e+01] [ 3.41388150e-01 1.89554499e-02 9.39731250e-01 5.33703828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:10.30, Z:5.36 [[ 7.13922649e-01 -6.55592803e-01 -2.45992941e-01 2.10217176e+01] [ 6.11372011e-01 7.54871925e-01 -2.37471350e-01 1.02979874e+01] [ 3.41377673e-01 1.91429769e-02 9.39731255e-01 5.35757292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:10.34, Z:5.38 [[ 7.13611597e-01 -6.55957286e-01 -2.45923827e-01 2.10580080e+01] [ 6.11732894e-01 7.54556979e-01 -2.37542905e-01 1.03380091e+01] [ 3.41381539e-01 1.90736772e-02 9.39731259e-01 5.37763784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:10.38, Z:5.40 [[ 7.13320949e-01 -6.56296436e-01 -2.45862181e-01 2.10941082e+01] [ 6.12069655e-01 7.54263744e-01 -2.37606694e-01 1.03795312e+01] [ 3.41385356e-01 1.90050521e-02 9.39731263e-01 5.39737647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.13, Y:10.42, Z:5.42 [[ 7.12472840e-01 -6.57242601e-01 -2.45793848e-01 2.11315660e+01] [ 6.13045956e-01 7.53448158e-01 -2.37677364e-01 1.04206915e+01] [ 3.41404610e-01 1.86557421e-02 9.39731268e-01 5.41584084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.17, Y:10.46, Z:5.43 [[ 7.11330760e-01 -6.58503744e-01 -2.45726208e-01 2.11696656e+01] [ 6.14355735e-01 7.52358468e-01 -2.37747276e-01 1.04608939e+01] [ 3.41431665e-01 1.81536451e-02 9.39731272e-01 5.43442979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.21, Y:10.50, Z:5.45 [[ 7.09682951e-01 -6.60304941e-01 -2.45657268e-01 2.12052839e+01] [ 6.16236552e-01 7.50796162e-01 -2.37818491e-01 1.05009164e+01] [ 3.41471258e-01 1.73927406e-02 9.39731277e-01 5.45316029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:10.54, Z:5.47 [[ 7.08379471e-01 -6.61725982e-01 -2.45595704e-01 2.12426752e+01] [ 6.17718144e-01 7.49557485e-01 -2.37882053e-01 1.05407884e+01] [ 3.41500833e-01 1.68018406e-02 9.39731280e-01 5.47385959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:10.58, Z:5.49 [[ 7.05753222e-01 -6.64551110e-01 -2.45528435e-01 2.12804874e+01] [ 6.20684099e-01 7.47081220e-01 -2.37951466e-01 1.05801766e+01] [ 3.41560594e-01 1.55394178e-02 9.39731285e-01 5.49488004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.32, Y:10.62, Z:5.51 [[ 7.02930705e-01 -6.67561183e-01 -2.45459753e-01 2.13174608e+01] [ 6.23846539e-01 7.44419829e-01 -2.38022296e-01 1.06197304e+01] [ 3.41619553e-01 1.41839632e-02 9.39731289e-01 5.51226604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.35, Y:10.66, Z:5.53 [[ 6.99746222e-01 -6.70924769e-01 -2.45387813e-01 2.13544642e+01] [ 6.27383674e-01 7.41417433e-01 -2.38096442e-01 1.06595783e+01] [ 3.41679603e-01 1.26547776e-02 9.39731294e-01 5.53017576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:10.70, Z:5.55 [[ 6.97216033e-01 -6.73579262e-01 -2.45317713e-01 2.13920529e+01] [ 6.30171494e-01 7.39026104e-01 -2.38168648e-01 1.06978657e+01] [ 3.41721656e-01 1.14627701e-02 9.39731299e-01 5.55123037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:10.74, Z:5.57 [[ 6.94100480e-01 -6.76815085e-01 -2.45246538e-01 2.14289856e+01] [ 6.33576417e-01 7.36085397e-01 -2.38241919e-01 1.07366508e+01] [ 3.41768120e-01 9.98140749e-03 9.39731304e-01 5.57313732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:10.78, Z:5.59 [[ 6.91514846e-01 -6.79482008e-01 -2.45176300e-01 2.14675001e+01] [ 6.36379689e-01 7.33639722e-01 -2.38314182e-01 1.07762690e+01] [ 3.41801272e-01 8.77257790e-03 9.39731309e-01 5.59223895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:10.82, Z:5.61 [[ 6.87246321e-01 -6.83824515e-01 -2.45105133e-01 2.15060155e+01] [ 6.40962321e-01 7.29615495e-01 -2.38387357e-01 1.08158178e+01] [ 3.41847622e-01 6.72767904e-03 9.39731314e-01 5.60962535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.54, Y:10.85, Z:5.63 [[ 6.82895272e-01 -6.88194732e-01 -2.45034809e-01 2.15432679e+01] [ 6.45577770e-01 7.25511097e-01 -2.38459623e-01 1.08535949e+01] [ 3.41882129e-01 4.65392325e-03 9.39731318e-01 5.62919194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:10.89, Z:5.65 [[ 6.78187864e-01 -6.92860142e-01 -2.44961312e-01 2.15813322e+01] [ 6.50509068e-01 7.21067928e-01 -2.38535102e-01 1.08924578e+01] [ 3.41905211e-01 2.42205639e-03 9.39731324e-01 5.65009288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.62, Y:10.93, Z:5.67 [[ 6.74971161e-01 -6.96019396e-01 -2.44889634e-01 2.16199417e+01] [ 6.53842317e-01 7.18022372e-01 -2.38608670e-01 1.09306179e+01] [ 3.41912498e-01 9.34765389e-04 9.39731329e-01 5.66992555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.66, Y:10.97, Z:5.69 [[ 6.71091146e-01 -6.99786103e-01 -2.44818474e-01 2.16586076e+01] [ 6.57823997e-01 7.14351911e-01 -2.38681662e-01 1.09692719e+01] [ 3.41912655e-01 -8.70316682e-04 9.39731333e-01 5.68835234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:11.01, Z:5.71 [[ 6.67567524e-01 -7.03172064e-01 -2.44750176e-01 2.16968353e+01] [ 6.61403672e-01 7.11015344e-01 -2.38751678e-01 1.10073903e+01] [ 3.41904641e-01 -2.49579852e-03 9.39731338e-01 5.70849030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:11.05, Z:5.73 [[ 6.62718066e-01 -7.07769682e-01 -2.44677015e-01 2.17358758e+01] [ 6.66274944e-01 7.06427306e-01 -2.38826634e-01 1.10459848e+01] [ 3.41880775e-01 -4.74743968e-03 9.39731343e-01 5.72785916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.77, Y:11.08, Z:5.75 [[ 6.57184082e-01 -7.12936631e-01 -2.44602623e-01 2.17738815e+01] [ 6.71757048e-01 7.01190358e-01 -2.38902804e-01 1.10839366e+01] [ 3.41835561e-01 -7.31041585e-03 9.39731348e-01 5.74828773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:11.12, Z:5.77 [[ 6.53618213e-01 -7.16233815e-01 -2.44524752e-01 2.18126034e+01] [ 6.75246369e-01 6.97803492e-01 -2.38982484e-01 1.11217814e+01] [ 3.41797562e-01 -8.91114659e-03 9.39731354e-01 5.76766237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.85, Y:11.16, Z:5.79 [[ 6.47998203e-01 -7.21340199e-01 -2.44472178e-01 2.18517115e+01] [ 6.80680458e-01 6.92485222e-01 -2.39036255e-01 1.11604219e+01] [ 3.41719830e-01 -1.15123700e-02 9.39731357e-01 5.78531771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.89, Y:11.20, Z:5.80 [[ 6.44008891e-01 -7.24928969e-01 -2.44398320e-01 2.18897820e+01] [ 6.84488430e-01 6.88695260e-01 -2.39111748e-01 1.11982770e+01] [ 3.41654998e-01 -1.32977311e-02 9.39731362e-01 5.80489045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:11.24, Z:5.82 [[ 6.38413981e-01 -7.29886860e-01 -2.44321020e-01 2.19292307e+01] [ 6.89762955e-01 6.83384863e-01 -2.39190710e-01 1.12354704e+01] [ 3.41547442e-01 -1.58208953e-02 9.39731368e-01 5.82467061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.97, Y:11.27, Z:5.84 [[ 6.32848746e-01 -7.34742336e-01 -2.44246114e-01 2.19691087e+01] [ 6.94933778e-01 6.78099006e-01 -2.39267177e-01 1.12743806e+01] [ 3.41422772e-01 -1.83149422e-02 9.39731373e-01 5.84257774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.01, Y:11.31, Z:5.86 [[ 6.27532755e-01 -7.39312409e-01 -2.44171669e-01 2.20071064e+01] [ 6.99803706e-01 6.73045051e-01 -2.39343126e-01 1.13113106e+01] [ 3.41287877e-01 -2.06765880e-02 9.39731379e-01 5.86267108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:11.35, Z:5.88 [[ 0.62388111 -0.74242206 -0.24409394 22.04643971] [ 0.70310928 0.66956274 -0.23942238 11.34946605] [ 0.34118866 -0.02225361 0.93973138 5.88321822] [ 0. 0. 0. 1. ]] SLAMing on 158.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.08, Y:11.39, Z:5.90 [[ 0.61843122 -0.74699234 -0.244019 22.08483037] [ 0.70798692 0.66437556 -0.23949873 11.3867466 ] [ 0.34102398 -0.02464877 0.93973139 5.90259979] [ 0. 0. 0. 1. ]] SLAMing on 158.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.12, Y:11.42, Z:5.92 [[ 0.6129912 -0.7514883 -0.24394083 22.12423288] [ 0.71278811 0.65919294 -0.23957833 11.42458977] [ 0.34084438 -0.02701872 0.9397314 5.9214035 ] [ 0. 0. 0. 1. ]] SLAMing on 158.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.16, Y:11.46, Z:5.94 [[ 0.60974802 -0.75414533 -0.24386916 22.16336581] [ 0.71561753 0.6560936 -0.23965127 11.46283998] [ 0.34073288 -0.02839016 0.9397314 5.94101031] [ 0. 0. 0. 1. ]] SLAMing on 158.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.20, Y:11.50, Z:5.96 [[ 0.60496569 -0.75800997 -0.24379786 22.2014443 ] [ 0.71974908 0.65153186 -0.23972378 11.49916363] [ 0.34055509 -0.03044862 0.93973141 5.96041185] [ 0. 0. 0. 1. ]] SLAMing on 158.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.24, Y:11.54, Z:5.98 [[ 0.60172885 -0.76060852 -0.24371514 22.24012356] [ 0.72251507 0.64843208 -0.23980784 11.53699017] [ 0.34043261 -0.03178857 0.93973141 5.97977233] [ 0. 0. 0. 1. ]] SLAMing on 158.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:11.57, Z:6.00 [[ 0.59767964 -0.7638197 -0.24363602 22.2791701 ] [ 0.72594474 0.64456022 -0.23988821 11.57432782] [ 0.34026943 -0.03348998 0.93973142 5.99853768] [ 0. 0. 0. 1. ]] SLAMing on 158.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:11.61, Z:6.02 [[ 0.59377084 -0.76688768 -0.24355589 22.31802835] [ 0.72922199 0.64081972 -0.23996954 11.61219133] [ 0.3401051 -0.0351194 0.93973142 6.01819171] [ 0. 0. 0. 1. ]] SLAMing on 158.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:11.65, Z:6.04 [[ 0.58985915 -0.76992374 -0.24348226 22.35732307] [ 0.73246978 0.63707675 -0.24004423 11.65010224] [ 0.33993264 -0.03675111 0.93973143 6.03702586] [ 0. 0. 0. 1. ]] SLAMing on 158.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:11.69, Z:6.06 [[ 0.58774385 -0.77156262 -0.24340972 22.39622747] [ 0.7342105 0.63504205 -0.24011777 11.6879517 ] [ 0.3398413 -0.03758623 0.93973143 6.05715371] [ 0. 0. 0. 1. ]] SLAMing on 158.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.44, Y:11.73, Z:6.08 [[ 0.58451375 -0.77403512 -0.24333785 22.43574132] [ 0.73685332 0.63194594 -0.24019057 11.72679623] [ 0.33969231 -0.03890961 0.93973144 6.07576344] [ 0. 0. 0. 1. ]] SLAMing on 158.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:11.77, Z:6.09 [[ 0.58239094 -0.775656 -0.24326645 22.47545143] [ 0.73857672 0.62990331 -0.24026288 11.7653475 ] [ 0.33959568 -0.03974401 0.93973144 6.09430154] [ 0. 0. 0. 1. ]] SLAMing on 158.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.51, Y:11.80, Z:6.11 [[ 0.57962486 -0.77774759 -0.24319479 22.51385421] [ 0.74081003 0.62724748 -0.24033538 11.80210768] [ 0.33946359 -0.04085678 0.93973145 6.1141268 ] [ 0. 0. 0. 1. ]] SLAMing on 158.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.55, Y:11.84, Z:6.13 [[ 0.57756635 -0.77930085 -0.24311992 22.55299438] [ 0.74246033 0.62526408 -0.2404111 11.84041217] [ 0.33936673 -0.04165353 0.93973145 6.13402683] [ 0. 0. 0. 1. ]] SLAMing on 158.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.59, Y:11.88, Z:6.15 [[ 0.57584346 -0.78059734 -0.24304755 22.59213499] [ 0.74383419 0.62360085 -0.24048425 11.87772196] [ 0.33928602 -0.04230579 0.93973146 6.15161491] [ 0. 0. 0. 1. ]] SLAMing on 158.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.63, Y:11.92, Z:6.17 [[ 0.57433824 -0.78172177 -0.24299519 22.63049782] [ 0.74503039 0.62215078 -0.24053714 11.91574016] [ 0.33921277 -0.04288913 0.93973146 6.17005038] [ 0. 0. 0. 1. ]] SLAMing on 158.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:11.95, Z:6.19 [[ 0.57258941 -0.78302786 -0.24291712 22.66824482] [ 0.74641311 0.62046066 -0.24061596 11.95250842] [ 0.33912952 -0.04354237 0.93973147 6.19162557] [ 0. 0. 0. 1. ]] SLAMing on 159.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.71, Y:11.99, Z:6.21 [[ 0.5715108 -0.78383976 -0.2428387 22.70682461] [ 0.74726046 0.61940914 -0.24069509 11.99117554] [ 0.33908289 -0.04390391 0.93973147 6.21171361] [ 0. 0. 0. 1. ]] SLAMing on 159.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.75, Y:12.03, Z:6.23 [[ 0.57100098 -0.78423318 -0.24276779 22.74539995] [ 0.74765748 0.61890205 -0.24076659 12.02965194] [ 0.33906663 -0.04402919 0.93973148 6.22925186] [ 0. 0. 0. 1. ]] SLAMing on 159.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.78, Y:12.07, Z:6.25 [[ 0.57052525 -0.78460374 -0.24268892 22.78457011] [ 0.74802645 0.6184251 -0.24084606 12.06786837] [ 0.33905364 -0.04412898 0.93973148 6.24813359] [ 0. 0. 0. 1. ]] SLAMing on 159.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:12.11, Z:6.27 [[ 0.5702486 -0.78482742 -0.24261586 22.82308768] [ 0.74823865 0.61813967 -0.24091964 12.10657739] [ 0.33905083 -0.04415048 0.93973149 6.26744669] [ 0. 0. 0. 1. ]] SLAMing on 159.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.86, Y:12.15, Z:6.29 [[ 0.57016473 -0.78491064 -0.24254374 22.86172065] [ 0.748299 0.61803831 -0.24099223 12.14549779] [ 0.33905869 -0.04408997 0.93973149 6.28714553] [ 0. 0. 0. 1. ]] SLAMing on 159.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.90, Y:12.18, Z:6.31 [[ 0.57078027 -0.78448521 -0.24247233 22.90087943] [ 0.74780835 0.61860391 -0.24106406 12.18357758] [ 0.33910552 -0.04372822 0.9397315 6.30552928] [ 0. 0. 0. 1. ]] SLAMing on 159.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:12.22, Z:6.32 [[ 0.57111704 -0.78426206 -0.24240122 22.94008771] [ 0.74753714 0.61890377 -0.24113555 12.22220748] [ 0.33913649 -0.04348729 0.9397315 6.3232826 ] [ 0. 0. 0. 1. ]] SLAMing on 159.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:12.26, Z:6.34 [[ 0.57144827 -0.78404236 -0.24233129 22.97824068] [ 0.74727021 0.61919867 -0.24120581 12.26114096] [ 0.33916678 -0.04325031 0.93973151 6.34149288] [ 0. 0. 0. 1. ]] SLAMing on 159.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:12.30, Z:6.36 [[ 0.57245018 -0.78333563 -0.24225209 23.01520198] [ 0.7464719 0.62012991 -0.24128532 12.29817173] [ 0.33923515 -0.04271055 0.93973151 6.3614844 ] [ 0. 0. 0. 1. ]] SLAMing on 159.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:12.34, Z:6.38 [[ 0.57318775 -0.78282152 -0.24216993 23.05299256] [ 0.74588123 0.62080818 -0.24136775 12.33598216] [ 0.33928895 -0.04228097 0.93973152 6.38117487] [ 0. 0. 0. 1. ]] SLAMing on 159.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.09, Y:12.37, Z:6.40 [[ 0.5744532 -0.78191741 -0.24209231 23.0913659 ] [ 0.74487031 0.62199056 -0.24144558 12.37454646] [ 0.33936964 -0.04162819 0.93973153 6.40030833] [ 0. 0. 0. 1. ]] SLAMing on 159.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.13, Y:12.41, Z:6.42 [[ 0.57565169 -0.78105971 -0.24201417 23.12951036] [ 0.74390976 0.62310872 -0.24152389 12.41193266] [ 0.33944572 -0.04100307 0.93973153 6.42014025] [ 0. 0. 0. 1. ]] SLAMing on 159.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:12.45, Z:6.44 [[ 0.57612772 -0.78073338 -0.24193435 23.16706358] [ 0.74352393 0.6235381 -0.24160382 12.44952718] [ 0.33948346 -0.04068932 0.93973154 6.44020934] [ 0. 0. 0. 1. ]] SLAMing on 159.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.20, Y:12.49, Z:6.46 [[ 0.57781976 -0.77950664 -0.24185478 23.20475592] [ 0.74216403 0.62512532 -0.24168346 12.48793292] [ 0.3395834 -0.03984644 0.93973154 6.45959786] [ 0. 0. 0. 1. ]] SLAMing on 159.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.24, Y:12.53, Z:6.48 [[ 0.57957994 -0.77822321 -0.24177621 23.24303774] [ 0.74074384 0.62677722 -0.24176203 12.52502271] [ 0.33968464 -0.03897381 0.93973155 6.47629958] [ 0. 0. 0. 1. ]] SLAMing on 159.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:12.56, Z:6.50 [[ 0.58092016 -0.77724208 -0.24171578 23.28144081] [ 0.73965845 0.62803446 -0.24182243 12.56341093] [ 0.33976041 -0.03830759 0.93973155 6.49566494] [ 0. 0. 0. 1. ]] SLAMing on 159.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.32, Y:12.60, Z:6.51 [[ 0.58188341 -0.77654595 -0.24163626 23.31860043] [ 0.73887376 0.62892691 -0.24190187 12.60146552] [ 0.33981946 -0.03778001 0.93973156 6.51429266] [ 0. 0. 0. 1. ]] SLAMing on 160.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.36, Y:12.64, Z:6.53 [[ 0.58364543 -0.77524845 -0.24155301 23.35733269] [ 0.73743801 0.63057788 -0.24198497 12.63908019] [ 0.33991646 -0.03689695 0.93973157 6.53424462] [ 0. 0. 0. 1. ]] SLAMing on 160.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.40, Y:12.68, Z:6.55 [[ 0.58554894 -0.77383622 -0.24147453 23.39601089] [ 0.73588093 0.63236432 -0.24206327 12.67831576] [ 0.3400172 -0.03595661 0.93973157 6.55351711] [ 0. 0. 0. 1. ]] SLAMing on 160.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.43, Y:12.72, Z:6.57 [[ 0.58613341 -0.77341698 -0.24139967 23.43455953] [ 0.73539812 0.63289718 -0.2421379 12.71633881] [ 0.34005473 -0.03559975 0.93973158 6.57165556] [ 0. 0. 0. 1. ]] SLAMing on 160.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:12.75, Z:6.59 [[ 0.58789955 -0.77209248 -0.24134483 23.47268571] [ 0.73394623 0.63455945 -0.24219255 12.75344903] [ 0.34014269 -0.03474923 0.93973158 6.5916771 ] [ 0. 0. 0. 1. ]] SLAMing on 160.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:12.79, Z:6.61 [[ 0.58894161 -0.77132188 -0.24126821 23.51020064] [ 0.73308392 0.63552637 -0.24226886 12.79149452] [ 0.34019958 -0.03418763 0.93973158 6.61108498] [ 0. 0. 0. 1. ]] SLAMing on 160.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.55, Y:12.83, Z:6.63 [[ 0.59095187 -0.76980789 -0.2411881 23.548322 ] [ 0.73141858 0.63741197 -0.24234859 12.82921199] [ 0.34029804 -0.0331931 0.93973159 6.62913692] [ 0. 0. 0. 1. ]] SLAMing on 160.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:12.87, Z:6.65 [[ 0.59238364 -0.76873278 -0.2411048 23.58692269] [ 0.730226 0.63874643 -0.24243143 12.86754279] [ 0.34036982 -0.03244858 0.9397316 6.64763536] [ 0. 0. 0. 1. ]] SLAMing on 160.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.62, Y:12.90, Z:6.67 [[ 0.59415397 -0.7673904 -0.24102498 23.62426427] [ 0.72874716 0.64040308 -0.24251077 12.90453742] [ 0.34045357 -0.03155753 0.9397316 6.66695311] [ 0. 0. 0. 1. ]] SLAMing on 160.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.66, Y:12.94, Z:6.69 [[ 0.59565739 -0.76625029 -0.24094144 23.66219581] [ 0.72748546 0.64180462 -0.24259375 12.94245084] [ 0.34052486 -0.03077863 0.93973161 6.68657129] [ 0. 0. 0. 1. ]] SLAMing on 160.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.70, Y:12.98, Z:6.71 [[ 0.59744984 -0.76487843 -0.24086237 23.70058894] [ 0.72597642 0.64348148 -0.24267223 12.98105717] [ 0.34060523 -0.02987592 0.93973162 6.7068615 ] [ 0. 0. 0. 1. ]] SLAMing on 160.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.74, Y:13.02, Z:6.73 [[ 0.59941937 -0.76335912 -0.24078885 23.73886194] [ 0.7243115 0.64532755 -0.24274515 13.01952493] [ 0.34068941 -0.02889999 0.93973162 6.72622866] [ 0. 0. 0. 1. ]] SLAMing on 160.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.78, Y:13.06, Z:6.75 [[ 0.60049467 -0.76253645 -0.24071626 23.77660231] [ 0.72339746 0.64632497 -0.24281712 13.0569383 ] [ 0.34073783 -0.02832315 0.93973163 6.74542791] [ 0. 0. 0. 1. ]] SLAMing on 160.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.82, Y:13.10, Z:6.76 [[ 0.60188482 -0.76146655 -0.24063117 23.81521825] [ 0.72221279 0.64761685 -0.24290141 13.09604486] [ 0.3407981 -0.02758824 0.93973163 6.76439501] [ 0. 0. 0. 1. ]] SLAMing on 160.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.85, Y:13.13, Z:6.78 [[ 0.60390873 -0.75988608 -0.24055642 23.85318877] [ 0.72048345 0.64951254 -0.24297543 13.13485782] [ 0.34087806 -0.02658193 0.93973164 6.78068774] [ 0. 0. 0. 1. ]] SLAMing on 160.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.89, Y:13.17, Z:6.80 [[ 0.60617967 -0.75810041 -0.24047862 23.89099177] [ 0.71853315 0.65164072 -0.2430524 13.17244863] [ 0.34096379 -0.02545844 0.93973164 6.80138009] [ 0. 0. 0. 1. ]] SLAMing on 160.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:13.21, Z:6.82 [[ 0.60812388 -0.75656745 -0.24039768 23.92909662] [ 0.71685421 0.65345746 -0.24313244 13.2109882 ] [ 0.34103575 -0.02447545 0.93973165 6.82275538] [ 0. 0. 0. 1. ]] SLAMing on 160.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.97, Y:13.25, Z:6.84 [[ 6.09821311e-01 -7.55223713e-01 -2.40322933e-01 2.39675493e+01] [ 7.15381713e-01 6.55041754e-01 -2.43206302e-01 1.32498683e+01] [ 3.41096722e-01 -2.36102455e-02 9.39731654e-01 6.84049226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.01, Y:13.29, Z:6.86 [[ 6.11319287e-01 -7.54036635e-01 -2.40244630e-01 2.40052924e+01] [ 7.14076670e-01 6.56435515e-01 -2.43283630e-01 1.32883120e+01] [ 3.41149877e-01 -2.28291102e-02 9.39731660e-01 6.86093723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:13.33, Z:6.88 [[ 6.13805738e-01 -7.52038028e-01 -2.40169357e-01 2.40433333e+01] [ 7.11902235e-01 6.58765612e-01 -2.43357920e-01 1.33278806e+01] [ 3.41229723e-01 -2.16026145e-02 9.39731665e-01 6.88106072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:13.37, Z:6.90 [[ 6.15321383e-01 -7.50822474e-01 -2.40094165e-01 2.40811825e+01] [ 7.10569105e-01 6.60176013e-01 -2.43432083e-01 1.33664952e+01] [ 3.41278687e-01 -2.08145301e-02 9.39731671e-01 6.90001340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.12, Y:13.40, Z:6.92 [[ 6.16067636e-01 -7.50235458e-01 -2.40015469e-01 2.41184384e+01] [ 7.09909333e-01 6.60856859e-01 -2.43509653e-01 1.34043719e+01] [ 3.41305445e-01 -2.03708049e-02 9.39731676e-01 6.91790295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:13.44, Z:6.94 [[ 6.17258486e-01 -7.49283760e-01 -2.39928758e-01 2.41550820e+01] [ 7.08855577e-01 6.61955600e-01 -2.43595062e-01 1.34422609e+01] [ 3.41344009e-01 -1.97137195e-02 9.39731683e-01 6.93666473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.19, Y:13.48, Z:6.96 [[ 6.19354371e-01 -7.47579213e-01 -2.39844709e-01 2.41923444e+01] [ 7.06996110e-01 6.63910863e-01 -2.43677793e-01 1.34814141e+01] [ 3.41403960e-01 -1.86463704e-02 9.39731690e-01 6.95810070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:13.52, Z:6.98 [[ 6.21093603e-01 -7.46158536e-01 -2.39771089e-01 2.42307741e+01] [ 7.05445669e-01 6.65531549e-01 -2.43750213e-01 1.35208284e+01] [ 3.41451527e-01 -1.77537778e-02 9.39731695e-01 6.97667134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:13.56, Z:7.00 [[ 6.22443523e-01 -7.45056782e-01 -2.39696583e-01 2.42691560e+01] [ 7.04237166e-01 6.66783424e-01 -2.43823460e-01 1.35603328e+01] [ 3.41488032e-01 -1.70369089e-02 9.39731700e-01 6.99545223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.31, Y:13.60, Z:7.02 [[ 6.24485481e-01 -7.43370254e-01 -2.39621682e-01 2.43065772e+01] [ 7.02402724e-01 6.68688748e-01 -2.43897051e-01 1.35994303e+01] [ 3.41538136e-01 -1.60007551e-02 9.39731705e-01 7.01681197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:13.64, Z:7.04 [[ 6.26666091e-01 -7.41557706e-01 -2.39544941e-01 2.43433786e+01] [ 7.00433574e-01 6.70723695e-01 -2.43972403e-01 1.36375575e+01] [ 3.41588083e-01 -1.48960872e-02 9.39731711e-01 7.03692184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.38, Y:13.68, Z:7.06 [[ 6.27899872e-01 -7.40539215e-01 -2.39464867e-01 2.43812138e+01] [ 6.99313736e-01 6.71862650e-01 -2.44050975e-01 1.36773893e+01] [ 3.41616817e-01 -1.42214953e-02 9.39731717e-01 7.05560828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:13.72, Z:7.07 [[ 6.30068254e-01 -7.38718996e-01 -2.39391397e-01 2.44189101e+01] [ 6.97339166e-01 6.73885774e-01 -2.44123024e-01 1.37175287e+01] [ 3.41660772e-01 -1.31228297e-02 9.39731722e-01 7.07451904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:13.76, Z:7.09 [[ 6.31108867e-01 -7.37854745e-01 -2.39315634e-01 2.44556136e+01] [ 6.96386816e-01 6.74843014e-01 -2.44197274e-01 1.37563160e+01] [ 3.41682602e-01 -1.25411877e-02 9.39731727e-01 7.09387061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.49, Y:13.80, Z:7.12 [[ 6.32540266e-01 -7.36645798e-01 -2.39260906e-01 2.44926313e+01] [ 6.95074029e-01 6.76175716e-01 -2.44250886e-01 1.37955162e+01] [ 3.41708803e-01 -1.18055210e-02 9.39731730e-01 7.11507353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.53, Y:13.84, Z:7.13 [[ 6.34458371e-01 -7.35019819e-01 -2.39182861e-01 2.45300328e+01] [ 6.93307438e-01 6.77959417e-01 -2.44327291e-01 1.38351120e+01] [ 3.41741674e-01 -1.08117620e-02 9.39731735e-01 7.13471367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:13.88, Z:7.15 [[ 6.35741580e-01 -7.33935666e-01 -2.39104751e-01 2.45676887e+01] [ 6.92120390e-01 6.79143720e-01 -2.44403710e-01 1.38751365e+01] [ 3.41763090e-01 -1.01116729e-02 9.39731741e-01 7.15440333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.60, Y:13.91, Z:7.17 [[ 6.37603906e-01 -7.32343851e-01 -2.39026658e-01 2.46047191e+01] [ 6.90391602e-01 6.80873655e-01 -2.44480064e-01 1.39135980e+01] [ 3.41790426e-01 -9.14055329e-03 9.39731746e-01 7.17393230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:13.95, Z:7.19 [[ 6.39122525e-01 -7.31045500e-01 -2.38945339e-01 2.46421561e+01] [ 6.88975655e-01 6.82277940e-01 -2.44559519e-01 1.39536132e+01] [ 3.41811270e-01 -8.32402380e-03 9.39731752e-01 7.19259074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.68, Y:13.99, Z:7.21 [[ 6.39941608e-01 -7.30353135e-01 -2.38870334e-01 2.46783917e+01] [ 6.88209280e-01 6.83024743e-01 -2.44632760e-01 1.39927064e+01] [ 3.41822652e-01 -7.84209892e-03 9.39731758e-01 7.21158675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:14.03, Z:7.23 [[ 6.41250622e-01 -7.29229746e-01 -2.38791998e-01 2.47147853e+01] [ 6.86981954e-01 6.84231832e-01 -2.44709205e-01 1.40317301e+01] [ 3.41838317e-01 -7.12586393e-03 9.39731763e-01 7.23323945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:14.07, Z:7.25 [[ 6.41857628e-01 -7.28722059e-01 -2.38711009e-01 2.47521508e+01] [ 6.86410911e-01 6.84776464e-01 -2.44788186e-01 1.40716522e+01] [ 3.41846231e-01 -6.73467700e-03 9.39731769e-01 7.25293325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.79, Y:14.11, Z:7.27 [[ 6.42634159e-01 -7.28062394e-01 -2.38634635e-01 2.47885830e+01] [ 6.85679559e-01 6.85482195e-01 -2.44862621e-01 1.41115935e+01] [ 3.41855059e-01 -6.26980678e-03 9.39731775e-01 7.26996229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.83, Y:14.15, Z:7.29 [[ 6.43499981e-01 -7.27323381e-01 -2.38554970e-01 2.48252172e+01] [ 6.84862579e-01 6.86270749e-01 -2.44940212e-01 1.41509247e+01] [ 3.41864041e-01 -5.75835017e-03 9.39731780e-01 7.29079376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:14.19, Z:7.31 [[ 6.43826680e-01 -7.27058258e-01 -2.38481646e-01 2.48625771e+01] [ 6.84553415e-01 6.86553673e-01 -2.45011584e-01 1.41902163e+01] [ 3.41868145e-01 -5.50843056e-03 9.39731785e-01 7.31174842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:14.23, Z:7.33 [[ 6.44221130e-01 -7.26733144e-01 -2.38407366e-01 2.49001010e+01] [ 6.84180004e-01 6.86900016e-01 -2.45083842e-01 1.42301265e+01] [ 3.41872575e-01 -5.22536308e-03 9.39731790e-01 7.33196664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.94, Y:14.27, Z:7.35 [[ 6.44567544e-01 -7.26450866e-01 -2.38331325e-01 2.49371605e+01] [ 6.83851706e-01 6.87200490e-01 -2.45157769e-01 1.42699413e+01] [ 3.41876477e-01 -4.96254259e-03 9.39731796e-01 7.34998229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.97, Y:14.31, Z:7.37 [[ 6.44400112e-01 -7.26625618e-01 -2.38251354e-01 2.49745981e+01] [ 6.84009300e-01 6.87015898e-01 -2.45235466e-01 1.43098803e+01] [ 3.41876839e-01 -4.93638031e-03 9.39731802e-01 7.37069915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.01, Y:14.35, Z:7.39 [[ 6.43983560e-01 -7.27019147e-01 -2.38177108e-01 2.50120457e+01] [ 6.84402216e-01 6.86598726e-01 -2.45307556e-01 1.43497274e+01] [ 3.41875389e-01 -5.03490674e-03 9.39731807e-01 7.39149756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:14.39, Z:7.41 [[ 6.43444615e-01 -7.27520465e-01 -2.38102922e-01 2.50484978e+01] [ 6.84910105e-01 6.86066343e-01 -2.45379545e-01 1.43883150e+01] [ 3.41873041e-01 -5.19095048e-03 9.39731812e-01 7.41125439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:14.43, Z:7.43 [[ 6.42660915e-01 -7.28238189e-01 -2.38025395e-01 2.50860894e+01] [ 6.85647592e-01 6.85302384e-01 -2.45454727e-01 1.44286102e+01] [ 3.41868877e-01 -5.45737947e-03 9.39731817e-01 7.42931627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.12, Y:14.47, Z:7.45 [[ 6.41744518e-01 -7.29070446e-01 -2.37950116e-01 2.51235411e+01] [ 6.86508106e-01 6.84414185e-01 -2.45527686e-01 1.44676083e+01] [ 3.41863414e-01 -5.78863698e-03 9.39731822e-01 7.44946363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:14.51, Z:7.47 [[ 6.40562921e-01 -7.30133857e-01 -2.37873276e-01 2.51608546e+01] [ 6.87614725e-01 6.83275635e-01 -2.45602111e-01 1.45064380e+01] [ 3.41855430e-01 -6.24156206e-03 9.39731828e-01 7.46952369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.20, Y:14.55, Z:7.49 [[ 6.39755276e-01 -7.30867740e-01 -2.37793049e-01 2.51983427e+01] [ 6.88368755e-01 6.82488029e-01 -2.45679765e-01 1.45456217e+01] [ 3.41850324e-01 -6.51437943e-03 9.39731833e-01 7.48877168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.24, Y:14.59, Z:7.51 [[ 6.38215876e-01 -7.32236082e-01 -2.37720039e-01 2.52365349e+01] [ 6.89802418e-01 6.81013487e-01 -2.45750392e-01 1.45850825e+01] [ 3.41837857e-01 -7.13805588e-03 9.39731838e-01 7.50887144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:14.62, Z:7.53 [[ 6.37493801e-01 -7.32889004e-01 -2.37645453e-01 2.52746699e+01] [ 6.90472313e-01 6.80308227e-01 -2.45822500e-01 1.46245514e+01] [ 3.41832764e-01 -7.37728554e-03 9.39731843e-01 7.52910125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.31, Y:14.66, Z:7.55 [[ 6.35698491e-01 -7.34471225e-01 -2.37569881e-01 2.53116407e+01] [ 6.92133820e-01 6.78591313e-01 -2.45895516e-01 1.46633468e+01] [ 3.41816038e-01 -8.11474075e-03 9.39731849e-01 7.54980475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.35, Y:14.70, Z:7.57 [[ 6.33932625e-01 -7.36021362e-01 -2.37491014e-01 2.53489958e+01] [ 6.93760330e-01 6.76900689e-01 -2.45971666e-01 1.47031824e+01] [ 3.41798232e-01 -8.83238010e-03 9.39731854e-01 7.56844746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:14.74, Z:7.59 [[ 6.32041678e-01 -7.37670203e-01 -2.37415225e-01 2.53872286e+01] [ 6.95493811e-01 6.75092820e-01 -2.46044800e-01 1.47421133e+01] [ 3.41777231e-01 -9.61025158e-03 9.39731859e-01 7.58834981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:14.78, Z:7.61 [[ 6.30461933e-01 -7.39044740e-01 -2.37340734e-01 2.54253419e+01] [ 6.96935195e-01 6.73578455e-01 -2.46116637e-01 1.47814317e+01] [ 3.41758811e-01 -1.02439398e-02 9.39731864e-01 7.60880724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:14.82, Z:7.63 [[ 6.28140971e-01 -7.41042055e-01 -2.37266923e-01 2.54638300e+01] [ 6.99042756e-01 6.71364881e-01 -2.46187776e-01 1.48204990e+01] [ 3.41728175e-01 -1.12190948e-02 9.39731869e-01 7.62912082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.50, Y:14.86, Z:7.65 [[ 6.26277947e-01 -7.42640646e-01 -2.37193602e-01 2.55018297e+01] [ 7.00724967e-01 6.69582945e-01 -2.46258401e-01 1.48599712e+01] [ 3.41702288e-01 -1.19812732e-02 9.39731874e-01 7.64960203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:14.90, Z:7.67 [[ 6.24124680e-01 -7.44476165e-01 -2.37115212e-01 2.55399388e+01] [ 7.02659220e-01 6.67525019e-01 -2.46333859e-01 1.48985491e+01] [ 3.41670023e-01 -1.28681487e-02 9.39731880e-01 7.66852940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.58, Y:14.94, Z:7.69 [[ 6.22163978e-01 -7.46141535e-01 -2.37033321e-01 2.55778264e+01] [ 7.04410812e-01 6.65647219e-01 -2.46412637e-01 1.49375181e+01] [ 3.41639274e-01 -1.36597677e-02 9.39731886e-01 7.68802949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.61, Y:14.98, Z:7.71 [[ 6.20548790e-01 -7.47509707e-01 -2.36956615e-01 2.56149830e+01] [ 7.05846773e-01 6.64096979e-01 -2.46486380e-01 1.49760449e+01] [ 3.41613134e-01 -1.42982375e-02 9.39731891e-01 7.70834550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.65, Y:15.02, Z:7.73 [[ 6.18062064e-01 -7.49592472e-01 -2.36876363e-01 2.56534743e+01] [ 7.08046801e-01 6.61722130e-01 -2.46563481e-01 1.50154447e+01] [ 3.41568461e-01 -1.53280168e-02 9.39731897e-01 7.72686790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:15.05, Z:7.74 [[ 6.15245338e-01 -7.51930182e-01 -2.36799863e-01 2.56913916e+01] [ 7.10522188e-01 6.59035996e-01 -2.46636933e-01 1.50545317e+01] [ 3.41513387e-01 -1.65093338e-02 9.39731902e-01 7.74477093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:15.09, Z:7.76 [[ 6.13412809e-01 -7.53450950e-01 -2.36720069e-01 2.57282222e+01] [ 7.12122094e-01 6.57278155e-01 -2.46713498e-01 1.50922353e+01] [ 3.41477449e-01 -1.72363718e-02 9.39731908e-01 7.76486207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:15.13, Z:7.79 [[ 6.10982569e-01 -7.55442987e-01 -2.36656277e-01 2.57659361e+01] [ 7.14233528e-01 6.54960096e-01 -2.46774676e-01 1.51294998e+01] [ 3.41424616e-01 -1.82528225e-02 9.39731912e-01 7.78654371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:15.17, Z:7.81 [[ 6.09402403e-01 -7.56743701e-01 -2.36574896e-01 2.58034238e+01] [ 7.15597991e-01 6.53439572e-01 -2.46852672e-01 1.51678175e+01] [ 3.41391603e-01 -1.88599086e-02 9.39731918e-01 7.80525579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.84, Y:15.21, Z:7.82 [[ 6.07608981e-01 -7.58209553e-01 -2.36494398e-01 2.58421604e+01] [ 7.17140239e-01 6.51717398e-01 -2.46929770e-01 1.52064796e+01] [ 3.41352025e-01 -1.95629030e-02 9.39731924e-01 7.82338929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.88, Y:15.24, Z:7.84 [[ 6.05062137e-01 -7.60268865e-01 -2.36412908e-01 2.58793263e+01] [ 7.19319348e-01 6.49281786e-01 -2.47007769e-01 1.52447073e+01] [ 3.41290911e-01 -2.06013302e-02 9.39731929e-01 7.84440650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.92, Y:15.28, Z:7.86 [[ 6.03683579e-01 -7.61390369e-01 -2.36327829e-01 2.59178673e+01] [ 7.20491372e-01 6.47949950e-01 -2.47089145e-01 1.52834489e+01] [ 3.41259900e-01 -2.11085021e-02 9.39731936e-01 7.86320164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:15.32, Z:7.88 [[ 6.02204088e-01 -7.62576256e-01 -2.36278840e-01 2.59544567e+01] [ 7.21746180e-01 6.46534035e-01 -2.47135983e-01 1.53213999e+01] [ 3.41222344e-01 -2.17070511e-02 9.39731938e-01 7.88432480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:15.36, Z:7.90 [[ 6.00261907e-01 -7.64123871e-01 -2.36220982e-01 2.59919518e+01] [ 7.23386476e-01 6.44677035e-01 -2.47191275e-01 1.53595608e+01] [ 3.41170996e-01 -2.24995575e-02 9.39731941e-01 7.90448645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:15.40, Z:7.92 [[ 5.98376626e-01 -7.65626737e-01 -2.36137912e-01 2.60297658e+01] [ 7.24969840e-01 6.42865443e-01 -2.47270608e-01 1.53978270e+01] [ 3.41121892e-01 -2.32319118e-02 9.39731947e-01 7.92480997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.07, Y:15.44, Z:7.95 [[ 5.97533438e-01 -7.66310403e-01 -2.36055412e-01 2.60672658e+01] [ 7.25673597e-01 6.42040600e-01 -2.47349345e-01 1.54354384e+01] [ 3.41103534e-01 -2.34996755e-02 9.39731953e-01 7.94519776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.10, Y:15.47, Z:7.96 [[ 5.96879953e-01 -7.66845401e-01 -2.35971296e-01 2.61039194e+01] [ 7.26217082e-01 6.41394854e-01 -2.47429568e-01 1.54742571e+01] [ 3.41091001e-01 -2.36806370e-02 9.39731960e-01 7.96481615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:15.51, Z:7.98 [[ 5.96197085e-01 -7.67402263e-01 -2.35887267e-01 2.61408067e+01] [ 7.26784150e-01 6.40721289e-01 -2.47509654e-01 1.55128300e+01] [ 3.41077463e-01 -2.38745924e-02 9.39731966e-01 7.98429729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:15.55, Z:8.00 [[ 5.95845101e-01 -7.67701227e-01 -2.35803821e-01 2.61791374e+01] [ 7.27074318e-01 6.40361271e-01 -2.47589132e-01 1.55520369e+01] [ 3.41074115e-01 -2.39221308e-02 9.39731972e-01 8.00466339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.22, Y:15.59, Z:8.02 [[ 5.94636205e-01 -7.68660990e-01 -2.35728797e-01 2.62163128e+01] [ 7.28077902e-01 6.39192322e-01 -2.47660543e-01 1.55900521e+01] [ 3.41043036e-01 -2.43610028e-02 9.39731977e-01 8.02261971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.25, Y:15.63, Z:8.04 [[ 5.93513541e-01 -7.69555060e-01 -2.35641012e-01 2.62533943e+01] [ 7.29006284e-01 6.38100876e-01 -2.47744043e-01 1.56285778e+01] [ 3.41015418e-01 -2.47443347e-02 9.39731984e-01 8.04249483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:15.67, Z:8.06 [[ 5.93189801e-01 -7.69830038e-01 -2.35558001e-01 2.62913968e+01] [ 7.29270937e-01 6.37767737e-01 -2.47822949e-01 1.56673286e+01] [ 3.41012844e-01 -2.47795584e-02 9.39731991e-01 8.06194599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:15.71, Z:8.08 [[ 5.93109510e-01 -7.69917369e-01 -2.35474741e-01 2.63281762e+01] [ 7.29333773e-01 6.37665137e-01 -2.47902039e-01 1.57057059e+01] [ 3.41018118e-01 -2.47066246e-02 9.39731997e-01 8.08205662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.37, Y:15.75, Z:8.10 [[ 5.93559297e-01 -7.69596001e-01 -2.35391920e-01 2.63659271e+01] [ 7.28957428e-01 6.38064778e-01 -2.47980658e-01 1.57451954e+01] [ 3.41040216e-01 -2.43994634e-02 9.39732003e-01 8.10052109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.40, Y:15.78, Z:8.12 [[ 5.93646014e-01 -7.69554538e-01 -2.35308784e-01 2.64030777e+01] [ 7.28881922e-01 6.38120378e-01 -2.48059524e-01 1.57835216e+01] [ 3.41050662e-01 -2.42527712e-02 9.39732009e-01 8.11937228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.44, Y:15.82, Z:8.14 [[ 5.93734779e-01 -7.69512450e-01 -2.35222453e-01 2.64396405e+01] [ 7.28804593e-01 6.38176880e-01 -2.48141364e-01 1.58218958e+01] [ 3.41061400e-01 -2.41010465e-02 9.39732016e-01 8.13968960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.48, Y:15.86, Z:8.16 [[ 5.93946917e-01 -7.69373970e-01 -2.35139861e-01 2.64765891e+01] [ 7.28625089e-01 6.38351397e-01 -2.48219607e-01 1.58608784e+01] [ 3.41075563e-01 -2.38995318e-02 9.39732022e-01 8.16028413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:15.90, Z:8.18 [[ 5.93663178e-01 -7.69618398e-01 -2.35056489e-01 2.65138451e+01] [ 7.28856866e-01 6.38056037e-01 -2.48298535e-01 1.58997887e+01] [ 3.41074333e-01 -2.39168387e-02 9.39732028e-01 8.17920156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:15.94, Z:8.20 [[ 5.93807849e-01 -7.69532333e-01 -2.34972823e-01 2.65522293e+01] [ 7.28733359e-01 6.38166291e-01 -2.48377689e-01 1.59384629e+01] [ 3.41086398e-01 -2.37439135e-02 9.39732034e-01 8.19811373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.59, Y:15.98, Z:8.22 [[ 5.93795181e-01 -7.69565844e-01 -2.34895072e-01 2.65894971e+01] [ 7.28740584e-01 6.38129425e-01 -2.48451201e-01 1.59761810e+01] [ 3.41093015e-01 -2.36484460e-02 9.39732040e-01 8.21824462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:16.01, Z:8.24 [[ 5.93724612e-01 -7.69637533e-01 -2.34838567e-01 2.66267030e+01] [ 7.28796716e-01 6.38044521e-01 -2.48504599e-01 1.60146460e+01] [ 3.41095928e-01 -2.36062798e-02 9.39732042e-01 8.23938146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.66, Y:16.05, Z:8.26 [[ 5.93881727e-01 -7.69542130e-01 -2.34753922e-01 2.66645906e+01] [ 7.28662903e-01 6.38166202e-01 -2.48584539e-01 1.60535484e+01] [ 3.41108294e-01 -2.34266587e-02 9.39732049e-01 8.25838064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.70, Y:16.09, Z:8.28 [[ 5.94022201e-01 -7.69459757e-01 -2.34668505e-01 2.67013345e+01] [ 7.28542849e-01 6.38271854e-01 -2.48665151e-01 1.60914080e+01] [ 3.41120128e-01 -2.32534410e-02 9.39732055e-01 8.27733949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.74, Y:16.13, Z:8.30 [[ 5.94105087e-01 -7.69415740e-01 -2.34602993e-01 2.67378407e+01] [ 7.28471386e-01 6.38329340e-01 -2.48726945e-01 1.61299246e+01] [ 3.41128400e-01 -2.31316240e-02 9.39732059e-01 8.29783481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.77, Y:16.17, Z:8.32 [[ 5.94373328e-01 -7.69233835e-01 -2.34520050e-01 2.67745745e+01] [ 7.28245385e-01 6.38556706e-01 -2.48805128e-01 1.61682068e+01] [ 3.41143674e-01 -2.29050124e-02 9.39732065e-01 8.31816812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.81, Y:16.21, Z:8.34 [[ 5.93964055e-01 -7.69575038e-01 -2.34437544e-01 2.68135411e+01] [ 7.28581581e-01 6.38142780e-01 -2.48882849e-01 1.62071277e+01] [ 3.41138654e-01 -2.29794107e-02 9.39732071e-01 8.33809288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.85, Y:16.25, Z:8.36 [[ 5.93724062e-01 -7.69783840e-01 -2.34359933e-01 2.68505428e+01] [ 7.28777351e-01 6.37890685e-01 -2.48955913e-01 1.62457928e+01] [ 3.41138256e-01 -2.29850951e-02 9.39732077e-01 8.35689129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.89, Y:16.28, Z:8.38 [[ 5.93641465e-01 -7.69873683e-01 -2.34274035e-01 2.68875467e+01] [ 7.28842288e-01 6.37784941e-01 -2.49036721e-01 1.62843211e+01] [ 3.41143269e-01 -2.29102996e-02 9.39732083e-01 8.37684176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:16.32, Z:8.40 [[ 5.93682837e-01 -7.69867134e-01 -2.34190702e-01 2.69253550e+01] [ 7.28804635e-01 6.37797373e-01 -2.49115065e-01 1.63226847e+01] [ 3.41151716e-01 -2.27839309e-02 9.39732089e-01 8.39721275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:16.36, Z:8.42 [[ 5.93561442e-01 -7.69986342e-01 -2.34106489e-01 2.69630873e+01] [ 7.28901786e-01 6.37655428e-01 -2.49194183e-01 1.63619102e+01] [ 3.41155390e-01 -2.27285792e-02 9.39732095e-01 8.41621524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:16.40, Z:8.43 [[ 5.93638551e-01 -7.69950609e-01 -2.34028482e-01 2.69995138e+01] [ 7.28834790e-01 6.37703379e-01 -2.49267423e-01 1.63999524e+01] [ 3.41164358e-01 -2.25933474e-02 9.39732101e-01 8.43454436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.04, Y:16.44, Z:8.45 [[ 5.93676287e-01 -7.69949255e-01 -2.33937193e-01 2.70366888e+01] [ 7.28799891e-01 6.37709781e-01 -2.49353072e-01 1.64383238e+01] [ 3.41173248e-01 -2.24583948e-02 9.39732108e-01 8.45493638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:16.48, Z:8.47 [[ 5.93864880e-01 -7.69830051e-01 -2.33850802e-01 2.70731504e+01] [ 7.28640235e-01 6.37860528e-01 -2.49434069e-01 1.64766335e+01] [ 3.41186038e-01 -2.22629699e-02 9.39732115e-01 8.47424370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:16.52, Z:8.49 [[ 5.94076240e-01 -7.69694252e-01 -2.33760945e-01 2.71106082e+01] [ 7.28461541e-01 6.38031679e-01 -2.49518255e-01 1.65158631e+01] [ 3.41199655e-01 -2.20529910e-02 9.39732122e-01 8.49321397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:16.55, Z:8.51 [[ 5.94042022e-01 -7.69746468e-01 -2.33675954e-01 2.71477591e+01] [ 7.28486590e-01 6.37971953e-01 -2.49597828e-01 1.65544035e+01] [ 3.41205751e-01 -2.19582007e-02 9.39732128e-01 8.51331320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:16.59, Z:8.53 [[ 5.94453046e-01 -7.69455074e-01 -2.33590378e-01 2.71846059e+01] [ 7.28142463e-01 6.38333380e-01 -2.49677893e-01 1.65920261e+01] [ 3.41224457e-01 -2.16652887e-02 9.39732135e-01 8.53207714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:16.63, Z:8.55 [[ 5.94563937e-01 -7.69396313e-01 -2.33501687e-01 2.72213564e+01] [ 7.28047069e-01 6.38409744e-01 -2.49760814e-01 1.66310387e+01] [ 3.41234801e-01 -2.15014462e-02 9.39732142e-01 8.55169343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.26, Y:16.67, Z:8.57 [[ 5.94549378e-01 -7.69433217e-01 -2.33417141e-01 2.72586719e+01] [ 7.28055938e-01 6.38368720e-01 -2.49839805e-01 1.66697413e+01] [ 3.41241247e-01 -2.13986347e-02 9.39732148e-01 8.57205203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.30, Y:16.71, Z:8.59 [[ 5.94281893e-01 -7.69665297e-01 -2.33333158e-01 2.72963093e+01] [ 7.28274596e-01 6.38088549e-01 -2.49918219e-01 1.67077373e+01] [ 3.41240596e-01 -2.14087391e-02 9.39732154e-01 8.59271489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.33, Y:16.75, Z:8.61 [[ 5.93801973e-01 -7.70061423e-01 -2.33247983e-01 2.73331599e+01] [ 7.28668987e-01 6.37606981e-01 -2.49997689e-01 1.67466115e+01] [ 3.41234119e-01 -2.15114508e-02 9.39732161e-01 8.61267276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:16.79, Z:8.63 [[ 5.93580348e-01 -7.70258450e-01 -2.33161512e-01 2.73707483e+01] [ 7.28849148e-01 6.37369404e-01 -2.50078314e-01 1.67853620e+01] [ 3.41234949e-01 -2.14979966e-02 9.39732167e-01 8.63133115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:16.82, Z:8.65 [[ 5.93343281e-01 -7.70466820e-01 -2.33076446e-01 2.74082748e+01] [ 7.29042020e-01 6.37117667e-01 -2.50157575e-01 1.68227519e+01] [ 3.41235233e-01 -2.14932071e-02 9.39732173e-01 8.64966961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.45, Y:16.86, Z:8.67 [[ 5.92364825e-01 -7.71246077e-01 -2.32987990e-01 2.74452745e+01] [ 7.29846735e-01 6.36163279e-01 -2.50239937e-01 1.68616244e+01] [ 3.41214973e-01 -2.18121876e-02 9.39732180e-01 8.66845706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:16.90, Z:8.69 [[ 5.91563525e-01 -7.71885900e-01 -2.32905030e-01 2.74831941e+01] [ 7.30503799e-01 6.35378261e-01 -2.50317129e-01 1.68991998e+01] [ 3.41199055e-01 -2.20595262e-02 9.39732186e-01 8.68893497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.52, Y:16.94, Z:8.71 [[ 5.91298245e-01 -7.72114759e-01 -2.32820066e-01 2.75203708e+01] [ 7.30718783e-01 6.35099864e-01 -2.50396132e-01 1.69369224e+01] [ 3.41198541e-01 -2.20672022e-02 9.39732193e-01 8.70953664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:16.98, Z:8.73 [[ 5.90838491e-01 -7.72492771e-01 -2.32733314e-01 2.75571302e+01] [ 7.31093347e-01 6.34636841e-01 -2.50476742e-01 1.69750128e+01] [ 3.41192608e-01 -2.21584774e-02 9.39732199e-01 8.72732064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.60, Y:17.01, Z:8.75 [[ 5.90299899e-01 -7.72931668e-01 -2.32642785e-01 2.75953206e+01] [ 7.31531975e-01 6.34097985e-01 -2.50560801e-01 1.70133395e+01] [ 3.41184699e-01 -2.22796207e-02 9.39732206e-01 8.74662435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.63, Y:17.05, Z:8.77 [[ 5.90042706e-01 -7.73153465e-01 -2.32558219e-01 2.76320179e+01] [ 7.31739586e-01 6.33827370e-01 -2.50639269e-01 1.70523028e+01] [ 3.41184384e-01 -2.22841826e-02 9.39732213e-01 8.76612554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:17.09, Z:8.79 [[ 5.89780766e-01 -7.73378820e-01 -2.32473331e-01 2.76686727e+01] [ 7.31950924e-01 6.33552159e-01 -2.50717983e-01 1.70891098e+01] [ 3.41183958e-01 -2.22904252e-02 9.39732219e-01 8.78842289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:17.13, Z:8.81 [[ 5.90031159e-01 -7.73214271e-01 -2.32385288e-01 2.77058744e+01] [ 7.31742319e-01 6.33760804e-01 -2.50799565e-01 1.71285922e+01] [ 3.41198490e-01 -2.20665921e-02 9.39732226e-01 8.80789114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.74, Y:17.17, Z:8.83 [[ 5.90577237e-01 -7.72822284e-01 -2.32302055e-01 2.77436549e+01] [ 7.31291245e-01 6.34250760e-01 -2.50876639e-01 1.71675603e+01] [ 3.41220812e-01 -2.17184265e-02 9.39732232e-01 8.82661399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.78, Y:17.21, Z:8.85 [[ 5.90656657e-01 -7.72786643e-01 -2.32218685e-01 2.77800387e+01] [ 7.31222893e-01 6.34299044e-01 -2.50953788e-01 1.72053902e+01] [ 3.41229825e-01 -2.15760932e-02 9.39732238e-01 8.84553000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:17.24, Z:8.87 [[ 5.90962550e-01 -7.72578647e-01 -2.32132504e-01 2.78174284e+01] [ 7.30968489e-01 6.34560682e-01 -2.51033483e-01 1.72441243e+01] [ 3.41245269e-01 -2.13301579e-02 9.39732244e-01 8.86604962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:17.28, Z:8.89 [[ 5.91053788e-01 -7.72534720e-01 -2.32046387e-01 2.78537462e+01] [ 7.30890333e-01 6.34619217e-01 -2.51113064e-01 1.72833819e+01] [ 3.41254657e-01 -2.11791335e-02 9.39732251e-01 8.88533311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.89, Y:17.32, Z:8.91 [[ 5.91331048e-01 -7.72349036e-01 -2.31958095e-01 2.78914329e+01] [ 7.30659239e-01 6.34853015e-01 -2.51194599e-01 1.73217858e+01] [ 3.41269202e-01 -2.09431596e-02 9.39732258e-01 8.90533796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.93, Y:17.36, Z:8.93 [[ 5.90940174e-01 -7.72674410e-01 -2.31870582e-01 2.79292250e+01] [ 7.30977142e-01 6.34454973e-01 -2.51275356e-01 1.73606272e+01] [ 3.41265482e-01 -2.10033932e-02 9.39732264e-01 8.92526690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.97, Y:17.40, Z:8.94 [[ 5.90576961e-01 -7.72978119e-01 -2.31783695e-01 2.79665518e+01] [ 7.31272035e-01 6.34083302e-01 -2.51355481e-01 1.73985919e+01] [ 3.41262458e-01 -2.10521783e-02 9.39732271e-01 8.94339143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:17.44, Z:8.96 [[ 5.90583794e-01 -7.72999949e-01 -2.31693465e-01 2.80033459e+01] [ 7.31263113e-01 6.34060624e-01 -2.51438629e-01 1.74371757e+01] [ 3.41269751e-01 -2.09333046e-02 9.39732278e-01 8.96282220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.04, Y:17.48, Z:8.98 [[ 5.90869206e-01 -7.72807535e-01 -2.31607633e-01 2.80401110e+01] [ 7.31025798e-01 6.34302880e-01 -2.51517670e-01 1.74763324e+01] [ 3.41284139e-01 -2.06971089e-02 9.39732284e-01 8.98325896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:17.51, Z:9.00 [[ 5.91291082e-01 -7.72511683e-01 -2.31517940e-01 2.80768062e+01] [ 7.30676138e-01 6.34672921e-01 -2.51600207e-01 1.75140983e+01] [ 3.41302267e-01 -2.03956763e-02 9.39732291e-01 9.00270483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.11, Y:17.55, Z:9.02 [[ 5.91637325e-01 -7.72274467e-01 -2.31424767e-01 2.81138797e+01] [ 7.30388260e-01 6.34970240e-01 -2.51685884e-01 1.75534233e+01] [ 3.41318421e-01 -2.01231696e-02 9.39732299e-01 9.02202710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.15, Y:17.59, Z:9.04 [[ 5.92105023e-01 -7.71941757e-01 -2.31338639e-01 2.81489909e+01] [ 7.30000496e-01 6.35384645e-01 -2.51765027e-01 1.75926649e+01] [ 3.41336956e-01 -1.98059843e-02 9.39732305e-01 9.04145802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:17.63, Z:9.06 [[ 5.92933438e-01 -7.71332474e-01 -2.31249112e-01 2.81856833e+01] [ 7.29314886e-01 6.36138953e-01 -2.51847235e-01 1.76310447e+01] [ 3.41364519e-01 -1.93247726e-02 9.39732312e-01 9.06227242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.22, Y:17.67, Z:9.08 [[ 5.93775470e-01 -7.70710210e-01 -2.31163280e-01 2.82216354e+01] [ 7.28616869e-01 6.36907176e-01 -2.51925996e-01 1.76702881e+01] [ 3.41391489e-01 -1.88419892e-02 9.39732319e-01 9.08265949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.26, Y:17.71, Z:9.10 [[ 5.95071077e-01 -7.69737432e-01 -2.31072928e-01 2.82574113e+01] [ 7.27541581e-01 6.38102492e-01 -2.52008845e-01 1.77102246e+01] [ 3.41428853e-01 -1.81519888e-02 9.39732326e-01 9.09999344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:17.75, Z:9.12 [[ 5.96132269e-01 -7.68944031e-01 -2.30979210e-01 2.82935271e+01] [ 7.26657806e-01 6.39074868e-01 -2.52094717e-01 1.77492377e+01] [ 3.41459736e-01 -1.75610501e-02 9.39732333e-01 9.11830917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:17.79, Z:9.14 [[ 5.97453022e-01 -7.67945461e-01 -2.30888837e-01 2.83295123e+01] [ 7.25555627e-01 6.40293338e-01 -2.52177465e-01 1.77889518e+01] [ 3.41495124e-01 -1.68585062e-02 9.39732340e-01 9.13789037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.37, Y:17.83, Z:9.16 [[ 5.98561004e-01 -7.67108334e-01 -2.30801925e-01 2.83652121e+01] [ 7.24628051e-01 6.41311625e-01 -2.52256988e-01 1.78286972e+01] [ 3.41524395e-01 -1.62543527e-02 9.39732347e-01 9.15730813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:17.87, Z:9.18 [[ 6.00139272e-01 -7.65901067e-01 -2.30712829e-01 2.84003608e+01] [ 7.23303572e-01 6.42773092e-01 -2.52338452e-01 1.78684134e+01] [ 3.41562288e-01 -1.54371986e-02 9.39732354e-01 9.17586547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.44, Y:17.91, Z:9.20 [[ 6.00900293e-01 -7.65331849e-01 -2.30620899e-01 2.84360220e+01] [ 7.22661854e-01 6.43461541e-01 -2.52422445e-01 1.79080362e+01] [ 3.41582616e-01 -1.49802056e-02 9.39732361e-01 9.19642074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.47, Y:17.95, Z:9.22 [[ 6.01611384e-01 -7.64799926e-01 -2.30531595e-01 2.84710520e+01] [ 7.22061167e-01 6.44103571e-01 -2.52503982e-01 1.79469982e+01] [ 3.41601250e-01 -1.45486423e-02 9.39732368e-01 9.21606385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:17.99, Z:9.23 [[ 6.02850087e-01 -7.63844565e-01 -2.30463129e-01 2.85079478e+01] [ 7.21014649e-01 6.45250386e-01 -2.52566458e-01 1.79885311e+01] [ 3.41627939e-01 -1.39075812e-02 9.39732372e-01 9.23448088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.54, Y:18.03, Z:9.25 [[ 6.03402708e-01 -7.63433252e-01 -2.30379778e-01 2.85434928e+01] [ 7.20545505e-01 6.45744500e-01 -2.52642467e-01 1.80284572e+01] [ 3.41642135e-01 -1.35539651e-02 9.39732378e-01 9.25334783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:18.07, Z:9.27 [[ 6.04408363e-01 -7.62663969e-01 -2.30291556e-01 2.85802264e+01] [ 7.19691778e-01 6.46664442e-01 -2.52722861e-01 1.80690798e+01] [ 3.41663981e-01 -1.29911284e-02 9.39732384e-01 9.27306068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.62, Y:18.11, Z:9.29 [[ 6.04337228e-01 -7.62744968e-01 -2.30209966e-01 2.86159060e+01] [ 7.19750220e-01 6.46570348e-01 -2.52797164e-01 1.81087441e+01] [ 3.41666703e-01 -1.29189361e-02 9.39732390e-01 9.29287573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.65, Y:18.15, Z:9.31 [[ 6.04897710e-01 -7.62326368e-01 -2.30124464e-01 2.86521186e+01] [ 7.19272869e-01 6.47070928e-01 -2.52874977e-01 1.81497391e+01] [ 3.41680113e-01 -1.25587890e-02 9.39732396e-01 9.31063936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:18.19, Z:9.33 [[ 6.05474912e-01 -7.61894642e-01 -2.30036268e-01 2.86887672e+01] [ 7.18780674e-01 6.47586300e-01 -2.52955185e-01 1.81901093e+01] [ 3.41693536e-01 -1.21876057e-02 9.39732403e-01 9.33054130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.72, Y:18.23, Z:9.35 [[ 6.05442728e-01 -7.61945611e-01 -2.29952144e-01 2.87241707e+01] [ 7.18806225e-01 6.47528069e-01 -2.53031640e-01 1.82304618e+01] [ 3.41696815e-01 -1.20948661e-02 9.39732409e-01 9.35102131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:18.27, Z:9.37 [[ 6.05597710e-01 -7.61849126e-01 -2.29863705e-01 2.87593413e+01] [ 7.18672624e-01 6.47644961e-01 -2.53111958e-01 1.82704938e+01] [ 3.41703195e-01 -1.19127298e-02 9.39732416e-01 9.37179838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.80, Y:18.31, Z:9.39 [[ 6.05498096e-01 -7.61954114e-01 -2.29778118e-01 2.87950040e+01] [ 7.18755499e-01 6.47522619e-01 -2.53189634e-01 1.83106872e+01] [ 3.41705413e-01 -1.18484446e-02 9.39732422e-01 9.39207734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.83, Y:18.35, Z:9.41 [[ 6.05356707e-01 -7.62091888e-01 -2.29693735e-01 2.88309971e+01] [ 7.18873869e-01 6.47361266e-01 -2.53266167e-01 1.83510486e+01] [ 3.41706918e-01 -1.18044509e-02 9.39732428e-01 9.41125790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:18.39, Z:9.43 [[ 6.05307045e-01 -7.62157055e-01 -2.29608371e-01 2.88673965e+01] [ 7.18914281e-01 6.47286111e-01 -2.53343536e-01 1.83915032e+01] [ 3.41709873e-01 -1.17181101e-02 9.39732435e-01 9.43051771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.90, Y:18.43, Z:9.45 [[ 6.04912245e-01 -7.62497357e-01 -2.29518968e-01 2.89029497e+01] [ 7.19247550e-01 6.46884055e-01 -2.53424509e-01 1.84314690e+01] [ 3.41707679e-01 -1.17813669e-02 9.39732441e-01 9.44938249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:18.47, Z:9.47 [[ 6.04558915e-01 -7.62805413e-01 -2.29426287e-01 2.89377782e+01] [ 7.19545238e-01 6.46520028e-01 -2.53508390e-01 1.84714680e+01] [ 3.41706261e-01 -1.18218350e-02 9.39732449e-01 9.47060998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:18.51, Z:9.49 [[ 6.04056808e-01 -7.63229484e-01 -2.29338457e-01 2.89731457e+01] [ 7.19968684e-01 6.46017267e-01 -2.53587824e-01 1.85115959e+01] [ 3.41702307e-01 -1.19350555e-02 9.39732455e-01 9.48992493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.01, Y:18.55, Z:9.51 [[ 6.02891919e-01 -7.64176849e-01 -2.29248943e-01 2.90097152e+01] [ 7.20951296e-01 6.44888678e-01 -2.53668724e-01 1.85530388e+01] [ 3.41687814e-01 -1.23424988e-02 9.39732462e-01 9.50788151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.04, Y:18.59, Z:9.53 [[ 6.02102689e-01 -7.64823408e-01 -2.29166984e-01 2.90442780e+01] [ 7.21614855e-01 6.44116930e-01 -2.53742748e-01 1.85927281e+01] [ 3.41678727e-01 -1.25911086e-02 9.39732468e-01 9.52914072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.08, Y:18.63, Z:9.55 [[ 6.01646825e-01 -7.65210870e-01 -2.29070781e-01 2.90789672e+01] [ 7.21996411e-01 6.43654979e-01 -2.53829571e-01 1.86320863e+01] [ 3.41675696e-01 -1.26725263e-02 9.39732476e-01 9.54890794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:18.67, Z:9.57 [[ 6.00254016e-01 -7.66331208e-01 -2.28979466e-01 2.91147067e+01] [ 7.23163824e-01 6.42310532e-01 -2.53911923e-01 1.86719423e+01] [ 3.41656553e-01 -1.31780142e-02 9.39732483e-01 9.56952114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:18.71, Z:9.59 [[ 5.99007782e-01 -7.67332644e-01 -2.28889252e-01 2.91495109e+01] [ 7.24204598e-01 6.41104627e-01 -2.53993224e-01 1.87134405e+01] [ 3.41639251e-01 -1.36187314e-02 9.39732490e-01 9.58866024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:18.75, Z:9.61 [[ 5.98088532e-01 -7.68076147e-01 -2.28799342e-01 2.91845518e+01] [ 7.24969560e-01 6.40207342e-01 -2.54074193e-01 1.87530482e+01] [ 3.41627346e-01 -1.39136974e-02 9.39732497e-01 9.60711781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:18.79, Z:9.63 [[ 5.96345143e-01 -7.69458326e-01 -2.28705828e-01 2.92199435e+01] [ 7.26417185e-01 6.38530820e-01 -2.54158346e-01 1.87933042e+01] [ 3.41599975e-01 -1.45697481e-02 9.39732504e-01 9.62855905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.26, Y:18.83, Z:9.65 [[ 5.95257533e-01 -7.70325953e-01 -2.28618450e-01 2.92550288e+01] [ 7.27316237e-01 6.37475237e-01 -2.54236923e-01 1.88341085e+01] [ 3.41583900e-01 -1.49414674e-02 9.39732511e-01 9.64854623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.29, Y:18.88, Z:9.67 [[ 5.93747062e-01 -7.71516337e-01 -2.28532204e-01 2.92901886e+01] [ 7.28561542e-01 6.36020637e-01 -2.54314428e-01 1.88750496e+01] [ 3.41558934e-01 -1.55013311e-02 9.39732517e-01 9.66655995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.33, Y:18.92, Z:9.69 [[ 5.92235810e-01 -7.72702204e-01 -2.28447038e-01 2.93261481e+01] [ 7.29802674e-01 6.34565458e-01 -2.54390912e-01 1.89162974e+01] [ 3.41533017e-01 -1.60618516e-02 9.39732523e-01 9.68583500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:18.96, Z:9.71 [[ 5.90252368e-01 -7.74243351e-01 -2.28362379e-01 2.93610630e+01] [ 7.31425066e-01 6.32664189e-01 -2.54466889e-01 1.89558850e+01] [ 3.41495996e-01 -1.68302847e-02 9.39732529e-01 9.70619375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.40, Y:19.00, Z:9.73 [[ 5.89026542e-01 -7.75196248e-01 -2.28294787e-01 2.93964278e+01] [ 7.32423195e-01 6.31483973e-01 -2.54527516e-01 1.89971678e+01] [ 3.41473275e-01 -1.72849348e-02 9.39732533e-01 9.72634164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:19.04, Z:9.74 [[ 5.86295477e-01 -7.77288141e-01 -2.28212092e-01 2.94322824e+01] [ 7.34637826e-01 6.28876194e-01 -2.54601643e-01 1.90365246e+01] [ 3.41415990e-01 -1.83814434e-02 9.39732539e-01 9.74437156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:19.08, Z:9.76 [[ 5.84554123e-01 -7.78619341e-01 -2.28141184e-01 2.94683941e+01] [ 7.36041339e-01 6.27207143e-01 -2.54665167e-01 1.90769798e+01] [ 3.41379005e-01 -1.90557694e-02 9.39732543e-01 9.76369168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.50, Y:19.12, Z:9.78 [[ 5.82099321e-01 -7.80482266e-01 -2.28052217e-01 2.95040132e+01] [ 7.38009732e-01 6.24857355e-01 -2.54744816e-01 1.91175163e+01] [ 3.41323916e-01 -2.00179708e-02 9.39732550e-01 9.78253526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:19.16, Z:9.80 [[ 5.79062141e-01 -7.82764030e-01 -2.27963837e-01 2.95389819e+01] [ 7.40429011e-01 6.21956323e-01 -2.54823883e-01 1.91574238e+01] [ 3.41250520e-01 -2.12321749e-02 9.39732556e-01 9.80109685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.57, Y:19.20, Z:9.82 [[ 5.76664259e-01 -7.84558826e-01 -2.27872288e-01 2.95748136e+01] [ 7.42325200e-01 6.19658267e-01 -2.54905726e-01 1.91961728e+01] [ 3.41191485e-01 -2.21603202e-02 9.39732563e-01 9.82123373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:19.24, Z:9.84 [[ 5.74652468e-01 -7.86059617e-01 -2.27782394e-01 2.96103654e+01] [ 7.43906711e-01 6.17725609e-01 -2.54986033e-01 1.92366922e+01] [ 3.41141242e-01 -2.29204983e-02 9.39732570e-01 9.84159975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.65, Y:19.28, Z:9.86 [[ 5.71392315e-01 -7.88457100e-01 -2.27697660e-01 2.96464612e+01] [ 7.46454972e-01 6.14612491e-01 -2.55061680e-01 1.92763586e+01] [ 3.41051018e-01 -2.42257663e-02 9.39732576e-01 9.86161564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:19.31, Z:9.88 [[ 5.68078895e-01 -7.90873028e-01 -2.27609802e-01 2.96828778e+01] [ 7.49023541e-01 6.11446878e-01 -2.55140061e-01 1.93149023e+01] [ 3.40954695e-01 -2.55454157e-02 9.39732583e-01 9.88205291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:19.36, Z:9.90 [[ 5.65527306e-01 -7.92725109e-01 -2.27520916e-01 2.97181184e+01] [ 7.50986105e-01 6.09001623e-01 -2.55219304e-01 1.93550276e+01] [ 3.40879357e-01 -2.65315613e-02 9.39732590e-01 9.90102758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.75, Y:19.39, Z:9.92 [[ 5.62264798e-01 -7.95068790e-01 -2.27428925e-01 2.97548080e+01] [ 7.53478182e-01 6.05881093e-01 -2.55301255e-01 1.93949021e+01] [ 3.40776946e-01 -2.78158245e-02 9.39732597e-01 9.92070696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:19.43, Z:9.94 [[ 5.58921451e-01 -7.97447495e-01 -2.27341822e-01 2.97912412e+01] [ 7.56011310e-01 6.02684468e-01 -2.55378798e-01 1.94349648e+01] [ 3.40666568e-01 -2.91363009e-02 9.39732603e-01 9.93965682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.83, Y:19.48, Z:9.96 [[ 0.55650615 -0.79915943 -0.22725561 29.82688993] [ 0.757827 0.60036716 -0.2554555 19.47534936] [ 0.34058647 -0.03005788 0.93973261 9.9596501 ] [ 0. 0. 0. 1. ]] SLAMing on 170.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.86, Y:19.51, Z:9.98 [[ 0.5532668 -0.80142965 -0.22717033 29.86291769] [ 0.76024648 0.59726799 -0.25553131 19.51425656] [ 0.34047194 -0.03132845 0.93973262 9.97858039] [ 0. 0. 0. 1. ]] SLAMing on 170.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:19.55, Z:10.00 [[ 0.55010346 -0.80362928 -0.22708185 29.8995689 ] [ 0.76259008 0.59423895 -0.25560992 19.55401938] [ 0.3403565 -0.03255846 0.93973262 9.99702279] [ 0. 0. 0. 1. ]] SLAMing on 170.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.94, Y:19.59, Z:10.02 [[ 0.54868438 -0.80462263 -0.22699751 29.9353262 ] [ 0.76363298 0.59286588 -0.2556848 19.59435234] [ 0.34030886 -0.03305253 0.93973263 10.01614404] [ 0. 0. 0. 1. ]] SLAMing on 170.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:19.63, Z:10.04 [[ 0.54575407 -0.80663656 -0.226914 29.97050844] [ 0.76577968 0.59005836 -0.25575889 19.63256889] [ 0.34019698 -0.03418468 0.93973263 10.03801814] [ 0. 0. 0. 1. ]] SLAMing on 170.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.01, Y:19.67, Z:10.06 [[ 0.54409592 -0.80778052 -0.22682649 30.00655217] [ 0.76698515 0.58845686 -0.25583649 19.67270722] [ 0.34013733 -0.03477296 0.93973264 10.05843073] [ 0. 0. 0. 1. ]] SLAMing on 170.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:19.71, Z:10.07 [[ 0.54189443 -0.80928316 -0.22674035 30.04287512] [ 0.76857956 0.58633957 -0.25591281 19.71332744] [ 0.34005277 -0.03559028 0.93973265 10.0747286 ] [ 0. 0. 0. 1. ]] SLAMing on 170.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.08, Y:19.75, Z:10.09 [[ 0.53937783 -0.81098635 -0.22665547 30.07890962] [ 0.7703922 0.58392296 -0.25598797 19.75347312] [ 0.33995208 -0.03653937 0.93973265 10.09454132] [ 0. 0. 0. 1. ]] SLAMing on 171.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.11, Y:19.79, Z:10.12 [[ 0.5373811 -0.81233415 -0.22657182 30.11421088] [ 0.77182128 0.58200015 -0.25606199 19.792773 ] [ 0.33987273 -0.03727008 0.93973266 10.11624599] [ 0. 0. 0. 1. ]] SLAMing on 171.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:19.83, Z:10.13 [[ 0.53534324 -0.81370285 -0.2264846 30.14952489] [ 0.77327227 0.58003686 -0.25613911 19.83248617] [ 0.33979054 -0.03801192 0.93973266 10.13477443] [ 0. 0. 0. 1. ]] SLAMing on 171.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.18, Y:19.87, Z:10.15 [[ 0.53376621 -0.81475667 -0.2264182 30.18417638] [ 0.7743901 0.57851764 -0.2561978 19.8717108 ] [ 0.33972579 -0.03858629 0.93973267 10.15194584] [ 0. 0. 0. 1. ]] SLAMing on 171.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:19.91, Z:10.17 [[ 0.53182953 -0.81604821 -0.22632425 30.22018942] [ 0.77575599 0.57664791 -0.25628077 19.9107639 ] [ 0.33964687 -0.03927471 0.93973268 10.17216388] [ 0. 0. 0. 1. ]] SLAMing on 171.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.26, Y:19.95, Z:10.19 [[ 0.53049018 -0.81694295 -0.22623967 30.25581152] [ 0.77669542 0.57534869 -0.25635542 19.95066626] [ 0.33959445 -0.03972528 0.93973268 10.19352365] [ 0. 0. 0. 1. ]] SLAMing on 171.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:19.99, Z:10.21 [[ 0.52930186 -0.81773777 -0.22615144 30.29128235] [ 0.77752537 0.57419186 -0.25643323 19.99049327] [ 0.33954945 -0.04010789 0.93973269 10.21213804] [ 0. 0. 0. 1. ]] SLAMing on 171.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.33, Y:20.03, Z:10.23 [[ 0.52795759 -0.8186317 -0.22605956 30.32694763] [ 0.77846171 0.57288553 -0.2565142 20.03114435] [ 0.33949691 -0.04055009 0.9397327 10.23053632] [ 0. 0. 0. 1. ]] SLAMing on 171.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:20.07, Z:10.25 [[ 0.52663209 -0.81950883 -0.22597329 30.36293001] [ 0.77938209 0.57159866 -0.25659018 20.07172472] [ 0.33944395 -0.04099091 0.9397327 10.2495465 ] [ 0. 0. 0. 1. ]] SLAMing on 171.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:20.11, Z:10.27 [[ 0.52580867 -0.82006117 -0.22588695 30.39794685] [ 0.7799501 0.5707892 -0.25666618 20.1117468 ] [ 0.33941579 -0.04122325 0.93973271 10.26991844] [ 0. 0. 0. 1. ]] SLAMing on 171.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.43, Y:20.15, Z:10.29 [[ 0.52508653 -0.82054846 -0.22579718 30.4330572 ] [ 0.7804463 0.57007501 -0.25674513 20.15141996] [ 0.33939314 -0.04140917 0.93973271 10.29001643] [ 0. 0. 0. 1. ]] SLAMing on 171.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:20.19, Z:10.31 [[ 0.52440304 -0.82101117 -0.22570359 30.46895959] [ 0.7809145 0.56939639 -0.25682737 20.19107914] [ 0.33937295 -0.04157415 0.93973272 10.30974141] [ 0. 0. 0. 1. ]] SLAMing on 171.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.51, Y:20.23, Z:10.33 [[ 0.52385668 -0.82138425 -0.22561493 30.50504666] [ 0.78128722 0.5688497 -0.25690524 20.23265972] [ 0.3393589 -0.04168854 0.93973273 10.32711181] [ 0. 0. 0. 1. ]] SLAMing on 171.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:20.27, Z:10.35 [[ 0.52364134 -0.82154591 -0.2255262 30.54116684] [ 0.78143037 0.56861785 -0.25698311 20.27296782] [ 0.33936165 -0.04166604 0.93973273 10.3470545 ] [ 0. 0. 0. 1. ]] SLAMing on 171.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:20.31, Z:10.37 [[ 0.5237874 -0.82147714 -0.22543751 30.57614351] [ 0.78132334 0.56872975 -0.2570609 20.31208965] [ 0.33938267 -0.04149433 0.93973274 10.36756297] [ 0. 0. 0. 1. ]] SLAMing on 171.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.61, Y:20.35, Z:10.39 [[ 0.5232614 -0.82183755 -0.22534538 30.61144077] [ 0.78168111 0.56820139 -0.25714164 20.3528052 ] [ 0.33937021 -0.04159594 0.93973275 10.38588929] [ 0. 0. 0. 1. ]] SLAMing on 171.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:20.39, Z:10.40 [[ 0.52262552 -0.82226623 -0.22525722 30.6460625 ] [ 0.7821145 0.56756971 -0.25721884 20.39231946] [ 0.33935154 -0.04174781 0.93973275 10.40493832] [ 0. 0. 0. 1. ]] SLAMing on 171.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.68, Y:20.43, Z:10.43 [[ 0.52304057 -0.82202748 -0.22516526 30.68157502] [ 0.78182175 0.56793644 -0.25729932 20.43210326] [ 0.33938667 -0.04146112 0.93973276 10.4255882 ] [ 0. 0. 0. 1. ]] SLAMing on 172.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:20.47, Z:10.44 [[ 0.52320344 -0.82194685 -0.22508116 30.71707641] [ 0.78170363 0.5680657 -0.25737287 20.47305554] [ 0.33940771 -0.04128839 0.93973277 10.44437893] [ 0. 0. 0. 1. ]] SLAMing on 172.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.75, Y:20.51, Z:10.46 [[ 0.52329046 -0.82191568 -0.22499268 30.75280953] [ 0.78163765 0.56812145 -0.2574502 20.51319651] [ 0.33942553 -0.04114152 0.93973277 10.46307558] [ 0. 0. 0. 1. ]] SLAMing on 172.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.79, Y:20.55, Z:10.48 [[ 0.52382607 -0.82159835 -0.2249053 30.78819868] [ 0.78126145 0.56860411 -0.25752652 20.5524143 ] [ 0.33946544 -0.04081073 0.93973278 10.48279869] [ 0. 0. 0. 1. ]] SLAMing on 172.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:20.59, Z:10.50 [[ 0.52402252 -0.82149795 -0.22481438 30.82338717] [ 0.78111954 0.56876312 -0.25760586 20.59276961] [ 0.33948882 -0.04061563 0.93973279 10.50193615] [ 0. 0. 0. 1. ]] SLAMing on 172.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:20.63, Z:10.52 [[ 0.5244233 -0.82126497 -0.22473105 30.85954549] [ 0.78083653 0.56911868 -0.25767854 20.63303011] [ 0.339521 -0.04034559 0.93973279 10.52156883] [ 0. 0. 0. 1. ]] SLAMing on 172.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.90, Y:20.67, Z:10.54 [[ 0.52470545 -0.82110958 -0.22464028 30.89512528] [ 0.7806351 0.56935914 -0.25775766 20.67246912] [ 0.33954828 -0.04011524 0.9397328 10.54013846] [ 0. 0. 0. 1. ]] SLAMing on 172.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.93, Y:20.71, Z:10.56 [[ 0.52486596 -0.8210327 -0.22454627 30.93015385] [ 0.78051776 0.56948293 -0.25783953 20.71334474] [ 0.33956995 -0.03993116 0.93973281 10.55920043] [ 0. 0. 0. 1. ]] SLAMing on 172.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.97, Y:20.75, Z:10.58 [[ 0.52572912 -0.82050461 -0.22445729 30.96561789] [ 0.77991278 0.57027615 -0.25791697 20.75292493] [ 0.3396247 -0.03946264 0.93973281 10.58088042] [ 0. 0. 0. 1. ]] SLAMing on 172.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:20.79, Z:10.60 [[ 0.52562714 -0.82059425 -0.2243684 31.00124198] [ 0.77997804 0.57015192 -0.25799428 20.79393414] [ 0.3396327 -0.03939363 0.93973282 10.600176 ] [ 0. 0. 0. 1. ]] SLAMing on 172.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:20.83, Z:10.62 [[ 0.5263401 -0.82016185 -0.22427804 31.03778842] [ 0.77947658 0.57080179 -0.25807281 20.83466701] [ 0.33967978 -0.03898541 0.93973283 10.61733738] [ 0. 0. 0. 1. ]] SLAMing on 172.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.07, Y:20.88, Z:10.64 [[ 0.52620225 -0.82027461 -0.2241891 31.07294123] [ 0.77956695 0.57064342 -0.25815005 20.87533044] [ 0.33968597 -0.03893127 0.93973283 10.636444 ] [ 0. 0. 0. 1. ]] SLAMing on 172.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:20.91, Z:10.66 [[ 0.5267906 -0.81992141 -0.22409941 31.10927747] [ 0.7791518 0.57117495 -0.25822789 20.91443697] [ 0.33972654 -0.03857544 0.93973284 10.65733308] [ 0. 0. 0. 1. ]] SLAMing on 172.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:20.95, Z:10.68 [[ 0.52676597 -0.81996153 -0.22401052 31.14413432] [ 0.77916348 0.57112416 -0.25830499 20.9533388 ] [ 0.33973797 -0.03847454 0.93973285 10.67718075] [ 0. 0. 0. 1. ]] SLAMing on 172.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.18, Y:20.99, Z:10.70 [[ 0.5266887 -0.82003638 -0.22391817 31.17995585] [ 0.77921161 0.57102228 -0.25838502 20.99422788] [ 0.33974738 -0.03839117 0.93973285 10.6956184 ] [ 0. 0. 0. 1. ]] SLAMing on 172.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.22, Y:21.03, Z:10.71 [[ 0.52716162 -0.81975647 -0.22383021 31.21616827] [ 0.77887674 0.57144452 -0.2584612 21.03388661] [ 0.33978178 -0.03808532 0.93973286 10.71427001] [ 0. 0. 0. 1. ]] SLAMing on 172.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.25, Y:21.07, Z:10.73 [[ 0.52657554 -0.8201575 -0.22374064 31.25183578] [ 0.77927951 0.57086004 -0.25853871 21.07370232] [ 0.33976705 -0.03821633 0.93973287 10.73415221] [ 0. 0. 0. 1. ]] SLAMing on 172.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:21.11, Z:10.75 [[ 0.52620643 -0.82041885 -0.22365087 31.28745384] [ 0.77953081 0.57048164 -0.25861635 21.11345092] [ 0.33976244 -0.03825716 0.93973287 10.75436381] [ 0. 0. 0. 1. ]] SLAMing on 173.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.32, Y:21.15, Z:10.77 [[ 0.52550011 -0.82089624 -0.22355984 31.32262358] [ 0.78001592 0.56978245 -0.25869502 21.15286428] [ 0.33974224 -0.03843597 0.93973288 10.77237897] [ 0. 0. 0. 1. ]] SLAMing on 173.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.36, Y:21.19, Z:10.79 [[ 0.52516511 -0.82113629 -0.22346544 31.35876686] [ 0.78024255 0.56943504 -0.25877654 21.19227595] [ 0.33973986 -0.03845683 0.93973289 10.79034287] [ 0. 0. 0. 1. ]] SLAMing on 173.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.39, Y:21.23, Z:10.81 [[ 0.52447895 -0.82159966 -0.22337376 31.39489927] [ 0.78071233 0.56875479 -0.25885565 21.23160982] [ 0.33972061 -0.03862631 0.93973289 10.81139992] [ 0. 0. 0. 1. ]] SLAMing on 173.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.43, Y:21.27, Z:10.83 [[ 0.52414368 -0.82183694 -0.22328781 31.43044371] [ 0.78093902 0.56840973 -0.25892978 21.27149032] [ 0.33971702 -0.03865776 0.9397329 10.83138466] [ 0. 0. 0. 1. ]] SLAMing on 173.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:21.31, Z:10.85 [[ 0.52369599 -0.82214663 -0.22319816 31.46633381] [ 0.78124294 0.5679567 -0.25900704 21.31048588] [ 0.33970865 -0.03873104 0.93973291 10.84997914] [ 0. 0. 0. 1. ]] SLAMing on 173.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.50, Y:21.35, Z:10.87 [[ 0.52322009 -0.82246817 -0.22312964 31.50200931] [ 0.78156727 0.56748337 -0.25906605 21.35082179] [ 0.33969594 -0.03884226 0.93973291 10.86817339] [ 0. 0. 0. 1. ]] SLAMing on 173.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.54, Y:21.39, Z:10.89 [[ 0.52241283 -0.82300528 -0.22304068 31.53768183] [ 0.78211818 0.56668885 -0.25914263 21.39089664] [ 0.33967041 -0.03906474 0.93973292 10.88650467] [ 0. 0. 0. 1. ]] SLAMing on 173.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:21.43, Z:10.91 [[ 0.52129933 -0.82373604 -0.22294828 31.57299383] [ 0.78287805 0.56560221 -0.2592221 21.4297559 ] [ 0.33963062 -0.03940901 0.93973292 10.90847953] [ 0. 0. 0. 1. ]] SLAMing on 173.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.61, Y:21.47, Z:10.93 [[ 0.52057747 -0.82421576 -0.222862 31.60853901] [ 0.78336784 0.56488962 -0.25929625 21.47000042] [ 0.33960849 -0.03959914 0.93973293 10.92888955] [ 0. 0. 0. 1. ]] SLAMing on 173.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.64, Y:21.51, Z:10.95 [[ 0.51934337 -0.82501787 -0.22277337 31.64478849] [ 0.78420675 0.56368941 -0.25937238 21.50991611] [ 0.33956184 -0.03999705 0.93973294 10.94756075] [ 0. 0. 0. 1. ]] SLAMing on 173.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.68, Y:21.55, Z:10.97 [[ 0.51812843 -0.82580495 -0.22268614 31.681994 ] [ 0.78503003 0.56250775 -0.25944726 21.54927468] [ 0.33951551 -0.0403883 0.93973294 10.96749685] [ 0. 0. 0. 1. ]] SLAMing on 173.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.72, Y:21.59, Z:10.99 [[ 0.51714023 -0.82644849 -0.22259578 31.71739061] [ 0.78569653 0.56154062 -0.25952476 21.58876899] [ 0.33948042 -0.04068203 0.93973295 10.98657352] [ 0. 0. 0. 1. ]] SLAMing on 173.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.75, Y:21.63, Z:11.01 [[ 0.51657534 -0.826827 -0.22250178 31.75306006] [ 0.78607402 0.56097479 -0.25960533 21.62881573] [ 0.33946658 -0.04079715 0.93973296 11.0070609 ] [ 0. 0. 0. 1. ]] SLAMing on 173.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.79, Y:21.67, Z:11.03 [[ 0.51610172 -0.82714672 -0.2224125 31.78911243] [ 0.7863894 0.56049717 -0.2596818 21.66803822] [ 0.33945653 -0.04088061 0.93973296 11.02568263] [ 0. 0. 0. 1. ]] SLAMing on 173.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:21.71, Z:11.04 [[ 0.51527743 -0.82768533 -0.22231996 31.8243441 ] [ 0.78694139 0.55968515 -0.259761 21.70838787] [ 0.33942955 -0.0411038 0.93973297 11.0448025 ] [ 0. 0. 0. 1. ]] SLAMing on 173.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:21.75, Z:11.06 [[ 0.51440095 -0.82825412 -0.22223137 31.85935958] [ 0.78752765 0.5588247 -0.25983678 21.74749249] [ 0.33939926 -0.04135306 0.93973298 11.06389942] [ 0. 0. 0. 1. ]] SLAMing on 174.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:21.79, Z:11.09 [[ 0.51372761 -0.82869664 -0.22213919 31.89559516] [ 0.78797556 0.55815627 -0.25991556 21.78692629] [ 0.33937954 -0.04151446 0.93973298 11.08506025] [ 0. 0. 0. 1. ]] SLAMing on 174.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:21.83, Z:11.10 [[ 0.51312793 -0.82909123 -0.22205282 31.92982239] [ 0.7883735 0.55755966 -0.25998933 21.82630249] [ 0.33936257 -0.04165277 0.93973299 11.10326206] [ 0. 0. 0. 1. ]] SLAMing on 174.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.97, Y:21.87, Z:11.12 [[ 0.51269189 -0.82938745 -0.22195381 31.96593878] [ 0.78866008 0.55711478 -0.26007384 21.86635003] [ 0.33935572 -0.04170836 0.939733 11.12150656] [ 0. 0. 0. 1. ]] SLAMing on 174.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.00, Y:21.91, Z:11.14 [[ 0.51209065 -0.82978424 -0.22185871 32.00137992] [ 0.78905739 0.55651401 -0.26015493 21.9053722 ] [ 0.33933995 -0.04183635 0.93973301 11.13981369] [ 0. 0. 0. 1. ]] SLAMing on 174.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:21.95, Z:11.16 [[ 0.51094323 -0.83051766 -0.22175987 32.0372595 ] [ 0.78981931 0.55539268 -0.26023917 21.94519792] [ 0.33929703 -0.04218279 0.93973301 11.16045825] [ 0. 0. 0. 1. ]] SLAMing on 174.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.07, Y:21.98, Z:11.18 [[ 0.51019301 -0.83100196 -0.22167281 32.07147444] [ 0.79031475 0.55465266 -0.2603133 21.98434546] [ 0.33927228 -0.04238127 0.93973302 11.17959264] [ 0. 0. 0. 1. ]] SLAMing on 174.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.11, Y:22.02, Z:11.20 [[ 0.50939052 -0.83152089 -0.22157237 32.1073339 ] [ 0.79084315 0.55385882 -0.26039878 22.02356547] [ 0.33924683 -0.04258432 0.93973303 11.19885366] [ 0. 0. 0. 1. ]] SLAMing on 174.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:22.06, Z:11.22 [[ 0.5085575 -0.83205602 -0.22147698 32.14279304] [ 0.79139105 0.55303747 -0.26047988 22.06330802] [ 0.33921892 -0.04280591 0.93973303 11.21828009] [ 0. 0. 0. 1. ]] SLAMing on 174.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.18, Y:22.10, Z:11.24 [[ 0.50752487 -0.83271149 -0.22138219 32.17754499] [ 0.79207014 0.55202641 -0.26056042 22.10289679] [ 0.33918048 -0.04310933 0.93973304 11.23746124] [ 0. 0. 0. 1. ]] SLAMing on 174.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:22.14, Z:11.26 [[ 0.50642777 -0.83340432 -0.2212875 32.21272097] [ 0.79279004 0.550954 -0.26064083 22.14159558] [ 0.33913842 -0.04343877 0.93973305 11.25573569] [ 0. 0. 0. 1. ]] SLAMing on 174.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:22.18, Z:11.28 [[ 0.50559095 -0.83393815 -0.22118986 32.24846344] [ 0.79333604 0.55012826 -0.26072366 22.18177157] [ 0.3391102 -0.04365837 0.93973306 11.2766848 ] [ 0. 0. 0. 1. ]] SLAMing on 174.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.28, Y:22.22, Z:11.30 [[ 0.50445411 -0.8346504 -0.22109901 32.28442993] [ 0.79407871 0.54901913 -0.26080069 22.22101387] [ 0.33906498 -0.04400803 0.93973306 11.29582578] [ 0. 0. 0. 1. ]] SLAMing on 174.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:22.26, Z:11.32 [[ 0.50326591 -0.83538578 -0.22102945 32.32065427] [ 0.79485434 0.54786754 -0.26085962 22.26024433] [ 0.33901328 -0.04440446 0.93973307 11.31629758] [ 0. 0. 0. 1. ]] SLAMing on 174.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.36, Y:22.30, Z:11.34 [[ 0.50196969 -0.83618881 -0.22094048 32.35695248] [ 0.79569688 0.54660719 -0.26093496 22.29967172] [ 0.33895855 -0.04482021 0.93973307 11.33502465] [ 0. 0. 0. 1. ]] SLAMing on 174.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:22.34, Z:11.35 [[ 0.50086612 -0.8368748 -0.22084767 32.39234827] [ 0.7964108 0.54552892 -0.26101349 22.33987357] [ 0.33891441 -0.04515265 0.93973308 11.35490523] [ 0. 0. 0. 1. ]] SLAMing on 174.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:22.38, Z:11.37 [[ 0.49940226 -0.83777251 -0.22075913 32.42863479] [ 0.79735705 0.54410899 -0.26108836 22.37941025] [ 0.33884968 -0.04563573 0.93973309 11.37426768] [ 0. 0. 0. 1. ]] SLAMing on 174.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.46, Y:22.42, Z:11.39 [[ 0.49864778 -0.83824504 -0.22067089 32.46430539] [ 0.79784036 0.54336423 -0.26116292 22.41827716] [ 0.33882319 -0.04583183 0.93973309 11.39330978] [ 0. 0. 0. 1. ]] SLAMing on 175.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:22.46, Z:11.41 [[ 0.49783538 -0.83875344 -0.22057332 32.50089766] [ 0.79835949 0.54256153 -0.2612453 22.4587695 ] [ 0.338795 -0.04603965 0.9397331 11.41173767] [ 0. 0. 0. 1. ]] SLAMing on 175.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.54, Y:22.50, Z:11.43 [[ 0.49678691 -0.83939801 -0.22048527 32.5358971 ] [ 0.79903054 0.54153695 -0.2613196 22.49785524] [ 0.33875207 -0.04635431 0.93973311 11.43011867] [ 0. 0. 0. 1. ]] SLAMing on 175.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.57, Y:22.54, Z:11.45 [[ 0.49524964 -0.84033247 -0.22038407 32.57149754] [ 0.80001312 0.54004303 -0.26140492 22.53628876] [ 0.33868392 -0.04684945 0.93973312 11.45141318] [ 0. 0. 0. 1. ]] SLAMing on 175.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.61, Y:22.58, Z:11.47 [[ 0.49490873 -0.8405585 -0.22028788 32.60674735] [ 0.80022517 0.53968951 -0.26148596 22.5762394 ] [ 0.33868131 -0.04686823 0.93973312 11.47154064] [ 0. 0. 0. 1. ]] SLAMing on 175.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.64, Y:22.61, Z:11.49 [[ 0.49590363 -0.83999507 -0.22019963 32.64329491] [ 0.79957929 0.54061001 -0.26156026 22.61463629] [ 0.33875145 -0.04635839 0.93973313 11.48721777] [ 0. 0. 0. 1. ]] SLAMing on 175.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:22.65, Z:11.51 [[ 0.49285656 -0.84181322 -0.22009753 32.67880254] [ 0.80152555 0.53767841 -0.26164615 22.6544069 ] [ 0.33859888 -0.04745977 0.93973314 11.50679247] [ 0. 0. 0. 1. ]] SLAMing on 175.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.71, Y:22.69, Z:11.53 [[ 0.49258094 -0.84199964 -0.22000141 32.71452622] [ 0.80169453 0.5373871 -0.26172695 22.69448413] [ 0.33859992 -0.04745222 0.93973314 11.52610916] [ 0. 0. 0. 1. ]] SLAMing on 175.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.75, Y:22.73, Z:11.55 [[ 0.49219851 -0.84224653 -0.21991229 32.75021605] [ 0.80193199 0.53699617 -0.26180181 22.73399635] [ 0.33859373 -0.04749624 0.93973315 11.54851748] [ 0. 0. 0. 1. ]] SLAMing on 175.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.79, Y:22.77, Z:11.57 [[ 0.49134709 -0.84276687 -0.21982273 32.78607083] [ 0.8024677 0.53615858 -0.26187699 22.77328424] [ 0.3385611 -0.04772814 0.93973316 11.5688993 ] [ 0. 0. 0. 1. ]] SLAMing on 175.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.82, Y:22.81, Z:11.59 [[ 0.49034081 -0.8433762 -0.21973272 32.82178956] [ 0.80310047 0.53517336 -0.2619525 22.81421086] [ 0.3385196 -0.04802145 0.93973316 11.58682255] [ 0. 0. 0. 1. ]] SLAMing on 175.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:22.85, Z:11.60 [[ 0.4902871 -0.8434313 -0.21964108 32.85732335] [ 0.80312782 0.5350947 -0.26202931 22.85270429] [ 0.3385325 -0.04793027 0.93973317 11.60431479] [ 0. 0. 0. 1. ]] SLAMing on 175.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:22.89, Z:11.62 [[ 0.48964598 -0.84383112 -0.21953552 32.89284893] [ 0.80352648 0.53445252 -0.26211773 22.892216 ] [ 0.33851441 -0.04805771 0.93973318 11.62487064] [ 0. 0. 0. 1. ]] SLAMing on 175.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:22.93, Z:11.65 [[ 0.48889789 -0.84428847 -0.21944436 32.9278473 ] [ 0.80399313 0.53371278 -0.26219403 22.93021082] [ 0.33848766 -0.04824565 0.93973319 11.64539452] [ 0. 0. 0. 1. ]] SLAMing on 175.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:22.97, Z:11.66 [[ 0.48829606 -0.844664 -0.2193392 32.96349452] [ 0.80436553 0.53310811 -0.26228198 22.96915916] [ 0.33847165 -0.04835763 0.9397332 11.66463702] [ 0. 0. 0. 1. ]] SLAMing on 175.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.00, Y:23.01, Z:11.68 [[ 0.48826189 -0.84470988 -0.21923854 32.99931016] [ 0.80437967 0.53304538 -0.2623661 23.00949065] [ 0.33848733 -0.04824766 0.9397332 11.68220529] [ 0. 0. 0. 1. ]] SLAMing on 175.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.04, Y:23.05, Z:11.70 [[ 0.48836967 -0.84467334 -0.21913925 33.03643078] [ 0.80430436 0.5331182 -0.26244901 23.05012078] [ 0.3385108 -0.04808252 0.93973321 11.70005466] [ 0. 0. 0. 1. ]] SLAMing on 175.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:23.09, Z:11.72 [[ 0.48775684 -0.84504982 -0.21905266 33.07086578] [ 0.80468449 0.53250865 -0.26252126 23.08946673] [ 0.33849098 -0.04822174 0.93973322 11.71990789] [ 0. 0. 0. 1. ]] SLAMing on 176.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:23.13, Z:11.74 [[ 0.48783731 -0.84503058 -0.21894765 33.10625992] [ 0.80462608 0.53255374 -0.26260881 23.12872757] [ 0.33851387 -0.04806061 0.93973323 11.74029476] [ 0. 0. 0. 1. ]] SLAMing on 176.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:23.17, Z:11.76 [[ 0.48799088 -0.84496773 -0.21884797 33.14189019] [ 0.804522 0.53267001 -0.26269186 23.16932855] [ 0.3385399 -0.04787677 0.93973323 11.75743049] [ 0. 0. 0. 1. ]] SLAMing on 176.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:23.21, Z:11.78 [[ 0.48819172 -0.84487765 -0.21874779 33.17671181] [ 0.80438807 0.53283112 -0.26277526 23.20845061] [ 0.33856858 -0.04767341 0.93973324 11.77761507] [ 0. 0. 0. 1. ]] SLAMing on 176.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:23.25, Z:11.80 [[ 0.48852151 -0.8447132 -0.21864661 33.21228948] [ 0.80417268 0.53311464 -0.26285942 23.24733395] [ 0.33860454 -0.04741715 0.93973325 11.7996373 ] [ 0. 0. 0. 1. ]] SLAMing on 176.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:23.29, Z:11.82 [[ 0.48922853 -0.8443277 -0.21855476 33.24822566] [ 0.80371949 0.53376002 -0.26293578 23.28789847] [ 0.33865975 -0.04702104 0.93973326 11.8166547 ] [ 0. 0. 0. 1. ]] SLAMing on 176.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.28, Y:23.33, Z:11.83 [[ 0.48951752 -0.84418618 -0.21845433 33.28348126] [ 0.80352957 0.53400481 -0.2630192 23.32868172] [ 0.33869283 -0.046782 0.93973326 11.83455279] [ 0. 0. 0. 1. ]] SLAMing on 176.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.32, Y:23.37, Z:11.86 [[ 0.48968209 -0.84411645 -0.21835492 33.3180681 ] [ 0.80341838 0.53413144 -0.2631017 23.36746814] [ 0.3387187 -0.04659417 0.93973327 11.85698112] [ 0. 0. 0. 1. ]] SLAMing on 176.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.35, Y:23.41, Z:11.88 [[ 0.48969111 -0.84413704 -0.21825505 33.35158885] [ 0.80340559 0.53410987 -0.26318453 23.40791932] [ 0.33873598 -0.0464682 0.93973328 11.8769726 ] [ 0. 0. 0. 1. ]] SLAMing on 176.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:23.45, Z:11.90 [[ 0.49029969 -0.84380969 -0.21815457 33.38734724] [ 0.80301317 0.53465869 -0.26326779 23.44840786] [ 0.33878615 -0.04610088 0.93973329 11.8972191 ] [ 0. 0. 0. 1. ]] SLAMing on 176.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:23.49, Z:11.91 [[ 0.48962034 -0.84422909 -0.21805771 33.42241289] [ 0.80343644 0.53398288 -0.26334799 23.48991361] [ 0.33876512 -0.04625498 0.9397333 11.913142 ] [ 0. 0. 0. 1. ]] SLAMing on 176.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:23.53, Z:11.93 [[ 0.49000291 -0.84403324 -0.21795651 33.45848666] [ 0.80318725 0.53431635 -0.26343173 23.53013154] [ 0.33880286 -0.04597758 0.9397333 11.93281229] [ 0. 0. 0. 1. ]] SLAMing on 176.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:23.57, Z:11.95 [[ 0.48919668 -0.84452555 -0.2178605 33.49285642] [ 0.80369038 0.53352007 -0.26351112 23.57048275] [ 0.33877482 -0.04618362 0.93973331 11.95213274] [ 0. 0. 0. 1. ]] SLAMing on 176.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.53, Y:23.61, Z:11.97 [[ 0.4885391 -0.84493183 -0.21776076 33.5285867 ] [ 0.80409844 0.53286411 -0.26359351 23.61088563] [ 0.33875544 -0.04632535 0.93973332 11.97235599] [ 0. 0. 0. 1. ]] SLAMing on 176.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.56, Y:23.65, Z:11.99 [[ 0.48795722 -0.84529219 -0.21766685 33.56357349] [ 0.80445851 0.53228196 -0.26367104 23.65161878] [ 0.33873921 -0.04644376 0.93973333 11.99096878] [ 0. 0. 0. 1. ]] SLAMing on 176.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:23.69, Z:12.01 [[ 0.48795441 -0.84531741 -0.21757522 33.59848474] [ 0.80445383 0.53225158 -0.26374663 23.69088149] [ 0.33875438 -0.04633289 0.93973333 12.01063377] [ 0. 0. 0. 1. ]] SLAMing on 176.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.63, Y:23.73, Z:12.03 [[ 0.4876623 -0.84551204 -0.21747383 33.63269979] [ 0.80463056 0.53194294 -0.26383021 23.73121645] [ 0.33875529 -0.04632604 0.93973334 12.02868423] [ 0. 0. 0. 1. ]] SLAMing on 177.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.67, Y:23.77, Z:12.05 [[ 0.48689589 -0.84598082 -0.21736798 33.66730477] [ 0.80510481 0.53118156 -0.26391739 23.77186281] [ 0.33873092 -0.04650372 0.93973335 12.04688142] [ 0. 0. 0. 1. ]] SLAMing on 177.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:23.81, Z:12.07 [[ 0.48695413 -0.84597336 -0.21726653 33.70217278] [ 0.80506111 0.53120631 -0.26400089 23.81246729] [ 0.33875107 -0.04635651 0.93973336 12.06839412] [ 0. 0. 0. 1. ]] SLAMing on 177.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:23.85, Z:12.09 [[ 0.48635969 -0.8463399 -0.21717051 33.73599635] [ 0.80542733 0.53061157 -0.26407986 23.85229572] [ 0.33873451 -0.04647726 0.93973337 12.08885592] [ 0. 0. 0. 1. ]] SLAMing on 177.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:23.89, Z:12.11 [[ 0.48573959 -0.84672158 -0.21707053 33.77079166] [ 0.80580875 0.52999122 -0.26416202 23.89340725] [ 0.33871716 -0.04660338 0.93973337 12.10716447] [ 0. 0. 0. 1. ]] SLAMing on 177.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.81, Y:23.93, Z:12.12 [[ 0.48565516 -0.84679589 -0.21696954 33.80503046] [ 0.80585448 0.52988033 -0.26424495 23.93496345] [ 0.33872943 -0.04651395 0.93973338 12.12478434] [ 0. 0. 0. 1. ]] SLAMing on 177.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:23.98, Z:12.14 [[ 0.48596139 -0.84664612 -0.21686836 33.83942575] [ 0.8056557 0.53014113 -0.26432797 23.97532775] [ 0.33876308 -0.04626804 0.93973339 12.14436454] [ 0. 0. 0. 1. ]] SLAMing on 177.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.87, Y:24.02, Z:12.16 [[ 0.48574139 -0.8467983 -0.21676702 33.87481292] [ 0.80578632 0.52990112 -0.26441104 24.01618862] [ 0.33876791 -0.04623251 0.9397334 12.16371461] [ 0. 0. 0. 1. ]] SLAMing on 177.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.91, Y:24.06, Z:12.18 [[ 0.48536638 -0.8470377 -0.21667168 33.90760816] [ 0.80601422 0.5295154 -0.26448915 24.05797269] [ 0.33876328 -0.04626631 0.9397334 12.18115228] [ 0. 0. 0. 1. ]] SLAMing on 177.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.94, Y:24.10, Z:12.20 [[ 0.48532658 -0.8470821 -0.21658721 33.94075783] [ 0.8060332 0.52945196 -0.26455831 24.09848701] [ 0.33877513 -0.04617931 0.93973341 12.20203383] [ 0. 0. 0. 1. ]] SLAMing on 177.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.97, Y:24.14, Z:12.22 [[ 0.48499418 -0.84729854 -0.21648515 33.97421286] [ 0.80623375 0.52910477 -0.2646418 24.13946395] [ 0.33877394 -0.0461879 0.93973342 12.22245913] [ 0. 0. 0. 1. ]] SLAMing on 177.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.01, Y:24.18, Z:12.24 [[ 0.48431914 -0.84771078 -0.21638252 34.0088808 ] [ 0.80664776 0.52843136 -0.2647257 24.18070231] [ 0.33875413 -0.04633275 0.93973343 12.24242928] [ 0. 0. 0. 1. ]] SLAMing on 177.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:24.22, Z:12.26 [[ 0.48316816 -0.84839197 -0.21628589 34.04239425] [ 0.80735741 0.52730685 -0.26480462 24.22266524] [ 0.33870715 -0.04667485 0.93973343 12.25898844] [ 0. 0. 0. 1. ]] SLAMing on 177.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.08, Y:24.26, Z:12.28 [[ 0.48254755 -0.84877061 -0.21618584 34.07585474] [ 0.8077358 0.52668599 -0.26488628 24.26391324] [ 0.33868974 -0.04680082 0.93973344 12.27914876] [ 0. 0. 0. 1. ]] SLAMing on 177.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:24.30, Z:12.30 [[ 0.48169508 -0.84928004 -0.21608624 34.10923588] [ 0.80825717 0.52584462 -0.26496751 24.30359922] [ 0.3386594 -0.04701971 0.93973345 12.30101328] [ 0. 0. 0. 1. ]] SLAMing on 177.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.14, Y:24.35, Z:12.32 [[ 0.48061236 -0.8499191 -0.21598447 34.14291906] [ 0.80891942 0.52478342 -0.26505044 24.34555913] [ 0.3386165 -0.04732752 0.93973346 12.31815018] [ 0. 0. 0. 1. ]] SLAMing on 177.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.18, Y:24.39, Z:12.33 [[ 0.47944964 -0.85060175 -0.21588125 34.17590117] [ 0.80962892 0.5236456 -0.26513449 24.38640318] [ 0.33856913 -0.04766507 0.93973347 12.33495004] [ 0. 0. 0. 1. ]] SLAMing on 177.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:24.43, Z:12.36 [[ 0.47779172 -0.85155456 -0.21580062 34.20886734] [ 0.81064164 0.52204314 -0.2652001 24.42684336] [ 0.33848959 -0.04822656 0.93973347 12.35528191] [ 0. 0. 0. 1. ]] SLAMing on 178.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.24, Y:24.47, Z:12.38 [[ 0.47556006 -0.85282832 -0.21569998 34.24301262] [ 0.81199859 0.51988824 -0.26528194 24.46750885] [ 0.33837983 -0.04899059 0.93973348 12.37714906] [ 0. 0. 0. 1. ]] SLAMing on 178.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:24.51, Z:12.39 [[ 0.47461236 -0.85338083 -0.2156021 34.27656217] [ 0.81256844 0.51895648 -0.26536147 24.51031438] [ 0.3383425 -0.04924763 0.93973349 12.39379125] [ 0. 0. 0. 1. ]] SLAMing on 178.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.31, Y:24.55, Z:12.41 [[ 0.47263128 -0.85450415 -0.21550482 34.31033467] [ 0.81376296 0.51704082 -0.26544046 24.55166298] [ 0.33824476 -0.04991438 0.93973349 12.41355044] [ 0. 0. 0. 1. ]] SLAMing on 178.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:24.59, Z:12.43 [[ 0.47087889 -0.8554949 -0.21541019 34.34327076] [ 0.81481387 0.51534353 -0.26551723 24.59163763] [ 0.33815888 -0.05049275 0.9397335 12.4323141 ] [ 0. 0. 0. 1. ]] SLAMing on 178.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.38, Y:24.63, Z:12.45 [[ 0.46836586 -0.85689432 -0.21532659 34.37557218] [ 0.81631659 0.51292478 -0.26558501 24.63143029] [ 0.33802463 -0.05138372 0.93973351 12.45276381] [ 0. 0. 0. 1. ]] SLAMing on 178.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:24.67, Z:12.47 [[ 0.46758994 -0.8573444 -0.21522134 34.40891231] [ 0.81677254 0.5121542 -0.26567028 24.67282328] [ 0.33799744 -0.05156213 0.93973351 12.4715467 ] [ 0. 0. 0. 1. ]] SLAMing on 178.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:24.71, Z:12.49 [[ 0.46526669 -0.85863235 -0.21512182 34.44310162] [ 0.81814865 0.50991104 -0.26575084 24.71483371] [ 0.33787526 -0.05235662 0.93973352 12.48769947] [ 0. 0. 0. 1. ]] SLAMing on 178.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:24.76, Z:12.51 [[ 0.46298782 -0.85988828 -0.2150219 34.4759722 ] [ 0.8194903 0.50770974 -0.26583167 24.75595389] [ 0.33775425 -0.05313154 0.93973353 12.50707142] [ 0. 0. 0. 1. ]] SLAMing on 178.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:24.80, Z:12.53 [[ 0.4615853 -0.86066681 -0.21492243 34.50959191] [ 0.82030908 0.50634355 -0.26591206 24.7969842 ] [ 0.33768627 -0.05356172 0.93973354 12.53019921] [ 0. 0. 0. 1. ]] SLAMing on 178.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.54, Y:24.84, Z:12.55 [[ 0.46051045 -0.86126722 -0.21482294 34.54240484] [ 0.82093269 0.50528958 -0.26599242 24.83847869] [ 0.33763835 -0.05386289 0.93973355 12.54835169] [ 0. 0. 0. 1. ]] SLAMing on 178.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.58, Y:24.88, Z:12.57 [[ 0.45791477 -0.86267599 -0.21471888 34.57525082] [ 0.8224422 0.50278443 -0.2660764 24.88017397] [ 0.33749503 -0.05475356 0.93973355 12.5657154 ] [ 0. 0. 0. 1. ]] SLAMing on 178.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.61, Y:24.92, Z:12.58 [[ 0.45548015 -0.86398915 -0.21461729 34.6082101 ] [ 0.82384852 0.50043317 -0.26615832 24.92184611] [ 0.33735951 -0.0555823 0.93973356 12.58295102] [ 0. 0. 0. 1. ]] SLAMing on 178.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:24.96, Z:12.60 [[ 0.45380171 -0.86489064 -0.21454181 34.64142534] [ 0.82481244 0.49881038 -0.26621915 24.96271519] [ 0.33726614 -0.05614605 0.93973357 12.60325107] [ 0. 0. 0. 1. ]] SLAMing on 178.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.67, Y:25.00, Z:12.62 [[ 0.45151435 -0.86611134 -0.2144433 34.67405801] [ 0.82611964 0.49659989 -0.26629848 25.00410372] [ 0.33713666 -0.05691824 0.93973357 12.62384602] [ 0. 0. 0. 1. ]] SLAMing on 178.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.71, Y:25.05, Z:12.64 [[ 0.4493666 -0.86725244 -0.21434288 34.7068922 ] [ 0.82733932 0.49452171 -0.26637929 25.04529671] [ 0.3370153 -0.05763233 0.93973358 12.64293017] [ 0. 0. 0. 1. ]] SLAMing on 178.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:25.09, Z:12.66 [[ 0.44850725 -0.86772221 -0.21424146 34.73989901] [ 0.82782025 0.49367221 -0.26646084 25.08717747] [ 0.33697904 -0.0578438 0.93973359 12.66167805] [ 0. 0. 0. 1. ]] SLAMing on 178.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.77, Y:25.13, Z:12.68 [[ 0.44651406 -0.86877528 -0.21413713 34.77238303] [ 0.82894251 0.49174004 -0.26654466 25.12863744] [ 0.33686721 -0.05849143 0.9397336 12.67996467] [ 0. 0. 0. 1. ]] SLAMing on 179.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:25.17, Z:12.70 [[ 0.4452942 -0.86942762 -0.21402964 34.80418978] [ 0.82962271 0.4905447 -0.26663095 25.16920008] [ 0.33680741 -0.05883463 0.93973361 12.69923917] [ 0. 0. 0. 1. ]] SLAMing on 179.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.84, Y:25.21, Z:12.72 [[ 0.44451481 -0.86985148 -0.21392751 34.83657907] [ 0.83005327 0.48977119 -0.26671287 25.21121126] [ 0.33677611 -0.05901341 0.93973361 12.7179898 ] [ 0. 0. 0. 1. ]] SLAMing on 179.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:25.25, Z:12.74 [[ 0.44338998 -0.87045014 -0.21382674 34.8693282 ] [ 0.83067704 0.48866841 -0.26679364 25.25370755] [ 0.33672093 -0.05932733 0.93973362 12.73633926] [ 0. 0. 0. 1. ]] SLAMing on 179.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:25.30, Z:12.76 [[ 0.44179697 -0.87128407 -0.21372763 34.9014 ] [ 0.83156096 0.48711926 -0.26687302 25.29559606] [ 0.33663305 -0.05982386 0.93973363 12.75655895] [ 0. 0. 0. 1. ]] SLAMing on 179.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.93, Y:25.34, Z:12.78 [[ 0.44115113 -0.87163565 -0.21362811 34.9335887 ] [ 0.83191311 0.4864739 -0.26695265 25.33732977] [ 0.33660995 -0.05995357 0.93973364 12.77848632] [ 0. 0. 0. 1. ]] SLAMing on 179.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.97, Y:25.38, Z:12.80 [[ 0.44055253 -0.87196325 -0.2135265 34.96592289] [ 0.83223812 0.48587303 -0.26703391 25.37950826] [ 0.33659052 -0.06006243 0.93973365 12.79650405] [ 0. 0. 0. 1. ]] SLAMing on 179.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.00, Y:25.42, Z:12.81 [[ 0.43974689 -0.87239542 -0.21342188 34.99810901] [ 0.83267748 0.48507367 -0.2671175 25.42186416] [ 0.33655742 -0.0602475 0.93973365 12.8125609 ] [ 0. 0. 0. 1. ]] SLAMing on 179.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.03, Y:25.46, Z:12.83 [[ 0.43938665 -0.87260235 -0.21331788 35.03042589] [ 0.83286864 0.48469961 -0.26720053 25.46335525] [ 0.3365549 -0.06026143 0.93973366 12.83172157] [ 0. 0. 0. 1. ]] SLAMing on 179.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:25.51, Z:12.85 [[ 0.43885006 -0.87289642 -0.2132193 35.06203124] [ 0.83315791 0.48415879 -0.26727917 25.50506292] [ 0.33653904 -0.06034987 0.93973367 12.85359943] [ 0. 0. 0. 1. ]] SLAMing on 179.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.09, Y:25.55, Z:12.87 [[ 0.43853105 -0.87308127 -0.21311878 35.09337464] [ 0.83332603 0.4838251 -0.26735931 25.54721892] [ 0.33653862 -0.06035207 0.93973368 12.87381915] [ 0. 0. 0. 1. ]] SLAMing on 179.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.13, Y:25.59, Z:12.89 [[ 0.43804854 -0.87334812 -0.21301771 35.12540186] [ 0.83358445 0.48333518 -0.26743982 25.58961692] [ 0.33652701 -0.06041663 0.93973369 12.89175292] [ 0. 0. 0. 1. ]] SLAMing on 179.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.16, Y:25.63, Z:12.91 [[ 0.43746548 -0.87366481 -0.21291723 35.15767304] [ 0.83389814 0.48274947 -0.26751979 25.63267341] [ 0.33650831 -0.06052061 0.93973369 12.90827316] [ 0. 0. 0. 1. ]] SLAMing on 179.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.19, Y:25.68, Z:12.93 [[ 0.43697677 -0.87393376 -0.21281702 35.19014283] [ 0.83415928 0.48225388 -0.26759949 25.67501122] [ 0.33649606 -0.06058854 0.9397337 12.92684525] [ 0. 0. 0. 1. ]] SLAMing on 179.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.22, Y:25.72, Z:12.95 [[ 0.43683362 -0.87403033 -0.21271427 35.2213556 ] [ 0.83422931 0.4820874 -0.26768114 25.71691565] [ 0.33650831 -0.06052036 0.93973371 12.94732228] [ 0. 0. 0. 1. ]] SLAMing on 179.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:25.76, Z:12.97 [[ 0.43724721 -0.87384829 -0.21261242 35.25254403] [ 0.83399224 0.48245252 -0.26776202 25.75825904] [ 0.33655878 -0.06023891 0.93973372 12.96799595] [ 0. 0. 0. 1. ]] SLAMing on 179.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.28, Y:25.80, Z:12.99 [[ 0.43716181 -0.87391672 -0.21250673 35.28495044] [ 0.83403025 0.48234027 -0.26784588 25.80017214] [ 0.33657554 -0.06014505 0.93973373 12.98692462] [ 0. 0. 0. 1. ]] SLAMing on 180.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:25.84, Z:13.00 [[ 0.43624939 -0.87439771 -0.2124032 35.31741875] [ 0.83452428 0.48143934 -0.26792796 25.84298498] [ 0.33653485 -0.06037222 0.93973373 13.00450709] [ 0. 0. 0. 1. ]] SLAMing on 180.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.35, Y:25.89, Z:13.02 [[ 0.43673526 -0.87418033 -0.21229946 35.34952351] [ 0.83424764 0.48187285 -0.26801013 25.88566176] [ 0.33659053 -0.06006085 0.93973374 13.02225234] [ 0. 0. 0. 1. ]] SLAMing on 180.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.38, Y:25.93, Z:13.04 [[ 0.43680994 -0.87416827 -0.21219546 35.37964366] [ 0.83419752 0.48191382 -0.26809245 25.92748221] [ 0.33661784 -0.05990748 0.93973375 13.04274781] [ 0. 0. 0. 1. ]] SLAMing on 180.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.41, Y:25.97, Z:13.06 [[ 0.43731345 -0.87394236 -0.21208887 35.41073135] [ 0.83391064 0.48236321 -0.26817676 25.96809906] [ 0.3366749 -0.05958586 0.93973376 13.06304782] [ 0. 0. 0. 1. ]] SLAMing on 180.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.44, Y:26.01, Z:13.08 [[ 0.43711108 -0.87406902 -0.21198409 35.44314419] [ 0.83401335 0.48213954 -0.26825956 26.00960759] [ 0.33668328 -0.05953833 0.93973377 13.08303016] [ 0. 0. 0. 1. ]] SLAMing on 180.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.48, Y:26.05, Z:13.10 [[ 0.43616962 -0.8745642 -0.21188092 35.47534597] [ 0.83452319 0.48121111 -0.26834103 26.05251624] [ 0.33664091 -0.05977733 0.93973378 13.10054495] [ 0. 0. 0. 1. ]] SLAMing on 180.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:26.10, Z:13.12 [[ 0.43547505 -0.87493531 -0.21177745 35.50808237] [ 0.83489614 0.48051816 -0.26842266 26.09530009] [ 0.33661538 -0.05992081 0.93973378 13.11875873] [ 0. 0. 0. 1. ]] SLAMing on 180.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.54, Y:26.14, Z:13.14 [[ 0.43457703 -0.87540661 -0.21167447 35.5405679 ] [ 0.8353799 0.47963121 -0.26850385 26.13597287] [ 0.33657573 -0.06014299 0.93973379 13.13799907] [ 0. 0. 0. 1. ]] SLAMing on 180.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.57, Y:26.18, Z:13.16 [[ 0.43397409 -0.8757316 -0.21156713 35.57229308] [ 0.83570074 0.47902456 -0.26858841 26.17746173] [ 0.33655721 -0.06024639 0.9397338 13.15886054] [ 0. 0. 0. 1. ]] SLAMing on 180.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.60, Y:26.22, Z:13.18 [[ 0.43355015 -0.87596657 -0.21146357 35.60334432] [ 0.83592359 0.47858984 -0.26866992 26.21858034] [ 0.33655019 -0.0602855 0.93973381 13.17834247] [ 0. 0. 0. 1. ]] SLAMing on 180.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.63, Y:26.26, Z:13.20 [[ 0.4325405 -0.87649111 -0.21135764 35.63480741] [ 0.83646534 0.47759547 -0.26875323 26.25962791] [ 0.33650327 -0.06054668 0.93973382 13.19776736] [ 0. 0. 0. 1. ]] SLAMing on 180.679072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:35.67, Y:26.30, Z:13.22 [[ 0.43114784 -0.87720227 -0.21125273 35.66739216] [ 0.83721372 0.47623583 -0.26883568 26.30164519] [ 0.33642939 -0.06095576 0.93973383 13.2159695 ] [ 0. 0. 0. 1. ]] SLAMing on 180.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:26.34, Z:13.23 [[ 0.43007951 -0.87775066 -0.21115254 35.69957702] [ 0.83778418 0.47518706 -0.26891435 26.34404672] [ 0.3363767 -0.06124571 0.93973383 13.23357372] [ 0. 0. 0. 1. ]] SLAMing on 180.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.73, Y:26.38, Z:13.25 [[ 0.42982886 -0.87789772 -0.21105154 35.73124275] [ 0.83791102 0.47491848 -0.2689936 26.38479384] [ 0.33638114 -0.0612212 0.93973384 13.25333877] [ 0. 0. 0. 1. ]] SLAMing on 180.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:26.43, Z:13.27 [[ 0.43004211 -0.87781847 -0.21094672 35.76178052] [ 0.83778652 0.47509155 -0.26907578 26.42603 ] [ 0.33641869 -0.0610144 0.93973385 13.27317101] [ 0. 0. 0. 1. ]] SLAMing on 180.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.79, Y:26.47, Z:13.29 [[ 0.42998605 -0.87787043 -0.21084475 35.79458582] [ 0.83780801 0.47500839 -0.26915566 26.46869007] [ 0.33643682 -0.06091424 0.93973386 13.29140271] [ 0. 0. 0. 1. ]] SLAMing on 180.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:26.51, Z:13.31 [[ 0.43115827 -0.87731924 -0.21074509 35.82769246] [ 0.83716421 0.47609801 -0.26923368 26.51096187] [ 0.3365392 -0.06034592 0.93973386 13.30681295] [ 0. 0. 0. 1. ]] SLAMing on 181.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.86, Y:26.55, Z:13.33 [[ 0.43021513 -0.87780687 -0.21064196 35.85883807] [ 0.83766651 0.47516797 -0.26931434 26.55305171] [ 0.33649629 -0.06058461 0.93973387 13.32714539] [ 0. 0. 0. 1. ]] SLAMing on 181.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:26.59, Z:13.35 [[ 0.43126675 -0.87731485 -0.21054133 35.89026962] [ 0.83708788 0.47614209 -0.26939299 26.59411037] [ 0.33659006 -0.06006136 0.93973388 13.34808327] [ 0. 0. 0. 1. ]] SLAMing on 181.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.92, Y:26.64, Z:13.37 [[ 0.43193232 -0.87700605 -0.21046345 35.92197649] [ 0.83671973 0.47675438 -0.26945382 26.63691151] [ 0.336652 -0.0597131 0.93973389 13.36789323] [ 0. 0. 0. 1. ]] SLAMing on 181.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:26.68, Z:13.39 [[ 0.43230312 -0.87684743 -0.210363 35.95360998] [ 0.83650955 0.47707877 -0.26953222 26.67943845] [ 0.33669836 -0.05945104 0.93973389 13.38686262] [ 0. 0. 0. 1. ]] SLAMing on 181.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:26.72, Z:13.41 [[ 0.4329693 -0.87654348 -0.21025962 35.98618096] [ 0.83613808 0.47768402 -0.26961285 26.72157678] [ 0.33676504 -0.05907199 0.9397339 13.40673568] [ 0. 0. 0. 1. ]] SLAMing on 181.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:26.76, Z:13.43 [[ 0.43323585 -0.87643637 -0.21015706 36.01766255] [ 0.83598417 0.47790823 -0.26969277 26.76285912] [ 0.33680434 -0.0588474 0.93973391 13.42669081] [ 0. 0. 0. 1. ]] SLAMing on 181.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.05, Y:26.81, Z:13.45 [[ 0.43360651 -0.87627859 -0.21005055 36.04982736] [ 0.83577307 0.47823054 -0.2697757 26.8054414 ] [ 0.33685126 -0.05857809 0.93973392 13.44517694] [ 0. 0. 0. 1. ]] SLAMing on 181.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:26.85, Z:13.46 [[ 0.43326029 -0.87647395 -0.20994985 36.08242411] [ 0.83595353 0.47787078 -0.26985405 26.84778666] [ 0.33684895 -0.05859128 0.93973392 13.46374291] [ 0. 0. 0. 1. ]] SLAMing on 181.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:26.89, Z:13.48 [[ 0.43239422 -0.87692559 -0.20984937 36.11575663] [ 0.8364168 0.47701526 -0.26993218 26.88840292] [ 0.33681178 -0.05880442 0.93973393 13.48351199] [ 0. 0. 0. 1. ]] SLAMing on 181.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.15, Y:26.93, Z:13.50 [[ 0.43148414 -0.87739776 -0.20974891 36.14796387] [ 0.83690284 0.47611775 -0.27001022 26.92941685] [ 0.33677154 -0.05903433 0.93973394 13.50413012] [ 0. 0. 0. 1. ]] SLAMing on 181.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.18, Y:26.97, Z:13.52 [[ 0.43075247 -0.87778118 -0.20964852 36.18024873] [ 0.83729107 0.47539043 -0.27008814 26.97114407] [ 0.33674319 -0.0591957 0.93973395 13.52375583] [ 0. 0. 0. 1. ]] SLAMing on 181.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.21, Y:27.01, Z:13.54 [[ 0.42913384 -0.87859766 -0.20954784 36.21385204] [ 0.83815735 0.47381691 -0.27016623 27.0128518 ] [ 0.33665473 -0.05969659 0.93973396 13.54216305] [ 0. 0. 0. 1. ]] SLAMing on 181.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:27.05, Z:13.56 [[ 0.42756913 -0.87938456 -0.20944554 36.24744365] [ 0.83899076 0.47229425 -0.27024552 27.05482153] [ 0.33656967 -0.06017423 0.93973396 13.5603883 ] [ 0. 0. 0. 1. ]] SLAMing on 181.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.28, Y:27.10, Z:13.58 [[ 0.42628812 -0.88003059 -0.20934324 36.27916029] [ 0.83966886 0.47104217 -0.27032475 27.09575923] [ 0.33650355 -0.06054277 0.93973397 13.57893543] [ 0. 0. 0. 1. ]] SLAMing on 181.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:27.14, Z:13.60 [[ 0.42516994 -0.8805965 -0.20923748 36.31169286] [ 0.84025742 0.4699444 -0.27040659 27.13602281] [ 0.33644908 -0.0608446 0.93973398 13.60225528] [ 0. 0. 0. 1. ]] SLAMing on 181.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.34, Y:27.18, Z:13.62 [[ 0.42358358 -0.881385 -0.20913498 36.34488397] [ 0.84109341 0.46840077 -0.27048585 27.17733582] [ 0.33636115 -0.06132869 0.93973399 13.61926118] [ 0. 0. 0. 1. ]] SLAMing on 181.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:27.22, Z:13.64 [[ 0.42270476 -0.88183206 -0.20902845 36.37824333] [ 0.84155068 0.46753111 -0.27056815 27.21924803] [ 0.33632297 -0.06153758 0.939734 13.63736788] [ 0. 0. 0. 1. ]] SLAMing on 182.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.41, Y:27.26, Z:13.66 [[ 0.42173165 -0.88232125 -0.2089297 36.41153624] [ 0.84205736 0.4665737 -0.27064438 27.26065297] [ 0.3362764 -0.06179149 0.939734 13.65774685] [ 0. 0. 0. 1. ]] SLAMing on 182.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:27.30, Z:13.68 [[ 0.42084222 -0.88277003 -0.20882745 36.44429188] [ 0.84251823 0.46569512 -0.27072326 27.30228122] [ 0.33623631 -0.06200915 0.93973401 13.67768626] [ 0. 0. 0. 1. ]] SLAMing on 182.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.48, Y:27.34, Z:13.70 [[ 0.42038563 -0.88301171 -0.20872527 36.47626203] [ 0.84275004 0.46522965 -0.27080202 27.34351867] [ 0.33622654 -0.06206195 0.93973402 13.69615733] [ 0. 0. 0. 1. ]] SLAMing on 182.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:27.38, Z:13.72 [[ 0.41901719 -0.88368688 -0.2086195 36.50938535] [ 0.84346048 0.46389284 -0.27088349 27.38481481] [ 0.33615327 -0.06245746 0.93973403 13.71576303] [ 0. 0. 0. 1. ]] SLAMing on 182.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.54, Y:27.43, Z:13.73 [[ 0.41798008 -0.88420227 -0.20851617 36.54182795] [ 0.84399508 0.46287293 -0.270963 27.42584451] [ 0.3361026 -0.06272948 0.93973404 13.73397629] [ 0. 0. 0. 1. ]] SLAMing on 182.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:27.47, Z:13.75 [[ 0.41691079 -0.88473209 -0.20840951 36.5746341 ] [ 0.84454465 0.46182131 -0.27104502 27.46744304] [ 0.33605018 -0.06300954 0.93973404 13.75332886] [ 0. 0. 0. 1. ]] SLAMing on 182.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:27.51, Z:13.77 [[ 0.41644811 -0.88497409 -0.20830705 36.6066204 ] [ 0.84477697 0.46134996 -0.27112375 27.50852477] [ 0.33603994 -0.06306402 0.93973405 13.77202189] [ 0. 0. 0. 1. ]] SLAMing on 182.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.64, Y:27.55, Z:13.79 [[ 0.41589473 -0.88525913 -0.20820146 36.63957164] [ 0.84505592 0.46079111 -0.27120481 27.54874831] [ 0.33602392 -0.06314922 0.93973406 13.79222433] [ 0. 0. 0. 1. ]] SLAMing on 182.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:27.59, Z:13.81 [[ 0.41472674 -0.88583088 -0.20809945 36.67256178] [ 0.8456539 0.45964659 -0.27128306 27.59004154] [ 0.33596312 -0.06347177 0.93973407 13.81176664] [ 0. 0. 0. 1. ]] SLAMing on 182.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.70, Y:27.63, Z:13.83 [[ 0.41457961 -0.88592354 -0.20799816 36.70453096] [ 0.84572125 0.4594768 -0.27136071 27.63118672] [ 0.33597517 -0.06340785 0.93973408 13.83032751] [ 0. 0. 0. 1. ]] SLAMing on 182.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.74, Y:27.67, Z:13.85 [[ 0.41490557 -0.88578973 -0.20791805 36.73712934] [ 0.84554505 0.45976475 -0.27142208 27.67193605] [ 0.33601628 -0.06318954 0.93973408 13.85077465] [ 0. 0. 0. 1. ]] SLAMing on 182.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.77, Y:27.71, Z:13.87 [[ 0.41475951 -0.88588277 -0.20781308 36.76917791] [ 0.84561159 0.4595949 -0.27150243 27.7135695 ] [ 0.33602915 -0.06312093 0.93973409 13.86919041] [ 0. 0. 0. 1. ]] SLAMing on 182.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:27.76, Z:13.89 [[ 0.41499734 -0.88579688 -0.20770433 36.80187667] [ 0.84547861 0.45979037 -0.2715856 27.75523044] [ 0.33607013 -0.06290227 0.9397341 13.888541 ] [ 0. 0. 0. 1. ]] SLAMing on 182.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.83, Y:27.80, Z:13.91 [[ 0.41503558 -0.88580375 -0.20759862 36.83473357] [ 0.84544949 0.45979619 -0.27166638 27.79649783] [ 0.33609615 -0.06276293 0.93973411 13.90869873] [ 0. 0. 0. 1. ]] SLAMing on 182.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:27.84, Z:13.93 [[ 0.41506315 -0.88581518 -0.20749468 36.8672263 ] [ 0.84542609 0.45979231 -0.27174575 27.83688832] [ 0.33612097 -0.06262977 0.93973411 13.92793957] [ 0. 0. 0. 1. ]] SLAMing on 182.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.90, Y:27.88, Z:13.95 [[ 0.41436097 -0.886163 -0.20741294 36.90003206] [ 0.84578307 0.45909841 -0.27180813 27.87850585] [ 0.33608926 -0.06279967 0.93973412 13.94733299] [ 0. 0. 0. 1. ]] SLAMing on 183.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.93, Y:27.92, Z:13.96 [[ 0.41396508 -0.88637252 -0.20730817 36.93355963] [ 0.84597888 0.45869013 -0.27188802 27.91952988] [ 0.33608428 -0.06282618 0.93973413 13.96402137] [ 0. 0. 0. 1. ]] SLAMing on 183.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:27.96, Z:13.99 [[ 0.41289912 -0.88689502 -0.20719927 36.96656099] [ 0.84652017 0.45764111 -0.27197099 27.95962355] [ 0.33603262 -0.06310178 0.93973414 13.98574675] [ 0. 0. 0. 1. ]] SLAMing on 183.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.00, Y:28.00, Z:14.01 [[ 0.41242923 -0.8871378 -0.20709575 36.99968471] [ 0.84675338 0.45716257 -0.27204979 28.00102933] [ 0.33602208 -0.06315774 0.93973414 14.00648935] [ 0. 0. 0. 1. ]] SLAMing on 183.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.03, Y:28.04, Z:14.02 [[ 0.4120382 -0.88734417 -0.20698998 37.03267394] [ 0.84694549 0.45675866 -0.27213025 28.04252933] [ 0.33601765 -0.06318117 0.93973415 14.02457812] [ 0. 0. 0. 1. ]] SLAMing on 183.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:28.08, Z:14.04 [[ 0.41174962 -0.88750269 -0.20688456 37.06626638] [ 0.84708472 0.45645262 -0.27221037 28.08326814] [ 0.33602044 -0.06316623 0.93973416 14.04315774] [ 0. 0. 0. 1. ]] SLAMing on 183.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:28.12, Z:14.06 [[ 0.41106058 -0.88784741 -0.20677568 37.09967028] [ 0.8474292 0.45576336 -0.27229306 28.12492222] [ 0.33599547 -0.06329881 0.93973417 14.0628437 ] [ 0. 0. 0. 1. ]] SLAMing on 183.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.13, Y:28.17, Z:14.08 [[ 0.41056196 -0.88810251 -0.20667078 37.13317761] [ 0.84767576 0.45525701 -0.27237266 28.16584675] [ 0.33598316 -0.06336396 0.93973418 14.08113669] [ 0. 0. 0. 1. ]] SLAMing on 183.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:28.21, Z:14.10 [[ 0.40961895 -0.88856309 -0.20656222 37.1668461 ] [ 0.84814899 0.45432542 -0.27245497 28.20627369] [ 0.3359399 -0.06359282 0.93973419 14.10073118] [ 0. 0. 0. 1. ]] SLAMing on 183.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.20, Y:28.25, Z:14.12 [[ 0.40871753 -0.88900173 -0.20646044 37.19980438] [ 0.84860034 0.45343548 -0.27253208 28.24715627] [ 0.33589798 -0.06381376 0.93973419 14.12099496] [ 0. 0. 0. 1. ]] SLAMing on 183.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:28.29, Z:14.14 [[ 0.40757799 -0.8895491 -0.20635545 37.23368735] [ 0.84917137 0.45231729 -0.27261156 28.28797431] [ 0.3358395 -0.06412067 0.9397342 14.13971999] [ 0. 0. 0. 1. ]] SLAMing on 183.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.27, Y:28.33, Z:14.16 [[ 0.4067869 -0.88993569 -0.20624958 37.26615532] [ 0.84956379 0.45153145 -0.27269163 28.3284717 ] [ 0.33580619 -0.06429479 0.93973421 14.15793308] [ 0. 0. 0. 1. ]] SLAMing on 183.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.30, Y:28.37, Z:14.18 [[ 0.40657564 -0.89005154 -0.2061662 37.29940258] [ 0.84966353 0.45130565 -0.27275466 28.36780231] [ 0.33580967 -0.0642765 0.93973421 14.1780933 ] [ 0. 0. 0. 1. ]] SLAMing on 183.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.33, Y:28.41, Z:14.20 [[ 0.40713412 -0.88982099 -0.20605927 37.3318214 ] [ 0.84937068 0.45180779 -0.27283542 28.408977 ] [ 0.33587387 -0.06394009 0.93973422 14.19821509] [ 0. 0. 0. 1. ]] SLAMing on 183.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:28.45, Z:14.21 [[ 0.40896541 -0.88900512 -0.20595433 37.36436365] [ 0.84842943 0.45352521 -0.27291462 28.45058474] [ 0.33602797 -0.06312508 0.93973423 14.21415264] [ 0. 0. 0. 1. ]] SLAMing on 183.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.40, Y:28.49, Z:14.24 [[ 0.41112578 -0.88803325 -0.20584592 37.39729347] [ 0.84731484 0.4555552 -0.27299637 28.49135808] [ 0.33620403 -0.06218045 0.93973424 14.23523183] [ 0. 0. 0. 1. ]] SLAMing on 183.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:28.53, Z:14.26 [[ 0.41249179 -0.88742336 -0.2057433 37.42937667] [ 0.84660407 0.45682853 -0.27307369 28.53303633] [ 0.33632138 -0.06154246 0.93973425 14.25684162] [ 0. 0. 0. 1. ]] SLAMing on 183.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.46, Y:28.57, Z:14.27 [[ 0.41550271 -0.88604259 -0.20563569 37.46115679] [ 0.84503898 0.45966904 -0.2731547 28.57480073] [ 0.33655106 -0.06027365 0.93973426 14.27351597] [ 0. 0. 0. 1. ]] SLAMing on 184.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.49, Y:28.62, Z:14.29 [[ 0.41622121 -0.88573114 -0.20552436 37.49301842] [ 0.84465661 0.46032158 -0.27323845 28.61707713] [ 0.3366231 -0.05986987 0.93973427 14.29311935] [ 0. 0. 0. 1. ]] SLAMing on 184.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:28.66, Z:14.31 [[ 0.41929745 -0.88430394 -0.20541713 37.52550271] [ 0.84304271 0.46322316 -0.27331904 28.65826213] [ 0.33685107 -0.05857344 0.93973427 14.31389394] [ 0. 0. 0. 1. ]] SLAMing on 184.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.56, Y:28.70, Z:14.33 [[ 0.42120241 -0.88342279 -0.20531125 37.55624545] [ 0.84203384 0.46500779 -0.27339855 28.69952752] [ 0.33699784 -0.05772289 0.93973428 14.33419934] [ 0. 0. 0. 1. ]] SLAMing on 184.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.59, Y:28.74, Z:14.35 [[ 0.42507286 -0.88159261 -0.2052012 37.58799339] [ 0.83997768 0.4686636 -0.27348113 28.74141258] [ 0.33726928 -0.05611502 0.93973429 14.35405117] [ 0. 0. 0. 1. ]] SLAMing on 184.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.62, Y:28.78, Z:14.37 [[ 0.42871887 -0.87984927 -0.20509851 37.61995131] [ 0.83802242 0.47210631 -0.27355812 28.78377249] [ 0.33751822 -0.05459762 0.9397343 14.37036064] [ 0. 0. 0. 1. ]] SLAMing on 184.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:28.83, Z:14.39 [[ 0.43074364 -0.87887885 -0.20501678 37.65135856] [ 0.83692698 0.47401019 -0.27361937 28.82628187] [ 0.33765832 -0.05372427 0.9397343 14.38893912] [ 0. 0. 0. 1. ]] SLAMing on 184.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.68, Y:28.87, Z:14.41 [[ 0.43381948 -0.87738992 -0.20490874 37.68286027] [ 0.83525355 0.47690636 -0.27370026 28.86694789] [ 0.33786413 -0.05241425 0.93973431 14.40948427] [ 0. 0. 0. 1. ]] SLAMing on 184.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:28.91, Z:14.43 [[ 0.43503691 -0.87681319 -0.20479628 37.71421367] [ 0.83458258 0.47803141 -0.27378438 28.90859913] [ 0.33795681 -0.05181309 0.93973432 14.43080816] [ 0. 0. 0. 1. ]] SLAMing on 184.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.75, Y:28.95, Z:14.45 [[ 0.43633869 -0.87619125 -0.20468863 37.74516762] [ 0.83386391 0.47923796 -0.27386484 28.95089264] [ 0.33805254 -0.05118464 0.93973433 14.44875402] [ 0. 0. 0. 1. ]] SLAMing on 184.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:28.99, Z:14.47 [[ 0.43775275 -0.87551156 -0.2045777 37.77883657] [ 0.83308119 0.4805501 -0.27394769 28.9931102 ] [ 0.3381542 -0.05050848 0.93973434 14.46578148] [ 0. 0. 0. 1. ]] SLAMing on 184.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.81, Y:29.03, Z:14.48 [[ 0.43793413 -0.87544582 -0.20447083 37.81097146] [ 0.83297403 0.48069037 -0.27402744 29.03455726] [ 0.33818333 -0.05031293 0.93973435 14.48395867] [ 0. 0. 0. 1. ]] SLAMing on 184.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:29.08, Z:14.51 [[ 0.43833021 -0.87526722 -0.2043867 37.84351597] [ 0.8327505 0.48104176 -0.27409018 29.07607849] [ 0.33822068 -0.05006112 0.93973435 14.50571738] [ 0. 0. 0. 1. ]] SLAMing on 184.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.88, Y:29.12, Z:14.52 [[ 0.43686743 -0.87602356 -0.20427816 37.87532569] [ 0.83354522 0.47961714 -0.27417105 29.1187682 ] [ 0.33815561 -0.05049869 0.93973436 14.52467065] [ 0. 0. 0. 1. ]] SLAMing on 184.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.91, Y:29.16, Z:14.54 [[ 0.43591302 -0.87652371 -0.20417157 37.90836037] [ 0.83405951 0.47867676 -0.27425041 29.15917714] [ 0.33811917 -0.05074191 0.93973437 14.54491432] [ 0. 0. 0. 1. ]] SLAMing on 184.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.94, Y:29.20, Z:14.56 [[ 0.43475554 -0.87712352 -0.20406358 37.94114291] [ 0.83468294 0.47754271 -0.27433074 29.20124745] [ 0.33807102 -0.05106158 0.93973438 14.56219266] [ 0. 0. 0. 1. ]] SLAMing on 184.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.97, Y:29.24, Z:14.58 [[ 0.43359719 -0.87772054 -0.20396108 37.97255456] [ 0.83530526 0.47640944 -0.27440693 29.24323276] [ 0.33802158 -0.05138768 0.93973439 14.58274063] [ 0. 0. 0. 1. ]] SLAMing on 184.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:29.28, Z:14.60 [[ 0.43223502 -0.87841736 -0.20385245 38.00503816] [ 0.83603545 0.47508029 -0.27448761 29.28303861] [ 0.33796096 -0.05178471 0.93973439 14.60336468] [ 0. 0. 0. 1. ]] SLAMing on 185.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:29.33, Z:14.62 [[ 0.43106984 -0.87901567 -0.20374064 38.03677298] [ 0.83665653 0.4739376 -0.27457058 29.32513329] [ 0.33791219 -0.05210184 0.9397344 14.62242437] [ 0. 0. 0. 1. ]] SLAMing on 185.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.07, Y:29.37, Z:14.64 [[ 0.43008377 -0.87952309 -0.20363468 38.06901413] [ 0.83717975 0.47296713 -0.27464914 29.36781118] [ 0.33787278 -0.0523567 0.93973441 14.63944348] [ 0. 0. 0. 1. ]] SLAMing on 185.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.10, Y:29.41, Z:14.66 [[ 0.42893125 -0.88011006 -0.20352952 38.10110581] [ 0.83779087 0.47183843 -0.27472706 29.40932829] [ 0.3378231 -0.05267615 0.93973442 14.66091203] [ 0. 0. 0. 1. ]] SLAMing on 185.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:29.45, Z:14.68 [[ 0.42808141 -0.88054842 -0.20342268 38.1329419 ] [ 0.83823809 0.47099732 -0.27480615 29.45031865] [ 0.33779166 -0.05287723 0.93973443 14.67971681] [ 0. 0. 0. 1. ]] SLAMing on 185.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.17, Y:29.49, Z:14.70 [[ 0.42666388 -0.88126162 -0.20331228 38.16548034] [ 0.83898673 0.46961469 -0.27488781 29.49302718] [ 0.33772651 -0.05329161 0.93973444 14.69813352] [ 0. 0. 0. 1. ]] SLAMing on 185.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:29.54, Z:14.72 [[ 0.42539996 -0.88189644 -0.20320814 38.19720684] [ 0.83965139 0.46838011 -0.27496477 29.53581435] [ 0.3376691 -0.05365399 0.93973444 14.71748239] [ 0. 0. 0. 1. ]] SLAMing on 185.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.23, Y:29.58, Z:14.74 [[ 0.42394003 -0.88262386 -0.20310091 38.22946222] [ 0.84041724 0.46695791 -0.27504396 29.5772866 ] [ 0.33759993 -0.05408736 0.93973445 14.73866461] [ 0. 0. 0. 1. ]] SLAMing on 185.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:29.62, Z:14.76 [[ 0.42219596 -0.88348419 -0.20299322 38.26152226] [ 0.8413297 0.46526491 -0.27512342 29.61961735] [ 0.33751281 -0.05462823 0.93973446 14.75856057] [ 0. 0. 0. 1. ]] SLAMing on 185.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.29, Y:29.66, Z:14.78 [[ 0.4208884 -0.88413329 -0.20288242 38.29319629] [ 0.84200869 0.46398656 -0.2752051 29.66251068] [ 0.33745271 -0.05499812 0.93973447 14.77569275] [ 0. 0. 0. 1. ]] SLAMing on 185.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:29.70, Z:14.79 [[ 0.41955818 -0.88479144 -0.20276845 38.32574804] [ 0.84269683 0.46268562 -0.27528906 29.70404733] [ 0.33739145 -0.05537255 0.93973448 14.7935016 ] [ 0. 0. 0. 1. ]] SLAMing on 185.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.36, Y:29.75, Z:14.81 [[ 0.41772522 -0.88567782 -0.20268311 38.35763658] [ 0.84364646 0.4609143 -0.27535188 29.74616587] [ 0.33729259 -0.05597146 0.93973448 14.8149362 ] [ 0. 0. 0. 1. ]] SLAMing on 185.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:29.79, Z:14.84 [[ 0.415232 -0.88687465 -0.20257279 38.38937251] [ 0.8449311 0.45850636 -0.27543302 29.78645602] [ 0.33715547 -0.05679145 0.93973449 14.83512604] [ 0. 0. 0. 1. ]] SLAMing on 185.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.42, Y:29.83, Z:14.86 [[ 0.41235627 -0.88824147 -0.20245837 38.42216003] [ 0.84640317 0.45573238 -0.2755171 29.82818404] [ 0.33699255 -0.0577502 0.9397345 14.85532712] [ 0. 0. 0. 1. ]] SLAMing on 185.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.46, Y:29.87, Z:14.87 [[ 0.41042344 -0.88916095 -0.2023497 38.45500667] [ 0.84738363 0.45385827 -0.27559689 29.87046278] [ 0.33688808 -0.0583564 0.93973451 14.87426035] [ 0. 0. 0. 1. ]] SLAMing on 185.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:29.91, Z:14.89 [[ 0.4069111 -0.89079833 -0.20224165 38.48806054] [ 0.8491594 0.4504786 -0.27567616 29.91147774] [ 0.3366774 -0.05955971 0.93973452 14.89165157] [ 0. 0. 0. 1. ]] SLAMing on 185.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.52, Y:29.95, Z:14.91 [[ 0.40488141 -0.89174819 -0.2021292 38.52107665] [ 0.85017381 0.44851052 -0.27575859 29.95350646] [ 0.3365643 -0.06019542 0.93973453 14.9113017 ] [ 0. 0. 0. 1. ]] SLAMing on 186.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:30.00, Z:14.93 [[ 0.40227475 -0.8929514 -0.20202184 38.55352516] [ 0.8514714 0.44599358 -0.27583723 29.99564255] [ 0.33640968 -0.06105347 0.93973454 14.93088748] [ 0. 0. 0. 1. ]] SLAMing on 186.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:30.04, Z:14.95 [[ 0.4002601 -0.89388058 -0.20191424 38.58628531] [ 0.85246592 0.4440408 -0.27591597 30.03785669] [ 0.33629409 -0.06168685 0.93973455 14.95061132] [ 0. 0. 0. 1. ]] SLAMing on 186.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.62, Y:30.08, Z:14.97 [[ 0.39717269 -0.89528082 -0.20180708 38.6191944 ] [ 0.8539842 0.44106475 -0.27599433 30.07936787] [ 0.33610242 -0.06272265 0.93973455 14.96947502] [ 0. 0. 0. 1. ]] SLAMing on 186.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.65, Y:30.12, Z:14.99 [[ 0.39393639 -0.89673403 -0.20169829 38.65346547] [ 0.85556231 0.43794563 -0.27607382 30.12002757] [ 0.33589767 -0.06380993 0.93973456 14.98999221] [ 0. 0. 0. 1. ]] SLAMing on 186.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:30.16, Z:15.01 [[ 0.39114666 -0.89797904 -0.20158853 38.6858708 ] [ 0.85691008 0.43525179 -0.27615394 30.16122044] [ 0.33572222 -0.06472655 0.93973457 15.00908088] [ 0. 0. 0. 1. ]] SLAMing on 186.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:30.20, Z:15.03 [[ 0.3878847 -0.89941819 -0.20147551 38.71955651] [ 0.85847421 0.43210587 -0.27623638 30.20240028] [ 0.33551077 -0.06581366 0.93973458 15.02786322] [ 0. 0. 0. 1. ]] SLAMing on 186.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:30.24, Z:15.05 [[ 0.3859633 -0.90026823 -0.20136894 38.75260387] [ 0.85938539 0.43024098 -0.27631405 30.24339347] [ 0.33539393 -0.06640644 0.93973459 15.04791918] [ 0. 0. 0. 1. ]] SLAMing on 186.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.79, Y:30.28, Z:15.07 [[ 0.38324263 -0.90145325 -0.20126383 38.78664113] [ 0.86067133 0.42761327 -0.27639059 30.28366956] [ 0.33521628 -0.06729735 0.9397346 15.06808461] [ 0. 0. 0. 1. ]] SLAMing on 186.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.82, Y:30.33, Z:15.09 [[ 0.38108815 -0.90238996 -0.20115712 38.81971707] [ 0.86168061 0.42552537 -0.27646823 30.32649488] [ 0.33507962 -0.06797442 0.9397346 15.08530818] [ 0. 0. 0. 1. ]] SLAMing on 186.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.85, Y:30.37, Z:15.11 [[ 0.38027773 -0.90275586 -0.201049 38.85189936] [ 0.86205246 0.42472039 -0.27654684 30.36846744] [ 0.33504389 -0.06815018 0.93973461 15.1050537 ] [ 0. 0. 0. 1. ]] SLAMing on 186.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.88, Y:30.41, Z:15.12 [[ 0.37976197 -0.9029972 -0.20094005 38.8842642 ] [ 0.86228497 0.42419653 -0.27662599 30.4085776 ] [ 0.33503056 -0.06821556 0.93973462 15.1249857 ] [ 0. 0. 0. 1. ]] SLAMing on 186.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.92, Y:30.45, Z:15.14 [[ 0.37973361 -0.90303427 -0.20082703 38.91566006] [ 0.86228797 0.42413692 -0.27670802 30.45141483] [ 0.33505498 -0.06809539 0.93973463 15.14356877] [ 0. 0. 0. 1. ]] SLAMing on 186.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:30.49, Z:15.16 [[ 0.38020526 -0.9028596 -0.20071998 38.94769578] [ 0.86205657 0.42455643 -0.27678565 30.49301915] [ 0.33511554 -0.06779662 0.93973464 15.16450831] [ 0. 0. 0. 1. ]] SLAMing on 186.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.98, Y:30.53, Z:15.18 [[ 0.38192937 -0.90215659 -0.20060767 38.97978701] [ 0.86123383 0.42617008 -0.27686703 30.53457194] [ 0.3352704 -0.06702646 0.93973465 15.18359327] [ 0. 0. 0. 1. ]] SLAMing on 186.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:30.58, Z:15.21 [[ 0.38255536 -0.90190882 -0.20052899 39.01096488] [ 0.86093082 0.4267449 -0.27692401 30.57617907] [ 0.33533493 -0.06670283 0.93973465 15.20657428] [ 0. 0. 0. 1. ]] SLAMing on 186.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.04, Y:30.62, Z:15.22 [[ 0.38516744 -0.90082211 -0.20041349 39.04196779] [ 0.85968034 0.42920452 -0.27700757 30.62042378] [ 0.33555293 -0.06559724 0.93973466 15.22244527] [ 0. 0. 0. 1. ]] SLAMing on 186.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.07, Y:30.66, Z:15.24 [[ 0.38688076 -0.90011182 -0.20030474 39.07351002] [ 0.85885263 0.43080784 -0.2770862 30.66326154] [ 0.33570141 -0.06483293 0.93973467 15.24225636] [ 0. 0. 0. 1. ]] SLAMing on 187.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.10, Y:30.71, Z:15.26 [[ 0.38980101 -0.89887517 -0.20019641 39.10390148] [ 0.85744015 0.43356228 -0.27716445 30.70681027] [ 0.33593385 -0.06361746 0.93973468 15.26068106] [ 0. 0. 0. 1. ]] SLAMing on 187.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.13, Y:30.75, Z:15.28 [[ 0.3921069 -0.89789592 -0.20008771 39.13421919] [ 0.8563153 0.43572983 -0.2772429 30.75116464] [ 0.33611945 -0.06262931 0.93973469 15.27927845] [ 0. 0. 0. 1. ]] SLAMing on 187.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.16, Y:30.80, Z:15.30 [[ 0.39578957 -0.89630294 -0.19997913 39.16462476] [ 0.85451038 0.43920948 -0.2773212 30.79573863] [ 0.33639654 -0.06112341 0.9397347 15.29723469] [ 0. 0. 0. 1. ]] SLAMing on 187.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:30.84, Z:15.32 [[ 0.39861025 -0.89507629 -0.19987074 39.19493145] [ 0.85311417 0.44186631 -0.2773993 30.83951083] [ 0.33660968 -0.05993835 0.9397347 15.31587858] [ 0. 0. 0. 1. ]] SLAMing on 187.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.22, Y:30.88, Z:15.34 [[ 0.40206844 -0.89355199 -0.1997644 39.22432685] [ 0.85139069 0.44513037 -0.27747587 30.88277084] [ 0.33686031 -0.05851326 0.93973471 15.3373011 ] [ 0. 0. 0. 1. ]] SLAMing on 187.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:30.93, Z:15.36 [[ 0.40454918 -0.89245616 -0.19965462 39.25377826] [ 0.85014225 0.44746114 -0.27755484 30.92622415] [ 0.33704321 -0.05745024 0.93973472 15.35539831] [ 0. 0. 0. 1. ]] SLAMing on 187.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.28, Y:30.97, Z:15.37 [[ 0.40866319 -0.89059906 -0.19956881 39.28396045] [ 0.84806181 0.45135377 -0.27761652 30.9702878 ] [ 0.33732115 -0.05579504 0.93973473 15.37417823] [ 0. 0. 0. 1. ]] SLAMing on 187.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:31.01, Z:15.39 [[ 0.41077242 -0.88965171 -0.19946392 39.31399936] [ 0.84698204 0.45333063 -0.27769187 31.01436856] [ 0.33747215 -0.0548742 0.93973473 15.39236451] [ 0. 0. 0. 1. ]] SLAMing on 187.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:31.06, Z:15.41 [[ 0.41446316 -0.88796167 -0.19935991 39.34240053] [ 0.84508468 0.45681248 -0.27776653 31.05887544] [ 0.33771612 -0.05335201 0.93973474 15.41203615] [ 0. 0. 0. 1. ]] SLAMing on 187.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.37, Y:31.10, Z:15.43 [[ 0.41740774 -0.88660625 -0.19924894 39.3716064 ] [ 0.84355608 0.45958099 -0.2778461 31.10311794] [ 0.33791112 -0.05210254 0.93973475 15.43089967] [ 0. 0. 0. 1. ]] SLAMing on 187.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:31.15, Z:15.45 [[ 0.42034578 -0.88524182 -0.19913898 39.40041846] [ 0.8420196 0.46234267 -0.2779249 31.14738465] [ 0.33810119 -0.05085437 0.93973476 15.44899662] [ 0. 0. 0. 1. ]] SLAMing on 187.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:31.19, Z:15.47 [[ 0.42303225 -0.88398081 -0.19905185 39.42944043] [ 0.84060566 0.46487117 -0.27798729 31.19176334] [ 0.33826889 -0.04972653 0.93973476 15.4687432 ] [ 0. 0. 0. 1. ]] SLAMing on 187.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:31.24, Z:15.49 [[ 0.42575393 -0.88269779 -0.19894271 39.45849581] [ 0.83916202 0.46742567 -0.27806538 31.23564004] [ 0.33843862 -0.04855774 0.93973477 15.48635821] [ 0. 0. 0. 1. ]] SLAMing on 187.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:31.28, Z:15.51 [[ 0.4270682 -0.882082 -0.19885699 39.48814955] [ 0.8384592 0.46864883 -0.27812667 31.27987972] [ 0.33852462 -0.04795441 0.93973478 15.50625395] [ 0. 0. 0. 1. ]] SLAMing on 187.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:31.32, Z:15.52 [[ 0.42756637 -0.88186489 -0.19874936 39.51848855] [ 0.83818728 0.4690894 -0.27820356 31.32368721] [ 0.33856917 -0.0476387 0.93973479 15.52402243] [ 0. 0. 0. 1. ]] SLAMing on 187.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.55, Y:31.37, Z:15.54 [[ 0.42957265 -0.88091336 -0.19864286 39.54741685] [ 0.83711044 0.47096346 -0.27827959 31.3677998 ] [ 0.33869374 -0.04674471 0.93973479 15.54366311] [ 0. 0. 0. 1. ]] SLAMing on 187.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:31.41, Z:15.56 [[ 0.43093036 -0.88027444 -0.19853446 39.57627871] [ 0.83637639 0.47222025 -0.27835691 31.41177458] [ 0.33878246 -0.04609709 0.9397348 15.56375728] [ 0. 0. 0. 1. ]] SLAMing on 188.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.61, Y:31.46, Z:15.58 [[ 0.43073383 -0.88039577 -0.19842291 39.60582533] [ 0.83647469 0.47199921 -0.27843641 31.45636061] [ 0.33878969 -0.04604376 0.93973481 15.58119144] [ 0. 0. 0. 1. ]] SLAMing on 188.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:31.50, Z:15.60 [[ 0.43060901 -0.88048221 -0.19831028 39.63610111] [ 0.83653445 0.47184596 -0.27851661 31.50077937] [ 0.33880082 -0.04596162 0.93973482 15.59934773] [ 0. 0. 0. 1. ]] SLAMing on 188.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.67, Y:31.54, Z:15.62 [[ 0.43029441 -0.8806609 -0.19819965 39.66593766] [ 0.83669595 0.47151303 -0.27859531 31.54471265] [ 0.33880172 -0.04595484 0.93973483 15.62086697] [ 0. 0. 0. 1. ]] SLAMing on 188.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.69, Y:31.59, Z:15.64 [[ 0.43001563 -0.88081929 -0.19810084 39.69492249] [ 0.8368389 0.47121775 -0.27866556 31.58836483] [ 0.33880263 -0.04594795 0.93973484 15.63826317] [ 0. 0. 0. 1. ]] SLAMing on 188.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.72, Y:31.63, Z:15.66 [[ 0.42935419 -0.88116744 -0.19798718 39.72467906] [ 0.83718523 0.47055435 -0.2787463 31.63291024] [ 0.33878589 -0.04607105 0.93973485 15.65504263] [ 0. 0. 0. 1. ]] SLAMing on 188.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:31.68, Z:15.67 [[ 0.42872606 -0.8814966 -0.19788307 39.75479144] [ 0.83751376 0.46992554 -0.27882018 31.6761159 ] [ 0.33876935 -0.04619232 0.93973485 15.67448739] [ 0. 0. 0. 1. ]] SLAMing on 188.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.78, Y:31.72, Z:15.69 [[ 0.42812304 -0.88181444 -0.19777248 39.78411983] [ 0.83782792 0.46931859 -0.27889861 31.72007303] [ 0.33875512 -0.04629639 0.93973486 15.69175853] [ 0. 0. 0. 1. ]] SLAMing on 188.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.81, Y:31.76, Z:15.71 [[ 0.42705758 -0.88235055 -0.19768492 39.81338024] [ 0.83838859 0.46827932 -0.27896066 31.76465297] [ 0.33871286 -0.04660452 0.93973487 15.71091535] [ 0. 0. 0. 1. ]] SLAMing on 188.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:31.81, Z:15.73 [[ 0.42629733 -0.88274191 -0.1975786 39.84291033] [ 0.83878483 0.46752427 -0.27903595 31.80809544] [ 0.33868952 -0.04677366 0.93973488 15.73110749] [ 0. 0. 0. 1. ]] SLAMing on 188.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.87, Y:31.85, Z:15.75 [[ 0.42529883 -0.88324875 -0.19746534 39.87250598] [ 0.83930567 0.46654068 -0.27911608 31.85229925] [ 0.33865454 -0.04702604 0.93973488 15.74931772] [ 0. 0. 0. 1. ]] SLAMing on 188.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:31.90, Z:15.77 [[ 0.42413476 -0.8838331 -0.19735438 39.90150128] [ 0.83991241 0.46540043 -0.27919452 31.89527447] [ 0.33861017 -0.04734429 0.93973489 15.76872671] [ 0. 0. 0. 1. ]] SLAMing on 188.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:31.94, Z:15.79 [[ 0.4235246 -0.88415117 -0.19723998 39.9308038 ] [ 0.840226 0.4647855 -0.27927532 31.93882904] [ 0.33859588 -0.0474462 0.9397349 15.78807525] [ 0. 0. 0. 1. ]] SLAMing on 188.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:31.98, Z:15.81 [[ 0.42328203 -0.88428572 -0.19715753 39.96012396] [ 0.84034812 0.46452968 -0.27933351 31.98342947] [ 0.33859616 -0.04744411 0.93973491 15.80662574] [ 0. 0. 0. 1. ]] SLAMing on 188.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:32.03, Z:15.83 [[ 0.42154102 -0.88514138 -0.19704799 39.98885025] [ 0.84125345 0.4628415 -0.27941077 32.02834217] [ 0.33852002 -0.0479842 0.93973492 15.82679659] [ 0. 0. 0. 1. ]] SLAMing on 188.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:32.07, Z:15.84 [[ 0.42064259 -0.88559253 -0.19694082 40.01899288] [ 0.84171563 0.46195478 -0.27948629 32.07192513] [ 0.33848872 -0.04820433 0.93973492 15.84342228] [ 0. 0. 0. 1. ]] SLAMing on 188.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:32.12, Z:15.86 [[ 0.41977986 -0.8860296 -0.19681569 40.04971385] [ 0.84215688 0.46109647 -0.27957438 32.11583028] [ 0.3384622 -0.04839 0.93973493 15.86150832] [ 0. 0. 0. 1. ]] SLAMing on 189.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:32.16, Z:15.88 [[ 0.41744513 -0.88715631 -0.19670599 40.07797918] [ 0.84336086 0.45884362 -0.27965156 32.15981731] [ 0.33835193 -0.04915495 0.93973494 15.88468264] [ 0. 0. 0. 1. ]] SLAMing on 189.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:32.20, Z:15.90 [[ 0.41632209 -0.88770702 -0.19660151 40.10746753] [ 0.84393381 0.45774409 -0.27972499 32.20356818] [ 0.33830702 -0.04946297 0.93973495 15.90408074] [ 0. 0. 0. 1. ]] SLAMing on 189.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:32.25, Z:15.92 [[ 0.41666558 -0.88757223 -0.19648239 40.1385278 ] [ 0.84374863 0.45803425 -0.27980864 32.24722219] [ 0.33834604 -0.04919511 0.93973496 15.91955977] [ 0. 0. 0. 1. ]] SLAMing on 189.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:32.29, Z:15.94 [[ 0.41429917 -0.88870024 -0.1963876 40.16628037] [ 0.84495962 0.45575556 -0.27987516 32.29185706] [ 0.33822986 -0.04998755 0.93973497 15.93917376] [ 0. 0. 0. 1. ]] SLAMing on 189.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:32.34, Z:15.96 [[ 0.41411666 -0.88881154 -0.1962688 40.19704969] [ 0.84504513 0.45554581 -0.27995845 32.33565415] [ 0.33823973 -0.04992054 0.93973498 15.95568516] [ 0. 0. 0. 1. ]] SLAMing on 189.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.23, Y:32.38, Z:15.98 [[ 0.41225401 -0.88970309 -0.19615058 40.22734344] [ 0.84598938 0.45373876 -0.28004125 32.37954895] [ 0.33815469 -0.05049318 0.93973499 15.97567137] [ 0. 0. 0. 1. ]] SLAMing on 189.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:32.42, Z:15.99 [[ 0.4098614 -0.89083212 -0.19604019 40.25668272] [ 0.84719811 0.45142994 -0.28011851 32.42350794] [ 0.33803698 -0.05127511 0.93973499 15.99213669] [ 0. 0. 0. 1. ]] SLAMing on 189.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.29, Y:32.47, Z:16.01 [[ 0.40725787 -0.89205056 -0.19592555 40.28522688] [ 0.84850487 0.44891891 -0.28019868 32.46691102] [ 0.33790608 -0.05213066 0.939735 16.01317713] [ 0. 0. 0. 1. ]] SLAMing on 189.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.32, Y:32.51, Z:16.03 [[ 0.40614056 -0.89258574 -0.1958074 40.31714346] [ 0.84905796 0.4478203 -0.28028123 32.51036868] [ 0.33786156 -0.05241825 0.93973501 16.03077598] [ 0. 0. 0. 1. ]] SLAMing on 189.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.35, Y:32.55, Z:16.05 [[ 0.4037947 -0.89367381 -0.1956961 40.34667167] [ 0.85022329 0.44555497 -0.28035892 32.55412111] [ 0.33774279 -0.05317794 0.93973502 16.04864869] [ 0. 0. 0. 1. ]] SLAMing on 189.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:32.60, Z:16.07 [[ 0.40068256 -0.8950984 -0.19558206 40.37520521] [ 0.85176021 0.44255939 -0.28043846 32.59775253] [ 0.33757669 -0.05422222 0.93973503 16.07008425] [ 0. 0. 0. 1. ]] SLAMing on 189.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.41, Y:32.64, Z:16.09 [[ 0.39943539 -0.8956801 -0.19547003 40.4072599 ] [ 0.85236762 0.44133879 -0.28051653 32.64124703] [ 0.33752157 -0.0545641 0.93973504 16.0857248 ] [ 0. 0. 0. 1. ]] SLAMing on 189.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:32.68, Z:16.11 [[ 0.39688242 -0.89683852 -0.19535867 40.43584672] [ 0.85361305 0.43887554 -0.28059406 32.68441657] [ 0.33738571 -0.05539786 0.93973505 16.1094045 ] [ 0. 0. 0. 1. ]] SLAMing on 189.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.47, Y:32.73, Z:16.13 [[ 0.39551602 -0.89746771 -0.19524033 40.46564042] [ 0.85427165 0.43753938 -0.28067638 32.72808919] [ 0.33732333 -0.05577627 0.93973506 16.12790653] [ 0. 0. 0. 1. ]] SLAMing on 189.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:32.77, Z:16.15 [[ 0.39422877 -0.89805929 -0.19512351 40.49650334] [ 0.85488937 0.43627898 -0.28075758 32.77189266] [ 0.33726524 -0.0561263 0.93973507 16.14723462] [ 0. 0. 0. 1. ]] SLAMing on 189.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.53, Y:32.82, Z:16.16 [[ 0.392096 -0.89901595 -0.19501554 40.52685129] [ 0.85591434 0.43421621 -0.28083256 32.81544777] [ 0.33715186 -0.05680327 0.93973508 16.16426979] [ 0. 0. 0. 1. ]] SLAMing on 189.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.56, Y:32.86, Z:16.18 [[ 0.39168236 -0.89922298 -0.19489218 40.55809783] [ 0.85610465 0.43378545 -0.28091815 32.85912918] [ 0.33714944 -0.05681742 0.93973509 16.17831605] [ 0. 0. 0. 1. ]] SLAMing on 190.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.59, Y:32.90, Z:16.20 [[ 0.38910255 -0.90036833 -0.19477185 40.58740836] [ 0.85733562 0.43129312 -0.28100155 32.90151752] [ 0.33700866 -0.05764643 0.9397351 16.20236231] [ 0. 0. 0. 1. ]] SLAMing on 190.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:32.95, Z:16.21 [[ 0.38851893 -0.90064471 -0.19465904 40.6195349 ] [ 0.8576063 0.43070367 -0.28107968 32.94619457] [ 0.33699329 -0.05773604 0.93973511 16.21484059] [ 0. 0. 0. 1. ]] SLAMing on 190.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.65, Y:32.99, Z:16.24 [[ 0.385995 -0.90175472 -0.1945412 40.64783611] [ 0.85880003 0.42826497 -0.28116122 32.98950239] [ 0.33685364 -0.05854516 0.93973512 16.23861718] [ 0. 0. 0. 1. ]] SLAMing on 190.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.68, Y:33.03, Z:16.26 [[ 0.38533792 -0.90206141 -0.19442197 40.67707974] [ 0.85910253 0.42760362 -0.28124365 33.03174709] [ 0.33683458 -0.05865456 0.93973513 16.25835955] [ 0. 0. 0. 1. ]] SLAMing on 190.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.71, Y:33.08, Z:16.28 [[ 0.38471572 -0.90235236 -0.194304 40.70743114] [ 0.85938803 0.42697587 -0.28132513 33.07510243] [ 0.33681752 -0.05875233 0.93973514 16.27712372] [ 0. 0. 0. 1. ]] SLAMing on 190.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.74, Y:33.12, Z:16.29 [[ 0.38556177 -0.90201665 -0.19418571 40.73933256] [ 0.85897808 0.4277463 -0.28140676 33.11928003] [ 0.3368958 -0.05830158 0.93973514 16.28907515] [ 0. 0. 0. 1. ]] SLAMing on 190.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.77, Y:33.16, Z:16.31 [[ 0.38522245 -0.9021814 -0.19409374 40.76872644] [ 0.8591318 0.4273957 -0.28147019 33.16277218] [ 0.336892 -0.05832347 0.93973515 16.30651684] [ 0. 0. 0. 1. ]] SLAMing on 190.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.80, Y:33.21, Z:16.33 [[ 0.38408862 -0.90268953 -0.19397822 40.79756665] [ 0.85965913 0.42628147 -0.28154978 33.20520773] [ 0.33684136 -0.05861508 0.93973516 16.33059348] [ 0. 0. 0. 1. ]] SLAMing on 190.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:33.25, Z:16.34 [[ 0.38477262 -0.90242257 -0.19386473 40.82890222] [ 0.85932707 0.42689895 -0.28162791 33.24927282] [ 0.33690803 -0.05823051 0.93973517 16.34361976] [ 0. 0. 0. 1. ]] SLAMing on 190.579072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:40.86, Y:33.29, Z:16.36 [[ 0.38485638 -0.90241201 -0.19374761 40.85856185] [ 0.85927843 0.4269437 -0.28170846 33.29284449] [ 0.33693642 -0.05806584 0.93973518 16.36261032] [ 0. 0. 0. 1. ]] SLAMing on 190.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:33.34, Z:16.39 [[ 0.38353594 -0.90299761 -0.19363753 40.88626816] [ 0.85989352 0.42565345 -0.28178411 33.33607921] [ 0.33687286 -0.05843332 0.93973519 16.38770321] [ 0. 0. 0. 1. ]] SLAMing on 190.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.92, Y:33.38, Z:16.41 [[ 0.38321073 -0.90315901 -0.19352866 40.91698545] [ 0.86003833 0.42531124 -0.28185887 33.37969249] [ 0.33687329 -0.05843072 0.93973519 16.40669739] [ 0. 0. 0. 1. ]] SLAMing on 190.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:33.42, Z:16.42 [[ 0.38381487 -0.90292782 -0.19341017 40.94982027] [ 0.85974449 0.42585111 -0.28194015 33.42347005] [ 0.33693554 -0.05807051 0.9397352 16.41827135] [ 0. 0. 0. 1. ]] SLAMing on 190.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.98, Y:33.47, Z:16.44 [[ 0.38303168 -0.90328 -0.1933183 40.97988023] [ 0.86010639 0.4250779 -0.28200314 33.46651555] [ 0.33690313 -0.05825817 0.93973521 16.43641188] [ 0. 0. 0. 1. ]] SLAMing on 190.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.01, Y:33.51, Z:16.46 [[ 0.38256916 -0.90350057 -0.1932034 41.01032123] [ 0.86031506 0.42460314 -0.28208184 33.5107467 ] [ 0.33689587 -0.05829998 0.93973522 16.45548188] [ 0. 0. 0. 1. ]] SLAMing on 190.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.04, Y:33.55, Z:16.48 [[ 0.38017627 -0.90453335 -0.19309434 41.0391769 ] [ 0.86142746 0.4222919 -0.28215648 33.55288789] [ 0.33676212 -0.05906757 0.93973523 16.4816806 ] [ 0. 0. 0. 1. ]] SLAMing on 190.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.07, Y:33.60, Z:16.49 [[ 0.38040524 -0.9044604 -0.19298507 41.07191982] [ 0.86131205 0.42247734 -0.2822312 33.59868245] [ 0.33679876 -0.05885814 0.93973524 16.49319583] [ 0. 0. 0. 1. ]] SLAMing on 191.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.10, Y:33.64, Z:16.51 [[ 0.37833963 -0.90535062 -0.19287141 41.10290589] [ 0.86226529 0.42047625 -0.28230886 33.64211986] [ 0.33668634 -0.05949769 0.93973524 16.50930619] [ 0. 0. 0. 1. ]] SLAMing on 191.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.13, Y:33.69, Z:16.53 [[ 0.37695398 -0.90595308 -0.19275558 41.1336712 ] [ 0.86289849 0.419122 -0.28238793 33.68609195] [ 0.33661831 -0.05988124 0.93973525 16.52779378] [ 0. 0. 0. 1. ]] SLAMing on 191.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.16, Y:33.73, Z:16.55 [[ 0.37485015 -0.90684902 -0.19264533 41.16475267] [ 0.86386023 0.41708523 -0.28246312 33.72798367] [ 0.33650092 -0.0605373 0.93973526 16.5465434 ] [ 0. 0. 0. 1. ]] SLAMing on 191.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:33.77, Z:16.57 [[ 0.37279817 -0.9077186 -0.19253173 41.19644296] [ 0.86479222 0.41509668 -0.28254053 33.77085569] [ 0.33638658 -0.06116935 0.93973527 16.5660453 ] [ 0. 0. 0. 1. ]] SLAMing on 191.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.23, Y:33.81, Z:16.59 [[ 0.3712761 -0.90836522 -0.19242319 41.22675043] [ 0.86547805 0.41361435 -0.28261444 33.81392102] [ 0.33630612 -0.06161006 0.93973528 16.5856289 ] [ 0. 0. 0. 1. ]] SLAMing on 191.359072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:33.86, Z:16.61 [[ 0.36897694 -0.90932521 -0.19231141 41.25790478] [ 0.86651252 0.41139049 -0.28269048 33.85697067] [ 0.33617267 -0.06233398 0.93973529 16.60507123] [ 0. 0. 0. 1. ]] SLAMing on 191.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.29, Y:33.90, Z:16.62 [[ 0.36652658 -0.91033894 -0.19220114 41.28963403] [ 0.86760827 0.40902274 -0.28276544 33.89949074] [ 0.33602703 -0.06311424 0.9397353 16.62186792] [ 0. 0. 0. 1. ]] SLAMing on 191.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:33.94, Z:16.64 [[ 0.364336 -0.91124189 -0.19208723 41.32067904] [ 0.86858006 0.40690126 -0.28284281 33.94313865] [ 0.33589875 -0.06379332 0.93973531 16.64037488] [ 0. 0. 0. 1. ]] SLAMing on 191.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.35, Y:33.99, Z:16.66 [[ 0.36128326 -0.91248019 -0.19197475 41.35282077] [ 0.86992796 0.40395807 -0.28291913 33.98539998] [ 0.33570785 -0.06479026 0.93973531 16.66053609] [ 0. 0. 0. 1. ]] SLAMing on 191.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:34.03, Z:16.68 [[ 0.35909283 -0.91336786 -0.19186321 41.38343801] [ 0.87088522 0.40183691 -0.28299476 34.02652854] [ 0.33557604 -0.06546944 0.93973532 16.68099253] [ 0. 0. 0. 1. ]] SLAMing on 191.659072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.41, Y:34.07, Z:16.70 [[ 0.35697875 -0.91422024 -0.19174861 41.41411837] [ 0.87180274 0.39978746 -0.28307239 34.06901148] [ 0.3354492 -0.06611613 0.93973533 16.70026519] [ 0. 0. 0. 1. ]] SLAMing on 191.719072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:34.11, Z:16.72 [[ 0.35595104 -0.91464519 -0.19163252 41.44580714] [ 0.87224153 0.39877344 -0.28315096 34.11264668] [ 0.33540062 -0.06636197 0.93973534 16.71824311] [ 0. 0. 0. 1. ]] SLAMing on 191.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.48, Y:34.16, Z:16.74 [[ 0.35399014 -0.91542866 -0.19152378 41.47801422] [ 0.87308468 0.39687155 -0.2832245 34.15543385] [ 0.33528216 -0.06695779 0.93973535 16.73575034] [ 0. 0. 0. 1. ]] SLAMing on 191.839072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:34.20, Z:16.76 [[ 0.35247562 -0.91603535 -0.19141624 41.5099056 ] [ 0.87373051 0.39539564 -0.28329716 34.19813463] [ 0.33519536 -0.06739087 0.93973536 16.75523355] [ 0. 0. 0. 1. ]] SLAMing on 191.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.54, Y:34.24, Z:16.77 [[ 0.3512792 -0.91651766 -0.19130684 41.53941849] [ 0.8742365 0.39422253 -0.28337103 34.24061254] [ 0.33513201 -0.06770507 0.93973536 16.77441426] [ 0. 0. 0. 1. ]] SLAMing on 191.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:34.28, Z:16.79 [[ 0.35041695 -0.91687112 -0.19119442 41.57063493] [ 0.87459708 0.39336728 -0.28344686 34.28360662] [ 0.33509387 -0.0678935 0.93973537 16.79477231] [ 0. 0. 0. 1. ]] SLAMing on 192.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.60, Y:34.33, Z:16.81 [[ 0.34987371 -0.9171016 -0.19108385 41.60222781] [ 0.87482029 0.39281686 -0.28352138 34.32666772] [ 0.33507887 -0.06796735 0.93973538 16.81404044] [ 0. 0. 0. 1. ]] SLAMing on 192.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:34.37, Z:16.83 [[ 0.35001353 -0.91707138 -0.19097282 41.63350984] [ 0.87475069 0.39291787 -0.28359615 34.37088599] [ 0.33511455 -0.06779111 0.93973539 16.83182278] [ 0. 0. 0. 1. ]] SLAMing on 192.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.66, Y:34.41, Z:16.85 [[ 0.35084981 -0.91677474 -0.19086247 41.66476433] [ 0.87438238 0.39368332 -0.28367041 34.41462194] [ 0.33520123 -0.06736107 0.9397354 16.8503857 ] [ 0. 0. 0. 1. ]] SLAMing on 192.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:34.46, Z:16.87 [[ 0.35159652 -0.91651158 -0.19075221 41.6948193 ] [ 0.87405186 0.39436326 -0.28374453 34.45688675] [ 0.33528081 -0.06696373 0.93973541 16.87006082] [ 0. 0. 0. 1. ]] SLAMing on 192.259072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:34.50, Z:16.89 [[ 0.35197576 -0.91638951 -0.19063924 41.72555336] [ 0.87387888 0.39469187 -0.28382042 34.50088192] [ 0.33533381 -0.0666977 0.93973542 16.88889611] [ 0. 0. 0. 1. ]] SLAMing on 192.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.76, Y:34.55, Z:16.91 [[ 0.35226332 -0.9163023 -0.1905273 41.75655269] [ 0.87374539 0.39493332 -0.28389554 34.54533488] [ 0.33537972 -0.06646637 0.93973542 16.9061107 ] [ 0. 0. 0. 1. ]] SLAMing on 192.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:34.59, Z:16.93 [[ 0.35232631 -0.91630109 -0.19041659 41.7877349 ] [ 0.87370877 0.39496095 -0.28396978 34.58806982] [ 0.33540894 -0.06631862 0.93973543 16.9255693 ] [ 0. 0. 0. 1. ]] SLAMing on 192.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:34.63, Z:16.95 [[ 0.35230948 -0.91633086 -0.19030447 41.81784061] [ 0.87370646 0.39491203 -0.28404491 34.630847 ] [ 0.33543264 -0.06619853 0.93973544 16.94671947] [ 0. 0. 0. 1. ]] SLAMing on 192.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:34.67, Z:16.97 [[ 0.35291952 -0.91611909 -0.19019364 41.84811996] [ 0.87343391 0.39546116 -0.2841191 34.67332548] [ 0.33550113 -0.0658504 0.93973545 16.96823297] [ 0. 0. 0. 1. ]] SLAMing on 192.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:34.72, Z:16.98 [[ 0.35437324 -0.91558158 -0.19007888 41.87958982] [ 0.87279545 0.39681333 -0.28419586 34.71818575] [ 0.33563033 -0.06518857 0.93973546 16.98369468] [ 0. 0. 0. 1. ]] SLAMing on 192.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.91, Y:34.76, Z:17.00 [[ 0.35513891 -0.91530835 -0.18996571 41.90953631] [ 0.87245378 0.39750989 -0.28427149 34.76265602] [ 0.33570932 -0.06478043 0.93973547 17.00203054] [ 0. 0. 0. 1. ]] SLAMing on 192.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:34.80, Z:17.02 [[ 0.35704722 -0.91458925 -0.18985198 41.9390267 ] [ 0.8716134 0.39929516 -0.28434743 34.80482428] [ 0.33586808 -0.06395207 0.93973548 17.02372172] [ 0. 0. 0. 1. ]] SLAMing on 192.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.97, Y:34.85, Z:17.04 [[ 0.35903503 -0.91383512 -0.18973462 41.96867482] [ 0.87073355 0.4011547 -0.28442572 34.84805915] [ 0.33603115 -0.06308951 0.93973549 17.04354351] [ 0. 0. 0. 1. ]] SLAMing on 192.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:34.89, Z:17.06 [[ 0.36018371 -0.91340614 -0.18962308 41.99870524] [ 0.87021947 0.4022161 -0.28450007 34.89313911] [ 0.33613357 -0.0625414 0.93973549 17.06059636] [ 0. 0. 0. 1. ]] SLAMing on 192.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.03, Y:34.94, Z:17.08 [[ 0.3626505 -0.91245327 -0.18950894 42.02859338] [ 0.86912037 0.40453212 -0.28457609 34.93630193] [ 0.33632483 -0.06150442 0.9397355 17.07824233] [ 0. 0. 0. 1. ]] SLAMing on 192.91907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:34.98, Z:17.10 [[ 0.36516433 -0.9114746 -0.18939132 42.05761538] [ 0.86799274 0.40689126 -0.28465435 34.98077212] [ 0.33651688 -0.06044467 0.93973551 17.09785317] [ 0. 0. 0. 1. ]] SLAMing on 192.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.09, Y:35.03, Z:17.12 [[ 0.36674755 -0.91086212 -0.1892787 42.08695305] [ 0.86727569 0.40836522 -0.28472921 35.02574961] [ 0.33664389 -0.05973307 0.93973552 17.11697451] [ 0. 0. 0. 1. ]] SLAMing on 193.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:35.07, Z:17.14 [[ 0.36924105 -0.90987765 -0.18916582 42.11621097] [ 0.8661453 0.41070536 -0.28480419 35.06912628] [ 0.33682838 -0.05868369 0.93973553 17.13592906] [ 0. 0. 0. 1. ]] SLAMing on 193.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.15, Y:35.11, Z:17.15 [[ 0.37051128 -0.90938534 -0.18904943 42.14528367] [ 0.86556214 0.41187953 -0.28488144 35.11431483] [ 0.33693259 -0.05808224 0.93973554 17.15458709] [ 0. 0. 0. 1. ]] SLAMing on 193.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:35.16, Z:17.17 [[ 0.37339437 -0.90822882 -0.18893665 42.17456489] [ 0.86424277 0.41458942 -0.28495621 35.15897891] [ 0.33713658 -0.05688609 0.93973555 17.17395944] [ 0. 0. 0. 1. ]] SLAMing on 193.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.20, Y:35.20, Z:17.19 [[ 0.37596601 -0.90719068 -0.18882433 42.20309293] [ 0.86305654 0.41700234 -0.28503063 35.20320361] [ 0.33731732 -0.05580424 0.93973556 17.19399507] [ 0. 0. 0. 1. ]] SLAMing on 193.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.23, Y:35.25, Z:17.21 [[ 0.3775245 -0.90656656 -0.18871229 42.23159 ] [ 0.86233057 0.41845101 -0.28510479 35.24789512] [ 0.33743332 -0.05509834 0.93973556 17.21286507] [ 0. 0. 0. 1. ]] SLAMing on 193.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:35.29, Z:17.23 [[ 0.37990203 -0.90559636 -0.18859927 42.26105188] [ 0.86122159 0.42067802 -0.28517954 35.29294457] [ 0.33759712 -0.05408548 0.93973557 17.23033514] [ 0. 0. 0. 1. ]] SLAMing on 193.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.29, Y:35.34, Z:17.25 [[ 0.38211857 -0.90468716 -0.18848485 42.28959562] [ 0.86018087 0.42275095 -0.28525514 35.33782206] [ 0.33774882 -0.05312978 0.93973558 17.25088381] [ 0. 0. 0. 1. ]] SLAMing on 193.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:35.38, Z:17.27 [[ 0.38317178 -0.90426556 -0.18836981 42.31742612] [ 0.85968009 0.42371725 -0.2853311 35.38149943] [ 0.33783062 -0.05260695 0.93973559 17.27024021] [ 0. 0. 0. 1. ]] SLAMing on 193.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.35, Y:35.42, Z:17.29 [[ 0.38416133 -0.90386438 -0.18827972 42.34596135] [ 0.85920964 0.42463048 -0.28539053 35.42454263] [ 0.33790365 -0.05213575 0.9397356 17.28750448] [ 0. 0. 0. 1. ]] SLAMing on 193.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:35.47, Z:17.31 [[ 0.38404482 -0.90394035 -0.18815267 42.37503864] [ 0.85925571 0.42448094 -0.28547428 35.4695949 ] [ 0.33791894 -0.05203633 0.93973561 17.30656418] [ 0. 0. 0. 1. ]] SLAMing on 193.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.40, Y:35.51, Z:17.32 [[ 0.38430781 -0.90385174 -0.18804131 42.40339214] [ 0.85912461 0.42469691 -0.28554762 35.51435162] [ 0.33795327 -0.05181273 0.93973562 17.32475598] [ 0. 0. 0. 1. ]] SLAMing on 193.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:35.56, Z:17.35 [[ 0.38523092 -0.90348386 -0.18792034 42.43243736] [ 0.85868219 0.42553731 -0.2856272 35.55774867] [ 0.33802669 -0.05133142 0.93973562 17.34594584] [ 0. 0. 0. 1. ]] SLAMing on 193.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.46, Y:35.60, Z:17.36 [[ 0.38596473 -0.90319489 -0.18780366 42.46140816] [ 0.85832844 0.42619898 -0.28570391 35.60154808] [ 0.33808804 -0.05092559 0.93973563 17.36448257] [ 0. 0. 0. 1. ]] SLAMing on 193.819072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:35.65, Z:17.38 [[ 0.38576571 -0.90330522 -0.1876819 42.48989643] [ 0.85841421 0.42597255 -0.28578388 35.64592312] [ 0.33809741 -0.05086319 0.93973564 17.38077313] [ 0. 0. 0. 1. ]] SLAMing on 193.879072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.52, Y:35.69, Z:17.40 [[ 0.38561624 -0.90338783 -0.18759142 42.5190313 ] [ 0.85847867 0.42580279 -0.28584326 35.68869129] [ 0.33810427 -0.05081743 0.93973565 17.40299551] [ 0. 0. 0. 1. ]] SLAMing on 193.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:35.73, Z:17.42 [[ 0.38544029 -0.90348753 -0.18747284 42.54805215] [ 0.8585537 0.42559925 -0.28592101 35.73315869] [ 0.33811437 -0.05075002 0.93973566 17.4214906 ] [ 0. 0. 0. 1. ]] SLAMing on 193.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.58, Y:35.78, Z:17.44 [[ 0.38519743 -0.90361537 -0.18735581 42.5766584 ] [ 0.8586603 0.42533259 -0.28599769 35.77801236] [ 0.33812044 -0.05070942 0.93973567 17.44011784] [ 0. 0. 0. 1. ]] SLAMing on 194.059072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.61, Y:35.82, Z:17.46 [[ 0.38514417 -0.9036623 -0.18723891 42.6056482 ] [ 0.85867763 0.42524614 -0.2860742 35.82109011] [ 0.33813709 -0.05059805 0.93973568 17.46150496] [ 0. 0. 0. 1. ]] SLAMing on 194.119072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:42.63, Y:35.87, Z:17.48 [[ 0.38408465 -0.90413771 -0.18712024 42.63487495] [ 0.85916762 0.42420295 -0.28615181 35.86548677] [ 0.3380976 -0.05086113 0.93973569 17.48137603] [ 0. 0. 0. 1. ]] SLAMing on 194.179072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:35.91, Z:17.50 [[ 0.38308196 -0.90458756 -0.1870015 42.66491399] [ 0.8596295 0.42321374 -0.28622938 35.91101525] [ 0.33806114 -0.05110269 0.9397357 17.49795203] [ 0. 0. 0. 1. ]] SLAMing on 194.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.69, Y:35.95, Z:17.52 [[ 0.38239323 -0.90490336 -0.18688318 42.6941681 ] [ 0.85994352 0.42252298 -0.28630662 35.95454343] [ 0.33804226 -0.05122727 0.93973571 17.51568561] [ 0. 0. 0. 1. ]] SLAMing on 194.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:36.00, Z:17.54 [[ 0.38155977 -0.90528008 -0.18676218 42.72305431] [ 0.86032413 0.42169387 -0.28638553 35.99906943] [ 0.33801558 -0.05140282 0.93973572 17.53641295] [ 0. 0. 0. 1. ]] SLAMing on 194.359072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:36.04, Z:17.56 [[ 0.38024497 -0.90585671 -0.18664775 42.7523734 ] [ 0.86092777 0.4204093 -0.2864601 36.04265706] [ 0.33796025 -0.05176522 0.93973572 17.55699124] [ 0. 0. 0. 1. ]] SLAMing on 194.41907232900002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:42.78, Y:36.09, Z:17.57 [[ 0.37838595 -0.90665873 -0.18653154 42.78154914] [ 0.86178046 0.41860687 -0.28653575 36.08724803] [ 0.33787352 -0.05232813 0.93973573 17.57458322] [ 0. 0. 0. 1. ]] SLAMing on 194.479072329 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:42.81, Y:36.13, Z:17.59 [[ 0.37697381 -0.90727097 -0.1864139 42.81163496] [ 0.86242313 0.41722865 -0.28661226 36.13141122] [ 0.33781221 -0.05272235 0.93973574 17.59201396] [ 0. 0. 0. 1. ]] SLAMing on 194.539072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:42.84, Y:36.18, Z:17.61 [[ 0.37495243 -0.90813223 -0.18629686 42.83990226] [ 0.86334204 0.41527139 -0.28668833 36.17585604] [ 0.33771467 -0.05334342 0.93973575 17.61284472] [ 0. 0. 0. 1. ]] SLAMing on 194.599072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:42.87, Y:36.22, Z:17.63 [[ 0.37418491 -0.90847252 -0.1861809 42.86900168] [ 0.8636846 0.41450637 -0.28676362 36.22056598] [ 0.33769004 -0.05349896 0.93973576 17.63238158] [ 0. 0. 0. 1. ]] SLAMing on 194.659072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.90, Y:36.27, Z:17.65 [[ 0.3726151 -0.90914118 -0.18606535 42.89815672] [ 0.86439124 0.4129787 -0.28683858 36.26507839] [ 0.33761779 -0.05395287 0.93973577 17.65022848] [ 0. 0. 0. 1. ]] SLAMing on 194.719072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.93, Y:36.31, Z:17.67 [[ 0.37111543 -0.90977778 -0.18595086 42.92749385] [ 0.86506301 0.41151797 -0.28691278 36.30897522] [ 0.337549 -0.05438145 0.93973578 17.66851286] [ 0. 0. 0. 1. ]] SLAMing on 194.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.96, Y:36.35, Z:17.69 [[ 0.37041698 -0.91008653 -0.18583264 42.95553107] [ 0.86537031 0.41081791 -0.28698934 36.35330634] [ 0.33752851 -0.05450832 0.93973579 17.68838751] [ 0. 0. 0. 1. ]] SLAMing on 194.839072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.98, Y:36.40, Z:17.71 [[ 0.36951898 -0.91047579 -0.18571362 42.98361578] [ 0.86576676 0.40992784 -0.28706634 36.397477 ] [ 0.33749614 -0.05470822 0.9397358 17.70883559] [ 0. 0. 0. 1. ]] SLAMing on 194.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:36.44, Z:17.73 [[ 0.36911193 -0.91066495 -0.18559559 43.01218682] [ 0.86594159 0.40950492 -0.28714263 36.44145502] [ 0.33749304 -0.05472717 0.93973581 17.72672233] [ 0. 0. 0. 1. ]] SLAMing on 194.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.04, Y:36.49, Z:17.75 [[ 0.36843673 -0.91095699 -0.18550403 43.04010527] [ 0.86623845 0.40883505 -0.28720177 36.48630265] [ 0.33746901 -0.05487504 0.93973581 17.7460351 ] [ 0. 0. 0. 1. ]] SLAMing on 195.019072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:36.53, Z:17.77 [[ 0.36854403 -0.91093691 -0.18538943 43.06835468] [ 0.8661822 0.40890226 -0.28727573 36.53138579] [ 0.33749623 -0.05470727 0.93973582 17.76580578] [ 0. 0. 0. 1. ]] SLAMing on 195.079072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.10, Y:36.58, Z:17.78 [[ 0.3682489 -0.9110793 -0.18527617 43.09652198] [ 0.86630663 0.40858721 -0.28734877 36.57709783] [ 0.33749898 -0.0546901 0.93973583 17.78479808] [ 0. 0. 0. 1. ]] SLAMing on 195.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:36.62, Z:17.80 [[ 0.36820879 -0.91111843 -0.18516344 43.12404116] [ 0.86631669 0.40851479 -0.28742139 36.62126744] [ 0.33751693 -0.0545791 0.93973584 17.80283 ] [ 0. 0. 0. 1. ]] SLAMing on 195.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.15, Y:36.67, Z:17.82 [[ 0.36748346 -0.91143484 -0.18504711 43.15114114] [ 0.86663338 0.40778975 -0.28749627 36.66552208] [ 0.33749443 -0.05471788 0.93973585 17.81987139] [ 0. 0. 0. 1. ]] SLAMing on 195.259072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:36.71, Z:17.84 [[ 0.36635542 -0.91191414 -0.18492241 43.1782277 ] [ 0.86712847 0.40667924 -0.28757646 36.7095254 ] [ 0.33744915 -0.05499629 0.93973586 17.83969252] [ 0. 0. 0. 1. ]] SLAMing on 195.319072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.21, Y:36.75, Z:17.86 [[ 0.36586221 -0.91213637 -0.18480285 43.20639225] [ 0.8673398 0.40617392 -0.28765328 36.75408905] [ 0.33744111 -0.0550454 0.93973587 17.86096383] [ 0. 0. 0. 1. ]] SLAMing on 195.379072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.23, Y:36.80, Z:17.88 [[ 0.36441294 -0.9127392 -0.18468988 43.23450865] [ 0.86797582 0.40476147 -0.2877258 36.7994805 ] [ 0.33737396 -0.05545535 0.93973587 17.87991864] [ 0. 0. 0. 1. ]] SLAMing on 195.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:36.85, Z:17.90 [[ 0.36286317 -0.9133794 -0.18457624 43.2629974 ] [ 0.86865344 0.40325317 -0.28779868 36.84503237] [ 0.33730034 -0.05590125 0.93973588 17.8967369 ] [ 0. 0. 0. 1. ]] SLAMing on 195.499072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:36.89, Z:17.92 [[ 0.36161659 -0.91389626 -0.18446429 43.29136583] [ 0.86919477 0.40203367 -0.28787042 36.89009963] [ 0.33724455 -0.05623668 0.93973589 17.91583162] [ 0. 0. 0. 1. ]] SLAMing on 195.559072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:36.93, Z:17.94 [[ 0.3603503 -0.91441903 -0.18435159 43.31927344] [ 0.86974268 0.40079514 -0.28794258 36.93447396] [ 0.33718739 -0.05657825 0.9397359 17.93632208] [ 0. 0. 0. 1. ]] SLAMing on 195.619072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:36.98, Z:17.96 [[ 0.35879518 -0.91505278 -0.18424011 43.34685375] [ 0.87041468 0.39928222 -0.28801389 36.97825389] [ 0.33711172 -0.0570273 0.93973591 17.95568518] [ 0. 0. 0. 1. ]] SLAMing on 195.679072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:37.02, Z:17.98 [[ 0.35659407 -0.91593723 -0.18411859 43.37450817] [ 0.8713632 0.39715163 -0.28809156 37.02281594] [ 0.33699679 -0.05770242 0.93973592 17.97553494] [ 0. 0. 0. 1. ]] SLAMing on 195.739072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:37.07, Z:18.00 [[ 0.35405905 -0.91694438 -0.18399783 43.40300716] [ 0.87244946 0.39470337 -0.28816867 37.06779046] [ 0.33685921 -0.05850008 0.93973593 17.99517799] [ 0. 0. 0. 1. ]] SLAMing on 195.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:37.11, Z:18.01 [[ 0.3529791 -0.9173835 -0.18388386 43.43207369] [ 0.87290509 0.39364148 -0.28824139 37.11332462] [ 0.3368122 -0.05876997 0.93973594 18.01317713] [ 0. 0. 0. 1. ]] SLAMing on 195.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:37.16, Z:18.03 [[ 0.35125678 -0.91806695 -0.18377091 43.46006823] [ 0.8736338 0.39196859 -0.28831338 37.15900086] [ 0.33672341 -0.05927645 0.93973594 18.03086146] [ 0. 0. 0. 1. ]] SLAMing on 195.91907232900002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:37.20, Z:18.06 [[ 0.35001029 -0.91856518 -0.18365947 43.48710962] [ 0.8741566 0.39074889 -0.28838436 37.20279636] [ 0.33666456 -0.05960965 0.93973595 18.05538499] [ 0. 0. 0. 1. ]] SLAMing on 195.979072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:37.25, Z:18.07 [[ 0.34775581 -0.91944465 -0.18354136 43.51557782] [ 0.87510352 0.3885678 -0.28845951 37.24828224] [ 0.33654082 -0.06030422 0.93973596 18.0715381 ] [ 0. 0. 0. 1. ]] SLAMing on 196.039072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.54, Y:37.29, Z:18.10 [[ 0.34688633 -0.9197991 -0.18341073 43.54189189] [ 0.8754605 0.38770105 -0.28854255 37.29233314] [ 0.33650971 -0.06047738 0.93973597 18.095066 ] [ 0. 0. 0. 1. ]] SLAMing on 196.099072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:37.34, Z:18.11 [[ 0.34565061 -0.92028901 -0.18328609 43.57005012] [ 0.87597085 0.3864875 -0.28862171 37.33745984] [ 0.33645317 -0.06079101 0.93973598 18.11020035] [ 0. 0. 0. 1. ]] SLAMing on 196.159072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.60, Y:37.38, Z:18.13 [[ 0.34524312 -0.92046774 -0.18315655 43.59747094] [ 0.8761319 0.38606081 -0.28870389 37.38227748] [ 0.33645219 -0.06079627 0.93973599 18.13093767] [ 0. 0. 0. 1. ]] SLAMing on 196.219072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:37.43, Z:18.15 [[ 0.34477734 -0.92066543 -0.18304028 43.62417257] [ 0.87631818 0.38558261 -0.28877759 37.4287799 ] [ 0.3364447 -0.06083756 0.939736 18.14699671] [ 0. 0. 0. 1. ]] SLAMing on 196.279072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.65, Y:37.47, Z:18.16 [[ 0.34526738 -0.92050569 -0.18291994 43.65187552] [ 0.87610358 0.38601294 -0.2888538 37.47455601] [ 0.33650104 -0.06052502 0.93973601 18.16344646] [ 0. 0. 0. 1. ]] SLAMing on 196.339072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:37.52, Z:18.19 [[ 0.34608976 -0.92021989 -0.18280384 43.67825217] [ 0.87574948 0.38676075 -0.28892727 37.51860715] [ 0.33657797 -0.0600956 0.93973602 18.18752199] [ 0. 0. 0. 1. ]] SLAMing on 196.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.71, Y:37.56, Z:18.21 [[ 0.34440824 -0.92087414 -0.1826849 43.70531317] [ 0.87644539 0.38512473 -0.28900245 37.56462071] [ 0.33649136 -0.06057851 0.93973603 18.2069016 ] [ 0. 0. 0. 1. ]] SLAMing on 196.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.73, Y:37.61, Z:18.22 [[ 0.34449213 -0.92086517 -0.18257194 43.73268029] [ 0.87640168 0.38517066 -0.2890738 37.60952287] [ 0.33651935 -0.06042271 0.93973604 18.22385096] [ 0. 0. 0. 1. ]] SLAMing on 196.519072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.76, Y:37.66, Z:18.24 [[ 0.34365545 -0.92120114 -0.1824538 43.75955042] [ 0.87674217 0.38433891 -0.28914835 37.65525033] [ 0.33648789 -0.06059753 0.93973605 18.24210448] [ 0. 0. 0. 1. ]] SLAMing on 196.579072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:43.79, Y:37.70, Z:18.26 [[ 0.34319951 -0.92139367 -0.1823398 43.78736758] [ 0.87692354 0.38387076 -0.28922023 37.70053809] [ 0.3364806 -0.06063782 0.93973606 18.26204093] [ 0. 0. 0. 1. ]] SLAMing on 196.63907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:37.75, Z:18.28 [[ 0.34303031 -0.92147943 -0.18222479 43.81364056] [ 0.87698523 0.3836752 -0.28929268 37.74539112] [ 0.33649238 -0.06057229 0.93973607 18.28183215] [ 0. 0. 0. 1. ]] SLAMing on 196.69907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.84, Y:37.79, Z:18.30 [[ 0.3421166 -0.92184244 -0.18210643 43.83973395] [ 0.87735609 0.38277008 -0.28936717 37.78926166] [ 0.33645583 -0.06077487 0.93973608 18.30098376] [ 0. 0. 0. 1. ]] SLAMing on 196.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:37.84, Z:18.32 [[ 0.34118562 -0.92221271 -0.18197827 43.86817845] [ 0.87773229 0.38184557 -0.28944774 37.8355078 ] [ 0.33641998 -0.0609728 0.93973609 18.31758962] [ 0. 0. 0. 1. ]] SLAMing on 196.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.90, Y:37.88, Z:18.34 [[ 0.34046641 -0.92250075 -0.1818653 43.89643412] [ 0.87802107 0.38112715 -0.28951871 37.8807752 ] [ 0.33639504 -0.06111017 0.93973609 18.33696937] [ 0. 0. 0. 1. ]] SLAMing on 196.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:37.92, Z:18.36 [[ 0.33831689 -0.92331389 -0.18175024 43.92288228] [ 0.87889743 0.37904669 -0.28959093 37.92489753] [ 0.33627515 -0.06176631 0.9397361 18.35658268] [ 0. 0. 0. 1. ]] SLAMing on 196.939072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:43.95, Y:37.97, Z:18.38 [[ 0.33669271 -0.92393125 -0.18162893 43.95066127] [ 0.87955315 0.37746428 -0.289667 37.96894238] [ 0.33619082 -0.06222353 0.93973611 18.37900015] [ 0. 0. 0. 1. ]] SLAMing on 196.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.98, Y:38.01, Z:18.40 [[ 0.33502173 -0.92456108 -0.18151374 43.97908271] [ 0.88022509 0.37583907 -0.28973916 38.0141718 ] [ 0.33610151 -0.06270403 0.93973612 18.39836185] [ 0. 0. 0. 1. ]] SLAMing on 197.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.01, Y:38.06, Z:18.42 [[ 0.33206497 -0.92565004 -0.18139696 44.00774363] [ 0.88141253 0.37298901 -0.28981226 38.05909834] [ 0.33592381 -0.06364905 0.93973613 18.41718421] [ 0. 0. 0. 1. ]] SLAMing on 197.119072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.04, Y:38.10, Z:18.44 [[ 0.3288888 -0.92680603 -0.18128085 44.03622758] [ 0.88267701 0.36992979 -0.28988487 38.10358559] [ 0.33572824 -0.06467255 0.93973614 18.43749701] [ 0. 0. 0. 1. ]] SLAMing on 197.179072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:38.15, Z:18.46 [[ 0.32693779 -0.92751868 -0.18116505 44.06497958] [ 0.88344407 0.36803719 -0.28995723 38.14881388] [ 0.33561623 -0.06525122 0.93973615 18.45695355] [ 0. 0. 0. 1. ]] SLAMing on 197.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.09, Y:38.19, Z:18.48 [[ 0.32367014 -0.92868617 -0.18105147 44.093828 ] [ 0.88472501 0.36489085 -0.29002814 38.1931817 ] [ 0.33540915 -0.06630731 0.93973616 18.47637256] [ 0. 0. 0. 1. ]] SLAMing on 197.299072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:38.24, Z:18.49 [[ 0.31987271 -0.93002381 -0.18093416 44.12276938] [ 0.88619877 0.36123811 -0.29010131 38.23672293] [ 0.33516144 -0.06754814 0.93973617 18.49499972] [ 0. 0. 0. 1. ]] SLAMing on 197.359072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:38.28, Z:18.51 [[ 0.31596615 -0.93138202 -0.18081187 44.1523038 ] [ 0.88769682 0.35747918 -0.29017751 38.28089708] [ 0.3349026 -0.06881986 0.93973618 18.51417293] [ 0. 0. 0. 1. ]] SLAMing on 197.41907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:38.33, Z:18.54 [[ 0.31422407 -0.93199305 -0.18069919 44.18039593] [ 0.88835403 0.35578563 -0.29024767 38.32591615] [ 0.33479898 -0.06932205 0.93973618 18.53505473] [ 0. 0. 0. 1. ]] SLAMing on 197.479072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.21, Y:38.37, Z:18.55 [[ 0.31175075 -0.93284656 -0.180579 44.20928244] [ 0.88928425 0.3533927 -0.29032243 38.36990269] [ 0.33464158 -0.07007782 0.93973619 18.55336832] [ 0. 0. 0. 1. ]] SLAMing on 197.539072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:38.41, Z:18.57 [[ 0.30718724 -0.93438317 -0.18045523 44.23844084] [ 0.89099011 0.34900551 -0.29039934 38.41362499] [ 0.33432413 -0.07157685 0.9397362 18.57304258] [ 0. 0. 0. 1. ]] SLAMing on 197.599072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.27, Y:38.46, Z:18.59 [[ 0.30359436 -0.93557906 -0.18033935 44.26818597] [ 0.89231432 0.34554535 -0.29047129 38.45776779] [ 0.33407428 -0.07273394 0.93973621 18.59340344] [ 0. 0. 0. 1. ]] SLAMing on 197.659072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:38.50, Z:18.61 [[ 0.2999384 -0.93678016 -0.18022176 44.2982522 ] [ 0.89364629 0.34202393 -0.29054423 38.50103882] [ 0.33381623 -0.07390914 0.93973622 18.61205147] [ 0. 0. 0. 1. ]] SLAMing on 197.719072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:44.33, Y:38.54, Z:18.63 [[ 0.29692433 -0.93775757 -0.18012965 44.3288329 ] [ 0.89473311 0.3391217 -0.29060134 38.54487345] [ 0.33359947 -0.07488135 0.93973623 18.62955509] [ 0. 0. 0. 1. ]] SLAMing on 197.779072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.36, Y:38.59, Z:18.65 [[ 0.29444717 -0.93856026 -0.18001526 44.35805037] [ 0.89561486 0.33672498 -0.29067218 38.59009589] [ 0.33342899 -0.07563674 0.93973623 18.64745548] [ 0. 0. 0. 1. ]] SLAMing on 197.839072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.39, Y:38.63, Z:18.67 [[ 0.29344256 -0.93889699 -0.1798997 44.38758592] [ 0.895964 0.33573296 -0.29074368 38.63378719] [ 0.33337663 -0.07586709 0.93973624 18.67035588] [ 0. 0. 0. 1. ]] SLAMing on 197.899072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.42, Y:38.68, Z:18.69 [[ 0.29040665 -0.93986179 -0.17978816 44.41709224] [ 0.89703391 0.33280349 -0.29081264 38.67787623] [ 0.33315782 -0.07682216 0.93973625 18.68936085] [ 0. 0. 0. 1. ]] SLAMing on 197.959072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.45, Y:38.72, Z:18.71 [[ 0.2892691 -0.94023485 -0.17967141 44.44601688] [ 0.89742502 0.33168416 -0.29088476 38.7221202 ] [ 0.33309415 -0.07709764 0.93973626 18.71006731] [ 0. 0. 0. 1. ]] SLAMing on 198.019072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.48, Y:38.77, Z:18.73 [[ 0.28924863 -0.94026347 -0.17955457 44.47513394] [ 0.89742129 0.331631 -0.29095687 38.76700259] [ 0.33312198 -0.07697722 0.93973627 18.72848296] [ 0. 0. 0. 1. ]] SLAMing on 198.079072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.50, Y:38.81, Z:18.75 [[ 0.28963266 -0.94016726 -0.17943927 44.50420076] [ 0.89727499 0.33196432 -0.29102797 38.81233562] [ 0.3331824 -0.07671516 0.93973628 18.74678632] [ 0. 0. 0. 1. ]] SLAMing on 198.13907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.53, Y:38.86, Z:18.77 [[ 0.29004979 -0.94006072 -0.1793236 44.53389229] [ 0.89711684 0.33232908 -0.29109922 38.85642203] [ 0.33324539 -0.07644095 0.93973629 18.76713308] [ 0. 0. 0. 1. ]] SLAMing on 198.19907232900002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.56, Y:38.90, Z:18.79 [[ 0.29106779 -0.93976825 -0.17920708 44.56291459] [ 0.89674559 0.3332669 -0.29117094 38.89976855] [ 0.333357 -0.07595267 0.9397363 18.78795388] [ 0. 0. 0. 1. ]] SLAMing on 198.259072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.59, Y:38.94, Z:18.81 [[ 0.29180272 -0.93956269 -0.17908972 44.59197987] [ 0.89647385 0.33393424 -0.29124311 38.9447776 ] [ 0.33344535 -0.07556372 0.9397363 18.80626804] [ 0. 0. 0. 1. ]] SLAMing on 198.319072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:38.99, Z:18.82 [[ 0.29186321 -0.93956589 -0.17897433 44.62127206] [ 0.89644175 0.33395859 -0.29131401 38.98960795] [ 0.33347872 -0.07541622 0.93973631 18.82436536] [ 0. 0. 0. 1. ]] SLAMing on 198.379072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:44.65, Y:39.03, Z:18.84 [[ 0.29166132 -0.93965046 -0.17885941 44.65092951] [ 0.89650294 0.33373272 -0.29138455 39.03356076] [ 0.33349087 -0.07536238 0.93973632 18.84403602] [ 0. 0. 0. 1. ]] SLAMing on 198.439072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:39.08, Z:18.86 [[ 0.2911205 -0.93984029 -0.17874307 44.68057737] [ 0.89668417 0.33318307 -0.2914559 39.07813025] [ 0.33347617 -0.07542729 0.93973633 18.86318121] [ 0. 0. 0. 1. ]] SLAMing on 198.499072329 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:44.71, Y:39.12, Z:18.88 [[ 0.29030265 -0.94011546 -0.17862614 44.71127887] [ 0.89696298 0.33236893 -0.29152756 39.12180183] [ 0.33343934 -0.07558981 0.93973634 18.88172842] [ 0. 0. 0. 1. ]] SLAMing on 198.559072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:39.16, Z:18.90 [[ 0.28908047 -0.94051474 -0.17850635 44.74246732] [ 0.89738317 0.33116818 -0.29160089 39.16465144] [ 0.33337056 -0.07589247 0.93973635 18.90224044] [ 0. 0. 0. 1. ]] SLAMing on 198.619072329 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:39.21, Z:18.92 [[ 0.28832755 -0.9407682 -0.17838837 44.77086546] [ 0.89763707 0.33041569 -0.29167305 39.20772438] [ 0.33333905 -0.07603064 0.93973636 18.92182041] [ 0. 0. 0. 1. ]] SLAMing on 198.679072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:39.25, Z:18.94 [[ 0.28804244 -0.94087874 -0.17826596 44.80165288] [ 0.89772586 0.33010827 -0.29174785 39.2510973 ] [ 0.33334642 -0.0759982 0.93973637 18.94204633] [ 0. 0. 0. 1. ]] SLAMing on 198.739072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:39.29, Z:18.96 [[ 0.2876249 -0.94102903 -0.17814681 44.83232852] [ 0.89786126 0.32967545 -0.29182059 39.29454313] [ 0.33334228 -0.07601625 0.93973638 18.95846874] [ 0. 0. 0. 1. ]] SLAMing on 198.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:39.34, Z:18.98 [[ 0.28803276 -0.94092765 -0.17802331 44.8620949 ] [ 0.89770693 0.33002886 -0.29189592 39.33822088] [ 0.33340577 -0.07573717 0.93973639 18.97833129] [ 0. 0. 0. 1. ]] SLAMing on 198.859072329 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:44.89, Y:39.38, Z:19.00 [[ 0.28912605 -0.9406143 -0.1779069 44.89169638] [ 0.89731215 0.33103817 -0.29196685 39.38162859] [ 0.33352217 -0.0752228 0.93973639 18.99822048] [ 0. 0. 0. 1. ]] SLAMing on 198.91907232900002 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:39.43, Z:19.02 [[ 0.29088974 -0.94009238 -0.17779054 44.92109359] [ 0.89667915 0.33268677 -0.2920377 39.42531372] [ 0.33369098 -0.0744703 0.9397364 19.01759802] [ 0. 0. 0. 1. ]] SLAMing on 198.979072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:44.95, Y:39.47, Z:19.04 [[ 0.29280651 -0.93951976 -0.17767096 44.95084305] [ 0.89598803 0.33448011 -0.29211043 39.46806991] [ 0.33387093 -0.07365922 0.93973641 19.03666041] [ 0. 0. 0. 1. ]] SLAMing on 199.039072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:39.51, Z:19.06 [[ 0.29578848 -0.93860844 -0.17754822 44.98027255] [ 0.89491054 0.33728778 -0.29218502 39.51178293] [ 0.33413217 -0.07246481 0.93973642 19.05597408] [ 0. 0. 0. 1. ]] SLAMing on 199.099072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.01, Y:39.56, Z:19.07 [[ 0.29836366 -0.93781605 -0.17742654 45.00940853] [ 0.89397078 0.33970721 -0.2922589 39.55617442] [ 0.33435816 -0.0714147 0.93973643 19.07435416] [ 0. 0. 0. 1. ]] SLAMing on 199.159072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:45.04, Y:39.60, Z:19.09 [[ 0.30132963 -0.9368892 -0.17731068 45.0394962 ] [ 0.89288145 0.34250018 -0.29232917 39.59979421] [ 0.33460899 -0.07022997 0.93973644 19.09491683] [ 0. 0. 0. 1. ]] SLAMing on 199.219072329 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:45.07, Y:39.64, Z:19.12 [[ 0.30450618 -0.93588411 -0.17719175 45.06893651] [ 0.89170438 0.34549212 -0.29240125 39.64341995] [ 0.33487203 -0.06896467 0.93973645 19.11570349] [ 0. 0. 0. 1. ]] SLAMing on 199.279072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:45.10, Y:39.69, Z:19.13 [[ 0.30509272 -0.93571593 -0.177071 45.09620372] [ 0.89147752 0.3460153 -0.29247436 39.68799741] [ 0.33494219 -0.06862301 0.93973646 19.13350733] [ 0. 0. 0. 1. ]] SLAMing on 199.339072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.12, Y:39.73, Z:19.15 [[ 0.30767337 -0.93489417 -0.17694627 45.12420214] [ 0.89050908 0.34843679 -0.2925498 39.73189784] [ 0.3351577 -0.06756248 0.93973647 19.15067769] [ 0. 0. 0. 1. ]] SLAMing on 199.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:39.78, Z:19.17 [[ 0.31145679 -0.93366553 -0.17681446 45.15442719] [ 0.88908006 0.35200094 -0.29262945 39.77566637] [ 0.33545688 -0.06606079 0.93973648 19.1698142 ] [ 0. 0. 0. 1. ]] SLAMing on 199.459072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:39.82, Z:19.19 [[ 0.31501096 -0.93249482 -0.17669607 45.18286275] [ 0.88772338 0.35534964 -0.29270092 39.81898535] [ 0.33573098 -0.06465324 0.93973649 19.18700852] [ 0. 0. 0. 1. ]] SLAMing on 199.519072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:39.86, Z:19.21 [[ 0.31715094 -0.93179022 -0.176585 45.21106605] [ 0.88689652 0.35735349 -0.29276792 39.86394966] [ 0.33590155 -0.063761 0.9397365 19.20648668] [ 0. 0. 0. 1. ]] SLAMing on 199.579072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:39.91, Z:19.23 [[ 0.32101395 -0.93048907 -0.17646565 45.24044861] [ 0.88539716 0.36099404 -0.29283984 39.9078441 ] [ 0.33618732 -0.06223651 0.93973651 19.22585933] [ 0. 0. 0. 1. ]] SLAMing on 199.63907232900002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.27, Y:39.95, Z:19.25 [[ 0.32466981 -0.92924229 -0.17634703 45.26962582] [ 0.88396211 0.36443654 -0.29291126 39.95129769] [ 0.33645283 -0.06078465 0.93973651 19.2468627 ] [ 0. 0. 0. 1. ]] SLAMing on 199.69907232900002 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:40.00, Z:19.27 [[ 0.32694623 -0.92846623 -0.1762289 45.29812664] [ 0.88305754 0.36656614 -0.29298232 39.99561708] [ 0.33662374 -0.05983079 0.93973652 19.26657237] [ 0. 0. 0. 1. ]] SLAMing on 199.759072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.33, Y:40.04, Z:19.28 [[ 0.32987833 -0.92745304 -0.17609979 45.32696604] [ 0.88188549 0.36931541 -0.29305991 40.04030404] [ 0.33683567 -0.05862574 0.93973653 19.28390605] [ 0. 0. 0. 1. ]] SLAMing on 199.819072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:40.08, Z:19.30 [[ 0.33299275 -0.9263642 -0.17596931 45.35648779] [ 0.88063031 0.37223679 -0.29313824 40.08389558] [ 0.33705502 -0.057351 0.93973655 19.30359546] [ 0. 0. 0. 1. ]] SLAMing on 199.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.38, Y:40.13, Z:19.32 [[ 0.33439472 -0.92588263 -0.17584516 45.38495266] [ 0.88005705 0.37353165 -0.2932127 40.12766938] [ 0.33716428 -0.05670499 0.93973656 19.32235893] [ 0. 0. 0. 1. ]] SLAMing on 199.939072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.41, Y:40.17, Z:19.34 [[ 0.33663012 -0.92509667 -0.17571656 45.41394302] [ 0.87914335 0.37561695 -0.29328975 40.17188066] [ 0.33732349 -0.05574988 0.93973657 19.34094207] [ 0. 0. 0. 1. ]] SLAMing on 199.999072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:40.22, Z:19.36 [[ 0.33768126 -0.92473805 -0.17558729 45.44247108] [ 0.87870702 0.3765763 -0.29336712 40.21590375] [ 0.33740976 -0.05522521 0.93973658 19.3587794 ] [ 0. 0. 0. 1. ]] SLAMing on 200.059072329 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:45.47, Y:40.26, Z:19.38 [[ 0.3390666 -0.92425521 -0.17545979 45.47195683] [ 0.87813307 0.37785354 -0.29344337 40.25875058] [ 0.33751467 -0.0545802 0.93973659 19.37838928] [ 0. 0. 0. 1. ]] SLAMing on 200.119072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.50, Y:40.30, Z:19.40 [[ 0.34036829 -0.92380107 -0.17533115 45.50106485] [ 0.87759126 0.37905074 -0.29352021 40.30183408] [ 0.33761369 -0.05396412 0.9397366 19.39906826] [ 0. 0. 0. 1. ]] SLAMing on 200.179072329 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:45.53, Y:40.35, Z:19.42 [[ 0.34079008 -0.92366979 -0.17520344 45.5298685 ] [ 0.87740955 0.37941219 -0.29359643 40.34612776] [ 0.33766047 -0.05367042 0.93973661 19.41810375] [ 0. 0. 0. 1. ]] SLAMing on 200.239072329 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:40.39, Z:19.44 [[ 0.34185612 -0.92329994 -0.17507601 45.56043436] [ 0.87696255 0.38038561 -0.2936724 40.39011631] [ 0.3377441 -0.0531414 0.93973662 19.43726034] [ 0. 0. 0. 1. ]] SLAMing on 200.299072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.59, Y:40.44, Z:19.45 [[ 0.34267038 -0.92302149 -0.17495239 45.59014774] [ 0.87661857 0.38112091 -0.29374604 40.43508251] [ 0.33781192 -0.05270844 0.93973663 19.45326684] [ 0. 0. 0. 1. ]] SLAMing on 200.359072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:40.48, Z:19.47 [[ 0.34411553 -0.92250784 -0.17482504 45.61985466] [ 0.87601235 0.38245405 -0.29382181 40.4789866 ] [ 0.33791547 -0.05204025 0.93973664 19.4740622 ] [ 0. 0. 0. 1. ]] SLAMing on 200.41907232900002 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:45.65, Y:40.52, Z:19.49 [[ 0.34574729 -0.92192058 -0.17470334 45.64913325] [ 0.87532647 0.38396588 -0.29389416 40.52277028] [ 0.33802719 -0.05130935 0.93973665 19.49395741] [ 0. 0. 0. 1. ]] SLAMing on 200.479072329 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:40.57, Z:19.51 [[ 0.34662229 -0.92161501 -0.17458168 45.67704567] [ 0.87495386 0.38475899 -0.29396641 40.56713508] [ 0.33809573 -0.0508556 0.93973666 19.51075931] [ 0. 0. 0. 1. ]] SLAMing on 200.539072329 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:45.71, Y:40.61, Z:19.53 [[ 0.34778085 -0.92120465 -0.17444335 45.70514769] [ 0.8744607 0.38581599 -0.29404848 40.61132675] [ 0.33818186 -0.05027943 0.93973667 19.53169173] [ 0. 0. 0. 1. ]] SLAMing on 200.599072329 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:40.66, Z:19.55 [[ 0.35013351 -0.92033613 -0.17432138 45.73402606] [ 0.87346452 0.38801121 -0.29412078 40.65695482] [ 0.33832863 -0.049282 0.93973668 19.54973793] [ 0. 0. 0. 1. ]] SLAMing on 200.659072329 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:45.76, Y:40.70, Z:19.57 [[ 0.35238016 -0.91950182 -0.17419707 45.76286339] [ 0.87250678 0.39010459 -0.29419438 40.7022162 ] [ 0.33846735 -0.04831986 0.93973669 19.56925138] [ 0. 0. 0. 1. ]] SLAMing on 200.719072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:45.79, Y:40.75, Z:19.59 [[ 0.35489561 -0.91855732 -0.17407341 45.79129968] [ 0.87142843 0.39245267 -0.29426754 40.74673544] [ 0.33861718 -0.04725826 0.9397367 19.59016811] [ 0. 0. 0. 1. ]] SLAMing on 200.779072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.82, Y:40.79, Z:19.61 [[ 0.35605291 -0.91813258 -0.1739508 45.81884822] [ 0.87092599 0.39351225 -0.29434001 40.79205533] [ 0.33869492 -0.04669765 0.93973671 19.61052501] [ 0. 0. 0. 1. ]] SLAMing on 200.839072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:40.84, Z:19.63 [[ 3.58712301e-01 -9.17121904e-01 -1.73818581e-01 4.58468377e+01] [ 8.69774311e-01 3.95993242e-01 -2.94418071e-01 4.08372873e+01] [ 3.38848245e-01 -4.55715531e-02 9.39736719e-01 1.96280806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:45.87, Y:40.88, Z:19.65 [[ 3.59706163e-01 -9.16758375e-01 -1.73682348e-01 4.58737829e+01] [ 8.69336876e-01 3.96893030e-01 -2.94498420e-01 4.08822975e+01] [ 3.38917207e-01 -4.50555731e-02 9.39736730e-01 1.96474008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959072329 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:45.90, Y:40.93, Z:19.66 [[ 3.60740565e-01 -9.16376726e-01 -1.73550977e-01 4.59003443e+01] [ 8.68881052e-01 3.97832631e-01 -2.94575823e-01 4.09267458e+01] [ 3.38986670e-01 -4.45297069e-02 9.39736741e-01 1.96646802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:45.93, Y:40.97, Z:19.68 [[ 3.61027605e-01 -9.16290282e-01 -1.73410461e-01 4.59279917e+01] [ 8.68748576e-01 3.98060631e-01 -2.94658523e-01 4.09723462e+01] [ 3.39020619e-01 -4.42702305e-02 9.39736754e-01 1.96849993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079072329 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:41.02, Z:19.70 [[ 3.61979040e-01 -9.15938419e-01 -1.73285853e-01 4.59551039e+01] [ 8.68327842e-01 3.98923465e-01 -2.94731790e-01 4.10164220e+01] [ 3.39083963e-01 -4.37822000e-02 9.39736764e-01 1.97039462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13907232900002 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:41.06, Z:19.72 [[ 3.61920534e-01 -9.15988235e-01 -1.73144679e-01 4.59827636e+01] [ 8.68345583e-01 3.98823566e-01 -2.94814707e-01 4.10617048e+01] [ 3.39100982e-01 -4.36499205e-02 9.39736776e-01 1.97232930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:41.11, Z:19.74 [[ 3.61855976e-01 -9.16037176e-01 -1.73020647e-01 4.60088367e+01] [ 8.68366910e-01 3.98723315e-01 -2.94887485e-01 4.11059497e+01] [ 3.39115265e-01 -4.35386059e-02 9.39736786e-01 1.97412687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259072329 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:46.04, Y:41.15, Z:19.76 [[ 3.60790127e-01 -9.16479205e-01 -1.72905613e-01 4.60367764e+01] [ 8.68823826e-01 3.97676694e-01 -2.94954923e-01 4.11511921e+01] [ 3.39080586e-01 -4.38076915e-02 9.39736794e-01 1.97607995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319072329 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:46.06, Y:41.20, Z:19.78 [[ 3.60528922e-01 -9.16605525e-01 -1.72780807e-01 4.60639945e+01] [ 8.68930277e-01 3.97389787e-01 -2.95028018e-01 4.11963711e+01] [ 3.39085640e-01 -4.37683415e-02 9.39736804e-01 1.97799865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.09, Y:41.24, Z:19.80 [[ 3.59567249e-01 -9.17007410e-01 -1.72652262e-01 4.60907675e+01] [ 8.69339557e-01 3.96437661e-01 -2.95103229e-01 4.12431013e+01] [ 3.39057707e-01 -4.39839843e-02 9.39736815e-01 1.97986803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:41.29, Z:19.82 [[ 3.58421304e-01 -9.17480230e-01 -1.72523035e-01 4.61172759e+01] [ 8.69827007e-01 3.95310606e-01 -2.95178763e-01 4.12876230e+01] [ 3.39020865e-01 -4.42668380e-02 9.39736825e-01 1.98180643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.14, Y:41.33, Z:19.84 [[ 3.58080823e-01 -9.17638486e-01 -1.72388323e-01 4.61436026e+01] [ 8.69966180e-01 3.94945441e-01 -2.95257420e-01 4.13320727e+01] [ 3.39023554e-01 -4.42459904e-02 9.39736837e-01 1.98354755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:41.38, Z:19.85 [[ 3.57198404e-01 -9.18008833e-01 -1.72247154e-01 4.61706105e+01] [ 8.70337653e-01 3.94064458e-01 -2.95339757e-01 4.13787151e+01] [ 3.39000988e-01 -4.44182943e-02 9.39736849e-01 1.98519422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619072329 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:46.20, Y:41.42, Z:19.87 [[ 3.56653012e-01 -9.18244451e-01 -1.72121343e-01 4.61969659e+01] [ 8.70564593e-01 3.93507827e-01 -2.95413065e-01 4.14241672e+01] [ 3.38992504e-01 -4.44827872e-02 9.39736859e-01 1.98700844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679072329 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:41.47, Z:19.89 [[ 3.57283401e-01 -9.18023739e-01 -1.71991236e-01 4.62236487e+01] [ 8.70287030e-01 3.94064531e-01 -2.95488799e-01 4.14686531e+01] [ 3.39041378e-01 -4.41084987e-02 9.39736870e-01 1.98923763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739072329 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:46.25, Y:41.51, Z:19.91 [[ 3.57444294e-01 -9.17984023e-01 -1.71868877e-01 4.62486094e+01] [ 8.70211235e-01 3.94178536e-01 -2.95559955e-01 4.15139121e+01] [ 3.39066339e-01 -4.39160083e-02 9.39736879e-01 1.99104700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:41.56, Z:19.93 [[ 3.56903278e-01 -9.18220340e-01 -1.71730771e-01 4.62745351e+01] [ 8.70435784e-01 3.93622190e-01 -2.95640183e-01 4.15597379e+01] [ 3.39059871e-01 -4.39656583e-02 9.39736891e-01 1.99282489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:41.60, Z:19.95 [[ 3.56534385e-01 -9.18388419e-01 -1.71598208e-01 4.63014328e+01] [ 8.70586563e-01 3.93230755e-01 -2.95717111e-01 4.16046596e+01] [ 3.39060863e-01 -4.39577754e-02 9.39736902e-01 1.99456216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91907232900002 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:46.33, Y:41.65, Z:19.97 [[ 3.56337028e-01 -9.18490454e-01 -1.71461972e-01 4.63276005e+01] [ 8.70663581e-01 3.93000767e-01 -2.95796087e-01 4.16498068e+01] [ 3.39070569e-01 -4.38825959e-02 9.39736914e-01 1.99663463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:41.69, Z:19.99 [[ 3.56081178e-01 -9.18614162e-01 -1.71330724e-01 4.63538466e+01] [ 8.70765836e-01 3.92716899e-01 -2.95872093e-01 4.16947162e+01] [ 3.39076766e-01 -4.38344580e-02 9.39736925e-01 1.99865561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:46.38, Y:41.74, Z:20.01 [[ 3.55852586e-01 -9.18727183e-01 -1.71199592e-01 4.63804303e+01] [ 8.70856371e-01 3.92458901e-01 -2.95947955e-01 4.17388938e+01] [ 3.39084235e-01 -4.37764099e-02 9.39736935e-01 2.00051949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:41.78, Z:20.03 [[ 3.55195158e-01 -9.19006640e-01 -1.71064885e-01 4.64078032e+01] [ 8.71129581e-01 3.91793284e-01 -2.96025803e-01 4.17837419e+01] [ 3.39071752e-01 -4.38727494e-02 9.39736947e-01 2.00251012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159072329 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:46.43, Y:41.83, Z:20.04 [[ 3.55459712e-01 -9.18929377e-01 -1.70930377e-01 4.64346404e+01] [ 8.71009440e-01 3.92001658e-01 -2.96103455e-01 4.18283328e+01] [ 3.39103154e-01 -4.36291232e-02 9.39736958e-01 2.00430706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:41.87, Z:20.06 [[ 3.56311659e-01 -9.18625054e-01 -1.70792308e-01 4.64604248e+01] [ 8.70638143e-01 3.92765591e-01 -2.96183077e-01 4.18736532e+01] [ 3.39162536e-01 -4.31648143e-02 9.39736970e-01 2.00619377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279072329 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:46.49, Y:41.92, Z:20.08 [[ 3.56954430e-01 -9.18399798e-01 -1.70661498e-01 4.64869331e+01] [ 8.70356093e-01 3.93333461e-01 -2.96258435e-01 4.19197410e+01] [ 3.39210564e-01 -4.27855138e-02 9.39736981e-01 2.00816761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339072329 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:41.97, Z:20.10 [[ 3.58416780e-01 -9.17853407e-01 -1.70536023e-01 4.65131415e+01] [ 8.69721906e-01 3.94679556e-01 -2.96330649e-01 4.19655245e+01] [ 3.39295178e-01 -4.21090381e-02 9.39736991e-01 2.00986726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.54, Y:42.01, Z:20.12 [[ 3.60125086e-01 -9.17208544e-01 -1.70406599e-01 4.65391527e+01] [ 8.68978877e-01 3.96257179e-01 -2.96405061e-01 4.20113268e+01] [ 3.39390092e-01 -4.13368370e-02 9.39737001e-01 2.01203117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459072329 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:46.56, Y:42.06, Z:20.14 [[ 3.63278559e-01 -9.15987316e-01 -1.70281899e-01 4.65646290e+01] [ 8.67604191e-01 3.99204888e-01 -2.96476686e-01 4.20579082e+01] [ 3.39546251e-01 -4.00336658e-02 9.39737011e-01 2.01398102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519072329 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:46.59, Y:42.10, Z:20.16 [[ 3.67282116e-01 -9.14412767e-01 -1.70156220e-01 4.65902942e+01] [ 8.65843499e-01 4.02956377e-01 -2.96548804e-01 4.21040868e+01] [ 3.39733546e-01 -3.84115851e-02 9.39737021e-01 2.01566393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.62, Y:42.15, Z:20.18 [[ 3.71642362e-01 -9.12673454e-01 -1.70026824e-01 4.66154454e+01] [ 8.63904399e-01 4.07042993e-01 -2.96622979e-01 4.21501314e+01] [ 3.39928146e-01 -3.66492565e-02 9.39737031e-01 2.01765347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63907232900002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:46.64, Y:42.20, Z:20.20 [[ 3.74439253e-01 -9.11553507e-01 -1.69898354e-01 4.66403233e+01] [ 8.62646444e-01 4.09648959e-01 -2.96696550e-01 4.21970262e+01] [ 3.40053464e-01 -3.54673763e-02 9.39737041e-01 2.01958070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.67, Y:42.25, Z:20.21 [[ 3.79599480e-01 -9.09439508e-01 -1.69776371e-01 4.66650741e+01] [ 8.60305761e-01 4.14492144e-01 -2.96766338e-01 4.22453170e+01] [ 3.40262005e-01 -3.34072427e-02 9.39737051e-01 2.02129942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:42.29, Z:20.23 [[ 3.83930006e-01 -9.07642427e-01 -1.69655461e-01 4.66900459e+01] [ 8.58315478e-01 4.18548990e-01 -2.96835448e-01 4.22924072e+01] [ 3.40429568e-01 -3.16538726e-02 9.39737060e-01 2.02323531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819072329 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:42.34, Z:20.25 [[ 3.86313641e-01 -9.06653717e-01 -1.69531143e-01 4.67151084e+01] [ 8.57207901e-01 4.20762619e-01 -2.96906436e-01 4.23386813e+01] [ 3.40523692e-01 -3.06244293e-02 9.39737069e-01 2.02495384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879072329 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:46.74, Y:42.39, Z:20.27 [[ 3.88185564e-01 -9.05877759e-01 -1.69403228e-01 4.67402365e+01] [ 8.56332139e-01 4.22490828e-01 -2.96979406e-01 4.23853056e+01] [ 3.40598349e-01 -2.97823097e-02 9.39737080e-01 2.02696633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:46.77, Y:42.43, Z:20.29 [[ 3.90990733e-01 -9.04693645e-01 -1.69279816e-01 4.67653343e+01] [ 8.55014387e-01 4.25102165e-01 -2.97049739e-01 4.24314424e+01] [ 3.40700227e-01 -2.85929831e-02 9.39737089e-01 2.02880222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:42.48, Z:20.31 [[ 3.93125550e-01 -9.03791868e-01 -1.69152481e-01 4.67910125e+01] [ 8.54003905e-01 4.27078105e-01 -2.97122235e-01 4.24770004e+01] [ 3.40777981e-01 -2.76505370e-02 9.39737099e-01 2.03103932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059072329 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:46.82, Y:42.52, Z:20.33 [[ 3.93885901e-01 -9.03483658e-01 -1.69030105e-01 4.68164276e+01] [ 8.53640011e-01 4.27756639e-01 -2.97191841e-01 4.25230589e+01] [ 3.40811722e-01 -2.72311851e-02 9.39737108e-01 2.03293649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:42.57, Z:20.35 [[ 3.94143558e-01 -9.03394837e-01 -1.68904186e-01 4.68415906e+01] [ 8.53513665e-01 4.27958992e-01 -2.97263392e-01 4.25684646e+01] [ 3.40830279e-01 -2.69975795e-02 9.39737118e-01 2.03463425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179072329 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:42.62, Z:20.36 [[ 3.94452731e-01 -9.03284829e-01 -1.68770735e-01 4.68684320e+01] [ 8.53362614e-01 4.28207523e-01 -2.97339144e-01 4.26157771e+01] [ 3.40850836e-01 -2.67363982e-02 9.39737129e-01 2.03632702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.89, Y:42.66, Z:20.38 [[ 3.94407659e-01 -9.03326574e-01 -1.68652601e-01 4.68947664e+01] [ 8.53379988e-01 4.28126365e-01 -2.97406139e-01 4.26617896e+01] [ 3.40859494e-01 -2.66254950e-02 9.39737138e-01 2.03836316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299072329 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:42.71, Z:20.40 [[ 3.93806133e-01 -9.03612058e-01 -1.68528866e-01 4.69211331e+01] [ 8.53660655e-01 4.27517685e-01 -2.97476243e-01 4.27067853e+01] [ 3.40852190e-01 -2.67184931e-02 9.39737148e-01 2.04037102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359072329 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:46.95, Y:42.75, Z:20.42 [[ 3.92523766e-01 -9.04193692e-01 -1.68400893e-01 4.69472559e+01] [ 8.54261935e-01 4.26264393e-01 -2.97548674e-01 4.27535475e+01] [ 3.40824939e-01 -2.70635465e-02 9.39737158e-01 2.04222848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41907232900002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:46.97, Y:42.80, Z:20.44 [[ 3.91756169e-01 -9.04548804e-01 -1.68281210e-01 4.69749725e+01] [ 8.54619304e-01 4.25500120e-01 -2.97616350e-01 4.27994343e+01] [ 3.40812189e-01 -2.72233294e-02 9.39737167e-01 2.04410604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.00, Y:42.84, Z:20.46 [[ 3.91195486e-01 -9.04814217e-01 -1.68158631e-01 4.70013644e+01] [ 8.54878616e-01 4.24930390e-01 -2.97685597e-01 4.28444932e+01] [ 3.40805874e-01 -2.73019563e-02 9.39737176e-01 2.04599156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539072329 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:42.89, Z:20.48 [[ 3.91056422e-01 -9.04892271e-01 -1.68062051e-01 4.70284395e+01] [ 8.54940583e-01 4.24767492e-01 -2.97740115e-01 4.28906668e+01] [ 3.40810025e-01 -2.72498840e-02 9.39737182e-01 2.04785568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599072329 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.06, Y:42.94, Z:20.50 [[ 3.90376718e-01 -9.05208878e-01 -1.67937207e-01 4.70559153e+01] [ 8.55255032e-01 4.24084572e-01 -2.97810520e-01 4.29371960e+01] [ 3.40800305e-01 -2.73708476e-02 9.39737191e-01 2.04963633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659072329 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:42.98, Z:20.52 [[ 3.89630193e-01 -9.05553169e-01 -1.67814692e-01 4.70827040e+01] [ 8.55600162e-01 4.23339273e-01 -2.97879545e-01 4.29827920e+01] [ 3.40788315e-01 -2.75194129e-02 9.39737201e-01 2.05164281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719072329 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:47.11, Y:43.03, Z:20.54 [[ 3.88899759e-01 -9.05890379e-01 -1.67688992e-01 4.71084071e+01] [ 8.55936907e-01 4.22608132e-01 -2.97950293e-01 4.30278007e+01] [ 3.40777036e-01 -2.76584003e-02 9.39737210e-01 2.05382790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779072329 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:43.07, Z:20.56 [[ 3.90325381e-01 -9.05299962e-01 -1.67565139e-01 4.71349079e+01] [ 8.55266330e-01 4.23914641e-01 -2.98019935e-01 4.30738271e+01] [ 3.40830752e-01 -2.69880773e-02 9.39737220e-01 2.05577401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839072329 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:43.12, Z:20.58 [[ 3.91673408e-01 -9.04740511e-01 -1.67441181e-01 4.71605358e+01] [ 8.54629825e-01 4.25147587e-01 -2.98089568e-01 4.31194808e+01] [ 3.40880922e-01 -2.63464699e-02 9.39737229e-01 2.05760176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:43.17, Z:20.59 [[ 3.92193034e-01 -9.04539041e-01 -1.67313321e-01 4.71864787e+01] [ 8.54381272e-01 4.25596603e-01 -2.98161321e-01 4.31663706e+01] [ 3.40906537e-01 -2.60125746e-02 9.39737239e-01 2.05933509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959072329 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:47.21, Y:43.21, Z:20.61 [[ 3.93622443e-01 -9.03940599e-01 -1.67190805e-01 4.72120519e+01] [ 8.53703493e-01 4.26906557e-01 -2.98230009e-01 4.32117441e+01] [ 3.40957064e-01 -2.53413492e-02 9.39737249e-01 2.06118770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.24, Y:43.26, Z:20.63 [[ 3.94153996e-01 -9.03732316e-01 -1.67064446e-01 4.72374037e+01] [ 8.53448278e-01 4.27367149e-01 -2.98300781e-01 4.32573975e+01] [ 3.40981911e-01 -2.50044187e-02 9.39737259e-01 2.06326988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.26, Y:43.30, Z:20.65 [[ 3.95305791e-01 -9.03251541e-01 -1.66943058e-01 4.72624189e+01] [ 8.52899005e-01 4.28414990e-01 -2.98368703e-01 4.33023188e+01] [ 3.41022900e-01 -2.44386920e-02 9.39737268e-01 2.06525117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13907232900002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:47.29, Y:43.35, Z:20.67 [[ 3.95056833e-01 -9.03378083e-01 -1.66847646e-01 4.72885842e+01] [ 8.53014099e-01 4.28148604e-01 -2.98422051e-01 4.33501551e+01] [ 3.41023527e-01 -2.44297238e-02 9.39737273e-01 2.06691162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199072329 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:47.32, Y:43.40, Z:20.69 [[ 3.93911128e-01 -9.03900734e-01 -1.66725779e-01 4.73151840e+01] [ 8.53552451e-01 4.27026766e-01 -2.98490125e-01 4.33964773e+01] [ 3.41001813e-01 -2.47306156e-02 9.39737282e-01 2.06890406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:43.44, Z:20.71 [[ 3.93175368e-01 -9.04244934e-01 -1.66596006e-01 4.73396673e+01] [ 8.53895623e-01 4.26289425e-01 -2.98562542e-01 4.34415754e+01] [ 3.40991781e-01 -2.48681628e-02 9.39737293e-01 2.07094601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319072329 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:47.37, Y:43.49, Z:20.73 [[ 3.91849165e-01 -9.04839505e-01 -1.66492351e-01 4.73653656e+01] [ 8.54516416e-01 4.25003046e-01 -2.98620336e-01 4.34885216e+01] [ 3.40963233e-01 -2.52563179e-02 9.39737299e-01 2.07290008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379072329 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:47.39, Y:43.54, Z:20.75 [[ 3.90929609e-01 -9.05259566e-01 -1.66370545e-01 4.73908247e+01] [ 8.54943883e-01 4.24094711e-01 -2.98688186e-01 4.35356969e+01] [ 3.40947206e-01 -2.54714239e-02 9.39737309e-01 2.07464902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439072329 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:47.42, Y:43.58, Z:20.77 [[ 3.90398377e-01 -9.05511567e-01 -1.66246532e-01 4.74163797e+01] [ 8.55188584e-01 4.23552385e-01 -2.98757198e-01 4.35816025e+01] [ 3.40942214e-01 -2.55378109e-02 9.39737318e-01 2.07671840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:43.63, Z:20.79 [[ 3.90289775e-01 -9.05581467e-01 -1.66120733e-01 4.74405747e+01] [ 8.55235342e-01 4.23408612e-01 -2.98827136e-01 4.36276588e+01] [ 3.40949265e-01 -2.54431462e-02 9.39737328e-01 2.07857341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559072329 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:47.47, Y:43.68, Z:20.80 [[ 3.90084569e-01 -9.05693660e-01 -1.65991035e-01 4.74656400e+01] [ 8.55327114e-01 4.23172324e-01 -2.98899166e-01 4.36752904e+01] [ 3.40953892e-01 -2.53806806e-02 9.39737338e-01 2.08043885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619072329 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:47.49, Y:43.72, Z:20.82 [[ 3.90366426e-01 -9.05594343e-01 -1.65870250e-01 4.74908406e+01] [ 8.55191546e-01 4.23398915e-01 -2.98966183e-01 4.37224841e+01] [ 3.40971368e-01 -2.51444751e-02 9.39737347e-01 2.08241178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679072329 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:43.77, Z:20.84 [[ 3.90569812e-01 -9.05529151e-01 -1.65747335e-01 4.75157507e+01] [ 8.55092569e-01 4.23550677e-01 -2.99034316e-01 4.37696128e+01] [ 3.40986686e-01 -2.49355382e-02 9.39737356e-01 2.08428893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739072329 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:47.54, Y:43.82, Z:20.86 [[ 3.90703980e-01 -9.05493439e-01 -1.65626181e-01 4.75398507e+01] [ 8.55026026e-01 4.23637630e-01 -2.99101408e-01 4.38179668e+01] [ 3.40999846e-01 -2.47545846e-02 9.39737365e-01 2.08595132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.57, Y:43.86, Z:20.88 [[ 3.90364618e-01 -9.05662168e-01 -1.65503783e-01 4.75652263e+01] [ 8.55180912e-01 4.23277029e-01 -2.99169124e-01 4.38646497e+01] [ 3.41000107e-01 -2.47506351e-02 9.39737375e-01 2.08793332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859072329 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:47.59, Y:43.91, Z:20.90 [[ 3.89089362e-01 -9.06232838e-01 -1.65382925e-01 4.75898171e+01] [ 8.55772083e-01 4.22033179e-01 -2.99235924e-01 4.39113157e+01] [ 3.40974502e-01 -2.51005757e-02 9.39737384e-01 2.09001608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91907232900002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:43.96, Z:20.92 [[ 3.87884929e-01 -9.06770830e-01 -1.65263255e-01 4.76153435e+01] [ 8.56328250e-01 4.20856553e-01 -2.99302005e-01 4.39592480e+01] [ 3.40950451e-01 -2.54248576e-02 9.39737392e-01 2.09174895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979072329 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:47.64, Y:44.01, Z:20.94 [[ 3.87383150e-01 -9.07008072e-01 -1.65138282e-01 4.76407272e+01] [ 8.56556982e-01 4.20341733e-01 -2.99370946e-01 4.40064867e+01] [ 3.40946376e-01 -2.54790881e-02 9.39737402e-01 2.09362774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:47.67, Y:44.05, Z:20.96 [[ 3.86982833e-01 -9.07201546e-01 -1.65014063e-01 4.76658292e+01] [ 8.56738428e-01 4.19922980e-01 -2.99439404e-01 4.40528545e+01] [ 3.40945088e-01 -2.54959795e-02 9.39737411e-01 2.09560063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:44.10, Z:20.98 [[ 3.86866548e-01 -9.07273380e-01 -1.64891744e-01 4.76901093e+01] [ 8.56788345e-01 4.19773079e-01 -2.99506750e-01 4.40998618e+01] [ 3.40951617e-01 -2.54081815e-02 9.39737421e-01 2.09757048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159072329 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:44.15, Z:21.00 [[ 3.87750794e-01 -9.06918370e-01 -1.64767691e-01 4.77142274e+01] [ 8.56374851e-01 4.20567407e-01 -2.99574983e-01 4.41472936e+01] [ 3.40985976e-01 -2.49424695e-02 9.39737430e-01 2.09952866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219072329 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:47.74, Y:44.19, Z:21.01 [[ 3.89008225e-01 -9.06401971e-01 -1.64645280e-01 4.77381666e+01] [ 8.55787002e-01 4.21714512e-01 -2.99642249e-01 4.41946243e+01] [ 3.41029629e-01 -2.43379909e-02 9.39737439e-01 2.10134312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279072329 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:47.76, Y:44.24, Z:21.03 [[ 3.89476974e-01 -9.06223556e-01 -1.64519159e-01 4.77627068e+01] [ 8.55564967e-01 4.22115639e-01 -2.99711484e-01 4.42415809e+01] [ 3.41051717e-01 -2.40261068e-02 9.39737449e-01 2.10324668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339072329 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:44.29, Z:21.05 [[ 3.90092779e-01 -9.05980318e-01 -1.64399777e-01 4.77866643e+01] [ 8.55274340e-01 4.22657757e-01 -2.99776957e-01 4.42883834e+01] [ 3.41076864e-01 -2.36660849e-02 9.39737458e-01 2.10535236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:44.33, Z:21.07 [[ 3.90214471e-01 -9.05950542e-01 -1.64275018e-01 4.78110916e+01] [ 8.55213879e-01 4.22731604e-01 -2.99845312e-01 4.43348279e+01] [ 3.41089265e-01 -2.34862957e-02 9.39737467e-01 2.10737420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.84, Y:44.38, Z:21.09 [[ 3.89899053e-01 -9.06108816e-01 -1.64150972e-01 4.78352957e+01] [ 8.55357341e-01 4.22393046e-01 -2.99913210e-01 4.43815664e+01] [ 3.41090233e-01 -2.34718625e-02 9.39737476e-01 2.10908995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519072329 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:47.86, Y:44.43, Z:21.11 [[ 3.88247838e-01 -9.06840721e-01 -1.64022934e-01 4.78599365e+01] [ 8.56121508e-01 4.20792145e-01 -2.99983222e-01 4.44291077e+01] [ 3.41056564e-01 -2.39557241e-02 9.39737486e-01 2.11094243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.88, Y:44.48, Z:21.13 [[ 3.86142840e-01 -9.07761106e-01 -1.63900826e-01 4.78847132e+01] [ 8.57091716e-01 4.18764648e-01 -3.00049927e-01 4.44762204e+01] [ 3.41009526e-01 -2.46159087e-02 9.39737496e-01 2.11295068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63907232900002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:44.52, Z:21.15 [[ 3.81728969e-01 -9.09648164e-01 -1.63777934e-01 4.79104913e+01] [ 8.59111681e-01 4.14556279e-01 -3.00116994e-01 4.45220020e+01] [ 3.40896044e-01 -2.61401856e-02 9.39737505e-01 2.11512681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699072329 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:47.94, Y:44.57, Z:21.17 [[ 3.75285219e-01 -9.12347648e-01 -1.63654433e-01 4.79378255e+01] [ 8.62018098e-01 4.08428901e-01 -3.00184329e-01 4.45691954e+01] [ 3.40713666e-01 -2.84183419e-02 9.39737514e-01 2.11701530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759072329 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:44.62, Z:21.19 [[ 3.69494680e-01 -9.14729714e-01 -1.63533580e-01 4.79619730e+01] [ 8.64585083e-01 4.02917458e-01 -3.00250156e-01 4.46157226e+01] [ 3.40538274e-01 -3.04478585e-02 9.39737523e-01 2.11886678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:44.66, Z:21.21 [[ 3.59445360e-01 -9.18750203e-01 -1.63392466e-01 4.79875948e+01] [ 8.68943932e-01 3.93370279e-01 -3.00326934e-01 4.46617597e+01] [ 3.40199171e-01 -3.40277689e-02 9.39737535e-01 2.12092705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:44.71, Z:21.23 [[ 3.50609731e-01 -9.22179550e-01 -1.63271841e-01 4.80133095e+01] [ 8.72674354e-01 3.84972489e-01 -3.00392501e-01 4.47087226e+01] [ 3.39870988e-01 -3.71626144e-02 9.39737544e-01 2.12276952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.04, Y:44.76, Z:21.25 [[ 3.35993852e-01 -9.27626073e-01 -1.63150240e-01 4.80400144e+01] [ 8.78642380e-01 3.71095994e-01 -3.00458534e-01 4.47554876e+01] [ 3.39257571e-01 -4.23984949e-02 9.39737553e-01 2.12454300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.06, Y:44.80, Z:21.26 [[ 3.20945584e-01 -9.32960884e-01 -1.63027362e-01 4.80648300e+01] [ 8.84522811e-01 3.56796866e-01 -3.00525196e-01 4.48003851e+01] [ 3.38545905e-01 -4.77491861e-02 9.39737562e-01 2.12647636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059072329 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.09, Y:44.85, Z:21.28 [[ 0.31105218 -0.93633026 -0.16288703 48.08964062] [ 0.88824134 0.34737043 -0.30060124 44.84743036] [ 0.33804418 -0.05118032 0.93973757 21.28389147] [ 0. 0. 0. 1. ]] SLAMing on 206.119072329 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:44.89, Z:21.30 [[ 0.29692947 -0.94092601 -0.16276099 48.11505744] [ 0.89335871 0.33392827 -0.30066948 44.8944285 ] [ 0.33725823 -0.05612631 0.93973758 21.30141608] [ 0. 0. 0. 1. ]] SLAMing on 206.179072329 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:44.94, Z:21.32 [[ 0.28695498 -0.94403822 -0.16263051 48.13903534] [ 0.89683344 0.32441518 -0.30074004 44.94028102] [ 0.3366699 -0.05955363 0.93973759 21.32068221] [ 0. 0. 0. 1. ]] SLAMing on 206.239072329 meters Centerline goodness : 0.995718 with order 1 Centerline is valid? [True, True] Translation: X:48.16, Y:44.99, Z:21.34 [[ 0.27392404 -0.94792269 -0.16250598 48.16372219] [ 0.90120764 0.31199319 -0.30080732 44.98781314] [ 0.33584284 -0.06405327 0.9397376 21.33835717] [ 0. 0. 0. 1. ]] SLAMing on 206.299072329 meters Centerline goodness : 0.953585 with order 3 Centerline is valid? [True, True] Translation: X:48.21, Y:45.05, Z:21.35 [[ 0.26046393 -0.95172981 -0.16238505 48.20694991] [ 0.90552856 0.299155 -0.30087259 45.04561305] [ 0.33492771 -0.06867784 0.93973761 21.34824658] [ 0. 0. 0. 1. ]] SLAMing on 206.359072329 meters Centerline goodness : 0.140693 with order 1 Centerline is valid? [True, False] Translation: X:47.98, Y:44.57, Z:21.23 [[ 0.27211099 -0.92876614 -0.25169238 47.98402328] [ 0.91626292 0.32998841 -0.22709011 44.57015076] [ 0.29396917 -0.16882268 0.94078745 21.23122141] [ 0. 0. 0. 1. ]] SLAMing on 206.41907232900002 meters Centerline goodness : 0.972588 with order 1 Centerline is valid? [False, True] Translation: X:47.78, Y:44.18, Z:21.13 [[ 0.27108496 -0.90853967 -0.3179129 47.77585524] [ 0.92891466 0.33348432 -0.16095269 44.17729585] [ 0.25225087 -0.2516821 0.9343584 21.13046241] [ 0. 0. 0. 1. ]] SLAMing on 206.479072329 meters Centerline goodness : 0.957822 with order 1 Centerline is valid? [True, True] Translation: X:47.78, Y:44.29, Z:21.00 [[ 0.25413176 -0.95659704 -0.14261542 47.78342811] [ 0.92198455 0.28415509 -0.26305964 44.2851585 ] [ 0.29216697 -0.06463741 0.95418052 21.00291696] [ 0. 0. 0. 1. ]] SLAMing on 206.539072329 meters Centerline goodness : 0.946900 with order 1 Centerline is valid? [True, False] Translation: X:47.56, Y:43.88, Z:20.90 [[ 0.24351761 -0.94659429 -0.21132541 47.56211672] [ 0.94013894 0.28393258 -0.18847032 43.88136761] [ 0.23840709 -0.15277941 0.95907273 20.90155759] [ 0. 0. 0. 1. ]] SLAMing on 206.599072329 meters Centerline goodness : 0.930542 with order 2 Centerline is valid? [False, False] Translation: X:47.36, Y:43.54, Z:20.81 [[ 0.22042124 -0.94157015 -0.25467653 47.36252961] [ 0.95835214 0.25766436 -0.1231676 43.53745559] [ 0.181592 -0.21692104 0.95915046 20.80604191] [ 0. 0. 0. 1. ]] SLAMing on 206.659072329 meters Centerline goodness : 0.918555 with order 1 Centerline is valid? [False, False] Translation: X:47.17, Y:43.20, Z:20.71 [[ 0.18903429 -0.94273324 -0.27480917 47.17135373] [ 0.97332606 0.21693507 -0.07466963 43.20340953] [ 0.13000929 -0.2533638 0.958595 20.70594615] [ 0. 0. 0. 1. ]] SLAMing on 206.719072329 meters Centerline goodness : 0.899683 with order 2 Centerline is valid? [False, False] Translation: X:46.99, Y:42.87, Z:20.61 [[ 1.52499732e-01 -9.46127596e-01 -2.85633337e-01 4.69923913e+01] [ 9.85422228e-01 1.67619021e-01 -2.91014908e-02 4.28717040e+01] [ 7.54113038e-02 -2.77031470e-01 9.57897019e-01 2.06138743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779072329 meters Centerline goodness : 0.879234 with order 2 Centerline is valid? [False, False] Translation: X:46.81, Y:42.49, Z:20.52 [[ 1.18086057e-01 -9.49298043e-01 -2.91357012e-01 4.68123473e+01] [ 9.92980939e-01 1.14858055e-01 2.82220000e-02 4.24940486e+01] [ 6.67361017e-03 -2.92644584e-01 9.56197998e-01 2.05213130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839072329 meters Centerline goodness : 0.113004 with order 1 Centerline is valid? [False, False] Translation: X:46.62, Y:40.60, Z:20.69 [[ 9.97545112e-01 1.55076655e-02 -6.82880845e-02 4.66210995e+01] [-1.41647311e-02 9.99697504e-01 2.01062348e-02 4.06020868e+01] [ 6.85792284e-02 -1.90895939e-02 9.97463020e-01 2.06901416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899072329 meters Centerline goodness : 0.115525 with order 1 Centerline is valid? [False, False] Translation: X:46.64, Y:40.60, Z:20.69 [[ 9.97389350e-01 2.44354436e-03 -7.21700320e-02 4.66442251e+01] [-1.39367168e-03 9.99892531e-01 1.45939864e-02 4.06007105e+01] [ 7.21979370e-02 -1.44553053e-02 9.97285567e-01 2.06881504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959072329 meters Centerline goodness : 0.191498 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:40.60, Z:20.69 [[ 9.97314761e-01 5.90293048e-04 -7.32319539e-02 4.66487469e+01] [ 3.95980059e-04 9.99909432e-01 1.34525476e-02 4.05990414e+01] [ 7.32332623e-02 -1.34454227e-02 9.97224202e-01 2.06864168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019072329 meters Centerline goodness : 0.197056 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:40.59, Z:20.69 [[ 9.97006506e-01 -1.10635712e-02 -7.65220549e-02 4.66769904e+01] [ 1.20717855e-02 9.99846155e-01 1.27254763e-02 4.05941289e+01] [ 7.63694931e-02 -1.36111405e-02 9.96986679e-01 2.06874897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079072329 meters Centerline goodness : 0.181721 with order 1 Centerline is valid? [False, False] Translation: X:46.70, Y:40.59, Z:20.69 [[ 9.96532157e-01 -2.29568123e-02 -7.99790242e-02 4.67045919e+01] [ 2.39275725e-02 9.99650950e-01 1.12003896e-02 4.05888435e+01] [ 7.96939823e-02 -1.30752523e-02 9.96733619e-01 2.06877960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13907232900002 meters Centerline goodness : 0.184277 with order 1 Centerline is valid? [False, False] Translation: X:46.72, Y:40.58, Z:20.69 [[ 9.96788270e-01 -2.83546487e-02 -7.48943226e-02 4.67189421e+01] [ 2.94769420e-02 9.99468500e-01 1.39221735e-02 4.05836724e+01] [ 7.44597580e-02 -1.60851148e-02 9.97094285e-01 2.06870068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199072329 meters Centerline goodness : 0.190745 with order 1 Centerline is valid? [False, False] Translation: X:46.74, Y:40.58, Z:20.69 [[ 9.96264576e-01 -3.88337040e-02 -7.71287064e-02 4.67434966e+01] [ 3.99881917e-02 9.99109218e-01 1.34801579e-02 4.05802552e+01] [ 7.65365171e-02 -1.65140413e-02 9.96930012e-01 2.06884952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259072329 meters Centerline goodness : 0.196702 with order 1 Centerline is valid? [False, False] Translation: X:46.76, Y:40.58, Z:20.69 [[ 9.95739953e-01 -4.61724447e-02 -7.98126052e-02 4.67621927e+01] [ 4.73774384e-02 9.98788914e-01 1.32696124e-02 4.05785289e+01] [ 7.91032549e-02 -1.69944000e-02 9.96721559e-01 2.06892470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319072329 meters Centerline goodness : 0.118445 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:40.58, Z:20.69 [[ 9.95106266e-01 -5.60952953e-02 -8.13439418e-02 4.67843496e+01] [ 5.72546889e-02 9.98287612e-01 1.19893546e-02 4.05768204e+01] [ 8.05321030e-02 -1.65880040e-02 9.96613977e-01 2.06888822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379072329 meters Centerline goodness : 0.121106 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.58, Z:20.69 [[ 9.94384253e-01 -6.52214443e-02 -8.33433887e-02 4.68061643e+01] [ 6.63907294e-02 9.97729337e-01 1.13332032e-02 4.05767559e+01] [ 8.24149761e-02 -1.68027872e-02 9.96456441e-01 2.06896073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439072329 meters Centerline goodness : 0.121775 with order 1 Centerline is valid? [False, False] Translation: X:46.82, Y:40.58, Z:20.69 [[ 9.93693211e-01 -6.95078909e-02 -8.79912216e-02 4.68207836e+01] [ 7.07453971e-02 9.97433524e-01 1.10206488e-02 4.05768209e+01] [ 8.69993722e-02 -1.71761178e-02 9.96060284e-01 2.06919935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499072329 meters Centerline goodness : 0.122597 with order 1 Centerline is valid? [False, False] Translation: X:46.84, Y:40.58, Z:20.69 [[ 9.92922255e-01 -7.78391536e-02 -8.97020733e-02 4.68398012e+01] [ 7.90697704e-02 9.96816463e-01 1.02426277e-02 4.05784379e+01] [ 8.86192259e-02 -1.72628553e-02 9.95915974e-01 2.06925775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559072329 meters Centerline goodness : 0.218974 with order 1 Centerline is valid? [False, False] Translation: X:46.85, Y:40.58, Z:20.69 [[ 9.92233413e-01 -8.14791005e-02 -9.39894163e-02 4.68522909e+01] [ 8.27727281e-02 9.96518861e-01 9.94160986e-03 4.05783500e+01] [ 9.28521926e-02 -1.76441579e-02 9.95523558e-01 2.06949410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619072329 meters Centerline goodness : 0.224149 with order 1 Centerline is valid? [False, False] Translation: X:46.87, Y:40.58, Z:20.70 [[ 9.91433055e-01 -8.95225239e-02 -9.51115894e-02 4.68691444e+01] [ 9.08403163e-02 9.95819120e-01 9.60820275e-03 4.05796067e+01] [ 9.38537886e-02 -1.81658567e-02 9.95420247e-01 2.06958426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679072329 meters Centerline goodness : 0.225895 with order 1 Centerline is valid? [False, False] Translation: X:46.88, Y:40.58, Z:20.70 [[ 9.90762656e-01 -9.29000264e-02 -9.87873657e-02 4.68793442e+01] [ 9.42787705e-02 9.95501731e-01 9.37111779e-03 4.05779408e+01] [ 9.74724164e-02 -1.85981049e-02 9.95064439e-01 2.06983378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739072329 meters Centerline goodness : 0.226274 with order 1 Centerline is valid? [False, False] Translation: X:46.89, Y:40.58, Z:20.70 [[ 9.89513804e-01 -1.03615877e-01 -1.00628929e-01 4.68947519e+01] [ 1.04750688e-01 9.94480140e-01 6.04517557e-03 4.05791772e+01] [ 9.94470951e-02 -1.65227342e-02 9.94905661e-01 2.07001754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799072329 meters Centerline goodness : 0.227262 with order 1 Centerline is valid? [False, False] Translation: X:46.90, Y:40.58, Z:20.70 [[ 9.88504654e-01 -1.16109435e-01 -9.68356754e-02 4.68993251e+01] [ 1.17743448e-01 9.92979588e-01 1.13144974e-02 4.05791035e+01] [ 9.48421292e-02 -2.25861996e-02 9.95236070e-01 2.06976044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859072329 meters Centerline goodness : 0.228648 with order 1 Centerline is valid? [False, False] Translation: X:46.90, Y:40.58, Z:20.70 [[ 9.87924788e-01 -1.21208674e-01 -9.65042511e-02 4.69008742e+01] [ 1.22480427e-01 9.92443762e-01 7.34327847e-03 4.05775475e+01] [ 9.48849730e-02 -1.90744887e-02 9.95305484e-01 2.06965137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91907232900002 meters Centerline goodness : 0.228379 with order 1 Centerline is valid? [False, False] Translation: X:46.90, Y:40.58, Z:20.69 [[ 9.85988831e-01 -1.37294162e-01 -9.47435408e-02 4.69037365e+01] [ 1.38878780e-01 9.90255742e-01 1.03077567e-02 4.05770824e+01] [ 9.24051405e-02 -2.33212003e-02 9.95448347e-01 2.06949502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979072329 meters Centerline goodness : 0.228177 with order 1 Centerline is valid? [False, False] Translation: X:46.91, Y:40.58, Z:20.69 [[ 9.83813633e-01 -1.53516868e-01 -9.24300075e-02 4.69050591e+01] [ 1.55397242e-01 9.87760367e-01 1.34593481e-02 4.05757236e+01] [ 8.92324612e-02 -2.76048585e-02 9.95628214e-01 2.06938409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039072329 meters Centerline goodness : 0.227223 with order 1 Centerline is valid? [False, False] Translation: X:46.90, Y:40.57, Z:20.69 [[ 9.82690432e-01 -1.62603103e-01 -8.87679319e-02 4.68961133e+01] [ 1.64588154e-01 9.86241035e-01 1.54712548e-02 4.05738704e+01] [ 8.50309030e-02 -2.98136041e-02 9.95932174e-01 2.06896934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099072329 meters Centerline goodness : 0.224385 with order 1 Centerline is valid? [False, False] Translation: X:46.90, Y:40.57, Z:20.69 [[ 9.80240802e-01 -1.78462434e-01 -8.53178193e-02 4.68962109e+01] [ 1.80690236e-01 9.83354930e-01 1.90819176e-02 4.05714667e+01] [ 8.04922928e-02 -3.41209711e-02 9.96171045e-01 2.06892199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159072329 meters Centerline goodness : 0.220457 with order 1 Centerline is valid? [False, False] Translation: X:46.89, Y:40.57, Z:20.69 [[ 9.77587360e-01 -1.92615313e-01 -8.49840828e-02 4.68850208e+01] [ 1.94853955e-01 9.80651970e-01 1.88056073e-02 4.05705705e+01] [ 7.97175603e-02 -3.49436086e-02 9.96204826e-01 2.06879352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219072329 meters Centerline goodness : 0.215290 with order 1 Centerline is valid? [False, False] Translation: X:46.88, Y:40.57, Z:20.68 [[ 9.76024581e-01 -2.01604511e-01 -8.20465583e-02 4.68751956e+01] [ 2.03987962e-01 9.78732895e-01 2.16986406e-02 4.05689019e+01] [ 7.59271217e-02 -3.79149168e-02 9.96392258e-01 2.06843030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279072329 meters Centerline goodness : 0.216809 with order 1 Centerline is valid? [False, False] Translation: X:46.86, Y:40.57, Z:20.68 [[ 9.73903597e-01 -2.12571202e-01 -7.95315551e-02 4.68647145e+01] [ 2.15075727e-01 9.76295609e-01 2.42758118e-02 4.05656198e+01] [ 7.24859695e-02 -4.07476075e-02 9.96536711e-01 2.06811624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339072329 meters Centerline goodness : 0.217702 with order 1 Centerline is valid? [False, False] Translation: X:46.85, Y:40.56, Z:20.68 [[ 9.71651505e-01 -2.23560062e-01 -7.69041776e-02 4.68539077e+01] [ 2.26138671e-01 9.73733877e-01 2.65261880e-02 4.05627012e+01] [ 6.89540067e-02 -4.31652190e-02 9.96685562e-01 2.06781759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399072329 meters Centerline goodness : 0.217558 with order 1 Centerline is valid? [False, False] Translation: X:46.85, Y:40.56, Z:20.68 [[ 9.70694407e-01 -2.28120774e-01 -7.55862480e-02 4.68539021e+01] [ 2.30437619e-01 9.72806187e-01 2.33800224e-02 4.05589774e+01] [ 6.81973009e-02 -4.01127720e-02 9.96865133e-01 2.06775701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459072329 meters Centerline goodness : 0.218517 with order 1 Centerline is valid? [False, False] Translation: X:46.84, Y:40.55, Z:20.67 [[ 9.69589716e-01 -2.34502805e-01 -7.00301115e-02 4.68440904e+01] [ 2.36975219e-01 9.71075042e-01 2.92576086e-02 4.05548070e+01] [ 6.11435022e-02 -4.49632774e-02 9.97115728e-01 2.06731567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519072329 meters Centerline goodness : 0.215333 with order 1 Centerline is valid? [False, False] Translation: X:46.83, Y:40.55, Z:20.67 [[ 9.67170675e-01 -2.44967359e-01 -6.76156623e-02 4.68333843e+01] [ 2.47511367e-01 9.68352885e-01 3.21062767e-02 4.05515378e+01] [ 5.76108319e-02 -4.77878944e-02 9.97194720e-01 2.06703780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579072329 meters Centerline goodness : 0.216283 with order 1 Centerline is valid? [False, False] Translation: X:46.82, Y:40.55, Z:20.67 [[ 9.64451601e-01 -2.56460725e-01 -6.37260256e-02 4.68235979e+01] [ 2.58908240e-01 9.65319059e-01 3.35505108e-02 4.05464373e+01] [ 5.29115588e-02 -4.88570370e-02 9.97403307e-01 2.06668484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63907232900002 meters Centerline goodness : 0.217913 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.54, Z:20.67 [[ 9.61580366e-01 -2.67458936e-01 -6.18782461e-02 4.68124711e+01] [ 2.69956518e-01 9.62193165e-01 3.61633982e-02 4.05423125e+01] [ 4.98666015e-02 -5.14784495e-02 9.97428339e-01 2.06650882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699072329 meters Centerline goodness : 0.220936 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.54, Z:20.66 [[ 9.60394565e-01 -2.72472034e-01 -5.83204025e-02 4.68051057e+01] [ 2.74993912e-01 9.60587103e-01 4.06296330e-02 4.05369407e+01] [ 4.49513877e-02 -5.50582343e-02 9.97470783e-01 2.06613629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759072329 meters Centerline goodness : 0.223728 with order 1 Centerline is valid? [False, False] Translation: X:46.80, Y:40.53, Z:20.66 [[ 9.57668121e-01 -2.82776586e-01 -5.39367462e-02 4.67964756e+01] [ 2.85126130e-01 9.57555926e-01 4.23052923e-02 4.05301525e+01] [ 3.96845048e-02 -5.58932055e-02 9.97647778e-01 2.06580833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819072329 meters Centerline goodness : 0.225615 with order 1 Centerline is valid? [False, False] Translation: X:46.79, Y:40.53, Z:20.66 [[ 9.58091301e-01 -2.83792367e-01 -3.90250068e-02 4.67903969e+01] [ 2.85487738e-01 9.57159509e-01 4.83986158e-02 4.05250821e+01] [ 2.36179986e-02 -5.75114538e-02 9.98065440e-01 2.06554339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879072329 meters Centerline goodness : 0.228179 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:40.52, Z:20.65 [[ 9.56477394e-01 -2.90927946e-01 -2.26257804e-02 4.67814947e+01] [ 2.91747224e-01 9.54966313e-01 5.40638384e-02 4.05165471e+01] [ 5.87817669e-03 -5.83118479e-02 9.98281110e-01 2.06527204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939072329 meters Centerline goodness : 0.231222 with order 1 Centerline is valid? [False, False] Translation: X:46.77, Y:40.51, Z:20.65 [[ 9.55678588e-01 -2.94322826e-01 -7.24644028e-03 4.67741835e+01] [ 2.94206270e-01 9.53801371e-01 6.08737717e-02 4.05099324e+01] [-1.10048759e-02 -6.03077084e-02 9.98119168e-01 2.06502596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999072329 meters Centerline goodness : 0.234374 with order 1 Centerline is valid? [False, False] Translation: X:46.77, Y:40.50, Z:20.65 [[ 9.53773601e-01 -3.00393955e-01 8.91007116e-03 4.67669169e+01] [ 2.99196370e-01 9.51922055e-01 6.57718260e-02 4.05011937e+01] [-2.82391522e-02 -6.00655704e-02 9.97794908e-01 2.06483216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059072329 meters Centerline goodness : 0.235313 with order 1 Centerline is valid? [False, False] Translation: X:46.76, Y:40.49, Z:20.65 [[ 9.52483585e-01 -3.03610907e-01 2.44016068e-02 4.67607064e+01] [ 3.01289376e-01 9.50895919e-01 7.08636905e-02 4.04941862e+01] [-4.47183777e-02 -6.01445571e-02 9.97187494e-01 2.06462416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119072329 meters Centerline goodness : 0.235225 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.49, Z:20.64 [[ 9.50508714e-01 -3.08072138e-01 4.03080963e-02 4.67532943e+01] [ 3.04442781e-01 9.49402672e-01 7.71307906e-02 4.04857444e+01] [-6.20304619e-02 -6.10419796e-02 9.96205851e-01 2.06437941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179072329 meters Centerline goodness : 0.238264 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.48, Z:20.64 [[ 0.94861021 -0.31149196 0.05578019 46.74695394] [ 0.30642944 0.94819814 0.08379316 40.47673055] [-0.07899157 -0.06239435 0.99492074 20.64149146] [ 0. 0. 0. 1. ]] SLAMing on 209.239072329 meters Centerline goodness : 0.241690 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.47, Z:20.64 [[ 0.94718235 -0.31557988 0.05705212 46.74726927] [ 0.31058175 0.94700386 0.08199189 40.47096866] [-0.07990357 -0.05994193 0.99499869 20.64180273] [ 0. 0. 0. 1. ]] SLAMing on 209.299072329 meters Centerline goodness : 0.241690 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.47, Z:20.64 [[ 0.94659703 -0.31723735 0.05757195 46.7459679 ] [ 0.31210546 0.94639272 0.08325262 40.46696099] [-0.08089651 -0.06083816 0.99486405 20.64220936] [ 0. 0. 0. 1. ]] SLAMing on 209.359072329 meters Centerline goodness : 0.244000 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.46, Z:20.64 [[ 0.94626074 -0.31820404 0.05776504 46.74565118] [ 0.31294376 0.94598954 0.08467581 40.46277039] [-0.08158931 -0.06204819 0.99473273 20.64245499] [ 0. 0. 0. 1. ]] SLAMing on 209.41907232900002 meters Centerline goodness : 0.245990 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.46, Z:20.64 [[ 0.94576756 -0.31972254 0.05745617 46.74746538] [ 0.31440678 0.94542271 0.08558198 40.45687094] [-0.08168286 -0.06287605 0.99467307 20.64242139] [ 0. 0. 0. 1. ]] SLAMing on 209.479072329 meters Centerline goodness : 0.247953 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.45, Z:20.64 [[ 0.94590004 -0.31941226 0.0569994 46.74887213] [ 0.31402987 0.94544147 0.08675054 40.45265921] [-0.08159879 -0.06415782 0.99459812 20.64314989] [ 0. 0. 0. 1. ]] SLAMing on 209.539072329 meters Centerline goodness : 0.245370 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.45, Z:20.64 [[ 0.94616785 -0.3187104 0.05648082 46.75051628] [ 0.31329792 0.94561209 0.08753392 40.45034377] [-0.08130691 -0.06512646 0.99455906 20.64316387] [ 0. 0. 0. 1. ]] SLAMing on 209.599072329 meters Centerline goodness : 0.250250 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:40.45, Z:20.64 [[ 0.9465557 -0.31770915 0.05561648 46.75331354] [ 0.31227897 0.94586289 0.08846039 40.44697008] [-0.08071024 -0.06636483 0.9945258 20.6431455 ] [ 0. 0. 0. 1. ]] SLAMing on 209.659072329 meters Centerline goodness : 0.249223 with order 1 Centerline is valid? [False, False] Translation: X:46.76, Y:40.45, Z:20.64 [[ 0.94685546 -0.31693356 0.05493496 46.75549161] [ 0.31151852 0.94607755 0.08884524 40.44505377] [-0.08013078 -0.06701034 0.99452937 20.64316266] [ 0. 0. 0. 1. ]] SLAMing on 209.719072329 meters Centerline goodness : 0.253119 with order 1 Centerline is valid? [False, False] Translation: X:46.76, Y:40.44, Z:20.65 [[ 0.94896814 -0.30948464 0.06065249 46.76057115] [ 0.30383489 0.94872829 0.08717218 40.44494758] [-0.08452118 -0.06429527 0.99434515 20.64619245] [ 0. 0. 0. 1. ]] SLAMing on 209.779072329 meters Centerline goodness : 0.256734 with order 1 Centerline is valid? [False, False] Translation: X:46.77, Y:40.45, Z:20.65 [[ 0.9507139 -0.30291397 0.06622842 46.7659705 ] [ 0.29716994 0.95110205 0.08423132 40.44580075] [-0.08850483 -0.0603988 0.99424287 20.64881766] [ 0. 0. 0. 1. ]] SLAMing on 209.839072329 meters Centerline goodness : 0.258410 with order 1 Centerline is valid? [False, False] Translation: X:46.77, Y:40.45, Z:20.65 [[ 0.95080942 -0.30274608 0.06562216 46.76799478] [ 0.29704978 0.95115049 0.08410809 40.44524615] [-0.08787995 -0.06047772 0.9942935 20.64829518] [ 0. 0. 0. 1. ]] SLAMing on 209.899072329 meters Centerline goodness : 0.258075 with order 1 Centerline is valid? [False, False] Translation: X:46.77, Y:40.45, Z:20.65 [[ 0.95072904 -0.30321004 0.06463713 46.77168109] [ 0.29763645 0.95103009 0.08339255 40.44640729] [-0.08675731 -0.06004535 0.99441828 20.64585215] [ 0. 0. 0. 1. ]] SLAMing on 209.959072329 meters Centerline goodness : 0.262290 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:40.45, Z:20.64 [[ 0.95023725 -0.30482186 0.06428682 46.77646216] [ 0.29967187 0.95078793 0.07873421 40.44855477] [-0.08512304 -0.05555122 0.99482065 20.64452722] [ 0. 0. 0. 1. ]] SLAMing on 210.019072329 meters Centerline goodness : 0.261647 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:40.45, Z:20.64 [[ 0.94989905 -0.30591958 0.06407025 46.77738252] [ 0.30086263 0.95048936 0.07779238 40.44964455] [-0.0846963 -0.05461856 0.99490871 20.64400224] [ 0. 0. 0. 1. ]] SLAMing on 210.079072329 meters Centerline goodness : 0.261963 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:40.45, Z:20.64 [[ 0.94953805 -0.30716095 0.06347948 46.77979986] [ 0.30226181 0.95016506 0.07631618 40.45304125] [-0.08375733 -0.05327769 0.9950609 20.641729 ] [ 0. 0. 0. 1. ]] SLAMing on 210.13907232900002 meters Centerline goodness : 0.263196 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:40.45, Z:20.64 [[ 0.94929564 -0.30795038 0.06327998 46.78084133] [ 0.30312484 0.94994954 0.07557255 40.45454779] [-0.08338538 -0.05255896 0.99513036 20.64047495] [ 0. 0. 0. 1. ]] SLAMing on 210.199072329 meters Centerline goodness : 0.264155 with order 1 Centerline is valid? [False, False] Translation: X:46.79, Y:40.46, Z:20.64 [[ 0.9482454 -0.31118677 0.06319381 46.78538683] [ 0.30682651 0.94918413 0.07004985 40.45786616] [-0.08178115 -0.04703491 0.99553983 20.63841521] [ 0. 0. 0. 1. ]] SLAMing on 210.259072329 meters Centerline goodness : 0.263261 with order 1 Centerline is valid? [False, False] Translation: X:46.79, Y:40.46, Z:20.64 [[ 9.47849867e-01 -3.12389148e-01 6.31953323e-02 4.67855864e+01] [ 3.08133416e-01 9.48852928e-01 6.87889402e-02 4.04606938e+01] [-8.14519945e-02 -4.57289942e-02 9.95627657e-01 2.06375395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319072329 meters Centerline goodness : 0.261668 with order 1 Centerline is valid? [False, False] Translation: X:46.79, Y:40.46, Z:20.64 [[ 9.46004285e-01 -3.15934584e-01 7.25343450e-02 4.67929010e+01] [ 3.10933961e-01 9.47665700e-01 7.24554581e-02 4.04624847e+01] [-9.16294958e-02 -4.59897826e-02 9.94730604e-01 2.06355069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379072329 meters Centerline goodness : 0.262670 with order 1 Centerline is valid? [False, False] Translation: X:46.80, Y:40.47, Z:20.63 [[ 9.44768989e-01 -3.19580592e-01 7.26622516e-02 4.67972615e+01] [ 3.15090526e-01 9.46702010e-01 6.68824759e-02 4.04663923e+01] [-9.01638409e-02 -4.02933021e-02 9.95111517e-01 2.06325970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439072329 meters Centerline goodness : 0.262978 with order 1 Centerline is valid? [False, False] Translation: X:46.80, Y:40.47, Z:20.63 [[ 9.44180416e-01 -3.21254271e-01 7.29317190e-02 4.67969035e+01] [ 3.16850313e-01 9.46186780e-01 6.58517812e-02 4.04686800e+01] [-9.01621943e-02 -3.90675241e-02 9.95160543e-01 2.06314871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499072329 meters Centerline goodness : 0.265434 with order 1 Centerline is valid? [False, False] Translation: X:46.80, Y:40.47, Z:20.63 [[ 9.41873974e-01 -3.25787307e-01 8.20734294e-02 4.68043062e+01] [ 3.20673470e-01 9.44627899e-01 6.96179468e-02 4.04707172e+01] [-1.00209495e-01 -3.92525608e-02 9.94191779e-01 2.06292521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559072329 meters Centerline goodness : 0.265587 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.47, Z:20.63 [[ 9.40113340e-01 -3.30646128e-01 8.28253980e-02 4.68069106e+01] [ 3.26079967e-01 9.43170940e-01 6.40346167e-02 4.04743430e+01] [-9.92913066e-02 -3.31920943e-02 9.94504661e-01 2.06269911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619072329 meters Centerline goodness : 0.265657 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.47, Z:20.63 [[ 9.39560554e-01 -3.32050896e-01 8.34755485e-02 4.68072629e+01] [ 3.27529067e-01 9.42710012e-01 6.34235229e-02 4.04743315e+01] [-9.97530730e-02 -3.22495718e-02 9.94489462e-01 2.06256008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679072329 meters Centerline goodness : 0.263698 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.48, Z:20.62 [[ 9.38637695e-01 -3.34557613e-01 8.38479649e-02 4.68099276e+01] [ 3.30156516e-01 9.41875489e-01 6.21871237e-02 4.04756135e+01] [-9.97795186e-02 -3.06882265e-02 9.94536214e-01 2.06225793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739072329 meters Centerline goodness : 0.263627 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.48, Z:20.62 [[ 9.38233090e-01 -3.35621789e-01 8.41230251e-02 4.68093088e+01] [ 3.31269433e-01 9.41519663e-01 6.16545746e-02 4.04767457e+01] [-9.98961009e-02 -2.99789752e-02 9.94546143e-01 2.06220316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799072329 meters Centerline goodness : 0.262804 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:40.48, Z:20.62 [[ 9.36421974e-01 -3.40524109e-01 8.46003466e-02 4.68138482e+01] [ 3.36666354e-01 9.39912355e-01 5.67497178e-02 4.04786215e+01] [-9.88415581e-02 -2.46595926e-02 9.94797593e-01 2.06186840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859072329 meters Centerline goodness : 0.265257 with order 1 Centerline is valid? [False, False] Translation: X:46.82, Y:40.48, Z:20.62 [[ 9.35611725e-01 -3.42603567e-01 8.51674596e-02 4.68158964e+01] [ 3.38816764e-01 9.39185690e-01 5.59771343e-02 4.04779400e+01] [-9.91660252e-02 -2.35167001e-02 9.94792976e-01 2.06155794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91907232900002 meters Centerline goodness : 0.264322 with order 1 Centerline is valid? [False, False] Translation: X:46.83, Y:40.48, Z:20.62 [[ 9.33218667e-01 -3.49857150e-01 8.18712064e-02 4.68301496e+01] [ 3.46585070e-01 9.36592022e-01 5.17124148e-02 4.04788425e+01] [-9.47718768e-02 -1.98836529e-02 9.95300423e-01 2.06155253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979072329 meters Centerline goodness : 0.446952 with order 3 Centerline is valid? [False, False] Translation: X:46.84, Y:40.48, Z:20.62 [[ 9.30695831e-01 -3.57197519e-01 7.88365575e-02 4.68438006e+01] [ 3.54433406e-01 9.33893340e-01 4.71188888e-02 4.04805821e+01] [-9.04556862e-02 -1.59110437e-02 9.95773372e-01 2.06163128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039072329 meters Centerline goodness : 0.510297 with order 2 Centerline is valid? [False, False] Translation: X:46.85, Y:40.48, Z:20.61 [[ 9.28913834e-01 -3.61559922e-01 7.99594337e-02 4.68464289e+01] [ 3.59213127e-01 9.32286667e-01 4.25146972e-02 4.04820760e+01] [-8.99167246e-02 -1.07700121e-02 9.95891053e-01 2.06135661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099072329 meters Centerline goodness : 0.509039 with order 2 Centerline is valid? [False, False] Translation: X:46.85, Y:40.48, Z:20.61 [[ 9.26630880e-01 -3.67260158e-01 8.04685557e-02 4.68522204e+01] [ 3.65324372e-01 9.30099371e-01 3.81216921e-02 4.04824173e+01] [-8.88443317e-02 -5.92761252e-03 9.96027885e-01 2.06099866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159072329 meters Centerline goodness : 0.505505 with order 2 Centerline is valid? [False, False] Translation: X:46.86, Y:40.48, Z:20.60 [[ 9.21637318e-01 -3.78682114e-01 8.47614927e-02 4.68593573e+01] [ 3.76230839e-01 9.25487508e-01 4.38546348e-02 4.04831291e+01] [-9.50526685e-02 -8.52818051e-03 9.95435714e-01 2.06039991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219072329 meters Centerline goodness : 0.503594 with order 2 Centerline is valid? [False, False] Translation: X:46.86, Y:40.48, Z:20.60 [[ 9.19746331e-01 -3.83085769e-01 8.55101199e-02 4.68632849e+01] [ 3.81019142e-01 9.23703371e-01 3.99561828e-02 4.04836869e+01] [-9.42926309e-02 -4.16855995e-03 9.95535797e-01 2.06010093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279072329 meters Centerline goodness : 0.506295 with order 2 Centerline is valid? [False, False] Translation: X:46.87, Y:40.48, Z:20.60 [[ 9.11391227e-01 -4.01263764e-01 9.13970613e-02 4.68682345e+01] [ 3.99066736e-01 9.15960824e-01 4.19703399e-02 4.04819250e+01] [-1.00557304e-01 -1.77787265e-03 9.94929680e-01 2.05961835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339072329 meters Centerline goodness : 0.500773 with order 2 Centerline is valid? [False, False] Translation: X:46.87, Y:40.48, Z:20.60 [[ 9.03139917e-01 -4.19271725e-01 9.24635686e-02 4.68705922e+01] [ 4.17275011e-01 9.07859309e-01 4.09028116e-02 4.04811966e+01] [-1.01093304e-01 1.64177479e-03 9.94875594e-01 2.05961261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399072329 meters Centerline goodness : 0.498805 with order 2 Centerline is valid? [False, False] Translation: X:46.89, Y:40.47, Z:20.59 [[ 8.88261082e-01 -4.49585893e-01 9.41529287e-02 4.68889916e+01] [ 4.47781407e-01 8.93216829e-01 4.06879364e-02 4.04714207e+01] [-1.02391703e-01 6.01842050e-03 9.94725951e-01 2.05939674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459072329 meters Centerline goodness : 0.497658 with order 2 Centerline is valid? [False, False] Translation: X:46.91, Y:40.46, Z:20.59 [[ 8.69375794e-01 -4.84702048e-01 9.61751220e-02 4.69093902e+01] [ 4.82993096e-01 8.74621740e-01 4.18865266e-02 4.04608948e+01] [-1.04419338e-01 1.00367877e-02 9.94482712e-01 2.05903916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519072329 meters Centerline goodness : 0.500533 with order 2 Centerline is valid? [False, False] Translation: X:46.92, Y:40.45, Z:20.59 [[ 8.56402620e-01 -5.05952043e-01 1.02893549e-01 4.69172112e+01] [ 5.04265515e-01 8.62440790e-01 4.37284078e-02 4.04524855e+01] [-1.10864071e-01 1.44365457e-02 9.93730720e-01 2.05852518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579072329 meters Centerline goodness : 0.418566 with order 2 Centerline is valid? [False, False] Translation: X:46.94, Y:40.44, Z:20.58 [[ 8.34143919e-01 -5.41289274e-01 1.05876551e-01 4.69418504e+01] [ 5.39851314e-01 8.40593711e-01 4.43031851e-02 4.04410022e+01] [-1.12980002e-01 2.02023628e-02 9.93391858e-01 2.05812011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63907232900002 meters Centerline goodness : 0.348116 with order 3 Centerline is valid? [False, False] Translation: X:46.97, Y:40.43, Z:20.58 [[ 8.10234067e-01 -5.76316910e-01 1.06675094e-01 4.69697250e+01] [ 5.75062063e-01 8.16854700e-01 4.52992599e-02 4.04293306e+01] [-1.13244781e-01 2.46417958e-02 9.93261497e-01 2.05785725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699072329 meters Centerline goodness : 0.424474 with order 2 Centerline is valid? [False, False] Translation: X:46.99, Y:40.42, Z:20.58 [[ 7.94543863e-01 -5.97741591e-01 1.06794379e-01 4.69865006e+01] [ 5.96849782e-01 8.01162984e-01 4.36830612e-02 4.04222244e+01] [-1.11670886e-01 2.90320936e-02 9.93321071e-01 2.05763671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759072329 meters Centerline goodness : 0.448916 with order 3 Centerline is valid? [False, False] Translation: X:47.02, Y:40.41, Z:20.57 [[ 7.69016668e-01 -6.29665099e-01 1.10160011e-01 4.70151381e+01] [ 6.29221962e-01 7.76026360e-01 4.31602949e-02 4.04111014e+01] [-1.12663604e-01 3.61241119e-02 9.92976314e-01 2.05726491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819072329 meters Centerline goodness : 0.443437 with order 2 Centerline is valid? [False, False] Translation: X:47.03, Y:40.40, Z:20.57 [[ 7.52401797e-01 -6.49349105e-01 1.10622223e-01 4.70336808e+01] [ 6.49273430e-01 7.59412750e-01 4.16687863e-02 4.04047797e+01] [-1.11065516e-01 4.04724004e-02 9.92988638e-01 2.05702092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879072329 meters Centerline goodness : 0.326459 with order 1 Centerline is valid? [False, False] Translation: X:47.07, Y:40.40, Z:20.57 [[ 7.26565127e-01 -6.78506041e-01 1.08317443e-01 4.70677107e+01] [ 6.78545099e-01 7.33345094e-01 4.22080706e-02 4.03960322e+01] [-1.08072496e-01 4.28313579e-02 9.93219920e-01 2.05673862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939072329 meters Centerline goodness : 0.304762 with order 1 Centerline is valid? [False, False] Translation: X:47.10, Y:40.39, Z:20.56 [[ 7.02776300e-01 -7.02997834e-01 1.09084911e-01 4.71021392e+01] [ 7.03495382e-01 7.09548470e-01 4.04378138e-02 4.03871755e+01] [-1.05828727e-01 4.83219938e-02 9.93209578e-01 2.05641113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999072329 meters Centerline goodness : 0.219679 with order 1 Centerline is valid? [False, False] Translation: X:47.12, Y:40.38, Z:20.56 [[ 6.86855378e-01 -7.17964231e-01 1.12947123e-01 4.71220114e+01] [ 7.18599715e-01 6.94131104e-01 4.23846666e-02 4.03813273e+01] [-1.08830786e-01 5.20516343e-02 9.92696574e-01 2.05600982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059072329 meters Centerline goodness : 0.270013 with order 1 Centerline is valid? [False, False] Translation: X:47.16, Y:40.38, Z:20.56 [[ 6.65946656e-01 -7.37558270e-01 1.11905537e-01 4.71559528e+01] [ 7.38393727e-01 6.73064404e-01 4.19405919e-02 4.03754723e+01] [-1.06253264e-01 5.47001499e-02 9.92833389e-01 2.05559192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119072329 meters Centerline goodness : 0.186439 with order 1 Centerline is valid? [False, False] Translation: X:47.17, Y:40.37, Z:20.55 [[ 6.57447910e-01 -7.45025292e-01 1.12692330e-01 4.71726907e+01] [ 7.46304795e-01 6.64465084e-01 3.89269243e-02 4.03708563e+01] [-1.03881662e-01 5.85104012e-02 9.92867128e-01 2.05532188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179072329 meters Centerline goodness : 0.221903 with order 1 Centerline is valid? [False, False] Translation: X:47.20, Y:40.37, Z:20.55 [[ 6.39973295e-01 -7.60252272e-01 1.11582546e-01 4.72013468e+01] [ 7.62100324e-01 6.46553332e-01 3.42328169e-02 4.03689384e+01] [-9.81696435e-02 6.31290055e-02 9.93165369e-01 2.05501960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239072329 meters Centerline goodness : 0.180294 with order 1 Centerline is valid? [False, False] Translation: X:47.23, Y:40.37, Z:20.55 [[ 6.24858309e-01 -7.73090628e-01 1.09009060e-01 4.72294553e+01] [ 7.75243296e-01 6.30919036e-01 3.06431315e-02 4.03684198e+01] [-9.24658088e-02 6.53609275e-02 9.93568328e-01 2.05475063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299072329 meters Centerline goodness : 0.191563 with order 3 Centerline is valid? [False, False] Translation: X:47.26, Y:40.37, Z:20.55 [[ 6.15715394e-01 -7.80368354e-01 1.09177769e-01 4.72565293e+01] [ 7.83219585e-01 6.21290634e-01 2.37703540e-02 4.03680015e+01] [-8.63807576e-02 7.08743944e-02 9.93737986e-01 2.05453370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359072329 meters Centerline goodness : 0.208109 with order 3 Centerline is valid? [False, False] Translation: X:47.27, Y:40.37, Z:20.54 [[ 6.11793868e-01 -7.83345665e-01 1.09899194e-01 4.72678315e+01] [ 7.86499061e-01 6.17228173e-01 2.11804190e-02 4.03675794e+01] [-8.44244682e-02 7.34775624e-02 9.93717041e-01 2.05437140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41907232900002 meters Centerline goodness : 0.238209 with order 3 Centerline is valid? [False, False] Translation: X:47.29, Y:40.37, Z:20.54 [[ 6.07034903e-01 -7.87386062e-01 1.07386292e-01 4.72901971e+01] [ 7.90709988e-01 6.11948221e-01 1.72362660e-02 4.03692962e+01] [-7.92864461e-02 7.44483988e-02 9.94067953e-01 2.05421628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479072329 meters Centerline goodness : 0.254352 with order 3 Centerline is valid? [False, False] Translation: X:47.31, Y:40.37, Z:20.54 [[ 6.02052985e-01 -7.91283813e-01 1.06780760e-01 4.73116610e+01] [ 7.95076916e-01 6.06410571e-01 1.09049414e-02 4.03731481e+01] [-7.33818853e-02 7.83335649e-02 9.94222788e-01 2.05414119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539072329 meters Centerline goodness : 0.193193 with order 2 Centerline is valid? [False, False] Translation: X:47.32, Y:40.38, Z:20.54 [[ 6.00350281e-01 -7.92617618e-01 1.06474649e-01 4.73215071e+01] [ 7.96634637e-01 6.04413387e-01 7.59684058e-03 4.03758191e+01] [-7.03760932e-02 8.02606284e-02 9.94286396e-01 2.05402139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599072329 meters Centerline goodness : 0.285347 with order 3 Centerline is valid? [False, False] Translation: X:47.33, Y:40.38, Z:20.54 [[ 5.99770053e-01 -7.93286031e-01 1.04752835e-01 4.73299996e+01] [ 7.97298064e-01 6.03558680e-01 5.71982209e-03 4.03789027e+01] [-6.77619380e-02 8.00886548e-02 9.94481839e-01 2.05388797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659072329 meters Centerline goodness : 0.253479 with order 3 Centerline is valid? [False, False] Translation: X:47.34, Y:40.38, Z:20.54 [[ 5.99532957e-01 -7.93728621e-01 1.02738066e-01 4.73388253e+01] [ 7.97733646e-01 6.03000298e-01 3.41628850e-03 4.03827167e+01] [-6.46626904e-02 7.99094344e-02 9.94702578e-01 2.05376242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719072329 meters Centerline goodness : 0.303209 with order 3 Centerline is valid? [False, False] Translation: X:47.36, Y:40.39, Z:20.53 [[ 6.02632911e-01 -7.90985972e-01 1.05710772e-01 4.73606588e+01] [ 7.95347492e-01 6.06151972e-01 1.46750916e-03 4.03873619e+01] [-6.52375721e-02 8.31924283e-02 9.94395836e-01 2.05338325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779072329 meters Centerline goodness : 0.287646 with order 3 Centerline is valid? [False, False] Translation: X:47.37, Y:40.39, Z:20.53 [[ 6.04834423e-01 -7.89787204e-01 1.02036725e-01 4.73654588e+01] [ 7.93910294e-01 6.08034813e-01 3.31652571e-04 4.03923838e+01] [-6.23038158e-02 8.08074113e-02 9.94780577e-01 2.05344284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839072329 meters Centerline goodness : 0.339085 with order 3 Centerline is valid? [False, False] Translation: X:47.38, Y:40.40, Z:20.53 [[ 6.11301068e-01 -7.84523539e-01 1.04085644e-01 4.73830847e+01] [ 7.88868049e-01 6.14561894e-01 -9.37774897e-04 4.03984619e+01] [-6.32313639e-02 8.26831016e-02 9.94567896e-01 2.05318785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899072329 meters Centerline goodness : 0.298869 with order 3 Centerline is valid? [False, False] Translation: X:47.39, Y:40.40, Z:20.53 [[ 6.19728264e-01 -7.77491882e-01 1.06973139e-01 4.73942147e+01] [ 7.82250995e-01 6.22949505e-01 -4.15868985e-03 4.04040309e+01] [-6.34055166e-02 8.62571024e-02 9.94253214e-01 2.05273047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959072329 meters Centerline goodness : 0.293326 with order 3 Centerline is valid? [False, False] Translation: X:47.39, Y:40.41, Z:20.53 [[ 6.29102471e-01 -7.69369162e-01 1.10910653e-01 4.73903769e+01] [ 7.74464799e-01 6.32599977e-01 -4.64160937e-03 4.04056959e+01] [-6.65909657e-02 8.88164447e-02 9.93819542e-01 2.05251968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019072329 meters Centerline goodness : 0.305799 with order 3 Centerline is valid? [False, False] Translation: X:47.40, Y:40.41, Z:20.52 [[ 6.39734037e-01 -7.60206373e-01 1.13254724e-01 4.73959019e+01] [ 7.65555100e-01 6.43342431e-01 -5.99214695e-03 4.04105536e+01] [-6.83063012e-02 9.05361119e-02 9.93547916e-01 2.05228512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079072329 meters Centerline goodness : 0.252873 with order 3 Centerline is valid? [False, False] Translation: X:47.40, Y:40.42, Z:20.52 [[ 6.50804966e-01 -7.50430796e-01 1.15353875e-01 4.73998818e+01] [ 7.55990492e-01 6.54544764e-01 -7.03763277e-03 4.04152043e+01] [-7.02230188e-02 9.17865594e-02 9.93299529e-01 2.05207930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13907232900002 meters Centerline goodness : 0.261116 with order 3 Centerline is valid? [False, False] Translation: X:47.39, Y:40.41, Z:20.52 [[ 6.63238342e-01 -7.38899761e-01 1.18920330e-01 4.73882377e+01] [ 7.44793993e-01 6.67246916e-01 -7.96622880e-03 4.04145682e+01] [-7.34629789e-02 9.38546558e-02 9.92871842e-01 2.05196703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199072329 meters Centerline goodness : 0.277746 with order 3 Centerline is valid? [False, False] Translation: X:47.39, Y:40.42, Z:20.52 [[ 6.75660033e-01 -7.27432806e-01 1.19687230e-01 4.73894291e+01] [ 7.33581671e-01 6.79506825e-01 -1.13316933e-02 4.04199521e+01] [-7.30852444e-02 9.54567306e-02 9.92746977e-01 2.05194573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259072329 meters Centerline goodness : 0.275248 with order 3 Centerline is valid? [False, False] Translation: X:47.39, Y:40.43, Z:20.52 [[ 6.89045468e-01 -7.14743314e-01 1.19826280e-01 4.73878127e+01] [ 7.20946392e-01 6.92871746e-01 -1.28468991e-02 4.04255618e+01] [-7.38420085e-02 9.52404218e-02 9.92711751e-01 2.05187253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.319072329 meters Centerline goodness : 0.253580 with order 3 Centerline is valid? [False, False] Translation: X:47.37, Y:40.43, Z:20.52 [[ 7.02440613e-01 -7.01092839e-01 1.22662205e-01 4.73721035e+01] [ 7.07557813e-01 7.06522842e-01 -1.36899444e-02 4.04251363e+01] [-7.70657274e-02 9.64069741e-02 9.92354054e-01 2.05181054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.379072329 meters Centerline goodness : 0.266978 with order 3 Centerline is valid? [False, False] Translation: X:47.37, Y:40.43, Z:20.52 [[ 7.16256863e-01 -6.86999186e-01 1.22508055e-01 4.73687433e+01] [ 6.93700997e-01 7.20038774e-01 -1.79747185e-02 4.04314805e+01] [-7.58619328e-02 9.78584753e-02 9.92304734e-01 2.05176597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439072329 meters Centerline goodness : 0.260409 with order 3 Centerline is valid? [False, False] Translation: X:47.36, Y:40.44, Z:20.52 [[ 7.30765839e-01 -6.71557260e-01 1.22442375e-01 4.73617715e+01] [ 6.78281094e-01 7.34546562e-01 -1.93934228e-02 4.04360233e+01] [-7.69158319e-02 9.72223992e-02 9.92286128e-01 2.05167086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499072329 meters Centerline goodness : 0.258734 with order 3 Centerline is valid? [False, False] Translation: X:47.34, Y:40.44, Z:20.52 [[ 7.43520306e-01 -6.57139242e-01 1.23877246e-01 4.73402183e+01] [ 6.63929440e-01 7.47543145e-01 -1.94150709e-02 4.04354721e+01] [-7.98451808e-02 9.66812498e-02 9.92107597e-01 2.05175114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559072329 meters Centerline goodness : 0.254278 with order 3 Centerline is valid? [False, False] Translation: X:47.33, Y:40.44, Z:20.52 [[ 7.55944535e-01 -6.42655914e-01 1.24664495e-01 4.73347605e+01] [ 6.49615926e-01 7.59958084e-01 -2.15141628e-02 4.04403598e+01] [-8.09135865e-02 9.72475549e-02 9.91965677e-01 2.05189748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.619072329 meters Centerline goodness : 0.190576 with order 3 Centerline is valid? [False, False] Translation: X:47.31, Y:40.44, Z:20.52 [[ 7.67893224e-01 -6.28036244e-01 1.26136727e-01 4.73099203e+01] [ 6.35191845e-01 7.72009938e-01 -2.30645942e-02 4.04401596e+01] [-8.28934058e-02 9.78321661e-02 9.91744700e-01 2.05198299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679072329 meters Centerline goodness : 0.189699 with order 3 Centerline is valid? [False, False] Translation: X:47.30, Y:40.45, Z:20.52 [[ 7.79585161e-01 -6.13333703e-01 1.26762555e-01 4.73036317e+01] [ 6.20637380e-01 7.83698608e-01 -2.50146636e-02 4.04454657e+01] [-8.40013019e-02 9.81746408e-02 9.91617629e-01 2.05193445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739072329 meters Centerline goodness : 0.208350 with order 1 Centerline is valid? [False, False] Translation: X:47.30, Y:40.45, Z:20.52 [[ 7.90680997e-01 -5.98649476e-01 1.28227788e-01 4.72960143e+01] [ 6.06154620e-01 7.94902979e-01 -2.65674706e-02 4.04504601e+01] [-8.60240486e-02 9.87322604e-02 9.91388826e-01 2.05194118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799072329 meters Centerline goodness : 0.196283 with order 1 Centerline is valid? [False, False] Translation: X:47.27, Y:40.45, Z:20.52 [[ 8.00388880e-01 -5.85726040e-01 1.27681822e-01 4.72729182e+01] [ 5.93265978e-01 8.04506188e-01 -2.83773227e-02 4.04515352e+01] [-8.60994792e-02 9.84621747e-02 9.91409138e-01 2.05209793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859072329 meters Centerline goodness : 0.202070 with order 1 Centerline is valid? [False, False] Translation: X:47.26, Y:40.46, Z:20.52 [[ 8.10375441e-01 -5.71460698e-01 1.29322523e-01 4.72643687e+01] [ 5.79139146e-01 8.14714869e-01 -2.89401505e-02 4.04559370e+01] [-8.88228241e-02 9.83481229e-02 9.91180182e-01 2.05207608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91907232900002 meters Centerline goodness : 0.199324 with order 1 Centerline is valid? [False, False] Translation: X:47.26, Y:40.46, Z:20.52 [[ 8.18367938e-01 -5.59541348e-01 1.31100719e-01 4.72593096e+01] [ 5.67269016e-01 8.23047301e-01 -2.82666508e-02 4.04621965e+01] [-9.20857328e-02 9.75018964e-02 9.90965992e-01 2.05208123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979072329 meters Centerline goodness : 0.197372 with order 1 Centerline is valid? [False, False] Translation: X:47.24, Y:40.46, Z:20.52 [[ 8.25991535e-01 -5.48152341e-01 1.31403938e-01 4.72407409e+01] [ 5.56029292e-01 8.30612504e-01 -3.02372978e-02 4.04647720e+01] [-9.25711082e-02 9.80401904e-02 9.90867656e-01 2.05213743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039072329 meters Centerline goodness : 0.192584 with order 1 Centerline is valid? [False, False] Translation: X:47.24, Y:40.47, Z:20.52 [[ 8.33228143e-01 -5.36688643e-01 1.33026922e-01 4.72399690e+01] [ 5.45043400e-01 8.37707601e-01 -3.42588188e-02 4.04724882e+01] [-9.30513446e-02 1.01050858e-01 9.90520152e-01 2.05203077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099072329 meters Centerline goodness : 0.188195 with order 1 Centerline is valid? [False, False] Translation: X:47.24, Y:40.48, Z:20.52 [[ 8.38083527e-01 -5.29580796e-01 1.30996881e-01 4.72383872e+01] [ 5.37799874e-01 8.42327964e-01 -3.54245201e-02 4.04812716e+01] [-9.15821904e-02 1.00138813e-01 9.90749676e-01 2.05188476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159072329 meters Centerline goodness : 0.197369 with order 1 Centerline is valid? [False, False] Translation: X:47.23, Y:40.48, Z:20.52 [[ 8.42730986e-01 -5.22602183e-01 1.29195368e-01 4.72290011e+01] [ 5.30623512e-01 8.46858588e-01 -3.56261149e-02 4.04839357e+01] [-9.07919213e-02 9.85773307e-02 9.90978979e-01 2.05189868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219072329 meters Centerline goodness : 0.191130 with order 1 Centerline is valid? [False, False] Translation: X:47.23, Y:40.49, Z:20.52 [[ 8.45838382e-01 -5.18168598e-01 1.26723067e-01 4.72296121e+01] [ 5.25941303e-01 8.49766272e-01 -3.58193870e-02 4.04920226e+01] [-8.91245070e-02 9.69463074e-02 9.91291196e-01 2.05185460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279072329 meters Centerline goodness : 0.199715 with order 1 Centerline is valid? [False, False] Translation: X:47.22, Y:40.49, Z:20.52 [[ 8.49834560e-01 -5.12024212e-01 1.24949697e-01 4.72217457e+01] [ 5.19630252e-01 8.53623850e-01 -3.62039096e-02 4.04937282e+01] [-8.81227632e-02 9.56949762e-02 9.91502320e-01 2.05185396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339072329 meters Centerline goodness : 0.237322 with order 1 Centerline is valid? [False, False] Translation: X:47.23, Y:40.50, Z:20.52 [[ 8.51174419e-01 -5.10600568e-01 1.21610724e-01 4.72283471e+01] [ 5.17928069e-01 8.54633914e-01 -3.67612426e-02 4.05017693e+01] [-8.51623373e-02 9.42758365e-02 9.91896891e-01 2.05178316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399072329 meters Centerline goodness : 0.238135 with order 1 Centerline is valid? [False, False] Translation: X:47.23, Y:40.51, Z:20.52 [[ 8.51780536e-01 -5.10226325e-01 1.18907593e-01 4.72342852e+01] [ 5.17375201e-01 8.54927557e-01 -3.77064228e-02 4.05093695e+01] [-8.24185688e-02 9.36374370e-02 9.92189100e-01 2.05179703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459072329 meters Centerline goodness : 0.237393 with order 1 Centerline is valid? [False, False] Translation: X:47.23, Y:40.51, Z:20.52 [[ 8.53185462e-01 -5.07686413e-01 1.19704109e-01 4.72271918e+01] [ 5.14942065e-01 8.56373767e-01 -3.81921562e-02 4.05112478e+01] [-8.31218199e-02 9.42256735e-02 9.92074738e-01 2.05168766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519072329 meters Centerline goodness : 0.236402 with order 1 Centerline is valid? [False, False] Translation: X:47.23, Y:40.52, Z:20.52 [[ 8.52279701e-01 -5.09275153e-01 1.19407409e-01 4.72313373e+01] [ 5.16707998e-01 8.55198283e-01 -4.06047026e-02 4.05165430e+01] [-8.14380449e-02 9.63053270e-02 9.92014682e-01 2.05154843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579072329 meters Centerline goodness : 0.237663 with order 1 Centerline is valid? [False, False] Translation: X:47.22, Y:40.51, Z:20.51 [[ 8.54516949e-01 -5.05294224e-01 1.20326766e-01 4.72208562e+01] [ 5.12819480e-01 8.57526178e-01 -4.08048274e-02 4.05139385e+01] [-8.25649082e-02 9.65743263e-02 9.91895375e-01 2.05136217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63907232900002 meters Centerline goodness : 0.240558 with order 1 Centerline is valid? [False, False] Translation: X:47.21, Y:40.51, Z:20.51 [[ 8.54461116e-01 -5.04792615e-01 1.22803167e-01 4.72146391e+01] [ 5.12548934e-01 8.57693851e-01 -4.06798335e-02 4.05123729e+01] [-8.47926420e-02 9.77019685e-02 9.91596961e-01 2.05105386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699072329 meters Centerline goodness : 0.247359 with order 1 Centerline is valid? [False, False] Translation: X:47.22, Y:40.51, Z:20.51 [[ 8.52110643e-01 -5.08312224e-01 1.24603915e-01 4.72157984e+01] [ 5.16367199e-01 8.55341398e-01 -4.19047609e-02 4.05125656e+01] [-8.52781846e-02 1.00048867e-01 9.91321268e-01 2.05088355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759072329 meters Centerline goodness : 0.250416 with order 1 Centerline is valid? [False, False] Translation: X:47.20, Y:40.51, Z:20.51 [[ 8.53667576e-01 -5.05467101e-01 1.25517644e-01 4.72043415e+01] [ 5.13790839e-01 8.56783089e-01 -4.40648525e-02 4.05075705e+01] [-8.52680618e-02 1.02106552e-01 9.91112309e-01 2.05089050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819072329 meters Centerline goodness : 0.260897 with order 1 Centerline is valid? [False, False] Translation: X:47.20, Y:40.51, Z:20.52 [[ 0.85082471 -0.51180386 0.11897106 47.19601875] [ 0.51988138 0.85282189 -0.04917486 40.50523303] [-0.07629324 0.10369002 0.99167924 20.51512686] [ 0. 0. 0. 1. ]] SLAMing on 214.879072329 meters Centerline goodness : 0.269251 with order 1 Centerline is valid? [False, False] Translation: X:47.18, Y:40.50, Z:20.52 [[ 0.85321776 -0.50817774 0.11736627 47.178698 ] [ 0.51638253 0.85470297 -0.05321564 40.49935789] [-0.07327029 0.10601042 0.99166186 20.51997247] [ 0. 0. 0. 1. ]] SLAMing on 214.939072329 meters Centerline goodness : 0.286812 with order 1 Centerline is valid? [False, False] Translation: X:47.16, Y:40.50, Z:20.53 [[ 0.85318234 -0.5086496 0.11556585 47.15662265] [ 0.51701788 0.85399285 -0.05821274 40.49529507] [-0.06908252 0.10941569 0.99159256 20.52594786] [ 0. 0. 0. 1. ]] SLAMing on 214.999072329 meters Centerline goodness : 0.286860 with order 1 Centerline is valid? [False, False] Translation: X:47.13, Y:40.49, Z:20.53 [[ 0.85369944 -0.50805958 0.11433605 47.13013089] [ 0.51657439 0.85396617 -0.06239129 40.49000538] [-0.06594063 0.11232649 0.99148101 20.53179981] [ 0. 0. 0. 1. ]] SLAMing on 215.059072329 meters Centerline goodness : 0.270502 with order 3 Centerline is valid? [False, False] Translation: X:47.09, Y:40.48, Z:20.54 [[ 0.85989471 -0.49789583 0.1126092 47.09406887] [ 0.50649235 0.85966331 -0.06666705 40.48095802] [-0.06361275 0.11436234 0.99140036 20.53696277] [ 0. 0. 0. 1. ]] SLAMing on 215.119072329 meters Centerline goodness : 0.284124 with order 3 Centerline is valid? [False, False] Translation: X:47.05, Y:40.47, Z:20.54 [[ 0.86368156 -0.49207256 0.1091731 47.05284406] [ 0.50057212 0.86273736 -0.07149681 40.47340814] [-0.0590061 0.11639949 0.99144815 20.54371618] [ 0. 0. 0. 1. ]] SLAMing on 215.179072329 meters Centerline goodness : 0.288109 with order 3 Centerline is valid? [False, False] Translation: X:47.00, Y:40.47, Z:20.55 [[ 0.87033024 -0.48124612 0.10453439 47.00396911] [ 0.48933862 0.86898529 -0.07356817 40.46571652] [-0.05543445 0.11518132 0.99179649 20.55222111] [ 0. 0. 0. 1. ]] SLAMing on 215.239072329 meters Centerline goodness : 0.300417 with order 3 Centerline is valid? [False, False] Translation: X:46.95, Y:40.46, Z:20.56 [[ 0.87576132 -0.47198626 0.10134638 46.95254686] [ 0.47991437 0.87392393 -0.07706597 40.4565917 ] [-0.05219495 0.11612898 0.99186176 20.56103821] [ 0. 0. 0. 1. ]] SLAMing on 215.299072329 meters Centerline goodness : 0.287792 with order 2 Centerline is valid? [False, False] Translation: X:46.90, Y:40.45, Z:20.57 [[ 0.88070886 -0.46330114 0.09850868 46.89774431] [ 0.47113633 0.87829709 -0.08139277 40.44664686] [-0.04881053 0.11809435 0.99180203 20.57001443] [ 0. 0. 0. 1. ]] SLAMing on 215.359072329 meters Centerline goodness : 0.247801 with order 2 Centerline is valid? [False, False] Translation: X:46.84, Y:40.44, Z:20.58 [[ 8.87707303e-01 -4.50800058e-01 9.35684350e-02 4.68387244e+01] [ 4.58184308e-01 8.84934470e-01 -8.34153692e-02 4.04398047e+01] [-4.51982802e-02 1.16920021e-01 9.92112304e-01 2.05797037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41907232900002 meters Centerline goodness : 0.272397 with order 2 Centerline is valid? [False, False] Translation: X:46.78, Y:40.43, Z:20.59 [[ 8.89954933e-01 -4.47028733e-01 9.02525883e-02 4.67845682e+01] [ 4.54080746e-01 8.86953596e-01 -8.44037596e-02 4.04278366e+01] [-4.23189520e-02 1.16097505e-01 9.92335868e-01 2.05868813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479072329 meters Centerline goodness : 0.278701 with order 3 Centerline is valid? [False, False] Translation: X:46.73, Y:40.42, Z:20.60 [[ 8.90241585e-01 -4.47935262e-01 8.26070316e-02 4.67291421e+01] [ 4.54196761e-01 8.86645197e-01 -8.69804360e-02 4.04165508e+01] [-3.42815235e-02 1.14953447e-01 9.92779171e-01 2.05990237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.539072329 meters Centerline goodness : 0.312558 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:40.41, Z:20.61 [[ 8.91469414e-01 -4.46147607e-01 7.89594676e-02 4.66815775e+01] [ 4.52052384e-01 8.87570759e-01 -8.86949201e-02 4.04099317e+01] [-3.05110882e-02 1.14762624e-01 9.92924274e-01 2.06066238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.599072329 meters Centerline goodness : 0.409811 with order 1 Centerline is valid? [False, False] Translation: X:46.63, Y:40.40, Z:20.62 [[ 8.87632040e-01 -4.55307354e-01 6.93150398e-02 4.66316245e+01] [ 4.60137059e-01 8.83125729e-01 -9.14485246e-02 4.03998660e+01] [-1.95767094e-02 1.13067059e-01 9.93394480e-01 2.06191111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.659072329 meters Centerline goodness : 0.409199 with order 2 Centerline is valid? [False, False] Translation: X:46.59, Y:40.39, Z:20.63 [[ 8.85442944e-01 -4.60902258e-01 5.96649059e-02 4.65912806e+01] [ 4.64641442e-01 8.80664539e-01 -9.24029205e-02 4.03942235e+01] [-9.95605223e-03 1.09540302e-01 9.93932492e-01 2.06293024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.719072329 meters Centerline goodness : 0.471576 with order 2 Centerline is valid? [False, False] Translation: X:46.55, Y:40.38, Z:20.64 [[ 8.77427217e-01 -4.76729669e-01 5.33882040e-02 4.65518796e+01] [ 4.79706240e-01 8.72397783e-01 -9.38297972e-02 4.03818663e+01] [-1.84430265e-03 1.07939473e-01 9.94155757e-01 2.06363599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.779072329 meters Centerline goodness : 0.141515 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:40.37, Z:20.65 [[ 8.67964387e-01 -4.94438239e-01 4.65687668e-02 4.65111564e+01] [ 4.96578889e-01 8.62759676e-01 -9.51585425e-02 4.03688881e+01] [ 6.87236799e-03 1.05719292e-01 9.94372265e-01 2.06450862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.839072329 meters Centerline goodness : 0.138548 with order 2 Centerline is valid? [False, False] Translation: X:46.48, Y:40.35, Z:20.65 [[ 8.55196557e-01 -5.16540498e-01 4.27172467e-02 4.64790327e+01] [ 5.18137316e-01 8.49924393e-01 -9.57196336e-02 4.03528871e+01] [ 1.31366372e-02 1.03992501e-01 9.94491322e-01 2.06505587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.899072329 meters Centerline goodness : 0.098325 with order 2 Centerline is valid? [False, False] Translation: X:46.44, Y:40.35, Z:20.66 [[ 8.47748677e-01 -5.29172597e-01 3.60352961e-02 4.64438330e+01] [ 5.29975716e-01 8.42405301e-01 -9.73604062e-02 4.03467172e+01] [ 2.11641345e-02 1.01634987e-01 9.94596606e-01 2.06569662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.959072329 meters Centerline goodness : 0.130878 with order 3 Centerline is valid? [False, False] Translation: X:46.41, Y:40.33, Z:20.66 [[ 8.31276464e-01 -5.55224973e-01 2.65456060e-02 4.64135942e+01] [ 5.54898205e-01 8.26085582e-01 -9.83391753e-02 4.03318596e+01] [ 3.26714236e-02 9.64771511e-02 9.94798843e-01 2.06646051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019072329 meters Centerline goodness : 0.122065 with order 3 Centerline is valid? [False, False] Translation: X:46.40, Y:40.31, Z:20.67 [[ 8.10769177e-01 -5.84945491e-01 2.21836378e-02 4.64008741e+01] [ 5.84023506e-01 8.05763526e-01 -9.82938716e-02 4.03111841e+01] [ 3.96217908e-02 9.26494073e-02 9.94910147e-01 2.06678504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.079072329 meters Centerline goodness : 0.123551 with order 3 Centerline is valid? [False, False] Translation: X:46.39, Y:40.30, Z:20.67 [[ 7.97573880e-01 -6.02818260e-01 2.20465610e-02 4.63863022e+01] [ 6.01792599e-01 7.92639386e-01 -9.78185590e-02 4.02986198e+01] [ 4.14918410e-02 9.12849849e-02 9.94960039e-01 2.06686396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13907232900002 meters Centerline goodness : 0.110529 with order 3 Centerline is valid? [False, False] Translation: X:46.39, Y:40.28, Z:20.67 [[ 7.71189617e-01 -6.36288731e-01 2.00804740e-02 4.63879898e+01] [ 6.34886963e-01 7.66408871e-01 -9.76523756e-02 4.02750766e+01] [ 4.67452528e-02 8.80573293e-02 9.95017984e-01 2.06675445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199072329 meters Centerline goodness : 0.110076 with order 1 Centerline is valid? [False, False] Translation: X:46.39, Y:40.26, Z:20.67 [[ 7.52846176e-01 -6.57832863e-01 2.18760036e-02 4.63873711e+01] [ 6.56549898e-01 7.48198415e-01 -9.56104780e-02 4.02593174e+01] [ 4.65281233e-02 8.63426707e-02 9.95178415e-01 2.06655557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259072329 meters Centerline goodness : 0.205742 with order 1 Centerline is valid? [False, False] Translation: X:46.41, Y:40.23, Z:20.66 [[ 7.16385441e-01 -6.97346908e-01 2.23425822e-02 4.64143889e+01] [ 6.95897295e-01 7.11859627e-01 -9.47777741e-02 4.02293815e+01] [ 5.01882054e-02 8.34455599e-02 9.95247699e-01 2.06633556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.319072329 meters Centerline goodness : 0.216375 with order 1 Centerline is valid? [False, False] Translation: X:46.44, Y:40.20, Z:20.66 [[ 6.77605783e-01 -7.35098286e-01 2.19297308e-02 4.64388814e+01] [ 7.33345972e-01 6.73148673e-01 -9.52604271e-02 4.02019623e+01] [ 5.52638075e-02 8.06310961e-02 9.95210801e-01 2.06616409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.379072329 meters Centerline goodness : 0.364057 with order 2 Centerline is valid? [False, False] Translation: X:46.46, Y:40.18, Z:20.66 [[ 6.50604471e-01 -7.59069063e-01 2.29778342e-02 4.64579050e+01] [ 7.57308657e-01 6.46248432e-01 -9.40561612e-02 4.01826006e+01] [ 5.65457328e-02 7.85946717e-02 9.95301692e-01 2.06590950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.439072329 meters Centerline goodness : 0.221533 with order 2 Centerline is valid? [False, False] Translation: X:46.48, Y:40.16, Z:20.66 [[ 6.22443970e-01 -7.82288210e-01 2.42623316e-02 4.64769932e+01] [ 7.80556511e-01 6.18195690e-01 -9.25506482e-02 4.01637408e+01] [ 5.74024120e-02 7.65457138e-02 9.95412335e-01 2.06565243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.499072329 meters Centerline goodness : 0.318032 with order 2 Centerline is valid? [False, False] Translation: X:46.50, Y:40.15, Z:20.65 [[ 5.92952874e-01 -8.04812307e-01 2.61541332e-02 4.64964310e+01] [ 8.03184079e-01 5.88811084e-01 -9.05364171e-02 4.01454288e+01] [ 5.74649792e-02 7.46904121e-02 9.95549656e-01 2.06540430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.559072329 meters Centerline goodness : 0.278993 with order 1 Centerline is valid? [False, False] Translation: X:46.54, Y:40.12, Z:20.65 [[ 5.41176299e-01 -8.40431766e-01 2.83312458e-02 4.65401124e+01] [ 8.38716910e-01 5.37027835e-01 -9.03053084e-02 4.01179213e+01] [ 6.06807822e-02 7.26329876e-02 9.95511071e-01 2.06513583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619072329 meters Centerline goodness : 0.251529 with order 1 Centerline is valid? [False, False] Translation: X:46.57, Y:40.10, Z:20.65 [[ 5.05962160e-01 -8.61950368e-01 3.23087637e-02 4.65662860e+01] [ 8.60458195e-01 5.01767015e-01 -8.85525725e-02 4.00998979e+01] [ 6.01164505e-02 7.26045914e-02 9.95547380e-01 2.06493396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679072329 meters Centerline goodness : 0.187080 with order 1 Centerline is valid? [False, False] Translation: X:46.62, Y:40.07, Z:20.65 [[ 4.44483585e-01 -8.95141259e-01 3.40068914e-02 4.66209808e+01] [ 8.93433175e-01 4.40245791e-01 -8.92233452e-02 4.00741710e+01] [ 6.48961067e-02 7.00411973e-02 9.95430925e-01 2.06460910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739072329 meters Centerline goodness : 0.175390 with order 1 Centerline is valid? [False, False] Translation: X:46.66, Y:40.06, Z:20.64 [[ 4.02168251e-01 -9.14871950e-01 3.56372565e-02 4.66557110e+01] [ 9.13200909e-01 3.98029671e-01 -8.73869575e-02 4.00581064e+01] [ 6.57631907e-02 6.76882348e-02 9.95536793e-01 2.06434143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799072329 meters Centerline goodness : 0.154360 with order 1 Centerline is valid? [False, False] Translation: X:46.71, Y:40.04, Z:20.64 [[ 3.32992774e-01 -9.42186733e-01 3.74162122e-02 4.67143800e+01] [ 9.40364149e-01 3.28900337e-01 -8.68322250e-02 4.00370402e+01] [ 6.95059656e-02 6.40993680e-02 9.95520061e-01 2.06396869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859072329 meters Centerline goodness : 0.278221 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:40.02, Z:20.64 [[ 2.58359150e-01 -9.65303104e-01 3.79534910e-02 4.67768715e+01] [ 9.63212924e-01 2.54393635e-01 -8.66299114e-02 4.00190833e+01] [ 7.39689958e-02 5.89389233e-02 9.95517348e-01 2.06360271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91907232900002 meters Centerline goodness : 0.212455 with order 2 Centerline is valid? [False, False] Translation: X:46.82, Y:40.01, Z:20.63 [[ 2.07240375e-01 -9.77559758e-01 3.77934734e-02 4.68201067e+01] [ 9.75129853e-01 2.03314038e-01 -8.82336202e-02 4.00095197e+01] [ 7.85696927e-02 5.51391128e-02 9.95382581e-01 2.06338155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979072329 meters Centerline goodness : 0.426327 with order 1 Centerline is valid? [False, False] Translation: X:46.16, Y:38.59, Z:20.72 [[-0.11419177 0.95412719 0.27676983 46.15525578] [-0.94287614 -0.19184957 0.27235699 38.59122617] [ 0.31296138 -0.22985875 0.9215314 20.71715346] [ 0. 0. 0. 1. ]] SLAMing on 217.039072329 meters Centerline goodness : 0.421801 with order 1 Centerline is valid? [False, False] Translation: X:46.89, Y:39.97, Z:20.35 [[ 1.86776644e-01 -9.81824452e-01 3.36931778e-02 4.68866266e+01] [ 9.72598672e-01 1.79970777e-01 -1.47181327e-01 3.99726373e+01] [ 1.38442439e-01 6.02599744e-02 9.88535496e-01 2.03519147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099072329 meters Centerline goodness : 0.423102 with order 1 Centerline is valid? [False, False] Translation: X:46.33, Y:38.41, Z:20.57 [[-0.06649836 0.94576198 0.31798153 46.32725088] [-0.88971445 -0.20045783 0.41015224 38.40890092] [ 0.45164828 -0.25563831 0.85478821 20.57139316] [ 0. 0. 0. 1. ]] SLAMing on 217.159072329 meters Centerline goodness : 0.156571 with order 1 Centerline is valid? [False, False] Translation: X:46.92, Y:40.06, Z:20.31 [[ 2.36548886e-01 -9.69904875e-01 -5.76988500e-02 4.69239577e+01] [ 8.94623711e-01 2.40587429e-01 -3.76518400e-01 4.00613677e+01] [ 3.79068649e-01 3.74462487e-02 9.24610587e-01 2.03081151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219072329 meters Centerline goodness : 0.114804 with order 1 Centerline is valid? [False, False] Translation: X:46.19, Y:38.33, Z:21.92 [[-0.46433203 0.75440135 -0.46397669 46.19072552] [-0.69920923 -0.63379506 -0.33077223 38.33348807] [-0.54360115 0.17082865 0.82177574 21.91502165] [ 0. -0. -0. 1. ]] SLAMing on 217.279072329 meters Centerline goodness : 0.073318 with order 1 Centerline is valid? [False, False] Translation: X:45.29, Y:38.23, Z:22.05 [[ 0.45474359 -0.5761944 0.67912317 45.28747944] [ 0.45103818 0.80650359 0.38225192 38.22604103] [-0.76796668 0.13248387 0.62663801 22.05204047] [ 0. 0. 0. 1. ]] SLAMing on 217.339072329 meters Centerline goodness : 0.067482 with order 3 Centerline is valid? [False, False] Translation: X:45.32, Y:38.18, Z:22.05 [[ 0.40841914 -0.61339289 0.67597557 45.31636318] [ 0.51459692 0.76638095 0.38451299 38.18272767] [-0.75391234 0.19081248 0.62865474 22.04647602] [ 0. 0. 0. 1. ]] SLAMing on 217.399072329 meters Centerline goodness : 0.093806 with order 2 Centerline is valid? [False, False] Translation: X:45.34, Y:38.16, Z:22.04 [[ 0.37394912 -0.63485079 0.67611133 45.33564436] [ 0.55673739 0.73670045 0.38381756 38.16044624] [-0.74175841 0.23288822 0.62893366 22.04168874] [ 0. 0. 0. 1. ]] SLAMing on 217.459072329 meters Centerline goodness : 0.168469 with order 2 Centerline is valid? [False, False] Translation: X:45.37, Y:38.15, Z:22.02 [[ 0.32581928 -0.67726578 0.65966117 45.36929393] [ 0.62111001 0.67937681 0.39072945 38.15363665] [-0.71278619 0.28241497 0.64201062 22.01812064] [ 0. 0. 0. 1. ]] SLAMing on 217.519072329 meters Centerline goodness : 0.164534 with order 2 Centerline is valid? [False, False] Translation: X:45.40, Y:38.13, Z:22.01 [[ 0.27321318 -0.70148757 0.65823229 45.39910741] [ 0.6738986 0.62786832 0.38941244 38.13275907] [-0.68645119 0.3371892 0.64427339 22.00593141] [ 0. 0. 0. 1. ]] SLAMing on 217.579072329 meters Centerline goodness : 0.216513 with order 2 Centerline is valid? [False, False] Translation: X:46.88, Y:37.58, Z:23.12 [[ 7.07868767e-01 2.12997238e-01 -6.73464168e-01 4.68842809e+01] [ 3.19832746e-02 9.42807454e-01 3.31799901e-01 3.75810774e+01] [ 7.05619500e-01 -2.56410376e-01 6.60571601e-01 2.31204656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63907232900002 meters Centerline goodness : 0.219161 with order 2 Centerline is valid? [False, False] Translation: X:46.86, Y:37.54, Z:23.13 [[ 0.7201217 0.15733139 -0.6757748 46.86223001] [ 0.10449382 0.9382529 0.32979167 37.53760664] [ 0.68593424 -0.30810442 0.65921611 23.12554165] [ 0. 0. 0. 1. ]] SLAMing on 217.699072329 meters SLAMing on 217.759072329 meters SLAMing on 217.819072329 meters Centerline goodness : 0.139710 with order 2 Centerline is valid? [False, False] Translation: X:46.82, Y:37.44, Z:23.14 [[ 7.33720831e-01 2.79520294e-02 -6.78875855e-01 4.68226559e+01] [ 2.69807987e-01 9.05013445e-01 3.28868234e-01 3.74406162e+01] [ 6.23584310e-01 -4.24463602e-01 6.56485536e-01 2.31393534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879072329 meters Centerline goodness : 0.145756 with order 2 Centerline is valid? [False, False] Translation: X:46.81, Y:37.42, Z:23.14 [[ 7.34320333e-01 -2.54117297e-03 -6.78798343e-01 4.68139247e+01] [ 3.07371700e-01 8.92843431e-01 3.29170543e-01 3.74186117e+01] [ 6.05224162e-01 -4.50360024e-01 6.56414170e-01 2.31418342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939072329 meters Centerline goodness : 0.321941 with order 2 Centerline is valid? [False, False] Translation: X:46.81, Y:37.40, Z:23.14 [[ 7.33194264e-01 -3.01967129e-02 -6.79348459e-01 4.68059155e+01] [ 3.42070996e-01 8.79793324e-01 3.30077478e-01 3.73981401e+01] [ 5.87718984e-01 -4.74396318e-01 6.55388838e-01 2.31445393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999072329 meters Centerline goodness : 0.234902 with order 1 Centerline is valid? [False, False] Translation: X:46.79, Y:37.37, Z:23.15 [[ 0.73066171 -0.06931425 -0.67921205 46.79266635] [ 0.38729663 0.86135756 0.32873161 37.37098061] [ 0.56225865 -0.50324814 0.65620616 23.14574071] [ 0. 0. 0. 1. ]] SLAMing on 218.059072329 meters Centerline goodness : 0.194480 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:37.35, Z:23.15 [[ 0.72563672 -0.10332482 -0.68027592 46.7848812 ] [ 0.42601911 0.8438384 0.3262583 37.35187439] [ 0.54033236 -0.52655554 0.65633848 23.15095328] [ 0. 0. 0. 1. ]] SLAMing on 218.119072329 meters Centerline goodness : 0.199045 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:37.33, Z:23.15 [[ 0.72064063 -0.1345444 -0.68012858 46.77671483] [ 0.46052532 0.82619954 0.32451619 37.33157725] [ 0.51826008 -0.54707598 0.65735406 23.15206138] [ 0. 0. 0. 1. ]] SLAMing on 218.179072329 meters Centerline goodness : 0.189237 with order 1 Centerline is valid? [False, False] Translation: X:46.77, Y:37.32, Z:23.15 [[ 0.71635701 -0.15166383 -0.68105118 46.77315935] [ 0.47999239 0.81554233 0.32326153 37.31974865] [ 0.50639898 -0.55847005 0.65701695 23.15417065] [ 0. 0. 0. 1. ]] SLAMing on 218.239072329 meters Centerline goodness : 0.343970 with order 1 Centerline is valid? [False, False] Translation: X:46.76, Y:37.30, Z:23.15 [[ 0.71092831 -0.17479852 -0.68119484 46.76277368] [ 0.50621527 0.79958153 0.32313384 37.30065422] [ 0.4881875 -0.57455623 0.65693083 23.15355026] [ 0. 0. 0. 1. ]] SLAMing on 218.299072329 meters Centerline goodness : 0.206839 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:37.28, Z:23.15 [[ 0.70632149 -0.19456844 -0.68062697 46.75060275] [ 0.52818878 0.78499624 0.32372445 37.28259447] [ 0.47130305 -0.58815307 0.65722858 23.15189176] [ 0. 0. 0. 1. ]] SLAMing on 218.359072329 meters Centerline goodness : 0.309375 with order 1 Centerline is valid? [False, False] Translation: X:46.75, Y:37.28, Z:23.15 [[ 0.70646074 -0.20062571 -0.67872126 46.74860845] [ 0.53184535 0.78320526 0.32207148 37.27851937] [ 0.46696224 -0.5885056 0.66000562 23.15083031] [ 0. 0. 0. 1. ]] SLAMing on 218.41907232900002 meters Centerline goodness : 0.256749 with order 1 Centerline is valid? [False, False] Translation: X:46.74, Y:37.27, Z:23.15 [[ 0.7033343 -0.21171082 -0.67860105 46.74249389] [ 0.54215636 0.77718651 0.31944892 37.26877372] [ 0.45976879 -0.59258726 0.6614023 23.146319 ] [ 0. 0. 0. 1. ]] SLAMing on 218.479072329 meters Centerline goodness : 0.330269 with order 3 Centerline is valid? [False, False] Translation: X:46.74, Y:37.26, Z:23.14 [[ 0.69961455 -0.22367325 -0.67860869 46.73591695] [ 0.55348959 0.77027825 0.31673442 37.25598361] [ 0.4518725 -0.59719485 0.66269869 23.14202341] [ 0. 0. 0. 1. ]] SLAMing on 218.539072329 meters Centerline goodness : 0.318646 with order 3 Centerline is valid? [False, False] Translation: X:46.73, Y:37.24, Z:23.14 [[ 0.69686897 -0.23042245 -0.67917533 46.72835276] [ 0.56145886 0.76449623 0.31671669 37.24424846] [ 0.44624834 -0.60203904 0.66212643 23.13766008] [ 0. 0. 0. 1. ]] SLAMing on 218.599072329 meters Centerline goodness : 0.322987 with order 3 Centerline is valid? [False, False] Translation: X:46.71, Y:37.26, Z:23.14 [[ 0.7047196 -0.25110712 -0.66356273 46.70696288] [ 0.55719852 0.77485955 0.29853389 37.25655236] [ 0.43920393 -0.58011885 0.68597523 23.1401668 ] [ 0. 0. 0. 1. ]] SLAMing on 218.659072329 meters Centerline goodness : 0.326618 with order 3 Centerline is valid? [False, False] Translation: X:46.69, Y:37.26, Z:23.14 [[ 0.70921421 -0.26721785 -0.65238778 46.68809702] [ 0.55622622 0.78066293 0.28491715 37.2585623 ] [ 0.43316001 -0.56494248 0.70229082 23.13844084] [ 0. 0. 0. 1. ]] SLAMing on 218.719072329 meters Centerline goodness : 0.323091 with order 3 Centerline is valid? [False, False] Translation: X:46.67, Y:37.28, Z:23.14 [[ 0.72005479 -0.28924139 -0.63076186 46.66563687] [ 0.54678077 0.79618053 0.25908946 37.27556183] [ 0.42726092 -0.53144706 0.73144523 23.14154568] [ 0. 0. 0. 1. ]] SLAMing on 218.779072329 meters Centerline goodness : 0.337017 with order 2 Centerline is valid? [False, False] Translation: X:46.64, Y:37.29, Z:23.15 [[ 0.73601841 -0.31019334 -0.60171172 46.64088046] [ 0.5331725 0.81331676 0.23290112 37.29340871] [ 0.41713786 -0.49223565 0.76400266 23.14632589] [ 0. 0. 0. 1. ]] SLAMing on 218.839072329 meters Centerline goodness : 0.311391 with order 3 Centerline is valid? [False, False] Translation: X:46.64, Y:37.29, Z:23.15 [[ 0.73534542 -0.31466694 -0.60020982 46.63855981] [ 0.53543399 0.81267602 0.2299307 37.29282314] [ 0.41542454 -0.49045123 0.76608097 23.14554564] [ 0. 0. 0. 1. ]] SLAMing on 218.899072329 meters Centerline goodness : 0.219084 with order 1 Centerline is valid? [False, False] Translation: X:46.62, Y:37.28, Z:23.14 [[ 0.73350451 -0.31405953 -0.60277503 46.61742388] [ 0.53170843 0.8175709 0.22105196 37.2810517 ] [ 0.42338785 -0.48264317 0.76668005 23.14255717] [ 0. 0. 0. 1. ]] SLAMing on 218.959072329 meters Centerline goodness : 0.129263 with order 1 Centerline is valid? [False, False] Translation: X:46.62, Y:37.28, Z:23.14 [[ 0.73286807 -0.31771631 -0.60163173 46.61647031] [ 0.5334173 0.81722218 0.21820606 37.28132737] [ 0.42233917 -0.48083703 0.76839142 23.14143485] [ 0. 0. 0. 1. ]] SLAMing on 219.019072329 meters Centerline goodness : 0.322072 with order 3 Centerline is valid? [False, False] Translation: X:46.62, Y:37.28, Z:23.14 [[ 0.73226876 -0.32172155 -0.60023138 46.61536967] [ 0.53523321 0.81684605 0.21514634 37.28123939] [ 0.42107941 -0.47880871 0.7703469 23.14014268] [ 0. 0. 0. 1. ]] SLAMing on 219.079072329 meters Centerline goodness : 0.216989 with order 1 Centerline is valid? [False, False] Translation: X:46.61, Y:37.28, Z:23.14 [[ 0.73191705 -0.32563434 -0.59854801 46.6133861 ] [ 0.53690848 0.81647956 0.21234502 37.2794377 ] [ 0.41955538 -0.47678444 0.77243115 23.1391284 ] [ 0. 0. 0. 1. ]] SLAMing on 219.13907232900002 meters Centerline goodness : 0.216535 with order 1 Centerline is valid? [False, False] Translation: X:46.61, Y:37.28, Z:23.14 [[ 0.7315356 -0.32922374 -0.5970489 46.61124566] [ 0.53851381 0.81607605 0.209816 37.27733414] [ 0.41816091 -0.47500695 0.77428021 23.1386894 ] [ 0. 0. 0. 1. ]] SLAMing on 219.199072329 meters Centerline goodness : 0.300161 with order 3 Centerline is valid? [False, False] Translation: X:46.61, Y:37.28, Z:23.14 [[ 0.7308425 -0.33322489 -0.59567644 46.6100673 ] [ 0.54061106 0.81536745 0.2071608 37.27580958] [ 0.41666404 -0.47343119 0.77605025 23.13858377] [ 0. 0. 0. 1. ]] SLAMing on 219.259072329 meters Centerline goodness : 0.198448 with order 1 Centerline is valid? [False, False] Translation: X:46.59, Y:37.26, Z:23.14 [[ 0.72829623 -0.33390709 -0.59840677 46.59076782] [ 0.53835853 0.81908398 0.19817045 37.26172968] [ 0.42397488 -0.46648418 0.7762975 23.13829957] [ 0. 0. 0. 1. ]] SLAMing on 219.319072329 meters Centerline goodness : 0.296054 with order 2 Centerline is valid? [False, False] Translation: X:46.59, Y:37.26, Z:23.14 [[ 0.72748716 -0.33823438 -0.59695891 46.59025368] [ 0.54077691 0.81814021 0.19546591 37.25996104] [ 0.4222828 -0.46502054 0.77809584 23.1381376 ] [ 0. 0. 0. 1. ]] SLAMing on 219.379072329 meters Centerline goodness : 0.303066 with order 2 Centerline is valid? [False, False] Translation: X:46.57, Y:37.24, Z:23.14 [[ 0.72578729 -0.33876688 -0.59872349 46.57056019] [ 0.53755139 0.82239068 0.18631177 37.24366796] [ 0.42926836 -0.45706735 0.77898531 23.13730514] [ 0. 0. 0. 1. ]] SLAMing on 219.439072329 meters Centerline goodness : 0.303585 with order 2 Centerline is valid? [False, False] Translation: X:46.57, Y:37.24, Z:23.14 [[ 0.72555508 -0.34260926 -0.59681549 46.5691649 ] [ 0.53945289 0.82163194 0.18415084 37.23869705] [ 0.42727089 -0.45556541 0.78096078 23.13702865] [ 0. 0. 0. 1. ]] SLAMing on 219.499072329 meters Centerline goodness : 0.294090 with order 1 Centerline is valid? [False, False] Translation: X:46.57, Y:37.24, Z:23.14 [[ 0.72504328 -0.34633366 -0.59528585 46.56889806] [ 0.54133974 0.82093056 0.18172589 37.23594587] [ 0.42575056 -0.45401102 0.78269436 23.1367375 ] [ 0. 0. 0. 1. ]] SLAMing on 219.559072329 meters Centerline goodness : 0.114623 with order 2 Centerline is valid? [False, False] Translation: X:46.57, Y:37.23, Z:23.14 [[ 0.72551 -0.34857101 -0.59340837 46.56741273] [ 0.54189255 0.82087094 0.18034233 37.22996643] [ 0.42424958 -0.45240374 0.78443811 23.1362161 ] [ 0. 0. 0. 1. ]] SLAMing on 219.619072329 meters Centerline goodness : 0.361404 with order 1 Centerline is valid? [False, False] Translation: X:46.57, Y:37.23, Z:23.14 [[ 0.72556418 -0.35178953 -0.59143955 46.56603239] [ 0.54306612 0.82057615 0.1781403 37.22662418] [ 0.4226533 -0.450443 0.78642564 23.13515286] [ 0. 0. 0. 1. ]] SLAMing on 219.679072329 meters Centerline goodness : 0.368083 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:37.22, Z:23.13 [[ 0.7286634 -0.34839338 -0.58963692 46.56349669] [ 0.53893553 0.82294209 0.17976321 37.2156324 ] [ 0.42260873 -0.44876317 0.78740935 23.13279924] [ 0. 0. 0. 1. ]] SLAMing on 219.739072329 meters Centerline goodness : 0.109570 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:37.20, Z:23.13 [[ 0.73241095 -0.34463464 -0.58719772 46.56041052] [ 0.53380829 0.82600126 0.18102658 37.2036406 ] [ 0.42263803 -0.44603686 0.7889412 23.12851656] [ 0. 0. 0. 1. ]] SLAMing on 219.799072329 meters Centerline goodness : 0.110579 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:37.20, Z:23.13 [[ 0.73367829 -0.34310996 -0.58650807 46.55960692] [ 0.53228717 0.82672099 0.1822163 37.19897258] [ 0.4223583 -0.44587887 0.78918027 23.12795058] [ 0. 0. 0. 1. ]] SLAMing on 219.859072329 meters Centerline goodness : 0.261265 with order 2 Centerline is valid? [False, False] Translation: X:46.56, Y:37.19, Z:23.12 [[ 0.73766535 -0.33864917 -0.58409466 46.55586031] [ 0.52656609 0.83003414 0.18377018 37.18625423] [ 0.42258489 -0.44312534 0.79060859 23.12380869] [ 0. 0. 0. 1. ]] SLAMing on 219.91907232900002 meters Centerline goodness : 0.104843 with order 1 Centerline is valid? [False, False] Translation: X:46.55, Y:37.17, Z:23.12 [[ 0.74168538 -0.33413353 -0.58159916 46.55284629] [ 0.52075123 0.83335104 0.18532188 37.17277927] [ 0.42275401 -0.44031901 0.79208473 23.11955162] [ 0. 0. 0. 1. ]] SLAMing on 219.979072329 meters Centerline goodness : 0.103309 with order 1 Centerline is valid? [False, False] Translation: X:46.55, Y:37.16, Z:23.12 [[ 0.74503718 -0.33073351 -0.57925378 46.54984981] [ 0.51621885 0.83585568 0.18671739 37.16227977] [ 0.42241887 -0.43813312 0.79347443 23.11588737] [ 0. 0. 0. 1. ]] SLAMing on 220.039072329 meters Centerline goodness : 0.262660 with order 2 Centerline is valid? [False, False] Translation: X:46.55, Y:37.15, Z:23.11 [[ 0.74916153 -0.3255844 -0.57684643 46.5452873 ] [ 0.51012946 0.83909489 0.1889119 37.14802019] [ 0.42252212 -0.43579189 0.7947078 23.11252565] [ 0. 0. 0. 1. ]] SLAMing on 220.099072329 meters Centerline goodness : 0.257235 with order 3 Centerline is valid? [False, False] Translation: X:46.54, Y:37.13, Z:23.11 [[ 0.75343686 -0.32029666 -0.57423249 46.54083693] [ 0.50394339 0.84225975 0.19141469 37.1324958 ] [ 0.42234343 -0.43359955 0.79600092 23.10918766] [ 0. 0. 0. 1. ]] SLAMing on 220.159072329 meters Centerline goodness : 0.269307 with order 3 Centerline is valid? [False, False] Translation: X:46.54, Y:37.12, Z:23.11 [[ 0.75712704 -0.31624253 -0.5716199 46.53766873] [ 0.49877541 0.84492489 0.19319685 37.12018826] [ 0.42187882 -0.43138451 0.79744947 23.10513005] [ 0. 0. 0. 1. ]] SLAMing on 220.219072329 meters Centerline goodness : 0.277815 with order 3 Centerline is valid? [False, False] Translation: X:46.54, Y:37.12, Z:23.10 [[ 0.7569187 -0.31947346 -0.57009718 46.53691567] [ 0.50024371 0.84458259 0.1908834 37.11823964] [ 0.42051197 -0.42967074 0.79909495 23.1043351 ] [ 0. 0. 0. 1. ]] SLAMing on 220.279072329 meters Centerline goodness : 0.262120 with order 3 Centerline is valid? [False, False] Translation: X:46.53, Y:37.10, Z:23.10 [[ 0.76120977 -0.31414218 -0.56733974 46.53446167] [ 0.49404614 0.84762225 0.19353279 37.10210125] [ 0.42009297 -0.42761106 0.80041906 23.10034303] [ 0. 0. 0. 1. ]] SLAMing on 220.339072329 meters Centerline goodness : 0.268434 with order 1 Centerline is valid? [False, False] Translation: X:46.53, Y:37.09, Z:23.10 [[ 0.76474189 -0.31008975 -0.56481342 46.53193018] [ 0.48908975 0.85003375 0.19553478 37.08975982] [ 0.41947713 -0.42577809 0.80171813 23.09657082] [ 0. 0. 0. 1. ]] SLAMing on 220.399072329 meters Centerline goodness : 0.284523 with order 3 Centerline is valid? [False, False] Translation: X:46.53, Y:37.07, Z:23.09 [[ 0.76912611 -0.30453269 -0.5618762 46.52610736] [ 0.48290657 0.85280348 0.19881518 37.07231894] [ 0.41862426 -0.42424765 0.80297426 23.09410287] [ 0. 0. 0. 1. ]] SLAMing on 220.459072329 meters Centerline goodness : 0.412974 with order 1 Centerline is valid? [False, False] Translation: X:46.52, Y:37.05, Z:23.09 [[ 0.77346092 -0.29896289 -0.55890912 46.5219057 ] [ 0.47655609 0.85567183 0.20179201 37.05461779] [ 0.41791446 -0.42242978 0.8043013 23.09112766] [ 0. 0. 0. 1. ]] SLAMing on 220.519072329 meters Centerline goodness : 0.265091 with order 1 Centerline is valid? [False, False] Translation: X:46.52, Y:37.04, Z:23.09 [[ 0.7770805 -0.29483657 -0.55607311 46.51982256] [ 0.47124879 0.85819919 0.20351594 37.04112523] [ 0.41721755 -0.42019704 0.80583123 23.08680393] [ 0. 0. 0. 1. ]] SLAMing on 220.579072329 meters Centerline goodness : 0.217305 with order 2 Centerline is valid? [False, False] Translation: X:46.52, Y:37.02, Z:23.08 [[ 0.78127522 -0.289098 -0.55320103 46.51674091] [ 0.46488412 0.86092024 0.20663758 37.02308126] [ 0.41652346 -0.4186152 0.80701272 23.08378692] [ 0. 0. 0. 1. ]] SLAMing on 220.63907232900002 meters Centerline goodness : 0.453232 with order 3 Centerline is valid? [False, False] Translation: X:46.51, Y:37.01, Z:23.08 [[ 0.78456874 -0.28498967 -0.55066577 46.51370569] [ 0.46004432 0.86298955 0.20882592 37.01010299] [ 0.41570557 -0.41716894 0.8081825 23.08075036] [ 0. 0. 0. 1. ]] SLAMing on 220.699072329 meters Centerline goodness : 0.074729 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:36.99, Z:23.08 [[ 0.78761493 -0.28416662 -0.5467285 46.50857362] [ 0.4569015 0.8646654 0.20879357 36.9926689 ] [ 0.41340506 -0.41425001 0.81085954 23.07839141] [ 0. 0. 0. 1. ]] SLAMing on 220.759072329 meters Centerline goodness : 0.338433 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.98, Z:23.08 [[ 0.79055867 -0.28316817 -0.54298506 46.50421308] [ 0.45385618 0.86620236 0.20906469 36.97547629] [ 0.41113447 -0.41171503 0.81330141 23.07610972] [ 0. 0. 0. 1. ]] SLAMing on 220.819072329 meters Centerline goodness : 0.340538 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.96, Z:23.07 [[ 0.79271814 -0.28361069 -0.53959515 46.50049658] [ 0.4522448 0.86715247 0.20861743 36.96397006] [ 0.40874514 -0.40940392 0.81566895 23.073357 ] [ 0. 0. 0. 1. ]] SLAMing on 220.879072329 meters Centerline goodness : 0.343583 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.95, Z:23.07 [[ 0.79548611 -0.28298502 -0.53583704 46.49631383] [ 0.44976098 0.86832136 0.20912454 36.94601844] [ 0.40609964 -0.40735426 0.8180132 23.07190847] [ 0. 0. 0. 1. ]] SLAMing on 220.939072329 meters Centerline goodness : 0.342711 with order 1 Centerline is valid? [False, False] Translation: X:46.49, Y:36.94, Z:23.07 [[ 0.79558746 -0.28532606 -0.53444329 46.49479787] [ 0.45114071 0.86780861 0.20827931 36.93740479] [ 0.40436697 -0.40681354 0.81913985 23.0743075 ] [ 0. 0. 0. 1. ]] SLAMing on 220.999072329 meters Centerline goodness : 0.345346 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.92, Z:23.08 [[ 0.79579813 -0.28663994 -0.53342561 46.49511576] [ 0.45209232 0.86727907 0.20842157 36.92424114] [ 0.40288692 -0.40701912 0.81976678 23.07843618] [ 0. 0. 0. 1. ]] SLAMing on 221.059072329 meters Centerline goodness : 0.347740 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.91, Z:23.08 [[ 0.79589546 -0.28802354 -0.53253437 46.49639698] [ 0.45322836 0.8666315 0.20864779 36.91047195] [ 0.40141559 -0.40742151 0.82028851 23.08285406] [ 0. 0. 0. 1. ]] SLAMing on 221.119072329 meters Centerline goodness : 0.346956 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.90, Z:23.09 [[ 0.79544403 -0.29095868 -0.53161249 46.49728308] [ 0.45534554 0.86580661 0.20745928 36.90212815] [ 0.39991153 -0.40708962 0.82118744 23.0856871 ] [ 0. 0. 0. 1. ]] SLAMing on 221.179072329 meters Centerline goodness : 0.348368 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.89, Z:23.09 [[ 0.7952156 -0.2926663 -0.53101656 46.49977488] [ 0.45695639 0.86492074 0.20761255 36.88833848] [ 0.39852604 -0.40774815 0.8215342 23.09054745] [ 0. 0. 0. 1. ]] SLAMing on 221.239072329 meters Centerline goodness : 0.350796 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.87, Z:23.10 [[ 0.79486755 -0.29448633 -0.53053122 46.50167343] [ 0.45873885 0.86394407 0.20774821 36.87469622] [ 0.3971703 -0.40850759 0.82181342 23.09589861] [ 0. 0. 0. 1. ]] SLAMing on 221.299072329 meters Centerline goodness : 0.351285 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.87, Z:23.10 [[ 0.79431237 -0.29748031 -0.52969173 46.50206722] [ 0.46097461 0.8630344 0.20657695 36.86612371] [ 0.39568961 -0.40826106 0.82264977 23.09937884] [ 0. 0. 0. 1. ]] SLAMing on 221.359072329 meters Centerline goodness : 0.354759 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.85, Z:23.10 [[ 0.79297237 -0.3047497 -0.52756274 46.50198734] [ 0.46593613 0.86125635 0.20283249 36.85421482] [ 0.39255362 -0.4066511 0.82494638 23.10369322] [ 0. 0. 0. 1. ]] SLAMing on 221.41907232900002 meters Centerline goodness : 0.352551 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:36.85, Z:23.11 [[ 0.79230202 -0.30778324 -0.5268083 46.5029154 ] [ 0.46827816 0.86025694 0.20167689 36.84561818] [ 0.39111773 -0.40648183 0.82571148 23.10716605] [ 0. 0. 0. 1. ]] SLAMing on 221.479072329 meters Centerline goodness : 0.353881 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:36.83, Z:23.11 [[ 0.79175456 -0.3099624 -0.52635351 46.50522716] [ 0.47049612 0.85899814 0.20188014 36.83141326] [ 0.38956143 -0.40748681 0.82595181 23.11287067] [ 0. 0. 0. 1. ]] SLAMing on 221.539072329 meters Centerline goodness : 0.354750 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:36.82, Z:23.12 [[ 0.79107771 -0.31296517 -0.52559381 46.50619206] [ 0.47286355 0.85793835 0.2008528 36.82234599] [ 0.38806716 -0.40742433 0.82668573 23.11657345] [ 0. 0. 0. 1. ]] SLAMing on 221.599072329 meters Centerline goodness : 0.358502 with order 1 Centerline is valid? [False, False] Translation: X:46.49, Y:36.80, Z:23.12 [[ 0.78654057 -0.31926653 -0.52860459 46.48999394] [ 0.48007406 0.85454363 0.19820212 36.79710123] [ 0.38843638 -0.40966336 0.82540482 23.11724936] [ 0. 0. 0. 1. ]] SLAMing on 221.659072329 meters Centerline goodness : 0.359347 with order 1 Centerline is valid? [False, False] Translation: X:46.47, Y:36.77, Z:23.12 [[ 0.7819476 -0.32585505 -0.53139104 46.47405657] [ 0.48751905 0.85092183 0.19559452 36.77198443] [ 0.38843678 -0.41200792 0.82423683 23.11776152] [ 0. 0. 0. 1. ]] SLAMing on 221.719072329 meters Centerline goodness : 0.359658 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:36.76, Z:23.12 [[ 0.78112557 -0.32887309 -0.53074036 46.47521141] [ 0.49003169 0.84968112 0.19470732 36.76239423] [ 0.38692607 -0.41217046 0.82486588 23.12200175] [ 0. 0. 0. 1. ]] SLAMing on 221.779072329 meters Centerline goodness : 0.364313 with order 1 Centerline is valid? [False, False] Translation: X:46.46, Y:36.74, Z:23.12 [[ 0.77643071 -0.3356526 -0.53337855 46.45926752] [ 0.49770282 0.84577102 0.19225841 36.73728162] [ 0.38658409 -0.41473934 0.82373784 23.12240454] [ 0. 0. 0. 1. ]] SLAMing on 221.839072329 meters Centerline goodness : 0.366246 with order 1 Centerline is valid? [False, False] Translation: X:46.44, Y:36.71, Z:23.12 [[ 0.77179843 -0.34312204 -0.53534516 46.443526 ] [ 0.50578901 0.8415111 0.18983295 36.71184824] [ 0.38536303 -0.41728448 0.8230243 23.12141683] [ 0. 0. 0. 1. ]] SLAMing on 221.899072329 meters Centerline goodness : 0.367650 with order 1 Centerline is valid? [False, False] Translation: X:46.43, Y:36.69, Z:23.12 [[ 0.76763261 -0.34865347 -0.53775545 46.42604416] [ 0.51228399 0.8379956 0.18795871 36.69094913] [ 0.38510425 -0.41976675 0.82188235 23.11919135] [ 0. 0. 0. 1. ]] SLAMing on 221.959072329 meters Centerline goodness : 0.371614 with order 1 Centerline is valid? [False, False] Translation: X:46.41, Y:36.66, Z:23.12 [[ 0.7634326 -0.35559633 -0.53918634 46.40884007] [ 0.52105342 0.83238126 0.18879826 36.65642742] [ 0.38167264 -0.42507963 0.82075167 23.11570163] [ 0. 0. 0. 1. ]] SLAMing on 222.019072329 meters Centerline goodness : 0.373194 with order 1 Centerline is valid? [False, False] Translation: X:46.39, Y:36.63, Z:23.11 [[ 0.75922167 -0.36049307 -0.54187378 46.39216378] [ 0.52727971 0.8287638 0.18742109 36.63457078] [ 0.38152137 -0.4280132 0.81929613 23.11325268] [ 0. 0. 0. 1. ]] SLAMing on 222.079072329 meters Centerline goodness : 0.375240 with order 1 Centerline is valid? [False, False] Translation: X:46.38, Y:36.61, Z:23.11 [[ 0.75383912 -0.36923483 -0.54349997 46.37755723] [ 0.53673827 0.8231656 0.18523073 36.60856686] [ 0.37899684 -0.4313514 0.8187169 23.11086226] [ 0. 0. 0. 1. ]] SLAMing on 222.13907232900002 meters Centerline goodness : 0.377989 with order 1 Centerline is valid? [False, False] Translation: X:46.36, Y:36.58, Z:23.11 [[ 0.7484047 -0.37846516 -0.54466001 46.36090873] [ 0.54660737 0.81707589 0.18332312 36.58413383] [ 0.37564715 -0.43491506 0.81837529 23.10831299] [ 0. 0. 0. 1. ]] SLAMing on 222.199072329 meters Centerline goodness : 0.379362 with order 1 Centerline is valid? [False, False] Translation: X:46.34, Y:36.57, Z:23.10 [[ 0.74513252 -0.38169008 -0.5468914 46.34153106] [ 0.55049861 0.81491242 0.1812982 36.56754986] [ 0.37646887 -0.43615414 0.8173376 23.10466419] [ 0. 0. 0. 1. ]] SLAMing on 222.259072329 meters Centerline goodness : 0.379065 with order 1 Centerline is valid? [False, False] Translation: X:46.32, Y:36.54, Z:23.10 [[ 0.73956597 -0.39144154 -0.54755428 46.32435873] [ 0.56034998 0.80875331 0.17867842 36.54406924] [ 0.37289418 -0.43896651 0.81747069 23.10147852] [ 0. 0. 0. 1. ]] SLAMing on 222.319072329 meters Centerline goodness : 0.381538 with order 1 Centerline is valid? [False, False] Translation: X:46.31, Y:36.52, Z:23.10 [[ 0.73533144 -0.39679033 -0.54940432 46.30626021] [ 0.56648972 0.80485364 0.1769181 36.52315179] [ 0.37199067 -0.44132534 0.81661183 23.09697723] [ 0. 0. 0. 1. ]] SLAMing on 222.379072329 meters Centerline goodness : 0.384128 with order 1 Centerline is valid? [False, False] Translation: X:46.29, Y:36.50, Z:23.09 [[ 0.72930296 -0.40641076 -0.55040665 46.28868346] [ 0.57649498 0.79826147 0.17444819 36.50077014] [ 0.3684708 -0.44453225 0.81646822 23.09350143] [ 0. 0. 0. 1. ]] SLAMing on 222.439072329 meters Centerline goodness : 0.385089 with order 1 Centerline is valid? [False, False] Translation: X:46.27, Y:36.48, Z:23.09 [[ 0.72498011 -0.41189048 -0.55204174 46.26976261] [ 0.58269947 0.79411891 0.17273242 36.48123951] [ 0.36723994 -0.44690199 0.81572877 23.08937129] [ 0. 0. 0. 1. ]] SLAMing on 222.499072329 meters Centerline goodness : 0.387356 with order 1 Centerline is valid? [False, False] Translation: X:46.25, Y:36.46, Z:23.08 [[ 0.71885589 -0.42148319 -0.5528093 46.25141903] [ 0.59232921 0.78761323 0.16973955 36.45999481] [ 0.36385755 -0.44946337 0.81583722 23.08488641] [ 0. 0. 0. 1. ]] SLAMing on 222.559072329 meters Centerline goodness : 0.388767 with order 1 Centerline is valid? [False, False] Translation: X:46.23, Y:36.44, Z:23.08 [[ 0.71180658 -0.43055218 -0.55493803 46.23330338] [ 0.602845 0.77994179 0.16813302 36.44196412] [ 0.36042933 -0.45421981 0.81472392 23.08141284] [ 0. 0. 0. 1. ]] SLAMing on 222.619072329 meters Centerline goodness : 0.388709 with order 1 Centerline is valid? [False, False] Translation: X:46.21, Y:36.42, Z:23.08 [[ 0.70500374 -0.44034825 -0.55593448 46.21384871] [ 0.61292701 0.77266357 0.1652619 36.42354237] [ 0.35677753 -0.45725751 0.81463204 23.07636869] [ 0. 0. 0. 1. ]] SLAMing on 222.679072329 meters Centerline goodness : 0.389928 with order 1 Centerline is valid? [False, False] Translation: X:46.21, Y:36.42, Z:23.07 [[ 0.70259937 -0.44620048 -0.55430971 46.21305728] [ 0.61804004 0.76872606 0.16458057 36.41765022] [ 0.35267639 -0.4582198 0.8158762 23.07467151] [ 0. 0. 0. 1. ]] SLAMing on 222.739072329 meters Centerline goodness : 0.390794 with order 1 Centerline is valid? [False, False] Translation: X:46.21, Y:36.41, Z:23.07 [[ 0.69804911 -0.45721969 -0.5510695 46.20889131] [ 0.62724956 0.76165409 0.16260698 36.41032309] [ 0.34537723 -0.45916576 0.81846281 23.07056246] [ 0. 0. 0. 1. ]] SLAMing on 222.799072329 meters Centerline goodness : 0.391525 with order 1 Centerline is valid? [False, False] Translation: X:46.21, Y:36.41, Z:23.07 [[ 0.6953578 -0.46378624 -0.54898074 46.20572171] [ 0.63273481 0.7573059 0.16166146 36.40564895] [ 0.34076999 -0.45977178 0.82005227 23.06773342] [ 0. 0. 0. 1. ]] SLAMing on 222.859072329 meters Centerline goodness : 0.393310 with order 1 Centerline is valid? [False, False] Translation: X:46.20, Y:36.40, Z:23.06 [[ 0.69171794 -0.47142482 -0.5470694 46.20142666] [ 0.64065847 0.75019738 0.16358673 36.39611971] [ 0.33329118 -0.46364052 0.82094729 23.06152442] [ 0. 0. 0. 1. ]] SLAMing on 222.91907232900002 meters Centerline goodness : 0.391552 with order 1 Centerline is valid? [False, False] Translation: X:46.20, Y:36.39, Z:23.06 [[ 0.68861277 -0.47841582 -0.54491353 46.19871997] [ 0.64662028 0.74522431 0.16285865 36.39147042] [ 0.32816865 -0.46449868 0.82252435 23.05759833] [ 0. 0. 0. 1. ]] SLAMing on 222.979072329 meters Centerline goodness : 0.392918 with order 1 Centerline is valid? [False, False] Translation: X:46.19, Y:36.38, Z:23.05 [[ 0.6832096 -0.48990805 -0.54149307 46.19238217] [ 0.65670459 0.73648843 0.16224635 36.38478766] [ 0.31931759 -0.46644924 0.82490083 23.04973325] [ 0. 0. 0. 1. ]] SLAMing on 223.039072329 meters Centerline goodness : 0.392824 with order 1 Centerline is valid? [False, False] Translation: X:46.18, Y:36.38, Z:23.04 [[ 0.67848846 -0.49944363 -0.53871094 46.1826982 ] [ 0.66607851 0.72753936 0.16439556 36.37651622] [ 0.30982709 -0.47036427 0.82629573 23.03981333] [ 0. 0. 0. 1. ]] SLAMing on 223.099072329 meters Centerline goodness : 0.393229 with order 1 Centerline is valid? [False, False] Translation: X:46.18, Y:36.37, Z:23.03 [[ 0.67479973 -0.50717566 -0.53611395 46.17549561] [ 0.67268623 0.72148843 0.16415748 36.37329631] [ 0.30354334 -0.47140989 0.82803029 23.03324363] [ 0. 0. 0. 1. ]] SLAMing on 223.159072329 meters Centerline goodness : 0.408617 with order 3 Centerline is valid? [False, False] Translation: X:46.17, Y:36.37, Z:23.02 [[ 0.66966826 -0.5174969 -0.53267379 46.16567589] [ 0.68202841 0.71238989 0.16534175 36.36831293] [ 0.29390759 -0.47402278 0.83001249 23.02128013] [ 0. 0. 0. 1. ]] SLAMing on 223.219072329 meters Centerline goodness : 0.405569 with order 3 Centerline is valid? [False, False] Translation: X:46.12, Y:36.35, Z:23.00 [[ 0.66034171 -0.52711361 -0.53488322 46.1243872 ] [ 0.69334246 0.70155726 0.16460146 36.34780194] [ 0.28848754 -0.47955046 0.82873777 23.00225668] [ 0. 0. 0. 1. ]] SLAMing on 223.279072329 meters Centerline goodness : 0.384871 with order 3 Centerline is valid? [False, False] Translation: X:46.09, Y:36.33, Z:22.99 [[ 0.65427521 -0.53238534 -0.53711247 46.08578336] [ 0.7001746 0.69483732 0.16418475 36.32690928] [ 0.28579624 -0.48349452 0.82737752 22.98552571] [ 0. 0. 0. 1. ]] SLAMing on 223.339072329 meters Centerline goodness : 0.376817 with order 2 Centerline is valid? [False, False] Translation: X:46.05, Y:36.31, Z:22.97 [[ 0.64597833 -0.54065357 -0.53889304 46.0468269 ] [ 0.70946321 0.68576721 0.16243552 36.31182831] [ 0.28173383 -0.48725461 0.82656458 22.96824226] [ 0. 0. 0. 1. ]] SLAMing on 223.399072329 meters Centerline goodness : 0.320570 with order 2 Centerline is valid? [False, False] Translation: X:46.01, Y:36.29, Z:22.95 [[ 0.64001119 -0.54360189 -0.543031 46.00839436] [ 0.71472622 0.68061123 0.16104279 36.29241347] [ 0.28204983 -0.49118768 0.82412533 22.9501462 ] [ 0. 0. 0. 1. ]] SLAMing on 223.459072329 meters Centerline goodness : 0.309726 with order 3 Centerline is valid? [False, False] Translation: X:45.96, Y:36.28, Z:22.93 [[ 0.63419574 -0.54741965 -0.54601053 45.96458813] [ 0.72047871 0.67466297 0.16043786 36.27679012] [ 0.28054625 -0.49513797 0.82227258 22.92938094] [ 0. 0. 0. 1. ]] SLAMing on 223.519072329 meters Centerline goodness : 0.270746 with order 3 Centerline is valid? [False, False] Translation: X:45.92, Y:36.26, Z:22.91 [[ 0.62934429 -0.55127026 -0.54774708 45.91838967] [ 0.72485627 0.67054047 0.15798375 36.26143087] [ 0.28019484 -0.49646408 0.82159252 22.90608973] [ 0. 0. 0. 1. ]] SLAMing on 223.579072329 meters Centerline goodness : 0.268497 with order 3 Centerline is valid? [False, False] Translation: X:45.87, Y:36.24, Z:22.88 [[ 0.62599852 -0.55215904 -0.55067799 45.87438362] [ 0.72679228 0.66906057 0.15534134 36.24236313] [ 0.28266381 -0.49747196 0.82013586 22.8844088 ] [ 0. 0. 0. 1. ]] SLAMing on 223.63907232900002 meters Centerline goodness : 0.269682 with order 3 Centerline is valid? [False, False] Translation: X:45.83, Y:36.23, Z:22.86 [[ 0.62245029 -0.55272023 -0.55412633 45.82675362] [ 0.72884954 0.66734501 0.15306531 36.22940966] [ 0.28519115 -0.49915026 0.81823898 22.85960592] [ 0. 0. 0. 1. ]] SLAMing on 223.699072329 meters Centerline goodness : 0.291969 with order 3 Centerline is valid? [False, False] Translation: X:45.78, Y:36.21, Z:22.84 [[ 0.62125878 -0.54979777 -0.55835467 45.78074256] [ 0.72820874 0.66822786 0.15226145 36.20983457] [ 0.28939515 -0.50119252 0.81550997 22.83701627] [ 0. 0. 0. 1. ]] SLAMing on 223.759072329 meters Centerline goodness : 0.294874 with order 3 Centerline is valid? [False, False] Translation: X:45.73, Y:36.20, Z:22.81 [[ 0.61978529 -0.54819875 -0.56155527 45.73067884] [ 0.72777931 0.66921898 0.14994411 36.1977242 ] [ 0.29360427 -0.50162146 0.81373979 22.81057618] [ 0. 0. 0. 1. ]] SLAMing on 223.819072329 meters Centerline goodness : 0.241169 with order 3 Centerline is valid? [False, False] Translation: X:45.68, Y:36.19, Z:22.78 [[ 0.61883791 -0.54585961 -0.56486895 45.68053518] [ 0.72665285 0.67093485 0.14772293 36.18729066] [ 0.29835429 -0.50188018 0.81185036 22.78361619] [ 0. 0. 0. 1. ]] SLAMing on 223.879072329 meters Centerline goodness : 0.286367 with order 3 Centerline is valid? [False, False] Translation: X:45.63, Y:36.17, Z:22.76 [[ 0.61922341 -0.54073118 -0.56936119 45.63310934] [ 0.72381836 0.67416173 0.14694539 36.17076751] [ 0.30438357 -0.50310611 0.80884788 22.75972819] [ 0. 0. 0. 1. ]] SLAMing on 223.939072329 meters Centerline goodness : 0.358495 with order 1 Centerline is valid? [False, False] Translation: X:45.58, Y:36.16, Z:22.73 [[ 0.61993989 -0.53670842 -0.57237977 45.58214868] [ 0.72060147 0.67809436 0.14464286 36.1621863 ] [ 0.31049646 -0.50212758 0.80713062 22.73090936] [ 0. 0. 0. 1. ]] SLAMing on 223.999072329 meters Centerline goodness : 0.349976 with order 3 Centerline is valid? [False, False] Translation: X:45.53, Y:36.15, Z:22.70 [[ 0.62069776 -0.53196237 -0.57597772 45.52989765] [ 0.71668691 0.68285634 0.1416584 36.15370284] [ 0.3179531 -0.50072274 0.80509786 22.70087814] [ 0. 0. 0. 1. ]] SLAMing on 224.059072329 meters Centerline goodness : 0.349561 with order 3 Centerline is valid? [False, False] Translation: X:45.49, Y:36.13, Z:22.68 [[ 0.62192771 -0.52595295 -0.58015465 45.48909142] [ 0.71243882 0.68753891 0.14043208 36.13304611] [ 0.32501823 -0.5006633 0.8023088 22.68011346] [ 0. 0. 0. 1. ]] SLAMing on 224.119072329 meters Centerline goodness : 0.289197 with order 3 Centerline is valid? [False, False] Translation: X:45.44, Y:36.13, Z:22.65 [[ 0.62319731 -0.5204568 -0.58373782 45.43908278] [ 0.7081269 0.69232366 0.13872362 36.12733572] [ 0.33193585 -0.49981263 0.8000037 22.64985035] [ 0. 0. 0. 1. ]] SLAMing on 224.179072329 meters Centerline goodness : 0.244364 with order 3 Centerline is valid? [False, False] Translation: X:45.39, Y:36.12, Z:22.62 [[ 0.6244899 -0.51505056 -0.58714162 45.3941638 ] [ 0.70341017 0.69761366 0.13619584 36.11534824] [ 0.33945027 -0.49805432 0.79794449 22.62494592] [ 0. 0. 0. 1. ]] SLAMing on 224.239072329 meters Centerline goodness : 0.271176 with order 3 Centerline is valid? [False, False] Translation: X:45.34, Y:36.11, Z:22.59 [[ 0.6259914 -0.50832757 -0.59138638 45.34337771] [ 0.69829321 0.70298523 0.13490127 36.10922849] [ 0.34716186 -0.49740813 0.7950244 22.59362919] [ 0. 0. 0. 1. ]] SLAMing on 224.299072329 meters Centerline goodness : 0.224556 with order 1 Centerline is valid? [False, False] Translation: X:45.29, Y:36.11, Z:22.56 [[ 0.62728166 -0.50222788 -0.59521835 45.29464131] [ 0.69336892 0.70816682 0.13318892 36.10587394] [ 0.3546227 -0.49625287 0.79244926 22.56299243] [ 0. 0. 0. 1. ]] SLAMing on 224.359072329 meters Centerline goodness : 0.224393 with order 1 Centerline is valid? [False, False] Translation: X:45.25, Y:36.10, Z:22.54 [[ 0.62877496 -0.4958876 -0.59894702 45.25067488] [ 0.68741997 0.71451524 0.13008366 36.09553894] [ 0.3634499 -0.49352149 0.79015233 22.53909481] [ 0. 0. 0. 1. ]] SLAMing on 224.41907232900002 meters Centerline goodness : 0.233147 with order 1 Centerline is valid? [False, False] Translation: X:45.20, Y:36.09, Z:22.51 [[ 0.63072382 -0.48884115 -0.60267885 45.19980331] [ 0.68110201 0.72090224 0.12806254 36.09090109] [ 0.37187029 -0.49125787 0.7876409 22.50741778] [ 0. 0. 0. 1. ]] SLAMing on 224.479072329 meters Centerline goodness : 0.232903 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:36.09, Z:22.48 [[ 0.63293805 -0.48034099 -0.6071754 45.14970193] [ 0.67411647 0.72760667 0.12710438 36.08665092] [ 0.38073142 -0.48975613 0.78433572 22.47530982] [ 0. 0. 0. 1. ]] SLAMing on 224.539072329 meters Centerline goodness : 0.377212 with order 3 Centerline is valid? [False, False] Translation: X:45.11, Y:36.08, Z:22.45 [[ 0.63513912 -0.47362166 -0.6101482 45.11059341] [ 0.66729092 0.73429525 0.12463272 36.08032066] [ 0.38900017 -0.48630547 0.78242307 22.45222612] [ 0. 0. 0. 1. ]] SLAMing on 224.599072329 meters Centerline goodness : 0.372716 with order 3 Centerline is valid? [False, False] Translation: X:45.06, Y:36.08, Z:22.42 [[ 0.63797192 -0.46567556 -0.61330098 45.06054459] [ 0.65896565 0.7422289 0.12190381 36.07601087] [ 0.39844209 -0.48191548 0.7803854 22.41970268] [ 0. 0. 0. 1. ]] SLAMing on 224.659072329 meters Centerline goodness : 0.361988 with order 3 Centerline is valid? [False, False] Translation: X:45.01, Y:36.07, Z:22.39 [[ 0.64122567 -0.45554057 -0.617505 45.01250831] [ 0.64946152 0.75077747 0.12055254 36.07253151] [ 0.40869227 -0.47834712 0.77727386 22.38670027] [ 0. 0. 0. 1. ]] SLAMing on 224.719072329 meters Centerline goodness : 0.364690 with order 1 Centerline is valid? [False, False] Translation: X:44.96, Y:36.07, Z:22.35 [[ 0.64561316 -0.44318385 -0.62190974 44.96235123] [ 0.6376949 0.76092349 0.11975246 36.06726827] [ 0.42015337 -0.47390243 0.7738783 22.35246398] [ 0. 0. 0. 1. ]] SLAMing on 224.779072329 meters Centerline goodness : 0.096552 with order 1 Centerline is valid? [False, False] Translation: X:44.92, Y:36.06, Z:22.33 [[ 0.64881824 -0.43258744 -0.62602157 44.92309911] [ 0.62661353 0.77049588 0.11701106 36.06096748] [ 0.43172952 -0.46819249 0.77097692 22.33017561] [ 0. 0. 0. 1. ]] SLAMing on 224.839072329 meters Centerline goodness : 0.095426 with order 1 Centerline is valid? [False, False] Translation: X:44.88, Y:36.06, Z:22.30 [[ 0.65352036 -0.4200708 -0.62964407 44.87687441] [ 0.61334367 0.78135221 0.11531806 36.06080323] [ 0.44353204 -0.46155091 0.76827735 22.2998508 ] [ 0. 0. 0. 1. ]] SLAMing on 224.899072329 meters Centerline goodness : 0.096297 with order 1 Centerline is valid? [False, False] Translation: X:44.84, Y:36.05, Z:22.28 [[ 0.65754465 -0.40704892 -0.63399228 44.83708788] [ 0.60000408 0.79184783 0.11389519 36.05413003] [ 0.4556645 -0.45528913 0.76490631 22.27563964] [ 0. 0. 0. 1. ]] SLAMing on 224.959072329 meters Centerline goodness : 0.095964 with order 1 Centerline is valid? [False, False] Translation: X:44.79, Y:36.05, Z:22.24 [[ 0.6634179 -0.3925511 -0.63700889 44.79221567] [ 0.58390015 0.80396917 0.11266848 36.05403722] [ 0.46790737 -0.44669587 0.76257818 22.24153703] [ 0. 0. 0. 1. ]] SLAMing on 225.019072329 meters Centerline goodness : 0.254322 with order 2 Centerline is valid? [False, False] Translation: X:44.75, Y:36.05, Z:22.21 [[ 0.67029887 -0.3764272 -0.63953263 44.74637562] [ 0.56553741 0.81711035 0.11179497 36.05332217] [ 0.48048606 -0.43661568 0.76059181 22.20715984] [ 0. 0. 0. 1. ]] SLAMing on 225.079072329 meters Centerline goodness : 0.095777 with order 1 Centerline is valid? [False, False] Translation: X:44.71, Y:36.05, Z:22.18 [[ 0.6744301 -0.36257931 -0.64317982 44.71092364] [ 0.55035893 0.82757416 0.1105715 36.05012122] [ 0.49218807 -0.42855251 0.75768968 22.18387246] [ 0. 0. 0. 1. ]] SLAMing on 225.13907232900002 meters Centerline goodness : 0.096060 with order 1 Centerline is valid? [False, False] Translation: X:44.67, Y:36.05, Z:22.15 [[ 0.68213552 -0.343036 -0.64576887 44.6659887 ] [ 0.52886833 0.84131591 0.11174003 36.04920529] [ 0.50496477 -0.41774855 0.75531234 22.14803256] [ 0. 0. 0. 1. ]] SLAMing on 225.199072329 meters Centerline goodness : 0.338353 with order 1 Centerline is valid? [False, False] Translation: X:44.62, Y:36.05, Z:22.11 [[ 0.6900466 -0.32335275 -0.64751733 44.6221717 ] [ 0.50537183 0.85569998 0.11125134 36.04911799] [ 0.51810713 -0.40400563 0.75388623 22.1121411 ] [ 0. 0. 0. 1. ]] SLAMing on 225.259072329 meters Centerline goodness : 0.368957 with order 1 Centerline is valid? [False, False] Translation: X:44.58, Y:36.04, Z:22.08 [[ 0.69610954 -0.3060541 -0.64943237 44.58326763] [ 0.48422729 0.86800355 0.10997171 36.04315274] [ 0.53005231 -0.39102523 0.75242529 22.0835297 ] [ 0. 0. 0. 1. ]] SLAMing on 225.319072329 meters Centerline goodness : 0.367629 with order 1 Centerline is valid? [False, False] Translation: X:44.54, Y:36.04, Z:22.05 [[ 0.70444938 -0.28415739 -0.65038884 44.53898193] [ 0.45776363 0.88219559 0.11037844 36.04444557] [ 0.54240532 -0.37548038 0.75153906 22.04861702] [ 0. 0. 0. 1. ]] SLAMing on 225.379072329 meters Centerline goodness : 0.363729 with order 1 Centerline is valid? [False, False] Translation: X:44.50, Y:36.04, Z:22.02 [[ 0.708487 -0.26658616 -0.65343553 44.50461072] [ 0.43735507 0.89252713 0.11007207 36.04227599] [ 0.55386525 -0.36376797 0.74893668 22.02377653] [ 0. 0. 0. 1. ]] SLAMing on 225.439072329 meters Centerline goodness : 0.390112 with order 3 Centerline is valid? [False, False] Translation: X:44.45, Y:36.04, Z:21.98 [[ 0.71618704 -0.24061699 -0.655118 44.4549463 ] [ 0.40546891 0.90747072 0.10996295 36.03981135] [ 0.56804145 -0.34438402 0.74748148 21.98290937] [ 0. 0. 0. 1. ]] SLAMing on 225.499072329 meters Centerline goodness : 0.366505 with order 1 Centerline is valid? [False, False] Translation: X:44.42, Y:36.05, Z:21.95 [[ 0.72402304 -0.22222602 -0.65299789 44.4229146 ] [ 0.38119683 0.91789228 0.1102848 36.04802635] [ 0.57487357 -0.32876946 0.74928701 21.94982322] [ 0. 0. 0. 1. ]] SLAMing on 225.559072329 meters Centerline goodness : 0.184280 with order 2 Centerline is valid? [False, False] Translation: X:44.39, Y:36.05, Z:21.92 [[ 0.73010599 -0.20051715 -0.65325195 44.38601622] [ 0.35414151 0.92860887 0.11076712 36.05499699] [ 0.58440485 -0.31221537 0.74899435 21.91825081] [ 0. 0. 0. 1. ]] SLAMing on 225.619072329 meters Centerline goodness : 0.183163 with order 3 Centerline is valid? [False, False] Translation: X:44.36, Y:36.06, Z:21.89 [[ 0.73756471 -0.18419875 -0.64966847 44.36335595] [ 0.333454 0.93594534 0.11320228 36.0579612 ] [ 0.58720245 -0.30012856 0.75174206 21.89290249] [ 0. 0. 0. 1. ]] SLAMing on 225.679072329 meters Centerline goodness : 0.200264 with order 2 Centerline is valid? [False, False] Translation: X:44.33, Y:36.07, Z:21.86 [[ 0.74486716 -0.16351795 -0.64686536 44.33311791] [ 0.30664906 0.94494212 0.11423988 36.06625958] [ 0.59257005 -0.28345419 0.75399898 21.85984166] [ 0. 0. 0. 1. ]] SLAMing on 225.739072329 meters Centerline goodness : 0.184329 with order 3 Centerline is valid? [False, False] Translation: X:44.31, Y:36.07, Z:21.83 [[ 0.7524739 -0.14690922 -0.64202859 44.311317 ] [ 0.28479777 0.95153583 0.11605948 36.06956945] [ 0.593863 -0.27018004 0.75784529 21.83459756] [ 0. 0. 0. 1. ]] SLAMing on 225.799072329 meters Centerline goodness : 0.190790 with order 2 Centerline is valid? [False, False] Translation: X:44.28, Y:36.08, Z:21.80 [[ 0.76169098 -0.12447302 -0.6358721 44.28431277] [ 0.25744351 0.95872391 0.12071161 36.07788851] [ 0.59460045 -0.25564609 0.76229613 21.80019679] [ 0. 0. 0. 1. ]] SLAMing on 225.859072329 meters Centerline goodness : 0.167713 with order 2 Centerline is valid? [False, False] Translation: X:44.26, Y:36.09, Z:21.77 [[ 0.77055952 -0.10210279 -0.62913675 44.25741785] [ 0.22972178 0.96523295 0.12471268 36.08602181] [ 0.59453001 -0.24062496 0.76722467 21.76593591] [ 0. 0. 0. 1. ]] SLAMing on 225.91907232900002 meters Centerline goodness : 0.177050 with order 3 Centerline is valid? [False, False] Translation: X:44.23, Y:36.09, Z:21.73 [[ 0.7787817 -0.08025905 -0.62213949 44.23186542] [ 0.20224312 0.97094672 0.12790698 36.09483727] [ 0.5937986 -0.22543504 0.77238738 21.73264767] [ 0. 0. 0. 1. ]] SLAMing on 225.979072329 meters Centerline goodness : 0.171869 with order 1 Centerline is valid? [False, False] Translation: X:44.22, Y:36.10, Z:21.72 [[ 0.78241554 -0.07403654 -0.61834013 44.22490579] [ 0.19322112 0.97276765 0.12801832 36.10049568] [ 0.59202324 -0.21963989 0.77541395 21.72173742] [ 0. 0. 0. 1. ]] SLAMing on 226.039072329 meters Centerline goodness : 0.186067 with order 3 Centerline is valid? [False, False] Translation: X:44.20, Y:36.11, Z:21.69 [[ 0.78979652 -0.05008349 -0.61132078 44.20051208] [ 0.16485142 0.97732217 0.1329112 36.10954809] [ 0.5908007 -0.2057499 0.78014198 21.68893011] [ 0. 0. 0. 1. ]] SLAMing on 226.099072329 meters Centerline goodness : 0.059716 with order 1 Centerline is valid? [False, False] Translation: X:44.19, Y:36.12, Z:21.67 [[ 7.95939864e-01 -3.55494127e-02 -6.04331012e-01 4.41884170e+01] [ 1.46268499e-01 9.79990485e-01 1.34996950e-01 3.61189351e+01] [ 5.87439579e-01 -1.95844044e-01 7.85213253e-01 2.16700722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159072329 meters Centerline goodness : 0.058284 with order 1 Centerline is valid? [False, False] Translation: X:44.17, Y:36.13, Z:21.64 [[ 8.01879305e-01 -1.24319928e-02 -5.97356699e-01 4.41663821e+01] [ 1.17852895e-01 9.83432445e-01 1.37736419e-01 3.61299094e+01] [ 5.85747621e-01 -1.80848201e-01 7.90059272e-01 2.16392799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219072329 meters Centerline goodness : 0.264596 with order 1 Centerline is valid? [False, False] Translation: X:44.15, Y:36.14, Z:21.61 [[ 8.05850807e-01 1.06988639e-02 -5.92021969e-01 4.41457502e+01] [ 9.00058750e-02 9.86004811e-01 1.40333370e-01 3.61437748e+01] [ 5.85237917e-01 -1.66373215e-01 7.93609812e-01 2.16144959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279072329 meters Centerline goodness : 0.259403 with order 1 Centerline is valid? [False, False] Translation: X:44.14, Y:36.16, Z:21.60 [[ 8.10558778e-01 2.40284680e-02 -5.85164165e-01 4.41365946e+01] [ 7.34071406e-02 9.87109964e-01 1.42215719e-01 3.61562339e+01] [ 5.81038604e-01 -1.58229427e-01 7.98346785e-01 2.15990938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339072329 meters Centerline goodness : 0.057193 with order 1 Centerline is valid? [False, False] Translation: X:44.12, Y:36.17, Z:21.58 [[ 0.81373508 0.04860347 -0.57920024 44.11750016] [ 0.04414476 0.98845137 0.14496594 36.17009201] [ 0.57955712 -0.14353252 0.80219197 21.57610254] [ 0. 0. 0. 1. ]] SLAMing on 226.399072329 meters Centerline goodness : 0.255190 with order 1 Centerline is valid? [False, False] Translation: X:44.10, Y:36.18, Z:21.55 [[ 8.15480438e-01 7.37641109e-02 -5.74064902e-01 4.40996612e+01] [ 1.48520909e-02 9.88851897e-01 1.48159851e-01 3.61841569e+01] [ 5.78594047e-01 -1.29347525e-01 8.05293827e-01 2.15522352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459072329 meters Centerline goodness : 0.058851 with order 1 Centerline is valid? [False, False] Translation: X:44.09, Y:36.19, Z:21.54 [[ 8.16633151e-01 8.84865310e-02 -5.70333613e-01 4.40941290e+01] [-1.90927507e-03 9.88586219e-01 1.50644089e-01 3.61947487e+01] [ 5.77153924e-01 -1.21932034e-01 8.07481224e-01 2.15376007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519072329 meters Centerline goodness : 0.242449 with order 1 Centerline is valid? [False, False] Translation: X:44.08, Y:36.21, Z:21.51 [[ 8.17288721e-01 1.14127009e-01 -5.64813396e-01 4.40760322e+01] [-3.13257597e-02 9.87540552e-01 1.54215285e-01 3.62073339e+01] [ 5.75376262e-01 -1.08345205e-01 8.10680870e-01 2.15126495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579072329 meters Centerline goodness : 0.234321 with order 1 Centerline is valid? [False, False] Translation: X:44.07, Y:36.22, Z:21.50 [[ 8.19199164e-01 1.26106680e-01 -5.59472818e-01 4.40720761e+01] [-4.37128911e-02 9.86417327e-01 1.58335217e-01 3.62171542e+01] [ 5.71840810e-01 -1.05251903e-01 8.13584737e-01 2.14958961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63907232900002 meters Centerline goodness : 0.059059 with order 1 Centerline is valid? [False, False] Translation: X:44.05, Y:36.23, Z:21.47 [[ 0.81854881 0.14920016 -0.55472259 44.0503056 ] [-0.07053375 0.98447832 0.16070917 36.22787911] [ 0.5700902 -0.09242164 0.8163672 21.47067818] [ 0. 0. 0. 1. ]] SLAMing on 226.699072329 meters Centerline goodness : 0.221008 with order 1 Centerline is valid? [False, False] Translation: X:44.05, Y:36.23, Z:21.46 [[ 0.82027914 0.15928976 -0.54933497 44.04720102] [-0.0791821 0.98281486 0.16674875 36.23498447] [ 0.56645594 -0.09328303 0.81879542 21.45500829] [ 0. 0. 0. 1. ]] SLAMing on 226.759072329 meters Centerline goodness : 0.210623 with order 1 Centerline is valid? [False, False] Translation: X:44.02, Y:36.24, Z:21.43 [[ 0.81846259 0.18053156 -0.54546067 44.02476163] [-0.1021219 0.97994687 0.17110012 36.24359768] [ 0.56541145 -0.08433556 0.82048608 21.4286876 ] [ 0. 0. 0. 1. ]] SLAMing on 226.819072329 meters Centerline goodness : 0.192143 with order 1 Centerline is valid? [False, False] Translation: X:44.00, Y:36.25, Z:21.40 [[ 0.81677875 0.20069212 -0.54092065 44.00142375] [-0.12389393 0.97668952 0.17529366 36.25135953] [ 0.56349158 -0.07615935 0.82260379 21.39937322] [ 0. 0. 0. 1. ]] SLAMing on 226.879072329 meters Centerline goodness : 0.186509 with order 1 Centerline is valid? [False, False] Translation: X:43.99, Y:36.26, Z:21.37 [[ 0.81965544 0.21153158 -0.53237144 43.99415515] [-0.13305704 0.974211 0.18223266 36.25545824] [ 0.55719008 -0.07853222 0.82666311 21.3744049 ] [ 0. 0. 0. 1. ]] SLAMing on 226.939072329 meters Centerline goodness : 0.175977 with order 1 Centerline is valid? [False, False] Translation: X:43.98, Y:36.27, Z:21.34 [[ 0.82323244 0.2261743 -0.52070484 43.98166395] [-0.14552631 0.97063783 0.19153146 36.2662975 ] [ 0.54873531 -0.08189866 0.83197486 21.33996068] [ 0. 0. 0. 1. ]] SLAMing on 226.999072329 meters Centerline goodness : 0.160159 with order 1 Centerline is valid? [False, False] Translation: X:43.97, Y:36.28, Z:21.30 [[ 0.82778745 0.24271696 -0.50582251 43.96519808] [-0.15997612 0.96626229 0.20185346 36.27926605] [ 0.53775047 -0.08617224 0.83868872 21.29589285] [ 0. 0. 0. 1. ]] SLAMing on 227.059072329 meters Centerline goodness : 0.158398 with order 1 Centerline is valid? [False, False] Translation: X:43.94, Y:36.30, Z:21.25 [[ 0.82687137 0.26463439 -0.49623823 43.93526245] [-0.18151296 0.96072909 0.20988728 36.29753683] [ 0.53229389 -0.08347611 0.84243394 21.25195442] [ 0. 0. 0. 1. ]] SLAMing on 227.119072329 meters Centerline goodness : 0.152388 with order 1 Centerline is valid? [False, False] Translation: X:43.92, Y:36.31, Z:21.22 [[ 0.82998284 0.2780774 -0.4835302 43.9229494 ] [-0.19287091 0.95647227 0.21900138 36.31145909] [ 0.52338256 -0.08850848 0.84748861 21.21646474] [ 0. 0. 0. 1. ]] SLAMing on 227.179072329 meters Centerline goodness : 0.383543 with order 2 Centerline is valid? [False, False] Translation: X:43.88, Y:36.34, Z:21.16 [[ 0.82226276 0.31754142 -0.47228317 43.87608428] [-0.23160044 0.94474699 0.23197923 36.34406834] [ 0.51985112 -0.0813669 0.850373 21.15898404] [ 0. 0. 0. 1. ]] SLAMing on 227.239072329 meters Centerline goodness : 0.138065 with order 2 Centerline is valid? [False, False] Translation: X:43.85, Y:36.37, Z:21.11 [[ 0.81734791 0.34877625 -0.45858208 43.848926 ] [-0.26097076 0.93373481 0.24501748 36.36785379] [ 0.51365033 -0.08058802 0.8542066 21.11136934] [ 0. 0. 0. 1. ]] SLAMing on 227.299072329 meters Centerline goodness : 0.107253 with order 1 Centerline is valid? [False, False] Translation: X:43.80, Y:36.38, Z:21.06 [[ 0.79488647 0.40498275 -0.45182349 43.8015186 ] [-0.31349447 0.91167846 0.26563812 36.38067958] [ 0.5194966 -0.06950798 0.85164073 21.05846359] [ 0. 0. 0. 1. ]] SLAMing on 227.359072329 meters Centerline goodness : 0.392450 with order 1 Centerline is valid? [False, False] Translation: X:43.73, Y:36.42, Z:20.99 [[ 7.61394764e-01 4.67348247e-01 -4.49292365e-01 4.37306809e+01] [-3.80338810e-01 8.83260478e-01 2.74214001e-01 3.64184052e+01] [ 5.24995622e-01 -3.79017812e-02 8.50260579e-01 2.09874644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41907232900002 meters Centerline goodness : 0.170243 with order 1 Centerline is valid? [False, False] Translation: X:43.67, Y:36.47, Z:20.93 [[ 7.37506126e-01 5.08091345e-01 -4.44890884e-01 4.36684535e+01] [-4.31222973e-01 8.61279546e-01 2.68782983e-01 3.64729849e+01] [ 5.19741726e-01 -6.38192744e-03 8.54299602e-01 2.09319558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.479072329 meters Centerline goodness : 0.602669 with order 3 Centerline is valid? [False, False] Translation: X:43.57, Y:36.60, Z:20.83 [[ 6.95587728e-01 5.76863742e-01 -4.28235841e-01 4.35662053e+01] [-5.03205089e-01 8.16622707e-01 2.82687094e-01 3.65976202e+01] [ 5.12779046e-01 1.88567812e-02 8.58313504e-01 2.08320616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.539072329 meters Centerline goodness : 0.125269 with order 1 Centerline is valid? [False, False] Translation: X:43.44, Y:36.78, Z:20.71 [[ 6.52505915e-01 6.31571604e-01 -4.18752122e-01 4.34362419e+01] [-5.60021219e-01 7.74177971e-01 2.94999498e-01 3.67837891e+01] [ 5.10501974e-01 4.20211563e-02 8.58849205e-01 2.07064620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.599072329 meters Centerline goodness : 0.638953 with order 2 Centerline is valid? [False, False] Translation: X:43.31, Y:36.99, Z:20.58 [[ 0.63494232 0.65664067 -0.40702738 43.31476984] [-0.58492271 0.7527785 0.30197673 36.98728979] [ 0.50469166 0.04634175 0.86205497 20.58163649] [ 0. 0. 0. 1. ]] SLAMing on 227.659072329 meters Centerline goodness : 0.694178 with order 3 Centerline is valid? [False, False] Translation: X:43.23, Y:37.09, Z:20.53 [[ 0.62269254 0.67082574 -0.40279875 43.23210977] [-0.6066445 0.73902453 0.29295938 37.08600165] [ 0.49420284 0.06193203 0.8671378 20.5260609 ] [ 0. 0. 0. 1. ]] SLAMing on 227.719072329 meters Centerline goodness : 0.750422 with order 3 Centerline is valid? [False, False] Translation: X:43.14, Y:37.21, Z:20.47 [[ 0.62674234 0.6728759 -0.39297844 43.14107832] [-0.62195644 0.73578967 0.26792489 37.20647568] [ 0.46942968 0.0764956 0.87965004 20.4675762 ] [ 0. 0. 0. 1. ]] SLAMing on 227.779072329 meters Centerline goodness : 0.708944 with order 1 Centerline is valid? [False, False] Translation: X:43.08, Y:37.31, Z:20.42 [[ 0.61307392 0.68386612 -0.39555974 43.07991574] [-0.64122698 0.72321229 0.25649941 37.30885082] [ 0.46148492 0.09639048 0.88189599 20.41583554] [ 0. 0. 0. 1. ]] SLAMing on 227.839072329 meters Centerline goodness : 0.755948 with order 1 Centerline is valid? [False, False] Translation: X:43.02, Y:37.41, Z:20.37 [[ 0.6024058 0.6895987 -0.40194636 43.02019493] [-0.65345146 0.71526134 0.2477951 37.41420697] [ 0.45837587 0.11337922 0.88149686 20.36547785] [ 0. 0. 0. 1. ]] SLAMing on 227.899072329 meters Centerline goodness : 0.784686 with order 1 Centerline is valid? [False, False] Translation: X:42.96, Y:37.53, Z:20.31 [[ 0.58879382 0.69339189 -0.41536673 42.95591109] [-0.66426156 0.70788883 0.24010413 37.53295274] [ 0.46051972 0.13454033 0.87739414 20.3083683 ] [ 0. 0. 0. 1. ]] SLAMing on 227.959072329 meters Centerline goodness : 0.794955 with order 1 Centerline is valid? [False, False] Translation: X:42.89, Y:37.67, Z:20.24 [[ 0.5716825 0.70420743 -0.42103565 42.88803389] [-0.68275135 0.6928877 0.23185605 37.67209799] [ 0.45500518 0.15491461 0.87691034 20.2446912 ] [ 0. 0. 0. 1. ]] SLAMing on 228.019072329 meters Centerline goodness : 0.798993 with order 1 Centerline is valid? [False, False] Translation: X:42.82, Y:37.83, Z:20.18 [[ 0.55492428 0.71728354 -0.42138269 42.82161966] [-0.70183664 0.67561097 0.22577678 37.83168303] [ 0.44663673 0.17045279 0.8783288 20.17889549] [ 0. 0. 0. 1. ]] SLAMing on 228.079072329 meters Centerline goodness : 0.800757 with order 1 Centerline is valid? [False, False] Translation: X:42.75, Y:38.00, Z:20.11 [[ 0.53996559 0.72468797 -0.42809404 42.75249988] [-0.71472475 0.66339905 0.22151802 38.0011516 ] [ 0.44452863 0.18635729 0.87616509 20.10873504] [ 0. 0. 0. 1. ]] SLAMing on 228.13907232900002 meters Centerline goodness : 0.806259 with order 1 Centerline is valid? [False, False] Translation: X:42.68, Y:38.20, Z:20.03 [[ 0.52074315 0.73368313 -0.43650389 42.68022104] [-0.73346383 0.64613996 0.2110307 38.19678898] [ 0.43687227 0.21026702 0.87460299 20.03247919] [ 0. 0. 0. 1. ]] SLAMing on 228.199072329 meters Centerline goodness : 0.811706 with order 1 Centerline is valid? [False, False] Translation: X:42.61, Y:38.38, Z:19.96 [[ 0.50859552 0.74037972 -0.43950935 42.60907673] [-0.74413835 0.63475901 0.20818049 38.38062049] [ 0.43311514 0.2211761 0.87378053 19.96001794] [ 0. 0. 0. 1. ]] SLAMing on 228.259072329 meters Centerline goodness : 0.810741 with order 1 Centerline is valid? [False, False] Translation: X:42.53, Y:38.60, Z:19.87 [[ 0.48376173 0.75472176 -0.44313616 42.52792249] [-0.76333853 0.61152898 0.20819843 38.60333138] [ 0.42812249 0.23754447 0.87194252 19.86950383] [ 0. 0. 0. 1. ]] SLAMing on 228.319072329 meters Centerline goodness : 0.813388 with order 1 Centerline is valid? [False, False] Translation: X:42.42, Y:38.89, Z:19.74 [[ 0.45748931 0.77546875 -0.43514567 42.41765077] [-0.78652934 0.58118221 0.20880334 38.88930886] [ 0.41481938 0.24672954 0.87581357 19.74484665] [ 0. 0. 0. 1. ]] SLAMing on 228.379072329 meters Centerline goodness : 0.807561 with order 1 Centerline is valid? [False, False] Translation: X:42.14, Y:40.72, Z:19.58 [[ 0.87103175 -0.23800678 -0.42971673 42.14071329] [ 0.28825885 0.95598265 0.0548088 40.7156597 ] [ 0.39775687 -0.17160985 0.9012988 19.5752219 ] [ 0. 0. 0. 1. ]] SLAMing on 228.439072329 meters Centerline goodness : 0.798322 with order 1 Centerline is valid? [False, False] Translation: X:42.08, Y:40.73, Z:19.53 [[ 0.89741738 -0.21529506 -0.38508451 42.0768267 ] [ 0.25456253 0.96558076 0.05340147 40.73470632] [ 0.36033312 -0.14595149 0.92133501 19.52688095] [ 0. 0. 0. 1. ]] SLAMing on 228.499072329 meters Centerline goodness : 0.800892 with order 1 Centerline is valid? [False, False] Translation: X:42.00, Y:40.74, Z:19.49 [[ 0.9236501 -0.19500967 -0.3299117 42.00380503] [ 0.22234387 0.97384158 0.04685922 40.74350812] [ 0.31214373 -0.11663537 0.94284807 19.49267187] [ 0. 0. 0. 1. ]] SLAMing on 228.559072329 meters Centerline goodness : 0.806475 with order 1 Centerline is valid? [False, False] Translation: X:41.94, Y:40.74, Z:19.47 [[ 9.42432333e-01 -1.88319170e-01 -2.76328043e-01 4.19406840e+01] [ 2.07170064e-01 9.77469842e-01 4.04137650e-02 4.07415814e+01] [ 2.62491642e-01 -9.53341371e-02 9.60213278e-01 1.94732160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.619072329 meters Centerline goodness : 0.810024 with order 1 Centerline is valid? [False, False] Translation: X:41.88, Y:40.73, Z:19.47 [[ 9.58805695e-01 -1.66694769e-01 -2.30009768e-01 4.18806051e+01] [ 1.78557821e-01 9.83421473e-01 3.16118755e-02 4.07334250e+01] [ 2.20927011e-01 -7.13796893e-02 9.72674764e-01 1.94708477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.679072329 meters Centerline goodness : 0.818009 with order 1 Centerline is valid? [False, False] Translation: X:41.84, Y:40.72, Z:19.46 [[ 9.70850979e-01 -1.37151539e-01 -1.96565084e-01 4.18422338e+01] [ 1.46250534e-01 9.88714340e-01 3.24766747e-02 4.07173654e+01] [ 1.89892491e-01 -6.02777599e-02 9.79952771e-01 1.94608126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.739072329 meters Centerline goodness : 0.820124 with order 1 Centerline is valid? [False, False] Translation: X:41.77, Y:40.69, Z:19.47 [[ 9.82182560e-01 -1.18582188e-01 -1.45793289e-01 4.17732622e+01] [ 1.22882023e-01 9.92202933e-01 2.08170384e-02 4.06858983e+01] [ 1.42187999e-01 -3.83615063e-02 9.89096036e-01 1.94669791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.799072329 meters Centerline goodness : 0.818297 with order 1 Centerline is valid? [False, False] Translation: X:41.71, Y:40.66, Z:19.49 [[ 9.88033640e-01 -1.09251102e-01 -1.08874804e-01 4.17124495e+01] [ 1.10864014e-01 9.93796139e-01 8.85468292e-03 4.06572521e+01] [ 1.07231976e-01 -2.08190225e-02 9.94016032e-01 1.94881420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.859072329 meters Centerline goodness : 0.813375 with order 1 Centerline is valid? [False, False] Translation: X:41.66, Y:40.61, Z:19.51 [[ 9.93022318e-01 -8.00825048e-02 -8.65648226e-02 4.16628815e+01] [ 7.99090421e-02 9.96787136e-01 -5.47275851e-03 4.06117161e+01] [ 8.67249737e-02 -1.48274071e-03 9.96231188e-01 1.95089380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91907232900002 meters Centerline goodness : 0.798320 with order 1 Centerline is valid? [False, False] Translation: X:41.65, Y:40.59, Z:19.51 [[ 9.94902648e-01 -6.05339968e-02 -8.06495867e-02 4.16529681e+01] [ 5.97602549e-02 9.98140921e-01 -1.19755541e-02 4.05855894e+01] [ 8.12245809e-02 7.09487066e-03 9.96670573e-01 1.95124258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979072329 meters Centerline goodness : 0.799376 with order 1 Centerline is valid? [False, False] Translation: X:41.68, Y:40.55, Z:19.51 [[ 9.95823816e-01 -3.75819435e-02 -8.32017076e-02 4.16762332e+01] [ 3.77675829e-02 9.99286334e-01 6.57870151e-04 4.05491120e+01] [ 8.31176053e-02 -3.79745015e-03 9.96532510e-01 1.95128489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039072329 meters Centerline goodness : 0.800203 with order 1 Centerline is valid? [False, False] Translation: X:41.69, Y:40.52, Z:19.51 [[ 9.96064037e-01 -2.19984287e-02 -8.58632784e-02 4.16927912e+01] [ 2.30834199e-02 9.99665500e-01 1.16638247e-02 4.05245557e+01] [ 8.55779713e-02 -1.35999345e-02 9.96238652e-01 1.95110623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099072329 meters Centerline goodness : 0.801414 with order 1 Centerline is valid? [False, False] Translation: X:41.71, Y:40.48, Z:19.51 [[ 9.96343754e-01 8.29944819e-03 -8.50308375e-02 4.17137202e+01] [-7.21576427e-03 9.99888887e-01 1.30440248e-02 4.04847181e+01] [ 8.51296477e-02 -1.23827701e-02 9.96292934e-01 1.95078092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.159072329 meters Centerline goodness : 0.802844 with order 1 Centerline is valid? [False, False] Translation: X:41.73, Y:40.46, Z:19.51 [[ 9.95823702e-01 2.35687472e-02 -8.82024330e-02 4.17341402e+01] [-2.18238372e-02 9.99547607e-01 2.06954663e-02 4.04585365e+01] [ 8.86502970e-02 -1.86841203e-02 9.95887558e-01 1.95093548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219072329 meters Centerline goodness : 0.804899 with order 1 Centerline is valid? [False, False] Translation: X:41.76, Y:40.41, Z:19.51 [[ 9.95035575e-01 4.41931536e-02 -8.91693269e-02 4.17584064e+01] [-4.18771966e-02 9.98739286e-01 2.76792293e-02 4.04149435e+01] [ 9.02801423e-02 -2.38076565e-02 9.95631805e-01 1.95115393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279072329 meters Centerline goodness : 0.800920 with order 1 Centerline is valid? [False, False] Translation: X:41.79, Y:40.37, Z:19.51 [[ 9.93801506e-01 6.04291511e-02 -9.33106864e-02 4.17880398e+01] [-5.75918309e-02 9.97800962e-01 3.28088552e-02 4.03734900e+01] [ 9.50881040e-02 -2.72315564e-02 9.95096324e-01 1.95126730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339072329 meters Centerline goodness : 0.797538 with order 1 Centerline is valid? [False, False] Translation: X:41.80, Y:40.34, Z:19.52 [[ 9.92898766e-01 7.12441180e-02 -9.52696985e-02 4.18033481e+01] [-6.81111117e-02 9.97037130e-01 3.57468559e-02 4.03409005e+01] [ 9.75341800e-02 -2.90040841e-02 9.94809453e-01 1.95150123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399072329 meters Centerline goodness : 0.795400 with order 1 Centerline is valid? [False, False] Translation: X:41.81, Y:40.29, Z:19.52 [[ 9.92044389e-01 9.17820078e-02 -8.61626008e-02 4.18091914e+01] [-8.87774989e-02 9.95323094e-01 3.80853449e-02 4.02919349e+01] [ 8.92551759e-02 -3.01330525e-02 9.95552868e-01 1.95152288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459072329 meters Centerline goodness : 0.791336 with order 1 Centerline is valid? [False, False] Translation: X:41.82, Y:40.26, Z:19.51 [[ 9.91297690e-01 9.83132931e-02 -8.75407660e-02 4.18184274e+01] [-9.49255379e-02 9.94595204e-01 4.20656968e-02 4.02615025e+01] [ 9.12032431e-02 -3.33897738e-02 9.95272370e-01 1.95148284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519072329 meters Centerline goodness : 0.789791 with order 1 Centerline is valid? [False, False] Translation: X:41.83, Y:40.21, Z:19.52 [[ 9.90413002e-01 1.04486479e-01 -9.03585107e-02 4.18333420e+01] [-1.01035317e-01 9.93997074e-01 4.19723938e-02 4.02146057e+01] [ 9.42016428e-02 -3.24406039e-02 9.95024451e-01 1.95164233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579072329 meters Centerline goodness : 0.789809 with order 1 Centerline is valid? [False, False] Translation: X:41.85, Y:40.17, Z:19.52 [[ 9.89735113e-01 1.09757650e-01 -9.15295796e-02 4.18454129e+01] [-1.06611411e-01 9.93551332e-01 3.85973852e-02 4.01688273e+01] [ 9.51756940e-02 -2.84430898e-02 9.95054058e-01 1.95197146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63907232900002 meters Centerline goodness : 0.786867 with order 1 Centerline is valid? [False, False] Translation: X:41.85, Y:40.13, Z:19.52 [[ 9.91003974e-01 1.05764159e-01 -8.20065017e-02 4.18518515e+01] [-1.02485671e-01 9.93795171e-01 4.32185660e-02 4.01278801e+01] [ 8.60686407e-02 -3.44252793e-02 9.95694275e-01 1.95169735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699072329 meters Centerline goodness : 0.785040 with order 1 Centerline is valid? [False, False] Translation: X:41.86, Y:40.11, Z:19.52 [[ 9.92426916e-01 9.83017904e-02 -7.36585040e-02 4.18602147e+01] [-9.51626173e-02 9.94444648e-01 4.49879706e-02 4.01061609e+01] [ 7.76717032e-02 -3.76377368e-02 9.96268291e-01 1.95177452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759072329 meters Centerline goodness : 0.784174 with order 1 Centerline is valid? [False, False] Translation: X:41.85, Y:40.10, Z:19.51 [[ 9.93956398e-01 9.16373206e-02 -6.04423691e-02 4.18521442e+01] [-8.96720350e-02 9.95374716e-01 3.44688506e-02 4.00973874e+01] [ 6.33214391e-02 -2.88405443e-02 9.97576372e-01 1.95137947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819072329 meters Centerline goodness : 0.781678 with order 1 Centerline is valid? [False, False] Translation: X:41.87, Y:40.06, Z:19.51 [[ 9.95931549e-01 7.17545997e-02 -5.45126268e-02 4.18669198e+01] [-7.04937200e-02 9.97206035e-01 2.47135413e-02 4.00633933e+01] [ 5.61336307e-02 -2.07701976e-02 9.98207200e-01 1.95065154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879072329 meters Centerline goodness : 0.781773 with order 1 Centerline is valid? [False, False] Translation: X:41.88, Y:40.04, Z:19.50 [[ 9.97421267e-01 5.32411302e-02 -4.81268941e-02 4.18751011e+01] [-5.20283244e-02 9.98304173e-01 2.61119118e-02 4.00357017e+01] [ 4.94355069e-02 -2.35406145e-02 9.98499860e-01 1.95020776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939072329 meters Centerline goodness : 0.780511 with order 1 Centerline is valid? [False, False] Translation: X:41.88, Y:40.03, Z:19.51 [[ 9.98319346e-01 4.09572342e-02 -4.09998649e-02 4.18787766e+01] [-3.98699322e-02 9.98840147e-01 2.69953387e-02 4.00264970e+01] [ 4.20579655e-02 -2.53153070e-02 9.98794405e-01 1.95062192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999072329 meters Centerline goodness : 0.781995 with order 1 Centerline is valid? [False, False] Translation: X:41.90, Y:40.00, Z:19.50 [[ 9.98982409e-01 1.92730394e-02 -4.07761717e-02 4.19038800e+01] [-1.88147220e-02 9.99755764e-01 1.15939261e-02 4.00045692e+01] [ 4.09896628e-02 -1.08149359e-02 9.99101038e-01 1.95042613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059072329 meters Centerline goodness : 0.783315 with order 1 Centerline is valid? [False, False] Translation: X:41.91, Y:39.99, Z:19.50 [[ 9.99468243e-01 3.23022088e-03 -3.24468361e-02 4.19139116e+01] [-2.91218693e-03 9.99947304e-01 9.84417437e-03 3.99874787e+01] [ 3.24769251e-02 -9.74444841e-03 9.99424982e-01 1.94952241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119072329 meters Centerline goodness : 0.783508 with order 1 Centerline is valid? [False, False] Translation: X:41.91, Y:39.99, Z:19.50 [[ 9.99725524e-01 -1.70847370e-03 -2.33657350e-02 4.19149694e+01] [ 2.07141811e-03 9.99877446e-01 1.55178187e-02 3.99883298e+01] [ 2.33363596e-02 -1.55619596e-02 9.99606542e-01 1.94998929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179072329 meters Centerline goodness : 0.784580 with order 1 Centerline is valid? [False, False] Translation: X:41.94, Y:39.98, Z:19.50 [[ 9.99723152e-01 -1.02840234e-02 -2.11626558e-02 4.19379330e+01] [ 1.04521769e-02 9.99914557e-01 7.85055351e-03 3.99805072e+01] [ 2.10801123e-02 -8.06957593e-03 9.99745223e-01 1.95011600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239072329 meters Centerline goodness : 0.784810 with order 1 Centerline is valid? [False, False] Translation: X:41.95, Y:39.98, Z:19.50 [[ 9.99653214e-01 -7.22882075e-03 -2.53218474e-02 4.19543399e+01] [ 7.27244579e-03 9.99972225e-01 1.63115425e-03 3.99767351e+01] [ 2.53093527e-02 -1.81474035e-03 9.99678020e-01 1.95005261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299072329 meters Centerline goodness : 0.786534 with order 1 Centerline is valid? [False, False] Translation: X:41.95, Y:39.98, Z:19.50 [[ 9.99669310e-01 5.41825991e-04 -2.57094866e-02 4.19536336e+01] [-3.08128226e-04 9.99958610e-01 9.09303396e-03 3.99809995e+01] [ 2.57133493e-02 -9.08210516e-03 9.99628100e-01 1.95021601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359072329 meters Centerline goodness : 0.787020 with order 1 Centerline is valid? [False, False] Translation: X:41.96, Y:39.99, Z:19.50 [[ 9.99768345e-01 1.20381580e-02 -1.78420661e-02 4.19557320e+01] [-1.19875383e-02 9.99923821e-01 2.94134253e-03 3.99858435e+01] [ 1.78761153e-02 -2.72677871e-03 9.99836491e-01 1.94979797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419072329 meters Centerline goodness : 0.784677 with order 1 Centerline is valid? [False, False] Translation: X:41.96, Y:39.99, Z:19.49 [[ 9.99683246e-01 2.32609437e-02 -9.60912783e-03 4.19572582e+01] [-2.33212178e-02 9.99708743e-01 -6.20887316e-03 3.99889945e+01] [ 9.46190485e-03 6.43100304e-03 9.99934555e-01 1.94900910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479072329 meters Centerline goodness : 0.786655 with order 1 Centerline is valid? [False, False] Translation: X:41.94, Y:39.99, Z:19.49 [[ 9.98665302e-01 5.16469298e-02 4.58346701e-04 4.19359222e+01] [-5.16481267e-02 9.98559280e-01 1.45545712e-02 3.99917613e+01] [ 2.94012565e-04 -1.45588180e-02 9.99893972e-01 1.94926315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539072329 meters Centerline goodness : 0.789345 with order 1 Centerline is valid? [False, False] Translation: X:41.93, Y:40.00, Z:19.50 [[ 9.97295990e-01 7.26753816e-02 1.09085918e-02 4.19281982e+01] [-7.28715679e-02 9.97163815e-01 1.88165140e-02 3.99979504e+01] [-9.51015568e-03 -1.95605602e-02 9.99763443e-01 1.94973903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599072329 meters Centerline goodness : 0.784218 with order 1 Centerline is valid? [False, False] Translation: X:41.94, Y:40.01, Z:19.49 [[ 9.94788322e-01 1.01890883e-01 3.80032438e-03 4.19365183e+01] [-1.01908405e-01 9.94782478e-01 4.74330758e-03 4.00074478e+01] [-3.29719631e-03 -5.10587198e-03 9.99981529e-01 1.94867105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659072329 meters Centerline goodness : 0.778636 with order 1 Centerline is valid? [False, False] Translation: X:41.94, Y:40.02, Z:19.47 [[ 9.91837024e-01 1.27395002e-01 -5.46179259e-03 4.19401340e+01] [-1.27344328e-01 9.91819574e-01 8.79518360e-03 4.00234962e+01] [ 6.53757523e-03 -8.02786043e-03 9.99946405e-01 1.94704445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719072329 meters Centerline goodness : 0.773648 with order 1 Centerline is valid? [False, False] Translation: X:41.94, Y:40.03, Z:19.46 [[ 9.90787961e-01 1.35367056e-01 -3.86991758e-03 4.19359886e+01] [-1.35348947e-01 9.90787260e-01 4.61172623e-03 4.00320673e+01] [ 4.45854084e-03 -4.04545356e-03 9.99981878e-01 1.94590188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779072329 meters Centerline goodness : 0.766818 with order 1 Centerline is valid? [False, False] Translation: X:41.93, Y:40.06, Z:19.45 [[ 9.83953454e-01 1.78211603e-01 -8.73066947e-03 4.19319187e+01] [-1.78349718e-01 9.83782728e-01 -1.90505197e-02 4.00569714e+01] [ 5.19405817e-03 2.03019371e-02 9.99780402e-01 1.94535702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839072329 meters Centerline goodness : 0.739478 with order 2 Centerline is valid? [False, False] Translation: X:41.89, Y:40.14, Z:19.44 [[ 9.55064610e-01 2.95010467e-01 -2.86428694e-02 4.18932823e+01] [-2.95862791e-01 9.54682230e-01 -3.23581377e-02 4.01364189e+01] [ 1.77988491e-02 3.93784715e-02 9.99065832e-01 1.94373403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899072329 meters Centerline goodness : 0.729082 with order 1 Centerline is valid? [False, False] Translation: X:41.81, Y:40.20, Z:19.44 [[ 9.26322192e-01 3.74882018e-01 -3.72916887e-02 4.18149633e+01] [-3.75166491e-01 9.26957193e-01 -6.82821361e-04 4.01952469e+01] [ 3.43118216e-02 1.46231046e-02 9.99304190e-01 1.94361044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959072329 meters Centerline goodness : 0.379547 with order 2 Centerline is valid? [False, False] Translation: X:41.74, Y:40.20, Z:19.43 [[ 9.15780698e-01 4.00264669e-01 -3.36735565e-02 4.17420079e+01] [-3.99606023e-01 9.16353565e-01 2.47218742e-02 4.02039987e+01] [ 4.07521763e-02 -9.18365919e-03 9.99127079e-01 1.94258799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.019072329 meters Centerline goodness : 0.741815 with order 1 Centerline is valid? [False, False] Translation: X:41.68, Y:40.19, Z:19.42 [[ 9.11270210e-01 4.10661966e-01 -3.07140807e-02 4.16793774e+01] [-4.09985232e-01 9.11719185e-01 2.60813468e-02 4.01890669e+01] [ 3.87132338e-02 -1.11748349e-02 9.99187875e-01 1.94152569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.079072329 meters Centerline goodness : 0.733634 with order 1 Centerline is valid? [False, False] Translation: X:41.63, Y:40.16, Z:19.40 [[ 9.05483975e-01 4.23800856e-01 -2.21721899e-02 4.16251093e+01] [-4.23488714e-01 9.05732409e-01 1.74960472e-02 4.01567653e+01] [ 2.74969108e-02 -6.45271816e-03 9.99601062e-01 1.94016785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13907232900002 meters Centerline goodness : 0.751118 with order 3 Centerline is valid? [False, False] Translation: X:41.55, Y:40.12, Z:19.40 [[ 8.85981318e-01 4.63681603e-01 -6.03950316e-03 4.15521203e+01] [-4.63462424e-01 8.85847127e-01 2.18506340e-02 4.01178549e+01] [ 1.54818135e-02 -1.65601708e-02 9.99743004e-01 1.93976248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199072329 meters Centerline goodness : 0.771434 with order 2 Centerline is valid? [False, False] Translation: X:41.46, Y:40.08, Z:19.41 [[ 8.70467233e-01 4.92123900e-01 1.00430910e-02 4.14625300e+01] [-4.92021300e-01 8.69334562e-01 4.66096488e-02 4.00840068e+01] [ 1.42069160e-02 -4.55135867e-02 9.98862692e-01 1.94062017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.259072329 meters Centerline goodness : 0.799097 with order 1 Centerline is valid? [False, False] Translation: X:41.33, Y:40.05, Z:19.43 [[ 8.42330690e-01 5.36034081e-01 5.60934275e-02 4.13259786e+01] [-5.38961033e-01 8.37778748e-01 8.74515571e-02 4.00452870e+01] [-1.16866372e-04 -1.03895302e-01 9.94588233e-01 1.94345376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.319072329 meters Centerline goodness : 0.797403 with order 1 Centerline is valid? [False, False] Translation: X:41.25, Y:40.02, Z:19.44 [[ 8.25555546e-01 5.62282645e-01 4.79193845e-02 4.12507157e+01] [-5.64272574e-01 8.21392510e-01 8.31312648e-02 4.00219988e+01] [ 7.38264395e-03 -9.56690711e-02 9.95385817e-01 1.94383392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.379072329 meters Centerline goodness : 0.791514 with order 1 Centerline is valid? [False, False] Translation: X:41.18, Y:40.01, Z:19.43 [[ 8.07808531e-01 5.88609181e-01 3.13784994e-02 4.11844128e+01] [-5.89238386e-01 8.04971114e-01 6.94235503e-02 4.00067363e+01] [ 1.56045534e-02 -7.45703525e-02 9.97093657e-01 1.94303062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.439072329 meters Centerline goodness : 0.794958 with order 1 Centerline is valid? [False, False] Translation: X:41.07, Y:39.97, Z:19.44 [[ 8.02065428e-01 5.94617096e-01 5.58709087e-02 4.10660838e+01] [-5.97191869e-01 7.97349376e-01 8.71541421e-02 3.99727152e+01] [ 7.27470868e-03 -1.03268977e-01 9.94626863e-01 1.94429047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.499072329 meters Centerline goodness : 0.790853 with order 1 Centerline is valid? [False, False] Translation: X:40.98, Y:39.94, Z:19.45 [[ 8.13778044e-01 5.79489136e-01 4.42451793e-02 4.09807309e+01] [-5.80947622e-01 8.08964748e-01 8.98659980e-02 3.99424875e+01] [ 1.62835792e-02 -9.88351078e-02 9.94970586e-01 1.94488583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.559072329 meters Centerline goodness : 0.781825 with order 1 Centerline is valid? [False, False] Translation: X:40.91, Y:39.91, Z:19.45 [[ 8.27930695e-01 5.59886225e-01 3.25296712e-02 4.09057257e+01] [-5.60240310e-01 8.23007000e-01 9.37564496e-02 3.99142749e+01] [ 2.57207976e-02 -9.58482756e-02 9.95063590e-01 1.94530818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.619072329 meters Centerline goodness : 0.782099 with order 1 Centerline is valid? [False, False] Translation: X:40.82, Y:39.88, Z:19.46 [[ 8.50412484e-01 5.24491544e-01 4.13186137e-02 4.08195884e+01] [-5.25892096e-01 8.45130481e-01 9.58747860e-02 3.98841876e+01] [ 1.53658946e-02 -1.03262247e-01 9.94535468e-01 1.94621846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.679072329 meters Centerline goodness : 0.783752 with order 1 Centerline is valid? [False, False] Translation: X:40.76, Y:39.86, Z:19.47 [[ 8.57886373e-01 5.11795490e-01 4.57858896e-02 4.07603131e+01] [-5.13775208e-01 8.52958179e-01 9.21812415e-02 3.98604165e+01] [ 8.12449467e-03 -1.02604686e-01 9.94689032e-01 1.94679526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.739072329 meters Centerline goodness : 0.777219 with order 1 Centerline is valid? [False, False] Translation: X:40.70, Y:39.83, Z:19.47 [[ 8.79799944e-01 4.73606292e-01 4.06095925e-02 4.07034835e+01] [-4.75302632e-01 8.75377739e-01 8.83245293e-02 3.98347612e+01] [ 6.28231956e-03 -9.70097621e-02 9.95263603e-01 1.94665583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.799072329 meters Centerline goodness : 0.774358 with order 1 Centerline is valid? [False, False] Translation: X:40.65, Y:39.81, Z:19.47 [[ 9.00033320e-01 4.34435095e-01 3.47299776e-02 4.06490307e+01] [-4.35650804e-01 8.94593056e-01 9.95572251e-02 3.98136579e+01] [ 1.21819557e-02 -1.04734963e-01 9.94425557e-01 1.94743151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.859072329 meters Centerline goodness : 0.772858 with order 1 Centerline is valid? [False, False] Translation: X:40.61, Y:39.80, Z:19.48 [[ 9.11895254e-01 4.08713211e-01 3.74240179e-02 4.06053382e+01] [-4.10361067e-01 9.06375165e-01 1.00438310e-01 3.97966454e+01] [ 7.13026373e-03 -1.06946578e-01 9.94239201e-01 1.94801055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919072329 meters Centerline goodness : 0.772362 with order 1 Centerline is valid? [False, False] Translation: X:40.56, Y:39.78, Z:19.49 [[ 9.25302095e-01 3.76829320e-01 4.26109970e-02 4.05615797e+01] [-3.79173697e-01 9.21254524e-01 8.67029925e-02 3.97774971e+01] [-6.58334407e-03 -9.63834299e-02 9.95322508e-01 1.94871113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979072329 meters Centerline goodness : 0.774456 with order 1 Centerline is valid? [False, False] Translation: X:40.52, Y:39.76, Z:19.49 [[ 9.35451493e-01 3.50113891e-01 4.84847084e-02 4.05220025e+01] [-3.53029112e-01 9.32224557e-01 7.95476064e-02 3.97627933e+01] [-1.73479138e-02 -9.15294407e-02 9.95651250e-01 1.94909110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039072329 meters Centerline goodness : 0.775916 with order 1 Centerline is valid? [False, False] Translation: X:40.48, Y:39.75, Z:19.50 [[ 9.39344964e-01 3.39260052e-01 5.03354300e-02 4.04833501e+01] [-3.42351031e-01 9.36326735e-01 7.80257451e-02 3.97527754e+01] [-2.06593905e-02 -9.05254771e-02 9.95679832e-01 1.95027824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099072329 meters Centerline goodness : 0.771018 with order 1 Centerline is valid? [False, False] Translation: X:40.46, Y:39.75, Z:19.51 [[ 9.41995269e-01 3.32815697e-01 4.33431174e-02 4.04574137e+01] [-3.35176089e-01 9.39540245e-01 7.01506793e-02 3.97486567e+01] [-1.73753559e-02 -8.06091846e-02 9.96594329e-01 1.95096945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159072329 meters Centerline goodness : 0.770919 with order 1 Centerline is valid? [False, False] Translation: X:40.42, Y:39.74, Z:19.51 [[ 9.42236627e-01 3.32280302e-01 4.21893323e-02 4.04240756e+01] [-3.34383432e-01 9.40466764e-01 6.09096534e-02 3.97402247e+01] [-1.94385868e-02 -7.14987201e-02 9.97251259e-01 1.95101931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219072329 meters Centerline goodness : 0.772830 with order 1 Centerline is valid? [False, False] Translation: X:40.40, Y:39.74, Z:19.51 [[ 9.41031937e-01 3.34831381e-01 4.84441996e-02 4.04025371e+01] [-3.37086242e-01 9.40150992e-01 4.98896460e-02 3.97364229e+01] [-2.88402433e-02 -6.32776234e-02 9.97579161e-01 1.95059833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279072329 meters Centerline goodness : 0.774410 with order 1 Centerline is valid? [False, False] Translation: X:40.36, Y:39.72, Z:19.51 [[ 9.38426594e-01 3.41047428e-01 5.51559506e-02 4.03643773e+01] [-3.44018941e-01 9.37136372e-01 5.85353628e-02 3.97208034e+01] [-3.17253124e-02 -7.39058329e-02 9.96760469e-01 1.95101471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339072329 meters Centerline goodness : 0.776545 with order 1 Centerline is valid? [False, False] Translation: X:40.34, Y:39.70, Z:19.51 [[ 9.33664271e-01 3.53699428e-01 5.62827170e-02 4.03353309e+01] [-3.56963920e-01 9.31787142e-01 6.59506069e-02 3.97039006e+01] [-2.91168200e-02 -8.16666246e-02 9.96234296e-01 1.95106464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399072329 meters Centerline goodness : 0.772210 with order 1 Centerline is valid? [False, False] Translation: X:40.31, Y:39.69, Z:19.51 [[ 9.29287119e-01 3.65738971e-01 5.15796087e-02 4.03058714e+01] [-3.68498108e-01 9.27563021e-01 6.19353387e-02 3.96882456e+01] [-2.51911707e-02 -7.65627007e-02 9.96746486e-01 1.95097013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459072329 meters Centerline goodness : 0.772727 with order 1 Centerline is valid? [False, False] Translation: X:40.26, Y:39.66, Z:19.51 [[ 9.20962649e-01 3.85517523e-01 5.66042348e-02 4.02613039e+01] [-3.88582891e-01 9.19443944e-01 6.02176950e-02 3.96621221e+01] [-2.88294443e-02 -7.74536851e-02 9.96579043e-01 1.95065357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519072329 meters Centerline goodness : 0.778757 with order 1 Centerline is valid? [False, False] Translation: X:40.21, Y:39.63, Z:19.50 [[ 9.09415704e-01 4.10504864e-01 6.66995851e-02 4.02090103e+01] [-4.14463426e-01 9.07832865e-01 6.37146553e-02 3.96313427e+01] [-3.43968996e-02 -8.55876466e-02 9.95736716e-01 1.95036325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579072329 meters Centerline goodness : 0.778781 with order 1 Centerline is valid? [False, False] Translation: X:40.16, Y:39.61, Z:19.51 [[ 9.00670058e-01 4.28968659e-01 6.91327489e-02 4.01601105e+01] [-4.33066456e-01 8.99185829e-01 6.25962413e-02 3.96065127e+01] [-3.53113624e-02 -8.63176348e-02 9.95641689e-01 1.95060374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63907232900002 meters Centerline goodness : 0.778282 with order 1 Centerline is valid? [False, False] Translation: X:40.11, Y:39.58, Z:19.51 [[ 8.92471087e-01 4.45521687e-01 7.07515717e-02 4.01142771e+01] [-4.49710926e-01 8.91021772e-01 6.19700243e-02 3.95822099e+01] [-3.54322011e-02 -8.71242098e-02 9.95567140e-01 1.95089772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699072329 meters Centerline goodness : 0.780655 with order 1 Centerline is valid? [False, False] Translation: X:40.05, Y:39.54, Z:19.51 [[ 8.78018363e-01 4.72101880e-01 7.87627398e-02 4.00540382e+01] [-4.77120939e-01 8.76367433e-01 6.58462781e-02 3.95415659e+01] [-3.79389484e-02 -9.53935937e-02 9.94716391e-01 1.95095553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759072329 meters Centerline goodness : 0.780663 with order 1 Centerline is valid? [False, False] Translation: X:40.00, Y:39.51, Z:19.51 [[ 0.87102778 0.48462522 0.08030564 40.0003064 ] [-0.48955677 0.86987291 0.06045897 39.5114038 ] [-0.04055576 -0.09197561 0.99493503 19.51160472] [ 0. 0. 0. 1. ]] SLAMing on 232.819072329 meters Centerline goodness : 0.785911 with order 1 Centerline is valid? [False, False] Translation: X:39.94, Y:39.47, Z:19.52 [[ 0.86136693 0.50069438 0.08574472 39.9416137 ] [-0.5063244 0.85986506 0.06532754 39.47307102] [-0.04101976 -0.09968563 0.9941731 19.51763568] [ 0. 0. 0. 1. ]] SLAMing on 232.879072329 meters Centerline goodness : 0.789222 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:39.44, Z:19.53 [[ 0.85506863 0.51056454 0.09045158 39.87983716] [-0.5168174 0.85330535 0.06906336 39.43542151] [-0.04192152 -0.10580087 0.99350328 19.52697117] [ 0. 0. 0. 1. ]] SLAMing on 232.939072329 meters Centerline goodness : 0.789900 with order 1 Centerline is valid? [False, False] Translation: X:39.82, Y:39.39, Z:19.52 [[ 8.47197568e-01 5.24446270e-01 8.49257993e-02 3.98192992e+01] [-5.30197610e-01 8.44791913e-01 7.22296217e-02 3.93853247e+01] [-3.38640728e-02 -1.06220216e-01 9.93765813e-01 1.95244051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.999072329 meters Centerline goodness : 0.787849 with order 1 Centerline is valid? [False, False] Translation: X:39.75, Y:39.33, Z:19.53 [[ 8.40525888e-01 5.35027621e-01 8.52154638e-02 3.97457475e+01] [-5.41103631e-01 8.36847244e-01 8.30274100e-02 3.93325893e+01] [-2.68903684e-02 -1.15897084e-01 9.92897162e-01 1.95280288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.059072329 meters Centerline goodness : 0.789213 with order 1 Centerline is valid? [False, False] Translation: X:39.66, Y:39.28, Z:19.54 [[ 8.35585923e-01 5.40489832e-01 9.83204276e-02 3.96597706e+01] [-5.48420749e-01 8.31149251e-01 9.17910909e-02 3.92767643e+01] [-3.21067985e-02 -1.30620306e-01 9.90912453e-01 1.95429574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.119072329 meters Centerline goodness : 0.789510 with order 1 Centerline is valid? [False, False] Translation: X:39.59, Y:39.23, Z:19.55 [[ 8.32505213e-01 5.45155211e-01 9.86958256e-02 3.95934792e+01] [-5.52955387e-01 8.28642696e-01 8.71299152e-02 3.92327570e+01] [-3.42842477e-02 -1.27110497e-01 9.91295875e-01 1.95528972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.179072329 meters Centerline goodness : 0.789412 with order 1 Centerline is valid? [False, False] Translation: X:39.52, Y:39.18, Z:19.56 [[ 8.28211475e-01 5.53260505e-01 8.92668291e-02 3.95218425e+01] [-5.59858674e-01 8.23924635e-01 8.77864486e-02 3.91811012e+01] [-2.49803647e-02 -1.22682553e-01 9.92131530e-01 1.95602734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.239072329 meters Centerline goodness : 0.783466 with order 1 Centerline is valid? [False, False] Translation: X:39.43, Y:39.13, Z:19.57 [[ 8.25942682e-01 5.56375007e-01 9.09150081e-02 3.94344788e+01] [-5.63371647e-01 8.20518011e-01 9.67604287e-02 3.91325983e+01] [-2.07623175e-02 -1.31137506e-01 9.91146750e-01 1.95724046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.299072329 meters Centerline goodness : 0.779532 with order 1 Centerline is valid? [False, False] Translation: X:39.35, Y:39.08, Z:19.59 [[ 8.20857291e-01 5.62785240e-01 9.72937897e-02 3.93487165e+01] [-5.70612634e-01 8.15394285e-01 9.76390389e-02 3.90803410e+01] [-2.43829901e-02 -1.35664783e-01 9.90454712e-01 1.95870483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.359072329 meters Centerline goodness : 0.785952 with order 1 Centerline is valid? [False, False] Translation: X:39.28, Y:39.03, Z:19.59 [[ 8.15244843e-01 5.71572258e-01 9.31718849e-02 3.92752072e+01] [-5.78605517e-01 8.10671383e-01 8.95966717e-02 3.90303131e+01] [-2.43208089e-02 -1.26952991e-01 9.91610527e-01 1.95943065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419072329 meters Centerline goodness : 0.781212 with order 1 Centerline is valid? [False, False] Translation: X:39.18, Y:38.98, Z:19.61 [[ 8.13510303e-01 5.73782682e-01 9.47334221e-02 3.91843144e+01] [-5.81180226e-01 8.07945200e-01 9.72321916e-02 3.89826316e+01] [-2.07492659e-02 -1.34156581e-01 9.90742893e-01 1.96070428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.479072329 meters Centerline goodness : 0.775330 with order 1 Centerline is valid? [False, False] Translation: X:39.10, Y:38.93, Z:19.63 [[ 8.12830181e-01 5.73039514e-01 1.04560092e-01 3.90953333e+01] [-5.81917221e-01 8.06859344e-01 1.01736657e-01 3.89344111e+01] [-2.60661634e-02 -1.43539943e-01 9.89301188e-01 1.96274645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.539072329 meters Centerline goodness : 0.781136 with order 1 Centerline is valid? [False, False] Translation: X:39.02, Y:38.89, Z:19.64 [[ 8.12163985e-01 5.74555732e-01 1.01367513e-01 3.90181353e+01] [-5.82719030e-01 8.07408172e-01 9.23611169e-02 3.88892875e+01] [-2.87783489e-02 -1.34081151e-01 9.90552397e-01 1.96411496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.599072329 meters Centerline goodness : 0.787107 with order 1 Centerline is valid? [False, False] Translation: X:38.94, Y:38.84, Z:19.65 [[ 8.11182235e-01 5.77037662e-01 9.49258528e-02 3.89381458e+01] [-5.84282111e-01 8.06510750e-01 9.03040735e-02 3.88408197e+01] [-2.44498693e-02 -1.28716538e-01 9.91379976e-01 1.96497658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.659072329 meters Centerline goodness : 0.777439 with order 1 Centerline is valid? [False, False] Translation: X:38.84, Y:38.78, Z:19.66 [[ 8.10861484e-01 5.76635988e-01 9.99729523e-02 3.88416919e+01] [-5.84845468e-01 8.04663448e-01 1.02335297e-01 3.87844676e+01] [-2.14343652e-02 -1.41448479e-01 9.89713542e-01 1.96644369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.719072329 meters Centerline goodness : 0.773358 with order 1 Centerline is valid? [False, False] Translation: X:38.75, Y:38.73, Z:19.68 [[ 8.12188757e-01 5.74225934e-01 1.03024267e-01 3.87464971e+01] [-5.83029946e-01 8.05168336e-01 1.08535855e-01 3.87309470e+01] [-2.06277750e-02 -1.48217834e-01 9.88739586e-01 1.96812354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.779072329 meters Centerline goodness : 0.781649 with order 1 Centerline is valid? [False, False] Translation: X:38.68, Y:38.68, Z:19.69 [[ 8.14958248e-01 5.71649796e-01 9.51817439e-02 3.86785409e+01] [-5.79171954e-01 8.09097513e-01 9.96045266e-02 3.86809014e+01] [-2.00724050e-02 -1.36300127e-01 9.90464221e-01 1.96944226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.839072329 meters Centerline goodness : 0.781719 with order 1 Centerline is valid? [False, False] Translation: X:38.60, Y:38.63, Z:19.71 [[ 8.18002837e-01 5.67991389e-01 9.08688127e-02 3.85950576e+01] [-5.74990181e-01 8.11825165e-01 1.01617880e-01 3.86326518e+01] [-1.60515082e-02 -1.35372389e-01 9.90664759e-01 1.97061055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.899072329 meters Centerline goodness : 0.775547 with order 1 Centerline is valid? [False, False] Translation: X:38.51, Y:38.58, Z:19.73 [[ 8.20744822e-01 5.62532726e-01 9.96738170e-02 3.85065756e+01] [-5.70846780e-01 8.14432182e-01 1.04087346e-01 3.85833874e+01] [-2.26250256e-02 -1.42327628e-01 9.89560991e-01 1.97258864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.959072329 meters Centerline goodness : 0.777787 with order 1 Centerline is valid? [False, False] Translation: X:38.42, Y:38.53, Z:19.74 [[ 8.24633286e-01 5.56077575e-01 1.03719208e-01 3.84247809e+01] [-5.64921243e-01 8.18999541e-01 1.00517370e-01 3.85341657e+01] [-2.90505277e-02 -1.41483153e-01 9.89514317e-01 1.97396226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.019072329 meters Centerline goodness : 0.781655 with order 1 Centerline is valid? [False, False] Translation: X:38.35, Y:38.49, Z:19.75 [[ 8.28197485e-01 5.52129260e-01 9.61363941e-02 3.83497087e+01] [-5.59882004e-01 8.22742276e-01 9.81187481e-02 3.84916524e+01] [-2.49212439e-02 -1.35086737e-01 9.90520320e-01 1.97484015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.079072329 meters Centerline goodness : 0.775065 with order 1 Centerline is valid? [False, False] Translation: X:38.26, Y:38.44, Z:19.76 [[ 8.32278486e-01 5.45672799e-01 9.77431177e-02 3.82636585e+01] [-5.53869427e-01 8.25916824e-01 1.05309343e-01 3.84429284e+01] [-2.32632410e-02 -1.41783626e-01 9.89624285e-01 1.97611133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13907232900002 meters Centerline goodness : 0.767951 with order 1 Centerline is valid? [False, False] Translation: X:38.18, Y:38.40, Z:19.77 [[ 8.35342804e-01 5.40138400e-01 1.02239466e-01 3.81845414e+01] [-5.48965522e-01 8.29429246e-01 1.03363341e-01 3.83997952e+01] [-2.89698934e-02 -1.42469765e-01 9.89375112e-01 1.97742196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199072329 meters Centerline goodness : 0.772810 with order 1 Centerline is valid? [False, False] Translation: X:38.11, Y:38.36, Z:19.79 [[ 8.37538005e-01 5.37130964e-01 1.00102040e-01 3.81125388e+01] [-5.45440822e-01 8.32680023e-01 9.55943973e-02 3.83607227e+01] [-3.20062583e-02 -1.34663680e-01 9.90374320e-01 1.97864976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.259072329 meters Centerline goodness : 0.772001 with order 1 Centerline is valid? [False, False] Translation: X:38.03, Y:38.31, Z:19.80 [[ 8.41123168e-01 5.30382160e-01 1.05861136e-01 3.80346277e+01] [-5.39505423e-01 8.36573050e-01 9.52860496e-02 3.83144414e+01] [-3.80225526e-02 -1.37259961e-01 9.89805026e-01 1.98039375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.319072329 meters Centerline goodness : 0.766695 with order 1 Centerline is valid? [False, False] Translation: X:37.96, Y:38.27, Z:19.82 [[ 0.843776 0.52553766 0.10886793 37.96089526] [-0.53506441 0.83952566 0.09435434 38.2720973 ] [-0.04181066 -0.13786529 0.9895681 19.8192259 ] [ 0. 0. 0. 1. ]] SLAMing on 234.379072329 meters Centerline goodness : 0.766854 with order 1 Centerline is valid? [False, False] Translation: X:37.89, Y:38.23, Z:19.83 [[ 0.84499634 0.5240307 0.10664431 37.89468524] [-0.53308675 0.84123407 0.09024275 38.23446991] [-0.04242285 -0.13310546 0.99019354 19.82986813] [ 0. 0. 0. 1. ]] SLAMing on 234.439072329 meters Centerline goodness : 0.764308 with order 1 Centerline is valid? [False, False] Translation: X:37.82, Y:38.19, Z:19.84 [[ 0.84513393 0.52393133 0.10604058 37.82472359] [-0.53284743 0.84153439 0.08884535 38.18870834] [-0.04268793 -0.13158967 0.99038472 19.84159824] [ 0. 0. 0. 1. ]] SLAMing on 234.499072329 meters Centerline goodness : 0.757288 with order 1 Centerline is valid? [False, False] Translation: X:37.76, Y:38.15, Z:19.85 [[ 0.8446753 0.52420985 0.10829437 37.76484052] [-0.53350841 0.84091371 0.09073535 38.15040205] [-0.04350186 -0.13441787 0.98996941 19.85217417] [ 0. 0. 0. 1. ]] SLAMing on 234.559072329 meters Centerline goodness : 0.756564 with order 1 Centerline is valid? [False, False] Translation: X:37.71, Y:38.12, Z:19.86 [[ 0.84524304 0.52342084 0.10767924 37.70707785] [-0.53254412 0.84175587 0.0885653 38.11826671] [-0.04428271 -0.13220316 0.99023299 19.86251777] [ 0. 0. 0. 1. ]] SLAMing on 234.619072329 meters Centerline goodness : 0.759655 with order 1 Centerline is valid? [False, False] Translation: X:37.65, Y:38.08, Z:19.87 [[ 0.8454424 0.52316118 0.10737564 37.64643086] [-0.53213611 0.84226445 0.08614962 38.08283334] [-0.04536855 -0.129973 0.99047903 19.87427389] [ 0. 0. 0. 1. ]] SLAMing on 234.679072329 meters Centerline goodness : 0.760812 with order 1 Centerline is valid? [False, False] Translation: X:37.58, Y:38.05, Z:19.89 [[ 0.84771572 0.51910862 0.10910684 37.5843335 ] [-0.52816729 0.84508331 0.08290663 38.04985987] [-0.04916683 -0.12790792 0.9905666 19.88510084] [ 0. 0. 0. 1. ]] SLAMing on 234.739072329 meters Centerline goodness : 0.759639 with order 1 Centerline is valid? [False, False] Translation: X:37.53, Y:38.03, Z:19.89 [[ 0.85420961 0.50793625 0.11102576 37.5313317 ] [-0.51717919 0.85202564 0.08110482 38.0278085 ] [-0.05340071 -0.12670073 0.99050254 19.8918085 ] [ 0. 0. 0. 1. ]] SLAMing on 234.799072329 meters Centerline goodness : 0.755641 with order 1 Centerline is valid? [False, False] Translation: X:37.48, Y:38.01, Z:19.90 [[ 0.86109885 0.4955553 0.11372649 37.47881242] [-0.50522401 0.85908537 0.08198183 38.0051715 ] [-0.05707423 -0.12805181 0.99012386 19.90080593] [ 0. 0. 0. 1. ]] SLAMing on 234.859072329 meters Centerline goodness : 0.754195 with order 1 Centerline is valid? [False, False] Translation: X:37.44, Y:37.98, Z:19.91 [[ 0.86371038 0.49191953 0.10963374 37.43735129] [-0.50089549 0.86191657 0.07876254 37.9848339 ] [-0.05575031 -0.12294307 0.99084656 19.90877433] [ 0. 0. 0. 1. ]] SLAMing on 234.919072329 meters Centerline goodness : 0.751532 with order 1 Centerline is valid? [False, False] Translation: X:37.38, Y:37.96, Z:19.92 [[ 0.86270249 0.49357702 0.11011874 37.38163725] [-0.50249155 0.8611742 0.07668921 37.95846578] [-0.05697939 -0.12149371 0.99095541 19.91820373] [ 0. 0. 0. 1. ]] SLAMing on 234.979072329 meters Centerline goodness : 0.749392 with order 1 Centerline is valid? [False, False] Translation: X:37.32, Y:37.93, Z:19.93 [[ 0.86165998 0.49468781 0.11325216 37.32379175] [-0.50396286 0.86034924 0.07629303 37.93057134] [-0.05969518 -0.12281353 0.99063279 19.92820017] [ 0. 0. 0. 1. ]] SLAMing on 235.039072329 meters Centerline goodness : 0.747737 with order 1 Centerline is valid? [False, False] Translation: X:37.27, Y:37.91, Z:19.94 [[ 0.86173127 0.49466275 0.11281839 37.2697341 ] [-0.50368789 0.86079081 0.07305951 37.90518568] [-0.06097322 -0.11978292 0.99092599 19.93790854] [ 0. 0. 0. 1. ]] SLAMing on 235.099072329 meters Centerline goodness : 0.749453 with order 1 Centerline is valid? [False, False] Translation: X:37.22, Y:37.88, Z:19.95 [[ 0.86269284 0.4935888 0.11014154 37.22356892] [-0.50214777 0.86189338 0.07062161 37.88387429] [-0.06007222 -0.11623209 0.99140377 19.9471505 ] [ 0. 0. 0. 1. ]] SLAMing on 235.159072329 meters Centerline goodness : 0.750952 with order 1 Centerline is valid? [False, False] Translation: X:37.17, Y:37.86, Z:19.95 [[ 0.86539505 0.4885612 0.11135247 37.17372151] [-0.49735777 0.86454472 0.0720949 37.86461557] [-0.06104641 -0.11777259 0.99116243 19.94957123] [ 0. 0. 0. 1. ]] SLAMing on 235.219072329 meters Centerline goodness : 0.749098 with order 1 Centerline is valid? [False, False] Translation: X:37.12, Y:37.84, Z:19.96 [[ 0.86483504 0.48933055 0.11232081 37.12037679] [-0.49812693 0.86425222 0.07026847 37.84248564] [-0.06268901 -0.11672065 0.99118433 19.95891091] [ 0. 0. 0. 1. ]] SLAMing on 235.279072329 meters Centerline goodness : 0.750428 with order 1 Centerline is valid? [False, False] Translation: X:37.06, Y:37.82, Z:19.97 [[ 0.86254472 0.49285848 0.11448637 37.06228954] [-0.50184893 0.86217128 0.0693421 37.81869855] [-0.06453102 -0.11726552 0.99100179 19.96918722] [ 0. 0. 0. 1. ]] SLAMing on 235.339072329 meters Centerline goodness : 0.750114 with order 1 Centerline is valid? [False, False] Translation: X:37.01, Y:37.80, Z:19.97 [[ 0.86069736 0.49638623 0.11314049 37.01303053] [-0.50497164 0.86064334 0.06554907 37.80290927] [-0.06483595 -0.11355065 0.99141442 19.97455188] [ 0. 0. 0. 1. ]] SLAMing on 235.399072329 meters Centerline goodness : 0.747738 with order 1 Centerline is valid? [False, False] Translation: X:36.96, Y:37.78, Z:19.98 [[ 0.85881583 0.49928724 0.11466312 36.95869155] [-0.5080124 0.85889241 0.06501718 37.78132449] [-0.06602104 -0.11408807 0.9912745 19.98497357] [ 0. 0. 0. 1. ]] SLAMing on 235.459072329 meters Centerline goodness : 0.746045 with order 1 Centerline is valid? [False, False] Translation: X:36.90, Y:37.76, Z:20.00 [[ 0.85397913 0.50632534 0.11980942 36.89718285] [-0.51579119 0.85409037 0.06700065 37.7557992 ] [-0.06840395 -0.1190138 0.9905335 19.99528936] [ 0. 0. 0. 1. ]] SLAMing on 235.519072329 meters Centerline goodness : 0.744125 with order 1 Centerline is valid? [False, False] Translation: X:36.85, Y:37.73, Z:20.00 [[ 0.85225427 0.50940112 0.11905107 36.84616902] [-0.51862139 0.8525492 0.06474347 37.73395727] [-0.0685165 -0.11692033 0.99077501 20.0016767 ] [ 0. 0. 0. 1. ]] SLAMing on 235.579072329 meters Centerline goodness : 0.744254 with order 1 Centerline is valid? [False, False] Translation: X:36.80, Y:37.71, Z:20.00 [[ 0.84958743 0.51608636 0.10888557 36.79804678] [-0.52442887 0.84858465 0.06984594 37.70981765] [-0.05635209 -0.11644297 0.99159744 20.00189055] [ 0. 0. 0. 1. ]] SLAMing on 235.63907232900002 meters Centerline goodness : 0.743155 with order 1 Centerline is valid? [False, False] Translation: X:36.74, Y:37.69, Z:20.01 [[ 0.85076538 0.51290335 0.11457935 36.74059687] [-0.52220415 0.84956681 0.07442482 37.68550987] [-0.05917007 -0.12315187 0.99062229 20.0102694 ] [ 0. 0. 0. 1. ]] SLAMing on 235.699072329 meters Centerline goodness : 0.749624 with order 1 Centerline is valid? [False, False] Translation: X:36.68, Y:37.66, Z:20.02 [[ 0.85277417 0.50725213 0.12438442 36.67603205] [-0.51810969 0.85165938 0.07898517 37.66055805] [-0.06586776 -0.13180129 0.98908536 20.02376361] [ 0. 0. 0. 1. ]] SLAMing on 235.759072329 meters Centerline goodness : 0.752710 with order 1 Centerline is valid? [False, False] Translation: X:36.63, Y:37.64, Z:20.03 [[ 0.85349314 0.50698439 0.12048359 36.62810808] [-0.51678252 0.85319571 0.07066049 37.64160629] [-0.06697232 -0.12257206 0.99019735 20.02783167] [ 0. 0. 0. 1. ]] SLAMing on 235.819072329 meters Centerline goodness : 0.754787 with order 1 Centerline is valid? [False, False] Translation: X:36.58, Y:37.62, Z:20.04 [[ 0.85143382 0.51027682 0.12115284 36.57566536] [-0.52018331 0.85109397 0.0710519 37.62181589] [-0.06685631 -0.12351768 0.99008768 20.0388857 ] [ 0. 0. 0. 1. ]] SLAMing on 235.879072329 meters Centerline goodness : 0.754354 with order 1 Centerline is valid? [False, False] Translation: X:36.51, Y:37.59, Z:20.05 [[ 0.84903816 0.51295056 0.126554 36.51343359] [-0.5236775 0.84878325 0.07299913 37.59487463] [-0.06997197 -0.12825253 0.98927004 20.05014283] [ 0. 0. 0. 1. ]] SLAMing on 235.939072329 meters Centerline goodness : 0.757129 with order 1 Centerline is valid? [False, False] Translation: X:36.46, Y:37.57, Z:20.05 [[ 0.84677075 0.51724211 0.12425742 36.4631423 ] [-0.52738859 0.84682401 0.06892301 37.57239825] [-0.06957428 -0.12389393 0.98985338 20.05452033] [ 0. 0. 0. 1. ]] SLAMing on 235.999072329 meters Centerline goodness : 0.756365 with order 1 Centerline is valid? [False, False] Translation: X:36.40, Y:37.55, Z:20.06 [[ 0.84510748 0.52060396 0.12151073 36.40237308] [-0.53092766 0.84392285 0.07687676 37.54570813] [-0.06252334 -0.12948254 0.98960856 20.06279599] [ 0. 0. 0. 1. ]] SLAMing on 236.059072329 meters Centerline goodness : 0.758124 with order 1 Centerline is valid? [False, False] Translation: X:36.34, Y:37.52, Z:20.07 [[ 0.84313013 0.52282188 0.12565373 36.33981694] [-0.53368038 0.84219704 0.07674245 37.51883635] [-0.06570257 -0.1317628 0.98910148 20.07377391] [ 0. 0. 0. 1. ]] SLAMing on 236.119072329 meters Centerline goodness : 0.762890 with order 1 Centerline is valid? [False, False] Translation: X:36.26, Y:37.48, Z:20.09 [[ 0.83971251 0.52841503 0.12514175 36.26113138] [-0.53937744 0.83830115 0.07951831 37.48327418] [-0.0628878 -0.13427116 0.98894711 20.08517827] [ 0. 0. 0. 1. ]] SLAMing on 236.179072329 meters Centerline goodness : 0.764846 with order 1 Centerline is valid? [False, False] Translation: X:36.19, Y:37.45, Z:20.10 [[ 0.83907758 0.53018681 0.1218637 36.18601646] [-0.54085182 0.83711346 0.08197782 37.4510039 ] [-0.05855019 -0.13469596 0.98915564 20.0964891 ] [ 0. 0. 0. 1. ]] SLAMing on 236.239072329 meters Centerline goodness : 0.766320 with order 1 Centerline is valid? [False, False] Translation: X:36.12, Y:37.42, Z:20.11 [[ 0.8374456 0.53167408 0.12652093 36.11830729] [-0.54296834 0.83575263 0.08187135 37.42226452] [-0.06221132 -0.13725966 0.98857956 20.10883491] [ 0. 0. 0. 1. ]] SLAMing on 236.299072329 meters Centerline goodness : 0.768897 with order 1 Centerline is valid? [False, False] Translation: X:36.06, Y:37.40, Z:20.12 [[ 0.83327567 0.53774186 0.12839527 36.05900691] [-0.54926626 0.83165623 0.08157507 37.39822456] [-0.0629144 -0.13849772 0.98836236 20.11826692] [ 0. 0. 0. 1. ]] SLAMing on 236.359072329 meters Centerline goodness : 0.771915 with order 1 Centerline is valid? [False, False] Translation: X:36.00, Y:37.37, Z:20.12 [[ 0.83082802 0.54333077 0.1204843 35.99820071] [-0.55387394 0.82837718 0.0837551 37.37234099] [-0.05429972 -0.13631919 0.98917573 20.12314532] [ 0. 0. 0. 1. ]] SLAMing on 236.419072329 meters Centerline goodness : 0.767608 with order 1 Centerline is valid? [False, False] Translation: X:35.91, Y:37.33, Z:20.14 [[ 0.8275903 0.54724317 0.12497682 35.90683176] [-0.55883844 0.82419781 0.09163822 37.33198653] [-0.05285723 -0.14568076 0.98791864 20.13986196] [ 0. 0. 0. 1. ]] SLAMing on 236.479072329 meters Centerline goodness : 0.770726 with order 1 Centerline is valid? [False, False] Translation: X:35.82, Y:37.29, Z:20.16 [[ 0.82613598 0.54894462 0.1271186 35.81998239] [-0.56114507 0.82199251 0.09718295 37.29257479] [-0.05114248 -0.1516183 0.98711516 20.1553778 ] [ 0. 0. 0. 1. ]] SLAMing on 236.539072329 meters Centerline goodness : 0.773695 with order 1 Centerline is valid? [False, False] Translation: X:35.74, Y:37.26, Z:20.17 [[ 0.82429748 0.55256029 0.12333206 35.73949244] [-0.5641361 0.82001903 0.09653625 37.25994373] [-0.04779254 -0.14915065 0.98765883 20.16632359] [ 0. 0. 0. 1. ]] SLAMing on 236.599072329 meters Centerline goodness : 0.775259 with order 1 Centerline is valid? [False, False] Translation: X:35.65, Y:37.22, Z:20.18 [[ 0.82278215 0.5549849 0.1225614 35.65379069] [-0.56656274 0.81800875 0.0993396 37.22249769] [-0.04512432 -0.15117357 0.98747676 20.17905625] [ 0. 0. 0. 1. ]] SLAMing on 236.659072329 meters Centerline goodness : 0.774413 with order 1 Centerline is valid? [False, False] Translation: X:35.56, Y:37.19, Z:20.19 [[ 0.81961674 0.55919992 0.12459472 35.56364168] [-0.57123883 0.81427278 0.10317966 37.18524175] [-0.04375603 -0.15574112 0.98682831 20.19160511] [ 0. 0. 0. 1. ]] SLAMing on 236.719072329 meters Centerline goodness : 0.772844 with order 1 Centerline is valid? [False, False] Translation: X:35.48, Y:37.15, Z:20.20 [[ 0.81884677 0.56050986 0.12376857 35.47917257] [-0.57256845 0.81285731 0.10690351 37.14824292] [-0.04068572 -0.15840357 0.98653585 20.20400402] [ 0. 0. 0. 1. ]] SLAMing on 236.779072329 meters Centerline goodness : 0.773893 with order 1 Centerline is valid? [False, False] Translation: X:35.39, Y:37.11, Z:20.22 [[ 0.81671359 0.56304478 0.12633084 35.38967093] [-0.57564078 0.81021851 0.11037959 37.11179158] [-0.04020693 -0.1628697 0.98582801 20.21944341] [ 0. 0. 0. 1. ]] SLAMing on 236.839072329 meters Centerline goodness : 0.777318 with order 1 Centerline is valid? [False, False] Translation: X:35.30, Y:37.08, Z:20.24 [[ 0.81328059 0.56684801 0.13136972 35.30410503] [-0.58001906 0.80776137 0.10535399 37.07792041] [-0.04639569 -0.1618793 0.9857193 20.23635884] [ 0. 0. 0. 1. ]] SLAMing on 236.899072329 meters Centerline goodness : 0.778884 with order 1 Centerline is valid? [False, False] Translation: X:35.22, Y:37.04, Z:20.25 [[ 0.81116517 0.57083284 0.12712563 35.21886003] [-0.58323015 0.80562307 0.10399064 37.04354834] [-0.04305407 -0.15849709 0.98642031 20.24749808] [ 0. 0. 0. 1. ]] SLAMing on 236.959072329 meters Centerline goodness : 0.777216 with order 1 Centerline is valid? [False, False] Translation: X:35.13, Y:37.00, Z:20.26 [[ 0.80923997 0.57297901 0.12971399 35.12758561] [-0.58601268 0.80288492 0.10938439 37.00162381] [-0.04147044 -0.16453226 0.98549954 20.26440415] [ 0. 0. 0. 1. ]] SLAMing on 237.019072329 meters Centerline goodness : 0.774936 with order 1 Centerline is valid? [False, False] Translation: X:35.04, Y:36.96, Z:20.28 [[ 0.80549185 0.57688661 0.13559024 35.03985304] [-0.59078239 0.79965042 0.10740287 36.96152898] [-0.04646551 -0.16661646 0.98492635 20.28317941] [ 0. 0. 0. 1. ]] SLAMing on 237.079072329 meters Centerline goodness : 0.775643 with order 1 Centerline is valid? [False, False] Translation: X:34.95, Y:36.92, Z:20.30 [[ 0.8046146 0.57904538 0.13153624 34.95226817] [-0.59226083 0.79852041 0.10766733 36.92025636] [-0.0426901 -0.16453447 0.98544709 20.29676822] [ 0. 0. 0. 1. ]] SLAMing on 237.13907232900002 meters Centerline goodness : 0.772246 with order 1 Centerline is valid? [False, False] Translation: X:34.86, Y:36.88, Z:20.31 [[ 0.80226339 0.58267089 0.1298772 34.86411255] [-0.59572905 0.79544058 0.11127077 36.87983529] [-0.03847536 -0.16664009 0.98526683 20.31092908] [ 0. 0. 0. 1. ]] SLAMing on 237.199072329 meters Centerline goodness : 0.762535 with order 1 Centerline is valid? [False, False] Translation: X:34.77, Y:36.84, Z:20.33 [[ 0.79940273 0.58450646 0.13895133 34.76864776] [-0.59909087 0.79293224 0.11112427 36.83618113] [-0.04522614 -0.17207751 0.98404468 20.33247203] [ 0. 0. 0. 1. ]] SLAMing on 237.259072329 meters Centerline goodness : 0.769121 with order 1 Centerline is valid? [False, False] Translation: X:34.68, Y:36.79, Z:20.35 [[ 0.7967736 0.58886289 0.13561829 34.67972975] [-0.60280384 0.79022057 0.1103584 36.79425773] [-0.0421824 -0.16968189 0.9845957 20.34839907] [ 0. 0. 0. 1. ]] SLAMing on 237.319072329 meters Centerline goodness : 0.767949 with order 1 Centerline is valid? [False, False] Translation: X:34.59, Y:36.75, Z:20.36 [[ 0.79581134 0.59048677 0.13420017 34.59080165] [-0.60428793 0.78868223 0.11320971 36.75357076] [-0.03899245 -0.17118912 0.98446629 20.3647313 ] [ 0. 0. 0. 1. ]] SLAMing on 237.379072329 meters Centerline goodness : 0.756595 with order 1 Centerline is valid? [False, False] Translation: X:34.49, Y:36.71, Z:20.39 [[ 0.7946815 0.59125515 0.1374724 34.49258849] [-0.6058001 0.78685969 0.1177203 36.70752311] [-0.03856876 -0.17683094 0.98348527 20.38574565] [ 0. 0. 0. 1. ]] SLAMing on 237.439072329 meters Centerline goodness : 0.756241 with order 1 Centerline is valid? [False, False] Translation: X:34.40, Y:36.67, Z:20.40 [[ 0.79181557 0.59422233 0.14116629 34.40317287] [-0.60923575 0.78477271 0.11385777 36.66685264] [-0.04312662 -0.17615791 0.98341674 20.40464221] [ 0. 0. 0. 1. ]] SLAMing on 237.499072329 meters Centerline goodness : 0.759129 with order 1 Centerline is valid? [False, False] Translation: X:34.32, Y:36.63, Z:20.42 [[ 0.79068269 0.59645326 0.13807385 34.31759276] [-0.61093906 0.78330902 0.11480615 36.6277954 ] [-0.03967799 -0.17512994 0.98374548 20.41782121] [ 0. 0. 0. 1. ]] SLAMing on 237.559072329 meters Centerline goodness : 0.754416 with order 1 Centerline is valid? [False, False] Translation: X:34.22, Y:36.58, Z:20.44 [[ 0.79291054 0.59321964 0.13922404 34.22143058] [-0.60807795 0.78502643 0.11821464 36.58373971] [-0.0391673 -0.1783927 0.98317952 20.43928156] [ 0. 0. 0. 1. ]] SLAMing on 237.619072329 meters Centerline goodness : 0.760965 with order 1 Centerline is valid? [False, False] Translation: X:34.14, Y:36.55, Z:20.46 [[ 0.79346536 0.59255511 0.13889264 34.1407601 ] [-0.60712895 0.78658052 0.11263005 36.5456019 ] [-0.04251073 -0.17369379 0.98388175 20.45764963] [ 0. 0. 0. 1. ]] SLAMing on 237.679072329 meters Centerline goodness : 0.765815 with order 1 Centerline is valid? [False, False] Translation: X:34.06, Y:36.51, Z:20.47 [[ 0.79378208 0.59287278 0.13569037 34.06025974] [-0.60693805 0.78654408 0.11390617 36.5066004 ] [-0.03919459 -0.17277233 0.98418164 20.47284314] [ 0. 0. 0. 1. ]] SLAMing on 237.739072329 meters Centerline goodness : 0.750404 with order 1 Centerline is valid? [False, False] Translation: X:33.97, Y:36.46, Z:20.49 [[ 0.79445242 0.59034106 0.14262816 33.96638665] [-0.60592201 0.78640964 0.12007662 36.46255558] [-0.04127801 -0.1818167 0.98246568 20.49331445] [ 0. 0. 0. 1. ]] SLAMing on 237.799072329 meters Centerline goodness : 0.754057 with order 1 Centerline is valid? [False, False] Translation: X:33.89, Y:36.43, Z:20.51 [[ 0.79458943 0.59076287 0.14009592 33.8941637 ] [-0.605659 0.7873975 0.11481444 36.42599663] [-0.04248307 -0.1760807 0.98345858 20.50842382] [ 0. 0. 0. 1. ]] SLAMing on 237.859072329 meters Centerline goodness : 0.755600 with order 1 Centerline is valid? [False, False] Translation: X:33.81, Y:36.38, Z:20.53 [[ 0.79533695 0.59047836 0.1370199 33.80970742] [-0.60494566 0.78753514 0.1175974 36.38210295] [-0.03846927 -0.17641915 0.98356311 20.52523925] [ 0. 0. 0. 1. ]] SLAMing on 237.919072329 meters Centerline goodness : 0.742476 with order 1 Centerline is valid? [False, False] Translation: X:33.72, Y:36.34, Z:20.54 [[ 0.79736331 0.58656999 0.14194149 33.71659112] [-0.60228086 0.78837002 0.12542115 36.33901471] [-0.03833413 -0.18549487 0.98189722 20.54409962] [ 0. 0. 0. 1. ]] SLAMing on 237.979072329 meters Centerline goodness : 0.751049 with order 1 Centerline is valid? [False, False] Translation: X:33.64, Y:36.30, Z:20.56 [[ 0.79842518 0.58595022 0.13849034 33.64329392] [-0.60070953 0.79082006 0.11726761 36.30321859] [-0.04080796 -0.17682188 0.98339653 20.55910583] [ 0. 0. 0. 1. ]] SLAMing on 238.039072329 meters Centerline goodness : 0.758621 with order 1 Centerline is valid? [False, False] Translation: X:33.56, Y:36.27, Z:20.58 [[ 0.79967559 0.58403382 0.13936805 33.56423908] [-0.59874221 0.79304941 0.11216241 36.26519462] [-0.04501911 -0.17313908 0.98386795 20.57685165] [ 0. 0. 0. 1. ]] SLAMing on 238.099072329 meters Centerline goodness : 0.745925 with order 1 Centerline is valid? [False, False] Translation: X:33.47, Y:36.22, Z:20.60 [[ 0.80090016 0.58051882 0.14682247 33.46995686] [-0.59705497 0.79288601 0.12188983 36.22178544] [-0.04565415 -0.18528267 0.98162418 20.59620657] [ 0. 0. 0. 1. ]] SLAMing on 238.159072329 meters Centerline goodness : 0.751307 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:36.19, Z:20.61 [[ 0.80197562 0.58016412 0.14228387 33.40067085] [-0.59551912 0.79516653 0.11431175 36.18641325] [-0.04681979 -0.176408 0.98320299 20.61128429] [ 0. 0. 0. 1. ]] SLAMing on 238.219072329 meters Centerline goodness : 0.752995 with order 1 Centerline is valid? [False, False] Translation: X:33.33, Y:36.15, Z:20.63 [[ 0.80330481 0.57842847 0.14185164 33.32538762] [-0.5935963 0.7969691 0.11173045 36.14692262] [-0.0484233 -0.17395622 0.98356211 20.62855069] [ 0. 0. 0. 1. ]] SLAMing on 238.279072329 meters Centerline goodness : 0.743081 with order 1 Centerline is valid? [False, False] Translation: X:33.24, Y:36.10, Z:20.65 [[ 0.80595848 0.57321608 0.14783186 33.23526059] [-0.59005424 0.79797978 0.12273656 36.10093938] [-0.04761227 -0.18614939 0.98136715 20.64812056] [ 0. 0. 0. 1. ]] SLAMing on 238.339072329 meters Centerline goodness : 0.748879 with order 1 Centerline is valid? [False, False] Translation: X:33.16, Y:36.06, Z:20.66 [[ 0.81135917 0.56687597 0.14264617 33.16436252] [-0.58237536 0.80492567 0.11372597 36.06002934] [-0.05035105 -0.17534622 0.98321843 20.66464392] [ 0. 0. 0. 1. ]] SLAMing on 238.399072329 meters Centerline goodness : 0.748658 with order 1 Centerline is valid? [False, False] Translation: X:33.09, Y:36.02, Z:20.68 [[ 0.81344773 0.5635912 0.14376282 33.08789525] [-0.57907201 0.80792276 0.10925394 36.02094774] [-0.0545747 -0.17212139 0.98356282 20.68214493] [ 0. 0. 0. 1. ]] SLAMing on 238.459072329 meters Centerline goodness : 0.745815 with order 1 Centerline is valid? [False, False] Translation: X:33.01, Y:35.98, Z:20.70 [[ 0.8186224 0.55485169 0.14831375 33.00582322] [-0.57181385 0.81154441 0.12010242 35.97749832] [-0.05372416 -0.18312638 0.98162031 20.7002809 ] [ 0. 0. 0. 1. ]] SLAMing on 238.519072329 meters Centerline goodness : 0.745723 with order 1 Centerline is valid? [False, False] Translation: X:32.94, Y:35.94, Z:20.72 [[ 0.82160334 0.55111824 0.14572797 32.93678019] [-0.56728887 0.81561695 0.11380828 35.9411912 ] [-0.05613638 -0.17617512 0.98275685 20.71529043] [ 0. 0. 0. 1. ]] SLAMing on 238.579072329 meters Centerline goodness : 0.753837 with order 1 Centerline is valid? [False, False] Translation: X:32.87, Y:35.91, Z:20.73 [[ 0.82593694 0.54600873 0.1403661 32.87442917] [-0.56083211 0.82112203 0.10595262 35.90679415] [-0.05740664 -0.166232 0.98441424 20.72851766] [ 0. 0. 0. 1. ]] SLAMing on 238.63907232900002 meters Centerline goodness : 0.752525 with order 1 Centerline is valid? [False, False] Translation: X:32.79, Y:35.87, Z:20.75 [[ 0.82730649 0.54073907 0.15220127 32.79083407] [-0.55787698 0.82263439 0.109754 35.867029 ] [-0.06585772 -0.17570979 0.98223665 20.74942076] [ 0. 0. 0. 1. ]] SLAMing on 238.699072329 meters Centerline goodness : 0.758921 with order 1 Centerline is valid? [False, False] Translation: X:32.74, Y:35.84, Z:20.76 [[ 0.82947958 0.5389974 0.14644259 32.73539423] [-0.55436489 0.82646898 0.09812533 35.83882771] [-0.06814096 -0.16257559 0.98434038 20.75794834] [ 0. 0. 0. 1. ]] SLAMing on 238.759072329 meters Centerline goodness : 0.764175 with order 1 Centerline is valid? [False, False] Translation: X:32.66, Y:35.80, Z:20.77 [[ 0.83052698 0.53808023 0.14385614 32.66206315] [-0.55323476 0.82684973 0.1012463 35.80014939] [-0.06446878 -0.163674 0.98440571 20.77369882] [ 0. 0. 0. 1. ]] SLAMing on 238.819072329 meters Centerline goodness : 0.762002 with order 1 Centerline is valid? [False, False] Translation: X:32.58, Y:35.76, Z:20.80 [[ 0.82853106 0.53744418 0.15713064 32.57816836] [-0.55534277 0.82460383 0.10780969 35.75813805] [-0.07162884 -0.17658504 0.98167562 20.79619264] [ 0. 0. 0. 1. ]] SLAMing on 238.879072329 meters Centerline goodness : 0.760542 with order 1 Centerline is valid? [False, False] Translation: X:32.52, Y:35.73, Z:20.81 [[ 0.82762681 0.5417971 0.14659385 32.52396102] [-0.55704887 0.82488399 0.09624432 35.72566495] [-0.06877802 -0.16131432 0.98450357 20.80613682] [ 0. 0. 0. 1. ]] SLAMing on 238.939072329 meters Centerline goodness : 0.765778 with order 1 Centerline is valid? [False, False] Translation: X:32.45, Y:35.68, Z:20.82 [[ 0.82796464 0.54205014 0.14372265 32.44985346] [-0.55721501 0.82407639 0.10202712 35.68445393] [-0.06313463 -0.16455927 0.98434459 20.82035745] [ 0. 0. 0. 1. ]] SLAMing on 238.999072329 meters Centerline goodness : 0.762935 with order 1 Centerline is valid? [False, False] Translation: X:32.37, Y:35.64, Z:20.84 [[ 0.8268353 0.54103154 0.15371489 32.37224223] [-0.55831012 0.82258609 0.10789779 35.64303465] [-0.06806762 -0.17503428 0.9822066 20.84001721] [ 0. 0. 0. 1. ]] SLAMing on 239.059072329 meters Centerline goodness : 0.766010 with order 1 Centerline is valid? [False, False] Translation: X:32.31, Y:35.61, Z:20.85 [[ 0.82608613 0.54377798 0.14794326 32.30957973] [-0.55934197 0.8231669 0.09763612 35.60545817] [-0.06868962 -0.16340672 0.98416461 20.85330099] [ 0. 0. 0. 1. ]] SLAMing on 239.119072329 meters Centerline goodness : 0.765546 with order 1 Centerline is valid? [False, False] Translation: X:32.23, Y:35.56, Z:20.87 [[ 0.8261477 0.54355184 0.14842969 32.2308974 ] [-0.55972858 0.82193939 0.10544933 35.56258191] [-0.06468304 -0.17019706 0.98328483 20.87091292] [ 0. 0. 0. 1. ]] SLAMing on 239.179072329 meters Centerline goodness : 0.765707 with order 1 Centerline is valid? [False, False] Translation: X:32.16, Y:35.52, Z:20.89 [[ 0.82597597 0.54295247 0.15154642 32.155861 ] [-0.5594943 0.82242375 0.10288491 35.5246782 ] [-0.06877376 -0.16976982 0.98308106 20.88722737] [ 0. 0. 0. 1. ]] SLAMing on 239.239072329 meters Centerline goodness : 0.768948 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:35.49, Z:20.90 [[ 0.82328696 0.54746101 0.14995008 32.08735395] [-0.56339647 0.82031114 0.09835677 35.48704083] [-0.06915922 -0.16545719 0.98378906 20.90292991] [ 0. 0. 0. 1. ]] SLAMing on 239.299072329 meters Centerline goodness : 0.767261 with order 1 Centerline is valid? [False, False] Translation: X:32.01, Y:35.45, Z:20.92 [[ 0.82364638 0.5473598 0.14833709 32.00909599] [-0.56335994 0.81972878 0.10329716 35.44614654] [-0.06505547 -0.16864751 0.98352723 20.91806784] [ 0. 0. 0. 1. ]] SLAMing on 239.359072329 meters Centerline goodness : 0.770267 with order 1 Centerline is valid? [False, False] Translation: X:31.93, Y:35.41, Z:20.93 [[ 0.82387473 0.54802033 0.14458264 31.93308089] [-0.5635848 0.81915242 0.10659024 35.40679086] [-0.0600216 -0.16930159 0.98373491 20.93216867] [ 0. 0. 0. 1. ]] SLAMing on 239.419072329 meters Centerline goodness : 0.770532 with order 1 Centerline is valid? [False, False] Translation: X:31.85, Y:35.37, Z:20.95 [[ 0.8218618 0.54975576 0.14937131 31.85173154] [-0.56604594 0.81763571 0.10518481 35.36742439] [-0.06430536 -0.1709984 0.98317057 20.9502842 ] [ 0. 0. 0. 1. ]] SLAMing on 239.479072329 meters Centerline goodness : 0.769256 with order 1 Centerline is valid? [False, False] Translation: X:31.77, Y:35.33, Z:20.97 [[ 0.82187721 0.54971317 0.14944323 31.7666972 ] [-0.56625903 0.81699361 0.10895939 35.325467 ] [-0.06219775 -0.17417481 0.98274848 20.96772897] [ 0. 0. 0. 1. ]] SLAMing on 239.539072329 meters Centerline goodness : 0.772519 with order 1 Centerline is valid? [False, False] Translation: X:31.69, Y:35.29, Z:20.99 [[ 0.82106071 0.55088749 0.14960709 31.69193174] [-0.56715556 0.81697799 0.10431454 35.28906692] [-0.06476013 -0.17049906 0.98322744 20.98514078] [ 0. 0. 0. 1. ]] SLAMing on 239.599072329 meters Centerline goodness : 0.772762 with order 1 Centerline is valid? [False, False] Translation: X:31.61, Y:35.25, Z:21.00 [[ 0.81976597 0.55283973 0.14950584 31.61197166] [-0.56928572 0.81508154 0.10749817 35.24858744] [-0.06243019 -0.17323488 0.98289987 21.0016516 ] [ 0. 0. 0. 1. ]] SLAMing on 239.659072329 meters Centerline goodness : 0.771370 with order 1 Centerline is valid? [False, False] Translation: X:31.53, Y:35.21, Z:21.02 [[ 0.81952375 0.55359471 0.14803286 31.53155964] [-0.57002413 0.81402431 0.11152093 35.20752317] [-0.05876495 -0.17577635 0.98267459 21.01672362] [ 0. 0. 0. 1. ]] SLAMing on 239.719072329 meters Centerline goodness : 0.769535 with order 1 Centerline is valid? [False, False] Translation: X:31.44, Y:35.16, Z:21.04 [[ 0.81889017 0.55442428 0.14843386 31.44474014] [-0.57116297 0.81264629 0.11566708 35.1627767 ] [-0.05649559 -0.17949856 0.98213467 21.03602237] [ 0. 0. 0. 1. ]] SLAMing on 239.779072329 meters Centerline goodness : 0.774047 with order 1 Centerline is valid? [False, False] Translation: X:31.37, Y:35.12, Z:21.06 [[ 0.81647353 0.55729155 0.15098711 31.36561554] [-0.57425375 0.81097987 0.11200127 35.12274772] [-0.06003015 -0.17815098 0.98217036 21.05506802] [ 0. 0. 0. 1. ]] SLAMing on 239.839072329 meters Centerline goodness : 0.771578 with order 1 Centerline is valid? [False, False] Translation: X:31.29, Y:35.09, Z:21.07 [[ 0.81649421 0.55835146 0.14690424 31.28843378] [-0.57468878 0.81039534 0.11398332 35.08532687] [-0.05540776 -0.17749094 0.98256142 21.0700474 ] [ 0. 0. 0. 1. ]] SLAMing on 239.899072329 meters Centerline goodness : 0.769968 with order 1 Centerline is valid? [False, False] Translation: X:31.20, Y:35.04, Z:21.09 [[ 0.81522221 0.55883391 0.15204411 31.20137643] [-0.57603804 0.80957427 0.11300303 35.04449266] [-0.05994107 -0.17970578 0.98189251 21.09164843] [ 0. 0. 0. 1. ]] SLAMing on 239.959072329 meters Centerline goodness : 0.769686 with order 1 Centerline is valid? [False, False] Translation: X:31.12, Y:35.01, Z:21.11 [[ 0.81225116 0.56261667 0.15398226 31.12410781] [-0.57988729 0.80739102 0.10885984 35.00866316] [-0.06307753 -0.17771388 0.98205855 21.10778319] [ 0. 0. 0. 1. ]] SLAMing on 240.019072329 meters Centerline goodness : 0.769168 with order 1 Centerline is valid? [False, False] Translation: X:31.05, Y:34.97, Z:21.12 [[ 0.81234568 0.56344612 0.1504093 31.04676334] [-0.58023835 0.80676421 0.11160181 34.97199251] [-0.05846323 -0.1779325 0.98230447 21.12280903] [ 0. 0. 0. 1. ]] SLAMing on 240.079072329 meters Centerline goodness : 0.768084 with order 1 Centerline is valid? [False, False] Translation: X:30.96, Y:34.93, Z:21.14 [[ 0.81210057 0.56342956 0.15178865 30.95890144] [-0.58070349 0.80587797 0.11551694 34.92971879] [-0.05723747 -0.18195557 0.98163947 21.14104742] [ 0. 0. 0. 1. ]] SLAMing on 240.13907232900002 meters Centerline goodness : 0.769341 with order 1 Centerline is valid? [False, False] Translation: X:30.88, Y:34.89, Z:21.16 [[ 0.81210182 0.56403921 0.1495005 30.88269519] [-0.5808921 0.80573449 0.11556946 34.89452605] [-0.055272 -0.18069783 0.98198437 21.15532588] [ 0. 0. 0. 1. ]] SLAMing on 240.199072329 meters Centerline goodness : 0.772927 with order 1 Centerline is valid? [False, False] Translation: X:30.80, Y:34.86, Z:21.17 [[ 0.81142382 0.56399436 0.15330277 30.80274713] [-0.58135154 0.8058598 0.11234043 34.85945565] [-0.06018117 -0.1802785 0.98177283 21.17494594] [ 0. 0. 0. 1. ]] SLAMing on 240.259072329 meters Centerline goodness : 0.772054 with order 1 Centerline is valid? [False, False] Translation: X:30.72, Y:34.82, Z:21.19 [[ 0.81203837 0.56311291 0.15328907 30.71597904] [-0.58064512 0.80596989 0.11516847 34.81840864] [-0.05869352 -0.18252777 0.98144724 21.19405933] [ 0. 0. 0. 1. ]] SLAMing on 240.319072329 meters Centerline goodness : 0.771874 with order 1 Centerline is valid? [False, False] Translation: X:30.64, Y:34.78, Z:21.21 [[ 0.81329808 0.56213126 0.15018218 30.63974052] [-0.5791813 0.80681936 0.11658278 34.78061124] [-0.05563506 -0.18179926 0.98176055 21.20908111] [ 0. 0. 0. 1. ]] SLAMing on 240.379072329 meters Centerline goodness : 0.771555 with order 1 Centerline is valid? [False, False] Translation: X:30.56, Y:34.75, Z:21.23 [[ 0.81236835 0.56266177 0.15319722 30.56319408] [-0.58010264 0.80654383 0.11387702 34.74760401] [-0.05948603 -0.1813802 0.98161226 21.22686661] [ 0. 0. 0. 1. ]] SLAMing on 240.439072329 meters Centerline goodness : 0.773510 with order 1 Centerline is valid? [False, False] Translation: X:30.48, Y:34.71, Z:21.24 [[ 0.81248052 0.56309733 0.1509861 30.48273857] [-0.58025135 0.80614139 0.11595012 34.70995514] [-0.05642494 -0.1818171 0.98171216 21.24227005] [ 0. 0. 0. 1. ]] SLAMing on 240.499072329 meters Centerline goodness : 0.774782 with order 1 Centerline is valid? [False, False] Translation: X:30.40, Y:34.67, Z:21.26 [[ 0.81286208 0.56273846 0.15026863 30.40143274] [-0.57986064 0.80617354 0.11766841 34.67249468] [-0.05492605 -0.18278305 0.98161779 21.25972849] [ 0. 0. 0. 1. ]] SLAMing on 240.559072329 meters Centerline goodness : 0.774964 with order 1 Centerline is valid? [False, False] Translation: X:30.32, Y:34.64, Z:21.28 [[ 0.81128583 0.56332425 0.15646433 30.32269209] [-0.58154015 0.80510113 0.11671857 34.63874023] [-0.06021921 -0.18568241 0.98076281 21.27854385] [ 0. 0. 0. 1. ]] SLAMing on 240.619072329 meters Centerline goodness : 0.776569 with order 1 Centerline is valid? [False, False] Translation: X:30.25, Y:34.61, Z:21.30 [[ 0.80974474 0.56528546 0.15737156 30.24941198] [-0.58340419 0.80432539 0.11269521 34.60779107] [-0.06287298 -0.18306558 0.98108816 21.29612095] [ 0. 0. 0. 1. ]] SLAMing on 240.679072329 meters Centerline goodness : 0.778642 with order 1 Centerline is valid? [False, False] Translation: X:30.17, Y:34.57, Z:21.31 [[ 0.80926415 0.56648828 0.15550747 30.16982298] [-0.58434407 0.80343821 0.11414489 34.57245646] [-0.0602789 -0.18324323 0.9812178 21.31050913] [ 0. 0. 0. 1. ]] SLAMing on 240.739072329 meters Centerline goodness : 0.778032 with order 1 Centerline is valid? [False, False] Translation: X:30.09, Y:34.53, Z:21.33 [[ 0.80845456 0.56765309 0.1554709 30.08929172] [-0.58577774 0.80170234 0.11890247 34.53467486] [-0.05714603 -0.18719864 0.98065845 21.32742765] [ 0. 0. 0. 1. ]] SLAMing on 240.799072329 meters Centerline goodness : 0.782484 with order 1 Centerline is valid? [False, False] Translation: X:30.01, Y:34.50, Z:21.35 [[ 0.80738872 0.56820451 0.15895627 30.00925388] [-0.58681756 0.80134708 0.11613792 34.49852732] [-0.06138906 -0.18704678 0.98043097 21.34665274] [ 0. 0. 0. 1. ]] SLAMing on 240.859072329 meters Centerline goodness : 0.783357 with order 1 Centerline is valid? [False, False] Translation: X:29.94, Y:34.46, Z:21.36 [[ 0.80642295 0.56963115 0.15875259 29.93548831] [-0.58811355 0.80058422 0.11483625 34.46463883] [-0.06168051 -0.18597114 0.98061728 21.36419464] [ 0. 0. 0. 1. ]] SLAMing on 240.919072329 meters Centerline goodness : 0.784438 with order 1 Centerline is valid? [False, False] Translation: X:29.86, Y:34.43, Z:21.38 [[ 0.80626641 0.57002988 0.15811517 29.85509335] [-0.58858618 0.79976999 0.1180435 34.42579142] [-0.05916744 -0.18823891 0.98033939 21.38217845] [ 0. 0. 0. 1. ]] SLAMing on 240.979072329 meters Centerline goodness : 0.786891 with order 1 Centerline is valid? [False, False] Translation: X:29.78, Y:34.39, Z:21.40 [[ 0.80543418 0.57111507 0.15844039 29.78172086] [-0.58954871 0.79947985 0.1151707 34.39039568] [-0.06089417 -0.18617074 0.98062855 21.40046143] [ 0. 0. 0. 1. ]] SLAMing on 241.039072329 meters Centerline goodness : 0.787521 with order 1 Centerline is valid? [False, False] Translation: X:29.70, Y:34.35, Z:21.42 [[ 0.80441978 0.57178966 0.16113781 29.7026884 ] [-0.59060319 0.79897944 0.11322424 34.35139719] [-0.06400534 -0.18624832 0.98041567 21.42011054] [ 0. 0. 0. 1. ]] SLAMing on 241.099072329 meters Centerline goodness : 0.787138 with order 1 Centerline is valid? [False, False] Translation: X:29.63, Y:34.31, Z:21.44 [[ 0.80391191 0.57239033 0.16153932 29.62733105] [-0.59124009 0.79858482 0.11268293 34.31420558] [-0.06450423 -0.18609567 0.98041196 21.43870237] [ 0. 0. 0. 1. ]] SLAMing on 241.159072329 meters Centerline goodness : 0.783889 with order 1 Centerline is valid? [False, False] Translation: X:29.54, Y:34.27, Z:21.46 [[ 0.80383633 0.57289681 0.16011374 29.54472094] [-0.59169821 0.79774106 0.11619994 34.27376359] [-0.06115873 -0.18814474 0.98023526 21.45579466] [ 0. 0. 0. 1. ]] SLAMing on 241.219072329 meters Centerline goodness : 0.787713 with order 1 Centerline is valid? [False, False] Translation: X:29.47, Y:34.24, Z:21.47 [[ 0.80381902 0.57362691 0.15756638 29.46853292] [-0.59194146 0.79755589 0.11623218 34.23533818] [-0.05899409 -0.18669971 0.98064413 21.47211142] [ 0. 0. 0. 1. ]] SLAMing on 241.279072329 meters Centerline goodness : 0.786203 with order 1 Centerline is valid? [False, False] Translation: X:29.39, Y:34.20, Z:21.49 [[ 0.80247973 0.57506059 0.159159 29.39188814] [-0.5935594 0.79660256 0.1145059 34.19857428] [-0.06093864 -0.18635898 0.98059003 21.49184492] [ 0. 0. 0. 1. ]] SLAMing on 241.339072329 meters Centerline goodness : 0.780865 with order 1 Centerline is valid? [False, False] Translation: X:29.30, Y:34.16, Z:21.51 [[ 0.80116399 0.57450094 0.1675856 29.30486773] [-0.59464882 0.795722 0.11497515 34.15983644] [-0.06729822 -0.19176853 0.97913011 21.51484583] [ 0. 0. 0. 1. ]] SLAMing on 241.399072329 meters Centerline goodness : 0.783385 with order 1 Centerline is valid? [False, False] Translation: X:29.23, Y:34.12, Z:21.53 [[ 0.80185956 0.57519228 0.16178715 29.23038442] [-0.5941478 0.79625379 0.11387838 34.12427848] [-0.06332167 -0.18743995 0.98023295 21.52842872] [ 0. 0. 0. 1. ]] SLAMing on 241.459072329 meters Centerline goodness : 0.779451 with order 1 Centerline is valid? [False, False] Translation: X:29.14, Y:34.08, Z:21.55 [[ 0.80155798 0.57548527 0.16223905 29.14168924] [-0.59474869 0.79529472 0.11738951 34.08155015] [-0.06147192 -0.19058596 0.97974394 21.54835406] [ 0. 0. 0. 1. ]] SLAMing on 241.519072329 meters Centerline goodness : 0.776787 with order 1 Centerline is valid? [False, False] Translation: X:29.06, Y:34.04, Z:21.57 [[ 0.80014413 0.57603576 0.16718902 29.0596574 ] [-0.59631635 0.79399049 0.11826202 34.04204252] [-0.06462334 -0.19432421 0.97880638 21.56890296] [ 0. 0. 0. 1. ]] SLAMing on 241.579072329 meters Centerline goodness : 0.780283 with order 1 Centerline is valid? [False, False] Translation: X:28.99, Y:34.00, Z:21.58 [[ 0.80085615 0.57642861 0.16235602 28.98779114] [-0.5957502 0.79444274 0.11807809 34.00499993] [-0.06091897 -0.1912872 0.97964182 21.58401084] [ 0. 0. 0. 1. ]] SLAMing on 241.63907232900002 meters Centerline goodness : 0.777952 with order 1 Centerline is valid? [False, False] Translation: X:28.91, Y:33.96, Z:21.60 [[ 0.80041251 0.57725093 0.16162048 28.90602838] [-0.59668685 0.79307493 0.12246209 33.96449874] [-0.0574858 -0.194457 0.97922513 21.60311443] [ 0. 0. 0. 1. ]] SLAMing on 241.699072329 meters Centerline goodness : 0.776765 with order 1 Centerline is valid? [False, False] Translation: X:28.82, Y:33.92, Z:21.62 [[ 0.79852764 0.57802599 0.16804632 28.82244831] [-0.59878794 0.79135533 0.12332777 33.92467864] [-0.0616977 -0.19910474 0.9780341 21.62472667] [ 0. 0. 0. 1. ]] SLAMing on 241.759072329 meters Centerline goodness : 0.776198 with order 1 Centerline is valid? [False, False] Translation: X:28.75, Y:33.89, Z:21.64 [[ 0.79888351 0.57853637 0.16456246 28.74575824] [-0.59867585 0.7912276 0.12468407 33.88574397] [-0.05807209 -0.19812762 0.97845443 21.64050516] [ 0. 0. 0. 1. ]] SLAMing on 241.819072329 meters Centerline goodness : 0.777097 with order 1 Centerline is valid? [False, False] Translation: X:28.67, Y:33.85, Z:21.66 [[ 0.79770122 0.58096717 0.16170932 28.66884764] [-0.60061429 0.78946985 0.12649047 33.84921694] [-0.05417782 -0.19802653 0.97869825 21.65623295] [ 0. 0. 0. 1. ]] SLAMing on 241.879072329 meters Centerline goodness : 0.770459 with order 1 Centerline is valid? [False, False] Translation: X:28.58, Y:33.81, Z:21.68 [[ 0.79625837 0.58185385 0.16558595 28.58050421] [-0.60255155 0.78718826 0.13140121 33.80717709] [-0.05389102 -0.20440339 0.97740218 21.6771801 ] [ 0. 0. 0. 1. ]] SLAMing on 241.939072329 meters Centerline goodness : 0.770787 with order 1 Centerline is valid? [False, False] Translation: X:28.50, Y:33.77, Z:21.69 [[ 0.79570215 0.58301141 0.16418213 28.49918843] [-0.60345624 0.78633797 0.13233731 33.7660435 ] [-0.05194848 -0.20437781 0.97751269 21.69467023] [ 0. 0. 0. 1. ]] SLAMing on 241.999072329 meters Centerline goodness : 0.775699 with order 1 Centerline is valid? [False, False] Translation: X:28.42, Y:33.73, Z:21.71 [[ 0.79377489 0.58628574 0.16183466 28.4197947 ] [-0.60620687 0.78422376 0.13231148 33.72748399] [-0.04934225 -0.20313081 0.97790757 21.71055694] [ 0. 0. 0. 1. ]] SLAMing on 242.059072329 meters Centerline goodness : 0.766045 with order 1 Centerline is valid? [False, False] Translation: X:28.33, Y:33.69, Z:21.73 [[ 0.79040092 0.58940674 0.16693134 28.33461954] [-0.61047369 0.78049235 0.13473514 33.68737606] [-0.05087483 -0.20840197 0.97671919 21.73308706] [ 0. 0. 0. 1. ]] SLAMing on 242.119072329 meters Centerline goodness : 0.764181 with order 1 Centerline is valid? [False, False] Translation: X:28.26, Y:33.65, Z:21.75 [[ 0.78700209 0.59341839 0.16876704 28.25599763] [-0.61466021 0.77772199 0.1316865 33.6466824 ] [-0.05310865 -0.20737194 0.97681951 21.75447737] [ 0. 0. 0. 1. ]] SLAMing on 242.179072329 meters Centerline goodness : 0.772504 with order 1 Centerline is valid? [False, False] Translation: X:28.18, Y:33.61, Z:21.77 [[ 0.78514978 0.59727629 0.1637097 28.176774 ] [-0.61744343 0.77542936 0.13218518 33.60527306] [-0.04799423 -0.20486664 0.97761251 21.76927824] [ 0. 0. 0. 1. ]] SLAMing on 242.239072329 meters Centerline goodness : 0.760223 with order 1 Centerline is valid? [False, False] Translation: X:28.09, Y:33.56, Z:21.79 [[ 0.78113452 0.60145089 0.16758787 28.08603823] [-0.62274265 0.76984099 0.13977282 33.55878864] [-0.04494953 -0.21354549 0.97589849 21.79096625] [ 0. 0. 0. 1. ]] SLAMing on 242.299072329 meters Centerline goodness : 0.759554 with order 1 Centerline is valid? [False, False] Translation: X:28.00, Y:33.51, Z:21.81 [[ 0.77705808 0.60648829 0.16838259 28.00287164] [-0.62775392 0.76624769 0.13707476 33.51473839] [-0.04588853 -0.21221788 0.97614436 21.81229548] [ 0. 0. 0. 1. ]] SLAMing on 242.359072329 meters Centerline goodness : 0.763375 with order 1 Centerline is valid? [False, False] Translation: X:27.92, Y:33.47, Z:21.83 [[ 0.77367095 0.61254064 0.16194821 27.91678699] [-0.63234084 0.76252604 0.13674466 33.46775513] [-0.03972807 -0.20820184 0.97727871 21.83078904] [ 0. 0. 0. 1. ]] SLAMing on 242.419072329 meters Centerline goodness : 0.751112 with order 1 Centerline is valid? [False, False] Translation: X:27.82, Y:33.42, Z:21.86 [[ 0.76804029 0.6179316 0.16815068 27.82325726] [-0.63913387 0.75613768 0.14058344 33.41976771] [-0.04027411 -0.21544454 0.97568522 21.85535943] [ 0. 0. 0. 1. ]] SLAMing on 242.479072329 meters Centerline goodness : 0.752904 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:33.37, Z:21.87 [[ 0.76437778 0.62307702 0.16583614 27.73405703] [-0.64380739 0.75160025 0.14355868 33.3733114 ] [-0.03519437 -0.2164996 0.97564813 21.8744128 ] [ 0. 0. 0. 1. ]] SLAMing on 242.539072329 meters Centerline goodness : 0.754544 with order 1 Centerline is valid? [False, False] Translation: X:27.65, Y:33.33, Z:21.89 [[ 7.63196176e-01 6.24844378e-01 1.64624120e-01 2.76452162e+01] [-6.45419314e-01 7.49409420e-01 1.47714013e-01 3.33260859e+01] [-3.10725960e-02 -2.18986357e-01 9.75233033e-01 2.18943644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599072329 meters Centerline goodness : 0.752689 with order 1 Centerline is valid? [False, False] Translation: X:27.56, Y:33.28, Z:21.92 [[ 7.57930069e-01 6.30073408e-01 1.68966005e-01 2.75561846e+01] [-6.51505747e-01 7.44194974e-01 1.47357055e-01 3.32786736e+01] [-3.28978901e-02 -2.21768667e-01 9.74544195e-01 2.19183506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659072329 meters Centerline goodness : 0.753397 with order 1 Centerline is valid? [False, False] Translation: X:27.47, Y:33.23, Z:21.94 [[ 7.55129322e-01 6.33935613e-01 1.67048930e-01 2.74700805e+01] [-6.55004482e-01 7.40202751e-01 1.51884878e-01 3.32346424e+01] [-2.73648442e-02 -2.24110523e-01 9.74179470e-01 2.19369725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719072329 meters Centerline goodness : 0.752354 with order 1 Centerline is valid? [False, False] Translation: X:27.39, Y:33.19, Z:21.96 [[ 7.54014247e-01 6.35371410e-01 1.66630387e-01 2.73853678e+01] [-6.56357729e-01 7.38693350e-01 1.53384051e-01 3.31893062e+01] [-2.56329180e-02 -2.25022903e-01 9.74016246e-01 2.19590676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779072329 meters Centerline goodness : 0.751296 with order 1 Centerline is valid? [False, False] Translation: X:27.30, Y:33.14, Z:21.98 [[ 7.49142299e-01 6.40163779e-01 1.70223830e-01 2.72970580e+01] [-6.61850006e-01 7.33929139e-01 1.52651856e-01 3.31402026e+01] [-2.72100399e-02 -2.27020605e-01 9.73509763e-01 2.19838997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839072329 meters Centerline goodness : 0.751796 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:33.09, Z:22.01 [[ 7.44010555e-01 6.46458976e-01 1.68935153e-01 2.72077941e+01] [-6.67779124e-01 7.28042006e-01 1.55002834e-01 3.30919253e+01] [-2.27889149e-02 -2.28135113e-01 9.73362746e-01 2.20055378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899072329 meters Centerline goodness : 0.750475 with order 1 Centerline is valid? [False, False] Translation: X:27.12, Y:33.04, Z:22.03 [[ 7.42403219e-01 6.48747696e-01 1.67224061e-01 2.71189632e+01] [-6.69715861e-01 7.25294769e-01 1.59462107e-01 3.30425041e+01] [-1.78360621e-02 -2.30377788e-01 9.72937793e-01 2.20269687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959072329 meters Centerline goodness : 0.748945 with order 1 Centerline is valid? [False, False] Translation: X:27.03, Y:32.99, Z:22.05 [[ 7.37812825e-01 6.53579723e-01 1.68718051e-01 2.70313125e+01] [-6.74789400e-01 7.20487206e-01 1.59866981e-01 3.29941305e+01] [-1.70733806e-02 -2.31801061e-01 9.72613370e-01 2.20512290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019072329 meters Centerline goodness : 0.750288 with order 1 Centerline is valid? [False, False] Translation: X:26.94, Y:32.94, Z:22.08 [[ 7.32910695e-01 6.59122646e-01 1.68520772e-01 2.69402382e+01] [-6.80155385e-01 7.15421399e-01 1.59877682e-01 3.29441531e+01] [-1.51843657e-02 -2.31796373e-01 9.72645812e-01 2.20754166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079072329 meters Centerline goodness : 0.753155 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:32.89, Z:22.10 [[ 7.31395073e-01 6.61260847e-01 1.66719347e-01 2.68470709e+01] [-6.81869919e-01 7.12952968e-01 1.63558793e-01 3.28941808e+01] [-1.07080272e-02 -2.33307003e-01 9.72344168e-01 2.20979688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13907232900002 meters Centerline goodness : 0.752379 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:32.85, Z:22.12 [[ 7.29052649e-01 6.63597248e-01 1.67692955e-01 2.67562012e+01] [-6.84384201e-01 7.10345745e-01 1.64399474e-01 3.28455274e+01] [-1.00249386e-02 -2.34622281e-01 9.72034920e-01 2.21228889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199072329 meters Centerline goodness : 0.755859 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:32.80, Z:22.15 [[ 7.25951130e-01 6.66924535e-01 1.67948272e-01 2.66651019e+01] [-6.87678864e-01 7.07323065e-01 1.63682199e-01 3.27969016e+01] [-9.63001215e-03 -2.34319755e-01 9.72111884e-01 2.21480003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259072329 meters Centerline goodness : 0.757865 with order 1 Centerline is valid? [False, False] Translation: X:26.57, Y:32.75, Z:22.17 [[ 7.25936582e-01 6.67419366e-01 1.66034541e-01 2.65705667e+01] [-6.87726197e-01 7.06879862e-01 1.65389052e-01 3.27460978e+01] [-6.98261704e-03 -2.34248266e-01 9.72151733e-01 2.21716043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.319072329 meters Centerline goodness : 0.756084 with order 1 Centerline is valid? [False, False] Translation: X:26.47, Y:32.69, Z:22.20 [[ 7.26223709e-01 6.67219723e-01 1.65580693e-01 2.64714723e+01] [-6.87447721e-01 7.06178602e-01 1.69491632e-01 3.26941529e+01] [-3.84138255e-03 -2.36916911e-01 9.71522321e-01 2.21961853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379072329 meters Centerline goodness : 0.752148 with order 1 Centerline is valid? [False, False] Translation: X:26.38, Y:32.65, Z:22.22 [[ 7.28707996e-01 6.64315366e-01 1.66342269e-01 2.63761926e+01] [-6.84804784e-01 7.08709402e-01 1.69627214e-01 3.26452004e+01] [-5.20236503e-03 -2.37520689e-01 9.71368549e-01 2.22218408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439072329 meters Centerline goodness : 0.755775 with order 1 Centerline is valid? [False, False] Translation: X:26.28, Y:32.60, Z:22.25 [[ 7.32529971e-01 6.59725208e-01 1.67816842e-01 2.62836210e+01] [-6.80671138e-01 7.13226399e-01 1.67316784e-01 3.25958880e+01] [-9.30830174e-03 -2.36792640e-01 9.71515621e-01 2.22477461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499072329 meters Centerline goodness : 0.754627 with order 1 Centerline is valid? [False, False] Translation: X:26.19, Y:32.55, Z:22.28 [[ 7.35217791e-01 6.56208560e-01 1.69838531e-01 2.61885731e+01] [-6.77722153e-01 7.16139716e-01 1.66843012e-01 3.25450387e+01] [-1.21443049e-02 -2.37769286e-01 9.71245738e-01 2.22753960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559072329 meters Centerline goodness : 0.749560 with order 1 Centerline is valid? [False, False] Translation: X:26.10, Y:32.50, Z:22.30 [[ 7.40252085e-01 6.50085915e-01 1.71508466e-01 2.60963087e+01] [-6.72187468e-01 7.20852052e-01 1.68926987e-01 3.24965845e+01] [-1.38151750e-02 -2.40334395e-01 9.70591840e-01 2.23021517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619072329 meters Centerline goodness : 0.750005 with order 1 Centerline is valid? [False, False] Translation: X:26.01, Y:32.45, Z:22.33 [[ 7.42631965e-01 6.47560314e-01 1.70772962e-01 2.60067679e+01] [-6.69498045e-01 7.24123348e-01 1.65583042e-01 3.24471448e+01] [-1.64356830e-02 -2.37299424e-01 9.71297509e-01 2.23273807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679072329 meters Centerline goodness : 0.753474 with order 1 Centerline is valid? [False, False] Translation: X:25.92, Y:32.40, Z:22.35 [[ 7.46564189e-01 6.42977770e-01 1.70942973e-01 2.59171897e+01] [-6.65006073e-01 7.28976170e-01 1.62359684e-01 3.23978962e+01] [-2.02196858e-02 -2.34890041e-01 9.71811624e-01 2.23532480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739072329 meters Centerline goodness : 0.743825 with order 1 Centerline is valid? [False, False] Translation: X:25.82, Y:32.35, Z:22.38 [[ 7.52114233e-01 6.35973910e-01 1.72804420e-01 2.58240317e+01] [-6.58736351e-01 7.33335468e-01 1.68182970e-01 3.23480653e+01] [-1.97636294e-02 -2.40325359e-01 9.70491175e-01 2.23781643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799072329 meters Centerline goodness : 0.751023 with order 1 Centerline is valid? [False, False] Translation: X:25.74, Y:32.30, Z:22.40 [[ 7.55254378e-01 6.32767954e-01 1.70867025e-01 2.57399837e+01] [-6.55008028e-01 7.38040234e-01 1.62052755e-01 3.23028974e+01] [-2.35649493e-02 -2.34310326e-01 9.71876208e-01 2.24020232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859072329 meters Centerline goodness : 0.753229 with order 1 Centerline is valid? [False, False] Translation: X:25.65, Y:32.26, Z:22.43 [[ 7.56647245e-01 6.30657088e-01 1.72500971e-01 2.56532765e+01] [-6.53244193e-01 7.40293518e-01 1.58863249e-01 3.22554512e+01] [-2.75131166e-02 -2.32888698e-01 9.72114131e-01 2.24267907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919072329 meters Centerline goodness : 0.749088 with order 1 Centerline is valid? [False, False] Translation: X:25.57, Y:32.21, Z:22.45 [[ 7.57659265e-01 6.28066654e-01 1.77439334e-01 2.55661482e+01] [-6.51895120e-01 7.41351720e-01 1.59469057e-01 3.22109615e+01] [-3.13877585e-02 -2.36495044e-01 9.71125586e-01 2.24513411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979072329 meters Centerline goodness : 0.750982 with order 1 Centerline is valid? [False, False] Translation: X:25.49, Y:32.17, Z:22.47 [[ 7.55899722e-01 6.31181665e-01 1.73854295e-01 2.54903486e+01] [-6.53988497e-01 7.40249301e-01 1.55980826e-01 3.21658501e+01] [-3.02432826e-02 -2.31604572e-01 9.72339789e-01 2.24733851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039072329 meters Centerline goodness : 0.747315 with order 1 Centerline is valid? [False, False] Translation: X:25.40, Y:32.11, Z:22.50 [[ 7.55026174e-01 6.32128953e-01 1.74208103e-01 2.54036936e+01] [-6.54963284e-01 7.39623802e-01 1.54853891e-01 3.21147060e+01] [-3.09608313e-02 -2.31018652e-01 9.72456585e-01 2.24995764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099072329 meters Centerline goodness : 0.734716 with order 1 Centerline is valid? [False, False] Translation: X:25.31, Y:32.06, Z:22.53 [[ 0.75335641 0.63281861 0.17887067 25.31409324] [-0.65680786 0.73751663 0.15707531 32.06316723] [-0.03251992 -0.23581735 0.97125312 22.52520485] [ 0. 0. 0. 1. ]] SLAMing on 244.159072329 meters Centerline goodness : 0.731981 with order 1 Centerline is valid? [False, False] Translation: X:25.24, Y:32.02, Z:22.55 [[ 7.52469559e-01 6.34638326e-01 1.76135626e-01 2.52354803e+01] [-6.57882306e-01 7.36956916e-01 1.55194639e-01 3.20157719e+01] [-3.13119024e-02 -2.32655753e-01 9.72054970e-01 2.25473861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219072329 meters Centerline goodness : 0.731546 with order 1 Centerline is valid? [False, False] Translation: X:25.15, Y:31.97, Z:22.57 [[ 7.51966011e-01 6.35190344e-01 1.76296185e-01 2.51506845e+01] [-6.58458406e-01 7.36456470e-01 1.55127028e-01 3.19661485e+01] [-3.12992762e-02 -2.32733958e-01 9.72036656e-01 2.25724790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279072329 meters Centerline goodness : 0.727721 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:31.92, Z:22.60 [[ 7.52514917e-01 6.34982863e-01 1.74694202e-01 2.50647373e+01] [-6.57942376e-01 7.36485982e-01 1.57163062e-01 3.19164276e+01] [-2.88639797e-02 -2.33206266e-01 9.71998821e-01 2.25962097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339072329 meters Centerline goodness : 0.729551 with order 1 Centerline is valid? [False, False] Translation: X:24.99, Y:31.87, Z:22.62 [[ 7.49872869e-01 6.37875325e-01 1.75515670e-01 2.49851073e+01] [-6.60942037e-01 7.33968891e-01 1.56349897e-01 3.18700281e+01] [-2.90913001e-02 -2.33248230e-01 9.71981975e-01 2.26187774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399072329 meters Centerline goodness : 0.729177 with order 1 Centerline is valid? [False, False] Translation: X:24.90, Y:31.82, Z:22.64 [[ 7.47721359e-01 6.40717075e-01 1.74339895e-01 2.49026531e+01] [-6.63507500e-01 7.31179379e-01 1.58538681e-01 3.18239415e+01] [-2.58952965e-02 -2.34218586e-01 9.71839023e-01 2.26400018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459072329 meters Centerline goodness : 0.721202 with order 1 Centerline is valid? [False, False] Translation: X:24.82, Y:31.78, Z:22.66 [[ 7.47082047e-01 6.40589337e-01 1.77521034e-01 2.48168884e+01] [-6.64153476e-01 7.30460070e-01 1.59148503e-01 3.17766886e+01] [-2.77231929e-02 -2.36798201e-01 9.71163239e-01 2.26644001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519072329 meters Centerline goodness : 0.720554 with order 1 Centerline is valid? [False, False] Translation: X:24.73, Y:31.73, Z:22.69 [[ 7.45458899e-01 6.41720562e-01 1.80238036e-01 2.47318547e+01] [-6.65900894e-01 7.28932974e-01 1.58848098e-01 3.17294427e+01] [-2.94453568e-02 -2.38435397e-01 9.70711869e-01 2.26891474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579072329 meters Centerline goodness : 0.723180 with order 1 Centerline is valid? [False, False] Translation: X:24.66, Y:31.69, Z:22.71 [[ 7.44915895e-01 6.43059495e-01 1.77692982e-01 2.46552303e+01] [-6.66582263e-01 7.28454605e-01 1.58183360e-01 3.16889482e+01] [-2.77199590e-02 -2.36280289e-01 9.71289467e-01 2.27101075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63907232900002 meters Centerline goodness : 0.722922 with order 1 Centerline is valid? [False, False] Translation: X:24.57, Y:31.64, Z:22.73 [[ 7.44169134e-01 6.43438235e-01 1.79442296e-01 2.45689204e+01] [-6.67358383e-01 7.27827512e-01 1.57797024e-01 3.16422065e+01] [-2.90704010e-02 -2.37179996e-01 9.71030670e-01 2.27348693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699072329 meters Centerline goodness : 0.722875 with order 1 Centerline is valid? [False, False] Translation: X:24.48, Y:31.60, Z:22.76 [[ 0.74488386 0.64153491 0.18325116 24.48350575] [-0.66642978 0.72855969 0.15834178 31.59598143] [-0.03192763 -0.24007026 0.97023033 22.75894337] [ 0. 0. 0. 1. ]] SLAMing on 244.759072329 meters Centerline goodness : 0.724265 with order 1 Centerline is valid? [False, False] Translation: X:24.40, Y:31.55, Z:22.78 [[ 0.74627105 0.6397696 0.18377805 24.39820238] [-0.66485105 0.7298689 0.15894801 31.55044056] [-0.03244378 -0.24080333 0.97003152 22.78293009] [ 0. 0. 0. 1. ]] SLAMing on 244.819072329 meters Centerline goodness : 0.733597 with order 1 Centerline is valid? [False, False] Translation: X:24.32, Y:31.51, Z:22.80 [[ 7.49310664e-01 6.37790515e-01 1.78204343e-01 2.43153921e+01] [-6.61600135e-01 7.32623747e-01 1.59836502e-01 3.15055725e+01] [-2.86145291e-02 -2.37667213e-01 9.70925077e-01 2.28031339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879072329 meters Centerline goodness : 0.743355 with order 1 Centerline is valid? [False, False] Translation: X:24.23, Y:31.46, Z:22.83 [[ 7.47712242e-01 6.39668068e-01 1.78188568e-01 2.42349318e+01] [-6.63357049e-01 7.31579895e-01 1.57315870e-01 3.14588395e+01] [-2.97292357e-02 -2.35829645e-01 9.71339565e-01 2.28267765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939072329 meters Centerline goodness : 0.738325 with order 1 Centerline is valid? [False, False] Translation: X:24.15, Y:31.41, Z:22.85 [[ 7.45286161e-01 6.41865524e-01 1.80436102e-01 2.41472993e+01] [-6.66029821e-01 7.29235695e-01 1.56906272e-01 3.14098315e+01] [-3.08677199e-02 -2.37115898e-01 9.70990852e-01 2.28530170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999072329 meters Centerline goodness : 0.733465 with order 1 Centerline is valid? [False, False] Translation: X:24.06, Y:31.36, Z:22.88 [[ 7.43544731e-01 6.43376593e-01 1.82230055e-01 2.40596496e+01] [-6.67988572e-01 7.27100525e-01 1.58480581e-01 3.13614276e+01] [-3.05368720e-02 -2.39564995e-01 9.70399976e-01 2.28789004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059072329 meters Centerline goodness : 0.728920 with order 1 Centerline is valid? [False, False] Translation: X:23.97, Y:31.31, Z:22.90 [[ 7.42479835e-01 6.44216553e-01 1.83599365e-01 2.39724545e+01] [-6.69149392e-01 7.25976664e-01 1.58735549e-01 3.13119243e+01] [-3.10287856e-02 -2.40713348e-01 9.70100149e-01 2.29045741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119072329 meters Centerline goodness : 0.731033 with order 1 Centerline is valid? [False, False] Translation: X:23.89, Y:31.26, Z:22.93 [[ 7.40091244e-01 6.46873005e-01 1.83902869e-01 2.38858822e+01] [-6.71826652e-01 7.23454709e-01 1.58940973e-01 3.12596705e+01] [-3.02307718e-02 -2.41181671e-01 9.70009022e-01 2.29314683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179072329 meters Centerline goodness : 0.728651 with order 1 Centerline is valid? [False, False] Translation: X:23.79, Y:31.21, Z:22.96 [[ 0.73942781 0.64615582 0.18902162 23.79437603] [-0.67246721 0.7222877 0.16151882 31.20509614] [-0.03216166 -0.24654235 0.96859821 22.9581798 ] [ 0. 0. 0. 1. ]] SLAMing on 245.239072329 meters Centerline goodness : 0.730422 with order 1 Centerline is valid? [False, False] Translation: X:23.71, Y:31.15, Z:22.98 [[ 0.74179569 0.64340141 0.18913957 23.70538852] [-0.66978183 0.7249324 0.16082698 31.15256699] [-0.0336371 -0.24598301 0.9686903 22.98439859] [ 0. 0. 0. 1. ]] SLAMing on 245.299072329 meters Centerline goodness : 0.738356 with order 1 Centerline is valid? [False, False] Translation: X:23.63, Y:31.10, Z:23.01 [[ 0.74965944 0.63547484 0.18488497 23.62774171] [-0.66090584 0.73352338 0.15857778 31.10418473] [-0.03484526 -0.24107089 0.96988176 23.00904343] [ 0. 0. 0. 1. ]] SLAMing on 245.359072329 meters Centerline goodness : 0.740996 with order 1 Centerline is valid? [False, False] Translation: X:23.55, Y:31.05, Z:23.04 [[ 0.76022797 0.62242713 0.18611263 23.54662782] [-0.64840603 0.74472781 0.157956 31.05383751] [-0.04028715 -0.24075913 0.96974842 23.03614909] [ 0. 0. 0. 1. ]] SLAMing on 245.419072329 meters Centerline goodness : 0.743351 with order 1 Centerline is valid? [False, False] Translation: X:23.47, Y:31.01, Z:23.06 [[ 0.76783211 0.61245067 0.18798413 23.46749247] [-0.63904491 0.75295801 0.15708546 31.00612511] [-0.04533706 -0.24074556 0.96952882 23.061428 ] [ 0. 0. 0. 1. ]] SLAMing on 245.479072329 meters Centerline goodness : 0.751228 with order 1 Centerline is valid? [False, False] Translation: X:23.40, Y:30.96, Z:23.08 [[ 0.77980477 0.59799873 0.18520806 23.39701284] [-0.62397404 0.76637427 0.15273142 30.96072699] [-0.0506055 -0.23466571 0.970758 23.08238502] [ 0. 0. 0. 1. ]] SLAMing on 245.539072329 meters Centerline goodness : 0.754584 with order 1 Centerline is valid? [False, False] Translation: X:23.33, Y:30.92, Z:23.11 [[ 0.78846994 0.5863842 0.18565754 23.32507114] [-0.61254551 0.7759414 0.15067499 30.9169411 ] [-0.05570594 -0.2325264 0.97099347 23.10572391] [ 0. 0. 0. 1. ]] SLAMing on 245.599072329 meters Centerline goodness : 0.758929 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:30.87, Z:23.13 [[ 0.80346338 0.56485875 0.18809888 23.2533982 ] [-0.59196569 0.79163004 0.15132252 30.87264406] [-0.06342888 -0.23293018 0.97042275 23.12791636] [ 0. 0. 0. 1. ]] SLAMing on 245.659072329 meters Centerline goodness : 0.766842 with order 1 Centerline is valid? [False, False] Translation: X:23.19, Y:30.83, Z:23.15 [[ 0.81830376 0.54395646 0.18571572 23.18996173] [-0.57061536 0.80764595 0.14868131 30.83146446] [-0.06911639 -0.22763872 0.97128963 23.14708505] [ 0. 0. 0. 1. ]] SLAMing on 245.719072329 meters Centerline goodness : 0.767210 with order 1 Centerline is valid? [False, False] Translation: X:23.13, Y:30.79, Z:23.17 [[ 0.83184538 0.52175748 0.1892152 23.12605903] [-0.54941845 0.82239607 0.14766201 30.79177813] [-0.07856608 -0.22679028 0.97076956 23.16920454] [ 0. 0. 0. 1. ]] SLAMing on 245.779072329 meters Centerline goodness : 0.768806 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:30.75, Z:23.19 [[ 0.83931325 0.50932998 0.19009536 23.06593424] [-0.53689177 0.83151432 0.14258742 30.75485026] [-0.08544296 -0.22173614 0.97135605 23.1906265 ] [ 0. 0. 0. 1. ]] SLAMing on 245.839072329 meters Centerline goodness : 0.770390 with order 1 Centerline is valid? [False, False] Translation: X:23.02, Y:30.72, Z:23.21 [[ 0.84975326 0.49300769 0.18671589 23.01708718] [-0.51934498 0.84369702 0.13585334 30.7218111 ] [-0.0905549 -0.21241178 0.97297536 23.20816451] [ 0. 0. 0. 1. ]] SLAMing on 245.899072329 meters Centerline goodness : 0.771919 with order 1 Centerline is valid? [False, False] Translation: X:22.97, Y:30.69, Z:23.22 [[ 0.85635223 0.48156659 0.18642552 22.96605262] [-0.50748032 0.85159853 0.13131517 30.69081779] [-0.0955227 -0.20705932 0.97365387 23.22487214] [ 0. 0. 0. 1. ]] SLAMing on 245.959072329 meters Centerline goodness : 0.768808 with order 1 Centerline is valid? [False, False] Translation: X:22.92, Y:30.66, Z:23.24 [[ 0.86431357 0.46719465 0.18625574 22.91846514] [-0.49290083 0.8604861 0.12888929 30.65806271] [-0.10005409 -0.20320637 0.97401045 23.24267317] [ 0. 0. 0. 1. ]] SLAMing on 246.019072329 meters Centerline goodness : 0.770853 with order 1 Centerline is valid? [False, False] Translation: X:22.88, Y:30.63, Z:23.26 [[ 0.8679548 0.45894875 0.1897907 22.87677287] [-0.48444297 0.86655783 0.11996887 30.63058865] [-0.10940506 -0.19607033 0.97446753 23.26105748] [ 0. 0. 0. 1. ]] SLAMing on 246.079072329 meters Centerline goodness : 0.772319 with order 1 Centerline is valid? [False, False] Translation: X:22.85, Y:30.61, Z:23.27 [[ 0.87249828 0.45232194 0.18480154 22.84639005] [-0.47633501 0.87165245 0.11544251 30.60680795] [-0.10886554 -0.18875083 0.97597204 23.27163475] [ 0. 0. 0. 1. ]] SLAMing on 246.13907232900002 meters Centerline goodness : 0.774133 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:30.58, Z:23.29 [[ 0.87360367 0.44986403 0.1855774 22.79942403] [-0.47386592 0.87318687 0.11399901 30.5777656 ] [-0.1107597 -0.18752876 0.9759945 23.28642466] [ 0. 0. 0. 1. ]] SLAMing on 246.199072329 meters Centerline goodness : 0.772462 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:30.55, Z:23.30 [[ 0.8712453 0.45157055 0.19239455 22.75300094] [-0.47634858 0.8724171 0.10945522 30.55153047] [-0.11842154 -0.18700921 0.97519428 23.30146013] [ 0. 0. 0. 1. ]] SLAMing on 246.259072329 meters Centerline goodness : 0.772452 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:30.52, Z:23.31 [[ 0.87001745 0.45397517 0.19229192 22.70587213] [-0.47834168 0.87172769 0.10620772 30.52341126] [-0.11941052 -0.18438381 0.97557354 23.30982086] [ 0. 0. 0. 1. ]] SLAMing on 246.319072329 meters Centerline goodness : 0.772414 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:30.49, Z:23.32 [[ 0.86826068 0.45609474 0.19519474 22.65370743] [-0.4811411 0.87006456 0.10719563 30.49371163] [-0.12094066 -0.18698996 0.97488877 23.32453227] [ 0. 0. 0. 1. ]] SLAMing on 246.379072329 meters Centerline goodness : 0.771567 with order 1 Centerline is valid? [False, False] Translation: X:22.60, Y:30.46, Z:23.34 [[ 0.86481514 0.4614739 0.19782974 22.60300401] [-0.48718485 0.86655207 0.10834406 30.46493826] [-0.12143182 -0.19007724 0.97423044 23.33628177] [ 0. 0. 0. 1. ]] SLAMing on 246.439072329 meters Centerline goodness : 0.772911 with order 1 Centerline is valid? [False, False] Translation: X:22.56, Y:30.44, Z:23.35 [[ 0.85971646 0.47242017 0.19418235 22.55700464] [-0.49673634 0.86182413 0.10252891 30.43700879] [-0.11891431 -0.18460322 0.97559266 23.3470107 ] [ 0. 0. 0. 1. ]] SLAMing on 246.499072329 meters Centerline goodness : 0.770814 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:30.41, Z:23.36 [[ 0.85620476 0.47715868 0.19807323 22.50056656] [-0.50247859 0.85824772 0.10452808 30.4054949 ] [-0.12011942 -0.189025 0.9745978 23.36212157] [ 0. 0. 0. 1. ]] SLAMing on 246.559072329 meters Centerline goodness : 0.767757 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:30.38, Z:23.37 [[ 0.8493782 0.48783747 0.20142311 22.44605546] [-0.51399204 0.85125083 0.10575538 30.37540007] [-0.11987015 -0.19335619 0.97377848 23.37462751] [ 0. 0. 0. 1. ]] SLAMing on 246.619072329 meters Centerline goodness : 0.768105 with order 1 Centerline is valid? [False, False] Translation: X:22.39, Y:30.34, Z:23.39 [[ 0.84327367 0.49889178 0.19999127 22.39344154] [-0.52442749 0.84522639 0.1028015 30.34459433] [-0.11775108 -0.19157072 0.97438973 23.38811093] [ 0. 0. 0. 1. ]] SLAMing on 246.679072329 meters Centerline goodness : 0.768451 with order 1 Centerline is valid? [False, False] Translation: X:22.33, Y:30.31, Z:23.40 [[ 0.83911388 0.50481351 0.20261098 22.33353909] [-0.5312706 0.84054352 0.10601007 30.31165464] [-0.11678803 -0.19659578 0.97350432 23.4045867 ] [ 0. 0. 0. 1. ]] SLAMing on 246.739072329 meters Centerline goodness : 0.767572 with order 1 Centerline is valid? [False, False] Translation: X:22.27, Y:30.28, Z:23.42 [[ 0.83139556 0.51646749 0.20504328 22.27493211] [-0.54328265 0.83299613 0.10469676 30.27929147] [-0.11672778 -0.19844088 0.97313711 23.41891963] [ 0. 0. 0. 1. ]] SLAMing on 246.799072329 meters Centerline goodness : 0.770047 with order 1 Centerline is valid? [False, False] Translation: X:22.21, Y:30.25, Z:23.43 [[ 0.82669401 0.52515753 0.20195688 22.21456683] [-0.55210231 0.82631771 0.11127476 30.2453502 ] [-0.10844377 -0.20349104 0.97305259 23.43059813] [ 0. 0. 0. 1. ]] SLAMing on 246.859072329 meters Centerline goodness : 0.767969 with order 1 Centerline is valid? [False, False] Translation: X:22.15, Y:30.21, Z:23.45 [[ 0.82183023 0.53157882 0.20498545 22.14787835] [-0.5594963 0.82091294 0.11430586 30.20935179] [-0.10751264 -0.20862861 0.97206745 23.44946667] [ 0. 0. 0. 1. ]] SLAMing on 246.919072329 meters Centerline goodness : 0.768039 with order 1 Centerline is valid? [False, False] Translation: X:22.08, Y:30.17, Z:23.47 [[ 0.81643214 0.53885959 0.20753049 22.08328786] [-0.56734978 0.81546461 0.11459361 30.17452815] [-0.10748391 -0.21130029 0.97149339 23.46743442] [ 0. 0. 0. 1. ]] SLAMing on 246.979072329 meters Centerline goodness : 0.769242 with order 1 Centerline is valid? [False, False] Translation: X:22.01, Y:30.14, Z:23.48 [[ 0.81378561 0.54360322 0.20554444 22.01382801] [-0.57215026 0.81143432 0.11924107 30.1364688 ] [-0.10196598 -0.21463897 0.9713563 23.48240109] [ 0. 0. 0. 1. ]] SLAMing on 247.039072329 meters Centerline goodness : 0.774482 with order 1 Centerline is valid? [False, False] Translation: X:21.94, Y:30.10, Z:23.50 [[ 0.80615181 0.55485949 0.20554856 21.94146681] [-0.58321788 0.80373835 0.11773519 30.09863797] [-0.09988077 -0.21479204 0.97153909 23.50364843] [ 0. 0. 0. 1. ]] SLAMing on 247.099072329 meters Centerline goodness : 0.771850 with order 1 Centerline is valid? [False, False] Translation: X:21.87, Y:30.06, Z:23.52 [[ 0.80086256 0.56204125 0.20670943 21.86939254] [-0.5912839 0.79683506 0.12424667 30.0609577 ] [-0.09488157 -0.22172847 0.97048131 23.52016345] [ 0. 0. 0. 1. ]] SLAMing on 247.159072329 meters Centerline goodness : 0.771879 with order 1 Centerline is valid? [False, False] Translation: X:21.80, Y:30.02, Z:23.54 [[ 0.79703251 0.5675694 0.20640775 21.79726751] [-0.59711938 0.79178924 0.12852333 30.02322347] [-0.09048553 -0.22568734 0.96998845 23.53854076] [ 0. 0. 0. 1. ]] SLAMing on 247.219072329 meters Centerline goodness : 0.768974 with order 1 Centerline is valid? [False, False] Translation: X:21.72, Y:29.98, Z:23.56 [[ 0.79288083 0.57263596 0.20839397 21.72489905] [-0.60258139 0.78769633 0.12818021 29.98361472] [-0.09075057 -0.22720596 0.96960909 23.56070806] [ 0. 0. 0. 1. ]] SLAMing on 247.279072329 meters Centerline goodness : 0.769714 with order 1 Centerline is valid? [False, False] Translation: X:21.65, Y:29.94, Z:23.58 [[ 0.78846509 0.57944685 0.20631083 21.64672107] [-0.60920268 0.78194725 0.13202496 29.94148827] [-0.08482274 -0.22978218 0.96953868 23.57933894] [ 0. 0. 0. 1. ]] SLAMing on 247.339072329 meters Centerline goodness : 0.767267 with order 1 Centerline is valid? [False, False] Translation: X:21.57, Y:29.90, Z:23.60 [[ 0.78663226 0.58212478 0.20576788 21.56983868] [-0.61217715 0.77870823 0.1373049 29.89811976] [-0.08030455 -0.23397486 0.9689205 23.59988105] [ 0. 0. 0. 1. ]] SLAMing on 247.399072329 meters Centerline goodness : 0.765282 with order 1 Centerline is valid? [False, False] Translation: X:21.49, Y:29.86, Z:23.62 [[ 0.78249021 0.58722538 0.20706381 21.49405598] [-0.6174357 0.77476061 0.1360851 29.85723828] [-0.08051226 -0.23433385 0.96881651 23.62372076] [ 0. 0. 0. 1. ]] SLAMing on 247.459072329 meters Centerline goodness : 0.768699 with order 1 Centerline is valid? [False, False] Translation: X:21.42, Y:29.82, Z:23.64 [[ 0.77991801 0.59097121 0.20610903 21.42435184] [-0.62065301 0.77274127 0.13289383 29.81892166] [-0.08073252 -0.23156849 0.96946289 23.64493448] [ 0. 0. 0. 1. ]] SLAMing on 247.519072329 meters Centerline goodness : 0.762492 with order 1 Centerline is valid? [False, False] Translation: X:21.34, Y:29.77, Z:23.67 [[ 0.77977561 0.59007226 0.20920022 21.34192756] [-0.62100023 0.77140787 0.13888344 29.77416641] [-0.07942743 -0.2382113 0.96796005 23.66938714] [ 0. 0. 0. 1. ]] SLAMing on 247.579072329 meters Centerline goodness : 0.764100 with order 1 Centerline is valid? [False, False] Translation: X:21.27, Y:29.73, Z:23.69 [[ 0.77893274 0.59132953 0.20878976 21.26925913] [-0.62187725 0.77127751 0.13564545 29.73309587] [-0.08082369 -0.23550029 0.96850769 23.69216498] [ 0. 0. 0. 1. ]] SLAMing on 247.63907232900002 meters Centerline goodness : 0.766369 with order 1 Centerline is valid? [False, False] Translation: X:21.20, Y:29.69, Z:23.71 [[ 0.77889535 0.59266921 0.20509813 21.19992313] [-0.62239333 0.77069761 0.13657136 29.69205366] [-0.077127 -0.2340265 0.96916615 23.71058781] [ 0. 0. 0. 1. ]] SLAMing on 247.699072329 meters Centerline goodness : 0.759350 with order 1 Centerline is valid? [False, False] Translation: X:21.12, Y:29.65, Z:23.74 [[ 0.77937271 0.58993073 0.21109217 21.12426914] [-0.62143508 0.77081154 0.14024267 29.64983449] [-0.07997882 -0.24048139 0.96735314 23.73516735] [ 0. 0. 0. 1. ]] SLAMing on 247.759072329 meters Centerline goodness : 0.764774 with order 1 Centerline is valid? [False, False] Translation: X:21.06, Y:29.61, Z:23.75 [[ 0.77988854 0.58997986 0.2090398 21.05771587] [-0.62069131 0.77204189 0.13672457 29.60986026] [-0.08072274 -0.23637911 0.968302 23.75478965] [ 0. 0. 0. 1. ]] SLAMing on 247.819072329 meters Centerline goodness : 0.768741 with order 1 Centerline is valid? [False, False] Translation: X:20.99, Y:29.57, Z:23.78 [[ 0.78214729 0.58852739 0.20464879 20.98693433] [-0.61823532 0.77393171 0.13716706 29.56682769] [-0.07765762 -0.23380595 0.96917701 23.77561673] [ 0. 0. 0. 1. ]] SLAMing on 247.879072329 meters Centerline goodness : 0.759590 with order 1 Centerline is valid? [False, False] Translation: X:20.91, Y:29.52, Z:23.80 [[ 0.78480149 0.58266605 0.21115607 20.91164788] [-0.61427005 0.77652116 0.14031104 29.52282338] [-0.08221267 -0.23982316 0.96732928 23.8009131 ] [ 0. 0. 0. 1. ]] SLAMing on 247.939072329 meters Centerline goodness : 0.762668 with order 1 Centerline is valid? [False, False] Translation: X:20.85, Y:29.49, Z:23.82 [[ 0.78784317 0.5790709 0.20971416 20.84943596] [-0.61013441 0.78024308 0.13768346 29.48527361] [-0.08389954 -0.2364268 0.96802027 23.81918432] [ 0. 0. 0. 1. ]] SLAMing on 247.999072329 meters Centerline goodness : 0.768618 with order 1 Centerline is valid? [False, False] Translation: X:20.78, Y:29.44, Z:23.84 [[ 0.79088044 0.57537799 0.20844254 20.77672063] [-0.60589238 0.78409106 0.13452003 29.4419897 ] [-0.08603807 -0.23268301 0.96873942 23.8424786 ] [ 0. 0. 0. 1. ]] SLAMing on 248.059072329 meters Centerline goodness : 0.763595 with order 1 Centerline is valid? [False, False] Translation: X:20.71, Y:29.40, Z:23.86 [[ 0.79573876 0.56735585 0.2119131 20.70950382] [-0.59890623 0.78918175 0.13602754 29.40153708] [-0.09006193 -0.23515846 0.96777546 23.86448419] [ 0. 0. 0. 1. ]] SLAMing on 248.119072329 meters Centerline goodness : 0.761225 with order 1 Centerline is valid? [False, False] Translation: X:20.65, Y:29.37, Z:23.88 [[ 0.80209649 0.55840505 0.21171919 20.65262292] [-0.58983185 0.79624932 0.13448197 29.3656804 ] [-0.09348585 -0.23274624 0.96803388 23.88170912] [ 0. 0. 0. 1. ]] SLAMing on 248.179072329 meters Centerline goodness : 0.762415 with order 1 Centerline is valid? [False, False] Translation: X:20.59, Y:29.33, Z:23.90 [[ 0.80627736 0.5524216 0.21153534 20.592538 ] [-0.58363338 0.80116411 0.13231839 29.32998137] [-0.09637898 -0.2301444 0.96837216 23.90003122] [ 0. 0. 0. 1. ]] SLAMing on 248.239072329 meters Centerline goodness : 0.760947 with order 1 Centerline is valid? [False, False] Translation: X:20.53, Y:29.29, Z:23.92 [[ 0.81286593 0.5421559 0.21287547 20.53312887] [-0.57371997 0.80833312 0.13207179 29.29329603] [-0.10047079 -0.22948757 0.96811212 23.92015906] [ 0. 0. 0. 1. ]] SLAMing on 248.299072329 meters Centerline goodness : 0.760280 with order 1 Centerline is valid? [False, False] Translation: X:20.47, Y:29.26, Z:23.94 [[ 0.8176511 0.53454992 0.21378276 20.47459775] [-0.56608345 0.81412483 0.12942294 29.25747074] [-0.10486283 -0.22684169 0.96826992 23.93702018] [ 0. 0. 0. 1. ]] SLAMing on 248.359072329 meters Centerline goodness : 0.760786 with order 1 Centerline is valid? [False, False] Translation: X:20.41, Y:29.22, Z:23.96 [[ 0.82027392 0.53005084 0.21493439 20.41246916] [-0.56157621 0.81765639 0.12676826 29.22122334] [-0.10854886 -0.22468674 0.96836616 23.95580784] [ 0. 0. 0. 1. ]] SLAMing on 248.419072329 meters Centerline goodness : 0.758008 with order 1 Centerline is valid? [False, False] Translation: X:20.35, Y:29.18, Z:23.97 [[ 0.82325279 0.52380794 0.21881519 20.35198532] [-0.55643848 0.82091283 0.12836801 29.18361087] [-0.11238802 -0.22743651 0.96728567 23.97485956] [ 0. 0. 0. 1. ]] SLAMing on 248.479072329 meters Centerline goodness : 0.757228 with order 1 Centerline is valid? [False, False] Translation: X:20.29, Y:29.15, Z:23.99 [[ 0.82537168 0.51977885 0.22043489 20.29199848] [-0.55258674 0.82378765 0.12657726 29.14671086] [-0.11579935 -0.22628268 0.96715389 23.9929015 ] [ 0. 0. 0. 1. ]] SLAMing on 248.539072329 meters Centerline goodness : 0.757824 with order 1 Centerline is valid? [False, False] Translation: X:20.24, Y:29.11, Z:24.01 [[ 0.82846893 0.5148627 0.22035343 20.23857373] [-0.54753699 0.82730768 0.12555975 29.11163964] [-0.11765405 -0.224674 0.96730508 24.00981752] [ 0. 0. 0. 1. ]] SLAMing on 248.599072329 meters Centerline goodness : 0.757167 with order 1 Centerline is valid? [False, False] Translation: X:20.18, Y:29.07, Z:24.03 [[ 0.83060176 0.50927019 0.22526559 20.17700459] [-0.54331428 0.82982398 0.12728611 29.06999203] [-0.12210777 -0.22811408 0.96594703 24.03042986] [ 0. 0. 0. 1. ]] SLAMing on 248.659072329 meters Centerline goodness : 0.757377 with order 1 Centerline is valid? [False, False] Translation: X:20.12, Y:29.03, Z:24.05 [[ 0.83333482 0.50603394 0.22244711 20.12269732] [-0.5389108 0.83329767 0.12324829 29.03198966] [-0.12299684 -0.22258624 0.96712313 24.04661726] [ 0. 0. 0. 1. ]] SLAMing on 248.719072329 meters Centerline goodness : 0.754826 with order 1 Centerline is valid? [False, False] Translation: X:20.06, Y:28.99, Z:24.07 [[ 0.8346127 0.50266862 0.2252685 20.06404174] [-0.53631916 0.83482789 0.12419401 28.9937428 ] [-0.125632 -0.22446971 0.96634877 24.06545693] [ 0. 0. 0. 1. ]] SLAMing on 248.779072329 meters Centerline goodness : 0.755848 with order 1 Centerline is valid? [False, False] Translation: X:20.01, Y:28.95, Z:24.09 [[ 0.83625307 0.49775698 0.23004084 20.0060988 ] [-0.53294721 0.83650595 0.12737768 28.95245981] [-0.1290274 -0.2291196 0.96480886 24.08537709] [ 0. 0. 0. 1. ]] SLAMing on 248.839072329 meters Centerline goodness : 0.758297 with order 1 Centerline is valid? [False, False] Translation: X:19.95, Y:28.92, Z:24.10 [[ 0.836713 0.4971176 0.22975084 19.95091853] [-0.53188334 0.83758092 0.12473293 28.91788454] [-0.13042798 -0.22656631 0.96522342 24.10245248] [ 0. 0. 0. 1. ]] SLAMing on 248.899072329 meters Centerline goodness : 0.760959 with order 1 Centerline is valid? [False, False] Translation: X:19.90, Y:28.88, Z:24.12 [[ 0.83767103 0.4966391 0.22728146 19.90166374] [-0.53061664 0.83861603 0.12316304 28.88176161] [-0.12943429 -0.22376943 0.96600932 24.11652575] [ 0. 0. 0. 1. ]] SLAMing on 248.959072329 meters Centerline goodness : 0.757700 with order 1 Centerline is valid? [False, False] Translation: X:19.84, Y:28.84, Z:24.14 [[ 0.83739464 0.49469197 0.23248671 19.84357957] [-0.53048694 0.8380416 0.12755344 28.84083796] [-0.13173387 -0.23014373 0.96419918 24.13654352] [ 0. 0. 0. 1. ]] SLAMing on 249.019072329 meters Centerline goodness : 0.762073 with order 1 Centerline is valid? [False, False] Translation: X:19.79, Y:28.80, Z:24.15 [[ 0.83697136 0.49575002 0.23175603 19.78648434] [-0.53106639 0.83801209 0.12531649 28.79813697] [-0.1320887 -0.22796415 0.96466829 24.15441695] [ 0. 0. 0. 1. ]] SLAMing on 249.079072329 meters Centerline goodness : 0.764873 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:28.76, Z:24.17 [[ 0.8366408 0.49635074 0.2316638 19.72943565] [-0.53158317 0.83775297 0.12485709 28.75929355] [-0.13210413 -0.22760911 0.96475001 24.17299232] [ 0. 0. 0. 1. ]] SLAMing on 249.13907232900002 meters Centerline goodness : 0.762850 with order 1 Centerline is valid? [False, False] Translation: X:19.67, Y:28.72, Z:24.19 [[ 0.83498497 0.49764428 0.23484096 19.66694494] [-0.53391498 0.83596281 0.12688959 28.71669874] [-0.13317243 -0.23133601 0.96371612 24.19440242] [ 0. 0. 0. 1. ]] SLAMing on 249.199072329 meters Centerline goodness : 0.762627 with order 1 Centerline is valid? [False, False] Translation: X:19.61, Y:28.67, Z:24.21 [[ 0.83227401 0.50222738 0.23470755 19.61163244] [-0.53839113 0.83317543 0.12630796 28.67445149] [-0.13211725 -0.2314873 0.96382502 24.21251286] [ 0. 0. 0. 1. ]] SLAMing on 249.259072329 meters Centerline goodness : 0.765237 with order 1 Centerline is valid? [False, False] Translation: X:19.55, Y:28.63, Z:24.23 [[ 0.82969748 0.50646402 0.23472596 19.55191505] [-0.54276275 0.83019187 0.12724015 28.63276143] [-0.13042502 -0.23297134 0.96369791 24.23337211] [ 0. 0. 0. 1. ]] SLAMing on 249.319072329 meters Centerline goodness : 0.766906 with order 1 Centerline is valid? [False, False] Translation: X:19.48, Y:28.59, Z:24.26 [[ 0.82771635 0.50833324 0.23766146 19.48494092] [-0.54542515 0.82835723 0.12781122 28.59013095] [-0.1318979 -0.23541797 0.96290255 24.25596436] [ 0. 0. 0. 1. ]] SLAMing on 249.379072329 meters Centerline goodness : 0.772328 with order 1 Centerline is valid? [False, False] Translation: X:19.43, Y:28.55, Z:24.28 [[ 0.82490988 0.51330361 0.23673421 19.42646937] [-0.5500289 0.8254703 0.12675562 28.54939907] [-0.13035294 -0.23477262 0.96327043 24.27589932] [ 0. 0. 0. 1. ]] SLAMing on 249.439072329 meters Centerline goodness : 0.775218 with order 1 Centerline is valid? [False, False] Translation: X:19.36, Y:28.51, Z:24.30 [[ 0.82307739 0.5162011 0.23681223 19.363154 ] [-0.55282321 0.82374259 0.12583579 28.50937961] [-0.13011575 -0.23448789 0.96337185 24.29701894] [ 0. 0. 0. 1. ]] SLAMing on 249.499072329 meters Centerline goodness : 0.778259 with order 1 Centerline is valid? [False, False] Translation: X:19.30, Y:28.47, Z:24.32 [[ 0.8202849 0.51980045 0.23862139 19.30000373] [-0.5570778 0.82063164 0.12738931 28.46949797] [-0.12960324 -0.23742621 0.96272104 24.31795605] [ 0. 0. 0. 1. ]] SLAMing on 249.559072329 meters Centerline goodness : 0.781911 with order 1 Centerline is valid? [False, False] Translation: X:19.24, Y:28.43, Z:24.34 [[ 0.81823595 0.52258711 0.23956763 19.23577818] [-0.56017894 0.81842579 0.12797963 28.42871479] [-0.12918782 -0.23891828 0.96240769 24.33937491] [ 0. 0. 0. 1. ]] SLAMing on 249.619072329 meters Centerline goodness : 0.785516 with order 1 Centerline is valid? [False, False] Translation: X:19.17, Y:28.39, Z:24.36 [[ 0.81722586 0.52487848 0.23800098 19.17305224] [-0.56180043 0.81764267 0.12585999 28.38966695] [-0.12853856 -0.23656509 0.9630757 24.36022572] [ 0. 0. 0. 1. ]] SLAMing on 249.679072329 meters Centerline goodness : 0.784549 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:28.35, Z:24.38 [[ 0.81669409 0.52575733 0.2378865 19.10931212] [-0.56259146 0.81716796 0.12540887 28.35086832] [-0.12845859 -0.2362536 0.96316282 24.38218009] [ 0. 0. 0. 1. ]] SLAMing on 249.739072329 meters Centerline goodness : 0.780057 with order 1 Centerline is valid? [False, False] Translation: X:19.05, Y:28.31, Z:24.40 [[ 0.81678926 0.52440873 0.24052191 19.04799956] [-0.56212036 0.81723033 0.12710341 28.31255305] [-0.12990766 -0.23901897 0.96228578 24.40319955] [ 0. 0. 0. 1. ]] SLAMing on 249.799072329 meters Centerline goodness : 0.777875 with order 1 Centerline is valid? [False, False] Translation: X:18.99, Y:28.28, Z:24.42 [[ 0.81741469 0.52378956 0.23974513 18.98988022] [-0.56118837 0.81800815 0.12621524 28.2757638 ] [-0.13000324 -0.23771237 0.96259648 24.42321104] [ 0. 0. 0. 1. ]] SLAMing on 249.859072329 meters Centerline goodness : 0.776715 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:28.24, Z:24.44 [[ 0.81889351 0.52186633 0.2388911 18.92896261] [-0.55883505 0.81986404 0.12460473 28.23608252] [-0.13083121 -0.23553873 0.96301854 24.44456065] [ 0. 0. 0. 1. ]] SLAMing on 249.919072329 meters Centerline goodness : 0.775782 with order 1 Centerline is valid? [False, False] Translation: X:18.87, Y:28.20, Z:24.46 [[ 0.82171057 0.51729468 0.23916093 18.87025241] [-0.55417242 0.82318794 0.1235093 28.19874913] [-0.13298369 -0.23402529 0.96309268 24.46403482] [ 0. 0. 0. 1. ]] SLAMing on 249.979072329 meters Centerline goodness : 0.774105 with order 1 Centerline is valid? [False, False] Translation: X:18.81, Y:28.16, Z:24.48 [[ 0.82392349 0.51298645 0.24082147 18.81045519] [-0.55024744 0.82583005 0.12341992 28.16034053] [-0.13556486 -0.23419997 0.96269026 24.48416412] [ 0. 0. 0. 1. ]] SLAMing on 250.039072329 meters Centerline goodness : 0.772113 with order 1 Centerline is valid? [False, False] Translation: X:18.75, Y:28.12, Z:24.50 [[ 0.82725074 0.50689803 0.2423027 18.75375126] [-0.54456028 0.82953339 0.12380817 28.12207531] [-0.13824006 -0.23436883 0.96226864 24.50388617] [ 0. 0. 0. 1. ]] SLAMing on 250.099072329 meters Centerline goodness : 0.770249 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:28.09, Z:24.52 [[ 0.83200316 0.49876362 0.24291068 18.70085317] [-0.53647721 0.83485657 0.12331547 28.08856556] [-0.14129031 -0.23291491 0.96217862 24.52085141] [ 0. 0. 0. 1. ]] SLAMing on 250.159072329 meters Centerline goodness : 0.771110 with order 1 Centerline is valid? [False, False] Translation: X:18.65, Y:28.05, Z:24.54 [[ 0.83432182 0.4948403 0.24298184 18.64848506] [-0.53251991 0.83742343 0.1230632 28.05373906] [-0.14258206 -0.23206698 0.96219295 24.53868408] [ 0. 0. 0. 1. ]] SLAMing on 250.219072329 meters Centerline goodness : 0.769258 with order 1 Centerline is valid? [False, False] Translation: X:18.59, Y:28.02, Z:24.56 [[ 0.8368683 0.48948459 0.24506386 18.59395009] [-0.52785137 0.84017505 0.12441386 28.01691648] [-0.14499787 -0.23347531 0.96149098 24.55643732] [ 0. 0. 0. 1. ]] SLAMing on 250.279072329 meters Centerline goodness : 0.767761 with order 1 Centerline is valid? [False, False] Translation: X:18.54, Y:27.98, Z:24.57 [[ 0.84001294 0.48400708 0.24518444 18.54407869] [-0.5224225 0.84352099 0.12468786 27.98440549] [-0.14646841 -0.23282929 0.96142474 24.571769 ] [ 0. 0. 0. 1. ]] SLAMing on 250.339072329 meters Centerline goodness : 0.765903 with order 1 Centerline is valid? [False, False] Translation: X:18.49, Y:27.95, Z:24.59 [[ 0.84213892 0.47984612 0.24606855 18.48823153] [-0.51836333 0.84611194 0.12407275 27.94719473] [-0.14866572 -0.2320394 0.96127843 24.59020556] [ 0. 0. 0. 1. ]] SLAMing on 250.399072329 meters Centerline goodness : 0.764361 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:27.91, Z:24.61 [[ 0.84293074 0.47836263 0.24624574 18.43699916] [-0.51691838 0.84699296 0.12408991 27.91353934] [-0.14920843 -0.23188815 0.96123084 24.60759905] [ 0. 0. 0. 1. ]] SLAMing on 250.459072329 meters Centerline goodness : 0.759458 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:27.88, Z:24.62 [[ 0.84415884 0.47683629 0.24499593 18.38723254] [-0.51501415 0.84821673 0.12364789 27.8796732 ] [-0.14884985 -0.23055483 0.96160709 24.62463692] [ 0. 0. 0. 1. ]] SLAMing on 250.519072329 meters Centerline goodness : 0.761633 with order 1 Centerline is valid? [False, False] Translation: X:18.34, Y:27.84, Z:24.64 [[ 0.84492128 0.4756965 0.24458306 18.33520981] [-0.51367903 0.84911082 0.1230637 27.8447125 ] [-0.14913715 -0.22961633 0.96178711 24.64311061] [ 0. 0. 0. 1. ]] SLAMing on 250.579072329 meters Centerline goodness : 0.753741 with order 1 Centerline is valid? [False, False] Translation: X:18.28, Y:27.81, Z:24.66 [[ 0.84484548 0.47530092 0.24561179 18.282382 ] [-0.51364247 0.84902673 0.12379426 27.80914538] [-0.14969145 -0.23074367 0.96143114 24.66135147] [ 0. 0. 0. 1. ]] SLAMing on 250.63907232900002 meters Centerline goodness : 0.753812 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:27.77, Z:24.68 [[ 0.84464943 0.47586774 0.24518815 18.22787782] [-0.51399098 0.84892709 0.12302869 27.77267215] [-0.14960148 -0.22994061 0.96163752 24.6795412 ] [ 0. 0. 0. 1. ]] SLAMing on 250.699072329 meters Centerline goodness : 0.751756 with order 1 Centerline is valid? [False, False] Translation: X:18.19, Y:27.75, Z:24.69 [[ 0.84266214 0.47663164 0.2504851 18.18510968] [-0.51483741 0.84945862 0.11559625 27.75012809] [-0.1576799 -0.22636768 0.96119442 24.69401316] [ 0. 0. 0. 1. ]] SLAMing on 250.759072329 meters Centerline goodness : 0.745896 with order 1 Centerline is valid? [False, False] Translation: X:18.13, Y:27.71, Z:24.71 [[ 0.84192992 0.47761682 0.25107008 18.13234265] [-0.51625312 0.84836144 0.11732681 27.71372876] [-0.15696091 -0.22839666 0.96083205 24.71226724] [ 0. 0. 0. 1. ]] SLAMing on 250.819072329 meters Centerline goodness : 0.747197 with order 1 Centerline is valid? [False, False] Translation: X:18.08, Y:27.68, Z:24.73 [[ 0.84150363 0.47904746 0.24977025 18.08398506] [-0.51727166 0.84783608 0.11663623 27.68070768] [-0.15588994 -0.22734889 0.96125481 24.72814167] [ 0. 0. 0. 1. ]] SLAMing on 250.879072329 meters Centerline goodness : 0.750456 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:27.65, Z:24.75 [[ 0.8414031 0.47927354 0.24967519 18.03230812] [-0.51755722 0.84759329 0.11713303 27.64562203] [-0.15548426 -0.22777729 0.9612191 24.74670708] [ 0. 0. 0. 1. ]] SLAMing on 250.939072329 meters Centerline goodness : 0.749149 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:27.61, Z:24.76 [[ 0.84201268 0.47774676 0.25054475 17.97923978] [-0.5163689 0.84819667 0.11800664 27.60896964] [-0.15613393 -0.2287366 0.96088593 24.76469133] [ 0. 0. 0. 1. ]] SLAMing on 250.999072329 meters Centerline goodness : 0.754419 with order 1 Centerline is valid? [False, False] Translation: X:17.93, Y:27.58, Z:24.78 [[ 0.84326061 0.47687632 0.24799299 17.93083992] [-0.51468092 0.84939545 0.11675156 27.5756431 ] [-0.15496806 -0.22608925 0.96170086 24.78157416] [ 0. 0. 0. 1. ]] SLAMing on 251.059072329 meters Centerline goodness : 0.755240 with order 1 Centerline is valid? [False, False] Translation: X:17.88, Y:27.54, Z:24.80 [[ 0.84426933 0.4748401 0.24846766 17.88163121] [-0.5129642 0.85024368 0.11812459 27.54274107] [-0.15516776 -0.22718398 0.96141063 24.79905737] [ 0. 0. 0. 1. ]] SLAMing on 251.119072329 meters Centerline goodness : 0.753726 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:27.51, Z:24.82 [[ 0.84573341 0.47202239 0.24885711 17.8308822 ] [-0.5103829 0.85165489 0.11913541 27.50936729] [-0.15570579 -0.22776921 0.96118515 24.81657761] [ 0. 0. 0. 1. ]] SLAMing on 251.179072329 meters Centerline goodness : 0.757620 with order 1 Centerline is valid? [False, False] Translation: X:17.78, Y:27.48, Z:24.83 [[ 0.84662563 0.470942 0.24786827 17.77959199] [-0.50883092 0.85277925 0.11772273 27.47594937] [-0.15593634 -0.22579012 0.96161462 24.83447825] [ 0. 0. 0. 1. ]] SLAMing on 251.239072329 meters Centerline goodness : 0.756019 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:27.44, Z:24.85 [[ 0.84771602 0.46790109 0.24989222 17.72738871] [-0.5065289 0.85391013 0.11944021 27.44369249] [-0.15749929 -0.22782901 0.96087872 24.85260171] [ 0. 0. 0. 1. ]] SLAMing on 251.299072329 meters Centerline goodness : 0.755233 with order 1 Centerline is valid? [False, False] Translation: X:17.68, Y:27.42, Z:24.87 [[ 0.84889692 0.4666752 0.24816984 17.68499727] [-0.50441768 0.85555258 0.11658725 27.41701148] [-0.15791397 -0.22415181 0.96167518 24.86693779] [ 0. 0. 0. 1. ]] SLAMing on 251.359072329 meters Centerline goodness : 0.756853 with order 1 Centerline is valid? [False, False] Translation: X:17.67, Y:27.41, Z:24.87 [[ 0.84923766 0.46545483 0.24929339 17.67065082] [-0.50273126 0.85712191 0.11226447 27.40958323] [-0.16142078 -0.2206668 0.9618989 24.87161645] [ 0. 0. 0. 1. ]] SLAMing on 251.419072329 meters Centerline goodness : 0.758539 with order 1 Centerline is valid? [False, False] Translation: X:17.63, Y:27.38, Z:24.89 [[ 0.85090284 0.46298462 0.24821281 17.62682013] [-0.49993295 0.85880049 0.11193197 27.3814891 ] [-0.16134251 -0.21933299 0.96221704 24.8870384 ] [ 0. 0. 0. 1. ]] SLAMing on 251.479072329 meters Centerline goodness : 0.761004 with order 1 Centerline is valid? [False, False] Translation: X:17.58, Y:27.35, Z:24.90 [[ 0.85202976 0.4609364 0.24815906 17.57925971] [-0.49796915 0.85985062 0.11262168 27.34866718] [-0.16146829 -0.21953258 0.96215042 24.90436586] [ 0. 0. 0. 1. ]] SLAMing on 251.539072329 meters Centerline goodness : 0.760493 with order 1 Centerline is valid? [False, False] Translation: X:17.53, Y:27.32, Z:24.92 [[ 0.85270178 0.45912752 0.24920191 17.52873026] [-0.49656635 0.86051937 0.11370254 27.31514189] [-0.1622391 -0.22069964 0.96175368 24.92214179] [ 0. 0. 0. 1. ]] SLAMing on 251.599072329 meters Centerline goodness : 0.761136 with order 1 Centerline is valid? [False, False] Translation: X:17.48, Y:27.28, Z:24.94 [[ 0.85500531 0.45554962 0.24787186 17.48288159] [-0.49261774 0.86281018 0.11351806 27.28348655] [-0.16215325 -0.21916461 0.96211912 24.93885918] [ 0. 0. 0. 1. ]] SLAMing on 251.659072329 meters Centerline goodness : 0.766387 with order 1 Centerline is valid? [False, False] Translation: X:17.43, Y:27.25, Z:24.96 [[ 0.85762509 0.4494461 0.2499548 17.43271567] [-0.48740944 0.8653959 0.11628401 27.24743429] [-0.16404646 -0.22155842 0.96124951 24.95654625] [ 0. 0. 0. 1. ]] SLAMing on 251.719072329 meters Centerline goodness : 0.767196 with order 1 Centerline is valid? [False, False] Translation: X:17.41, Y:27.23, Z:24.97 [[ 0.85901902 0.44613611 0.2510954 17.41081212] [-0.48350689 0.8682071 0.11152365 27.22984648] [-0.16824809 -0.21720729 0.96151629 24.96705966] [ 0. 0. 0. 1. ]] SLAMing on 251.779072329 meters Centerline goodness : 0.769479 with order 1 Centerline is valid? [False, False] Translation: X:17.40, Y:27.22, Z:24.97 [[ 0.86139192 0.44200727 0.25026691 17.39575615] [-0.47810892 0.87192183 0.10566069 27.21707813] [-0.17151039 -0.2106701 0.96239404 24.97475638] [ 0. 0. 0. 1. ]] SLAMing on 251.839072329 meters Centerline goodness : 0.774966 with order 1 Centerline is valid? [False, False] Translation: X:17.36, Y:27.20, Z:24.99 [[ 0.87322809 0.41708876 0.25201126 17.36012938] [-0.45300891 0.88537698 0.10435771 27.19628218] [-0.17959854 -0.20529143 0.96208097 24.98587925] [ 0. 0. 0. 1. ]] SLAMing on 251.899072329 meters Centerline goodness : 0.776587 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:27.17, Z:25.00 [[ 0.8807078 0.40123718 0.25171906 17.322805 ] [-0.4369183 0.89339712 0.10461352 27.17148501] [-0.18291025 -0.20211461 0.96212968 25.00079885] [ 0. 0. 0. 1. ]] SLAMing on 251.959072329 meters Centerline goodness : 0.775614 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:27.17, Z:25.01 [[ 0.88413668 0.39531732 0.24905129 17.31608379] [-0.42895078 0.89807503 0.09727518 27.16606675] [-0.18521218 -0.1928353 0.96359275 25.00675021] [ 0. 0. 0. 1. ]] SLAMing on 252.019072329 meters Centerline goodness : 0.776869 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:27.14, Z:25.02 [[ 0.88986336 0.38313851 0.24768544 17.28458527] [-0.41691279 0.90338104 0.10043118 27.1429658 ] [-0.18527528 -0.19263326 0.96362103 25.01856521] [ 0. 0. 0. 1. ]] SLAMing on 252.079072329 meters Centerline goodness : 0.778622 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:27.13, Z:25.03 [[ 0.89158652 0.37976078 0.24668853 17.2774887 ] [-0.41275225 0.9055905 0.0976802 27.13346434] [-0.18630368 -0.1889116 0.9641594 25.02519753] [ 0. 0. 0. 1. ]] SLAMing on 252.13907232900002 meters Centerline goodness : 0.778139 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:27.13, Z:25.03 [[ 0.89178183 0.37857817 0.24779778 17.26803637] [-0.41107645 0.90672907 0.09411979 27.12769471] [-0.18905375 -0.18579815 0.96422908 25.02770936] [ 0. 0. 0. 1. ]] SLAMing on 252.199072329 meters Centerline goodness : 0.777604 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:27.10, Z:25.04 [[ 0.89150629 0.37960387 0.24721939 17.23200854] [-0.4121642 0.90615055 0.09493074 27.10285444] [-0.18798191 -0.18652633 0.96429805 25.04143506] [ 0. 0. 0. 1. ]] SLAMing on 252.259072329 meters Centerline goodness : 0.779780 with order 1 Centerline is valid? [False, False] Translation: X:17.22, Y:27.09, Z:25.05 [[ 0.89021303 0.38102047 0.24968815 17.22036694] [-0.41420488 0.90515919 0.09550475 27.09322062] [-0.18961825 -0.18844162 0.96360504 25.04653195] [ 0. 0. 0. 1. ]] SLAMing on 252.319072329 meters Centerline goodness : 0.780618 with order 1 Centerline is valid? [False, False] Translation: X:17.19, Y:27.08, Z:25.06 [[ 0.88683111 0.38598622 0.25405752 17.19076956] [-0.41935454 0.9031865 0.09162926 27.07506262] [-0.19409369 -0.18779985 0.96283896 25.05563373] [ 0. 0. 0. 1. ]] SLAMing on 252.379072329 meters Centerline goodness : 0.779738 with order 1 Centerline is valid? [False, False] Translation: X:17.16, Y:27.06, Z:25.06 [[ 0.89071605 0.3770772 0.25384581 17.15883863] [-0.41068748 0.90693394 0.09384366 27.05793817] [-0.19483507 -0.18783934 0.9626815 25.06434058] [ 0. 0. 0. 1. ]] SLAMing on 252.439072329 meters Centerline goodness : 0.782810 with order 1 Centerline is valid? [False, False] Translation: X:17.13, Y:27.05, Z:25.08 [[ 0.89410512 0.36894162 0.25388604 17.12946597] [-0.40313023 0.90994672 0.09738061 27.04550204] [-0.19509501 -0.18941763 0.96231954 25.07534454] [ 0. 0. 0. 1. ]] SLAMing on 252.499072329 meters Centerline goodness : 0.780843 with order 1 Centerline is valid? [False, False] Translation: X:17.10, Y:27.03, Z:25.09 [[ 0.8940824 0.37004888 0.25234992 17.09640305] [-0.40405005 0.909485 0.09788049 27.02988206] [-0.1932879 -0.18947522 0.9626728 25.08813923] [ 0. 0. 0. 1. ]] SLAMing on 252.559072329 meters Centerline goodness : 0.776410 with order 1 Centerline is valid? [False, False] Translation: X:17.07, Y:27.02, Z:25.10 [[ 0.89228162 0.37310539 0.2542162 17.0718552 ] [-0.40628745 0.90912814 0.09174165 27.01930082] [-0.19688579 -0.18514424 0.96278637 25.09658003] [ 0. 0. 0. 1. ]] SLAMing on 252.619072329 meters Centerline goodness : 0.775702 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:27.00, Z:25.11 [[ 0.89046013 0.37797867 0.2534026 17.0380808 ] [-0.41145896 0.90661404 0.0935548 27.0018701 ] [-0.19437664 -0.1875716 0.96282637 25.10787852] [ 0. 0. 0. 1. ]] SLAMing on 252.679072329 meters Centerline goodness : 0.773204 with order 1 Centerline is valid? [False, False] Translation: X:17.00, Y:26.98, Z:25.12 [[ 0.88955601 0.38015187 0.25332719 17.00049999] [-0.41371056 0.90556102 0.09382331 26.97992635] [-0.19373612 -0.18826522 0.96282009 25.12031478] [ 0. 0. 0. 1. ]] SLAMing on 252.739072329 meters Centerline goodness : 0.770903 with order 1 Centerline is valid? [False, False] Translation: X:16.96, Y:26.96, Z:25.13 [[ 0.8866442 0.38603077 0.25464151 16.96324996] [-0.42034204 0.9023013 0.09573365 26.96222485] [-0.19280724 -0.19191821 0.96228518 25.13103384] [ 0. 0. 0. 1. ]] SLAMing on 252.799072329 meters Centerline goodness : 0.768468 with order 1 Centerline is valid? [False, False] Translation: X:16.93, Y:26.95, Z:25.14 [[ 0.88385454 0.39214053 0.25500382 16.92786996] [-0.42691252 0.89906061 0.09713762 26.94583314] [-0.19117229 -0.19471985 0.96204851 25.14005448] [ 0. 0. 0. 1. ]] SLAMing on 252.859072329 meters Centerline goodness : 0.767233 with order 1 Centerline is valid? [False, False] Translation: X:16.89, Y:26.93, Z:25.15 [[ 0.88191461 0.39665041 0.2547451 16.8910736 ] [-0.43163685 0.89669676 0.09810478 26.92644696] [-0.18951581 -0.19647741 0.96201891 25.15107622] [ 0. 0. 0. 1. ]] SLAMing on 252.919072329 meters Centerline goodness : 0.767634 with order 1 Centerline is valid? [False, False] Translation: X:16.85, Y:26.91, Z:25.16 [[ 0.87871223 0.40259693 0.25647716 16.85135252] [-0.43853665 0.89306474 0.10060309 26.90743691] [-0.18854821 -0.20087581 0.96130041 25.16337049] [ 0. 0. 0. 1. ]] SLAMing on 252.979072329 meters Centerline goodness : 0.768440 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:26.89, Z:25.17 [[ 0.87604721 0.40840692 0.25640801 16.81338129] [-0.44453238 0.89003359 0.10114927 26.88926353] [-0.18690168 -0.20259321 0.96126154 25.172508 ] [ 0. 0. 0. 1. ]] SLAMing on 253.039072329 meters Centerline goodness : 0.768929 with order 1 Centerline is valid? [False, False] Translation: X:16.78, Y:26.88, Z:25.18 [[ 0.8725565 0.41294881 0.26099508 16.7831024 ] [-0.4491515 0.8882636 0.0961806 26.87500253] [-0.19211477 -0.20114934 0.96053676 25.18154029] [ 0. 0. 0. 1. ]] SLAMing on 253.099072329 meters Centerline goodness : 0.771200 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:26.85, Z:25.20 [[ 0.86943632 0.41837779 0.2627556 16.73972306] [-0.45561648 0.88465544 0.09898678 26.85164616] [-0.19103429 -0.20577848 0.95977139 25.19579505] [ 0. 0. 0. 1. ]] SLAMing on 253.159072329 meters Centerline goodness : 0.772446 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:26.83, Z:25.21 [[ 0.86711925 0.42335968 0.26243246 16.70044548] [-0.46081419 0.88184479 0.1000003 26.82913848] [-0.18908861 -0.20764479 0.95975473 25.20623941] [ 0. 0. 0. 1. ]] SLAMing on 253.219072329 meters Centerline goodness : 0.778562 with order 1 Centerline is valid? [False, False] Translation: X:16.66, Y:26.81, Z:25.22 [[ 0.8643052 0.42926729 0.2621185 16.66350123] [-0.46739602 0.87799056 0.10331278 26.80673884] [-0.18578878 -0.21180692 0.95948963 25.21660728] [ 0. 0. 0. 1. ]] SLAMing on 253.279072329 meters Centerline goodness : 0.777896 with order 1 Centerline is valid? [False, False] Translation: X:16.62, Y:26.78, Z:25.23 [[ 0.86224889 0.43327517 0.26229654 16.62040506] [-0.47189969 0.87533485 0.10535453 26.77925027] [-0.1839498 -0.21461948 0.95921893 25.2306876 ] [ 0. 0. 0. 1. ]] SLAMing on 253.339072329 meters Centerline goodness : 0.780564 with order 1 Centerline is valid? [False, False] Translation: X:16.58, Y:26.75, Z:25.24 [[ 0.85961078 0.43824192 0.26270387 16.57563104] [-0.47730838 0.8722224 0.10679328 26.75123089] [-0.1823349 -0.21719141 0.95894832 25.24411991] [ 0. 0. 0. 1. ]] SLAMing on 253.399072329 meters Centerline goodness : 0.785579 with order 1 Centerline is valid? [False, False] Translation: X:16.53, Y:26.72, Z:25.26 [[ 0.85681275 0.44342545 0.26314593 16.53367522] [-0.48315524 0.86867674 0.10936973 26.72395906] [-0.18009143 -0.22084971 0.95853664 25.25644769] [ 0. 0. 0. 1. ]] SLAMing on 253.459072329 meters Centerline goodness : 0.784541 with order 1 Centerline is valid? [False, False] Translation: X:16.49, Y:26.70, Z:25.27 [[ 0.85473768 0.44726291 0.26339969 16.48952949] [-0.48743514 0.86605727 0.11113864 26.69507265] [-0.17841102 -0.22338464 0.95826343 25.27082489] [ 0. 0. 0. 1. ]] SLAMing on 253.519072329 meters Centerline goodness : 0.783265 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:26.66, Z:25.29 [[ 0.85146713 0.45262679 0.26482584 16.44070891] [-0.4936824 0.86217811 0.11369521 26.66430255] [-0.17686554 -0.22754759 0.95757019 25.28594737] [ 0. 0. 0. 1. ]] SLAMing on 253.579072329 meters Centerline goodness : 0.784834 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:26.63, Z:25.30 [[ 0.84896615 0.45695464 0.26542217 16.39473801] [-0.49838606 0.85933926 0.114662 26.6331802 ] [-0.17569235 -0.22962687 0.95728977 25.29953509] [ 0. 0. 0. 1. ]] SLAMing on 253.63907232900002 meters Centerline goodness : 0.784781 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:26.60, Z:25.32 [[ 0.84750312 0.45974157 0.26528504 16.34607657] [-0.50124353 0.85762428 0.11504576 26.59983551] [-0.17462357 -0.23047405 0.95728173 25.31572556] [ 0. 0. 0. 1. ]] SLAMing on 253.699072329 meters Centerline goodness : 0.780523 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:26.57, Z:25.33 [[ 0.84477547 0.46453138 0.26564076 16.29968834] [-0.50650176 0.85428576 0.11684096 26.56931805] [-0.17265682 -0.23325189 0.95696561 25.33006601] [ 0. 0. 0. 1. ]] SLAMing on 253.759072329 meters Centerline goodness : 0.779937 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:26.53, Z:25.35 [[ 0.84336781 0.46660159 0.26648395 16.24897114] [-0.50923336 0.85232962 0.11922923 26.53214221] [-0.17149961 -0.23625661 0.95643646 25.34756383] [ 0. 0. 0. 1. ]] SLAMing on 253.819072329 meters Centerline goodness : 0.777584 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:26.49, Z:25.37 [[ 0.84284511 0.46765655 0.26628833 16.199737 ] [-0.51060032 0.85123452 0.12119036 26.49498903] [-0.16999835 -0.23811161 0.95624444 25.36546571] [ 0. 0. 0. 1. ]] SLAMing on 253.879072329 meters Centerline goodness : 0.775569 with order 1 Centerline is valid? [False, False] Translation: X:16.15, Y:26.46, Z:25.38 [[ 0.8439033 0.46681152 0.26441297 16.15330392] [-0.50920544 0.85212706 0.12078614 26.46095342] [-0.16892908 -0.23657235 0.95681581 25.38279807] [ 0. 0. 0. 1. ]] SLAMing on 253.939072329 meters Centerline goodness : 0.770312 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:26.43, Z:25.40 [[ 0.84732522 0.46055345 0.26444375 16.10977371] [-0.50368618 0.85475713 0.12526162 26.42771863] [-0.16834551 -0.23933399 0.95623168 25.39682876] [ 0. 0. 0. 1. ]] SLAMing on 253.999072329 meters Centerline goodness : 0.770070 with order 1 Centerline is valid? [False, False] Translation: X:16.07, Y:26.39, Z:25.41 [[ 0.85066268 0.45428892 0.26456489 16.06513321] [-0.49788379 0.85774385 0.12801256 26.39416044] [-0.16877422 -0.24061807 0.95583378 25.41194325] [ 0. 0. 0. 1. ]] SLAMing on 254.059072329 meters Centerline goodness : 0.767315 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:26.36, Z:25.43 [[ 0.85615509 0.44365053 0.26490126 16.01992273] [-0.48764958 0.86326055 0.13030393 26.35910185] [-0.1708694 -0.24073936 0.9554309 25.42728031] [ 0. 0. 0. 1. ]] SLAMing on 254.119072329 meters Centerline goodness : 0.765584 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:26.33, Z:25.44 [[ 0.86272617 0.43055117 0.26519663 15.97618235] [-0.47497076 0.86991969 0.13282509 26.32595684] [-0.17351177 -0.24055232 0.9550017 25.443368 ] [ 0. 0. 0. 1. ]] SLAMing on 254.179072329 meters Centerline goodness : 0.764545 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:26.30, Z:25.46 [[ 0.86683558 0.41878606 0.27058143 15.94264416] [-0.46274795 0.87779167 0.12387945 26.30248377] [-0.18563514 -0.23259412 0.95469344 25.4560092 ] [ 0. 0. 0. 1. ]] SLAMing on 254.239072329 meters Centerline goodness : 0.764142 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:26.28, Z:25.47 [[ 0.8736716 0.40562368 0.26863982 15.90771188] [-0.44913379 0.88469768 0.12485531 26.27668908] [-0.18702075 -0.22973777 0.95511455 25.46821489] [ 0. 0. 0. 1. ]] SLAMing on 254.299072329 meters Centerline goodness : 0.762276 with order 1 Centerline is valid? [False, False] Translation: X:15.88, Y:26.26, Z:25.48 [[ 0.87942615 0.38934865 0.27389282 15.88436399] [-0.4333087 0.89296277 0.12190591 26.26190227] [-0.19711219 -0.22588739 0.95400297 25.47681424] [ 0. 0. 0. 1. ]] SLAMing on 254.359072329 meters Centerline goodness : 0.761956 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:26.24, Z:25.49 [[ 0.88205074 0.379362 0.27941181 15.8536635 ] [-0.42256285 0.8992603 0.1130113 26.24196024] [-0.20839175 -0.21775076 0.9534975 25.4892099 ] [ 0. 0. 0. 1. ]] SLAMing on 254.419072329 meters Centerline goodness : 0.762936 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:26.23, Z:25.49 [[ 0.8857936 0.37319479 0.27585385 15.85055603] [-0.4138267 0.90421608 0.10554976 26.23475602] [-0.21004086 -0.20765099 0.95538678 25.49249272] [ 0. 0. 0. 1. ]] SLAMing on 254.479072329 meters Centerline goodness : 0.763650 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:26.23, Z:25.50 [[ 0.8876532 0.36979967 0.2744449 15.84586088] [-0.4092523 0.90671041 0.10192537 26.22885497] [-0.21115008 -0.20279159 0.95618576 25.49750896] [ 0. 0. 0. 1. ]] SLAMing on 254.539072329 meters Centerline goodness : 0.761528 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:26.23, Z:25.50 [[ 0.88886817 0.36750636 0.27359177 15.8431894 ] [-0.40618062 0.90836389 0.09946026 26.2251429 ] [-0.2119686 -0.19953473 0.95668971 25.49990586] [ 0. 0. 0. 1. ]] SLAMing on 254.599072329 meters Centerline goodness : 0.761642 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:26.22, Z:25.50 [[ 0.89053127 0.364785 0.27181971 15.84321449] [-0.40233949 0.9104047 0.09636506 26.2225907 ] [-0.21231341 -0.1951799 0.95751126 25.50039359] [ 0. 0. 0. 1. ]] SLAMing on 254.659072329 meters Centerline goodness : 0.765249 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:26.22, Z:25.50 [[ 0.89142827 0.36290823 0.27139134 15.84064666] [-0.39970457 0.91185843 0.09354395 26.22040636] [-0.21352261 -0.19186408 0.95791245 25.50109103] [ 0. 0. 0. 1. ]] SLAMing on 254.719072329 meters Centerline goodness : 0.765243 with order 1 Centerline is valid? [False, False] Translation: X:15.81, Y:26.20, Z:25.51 [[ 0.89518828 0.35387811 0.27093951 15.81360895] [-0.39164069 0.91475365 0.09921352 26.20094064] [-0.21273342 -0.19492572 0.95746982 25.50843315] [ 0. 0. 0. 1. ]] SLAMing on 254.779072329 meters Centerline goodness : 0.765248 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:26.19, Z:25.52 [[ 0.89971505 0.34313242 0.26976465 15.78803996] [-0.38084059 0.91909563 0.10111221 26.18551878] [-0.21324464 -0.19370951 0.95760292 25.51520655] [ 0. 0. 0. 1. ]] SLAMing on 254.839072329 meters Centerline goodness : 0.767113 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:26.18, Z:25.51 [[ 0.90348517 0.33275409 0.27016524 15.77377514] [-0.37049587 0.92322763 0.10189968 26.18209793] [-0.21551648 -0.19215996 0.9574065 25.51414727] [ 0. 0. 0. 1. ]] SLAMing on 254.899072329 meters Centerline goodness : 0.766719 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:26.18, Z:25.52 [[ 0.90444763 0.3304773 0.26973919 15.77035591] [-0.36732697 0.92485552 0.09855542 26.18220158] [-0.21689945 -0.1882207 0.95787661 25.51762868] [ 0. 0. 0. 1. ]] SLAMing on 254.959072329 meters Centerline goodness : 0.767069 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:26.18, Z:25.52 [[ 0.90535536 0.32835809 0.26928169 15.76812187] [-0.36421885 0.92647428 0.09481581 26.18228031] [-0.21834902 -0.18391947 0.95838266 25.51834089] [ 0. 0. 0. 1. ]] SLAMing on 255.019072329 meters Centerline goodness : 0.769087 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:26.18, Z:25.52 [[ 0.905475 0.32813956 0.26914579 15.76828274] [-0.3638546 0.92666843 0.0943157 26.18325755] [-0.21846019 -0.18333044 0.95847018 25.51817328] [ 0. 0. 0. 1. ]] SLAMing on 255.079072329 meters Centerline goodness : 0.770854 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:26.18, Z:25.52 [[ 0.90500947 0.32863311 0.27010765 15.76614643] [-0.36455129 0.92639326 0.09432858 26.18369477] [-0.21922642 -0.18383635 0.9581983 25.51839507] [ 0. 0. 0. 1. ]] SLAMing on 255.13907232900002 meters Centerline goodness : 0.770012 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:26.18, Z:25.52 [[ 0.90332501 0.3304293 0.27353318 15.75430669] [-0.36649859 0.92587075 0.09188106 26.18097618] [-0.22289618 -0.18324798 0.95746408 25.52005559] [ 0. 0. 0. 1. ]] SLAMing on 255.199072329 meters Centerline goodness : 0.768594 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:26.16, Z:25.53 [[ 0.90282958 0.33326497 0.27172268 15.72195257] [-0.3691665 0.92475952 0.09239008 26.16067375] [-0.22048776 -0.1837234 0.95793051 25.53130667] [ 0. 0. 0. 1. ]] SLAMing on 255.259072329 meters Centerline goodness : 0.770789 with order 1 Centerline is valid? [False, False] Translation: X:15.70, Y:26.15, Z:25.54 [[ 0.89987612 0.33755704 0.27618512 15.69964832] [-0.37339028 0.92350282 0.08787629 26.1522011 ] [-0.22539448 -0.18220261 0.95707865 25.53611071] [ 0. 0. 0. 1. ]] SLAMing on 255.319072329 meters Centerline goodness : 0.768627 with order 1 Centerline is valid? [False, False] Translation: X:15.67, Y:26.13, Z:25.55 [[ 0.89756218 0.34378431 0.27603348 15.66711473] [-0.38068833 0.92012571 0.09189704 26.13306328] [-0.22239274 -0.18756603 0.95674472 25.54613532] [ 0. 0. 0. 1. ]] SLAMing on 255.379072329 meters Centerline goodness : 0.767165 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:26.11, Z:25.55 [[ 0.89558337 0.34981715 0.27487888 15.63612973] [-0.38737725 0.91700137 0.09511761 26.11340136] [-0.21879054 -0.19166758 0.95676237 25.55451999] [ 0. 0. 0. 1. ]] SLAMing on 255.439072329 meters Centerline goodness : 0.768218 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:26.09, Z:25.57 [[ 0.89413058 0.35395939 0.27430505 15.60182929] [-0.3919446 0.91485261 0.097078 26.08962789] [-0.21658702 -0.19431279 0.95673016 25.56560851] [ 0. 0. 0. 1. ]] SLAMing on 255.499072329 meters Centerline goodness : 0.767887 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:26.07, Z:25.58 [[ 0.89209565 0.35899311 0.27438896 15.56743614] [-0.39779568 0.91199479 0.10012045 26.06599113] [-0.21429875 -0.19846776 0.95639249 25.57612297] [ 0. 0. 0. 1. ]] SLAMing on 255.559072329 meters Centerline goodness : 0.770661 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:26.06, Z:25.58 [[ 0.8898484 0.36155522 0.27829417 15.55420608] [-0.40067497 0.91100742 0.09759636 26.06071796] [-0.21824158 -0.19835147 0.95552462 25.57612186] [ 0. 0. 0. 1. ]] SLAMing on 255.619072329 meters Centerline goodness : 0.770462 with order 1 Centerline is valid? [False, False] Translation: X:15.52, Y:26.03, Z:25.59 [[ 0.88902626 0.36440974 0.27719642 15.51996642] [-0.40375931 0.90945525 0.09934571 26.03472018] [-0.2158952 -0.20024158 0.95566342 25.58847915] [ 0. 0. 0. 1. ]] SLAMing on 255.679072329 meters Centerline goodness : 0.770790 with order 1 Centerline is valid? [False, False] Translation: X:15.52, Y:26.03, Z:25.59 [[ 0.88786692 0.36583802 0.27902486 15.51622524] [-0.40610483 0.90817113 0.10150895 26.02992551] [-0.21626649 -0.20343978 0.95490369 25.58894507] [ 0. 0. 0. 1. ]] SLAMing on 255.739072329 meters Centerline goodness : 0.772868 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:26.01, Z:25.60 [[ 0.89150629 0.35764965 0.27803465 15.48745721] [-0.39904255 0.91051791 0.108269 26.00629143] [-0.21443316 -0.20747015 0.95444987 25.59729 ] [ 0. 0. 0. 1. ]] SLAMing on 255.799072329 meters Centerline goodness : 0.776302 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:25.99, Z:25.61 [[ 0.90027658 0.33209631 0.28145001 15.4594489 ] [-0.37226235 0.92247381 0.10228788 25.99303881] [-0.22566084 -0.19686062 0.95410853 25.60502874] [ 0. 0. 0. 1. ]] SLAMing on 255.859072329 meters Centerline goodness : 0.774932 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:25.98, Z:25.61 [[ 0.90473888 0.32071486 0.28033826 15.44217711] [-0.36113441 0.92652398 0.1055237 25.98279396] [-0.2258971 -0.19671118 0.95408344 25.61120787] [ 0. 0. 0. 1. ]] SLAMing on 255.919072329 meters Centerline goodness : 0.774880 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:25.98, Z:25.62 [[ 0.9071587 0.3156139 0.27830013 15.43920784] [-0.35391622 0.93003216 0.09891154 25.98184897] [-0.22761022 -0.1882234 0.95538764 25.61579403] [ 0. 0. 0. 1. ]] SLAMing on 255.979072329 meters Centerline goodness : 0.776561 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:25.98, Z:25.62 [[ 0.90911599 0.31138641 0.2766706 15.4363294 ] [-0.34804149 0.93277267 0.0938204 25.9755555 ] [-0.22885638 -0.18158647 0.95637394 25.61834739] [ 0. 0. 0. 1. ]] SLAMing on 256.03907232899996 meters Centerline goodness : 0.776551 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:25.97, Z:25.62 [[ 0.9092057 0.31080499 0.27702936 15.43253473] [-0.34750022 0.93298056 0.09375961 25.97036658] [-0.22932205 -0.18151454 0.95627604 25.62184136] [ 0. 0. 0. 1. ]] SLAMing on 256.09907232899997 meters Centerline goodness : 0.775141 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:25.97, Z:25.62 [[ 0.90785186 0.31357969 0.27833934 15.43224718] [-0.35174711 0.9308953 0.0985287 25.96816094] [-0.22820818 -0.18735452 0.95541578 25.62264073] [ 0. 0. 0. 1. ]] SLAMing on 256.15907232899997 meters Centerline goodness : 0.774008 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:25.95, Z:25.63 [[ 0.9084576 0.31785037 0.2714331 15.41416252] [-0.35530297 0.9292826 0.1009636 25.94960317] [-0.22014674 -0.18816214 0.95714702 25.62660947] [ 0. 0. 0. 1. ]] SLAMing on 256.21907232899997 meters Centerline goodness : 0.775693 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:25.95, Z:25.63 [[ 0.90737188 0.31951201 0.27310867 15.41115619] [-0.35782507 0.92808404 0.1030594 25.94588964] [-0.22053908 -0.19123833 0.95644676 25.62690204] [ 0. 0. 0. 1. ]] SLAMing on 256.279072329 meters Centerline goodness : 0.776674 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:25.94, Z:25.63 [[ 0.90450969 0.32368249 0.27765422 15.40012951] [-0.36348465 0.92566382 0.10500189 25.93946164] [-0.22302719 -0.19589828 0.95492551 25.6275226 ] [ 0. 0. 0. 1. ]] SLAMing on 256.339072329 meters Centerline goodness : 0.775979 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:25.92, Z:25.64 [[ 0.90407419 0.32749487 0.27458509 15.37165949] [-0.36729501 0.92388065 0.1074194 25.91644357] [-0.21850454 -0.19796884 0.95554388 25.63728212] [ 0. 0. 0. 1. ]] SLAMing on 256.399072329 meters Centerline goodness : 0.779084 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:25.90, Z:25.64 [[ 0.90085145 0.332432 0.27920535 15.34909572] [-0.37275007 0.92198008 0.10492911 25.90353937] [-0.22253997 -0.19859936 0.95448115 25.64291591] [ 0. 0. 0. 1. ]] SLAMing on 256.459072329 meters Centerline goodness : 0.778091 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:25.90, Z:25.65 [[ 0.90111502 0.33147383 0.27949387 15.34494291] [-0.37155831 0.92259279 0.10376403 25.90051954] [-0.22346396 -0.1973516 0.95452407 25.6465846 ] [ 0. 0. 0. 1. ]] SLAMing on 256.519072329 meters Centerline goodness : 0.779282 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:25.90, Z:25.65 [[ 0.90207237 0.32928154 0.27899661 15.34192804] [-0.36838629 0.92425069 0.10026073 25.90028361] [-0.2248488 -0.19322095 0.95504381 25.64938465] [ 0. 0. 0. 1. ]] SLAMing on 256.579072329 meters Centerline goodness : 0.779875 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:25.88, Z:25.66 [[ 0.90361021 0.32669426 0.27705495 15.31369236] [-0.36529575 0.92549472 0.10009262 25.88431044] [-0.22371321 -0.19165172 0.95562651 25.66048367] [ 0. 0. 0. 1. ]] SLAMing on 256.639072329 meters Centerline goodness : 0.782797 with order 1 Centerline is valid? [False, False] Translation: X:15.29, Y:25.87, Z:25.67 [[ 0.90411511 0.32871713 0.27298519 15.28677884] [-0.36657301 0.9249711 0.10026313 25.86835753] [-0.2195452 -0.19071842 0.95677918 25.66976741] [ 0. 0. 0. 1. ]] SLAMing on 256.699072329 meters Centerline goodness : 0.788931 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:25.87, Z:25.67 [[ 0.90288397 0.33032352 0.27511254 15.28259672] [-0.36879278 0.92402216 0.10087087 25.86849353] [-0.22089007 -0.19253421 0.95610572 25.67008721] [ 0. 0. 0. 1. ]] SLAMing on 256.759072329 meters Centerline goodness : 0.791270 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:25.87, Z:25.67 [[ 0.90233514 0.33094472 0.27616462 15.28036349] [-0.36959385 0.92372647 0.10064691 25.86974197] [-0.221792 -0.19288598 0.95582598 25.67017773] [ 0. 0. 0. 1. ]] SLAMing on 256.819072329 meters Centerline goodness : 0.794387 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:25.87, Z:25.67 [[ 0.90083678 0.33281889 0.27879147 15.2745031 ] [-0.37221215 0.92260258 0.10130447 25.87054144] [-0.22349769 -0.19502836 0.95499357 25.67191755] [ 0. 0. 0. 1. ]] SLAMing on 256.879072329 meters Centerline goodness : 0.799259 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:25.87, Z:25.67 [[ 0.89747854 0.337446 0.28401138 15.25564783] [-0.37725442 0.92091539 0.09794865 25.86550606] [-0.22849807 -0.19505136 0.9538048 25.67349223] [ 0. 0. 0. 1. ]] SLAMing on 256.939072329 meters Centerline goodness : 0.801883 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:25.86, Z:25.67 [[ 0.89472356 0.34088362 0.28856215 15.23937162] [-0.38084296 0.91982392 0.09424749 25.86153165] [-0.23329894 -0.19422231 0.95281126 25.67442676] [ 0. 0. 0. 1. ]] SLAMing on 256.999072329 meters Centerline goodness : 0.796177 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:25.84, Z:25.69 [[ 0.89301606 0.34503477 0.28891751 15.20630864] [-0.38606172 0.91726897 0.09784671 25.84084637] [-0.23125455 -0.19891867 0.95234064 25.68684367] [ 0. 0. 0. 1. ]] SLAMing on 257.05907232899995 meters Centerline goodness : 0.797865 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:25.82, Z:25.69 [[ 0.89273936 0.34872524 0.28531936 15.17882252] [-0.38910223 0.91597351 0.09793867 25.82387377] [-0.22719129 -0.19845211 0.95341538 25.69425638] [ 0. 0. 0. 1. ]] SLAMing on 257.11907232899995 meters Centerline goodness : 0.796790 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:25.80, Z:25.71 [[ 0.89263369 0.35006788 0.28400278 15.14591674] [-0.39042824 0.91530468 0.09890969 25.80128823] [-0.22532397 -0.19917283 0.95370818 25.70739499] [ 0. 0. 0. 1. ]] SLAMing on 257.17907232899995 meters Centerline goodness : 0.795252 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:25.78, Z:25.72 [[ 0.89399698 0.34511474 0.28577125 15.11744759] [-0.38775528 0.91547777 0.1074537 25.78451469] [-0.22453337 -0.2068726 0.95225443 25.71634161] [ 0. 0. 0. 1. ]] SLAMing on 257.23907232899995 meters Centerline goodness : 0.792750 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:25.76, Z:25.73 [[ 0.89454917 0.34580535 0.28319682 15.08385286] [-0.38734791 0.91592025 0.10512701 25.76203514] [-0.22303222 -0.20373698 0.95328268 25.72845749] [ 0. 0. 0. 1. ]] SLAMing on 257.29907232899996 meters Centerline goodness : 0.787701 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:25.76, Z:25.73 [[ 0.89536278 0.34389808 0.28294806 15.08087244] [-0.38448239 0.91753831 0.10147286 25.76254296] [-0.22471936 -0.19964357 0.95375241 25.72971705] [ 0. 0. 0. 1. ]] SLAMing on 257.35907232899996 meters Centerline goodness : 0.790279 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:25.74, Z:25.74 [[ 0.89620186 0.34198773 0.28260683 15.05126145] [-0.38350077 0.91744418 0.10594028 25.74019057] [-0.22304571 -0.20332381 0.95336774 25.74277912] [ 0. 0. 0. 1. ]] SLAMing on 257.41907232899996 meters Centerline goodness : 0.790651 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:25.72, Z:25.75 [[ 0.89689978 0.34284871 0.27933054 15.02150316] [-0.38345759 0.91756768 0.10502301 25.71907521] [-0.22029767 -0.20130653 0.95443419 25.75372655] [ 0. 0. 0. 1. ]] SLAMing on 257.47907232899996 meters Centerline goodness : 0.788353 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:25.72, Z:25.76 [[ 0.89690557 0.34242304 0.27983362 15.01901825] [-0.38300089 0.91782238 0.10446244 25.7182591 ] [-0.22106721 -0.20086947 0.95434833 25.75519772] [ 0. 0. 0. 1. ]] SLAMing on 257.53907232899996 meters Centerline goodness : 0.787085 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:25.72, Z:25.76 [[ 0.89677264 0.342127 0.28062066 15.01485054] [-0.38284234 0.91790087 0.10435391 25.71639982] [-0.22187965 -0.2010152 0.95412908 25.75900931] [ 0. 0. 0. 1. ]] SLAMing on 257.59907232899997 meters Centerline goodness : 0.785375 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:25.72, Z:25.76 [[ 0.89694745 0.34146037 0.28087378 15.01178776] [-0.38199711 0.91835846 0.10342122 25.71528529] [-0.22262856 -0.20005637 0.95415616 25.76177568] [ 0. 0. 0. 1. ]] SLAMing on 257.65907232899997 meters Centerline goodness : 0.785363 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:25.71, Z:25.76 [[ 0.89576876 0.34218623 0.2837374 14.99730606] [-0.38208652 0.91890929 0.09805921 25.70959267] [-0.22717442 -0.19625062 0.95387498 25.76386915] [ 0. 0. 0. 1. ]] SLAMing on 257.71907232899997 meters Centerline goodness : 0.787011 with order 1 Centerline is valid? [False, False] Translation: X:14.97, Y:25.69, Z:25.78 [[ 0.89661568 0.34308645 0.27995001 14.96917113] [-0.38252405 0.91858466 0.099386 25.68688052] [-0.22305979 -0.19619866 0.95485623 25.7758514 ] [ 0. 0. 0. 1. ]] SLAMing on 257.779072329 meters Centerline goodness : 0.786659 with order 1 Centerline is valid? [False, False] Translation: X:14.94, Y:25.66, Z:25.79 [[ 0.89774806 0.3419557 0.27769537 14.9429747 ] [-0.38156798 0.91866154 0.10230766 25.66346438] [-0.22012337 -0.19780617 0.95520596 25.78786391] [ 0. 0. 0. 1. ]] SLAMing on 257.839072329 meters Centerline goodness : 0.786624 with order 1 Centerline is valid? [False, False] Translation: X:14.94, Y:25.66, Z:25.79 [[ 0.89826434 0.34076593 0.27748831 14.93979734] [-0.3800818 0.91938537 0.10133296 25.65822419] [-0.22058787 -0.19649204 0.95537002 25.79067654] [ 0. 0. 0. 1. ]] SLAMing on 257.899072329 meters Centerline goodness : 0.786804 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:25.63, Z:25.80 [[ 0.9000803 0.33819348 0.27473737 14.91451478] [-0.37748949 0.92015159 0.10403237 25.63441634] [-0.21761696 -0.19734795 0.95587481 25.80262165] [ 0. 0. 0. 1. ]] SLAMing on 257.959072329 meters Centerline goodness : 0.787334 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:25.63, Z:25.81 [[ 0.9005883 0.33698755 0.27455439 14.91102398] [-0.37604687 0.92082667 0.10328114 25.62848533] [-0.21801255 -0.1962591 0.95600884 25.80590597] [ 0. 0. 0. 1. ]] SLAMing on 258.019072329 meters Centerline goodness : 0.788193 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:25.62, Z:25.81 [[ 0.90163294 0.33496691 0.27359681 14.90974459] [-0.37333773 0.92214394 0.10133851 25.62313275] [-0.2183506 -0.19351415 0.95649114 25.80664118] [ 0. 0. 0. 1. ]] SLAMing on 258.079072329 meters Centerline goodness : 0.787056 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:25.62, Z:25.81 [[ 0.90231921 0.33345835 0.27317682 14.90735643] [-0.37139846 0.92307452 0.0999831 25.61754102] [-0.21882236 -0.19167412 0.95675379 25.80820319] [ 0. 0. 0. 1. ]] SLAMing on 258.139072329 meters Centerline goodness : 0.787357 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:25.61, Z:25.81 [[ 0.90273763 0.3323703 0.27312041 14.90409504] [-0.37007065 0.92370324 0.09909613 25.61219237] [-0.2193456 -0.19053165 0.95686216 25.81068829] [ 0. 0. 0. 1. ]] SLAMing on 258.199072329 meters Centerline goodness : 0.788019 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:25.59, Z:25.82 [[ 0.90438684 0.33088197 0.26944679 14.8807359 ] [-0.36817572 0.9242821 0.10074341 25.588265 ] [-0.21571067 -0.19031478 0.95773127 25.82107717] [ 0. 0. 0. 1. ]] SLAMing on 258.259072329 meters Centerline goodness : 0.788333 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:25.58, Z:25.82 [[ 0.90498377 0.32942781 0.26922425 14.87807854] [-0.36628169 0.92520799 0.09913574 25.58324725] [-0.21643036 -0.18832815 0.95796159 25.82225813] [ 0. 0. 0. 1. ]] SLAMing on 258.319072329 meters Centerline goodness : 0.789587 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:25.58, Z:25.82 [[ 0.90494186 0.32909122 0.26977621 14.87500377] [-0.36608164 0.9252715 0.09928183 25.58010133] [-0.21694346 -0.1886044 0.95779116 25.8246257 ] [ 0. 0. 0. 1. ]] SLAMing on 258.379072329 meters Centerline goodness : 0.790811 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:25.57, Z:25.83 [[ 0.90406361 0.33054244 0.27094406 14.87202526] [-0.36845829 0.92401197 0.10217815 25.5743427 ] [-0.21658134 -0.19220713 0.9571567 25.82707193] [ 0. 0. 0. 1. ]] SLAMing on 258.439072329 meters Centerline goodness : 0.790358 with order 1 Centerline is valid? [False, False] Translation: X:14.85, Y:25.57, Z:25.83 [[ 0.90233239 0.33235435 0.27447559 14.854768 ] [-0.36979582 0.9240588 0.09678012 25.56571069] [-0.22146629 -0.18882776 0.95671143 25.82866761] [ 0. 0. 0. 1. ]] SLAMing on 258.499072329 meters Centerline goodness : 0.787166 with order 1 Centerline is valid? [False, False] Translation: X:14.83, Y:25.54, Z:25.84 [[ 0.90164023 0.33714716 0.27088133 14.82901391] [-0.37482962 0.92162438 0.10055481 25.54305919] [-0.21574906 -0.1921986 0.95734635 25.83659217] [ 0. 0. 0. 1. ]] SLAMing on 258.55907232899995 meters Centerline goodness : 0.783979 with order 1 Centerline is valid? [False, False] Translation: X:14.83, Y:25.54, Z:25.84 [[ 0.90013308 0.34007674 0.2722283 14.82862585] [-0.37931089 0.9191858 0.1059279 25.53891612] [-0.21420477 -0.19860837 0.95638435 25.83783901] [ 0. 0. 0. 1. ]] SLAMing on 258.61907232899995 meters Centerline goodness : 0.783136 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:25.53, Z:25.84 [[ 0.89788634 0.34300992 0.27594261 14.80955781] [-0.38200918 0.91860723 0.10114218 25.52752602] [-0.21879011 -0.19622679 0.95583782 25.83990265] [ 0. 0. 0. 1. ]] SLAMing on 258.67907232899995 meters Centerline goodness : 0.786931 with order 1 Centerline is valid? [False, False] Translation: X:14.79, Y:25.52, Z:25.84 [[ 0.89633197 0.3445078 0.27911175 14.79346385] [-0.38287158 0.91886351 0.09538973 25.51883653] [-0.2236031 -0.19236482 0.95550899 25.84019294] [ 0. 0. 0. 1. ]] SLAMing on 258.73907232899995 meters Centerline goodness : 0.787651 with order 1 Centerline is valid? [False, False] Translation: X:14.78, Y:25.51, Z:25.84 [[ 0.89778534 0.33918631 0.28095218 14.78047869] [-0.38002437 0.91901218 0.10487181 25.5092084 ] [-0.22262739 -0.20092105 0.95397472 25.83915456] [ 0. 0. 0. 1. ]] SLAMing on 258.79907232899996 meters Centerline goodness : 0.788884 with order 1 Centerline is valid? [False, False] Translation: X:14.76, Y:25.50, Z:25.84 [[ 0.90301427 0.32605526 0.27973773 14.76413464] [-0.36631187 0.92456833 0.10482849 25.49890136] [-0.22445676 -0.19713288 0.95433631 25.84312339] [ 0. 0. 0. 1. ]] SLAMing on 258.85907232899996 meters Centerline goodness : 0.790252 with order 1 Centerline is valid? [False, False] Translation: X:14.75, Y:25.49, Z:25.84 [[ 0.90860213 0.31200971 0.27765465 14.75025252] [-0.3506023 0.9310559 0.10105905 25.49360386] [-0.22698059 -0.18916883 0.9553507 25.84318985] [ 0. 0. 0. 1. ]] SLAMing on 258.91907232899996 meters Centerline goodness : 0.793113 with order 1 Centerline is valid? [False, False] Translation: X:14.74, Y:25.49, Z:25.85 [[ 0.91146777 0.30336807 0.27783865 14.73573132] [-0.34305179 0.93327366 0.10637548 25.48679872] [-0.22702857 -0.19227087 0.95471982 25.84513189] [ 0. 0. 0. 1. ]] SLAMing on 258.97907232899996 meters Centerline goodness : 0.794359 with order 1 Centerline is valid? [False, False] Translation: X:14.73, Y:25.48, Z:25.85 [[ 0.91314553 0.29927645 0.27676498 14.731571 ] [-0.33727354 0.93601188 0.10063959 25.48445052] [-0.22893625 -0.18524409 0.95565309 25.8488702 ] [ 0. 0. 0. 1. ]] SLAMing on 259.03907232899996 meters Centerline goodness : 0.797337 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:25.46, Z:25.86 [[ 0.91584863 0.29359084 0.27390822 14.70941455] [-0.33076774 0.93838274 0.10015257 25.46453306] [-0.22762687 -0.18232459 0.95652692 25.85725466] [ 0. 0. 0. 1. ]] SLAMing on 259.09907232899997 meters Centerline goodness : 0.797519 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:25.46, Z:25.86 [[ 0.91664374 0.29157668 0.2733995 14.70679459] [-0.32812282 0.93952445 0.0981286 25.46019995] [-0.2282535 -0.17965758 0.95688217 25.86013785] [ 0. 0. 0. 1. ]] SLAMing on 259.15907232899997 meters Centerline goodness : 0.797454 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:25.44, Z:25.87 [[ 0.91816114 0.29336403 0.26630371 14.68788696] [-0.32915208 0.93891006 0.10053262 25.43896152] [-0.22054258 -0.17995957 0.95863211 25.86779327] [ 0. 0. 0. 1. ]] SLAMing on 259.21907232899997 meters Centerline goodness : 0.795729 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:25.42, Z:25.87 [[ 0.91862441 0.29822806 0.25920883 14.67124934] [-0.33367759 0.93686049 0.10465031 25.41730431] [-0.21163286 -0.18262651 0.96013494 25.87180631] [ 0. 0. 0. 1. ]] SLAMing on 259.279072329 meters Centerline goodness : 0.793311 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:25.41, Z:25.87 [[ 0.91789776 0.29947407 0.26034396 14.66906326] [-0.33564137 0.93591736 0.10678747 25.41229245] [-0.21168035 -0.18540218 0.95959234 25.87197069] [ 0. 0. 0. 1. ]] SLAMing on 259.339072329 meters Centerline goodness : 0.793157 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:25.41, Z:25.87 [[ 0.91775153 0.29985307 0.26042324 14.66938676] [-0.33632235 0.93552755 0.10805312 25.408123 ] [-0.21123306 -0.18675207 0.95942913 25.87086145] [ 0. 0. 0. 1. ]] SLAMing on 259.399072329 meters Centerline goodness : 0.791060 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:25.41, Z:25.87 [[ 0.9193796 0.2956691 0.25946277 14.66515797] [-0.33047148 0.93831642 0.10173933 25.40612603] [-0.213377 -0.17928211 0.96037918 25.87375502] [ 0. 0. 0. 1. ]] SLAMing on 259.459072329 meters Centerline goodness : 0.790806 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:25.38, Z:25.89 [[ 0.91900478 0.29835147 0.2577142 14.63296371] [-0.33326036 0.93713758 0.1034925 25.38157804] [-0.21063652 -0.18099603 0.96066263 25.88570638] [ 0. 0. 0. 1. ]] SLAMing on 259.519072329 meters Centerline goodness : 0.786324 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:25.36, Z:25.89 [[ 0.91803464 0.30575278 0.25244334 14.61353136] [-0.34105086 0.93365141 0.10945026 25.36248129] [-0.20222935 -0.18657515 0.96140158 25.88996778] [ 0. 0. 0. 1. ]] SLAMing on 259.579072329 meters Centerline goodness : 0.783587 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:25.36, Z:25.89 [[ 0.91998545 0.30089774 0.25117189 14.60921428] [-0.33451498 0.93673777 0.10306343 25.35938745] [-0.20427064 -0.17883761 0.96243993 25.89371488] [ 0. 0. 0. 1. ]] SLAMing on 259.639072329 meters Centerline goodness : 0.782549 with order 1 Centerline is valid? [False, False] Translation: X:14.59, Y:25.35, Z:25.90 [[ 0.91733953 0.30479917 0.25609695 14.59223826] [-0.33886383 0.93545697 0.1004568 25.35352209] [-0.20894853 -0.17893499 0.96141707 25.89507564] [ 0. 0. 0. 1. ]] SLAMing on 259.699072329 meters Centerline goodness : 0.781336 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:25.33, Z:25.90 [[ 0.91534299 0.31325009 0.25302488 14.56689578] [-0.34823107 0.93130681 0.10678366 25.33378514] [-0.20219381 -0.1858548 0.96154857 25.90052237] [ 0. 0. 0. 1. ]] SLAMing on 259.759072329 meters Centerline goodness : 0.779065 with order 1 Centerline is valid? [False, False] Translation: X:14.55, Y:25.33, Z:25.90 [[ 0.91368274 0.31490913 0.25693597 14.54903033] [-0.34940203 0.93153771 0.10077559 25.32789277] [-0.20761039 -0.18185087 0.96115981 25.9023191 ] [ 0. 0. 0. 1. ]] SLAMing on 259.819072329 meters Centerline goodness : 0.774111 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:25.32, Z:25.91 [[ 0.90977612 0.32163732 0.2624059 14.5277145 ] [-0.35720841 0.92863308 0.10021354 25.31651455] [-0.21144638 -0.18490548 0.95973975 25.90625623] [ 0. 0. 0. 1. ]] SLAMing on 259.879072329 meters Centerline goodness : 0.779389 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:25.29, Z:25.92 [[ 0.90752337 0.32777239 0.26261491 14.49374 ] [-0.36453897 0.92525845 0.10491965 25.29345 ] [-0.20859691 -0.1909504 0.95917948 25.91785178] [ 0. 0. 0. 1. ]] SLAMing on 259.939072329 meters Centerline goodness : 0.777963 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:25.28, Z:25.92 [[ 0.90723864 0.33332841 0.25653504 14.47395829] [-0.3695363 0.92296336 0.10761766 25.28064724] [-0.20090042 -0.19243391 0.96052497 25.92273485] [ 0. 0. 0. 1. ]] SLAMing on 259.999072329 meters Centerline goodness : 0.776991 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:25.27, Z:25.93 [[ 0.90100267 0.34488467 0.26315157 14.44944704] [-0.38364864 0.9166331 0.11223853 25.27088845] [-0.20250409 -0.20208495 0.95820341 25.929364 ] [ 0. 0. 0. 1. ]] SLAMing on 260.05907232899995 meters Centerline goodness : 0.779897 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:25.26, Z:25.94 [[ 0.89667897 0.35167381 0.26887237 14.42234571] [-0.39136854 0.91360715 0.11023904 25.25555616] [-0.20687554 -0.20407721 0.95684638 25.93626161] [ 0. 0. 0. 1. ]] SLAMing on 260.11907232899995 meters Centerline goodness : 0.788192 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:25.25, Z:25.94 [[ 0.89372662 0.35548015 0.27365414 14.39941108] [-0.39515643 0.91258365 0.10508321 25.24776827] [-0.21237729 -0.20205186 0.95607057 25.94116683] [ 0. 0. 0. 1. ]] SLAMing on 260.17907232899995 meters Centerline goodness : 0.787623 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:25.23, Z:25.95 [[ 0.8914892 0.36155596 0.27299136 14.36673677] [-0.40212833 0.90904234 0.10924663 25.22682977] [-0.20866194 -0.20716976 0.95579333 25.95147942] [ 0. 0. 0. 1. ]] SLAMing on 260.23907232899995 meters Centerline goodness : 0.788161 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:25.20, Z:25.96 [[ 0.88915016 0.36759999 0.27254769 14.3327571 ] [-0.40894294 0.90557047 0.11272883 25.20405165] [-0.20537202 -0.21168931 0.95551555 25.96166327] [ 0. 0. 0. 1. ]] SLAMing on 260.29907232899996 meters Centerline goodness : 0.787239 with order 1 Centerline is valid? [False, False] Translation: X:14.30, Y:25.18, Z:25.97 [[ 0.88692162 0.37403675 0.27104713 14.30190642] [-0.41609037 0.90174507 0.11715214 25.17914437] [-0.20059621 -0.21668486 0.95541029 25.97109084] [ 0. 0. 0. 1. ]] SLAMing on 260.35907232899996 meters Centerline goodness : 0.788957 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:25.15, Z:25.98 [[ 0.88597551 0.37764965 0.26912476 14.26902089] [-0.41989418 0.89961366 0.11993388 25.15048946] [-0.19681532 -0.2192624 0.95560856 25.98381815] [ 0. 0. 0. 1. ]] SLAMing on 260.41907232899996 meters Centerline goodness : 0.790362 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:25.15, Z:25.98 [[ 0.88573696 0.3780484 0.26935005 14.26822884] [-0.420649 0.89906701 0.12137931 25.14526223] [-0.19627649 -0.22081197 0.95536256 25.98360977] [ 0. 0. 0. 1. ]] SLAMing on 260.47907232899996 meters Centerline goodness : 0.789422 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:25.14, Z:25.98 [[ 0.89043842 0.36726112 0.26877255 14.25384928] [-0.40945227 0.90429232 0.12084798 25.13554669] [-0.19866619 -0.21765721 0.95559253 25.98205122] [ 0. 0. 0. 1. ]] SLAMing on 260.53907232899996 meters Centerline goodness : 0.788762 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:25.11, Z:25.99 [[ 0.89227262 0.3669411 0.26306616 14.22568539] [-0.40749086 0.90539126 0.1192387 25.11107148] [-0.19442422 -0.21359048 0.95738097 25.99301702] [ 0. 0. 0. 1. ]] SLAMing on 260.59907232899997 meters Centerline goodness : 0.790431 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:25.11, Z:26.00 [[ 0.89395359 0.36375974 0.2617744 14.2218269 ] [-0.40319158 0.90780964 0.11540455 25.10592351] [-0.19566179 -0.20871155 0.95820455 25.99630053] [ 0. 0. 0. 1. ]] SLAMing on 260.65907232899997 meters Centerline goodness : 0.790704 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:25.09, Z:26.00 [[ 0.89146853 0.36681663 0.26595003 14.20100206] [-0.40643003 0.90684333 0.11157873 25.09408898] [-0.20024608 -0.20755901 0.95750758 26.00029132] [ 0. 0. 0. 1. ]] SLAMing on 260.71907232899997 meters Centerline goodness : 0.787877 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:25.07, Z:26.01 [[ 0.89127463 0.37040765 0.26158689 14.17448553] [-0.40973914 0.9049741 0.11461114 25.07026915] [-0.19427652 -0.20933239 0.95835097 26.00945147] [ 0. 0. 0. 1. ]] SLAMing on 260.779072329 meters Centerline goodness : 0.788459 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:25.05, Z:26.02 [[ 0.88944929 0.37632406 0.25934563 14.1447063 ] [-0.41618249 0.90141654 0.11933299 25.04745214] [-0.18887057 -0.21407575 0.95838379 26.01909713] [ 0. 0. 0. 1. ]] SLAMing on 260.839072329 meters Centerline goodness : 0.785942 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:25.02, Z:26.03 [[ 0.88891999 0.38001966 0.25574658 14.11587737] [-0.41961269 0.89947659 0.12193053 25.02472227] [-0.18370206 -0.215701 0.95902379 26.0292422 ] [ 0. 0. 0. 1. ]] SLAMing on 260.899072329 meters Centerline goodness : 0.782569 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:25.00, Z:26.04 [[ 0.88834589 0.38328896 0.25284611 14.08380235] [-0.42263979 0.89778156 0.1239511 24.999381 ] [-0.17949149 -0.21697428 0.95953372 26.04126552] [ 0. 0. 0. 1. ]] SLAMing on 260.959072329 meters Centerline goodness : 0.780287 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:24.97, Z:26.05 [[ 0.88634608 0.38890385 0.25128552 14.05024012] [-0.42873443 0.89428821 0.12820059 24.97324747] [-0.17486397 -0.22136485 0.95938532 26.05306458] [ 0. 0. 0. 1. ]] SLAMing on 261.019072329 meters Centerline goodness : 0.785972 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:24.94, Z:26.07 [[ 0.88492595 0.39217963 0.25119952 14.01210143] [-0.43278981 0.89170848 0.13247249 24.94187939] [-0.17204373 -0.22594494 0.95882732 26.06954396] [ 0. 0. 0. 1. ]] SLAMing on 261.079072329 meters Centerline goodness : 0.778168 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:24.92, Z:26.08 [[ 0.88408053 0.39590305 0.24831913 13.97863633] [-0.43597492 0.89005607 0.13313926 24.91709782] [-0.16830771 -0.22596674 0.95948504 26.08008461] [ 0. 0. 0. 1. ]] SLAMing on 261.139072329 meters Centerline goodness : 0.772744 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:24.89, Z:26.09 [[ 0.88149352 0.40207397 0.24759988 13.94076703] [-0.4424774 0.88643515 0.13581777 24.89115669] [-0.16487244 -0.22927983 0.95929549 26.09243805] [ 0. 0. 0. 1. ]] SLAMing on 261.199072329 meters Centerline goodness : 0.776258 with order 1 Centerline is valid? [False, False] Translation: X:13.90, Y:24.86, Z:26.11 [[ 0.87972093 0.40640577 0.24683077 13.90363405] [-0.44730059 0.88340929 0.13967895 24.86093653] [-0.16128627 -0.23328604 0.95893919 26.10723177] [ 0. 0. 0. 1. ]] SLAMing on 261.259072329 meters Centerline goodness : 0.774351 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:24.83, Z:26.12 [[ 0.88021473 0.40738291 0.24343623 13.86940444] [-0.44755685 0.8831818 0.14029532 24.83252145] [-0.15784453 -0.23244156 0.95971664 26.12156151] [ 0. 0. 0. 1. ]] SLAMing on 261.319072329 meters Centerline goodness : 0.764165 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:24.80, Z:26.14 [[ 0.88320132 0.40467762 0.23704737 13.83815853] [-0.44292936 0.88588063 0.13794596 24.80217505] [-0.15417203 -0.2268293 0.96165454 26.13574656] [ 0. 0. 0. 1. ]] SLAMing on 261.379072329 meters Centerline goodness : 0.771785 with order 3 Centerline is valid? [False, False] Translation: X:13.81, Y:24.78, Z:26.15 [[ 0.8881006 0.39586453 0.23359922 13.80866613] [-0.43383602 0.8898196 0.14144743 24.77878868] [-0.15186715 -0.2269633 0.96198962 26.14712574] [ 0. 0. 0. 1. ]] SLAMing on 261.439072329 meters Centerline goodness : 0.772305 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:24.75, Z:26.16 [[ 0.88741695 0.39148852 0.24336781 13.77311737] [-0.43180857 0.89077853 0.14161558 24.75319278] [-0.16134595 -0.23076038 0.95954006 26.16439952] [ 0. 0. 0. 1. ]] SLAMing on 261.499072329 meters Centerline goodness : 0.784836 with order 3 Centerline is valid? [False, False] Translation: X:13.77, Y:24.75, Z:26.17 [[ 0.88914066 0.38834451 0.24211038 13.7689542 ] [-0.42775012 0.89329167 0.13805734 24.74816504] [-0.16266137 -0.22631514 0.96037635 26.16770453] [ 0. 0. 0. 1. ]] SLAMing on 261.55907232899995 meters Centerline goodness : 0.759431 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:24.73, Z:26.18 [[ 0.89392949 0.37957663 0.23835196 13.74209925] [-0.4187269 0.89693391 0.14204697 24.72560067] [-0.15986824 -0.22678435 0.96073462 26.17699339] [ 0. 0. 0. 1. ]] SLAMing on 261.61907232899995 meters Centerline goodness : 0.779291 with order 3 Centerline is valid? [False, False] Translation: X:13.71, Y:24.70, Z:26.19 [[ 0.89531612 0.37232236 0.24450993 13.71201475] [-0.41224977 0.90051514 0.13828453 24.69947544] [-0.16869847 -0.22460753 0.95973553 26.1916116 ] [ 0. 0. 0. 1. ]] SLAMing on 261.67907232899995 meters Centerline goodness : 0.775558 with order 3 Centerline is valid? [False, False] Translation: X:13.71, Y:24.70, Z:26.19 [[ 0.89652602 0.3698368 0.24384799 13.70961624] [-0.4088978 0.90263781 0.13434124 24.69989041] [-0.17042208 -0.22014932 0.96046374 26.19220984] [ 0. 0. 0. 1. ]] SLAMing on 261.73907232899995 meters Centerline goodness : 0.763520 with order 1 Centerline is valid? [False, False] Translation: X:13.70, Y:24.70, Z:26.20 [[ 0.89842216 0.36608967 0.24252004 13.70369162] [-0.40407845 0.90541419 0.13017584 24.69567945] [-0.17192505 -0.21494998 0.96137312 26.19895774] [ 0. 0. 0. 1. ]] SLAMing on 261.79907232899996 meters Centerline goodness : 0.776772 with order 3 Centerline is valid? [False, False] Translation: X:13.67, Y:24.68, Z:26.21 [[ 0.89675773 0.36797966 0.24579777 13.67406458] [-0.40576104 0.90540583 0.12489302 24.67587217] [-0.17658864 -0.21173394 0.96124148 26.21063053] [ 0. 0. 0. 1. ]] SLAMing on 261.85907232899996 meters Centerline goodness : 0.774576 with order 3 Centerline is valid? [False, False] Translation: X:13.64, Y:24.65, Z:26.22 [[ 0.89616406 0.37134775 0.24288028 13.64261519] [-0.40895576 0.90362317 0.12735915 24.65045061] [-0.17217772 -0.21346198 0.96165941 26.22276636] [ 0. 0. 0. 1. ]] SLAMing on 261.91907232899996 meters Centerline goodness : 0.772518 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:24.62, Z:26.24 [[ 0.89381664 0.37698351 0.24284818 13.60671255] [-0.41599684 0.89927091 0.13512389 24.61724518] [-0.16744683 -0.22180005 0.96060725 26.23845883] [ 0. 0. 0. 1. ]] SLAMing on 261.97907232899996 meters Centerline goodness : 0.775477 with order 3 Centerline is valid? [False, False] Translation: X:13.60, Y:24.61, Z:26.24 [[ 0.89585364 0.37309225 0.24134712 13.60322133] [-0.41081408 0.90242294 0.12986391 24.61258123] [-0.16934596 -0.21548785 0.96171042 26.2396044 ] [ 0. 0. 0. 1. ]] SLAMing on 262.03907232899996 meters Centerline goodness : 0.776084 with order 3 Centerline is valid? [False, False] Translation: X:13.60, Y:24.61, Z:26.24 [[ 0.89694461 0.37102209 0.24048486 13.6010432 ] [-0.40810358 0.90399991 0.12741912 24.60879803] [-0.17012299 -0.21243063 0.96225329 26.24076911] [ 0. 0. 0. 1. ]] SLAMing on 262.09907232899997 meters Centerline goodness : 0.778216 with order 3 Centerline is valid? [False, False] Translation: X:13.60, Y:24.61, Z:26.24 [[ 0.89673729 0.37119237 0.24099474 13.59946919] [-0.40838984 0.90386974 0.12742537 24.60908403] [-0.17052853 -0.21268689 0.96212489 26.24161782] [ 0. 0. 0. 1. ]] SLAMing on 262.15907232899997 meters Centerline goodness : 0.780208 with order 3 Centerline is valid? [False, False] Translation: X:13.60, Y:24.61, Z:26.24 [[ 0.89660987 0.37095224 0.24183709 13.59556679] [-0.40838716 0.90383012 0.12771469 24.60590483] [-0.17120359 -0.21327341 0.96187514 26.24422194] [ 0. 0. 0. 1. ]] SLAMing on 262.21907232899997 meters Centerline goodness : 0.782596 with order 3 Centerline is valid? [False, False] Translation: X:13.57, Y:24.58, Z:26.26 [[ 0.89818458 0.36849417 0.2397426 13.56741764] [-0.40536702 0.9052494 0.12728352 24.58088557] [-0.17012361 -0.21150784 0.96245644 26.2575021 ] [ 0. 0. 0. 1. ]] SLAMing on 262.279072329 meters Centerline goodness : 0.781531 with order 3 Centerline is valid? [False, False] Translation: X:13.54, Y:24.55, Z:26.27 [[ 0.89791662 0.37126143 0.23645442 13.5356468 ] [-0.40788891 0.90373611 0.1299526 24.55159937] [-0.16544601 -0.21313373 0.9629131 26.27040616] [ 0. 0. 0. 1. ]] SLAMing on 262.339072329 meters Centerline goodness : 0.782921 with order 3 Centerline is valid? [False, False] Translation: X:13.51, Y:24.53, Z:26.28 [[ 0.90198385 0.36272028 0.23422027 13.50692583] [-0.39976879 0.90652407 0.13564297 24.52675738] [-0.16312586 -0.21598172 0.96267432 26.28144978] [ 0. 0. 0. 1. ]] SLAMing on 262.399072329 meters Centerline goodness : 0.780318 with order 3 Centerline is valid? [False, False] Translation: X:13.50, Y:24.52, Z:26.28 [[ 0.9027413 0.36085317 0.2341861 13.50323252] [-0.39741145 0.90797048 0.13286743 24.52457326] [-0.16468843 -0.21301315 0.96306963 26.28264101] [ 0. 0. 0. 1. ]] SLAMing on 262.459072329 meters Centerline goodness : 0.782128 with order 3 Centerline is valid? [False, False] Translation: X:13.50, Y:24.52, Z:26.29 [[ 0.90424232 0.35755992 0.23344535 13.49782141] [-0.3932817 0.9103137 0.1290677 24.52020251] [-0.16635906 -0.20851826 0.96376594 26.28690813] [ 0. 0. 0. 1. ]] SLAMing on 262.519072329 meters Centerline goodness : 0.783029 with order 3 Centerline is valid? [False, False] Translation: X:13.49, Y:24.51, Z:26.29 [[ 0.90594865 0.35401632 0.23222724 13.49255917] [-0.38884104 0.91271047 0.1255478 24.51377399] [-0.16751026 -0.20403934 0.96452489 26.29244146] [ 0. 0. 0. 1. ]] SLAMing on 262.579072329 meters Centerline goodness : 0.778956 with order 3 Centerline is valid? [False, False] Translation: X:13.49, Y:24.51, Z:26.29 [[ 0.90704192 0.35185508 0.23124221 13.49082725] [-0.38603567 0.9142284 0.12313767 24.50980923] [-0.16808158 -0.20095877 0.9650721 26.29360187] [ 0. 0. 0. 1. ]] SLAMing on 262.639072329 meters Centerline goodness : 0.780821 with order 3 Centerline is valid? [False, False] Translation: X:13.47, Y:24.49, Z:26.31 [[ 0.90848567 0.34577446 0.23472071 13.46880003] [-0.37952615 0.91775577 0.1169797 24.49356255] [-0.17496769 -0.19535703 0.96499841 26.30851418] [ 0. 0. 0. 1. ]] SLAMing on 262.699072329 meters Centerline goodness : 0.783990 with order 3 Centerline is valid? [False, False] Translation: X:13.46, Y:24.49, Z:26.31 [[ 0.90966568 0.34291623 0.23434337 13.46285814] [-0.37605284 0.9195357 0.11418566 24.48643122] [-0.17633098 -0.19199627 0.96542468 26.31300741] [ 0. 0. 0. 1. ]] SLAMing on 262.759072329 meters Centerline goodness : 0.778725 with order 3 Centerline is valid? [False, False] Translation: X:13.44, Y:24.48, Z:26.32 [[ 0.90894693 0.34279697 0.23728826 13.44288661] [-0.37510734 0.92083198 0.10659717 24.47549898] [-0.18196143 -0.18589974 0.96557306 26.31642866] [ 0. 0. 0. 1. ]] SLAMing on 262.819072329 meters Centerline goodness : 0.778564 with order 3 Centerline is valid? [False, False] Translation: X:13.41, Y:24.45, Z:26.33 [[ 0.90796033 0.34669264 0.23539808 13.40991197] [-0.37955403 0.91845022 0.11130108 24.4489431 ] [-0.17761416 -0.19040326 0.96550495 26.33065247] [ 0. 0. 0. 1. ]] SLAMing on 262.879072329 meters Centerline goodness : 0.767204 with order 3 Centerline is valid? [False, False] Translation: X:13.39, Y:24.43, Z:26.33 [[ 0.90936682 0.34839555 0.22731591 13.39067349] [-0.37944992 0.91864941 0.11000462 24.43430925] [-0.17049851 -0.18628956 0.96758796 26.33346148] [ 0. 0. 0. 1. ]] SLAMing on 262.939072329 meters Centerline goodness : 0.771587 with order 3 Centerline is valid? [False, False] Translation: X:13.39, Y:24.43, Z:26.34 [[ 0.90871016 0.34941447 0.22837551 13.38717312] [-0.38098331 0.91781122 0.11168834 24.4307895 ] [-0.17058008 -0.18849959 0.96714546 26.33612204] [ 0. 0. 0. 1. ]] SLAMing on 262.999072329 meters Centerline goodness : 0.780371 with order 3 Centerline is valid? [False, False] Translation: X:13.38, Y:24.42, Z:26.34 [[ 0.90749759 0.35154217 0.22992659 13.38286557] [-0.38413419 0.91600865 0.11562468 24.4246768 ] [-0.16996779 -0.19325178 0.96631501 26.34056481] [ 0. 0. 0. 1. ]] SLAMing on 263.05907232899995 meters Centerline goodness : 0.773365 with order 3 Centerline is valid? [False, False] Translation: X:13.36, Y:24.41, Z:26.35 [[ 0.90585694 0.35351601 0.23334447 13.35851093] [-0.38562598 0.91619524 0.10899031 24.40971413] [-0.17525927 -0.18871332 0.96626677 26.3456861 ] [ 0. 0. 0. 1. ]] SLAMing on 263.11907232899995 meters Centerline goodness : 0.774444 with order 3 Centerline is valid? [False, False] Translation: X:13.33, Y:24.38, Z:26.36 [[ 0.90499784 0.35738282 0.23077353 13.32742224] [-0.38957671 0.91414888 0.11207949 24.38441077] [-0.17090608 -0.19133569 0.96653079 26.35694013] [ 0. 0. 0. 1. ]] SLAMing on 263.17907232899995 meters Centerline goodness : 0.769324 with order 3 Centerline is valid? [False, False] Translation: X:13.30, Y:24.36, Z:26.37 [[ 0.90428718 0.36214462 0.22608839 13.30080346] [-0.39397783 0.911876 0.11516785 24.3610005 ] [-0.16445716 -0.19321862 0.96727473 26.36564468] [ 0. 0. 0. 1. ]] SLAMing on 263.23907232899995 meters Centerline goodness : 0.762657 with order 3 Centerline is valid? [False, False] Translation: X:13.27, Y:24.34, Z:26.37 [[ 0.90642516 0.35822938 0.22375239 13.27350132] [-0.39057617 0.91255394 0.12122524 24.3385279 ] [-0.16075968 -0.19727396 0.96707772 26.37453279] [ 0. 0. 0. 1. ]] SLAMing on 263.29907232899996 meters Centerline goodness : 0.771092 with order 3 Centerline is valid? [False, False] Translation: X:13.25, Y:24.31, Z:26.38 [[ 0.90760957 0.35570797 0.22297244 13.24510928] [-0.38868902 0.91269377 0.12613855 24.31420097] [-0.15863707 -0.20115149 0.96662938 26.38493274] [ 0. 0. 0. 1. ]] SLAMing on 263.35907232899996 meters Centerline goodness : 0.756900 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:24.31, Z:26.39 [[ 0.90755408 0.35548121 0.22355915 13.23958755] [-0.3886963 0.91259597 0.12682187 24.30837909] [-0.15893639 -0.20199432 0.96640443 26.39025167] [ 0. 0. 0. 1. ]] SLAMing on 263.41907232899996 meters Centerline goodness : 0.780308 with order 3 Centerline is valid? [False, False] Translation: X:13.23, Y:24.30, Z:26.39 [[ 0.90702322 0.35593133 0.22499281 13.23450017] [-0.38957845 0.91211229 0.12759232 24.30493542] [-0.1598046 -0.20338155 0.9659702 26.39275607] [ 0. 0. 0. 1. ]] SLAMing on 263.47907232899996 meters Centerline goodness : 0.780016 with order 3 Centerline is valid? [False, False] Translation: X:13.23, Y:24.30, Z:26.39 [[ 0.90803804 0.35356674 0.22462742 13.23111614] [-0.3865874 0.91382849 0.12436908 24.30352366] [-0.16129817 -0.19976998 0.96647548 26.3946141 ] [ 0. 0. 0. 1. ]] SLAMing on 263.53907232899996 meters Centerline goodness : 0.778398 with order 3 Centerline is valid? [False, False] Translation: X:13.23, Y:24.30, Z:26.40 [[ 0.91129072 0.34680409 0.22198232 13.22584913] [-0.37796685 0.91842358 0.11678689 24.29570136] [-0.16337163 -0.19032877 0.96803134 26.39893522] [ 0. 0. 0. 1. ]] SLAMing on 263.59907232899997 meters Centerline goodness : 0.603384 with order 2 Centerline is valid? [False, False] Translation: X:13.22, Y:24.29, Z:26.40 [[ 0.91368184 0.34145541 0.2204398 13.21895633] [-0.37130542 0.92184214 0.11108263 24.28637822] [-0.16528094 -0.18334467 0.96905466 26.40409726] [ 0. 0. 0. 1. ]] SLAMing on 263.65907232899997 meters Centerline goodness : 0.778766 with order 3 Centerline is valid? [False, False] Translation: X:13.20, Y:24.27, Z:26.41 [[ 0.92049931 0.32583959 0.2156608 13.19988492] [-0.35453314 0.92850619 0.11037444 24.26620823] [-0.16427803 -0.17805849 0.97021024 26.41015528] [ 0. 0. 0. 1. ]] SLAMing on 263.71907232899997 meters Centerline goodness : 0.777089 with order 3 Centerline is valid? [False, False] Translation: X:13.18, Y:24.25, Z:26.42 [[ 0.92274027 0.31859884 0.21689898 13.18297844] [-0.34649172 0.93218096 0.10479575 24.24717368] [-0.16880129 -0.17185296 0.97055277 26.42292264] [ 0. 0. 0. 1. ]] SLAMing on 263.779072329 meters Centerline goodness : 0.782354 with order 3 Centerline is valid? [False, False] Translation: X:13.17, Y:24.23, Z:26.43 [[ 0.92939863 0.30188709 0.21232609 13.17086236] [-0.32916598 0.93820294 0.10688775 24.2281095 ] [-0.16693693 -0.16923186 0.97133549 26.43010489] [ 0. 0. 0. 1. ]] SLAMing on 263.839072329 meters Centerline goodness : 0.768252 with order 3 Centerline is valid? [False, False] Translation: X:13.16, Y:24.21, Z:26.43 [[ 0.93580188 0.28401886 0.20882561 13.15822443] [-0.30958322 0.94544553 0.10144445 24.2112088 ] [-0.1686211 -0.15958082 0.97267717 26.43085969] [ 0. 0. 0. 1. ]] SLAMing on 263.899072329 meters Centerline goodness : 0.761238 with order 3 Centerline is valid? [False, False] Translation: X:13.15, Y:24.20, Z:26.44 [[ 0.94353702 0.25632332 0.20984816 13.1533184 ] [-0.27989677 0.95569378 0.09114385 24.19758697] [-0.17718828 -0.14473342 0.97347653 26.43527487] [ 0. 0. 0. 1. ]] SLAMing on 263.959072329 meters Centerline goodness : 0.768045 with order 3 Centerline is valid? [False, False] Translation: X:13.15, Y:24.18, Z:26.44 [[ 0.94949398 0.23088509 0.21249295 13.14667722] [-0.25415959 0.96303186 0.08928911 24.18107824] [-0.18402196 -0.13878659 0.97307461 26.44290795] [ 0. 0. 0. 1. ]] SLAMing on 264.019072329 meters Centerline goodness : 0.773248 with order 3 Centerline is valid? [False, False] Translation: X:13.14, Y:24.17, Z:26.45 [[ 0.95218518 0.22170421 0.21021566 13.14363911] [-0.24398446 0.96591957 0.08643481 24.16553978] [-0.18388846 -0.1335913 0.97382668 26.45455036] [ 0. 0. 0. 1. ]] SLAMing on 264.079072329 meters Centerline goodness : 0.751408 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:24.15, Z:26.46 [[ 0.95698333 0.20455006 0.20577216 13.13357008] [-0.22640015 0.96998813 0.08869048 24.14617274] [-0.18145491 -0.13146216 0.97457263 26.46109545] [ 0. 0. 0. 1. ]] SLAMing on 264.139072329 meters Centerline goodness : 0.773456 with order 3 Centerline is valid? [False, False] Translation: X:13.14, Y:24.14, Z:26.47 [[ 0.96005991 0.19393777 0.20167576 13.13569758] [-0.21337909 0.97373802 0.07939543 24.13821198] [-0.18098158 -0.11925776 0.9762291 26.46519434] [ 0. 0. 0. 1. ]] SLAMing on 264.199072329 meters Centerline goodness : 0.778662 with order 3 Centerline is valid? [False, False] Translation: X:13.13, Y:24.12, Z:26.47 [[ 0.96391672 0.16993604 0.20490558 13.128294 ] [-0.18875833 0.9790808 0.07596766 24.12118492] [-0.18770948 -0.11190413 0.97582919 26.4719839 ] [ 0. 0. 0. 1. ]] SLAMing on 264.259072329 meters Centerline goodness : 0.776113 with order 3 Centerline is valid? [False, False] Translation: X:13.13, Y:24.12, Z:26.47 [[ 0.96582202 0.1624101 0.20201679 13.13088883] [-0.17934303 0.98140396 0.06842761 24.11692746] [-0.18714674 -0.1023192 0.97698868 26.47325567] [ 0. 0. 0. 1. ]] SLAMing on 264.319072329 meters Centerline goodness : 0.745290 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:24.10, Z:26.48 [[ 0.96898923 0.14726219 0.19842811 13.12011861] [-0.16472923 0.98352025 0.07451315 24.09563658] [-0.1841851 -0.10488935 0.97727891 26.48272534] [ 0. 0. 0. 1. ]] SLAMing on 264.379072329 meters Centerline goodness : 0.779745 with order 3 Centerline is valid? [False, False] Translation: X:13.12, Y:24.09, Z:26.49 [[ 0.9713738 0.13643546 0.19446928 13.12324281] [-0.1524161 0.98585832 0.06966129 24.08520697] [-0.18221489 -0.0973074 0.97843191 26.49261743] [ 0. 0. 0. 1. ]] SLAMing on 264.439072329 meters Centerline goodness : 0.781998 with order 3 Centerline is valid? [False, False] Translation: X:13.13, Y:24.08, Z:26.50 [[ 0.97377261 0.12494427 0.19014687 13.12788293] [-0.13900366 0.98832139 0.06244047 24.07604653] [-0.18012464 -0.08723393 0.97976801 26.49960247] [ 0. 0. 0. 1. ]] SLAMing on 264.499072329 meters Centerline goodness : 0.781736 with order 3 Centerline is valid? [False, False] Translation: X:13.13, Y:24.07, Z:26.51 [[ 0.97579888 0.11415616 0.18650716 13.13055247] [-0.12645811 0.99042305 0.05541232 24.06594065] [-0.17839533 -0.07765662 0.98088967 26.50735632] [ 0. 0. 0. 1. ]] SLAMing on 264.55907232899995 meters Centerline goodness : 0.776104 with order 3 Centerline is valid? [False, False] Translation: X:13.12, Y:24.04, Z:26.51 [[ 0.97875841 0.09161247 0.18340973 13.12161754] [-0.10284427 0.99330184 0.05267367 24.04182857] [-0.17735565 -0.07041743 0.98162435 26.51126205] [ 0. 0. 0. 1. ]] SLAMing on 264.61907232899995 meters Centerline goodness : 0.783222 with order 3 Centerline is valid? [False, False] Translation: X:13.12, Y:24.03, Z:26.52 [[ 0.97963769 0.08506693 0.1818615 13.12190738] [-0.09512531 0.99434073 0.04730428 24.03366337] [-0.17680827 -0.06364069 0.98218567 26.51511677] [ 0. 0. 0. 1. ]] SLAMing on 264.67907232899995 meters Centerline goodness : 0.776750 with order 2 Centerline is valid? [False, False] Translation: X:13.12, Y:24.02, Z:26.52 [[ 0.98118438 0.06921831 0.18023881 13.11602808] [-0.07941308 0.99558872 0.04996657 24.02144401] [-0.17598513 -0.06333973 0.98235295 26.51624503] [ 0. 0. 0. 1. ]] SLAMing on 264.73907232899995 meters Centerline goodness : 0.777640 with order 2 Centerline is valid? [False, False] Translation: X:13.13, Y:24.01, Z:26.52 [[ 0.98335806 0.04783365 0.17526798 13.13093928] [-0.05565102 0.99765034 0.0399595 24.01109927] [-0.17294475 -0.04904834 0.9837095 26.52327124] [ 0. 0. 0. 1. ]] SLAMing on 264.79907232899996 meters Centerline goodness : 0.780787 with order 2 Centerline is valid? [False, False] Translation: X:13.14, Y:24.00, Z:26.53 [[ 0.98466684 0.03384828 0.17113007 13.13974031] [-0.04022227 0.99861496 0.03391653 24.00000345] [-0.16974504 -0.04027973 0.98466449 26.53160066] [ 0. 0. 0. 1. ]] SLAMing on 264.85907232899996 meters Centerline goodness : 0.780690 with order 2 Centerline is valid? [False, False] Translation: X:13.15, Y:23.99, Z:26.54 [[ 9.86064363e-01 1.44337215e-02 1.65736959e-01 1.31537406e+01] [-1.85649005e-02 9.99553699e-01 2.34039956e-02 2.39868077e+01] [-1.65325184e-01 -2.61547362e-02 9.85892242e-01 2.65376843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91907232899996 meters Centerline goodness : 0.780955 with order 2 Centerline is valid? [False, False] Translation: X:13.17, Y:23.98, Z:26.54 [[ 9.86987312e-01 1.24099178e-03 1.60793366e-01 1.31685376e+01] [-4.42715711e-03 9.99800863e-01 1.94585344e-02 2.39798077e+01] [-1.60737198e-01 -1.99171841e-02 9.86796260e-01 2.65424799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97907232899996 meters Centerline goodness : 0.779883 with order 2 Centerline is valid? [False, False] Translation: X:13.18, Y:23.97, Z:26.55 [[ 9.87583837e-01 -6.03376104e-03 1.56976934e-01 1.31781105e+01] [ 3.04860435e-03 9.99810047e-01 1.92503602e-02 2.39730675e+01] [-1.57063268e-01 -1.85327840e-02 9.87414637e-01 2.65481084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03907232899996 meters Centerline goodness : 0.758061 with order 1 Centerline is valid? [False, False] Translation: X:13.19, Y:23.96, Z:26.56 [[ 9.88034786e-01 -1.80350420e-02 1.53173102e-01 1.31892077e+01] [ 1.56612026e-02 9.99738046e-01 1.66902979e-02 2.39639177e+01] [-1.53433988e-01 -1.40917200e-02 9.88058417e-01 2.65554425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09907232899997 meters Centerline goodness : 0.769247 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:23.96, Z:26.56 [[ 9.88296394e-01 -2.84919268e-02 1.49861432e-01 1.31980951e+01] [ 2.68619544e-02 9.99556044e-01 1.28899408e-02 2.39557628e+01] [-1.50162159e-01 -8.71351110e-03 9.88622982e-01 2.65611899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15907232899997 meters Centerline goodness : 0.780649 with order 2 Centerline is valid? [False, False] Translation: X:13.21, Y:23.95, Z:26.56 [[ 9.88282292e-01 -4.34508005e-02 1.46322041e-01 1.32098405e+01] [ 4.34118488e-02 9.99051266e-01 3.46096739e-03 2.39469510e+01] [-1.46333602e-01 2.93169755e-03 9.89230955e-01 2.65633127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21907232899997 meters Centerline goodness : 0.768062 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:23.94, Z:26.57 [[ 9.88232796e-01 -5.49925842e-02 1.42729664e-01 1.32209000e+01] [ 5.54947117e-02 9.98458874e-01 4.63390380e-04 2.39381916e+01] [-1.42535183e-01 7.46280401e-03 9.89761602e-01 2.65702899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279072329 meters Centerline goodness : 0.772672 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:23.93, Z:26.58 [[ 9.88294754e-01 -6.06685401e-02 1.39974310e-01 1.32271652e+01] [ 6.11519904e-02 9.98128105e-01 8.48610768e-04 2.39303562e+01] [-1.39763777e-01 7.72103008e-03 9.90154772e-01 2.65770844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339072329 meters Centerline goodness : 0.775796 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:23.91, Z:26.58 [[ 9.87369341e-01 -7.57188911e-02 1.39170525e-01 1.32209956e+01] [ 7.54632213e-02 9.97123161e-01 7.12068192e-03 2.39107183e+01] [-1.39309324e-01 3.47151308e-03 9.90242829e-01 2.65817571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399072329 meters Centerline goodness : 0.775087 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:23.90, Z:26.59 [[ 9.86655058e-01 -8.72361441e-02 1.37483278e-01 1.32272946e+01] [ 8.79347247e-02 9.96125741e-01 9.95959980e-04 2.38950842e+01] [-1.37037516e-01 1.11068853e-02 9.90503587e-01 2.65876714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459072329 meters Centerline goodness : 0.776420 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:23.87, Z:26.60 [[ 9.86424818e-01 -9.93463090e-02 1.30753160e-01 1.32170100e+01] [ 9.98007468e-02 9.95002647e-01 3.08908029e-03 2.38715047e+01] [-1.30406629e-01 1.00021176e-02 9.91410142e-01 2.65964600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519072329 meters Centerline goodness : 0.778281 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:23.82, Z:26.61 [[ 9.84117171e-01 -1.21530404e-01 1.29397659e-01 1.31712312e+01] [ 1.22785366e-01 9.92431732e-01 -1.73540742e-03 2.38197257e+01] [-1.28207438e-01 1.75959832e-02 9.91591264e-01 2.66074063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579072329 meters Centerline goodness : 0.775349 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:23.77, Z:26.62 [[ 9.80905053e-01 -1.47964032e-01 1.26221720e-01 1.31354517e+01] [ 1.49787362e-01 9.88705462e-01 -5.02555132e-03 2.37681846e+01] [-1.24052503e-01 2.38360071e-02 9.91989325e-01 2.66156457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639072329 meters Centerline goodness : 0.780719 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:23.75, Z:26.62 [[ 9.78731545e-01 -1.66762013e-01 1.19478005e-01 1.31359179e+01] [ 1.68316171e-01 9.85728601e-01 -2.96506603e-03 2.37459687e+01] [-1.17278426e-01 2.30120839e-02 9.92832420e-01 2.66229655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699072329 meters Centerline goodness : 0.781252 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.71, Z:26.63 [[ 9.72419877e-01 -1.98633514e-01 1.22246925e-01 1.31349844e+01] [ 2.00016314e-01 9.79792078e-01 9.79195614e-04 2.37148736e+01] [-1.19971069e-01 2.34991900e-02 9.92499235e-01 2.66253368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759072329 meters Centerline goodness : 0.782633 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.69, Z:26.63 [[ 9.69546198e-01 -2.16201487e-01 1.15052543e-01 1.31341168e+01] [ 2.17546982e-01 9.76049452e-01 8.82153104e-04 2.36908320e+01] [-1.12487695e-01 2.41740454e-02 9.93359016e-01 2.66332274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819072329 meters Centerline goodness : 0.785556 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.66, Z:26.64 [[ 9.64348430e-01 -2.40587769e-01 1.10225362e-01 1.31347338e+01] [ 2.42134318e-01 9.70242510e-01 -6.65625654e-04 2.36588285e+01] [-1.06785191e-01 2.73312380e-02 9.93906397e-01 2.66413538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879072329 meters Centerline goodness : 0.785123 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:23.63, Z:26.65 [[ 9.58775787e-01 -2.64403896e-01 1.04113257e-01 1.31378526e+01] [ 2.66388383e-01 9.63850720e-01 -5.38687733e-03 2.36296371e+01] [-9.89253263e-02 3.28993697e-02 9.94550859e-01 2.66490172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939072329 meters Centerline goodness : 0.786621 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.61, Z:26.65 [[ 9.57233066e-01 -2.72404507e-01 9.74712353e-02 1.31274509e+01] [ 2.74146929e-01 9.61676363e-01 -4.69399665e-03 2.36110091e+01] [-9.24571173e-02 3.12146887e-02 9.95227273e-01 2.66539440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999072329 meters Centerline goodness : 0.788943 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.59, Z:26.66 [[ 9.51518475e-01 -2.94039273e-01 9.02967185e-02 1.31341102e+01] [ 2.95931148e-01 9.55175544e-01 -8.02723202e-03 2.35881169e+01] [-8.38888957e-02 3.43596711e-02 9.95882556e-01 2.66580795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05907232899995 meters Centerline goodness : 0.790344 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.57, Z:26.66 [[ 9.48099358e-01 -3.06882560e-01 8.32508363e-02 1.31303799e+01] [ 3.08670563e-01 9.51124403e-01 -9.21157138e-03 2.35683856e+01] [-7.63550313e-02 3.44305674e-02 9.96486049e-01 2.66627993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11907232899995 meters Centerline goodness : 0.791084 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.55, Z:26.67 [[ 9.43000197e-01 -3.23851503e-01 7.66213630e-02 1.31308408e+01] [ 3.25428107e-01 9.45526524e-01 -8.72580355e-03 2.35457526e+01] [-6.96216665e-02 3.31631796e-02 9.97022080e-01 2.66723238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17907232899995 meters Centerline goodness : 0.789374 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:23.52, Z:26.68 [[ 9.38182681e-01 -3.38933143e-01 7.02679241e-02 1.31284134e+01] [ 3.40385010e-01 9.40238475e-01 -9.46861574e-03 2.35241586e+01] [-6.28593781e-02 3.28014393e-02 9.97483215e-01 2.66809433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23907232899995 meters Centerline goodness : 0.790888 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:23.50, Z:26.69 [[ 9.36271390e-01 -3.45316413e-01 6.44395856e-02 1.31146967e+01] [ 3.46452157e-01 9.38041401e-01 -7.01666553e-03 2.35030821e+01] [-5.80240293e-02 2.88947366e-02 9.97896942e-01 2.66884880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29907232899996 meters Centerline goodness : 0.792563 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:23.48, Z:26.69 [[ 9.34064625e-01 -3.52289597e-01 5.84407052e-02 1.31025589e+01] [ 3.53186843e-01 9.35536838e-01 -5.46605522e-03 2.34844237e+01] [-5.27477982e-02 2.57461370e-02 9.98275917e-01 2.66942818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35907232899996 meters Centerline goodness : 0.788728 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:23.46, Z:26.70 [[ 9.33169264e-01 -3.55280436e-01 5.45062910e-02 1.30790227e+01] [ 3.56073943e-01 9.34442844e-01 -5.28376537e-03 2.34623484e+01] [-4.90557951e-02 2.43389174e-02 9.98499447e-01 2.66993616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41907232899996 meters Centerline goodness : 0.794645 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:23.45, Z:26.71 [[ 9.34503457e-01 -3.52928857e-01 4.63088593e-02 1.30627491e+01] [ 3.53836213e-01 9.35219033e-01 -1.28567163e-02 2.34457005e+01] [-3.87714204e-02 2.84003972e-02 9.98844430e-01 2.67083386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47907232899996 meters Centerline goodness : 0.793311 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:23.42, Z:26.71 [[ 9.35217197e-01 -3.51519889e-01 4.24565944e-02 1.30341107e+01] [ 3.52249607e-01 9.35842672e-01 -1.08953172e-02 2.34247974e+01] [-3.59027721e-02 2.51448068e-02 9.99038903e-01 2.67112043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53907232899996 meters Centerline goodness : 0.796021 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:23.40, Z:26.72 [[ 9.33545036e-01 -3.56471705e-01 3.77039808e-02 1.30148673e+01] [ 3.57027985e-01 9.34050371e-01 -8.99573001e-03 2.34026531e+01] [-3.20106940e-02 2.18592954e-02 9.99248461e-01 2.67184999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59907232899997 meters Centerline goodness : 0.792179 with order 1 Centerline is valid? [False, False] Translation: X:12.99, Y:23.38, Z:26.73 [[ 9.32479987e-01 -3.59713265e-01 3.29763555e-02 1.29926730e+01] [ 3.60120138e-01 9.32878471e-01 -7.15849474e-03 2.33800397e+01] [-2.81879266e-02 1.85506028e-02 9.99430496e-01 2.67258679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65907232899997 meters Centerline goodness : 0.785658 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:23.36, Z:26.73 [[ 9.30139870e-01 -3.66194420e-01 2.72299428e-02 1.29790963e+01] [ 3.66484376e-01 9.30402370e-01 -6.37435312e-03 2.33636724e+01] [-2.30005507e-02 1.59083886e-02 9.99608872e-01 2.67294778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71907232899997 meters Centerline goodness : 0.784629 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:23.34, Z:26.73 [[ 9.28651929e-01 -3.70231127e-01 2.31194233e-02 1.29597323e+01] [ 3.70475082e-01 9.28814537e-01 -7.19509560e-03 2.33443415e+01] [-1.88098081e-02 1.52469096e-02 9.99706818e-01 2.67299917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779072329 meters Centerline goodness : 0.781260 with order 1 Centerline is valid? [False, False] Translation: X:12.94, Y:23.33, Z:26.73 [[ 9.26937298e-01 -3.74770596e-01 1.82824147e-02 1.29420704e+01] [ 3.74947628e-01 9.27016906e-01 -7.34384284e-03 2.33266510e+01] [-1.41958511e-02 1.36622299e-02 9.99805892e-01 2.67322032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839072329 meters Centerline goodness : 0.785107 with order 1 Centerline is valid? [False, False] Translation: X:12.92, Y:23.30, Z:26.73 [[ 9.24465211e-01 -3.80880394e-01 1.71522551e-02 1.29164864e+01] [ 3.81091856e-01 9.24467572e-01 -1.13448855e-02 2.33023199e+01] [-1.15356592e-02 1.70245367e-02 9.99788524e-01 2.67340082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899072329 meters Centerline goodness : 0.783345 with order 1 Centerline is valid? [False, False] Translation: X:12.90, Y:23.28, Z:26.74 [[ 9.22324144e-01 -3.86189893e-01 1.32491278e-02 1.28983309e+01] [ 3.86343178e-01 9.22276127e-01 -1.20703725e-02 2.32812943e+01] [-7.55789838e-03 1.62515062e-02 9.99839370e-01 2.67354355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959072329 meters Centerline goodness : 0.780133 with order 1 Centerline is valid? [False, False] Translation: X:12.88, Y:23.26, Z:26.74 [[ 9.19897829e-01 -3.92055661e-01 8.96346411e-03 1.28808263e+01] [ 3.92144254e-01 9.19817160e-01 -1.26204452e-02 2.32606248e+01] [-3.29683112e-03 1.51244911e-02 9.99880183e-01 2.67387735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019072329 meters Centerline goodness : 0.777889 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:23.24, Z:26.74 [[ 9.16136089e-01 -4.00838343e-01 4.82593735e-03 1.28675323e+01] [ 4.00864823e-01 9.16020716e-01 -1.46096424e-02 2.32398223e+01] [ 1.43544629e-03 1.53189692e-02 9.99881627e-01 2.67412024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079072329 meters Centerline goodness : 0.779037 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:23.22, Z:26.74 [[ 9.12930173e-01 -4.08114663e-01 9.60113559e-04 1.28522208e+01] [ 4.08077943e-01 9.12810943e-01 -1.57662579e-02 2.32199772e+01] [ 5.55803884e-03 1.47852937e-02 9.99875244e-01 2.67427165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139072329 meters Centerline goodness : 0.771766 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:23.20, Z:26.74 [[ 9.07492177e-01 -4.20064117e-01 -2.02152839e-03 1.28414972e+01] [ 4.19949705e-01 9.07338666e-01 -1.94625187e-02 2.31967500e+01] [ 1.00097166e-02 1.68131432e-02 9.99808544e-01 2.67449871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199072329 meters Centerline goodness : 0.771830 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:23.17, Z:26.75 [[ 9.01422964e-01 -4.32891168e-01 -6.47115630e-03 1.28350387e+01] [ 4.32675388e-01 9.01294398e-01 -2.14573169e-02 2.31740291e+01] [ 1.51210999e-02 1.65422081e-02 9.99748822e-01 2.67508494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259072329 meters Centerline goodness : 0.770620 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:23.15, Z:26.76 [[ 8.95687078e-01 -4.44597613e-01 -8.81024349e-03 1.28222849e+01] [ 4.44289310e-01 8.95550137e-01 -2.44327892e-02 2.31471475e+01] [ 1.87527745e-02 1.79698366e-02 9.99662652e-01 2.67562581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319072329 meters Centerline goodness : 0.767750 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:23.12, Z:26.76 [[ 8.93431058e-01 -4.49020317e-01 -1.27161467e-02 1.28009719e+01] [ 4.48653923e-01 8.93382505e-01 -2.40282589e-02 2.31203345e+01] [ 2.21495594e-02 1.57624436e-02 9.99630403e-01 2.67623611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379072329 meters Centerline goodness : 0.765279 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:23.09, Z:26.77 [[ 8.89301194e-01 -4.57085134e-01 -1.47162050e-02 1.27823589e+01] [ 4.56635556e-01 8.89268955e-01 -2.61666594e-02 2.30934047e+01] [ 2.50470553e-02 1.65500990e-02 9.99549268e-01 2.67661232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439072329 meters Centerline goodness : 0.761402 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:23.07, Z:26.77 [[ 8.84309800e-01 -4.66608685e-01 -1.65079592e-02 1.27662204e+01] [ 4.66034839e-01 8.84270300e-01 -2.96237289e-02 2.30689485e+01] [ 2.84201872e-02 1.85032697e-02 9.99424796e-01 2.67685369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499072329 meters Centerline goodness : 0.757664 with order 1 Centerline is valid? [False, False] Translation: X:12.74, Y:23.04, Z:26.77 [[ 8.80713554e-01 -4.73373961e-01 -1.61471349e-02 1.27353174e+01] [ 4.72679429e-01 8.80579812e-01 -3.39610487e-02 2.30393093e+01] [ 3.02951171e-02 2.22775374e-02 9.99292708e-01 2.67738182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55907232899995 meters Centerline goodness : 0.759066 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:23.02, Z:26.77 [[ 8.81606392e-01 -4.71985049e-01 -5.31851318e-04 1.27213591e+01] [ 4.71916029e-01 8.81495664e-01 -1.61448237e-02 2.30172584e+01] [ 8.08894002e-03 1.39823906e-02 9.99869522e-01 2.67655063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61907232899995 meters Centerline goodness : 0.754620 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:23.00, Z:26.76 [[ 8.82787687e-01 -4.69586380e-01 1.32110395e-02 1.27158746e+01] [ 4.69652647e-01 8.82848363e-01 -2.27138220e-03 2.29994640e+01] [-1.05967344e-02 8.20974791e-03 9.99910151e-01 2.67584030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67907232899995 meters Centerline goodness : 0.754105 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:22.98, Z:26.75 [[ 8.85778583e-01 -4.63304107e-01 2.73057971e-02 1.27038769e+01] [ 4.63121731e-01 8.86198687e-01 1.30441549e-02 2.29832270e+01] [-3.02417721e-02 1.09167499e-03 9.99542017e-01 2.67545131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73907232899995 meters Centerline goodness : 0.755906 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:22.97, Z:26.75 [[ 8.89997993e-01 -4.54026827e-01 4.19906334e-02 1.26909216e+01] [ 4.53322726e-01 8.90980332e-01 2.55451511e-02 2.29692540e+01] [-4.90110124e-02 -3.69982476e-03 9.98791386e-01 2.67543121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79907232899996 meters Centerline goodness : 0.756605 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:22.96, Z:26.75 [[ 8.94502951e-01 -4.43514276e-01 5.62099422e-02 1.26791421e+01] [ 4.41895072e-01 8.96208704e-01 3.92263091e-02 2.29565121e+01] [-6.77732675e-02 -1.02491528e-02 9.97648104e-01 2.67530337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85907232899996 meters Centerline goodness : 0.756130 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:22.95, Z:26.75 [[ 8.96602085e-01 -4.37379453e-01 6.93102770e-02 1.26726973e+01] [ 4.34589123e-01 8.99125326e-01 5.20186775e-02 2.29462081e+01] [-8.50705261e-02 -1.65185622e-02 9.96237995e-01 2.67482678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91907232899996 meters Centerline goodness : 0.758454 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:22.94, Z:26.74 [[ 8.97953839e-01 -4.32243791e-01 8.27297345e-02 1.26675068e+01] [ 4.28056651e-01 9.01488834e-01 6.39170239e-02 2.29372811e+01] [-1.02207669e-01 -2.19815239e-02 9.94520188e-01 2.67401735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97907232899996 meters Centerline goodness : 0.762195 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:22.93, Z:26.74 [[ 0.90059845 -0.42397276 0.09575765 12.65977607] [ 0.41793163 0.90519509 0.07716864 22.92716845] [-0.11939675 -0.02947781 0.99240892 26.73708875] [ 0. 0. 0. 1. ]] SLAMing on 268.03907232899996 meters Centerline goodness : 0.764337 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:22.92, Z:26.73 [[ 0.90086214 -0.41992845 0.11003409 12.65381052] [ 0.41211317 0.90694897 0.08721411 22.91693464] [-0.13641899 -0.03322139 0.99009403 26.73139513] [ 0. 0. 0. 1. ]] SLAMing on 268.09907232899997 meters Centerline goodness : 0.764987 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:22.91, Z:26.72 [[ 0.90139395 -0.41513244 0.12310157 12.648921 ] [ 0.40491817 0.90886833 0.09999822 22.90576015] [-0.15339562 -0.04029173 0.98734308 26.7244633 ] [ 0. 0. 0. 1. ]] SLAMing on 268.15907232899997 meters Centerline goodness : 0.766066 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:22.90, Z:26.72 [[ 0.90027339 -0.41712865 0.12454524 12.6479078 ] [ 0.40691001 0.90800463 0.09975889 22.9034039 ] [-0.15469995 -0.03913157 0.98718623 26.72337808] [ 0. 0. 0. 1. ]] SLAMing on 268.21907232899997 meters Centerline goodness : 0.763887 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:22.88, Z:26.73 [[ 9.00159094e-01 -4.15031668e-01 1.32145076e-01 1.25862435e+01] [ 4.06698587e-01 9.09496850e-01 8.60914601e-02 2.28767488e+01] [-1.55916212e-01 -2.37527951e-02 9.87484653e-01 2.67286237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279072329 meters Centerline goodness : 0.761607 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:22.87, Z:26.73 [[ 9.00428658e-01 -4.12126943e-01 1.39210685e-01 1.25587909e+01] [ 4.05621018e-01 9.11073726e-01 7.35952172e-02 2.28659165e+01] [-1.57161769e-01 -9.80046287e-03 9.87524242e-01 2.67278488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339072329 meters Centerline goodness : 0.765266 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:22.86, Z:26.72 [[ 8.98753285e-01 -4.15409042e-01 1.40277796e-01 1.25605335e+01] [ 4.09150085e-01 9.09603602e-01 7.22322272e-02 2.28632208e+01] [-1.57603108e-01 -7.52427949e-03 9.87473871e-01 2.67243027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399072329 meters Centerline goodness : 0.762569 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:22.84, Z:26.73 [[ 8.99108961e-01 -4.13274809e-01 1.44246343e-01 1.25085744e+01] [ 4.08638370e-01 9.10600158e-01 6.18226136e-02 2.28418370e+01] [-1.56900472e-01 3.35932465e-03 9.87608706e-01 2.67273756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459072329 meters Centerline goodness : 0.765367 with order 1 Centerline is valid? [False, False] Translation: X:12.47, Y:22.83, Z:26.73 [[ 9.01840027e-01 -4.07638111e-01 1.43233153e-01 1.24740937e+01] [ 4.05627760e-01 9.12963478e-01 4.43148620e-02 2.28296949e+01] [-1.48831065e-01 1.81344269e-02 9.88696342e-01 2.67299392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519072329 meters Centerline goodness : 0.766943 with order 1 Centerline is valid? [False, False] Translation: X:12.43, Y:22.82, Z:26.73 [[ 0.90547199 -0.3999182 0.14207712 12.43457471] [ 0.40016639 0.91601202 0.02808631 22.81653571] [-0.14137658 0.03142313 0.98945705 26.73457988] [ 0. 0. 0. 1. ]] SLAMing on 268.579072329 meters Centerline goodness : 0.766244 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:22.79, Z:26.74 [[ 9.07832652e-01 -3.93952950e-01 1.43669585e-01 1.23728552e+01] [ 3.95562422e-01 9.18254609e-01 1.84077237e-02 2.27922251e+01] [-1.39177036e-01 4.01191563e-02 9.89454499e-01 2.67426720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639072329 meters Centerline goodness : 0.765732 with order 1 Centerline is valid? [False, False] Translation: X:12.34, Y:22.78, Z:26.75 [[ 9.12280848e-01 -3.83754695e-01 1.43094336e-01 1.23353278e+01] [ 3.86602229e-01 9.22207683e-01 8.46797401e-03 2.27791453e+01] [-1.35212321e-01 4.75954188e-02 9.89672827e-01 2.67499594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699072329 meters Centerline goodness : 0.762349 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:22.77, Z:26.76 [[ 9.14993162e-01 -3.76553288e-01 1.44896980e-01 1.23023316e+01] [ 3.80940530e-01 9.24595451e-01 -2.75038735e-03 2.27683452e+01] [-1.32935421e-01 5.77137180e-02 9.89442924e-01 2.67551694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759072329 meters Centerline goodness : 0.762590 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:22.75, Z:26.76 [[ 9.14839032e-01 -3.75462195e-01 1.48652902e-01 1.22561692e+01] [ 3.80478179e-01 9.24771826e-01 -5.78144471e-03 2.27487554e+01] [-1.35299302e-01 6.18482767e-02 9.88872535e-01 2.67623717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819072329 meters Centerline goodness : 0.762057 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:22.75, Z:26.76 [[ 9.15552381e-01 -3.73631207e-01 1.48874308e-01 1.22555484e+01] [ 3.78597634e-01 9.25545235e-01 -5.46354870e-03 2.27497663e+01] [-1.35748554e-01 6.13656260e-02 9.88841034e-01 2.67622422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879072329 meters Centerline goodness : 0.759076 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:22.73, Z:26.77 [[ 9.16978024e-01 -3.71202524e-01 1.46150572e-01 1.22165237e+01] [ 3.76195405e-01 9.26513079e-01 -7.10859968e-03 2.27301692e+01] [-1.32771686e-01 6.14996033e-02 9.89236816e-01 2.67699914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939072329 meters Centerline goodness : 0.760136 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:22.71, Z:26.78 [[ 9.17441905e-01 -3.70746767e-01 1.44385543e-01 1.21751775e+01] [ 3.76328899e-01 9.26402329e-01 -1.24613143e-02 2.27080855e+01] [-1.29139111e-01 6.57689845e-02 9.89443041e-01 2.67787569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999072329 meters Centerline goodness : 0.760993 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:22.69, Z:26.79 [[ 9.17556808e-01 -3.72524265e-01 1.38979052e-01 1.21513022e+01] [ 3.77318937e-01 9.26040464e-01 -8.91512981e-03 2.26906233e+01] [-1.25379124e-01 6.06195663e-02 9.90255191e-01 2.67890493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05907232899995 meters Centerline goodness : 0.759909 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:22.69, Z:26.79 [[ 9.18230614e-01 -3.71068375e-01 1.38422542e-01 1.21497073e+01] [ 3.75372422e-01 9.26858206e-01 -5.42311307e-03 2.26877930e+01] [-1.26285724e-01 5.69396734e-02 9.90358415e-01 2.67911012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11907232899995 meters Centerline goodness : 0.759723 with order 1 Centerline is valid? [False, False] Translation: X:12.13, Y:22.68, Z:26.79 [[ 9.19219857e-01 -3.66706714e-01 1.43391212e-01 1.21267343e+01] [ 3.72201272e-01 9.28066528e-01 -1.25989146e-02 2.26789128e+01] [-1.28456478e-01 6.49515642e-02 9.89585887e-01 2.67913079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17907232899995 meters Centerline goodness : 0.759998 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:22.66, Z:26.80 [[ 9.18499388e-01 -3.69950025e-01 1.39627550e-01 1.21009731e+01] [ 3.75177331e-01 9.26872760e-01 -1.22006579e-02 2.26606184e+01] [-1.24903339e-01 6.35913882e-02 9.90128927e-01 2.68005999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23907232899995 meters Centerline goodness : 0.757971 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:22.65, Z:26.80 [[ 9.17613726e-01 -3.67577638e-01 1.51234022e-01 1.20982458e+01] [ 3.72179358e-01 9.28157998e-01 -2.29288590e-03 2.26522255e+01] [-1.39526254e-01 5.83901649e-02 9.88495328e-01 2.68000402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29907232899996 meters Centerline goodness : 0.756902 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:22.65, Z:26.80 [[ 9.17341092e-01 -3.68397153e-01 1.50893535e-01 1.20983322e+01] [ 3.72588300e-01 9.27996591e-01 5.35107878e-04 2.26516512e+01] [-1.40225819e-01 5.57302893e-02 9.88549875e-01 2.67957748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35907232899996 meters Centerline goodness : 0.758751 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:22.65, Z:26.80 [[ 9.16425383e-01 -3.70492801e-01 1.51326145e-01 1.20964183e+01] [ 3.74578799e-01 9.27193669e-01 1.61941573e-03 2.26490898e+01] [-1.40908625e-01 5.51994919e-02 9.88482562e-01 2.67974860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41907232899996 meters Centerline goodness : 0.757561 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:22.65, Z:26.80 [[ 9.16822164e-01 -3.69608116e-01 1.51085933e-01 1.20946356e+01] [ 3.73483826e-01 9.27632077e-01 2.92611614e-03 2.26499960e+01] [-1.41233674e-01 5.37454242e-02 9.88516302e-01 2.67991463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47907232899996 meters Centerline goodness : 0.756670 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:22.65, Z:26.80 [[ 9.17153209e-01 -3.68690708e-01 1.51318056e-01 1.20940018e+01] [ 3.72831639e-01 9.27898377e-01 1.08232600e-03 2.26509828e+01] [-1.40806822e-01 5.54235000e-02 9.88484534e-01 2.68024725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53907232899996 meters Centerline goodness : 0.758239 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:22.65, Z:26.80 [[ 9.17315225e-01 -3.68155004e-01 1.51639938e-01 1.20924034e+01] [ 3.72254305e-01 9.28129629e-01 1.45756785e-03 2.26505309e+01] [-1.41278130e-01 5.51115704e-02 9.88434725e-01 2.68046898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59907232899997 meters Centerline goodness : 0.756728 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:22.63, Z:26.81 [[ 9.17853705e-01 -3.67751631e-01 1.49342939e-01 1.20570238e+01] [ 3.71903686e-01 9.28271313e-01 1.34677924e-04 2.26324132e+01] [-1.38680294e-01 5.54175750e-02 9.88785451e-01 2.68117392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65907232899997 meters Centerline goodness : 0.756078 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:22.61, Z:26.82 [[ 9.18663050e-01 -3.66997499e-01 1.46188357e-01 1.20233432e+01] [ 3.70920180e-01 9.28664638e-01 4.57871496e-04 2.26146334e+01] [-1.35927996e-01 5.38035822e-02 9.89256668e-01 2.68197409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71907232899997 meters Centerline goodness : 0.755580 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:22.61, Z:26.82 [[ 9.19319815e-01 -3.65452446e-01 1.45930078e-01 1.20213147e+01] [ 3.69089867e-01 9.29390850e-01 2.30611268e-03 2.26143272e+01] [-1.36468854e-01 5.17412579e-02 9.89292219e-01 2.68224712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779072329 meters Centerline goodness : 0.754178 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:22.60, Z:26.83 [[ 9.19862284e-01 -3.64286485e-01 1.45426050e-01 1.19841871e+01] [ 3.67984615e-01 9.29830539e-01 1.57833313e-03 2.25981876e+01] [-1.35796548e-01 5.20626999e-02 9.89367865e-01 2.68282004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839072329 meters Centerline goodness : 0.754557 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:22.60, Z:26.83 [[ 9.19645000e-01 -3.64431060e-01 1.46434549e-01 1.19819317e+01] [ 3.68182226e-01 9.29752280e-01 1.59569973e-03 2.25987620e+01] [-1.36729378e-01 5.24471210e-02 9.89219074e-01 2.68288764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899072329 meters Centerline goodness : 0.755776 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:22.60, Z:26.83 [[ 9.20871131e-01 -3.61419319e-01 1.46193144e-01 1.19788371e+01] [ 3.64888046e-01 9.31045541e-01 3.30369700e-03 2.25996926e+01] [-1.37306494e-01 5.03018513e-02 9.89250550e-01 2.68336565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959072329 meters Centerline goodness : 0.755896 with order 1 Centerline is valid? [False, False] Translation: X:11.93, Y:22.58, Z:26.84 [[ 9.22389969e-01 -3.57582443e-01 1.46053213e-01 1.19331641e+01] [ 3.61315020e-01 9.32443228e-01 1.04056289e-03 2.25802528e+01] [-1.36558417e-01 5.18114149e-02 9.89276188e-01 2.68411633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019072329 meters Centerline goodness : 0.757655 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:22.55, Z:26.85 [[ 9.24111313e-01 -3.54548340e-01 1.42526336e-01 1.18779641e+01] [ 3.59260912e-01 9.33203401e-01 -7.93787398e-03 2.25545363e+01] [-1.30191701e-01 5.85396205e-02 9.89759180e-01 2.68531622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079072329 meters Centerline goodness : 0.758385 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:22.53, Z:26.86 [[ 9.24993162e-01 -3.53132313e-01 1.40304027e-01 1.18405390e+01] [ 3.57630533e-01 9.33833804e-01 -7.40468349e-03 2.25349296e+01] [-1.28405810e-01 5.70262857e-02 9.90080780e-01 2.68629590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139072329 meters Centerline goodness : 0.757237 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:22.53, Z:26.86 [[ 9.23644796e-01 -3.56241083e-01 1.41324383e-01 1.18374549e+01] [ 3.60645755e-01 9.32683549e-01 -6.00305223e-03 2.25325989e+01] [-1.29672394e-01 5.65127269e-02 9.89945141e-01 2.68636531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199072329 meters Centerline goodness : 0.760259 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:22.53, Z:26.86 [[ 9.22804844e-01 -3.58077645e-01 1.42167577e-01 1.18350078e+01] [ 3.62360921e-01 9.32026623e-01 -4.57568860e-03 2.25305041e+01] [-1.30865515e-01 5.57384417e-02 9.89832028e-01 2.68638021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259072329 meters Centerline goodness : 0.762098 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:22.51, Z:26.88 [[ 9.25388314e-01 -3.53344610e-01 1.37127879e-01 1.17806163e+01] [ 3.58249998e-01 9.33547555e-01 -1.20789757e-02 2.25064379e+01] [-1.23747355e-01 6.03038051e-02 9.90479704e-01 2.68750888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319072329 meters Centerline goodness : 0.763013 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:22.49, Z:26.88 [[ 9.26125612e-01 -3.51932280e-01 1.35775629e-01 1.17415499e+01] [ 3.56878780e-01 9.34057721e-01 -1.31799422e-02 2.24867443e+01] [-1.22183828e-01 6.06617230e-02 9.90651941e-01 2.68832846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379072329 meters Centerline goodness : 0.762944 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:22.47, Z:26.89 [[ 9.27146641e-01 -3.49794298e-01 1.34324442e-01 1.17026474e+01] [ 3.54563099e-01 9.34947159e-01 -1.26023317e-02 2.24692558e+01] [-1.21178032e-01 5.93106999e-02 9.90857268e-01 2.68907036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439072329 meters Centerline goodness : 0.762464 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:22.46, Z:26.89 [[ 9.29175014e-01 -3.43547829e-01 1.36413645e-01 1.16811418e+01] [ 3.49165268e-01 9.36870914e-01 -1.88813480e-02 2.24611281e+01] [-1.21315330e-01 6.51749836e-02 9.90472015e-01 2.68914245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499072329 meters Centerline goodness : 0.759596 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:22.45, Z:26.89 [[ 9.29053486e-01 -3.38809994e-01 1.48551032e-01 1.16775979e+01] [ 3.44039429e-01 9.38899259e-01 -1.02495366e-02 2.24522767e+01] [-1.36001808e-01 6.06297798e-02 9.88851626e-01 2.68932399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55907232899995 meters Centerline goodness : 0.758578 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:22.45, Z:26.89 [[ 9.29035160e-01 -3.38850856e-01 1.48572434e-01 1.16757573e+01] [ 3.43720548e-01 9.39040982e-01 -7.63018057e-03 2.24508213e+01] [-1.36930111e-01 5.81561045e-02 9.88872091e-01 2.68936540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61907232899995 meters Centerline goodness : 0.755252 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:22.45, Z:26.89 [[ 9.28459321e-01 -3.40293346e-01 1.48874872e-01 1.16751175e+01] [ 3.44937812e-01 9.38607817e-01 -5.76814938e-03 2.24514757e+01] [-1.37772256e-01 5.67080647e-02 9.88839219e-01 2.68895562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67907232899995 meters Centerline goodness : 0.755539 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:22.45, Z:26.89 [[ 9.28321550e-01 -3.40690217e-01 1.48826325e-01 1.16747842e+01] [ 3.45434394e-01 9.38420571e-01 -6.47387927e-03 2.24524736e+01] [-1.37456097e-01 5.74195729e-02 9.88842158e-01 2.68906647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73907232899995 meters Centerline goodness : 0.753135 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:22.45, Z:26.89 [[ 9.28680130e-01 -3.39537082e-01 1.49223947e-01 1.16714992e+01] [ 3.44072228e-01 9.38930392e-01 -4.90106332e-03 2.24524780e+01] [-1.38446806e-01 5.58953359e-02 9.88791279e-01 2.68939275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79907232899996 meters Centerline goodness : 0.753682 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:22.45, Z:26.90 [[ 9.28963729e-01 -3.38678967e-01 1.49408657e-01 1.16707874e+01] [ 3.43457622e-01 9.39144749e-01 -6.63348230e-03 2.24528910e+01] [-1.38069735e-01 5.74778066e-02 9.88753281e-01 2.68977024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85907232899996 meters Centerline goodness : 0.750404 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:22.45, Z:26.90 [[ 9.29505545e-01 -3.37235231e-01 1.49304523e-01 1.16678902e+01] [ 3.41425819e-01 9.39905131e-01 -2.59916734e-03 2.24518904e+01] [-1.39455556e-01 5.33923595e-02 9.88787846e-01 2.68991238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91907232899996 meters Centerline goodness : 0.750130 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.91 [[ 9.29887269e-01 -3.36378964e-01 1.48858523e-01 1.16241074e+01] [ 3.41245062e-01 9.39943038e-01 -7.67422539e-03 2.24327527e+01] [-1.37337084e-01 5.79334003e-02 9.88828725e-01 2.69066970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97907232899996 meters Centerline goodness : 0.749938 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.91 [[ 9.29804701e-01 -3.36534253e-01 1.49023198e-01 1.16230399e+01] [ 3.41343485e-01 9.39911180e-01 -7.18324065e-03 2.24318267e+01] [-1.37651163e-01 5.75471085e-02 9.88807609e-01 2.69081146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03907232899996 meters Centerline goodness : 0.748044 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.91 [[ 9.29973363e-01 -3.36203324e-01 1.48717411e-01 1.16231452e+01] [ 3.40929766e-01 9.40064588e-01 -6.74273639e-03 2.24313967e+01] [-1.37537041e-01 5.69727574e-02 9.88856748e-01 2.69087269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09907232899997 meters Centerline goodness : 0.746565 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.91 [[ 9.30056079e-01 -3.36041253e-01 1.48566370e-01 1.16239322e+01] [ 3.40759191e-01 9.40126327e-01 -6.75743327e-03 2.24307116e+01] [-1.37400380e-01 5.69101480e-02 9.88879351e-01 2.69080474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15907232899997 meters Centerline goodness : 0.744504 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.91 [[ 9.31155107e-01 -3.33629228e-01 1.47111201e-01 1.16239929e+01] [ 3.37763954e-01 9.41224944e-01 -3.33407030e-03 2.24303419e+01] [-1.37352388e-01 5.27933975e-02 9.89114340e-01 2.69090275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21907232899997 meters Centerline goodness : 0.744171 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.91 [[ 9.31143486e-01 -3.33633380e-01 1.47175326e-01 1.16225732e+01] [ 3.37650401e-01 9.41268369e-01 -2.46252715e-03 2.24300760e+01] [-1.37709898e-01 5.19867739e-02 9.89107355e-01 2.69105164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279072329 meters Centerline goodness : 0.745314 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.91 [[ 9.31742015e-01 -3.31837924e-01 1.47446297e-01 1.16213966e+01] [ 3.35980357e-01 9.41862859e-01 -3.39919585e-03 2.24304319e+01] [-1.37746209e-01 5.27062332e-02 9.89064222e-01 2.69141098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339072329 meters Centerline goodness : 0.743574 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.92 [[ 9.31681452e-01 -3.31763186e-01 1.47996152e-01 1.16194853e+01] [ 3.35907765e-01 9.41889421e-01 -3.20818284e-03 2.24298923e+01] [-1.38331653e-01 5.27020612e-02 9.88982733e-01 2.69161549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399072329 meters Centerline goodness : 0.744464 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.92 [[ 9.32035603e-01 -3.30853869e-01 1.47801731e-01 1.16167349e+01] [ 3.34384219e-01 9.42436287e-01 1.01957505e-03 2.24280735e+01] [-1.39631045e-01 4.84722860e-02 9.89016486e-01 2.69178055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459072329 meters Centerline goodness : 0.745550 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.43, Z:26.92 [[ 9.31356275e-01 -3.32253718e-01 1.48939438e-01 1.16175545e+01] [ 3.36291676e-01 9.41755648e-01 -2.05148965e-03 2.24261208e+01] [-1.39582942e-01 5.19977612e-02 9.88844191e-01 2.69173087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519072329 meters Centerline goodness : 0.743903 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.42, Z:26.92 [[ 9.31162034e-01 -3.29102635e-01 1.56935406e-01 1.16197220e+01] [ 3.31607163e-01 9.43356735e-01 1.07126035e-02 2.24194722e+01] [-1.51571618e-01 4.20657349e-02 9.87550768e-01 2.69177899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579072329 meters Centerline goodness : 0.742144 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.42, Z:26.92 [[ 9.31313528e-01 -3.29108629e-01 1.56021224e-01 1.16223908e+01] [ 3.31465065e-01 9.43398308e-01 1.14255312e-02 2.24170110e+01] [-1.50950400e-01 4.10748335e-02 9.87687620e-01 2.69160999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639072329 meters Centerline goodness : 0.740779 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.41, Z:26.92 [[ 9.30923083e-01 -3.29927560e-01 1.56620621e-01 1.16208840e+01] [ 3.32172361e-01 9.43137360e-01 1.23871933e-02 2.24143033e+01] [-1.51801635e-01 4.04935173e-02 9.87581155e-01 2.69171596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699072329 meters Centerline goodness : 0.739845 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.41, Z:26.92 [[ 9.30802942e-01 -3.30132385e-01 1.56902807e-01 1.16192068e+01] [ 3.32223996e-01 9.43104265e-01 1.34745049e-02 2.24125474e+01] [-1.52424077e-01 3.95847685e-02 9.87522125e-01 2.69189838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759072329 meters Centerline goodness : 0.738527 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.41, Z:26.92 [[ 9.29463715e-01 -3.33504543e-01 1.57708343e-01 1.16204224e+01] [ 3.36130334e-01 9.41756717e-01 1.05206486e-02 2.24099029e+01] [-1.52031576e-01 4.32319970e-02 9.87429691e-01 2.69189272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819072329 meters Centerline goodness : 0.738310 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.41, Z:26.92 [[ 9.27798827e-01 -3.37545560e-01 1.58909819e-01 1.16198659e+01] [ 3.40504301e-01 9.40199254e-01 9.06547621e-03 2.24071361e+01] [-1.52466905e-01 4.56985388e-02 9.87251481e-01 2.69183905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879072329 meters Centerline goodness : 0.735440 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.40, Z:26.91 [[ 9.26420002e-01 -3.41502716e-01 1.58498815e-01 1.16211773e+01] [ 3.44158651e-01 9.38844165e-01 1.12453424e-02 2.24031731e+01] [-1.52646003e-01 4.41308284e-02 9.87295127e-01 2.69146890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939072329 meters Centerline goodness : 0.732580 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.40, Z:26.91 [[ 9.24484694e-01 -3.46198162e-01 1.59608532e-01 1.16205089e+01] [ 3.49060388e-01 9.37039670e-01 1.06537266e-02 2.23991179e+01] [-1.53247827e-01 4.58638090e-02 9.87122897e-01 2.69144710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999072329 meters Centerline goodness : 0.731712 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.40, Z:26.92 [[ 9.23843579e-01 -3.47761344e-01 1.59922138e-01 1.16192190e+01] [ 3.50601106e-01 9.36459928e-01 1.10302573e-02 2.23971188e+01] [-1.53596571e-01 4.58786461e-02 9.87068003e-01 2.69165026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05907232899995 meters Centerline goodness : 0.730897 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.40, Z:26.92 [[ 9.22467358e-01 -3.51044798e-01 1.60690770e-01 1.16175223e+01] [ 3.54008860e-01 9.35180206e-01 1.07568622e-02 2.23969556e+01] [-1.54050968e-01 4.69631020e-02 9.86946182e-01 2.69168938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11907232899995 meters Centerline goodness : 0.731663 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:22.40, Z:26.92 [[ 9.22428424e-01 -3.51208548e-01 1.60556403e-01 1.16175234e+01] [ 3.54258763e-01 9.35092059e-01 1.01769338e-02 2.23984533e+01] [-1.53709243e-01 4.74910196e-02 9.86974200e-01 2.69171824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17907232899995 meters Centerline goodness : 0.730316 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:22.40, Z:26.92 [[ 9.23576856e-01 -3.48418891e-01 1.60031457e-01 1.16148922e+01] [ 3.51040086e-01 9.36276693e-01 1.25224647e-02 2.23998559e+01] [-1.54196787e-01 4.46119980e-02 9.87032482e-01 2.69208306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23907232899995 meters Centerline goodness : 0.730807 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:22.40, Z:26.93 [[ 9.24992303e-01 -3.44744728e-01 1.59813370e-01 1.16129338e+01] [ 3.47473304e-01 9.37620000e-01 1.14472279e-02 2.24034519e+01] [-1.53790583e-01 4.49422818e-02 9.87080872e-01 2.69264646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29907232899996 meters Centerline goodness : 0.733116 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:22.41, Z:26.93 [[ 9.26650155e-01 -3.40701200e-01 1.58877885e-01 1.16118576e+01] [ 3.43159525e-01 9.39193165e-01 1.25594012e-02 2.24061936e+01] [-1.53496027e-01 4.28822885e-02 9.87218354e-01 2.69298329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35907232899996 meters Centerline goodness : 0.733166 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:22.41, Z:26.93 [[ 9.26893898e-01 -3.40047293e-01 1.58856981e-01 1.16086831e+01] [ 3.41907415e-01 9.39591789e-01 1.63275651e-02 2.24055656e+01] [-1.54812859e-01 3.91804592e-02 9.87166587e-01 2.69315444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41907232899996 meters Centerline goodness : 0.735889 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:22.41, Z:26.93 [[ 9.27218747e-01 -3.39173782e-01 1.58828651e-01 1.16071769e+01] [ 3.40884794e-01 9.39947831e-01 1.71939285e-02 2.24058781e+01] [-1.55122376e-01 3.81997392e-02 9.87156436e-01 2.69334154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47907232899996 meters Centerline goodness : 0.735821 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:22.41, Z:26.94 [[ 9.27395291e-01 -3.38541338e-01 1.59146902e-01 1.16054161e+01] [ 3.40317570e-01 9.40160406e-01 1.68036592e-02 2.24059583e+01] [-1.55312349e-01 3.85768525e-02 9.87111899e-01 2.69368588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53907232899996 meters Centerline goodness : 0.737856 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.41, Z:26.94 [[ 9.27634903e-01 -3.37792071e-01 1.59342413e-01 1.16045902e+01] [ 3.39543131e-01 9.40437803e-01 1.69469847e-02 2.24051087e+01] [-1.55576186e-01 3.83830073e-02 9.87077907e-01 2.69385262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59907232899997 meters Centerline goodness : 0.737784 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.40, Z:26.94 [[ 9.27444258e-01 -3.38137778e-01 1.59718478e-01 1.16031778e+01] [ 3.39829557e-01 9.40325208e-01 1.74463577e-02 2.24035477e+01] [-1.56086583e-01 3.80965351e-02 9.87008426e-01 2.69401612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65907232899997 meters Centerline goodness : 0.736228 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.40, Z:26.94 [[ 9.25693039e-01 -3.42237741e-01 1.61138841e-01 1.16029106e+01] [ 3.44440049e-01 9.38689261e-01 1.49506849e-02 2.24024460e+01] [-1.56375988e-01 4.16629254e-02 9.86818499e-01 2.69386309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71907232899997 meters Centerline goodness : 0.734532 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.40, Z:26.94 [[ 9.25154203e-01 -3.43478356e-01 1.61593066e-01 1.16009866e+01] [ 3.45336854e-01 9.38318564e-01 1.73415634e-02 2.23991147e+01] [-1.57582226e-01 3.97604208e-02 9.86705098e-01 2.69392635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779072329 meters Centerline goodness : 0.735020 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.40, Z:26.94 [[ 9.24469226e-01 -3.45289765e-01 1.61652800e-01 1.16017819e+01] [ 3.47291707e-01 9.37609866e-01 1.66195412e-02 2.23974087e+01] [-1.57305817e-01 4.07764224e-02 9.86707739e-01 2.69393315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839072329 meters Centerline goodness : 0.733833 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.40, Z:26.94 [[ 9.23631853e-01 -3.47073764e-01 1.62616119e-01 1.16018124e+01] [ 3.49576375e-01 9.36804745e-01 1.39006746e-02 2.23953636e+01] [-1.57164111e-01 4.40076473e-02 9.86591491e-01 2.69407655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899072329 meters Centerline goodness : 0.735204 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.39, Z:26.94 [[ 9.22120404e-01 -3.50645531e-01 1.63528814e-01 1.15990387e+01] [ 3.52879842e-01 9.35529212e-01 1.61527224e-02 2.23922616e+01] [-1.58649862e-01 4.28112670e-02 9.86406314e-01 2.69408623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959072329 meters Centerline goodness : 0.736241 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.39, Z:26.94 [[ 9.21242867e-01 -3.53032863e-01 1.63338232e-01 1.15992938e+01] [ 3.54976931e-01 9.34699444e-01 1.81197908e-02 2.23916981e+01] [-1.59069037e-01 4.12885765e-02 9.86403718e-01 2.69373877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019072329 meters Centerline goodness : 0.735397 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.39, Z:26.94 [[ 9.21265482e-01 -3.52995074e-01 1.63292346e-01 1.15984376e+01] [ 3.54980520e-01 9.34703320e-01 1.78475472e-02 2.23919218e+01] [-1.58929994e-01 4.15232727e-02 9.86416279e-01 2.69396127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079072329 meters Centerline goodness : 0.735488 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.39, Z:26.94 [[ 9.22046608e-01 -3.51102908e-01 1.62962577e-01 1.15991319e+01] [ 3.53322360e-01 9.35362542e-01 1.61314650e-02 2.23943977e+01] [-1.58092895e-01 4.27043597e-02 9.86500367e-01 2.69408899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139072329 meters Centerline goodness : 0.733277 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:22.40, Z:26.95 [[ 9.22262835e-01 -3.55345651e-01 1.52186505e-01 1.15959327e+01] [ 3.58052555e-01 9.33645993e-01 1.01748712e-02 2.23988994e+01] [-1.45703917e-01 4.51068616e-02 9.88299418e-01 2.69537662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199072329 meters Centerline goodness : 0.732281 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.40, Z:26.95 [[ 9.21773694e-01 -3.56495715e-01 1.52460036e-01 1.15938612e+01] [ 3.58977868e-01 9.33270516e-01 1.18758022e-02 2.23978882e+01] [-1.46520129e-01 4.37829767e-02 9.88238282e-01 2.69544427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259072329 meters Centerline goodness : 0.730271 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.40, Z:26.96 [[ 9.21198940e-01 -3.57644542e-01 1.53241298e-01 1.15912528e+01] [ 3.59976942e-01 9.32867644e-01 1.32121263e-02 2.23964677e+01] [-1.47679093e-01 4.29923371e-02 9.88100473e-01 2.69555828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319072329 meters Centerline goodness : 0.728533 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.40, Z:26.96 [[ 9.22181050e-01 -3.55090266e-01 1.53274311e-01 1.15891166e+01] [ 3.57185342e-01 9.33919578e-01 1.45895138e-02 2.23962406e+01] [-1.48326474e-01 4.12931638e-02 9.88075975e-01 2.69589044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379072329 meters Centerline goodness : 0.727762 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.40, Z:26.96 [[ 9.22356149e-01 -3.54503381e-01 1.53578928e-01 1.15894031e+01] [ 3.56772659e-01 9.34094180e-01 1.34659722e-02 2.23968171e+01] [-1.48230916e-01 4.23723403e-02 9.88044625e-01 2.69583659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439072329 meters Centerline goodness : 0.729306 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.40, Z:26.96 [[ 9.21104112e-01 -3.57367008e-01 1.54453994e-01 1.15876794e+01] [ 3.59819883e-01 9.32934733e-01 1.27450258e-02 2.23954971e+01] [-1.48650148e-01 4.38361225e-02 9.87917774e-01 2.69601542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499072329 meters Centerline goodness : 0.727654 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.40, Z:26.96 [[ 9.21016047e-01 -3.57645198e-01 1.54335200e-01 1.15851821e+01] [ 3.59725203e-01 9.32934380e-01 1.52059758e-02 2.23956953e+01] [-1.49422958e-01 4.15133134e-02 9.87901526e-01 2.69615758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55907232899995 meters Centerline goodness : 0.726768 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.39, Z:26.96 [[ 9.20477455e-01 -3.58676240e-01 1.55153504e-01 1.15824411e+01] [ 3.60703785e-01 9.32545412e-01 1.58693159e-02 2.23942020e+01] [-1.50379635e-01 4.13571086e-02 9.87762904e-01 2.69637099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61907232899995 meters Centerline goodness : 0.727676 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.39, Z:26.97 [[ 9.20595783e-01 -3.58283506e-01 1.55358724e-01 1.15835767e+01] [ 3.60834828e-01 9.32546730e-01 1.24427564e-02 2.23942264e+01] [-1.49337305e-01 4.46040896e-02 9.87779755e-01 2.69662741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67907232899995 meters Centerline goodness : 0.727487 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.39, Z:26.97 [[ 9.20986831e-01 -3.57361946e-01 1.55163453e-01 1.15819850e+01] [ 3.59591421e-01 9.32998267e-01 1.44306694e-02 2.23929031e+01] [-1.49924205e-01 4.25049901e-02 9.87783407e-01 2.69682661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73907232899995 meters Centerline goodness : 0.728026 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.39, Z:26.97 [[ 9.19223931e-01 -3.61444054e-01 1.56158765e-01 1.15817977e+01] [ 3.63864534e-01 9.31349387e-01 1.38174166e-02 2.23887805e+01] [-1.50432593e-01 4.41193361e-02 9.87635317e-01 2.69678692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79907232899996 meters Centerline goodness : 0.727514 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.39, Z:26.96 [[ 9.18510391e-01 -3.63557647e-01 1.55449346e-01 1.15828847e+01] [ 3.65616882e-01 9.30625041e-01 1.61656854e-02 2.23866082e+01] [-1.50542212e-01 4.19865550e-02 9.87711583e-01 2.69645486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85907232899996 meters Centerline goodness : 0.727056 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.39, Z:26.96 [[ 9.18264359e-01 -3.64150992e-01 1.55514057e-01 1.15841273e+01] [ 3.66426457e-01 9.30329068e-01 1.48147208e-02 2.23856810e+01] [-1.50074043e-01 4.33806350e-02 9.87722584e-01 2.69643932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91907232899996 meters Centerline goodness : 0.727622 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.39, Z:26.97 [[ 9.18498389e-01 -3.63519688e-01 1.55608949e-01 1.15869347e+01] [ 3.66453949e-01 9.30377711e-01 1.04316227e-02 2.23858234e+01] [-1.48567198e-01 4.74420853e-02 9.87763654e-01 2.69653877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97907232899996 meters Centerline goodness : 0.725216 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.39, Z:26.96 [[ 9.19800795e-01 -3.60761958e-01 1.54328569e-01 1.15887228e+01] [ 3.63414178e-01 9.31554602e-01 1.16686906e-02 2.23863270e+01] [-1.47975108e-01 4.53523190e-02 9.87950674e-01 2.69642362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03907232899996 meters Centerline goodness : 0.724984 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.38, Z:26.97 [[ 9.18515606e-01 -3.63612954e-01 1.55289091e-01 1.15886816e+01] [ 3.66668813e-01 9.30302777e-01 9.52490540e-03 2.23836600e+01] [-1.47929251e-01 4.81908923e-02 9.87823149e-01 2.69656196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09907232899997 meters Centerline goodness : 0.726002 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.38, Z:26.97 [[ 9.18159336e-01 -3.64587379e-01 1.55111176e-01 1.15876280e+01] [ 3.67481772e-01 9.29969997e-01 1.06278832e-02 2.23823902e+01] [-1.48123532e-01 4.72424397e-02 9.87839851e-01 2.69668448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15907232899997 meters Centerline goodness : 0.727392 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.38, Z:26.96 [[ 9.16414731e-01 -3.68758162e-01 1.55568182e-01 1.15881799e+01] [ 3.71863819e-01 9.28236329e-01 9.72718849e-03 2.23815027e+01] [-1.47991018e-01 4.89360394e-02 9.87777264e-01 2.69641474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21907232899997 meters Centerline goodness : 0.727429 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.38, Z:26.97 [[ 9.15987352e-01 -3.69869174e-01 1.55447630e-01 1.15870257e+01] [ 3.72870478e-01 9.27824227e-01 1.04790209e-02 2.23800123e+01] [-1.48103944e-01 4.83631814e-02 9.87788553e-01 2.69659783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279072329 meters Centerline goodness : 0.729079 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.38, Z:26.97 [[ 9.16168709e-01 -3.69614787e-01 1.54983247e-01 1.15879561e+01] [ 3.72589709e-01 9.27937003e-01 1.04798749e-02 2.23802685e+01] [-1.47688207e-01 4.81438294e-02 9.87861511e-01 2.69650507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339072329 meters Centerline goodness : 0.728879 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.38, Z:26.97 [[ 9.15368988e-01 -3.71604106e-01 1.54951621e-01 1.15879492e+01] [ 3.74647758e-01 9.27111331e-01 1.01801985e-02 2.23790852e+01] [-1.47440407e-01 4.87336395e-02 9.87869606e-01 2.69654720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399072329 meters Centerline goodness : 0.728048 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:22.38, Z:26.97 [[ 9.15091174e-01 -3.72175839e-01 1.55220126e-01 1.15858033e+01] [ 3.75037150e-01 9.26937991e-01 1.15367670e-02 2.23783154e+01] [-1.48173138e-01 4.76561201e-02 9.87812541e-01 2.69667621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459072329 meters Centerline goodness : 0.728146 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.38, Z:26.97 [[ 9.16209357e-01 -3.69421342e-01 1.55204014e-01 1.15826436e+01] [ 3.71900921e-01 9.28169400e-01 1.38300622e-02 2.23774477e+01] [-1.49164736e-01 4.50492832e-02 9.87785626e-01 2.69707460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519072329 meters Centerline goodness : 0.729781 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.38, Z:26.97 [[ 9.16416171e-01 -3.68680545e-01 1.55743563e-01 1.15828061e+01] [ 3.71454561e-01 9.28373793e-01 1.19837304e-02 2.23779505e+01] [-1.49006410e-01 4.68695723e-02 9.87724827e-01 2.69709082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579072329 meters Centerline goodness : 0.730661 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.38, Z:26.97 [[ 9.16067276e-01 -3.69282668e-01 1.56368335e-01 1.15817725e+01] [ 3.72285098e-01 9.28056459e-01 1.07244827e-02 2.23787668e+01] [-1.49079009e-01 4.83892534e-02 9.87640587e-01 2.69716997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639072329 meters Centerline goodness : 0.731569 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.38, Z:26.97 [[ 9.16257766e-01 -3.68884494e-01 1.56191983e-01 1.15809695e+01] [ 3.71703931e-01 9.28275772e-01 1.18439192e-02 2.23800169e+01] [-1.49358272e-01 4.72050911e-02 9.87655702e-01 2.69705285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699072329 meters Centerline goodness : 0.733792 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.38, Z:26.97 [[ 9.16271728e-01 -3.68785627e-01 1.56343471e-01 1.15792372e+01] [ 3.71472544e-01 9.28356277e-01 1.27582029e-02 2.23788052e+01] [-1.49847485e-01 4.63873263e-02 9.87620346e-01 2.69724435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759072329 meters Centerline goodness : 0.731846 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:22.38, Z:26.97 [[ 9.16543909e-01 -3.67859341e-01 1.56929184e-01 1.15761138e+01] [ 3.70354017e-01 9.28783352e-01 1.41204646e-02 2.23793465e+01] [-1.50947558e-01 4.51773279e-02 9.87508908e-01 2.69738729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819072329 meters Centerline goodness : 0.733947 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:22.38, Z:26.98 [[ 9.16863119e-01 -3.66725883e-01 1.57715402e-01 1.15730523e+01] [ 3.69145887e-01 9.29254494e-01 1.47444412e-02 2.23803910e+01] [-1.51964914e-01 4.47013576e-02 9.87374525e-01 2.69753783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879072329 meters Centerline goodness : 0.735280 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:22.38, Z:26.98 [[ 9.17310645e-01 -3.65391206e-01 1.58210139e-01 1.15707178e+01] [ 3.67831562e-01 9.29777146e-01 1.46424571e-02 2.23809140e+01] [-1.52450397e-01 4.47630009e-02 9.87296891e-01 2.69783185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939072329 meters Centerline goodness : 0.732920 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:22.38, Z:26.98 [[ 9.18419725e-01 -3.62910674e-01 1.57483494e-01 1.15669675e+01] [ 3.64726866e-01 9.30935677e-01 1.82504581e-02 2.23829727e+01] [-1.53230289e-01 4.06768803e-02 9.87352961e-01 2.69819656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999072329 meters Centerline goodness : 0.731985 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:22.38, Z:26.98 [[ 9.18851959e-01 -3.61639410e-01 1.57886080e-01 1.15654103e+01] [ 3.63554792e-01 9.31406375e-01 1.76090176e-02 2.23830669e+01] [-1.53424216e-01 4.12201606e-02 9.87300313e-01 2.69847801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05907232899995 meters Centerline goodness : 0.735338 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:22.38, Z:26.98 [[ 9.19106639e-01 -3.61110922e-01 1.57613098e-01 1.15656187e+01] [ 3.62956646e-01 9.31633369e-01 1.79370993e-02 2.23838668e+01] [-1.53314904e-01 4.07206143e-02 9.87338023e-01 2.69838936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11907232899995 meters Centerline goodness : 0.734904 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:22.38, Z:26.98 [[ 9.17816576e-01 -3.63917810e-01 1.58671231e-01 1.15631031e+01] [ 3.65592433e-01 9.30569441e-01 1.95624505e-02 2.23798268e+01] [-1.54773723e-01 4.00542601e-02 9.87137655e-01 2.69843397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17907232899995 meters Centerline goodness : 0.737445 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:22.37, Z:26.99 [[ 9.17042665e-01 -3.65812517e-01 1.58789017e-01 1.15607067e+01] [ 3.67016268e-01 9.29936242e-01 2.27518325e-02 2.23744700e+01] [-1.55986567e-01 3.74137514e-02 9.87050354e-01 2.69869743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23907232899995 meters Centerline goodness : 0.737070 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:22.37, Z:26.98 [[ 9.15995109e-01 -3.68196063e-01 1.59325515e-01 1.15614683e+01] [ 3.69611761e-01 9.28931537e-01 2.17565292e-02 2.23731108e+01] [-1.56013164e-01 3.89597096e-02 9.86986339e-01 2.69846153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29907232899996 meters Centerline goodness : 0.740533 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:22.35, Z:26.99 [[ 9.14395045e-01 -3.72088932e-01 1.59472659e-01 1.15265965e+01] [ 3.74393774e-01 9.27123308e-01 1.64825156e-02 2.23497649e+01] [-1.53983781e-01 4.46340400e-02 9.87064738e-01 2.69939664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35907232899996 meters Centerline goodness : 0.740545 with order 1 Centerline is valid? [False, False] Translation: X:11.50, Y:22.33, Z:27.00 [[ 9.13612553e-01 -3.75368510e-01 1.56238870e-01 1.15013664e+01] [ 3.77704398e-01 9.25794662e-01 1.56086907e-02 2.23348455e+01] [-1.50504122e-01 4.47518124e-02 9.87595962e-01 2.69989768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41907232899996 meters Centerline goodness : 0.738142 with order 1 Centerline is valid? [False, False] Translation: X:11.50, Y:22.33, Z:27.00 [[ 9.12357900e-01 -3.78273895e-01 1.56562842e-01 1.15008852e+01] [ 3.80406021e-01 9.24657882e-01 1.72933749e-02 2.23323478e+01] [-1.51308698e-01 4.37797005e-02 9.87516590e-01 2.69964761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47907232899996 meters Centerline goodness : 0.741069 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:22.31, Z:27.00 [[ 9.11512895e-01 -3.79299665e-01 1.58984295e-01 1.14593352e+01] [ 3.82222445e-01 9.23979120e-01 1.29841929e-02 2.23122537e+01] [-1.51823069e-01 4.89321065e-02 9.87195728e-01 2.70044314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53907232899996 meters Centerline goodness : 0.739460 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:22.31, Z:27.00 [[ 9.10564618e-01 -3.81202324e-01 1.59865142e-01 1.14606832e+01] [ 3.84662898e-01 9.23003496e-01 9.94996522e-03 2.23121764e+01] [-1.51349035e-01 5.24341026e-02 9.87088717e-01 2.70029302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59907232899997 meters Centerline goodness : 0.732985 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:22.31, Z:27.00 [[ 9.11092040e-01 -3.80558447e-01 1.58387382e-01 1.14591279e+01] [ 3.83208660e-01 9.23545194e-01 1.46764571e-02 2.23128609e+01] [-1.51863155e-01 4.73238129e-02 9.87267967e-01 2.70024536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65907232899997 meters Centerline goodness : 0.734038 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:22.30, Z:27.01 [[ 9.13509521e-01 -3.74944625e-01 1.57850824e-01 1.14109726e+01] [ 3.79333833e-01 9.25256497e-01 2.50161314e-03 2.22958429e+01] [-1.46990467e-01 5.75929107e-02 9.87459801e-01 2.70092540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71907232899997 meters Centerline goodness : 0.733060 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:22.30, Z:27.01 [[ 9.13969020e-01 -3.73834099e-01 1.57824890e-01 1.14105477e+01] [ 3.78372575e-01 9.25652342e-01 1.39140597e-03 2.22977678e+01] [-1.46611134e-01 5.84449079e-02 9.87466135e-01 2.70105744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779072329 meters Centerline goodness : 0.736323 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:22.29, Z:27.02 [[ 9.17566372e-01 -3.65090413e-01 1.57419641e-01 1.13767753e+01] [ 3.70906423e-01 9.28633754e-01 -8.23264812e-03 2.22857516e+01] [-1.43179532e-01 6.59419572e-02 9.87497484e-01 2.70169799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839072329 meters Centerline goodness : 0.734771 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:22.27, Z:27.02 [[ 9.21765883e-01 -3.54757063e-01 1.56509049e-01 1.13425750e+01] [ 3.61557126e-01 9.32205977e-01 -1.63848001e-02 2.22742904e+01] [-1.40086047e-01 7.16899115e-02 9.87540610e-01 2.70235000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899072329 meters Centerline goodness : 0.732051 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:22.26, Z:27.03 [[ 0.92438533 -0.34777908 0.15672098 11.30930423] [ 0.35616932 0.93399706 -0.02815867 22.25975685] [-0.13658394 0.08184866 0.98724142 27.0309757 ] [ 0. 0. 0. 1. ]] SLAMing on 275.959072329 meters Centerline goodness : 0.733019 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:22.26, Z:27.03 [[ 0.92408678 -0.34841398 0.15707104 11.31071441] [ 0.35712537 0.93356743 -0.03022129 22.25875758] [-0.13610689 0.08402115 0.98712479 27.03030032] [ 0. 0. 0. 1. ]] SLAMing on 276.019072329 meters Centerline goodness : 0.723079 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.03 [[ 0.92418844 -0.34948205 0.15407147 11.28011221] [ 0.35818565 0.93310222 -0.03198881 22.24465624] [-0.13258492 0.08474988 0.98754174 27.03340025] [ 0. 0. 0. 1. ]] SLAMing on 276.079072329 meters Centerline goodness : 0.725246 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.03 [[ 0.9229753 -0.35267765 0.15406191 11.28062984] [ 0.3613118 0.93192134 -0.03124736 22.24233547] [-0.13255334 0.08450493 0.98756698 27.03135272] [ 0. 0. 0. 1. ]] SLAMing on 276.139072329 meters Centerline goodness : 0.728354 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.03 [[ 0.92169273 -0.355494 0.15526277 11.27947878] [ 0.36448954 0.93062433 -0.03295051 22.24006818] [-0.1327776 0.0869619 0.98732352 27.03262137] [ 0. 0. 0. 1. ]] SLAMing on 276.199072329 meters Centerline goodness : 0.727646 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.03 [[ 0.92098201 -0.35739473 0.15511657 11.27566634] [ 0.36569195 0.93032237 -0.02774301 22.24000657] [-0.13439321 0.08227569 0.98750654 27.03180875] [ 0. 0. 0. 1. ]] SLAMing on 276.259072329 meters Centerline goodness : 0.729975 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.03 [[ 9.22112678e-01 -3.51371803e-01 1.62006374e-01 1.12803223e+01] [ 3.59151412e-01 9.33052987e-01 -2.05520296e-02 2.22394614e+01] [-1.43939127e-01 7.71361050e-02 9.86575668e-01 2.70342050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319072329 meters Centerline goodness : 0.731990 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.04 [[ 9.22916742e-01 -3.49144192e-01 1.62243709e-01 1.12789955e+01] [ 3.57030231e-01 9.33849192e-01 -2.13330673e-02 2.22397480e+01] [-1.44062840e-01 7.76145540e-02 9.86520085e-01 2.70381290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379072329 meters Centerline goodness : 0.729565 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.04 [[ 9.22166437e-01 -3.51215196e-01 1.62039957e-01 1.12793464e+01] [ 3.59047935e-01 9.33084841e-01 -2.09107669e-02 2.22392252e+01] [-1.43852848e-01 7.74633194e-02 9.86562614e-01 2.70366035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439072329 meters Centerline goodness : 0.725675 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.04 [[ 9.22255103e-01 -3.51444276e-01 1.61035542e-01 1.12781898e+01] [ 3.58600643e-01 9.33340010e-01 -1.67929962e-02 2.22386396e+01] [-1.44399112e-01 7.32348754e-02 9.86805730e-01 2.70363760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499072329 meters Centerline goodness : 0.726715 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.04 [[ 9.21928047e-01 -3.52249278e-01 1.61149380e-01 1.12771345e+01] [ 3.59421251e-01 9.33024632e-01 -1.67749858e-02 2.22387911e+01] [-1.44447364e-01 7.33858415e-02 9.86787453e-01 2.70376076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55907232899995 meters Centerline goodness : 0.726101 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.04 [[ 9.22349338e-01 -3.51269665e-01 1.60876724e-01 1.12768517e+01] [ 3.58441895e-01 9.33397287e-01 -1.69974398e-02 2.22396974e+01] [-1.44191213e-01 7.33425352e-02 9.86828134e-01 2.70391896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61907232899995 meters Centerline goodness : 0.724561 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:22.24, Z:27.04 [[ 9.21912946e-01 -3.52333071e-01 1.61052557e-01 1.12765317e+01] [ 3.59631179e-01 9.32927001e-01 -1.76812124e-02 2.22407837e+01] [-1.44020603e-01 7.42200597e-02 9.86787438e-01 2.70389308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67907232899995 meters Centerline goodness : 0.722773 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:22.24, Z:27.04 [[ 9.21614843e-01 -3.53037276e-01 1.61216511e-01 1.12742276e+01] [ 3.60090766e-01 9.32782327e-01 -1.58672552e-02 2.22399296e+01] [-1.44778179e-01 7.26760747e-02 9.86791501e-01 2.70403536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73907232899995 meters Centerline goodness : 0.726965 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:22.24, Z:27.04 [[ 9.20271331e-01 -3.56193706e-01 1.61946665e-01 1.12728947e+01] [ 3.63286653e-01 9.31548429e-01 -1.55026669e-02 2.22383833e+01] [-1.45339209e-01 7.30997217e-02 9.86677731e-01 2.70398481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79907232899996 meters Centerline goodness : 0.726963 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:22.24, Z:27.04 [[ 9.19178564e-01 -3.59162372e-01 1.61595661e-01 1.12712723e+01] [ 3.65725012e-01 9.30647665e-01 -1.18379954e-02 2.22364143e+01] [-1.46136862e-01 6.99808069e-02 9.86786048e-01 2.70386732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85907232899996 meters Centerline goodness : 0.732407 with order 1 Centerline is valid? [False, False] Translation: X:11.24, Y:22.22, Z:27.05 [[ 9.19306125e-01 -3.60306380e-01 1.58289486e-01 1.12403752e+01] [ 3.66724966e-01 9.30247121e-01 -1.23731192e-02 2.22175048e+01] [-1.42790225e-01 6.94233905e-02 9.87315220e-01 2.70472292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91907232899996 meters Centerline goodness : 0.736380 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:22.19, Z:27.06 [[ 9.20517495e-01 -3.57904528e-01 1.56690428e-01 1.11897797e+01] [ 3.65222936e-01 9.30711420e-01 -1.97093782e-02 2.21943932e+01] [-1.38779495e-01 7.53697655e-02 9.87451088e-01 2.70578163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97907232899996 meters Centerline goodness : 0.737313 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:22.17, Z:27.07 [[ 0.92264224 -0.3536712 0.153779 11.1250137 ] [ 0.36242369 0.93145554 -0.03224368 22.16747316] [-0.13183464 0.08548253 0.98757904 27.07082691] [ 0. 0. 0. 1. ]] SLAMing on 277.03907232899996 meters Centerline goodness : 0.741878 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:22.15, Z:27.08 [[ 0.92495508 -0.34688017 0.15534558 11.04880725] [ 0.35974633 0.93089794 -0.06333724 22.1457457 ] [-0.12264044 0.1144691 0.98582765 27.07812719] [ 0. 0. 0. 1. ]] SLAMing on 277.09907232899997 meters Centerline goodness : 0.745353 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:22.12, Z:27.09 [[ 0.92684449 -0.34382169 0.15081753 10.99339003] [ 0.35705367 0.93138405 -0.07096777 22.11825188] [-0.11606879 0.11962604 0.98601098 27.09223629] [ 0. 0. 0. 1. ]] SLAMing on 277.15907232899997 meters Centerline goodness : 0.753929 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:22.14, Z:27.08 [[ 0.93644167 -0.31710326 0.15007504 10.90865933] [ 0.3417704 0.9211446 -0.18624076 22.13670393] [-0.07918326 0.22569482 0.9709747 27.0820799 ] [ 0. 0. 0. 1. ]] SLAMing on 277.21907232899997 meters Centerline goodness : 0.764419 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:22.15, Z:27.08 [[ 0.94427332 -0.29443762 0.14715432 10.85484007] [ 0.32496536 0.90505113 -0.27437196 22.1548339 ] [-0.05239676 0.30690217 0.95029766 27.07668591] [ 0. 0. 0. 1. ]] SLAMing on 277.279072329 meters Centerline goodness : 0.765703 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:22.18, Z:27.07 [[ 0.95016183 -0.27275485 0.15098772 10.8106903 ] [ 0.30979753 0.88028332 -0.35934212 22.18129483] [-0.03489967 0.38820879 0.92091039 27.06925391] [ 0. 0. 0. 1. ]] SLAMing on 277.339072329 meters Centerline goodness : 0.765127 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:22.24, Z:27.06 [[ 9.59063364e-01 -2.36157856e-01 1.56291170e-01 1.07218564e+01] [ 2.83049677e-01 8.16845350e-01 -5.02639586e-01 2.22437842e+01] [-8.96342810e-03 5.26301378e-01 8.50250855e-01 2.70554904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399072329 meters Centerline goodness : 0.765326 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:22.22, Z:27.07 [[ 9.60791321e-01 -2.34090720e-01 1.48598695e-01 1.06586928e+01] [ 2.77265037e-01 8.15069064e-01 -5.08710644e-01 2.22156751e+01] [-2.03375801e-03 5.29965995e-01 8.48016455e-01 2.70655138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459072329 meters Centerline goodness : 0.762643 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:22.30, Z:27.06 [[ 9.69236161e-01 -1.91519415e-01 1.54601354e-01 1.05840032e+01] [ 2.45786205e-01 7.19802134e-01 -6.49210313e-01 2.23034525e+01] [ 1.30539951e-02 6.67236991e-01 7.44731087e-01 2.70624635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519072329 meters Centerline goodness : 0.765968 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:22.26, Z:27.07 [[ 9.68630807e-01 -1.96089615e-01 1.52653933e-01 1.05319886e+01] [ 2.48278212e-01 7.37436994e-01 -6.28127860e-01 2.22591484e+01] [ 1.05966931e-02 6.46324641e-01 7.62988970e-01 2.70694213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579072329 meters Centerline goodness : 0.768042 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:22.22, Z:27.08 [[ 9.69772123e-01 -1.97527957e-01 1.43264567e-01 1.04813223e+01] [ 2.43657090e-01 7.52216910e-01 -6.12209885e-01 2.22153558e+01] [ 1.31625378e-02 6.28611507e-01 7.77608077e-01 2.70794027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639072329 meters Centerline goodness : 0.766954 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:22.29, Z:27.09 [[ 0.97727183 -0.16251241 0.13612306 10.43527881] [ 0.20998659 0.65402952 -0.72674 22.28782455] [ 0.02907577 0.73880654 0.67329005 27.0904566 ] [ 0. 0. 0. 1. ]] SLAMing on 277.699072329 meters Centerline goodness : 0.767028 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:22.24, Z:27.09 [[ 0.9788352 -0.16172718 0.12540322 10.39518998] [ 0.20248129 0.67636548 -0.70818858 22.24067807] [ 0.02971494 0.71859171 0.69479707 27.09334256] [ 0. 0. 0. 1. ]] SLAMing on 277.759072329 meters Centerline goodness : 0.767998 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:22.20, Z:27.10 [[ 0.9816981 -0.15509292 0.11052165 10.32472863] [ 0.18733997 0.6820935 -0.7068608 22.19836114] [ 0.034243 0.71462902 0.698665 27.09869585] [ 0. 0. 0. 1. ]] SLAMing on 277.819072329 meters Centerline goodness : 0.770058 with order 1 Centerline is valid? [False, False] Translation: X:10.31, Y:22.17, Z:27.10 [[ 9.80816210e-01 -1.50133604e-01 1.24336091e-01 1.03127585e+01] [ 1.94203688e-01 6.97376701e-01 -6.89891777e-01 2.21738765e+01] [ 1.68668458e-02 7.00803565e-01 7.13154873e-01 2.71048331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879072329 meters Centerline goodness : 0.771529 with order 1 Centerline is valid? [False, False] Translation: X:10.30, Y:22.15, Z:27.11 [[ 9.78837486e-01 -1.52024553e-01 1.36987996e-01 1.03018308e+01] [ 2.04548335e-01 7.06907465e-01 -6.77083314e-01 2.21487420e+01] [ 6.09545095e-03 6.90775196e-01 7.23043895e-01 2.71104879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939072329 meters Centerline goodness : 0.774596 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:22.10, Z:27.11 [[ 9.77214147e-01 -1.64894568e-01 1.33649887e-01 1.02575355e+01] [ 2.11987568e-01 7.26562890e-01 -6.53580629e-01 2.21045300e+01] [ 1.06668472e-02 6.67020351e-01 7.44963133e-01 2.71127699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99907232899994 meters Centerline goodness : 0.774846 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:22.06, Z:27.12 [[ 9.75475109e-01 -1.78026134e-01 1.29441132e-01 1.02319678e+01] [ 2.19710373e-01 7.52127986e-01 -6.21313805e-01 2.20608182e+01] [ 1.32537973e-02 6.34515712e-01 7.72796318e-01 2.71196728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05907232899995 meters Centerline goodness : 0.779736 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:22.01, Z:27.13 [[ 9.73787408e-01 -1.89983330e-01 1.25077647e-01 1.01937757e+01] [ 2.26955499e-01 7.74933746e-01 -5.89888880e-01 2.20127674e+01] [ 1.51421645e-02 6.02813423e-01 7.97738486e-01 2.71286041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11907232899995 meters Centerline goodness : 0.783032 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:21.98, Z:27.14 [[ 9.73105234e-01 -1.96038434e-01 1.20975765e-01 1.01832350e+01] [ 2.29787375e-01 7.89016843e-01 -5.69780821e-01 2.19765402e+01] [ 1.62470242e-02 5.82255402e-01 8.12843577e-01 2.71360876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17907232899995 meters Centerline goodness : 0.782452 with order 1 Centerline is valid? [False, False] Translation: X:10.17, Y:21.94, Z:27.15 [[ 9.71863700e-01 -2.02955369e-01 1.19541071e-01 1.01680269e+01] [ 2.35149564e-01 8.06643658e-01 -5.42245969e-01 2.19432635e+01] [ 1.36246840e-02 5.55099204e-01 8.31672557e-01 2.71451438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23907232899995 meters Centerline goodness : 0.782457 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:22.08, Z:27.14 [[ 9.74267033e-01 -1.70770814e-01 1.47109068e-01 1.01135442e+01] [ 2.24721402e-01 6.85446014e-01 -6.92577832e-01 2.20753183e+01] [ 1.74367555e-02 7.07814305e-01 7.06183311e-01 2.71361745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29907232899996 meters Centerline goodness : 0.784204 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:22.04, Z:27.15 [[ 9.73468099e-01 -1.79428728e-01 1.42004194e-01 1.01119740e+01] [ 2.28193670e-01 7.15248863e-01 -6.60565450e-01 2.20368398e+01] [ 1.69560807e-02 6.75443851e-01 7.37216451e-01 2.71457439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35907232899996 meters Centerline goodness : 0.784019 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:22.16, Z:27.15 [[ 9.73410977e-01 -1.43930988e-01 1.78199161e-01 1.01002410e+01] [ 2.28999972e-01 5.92829975e-01 -7.72082660e-01 2.21614920e+01] [ 5.48481638e-03 7.92361339e-01 6.10027397e-01 2.71522521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41907232899996 meters Centerline goodness : 0.782990 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:22.27, Z:27.18 [[ 9.75801626e-01 -1.04606470e-01 1.92012171e-01 1.01204430e+01] [ 2.18654263e-01 4.71739039e-01 -8.54197045e-01 2.22669516e+01] [-1.22509931e-03 8.75511145e-01 4.83196372e-01 2.71812801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47907232899996 meters Centerline goodness : 0.784968 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:22.31, Z:27.19 [[ 9.74000649e-01 -8.83566050e-02 2.08604522e-01 1.01800460e+01] [ 2.26199877e-01 4.30121835e-01 -8.73973010e-01 2.23085023e+01] [-1.25040717e-02 8.98436596e-01 4.38925199e-01 2.71904081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53907232899996 meters Centerline goodness : 0.783228 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:22.43, Z:27.26 [[ 9.78845286e-01 -2.73128268e-02 2.02770599e-01 1.01399595e+01] [ 2.03520086e-01 2.31752940e-01 -9.51246629e-01 2.24278717e+01] [-2.10114482e-02 9.72391168e-01 2.32408982e-01 2.72634028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59907232899997 meters Centerline goodness : 0.782214 with order 1 Centerline is valid? [False, False] Translation: X:11.06, Y:20.35, Z:28.26 [[ 0.88839501 -0.39497816 -0.23397984 11.05882559] [ 0.39129271 0.38493412 0.83589218 20.3482808 ] [-0.24009233 -0.83415705 0.49652562 28.26218396] [ 0. 0. 0. 1. ]] SLAMing on 278.65907232899997 meters Centerline goodness : 0.782095 with order 1 Centerline is valid? [False, False] Translation: X:10.83, Y:20.22, Z:28.19 [[ 0.8895515 -0.4216034 -0.17592241 10.82542896] [ 0.40290489 0.54252405 0.73711282 20.21610262] [-0.21532713 -0.72657982 0.65246915 28.18584895] [ 0. 0. 0. 1. ]] SLAMing on 278.71907232899997 meters Centerline goodness : 0.781024 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:20.20, Z:28.18 [[ 0.89448776 -0.4163736 -0.16286395 10.8084471 ] [ 0.38976167 0.54774639 0.74031057 20.19757722] [-0.21903764 -0.72567687 0.65223891 28.18372237] [ 0. 0. 0. 1. ]] SLAMing on 278.779072329 meters Centerline goodness : 0.782143 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:20.12, Z:28.17 [[ 0.89598643 -0.41983157 -0.14474035 10.64528693] [ 0.39539515 0.60581438 0.69039961 20.1193414 ] [-0.20216577 -0.67581831 0.70880083 28.16990601] [ 0. 0. 0. 1. ]] SLAMing on 278.839072329 meters Centerline goodness : 0.783608 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:20.03, Z:28.15 [[ 0.89830365 -0.42308639 -0.11852619 10.45357705] [ 0.39806973 0.66949359 0.62715136 20.02962261] [-0.18598668 -0.61055404 0.76982642 28.14689012] [ 0. 0. 0. 1. ]] SLAMing on 278.899072329 meters Centerline goodness : 0.786821 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:19.95, Z:28.12 [[ 0.90005476 -0.42649629 -0.08945582 10.27741932] [ 0.40009636 0.72741015 0.55749204 19.95411485] [-0.17269722 -0.53756431 0.82534858 28.11964692] [ 0. 0. 0. 1. ]] SLAMing on 278.959072329 meters Centerline goodness : 0.785173 with order 1 Centerline is valid? [False, False] Translation: X:10.17, Y:19.91, Z:28.10 [[ 0.90147933 -0.42665612 -0.07279823 10.16804643] [ 0.4015162 0.76155788 0.50873799 19.90950235] [-0.16161611 -0.48784645 0.85783802 28.09983424] [ 0. 0. 0. 1. ]] SLAMing on 279.019072329 meters Centerline goodness : 0.781441 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:19.85, Z:28.08 [[ 0.90447664 -0.42331822 -0.05218891 10.01679529] [ 0.40143331 0.80352792 0.43953859 19.85278525] [-0.14412944 -0.41850275 0.89670628 28.07702315] [ 0. 0. 0. 1. ]] SLAMing on 279.079072329 meters Centerline goodness : 0.780192 with order 1 Centerline is valid? [False, False] Translation: X:9.87, Y:19.80, Z:28.05 [[ 0.90602589 -0.42195482 -0.03272953 9.87112353] [ 0.40232499 0.83470963 0.37602453 19.80411061] [-0.13134571 -0.35385586 0.9260315 28.05495153] [ 0. 0. 0. 1. ]] SLAMing on 279.139072329 meters Centerline goodness : 0.777383 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:19.78, Z:28.04 [[ 9.07670515e-01 -4.19091010e-01 -2.22926542e-02 9.80693169e+00] [ 4.01420567e-01 8.51447775e-01 3.37488096e-01 1.97803432e+01] [-1.22457196e-01 -3.15276724e-01 9.41065791e-01 2.80396102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199072329 meters Centerline goodness : 0.777121 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:19.75, Z:28.02 [[ 9.09266232e-01 -4.16050119e-01 -1.17140386e-02 9.73323461e+00] [ 4.00253739e-01 8.66331554e-01 2.98775137e-01 1.97529500e+01] [-1.14157190e-01 -2.76354731e-01 9.54251643e-01 2.80240420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259072329 meters Centerline goodness : 0.774230 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:19.72, Z:28.01 [[ 9.10240633e-01 -4.14077834e-01 -1.24006171e-03 9.64134274e+00] [ 3.99797108e-01 8.78060597e-01 2.63005437e-01 1.97164226e+01] [-1.07815872e-01 -2.39894008e-01 9.64793554e-01 2.80107261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319072329 meters Centerline goodness : 0.774552 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:19.70, Z:28.00 [[ 9.11127629e-01 -4.12060911e-01 7.22839351e-03 9.58340151e+00] [ 3.99340038e-01 8.87062949e-01 2.31617914e-01 1.96971023e+01] [-1.01852729e-01 -2.08146894e-01 9.72779981e-01 2.79994866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379072329 meters Centerline goodness : 0.776660 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:19.67, Z:27.99 [[ 9.11658494e-01 -4.10580285e-01 1.73959660e-02 9.51891320e+00] [ 3.99494878e-01 8.95379277e-01 1.96722627e-01 1.96745736e+01] [-9.63464198e-02 -1.72394255e-01 9.80304845e-01 2.79882314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439072329 meters Centerline goodness : 0.772802 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:19.66, Z:27.98 [[ 9.11222271e-01 -4.11103707e-01 2.58401693e-02 9.47704554e+00] [ 4.01214951e-01 9.00009311e-01 1.70322643e-01 1.96589724e+01] [-9.32766630e-02 -1.44834323e-01 9.85049482e-01 2.79773450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49907232899994 meters Centerline goodness : 0.772484 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:19.63, Z:27.97 [[ 0.90898847 -0.41507836 0.03807771 9.40307664] [ 0.40628621 0.90271807 0.14153304 19.63186277] [-0.09312074 -0.11318146 0.98920093 27.9652497 ] [ 0. 0. 0. 1. ]] SLAMing on 279.55907232899995 meters Centerline goodness : 0.773255 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.62, Z:27.96 [[ 0.90798594 -0.41628918 0.0475904 9.36739527] [ 0.40876743 0.90502685 0.11762477 19.62025538] [-0.09203651 -0.08734823 0.99191712 27.95583507] [ 0. 0. 0. 1. ]] SLAMing on 279.61907232899995 meters Centerline goodness : 0.770288 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:19.63, Z:27.93 [[ 0.90663837 -0.41720764 0.06280639 9.36432453] [ 0.41081365 0.90687433 0.09386747 19.63107059] [-0.09611973 -0.05930213 0.99360166 27.93389186] [ 0. 0. 0. 1. ]] SLAMing on 279.67907232899995 meters Centerline goodness : 0.771515 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.64, Z:27.92 [[ 0.90545312 -0.41757085 0.07608708 9.36790573] [ 0.41231722 0.90787886 0.07583194 19.64471342] [-0.10074305 -0.03729025 0.99421339 27.91601593] [ 0. 0. 0. 1. ]] SLAMing on 279.73907232899995 meters Centerline goodness : 0.770712 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.68, Z:27.88 [[ 9.06265223e-01 -4.09671167e-01 1.04177164e-01 9.37455106e+00] [ 4.09227410e-01 9.12044935e-01 2.65887705e-02 1.96753198e+01] [-1.05906907e-01 1.85356728e-02 9.94203277e-01 2.78822013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79907232899996 meters Centerline goodness : 0.769399 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:19.70, Z:27.86 [[ 9.07057201e-01 -4.02280147e-01 1.24168906e-01 9.38215865e+00] [ 4.05895527e-01 9.13909788e-01 -4.20955968e-03 1.97016861e+01] [-1.11785756e-01 5.42179147e-02 9.92252167e-01 2.78555032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85907232899996 meters Centerline goodness : 0.771193 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:19.73, Z:27.83 [[ 0.9073883 -0.39414411 0.14593455 9.38629039] [ 0.40300523 0.91449297 -0.03590799 19.72539118] [-0.1193032 0.09139487 0.98864236 27.83056716] [ 0. 0. 0. 1. ]] SLAMing on 279.91907232899996 meters Centerline goodness : 0.771461 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:19.77, Z:27.79 [[ 0.91041164 -0.37271559 0.17953757 9.38914493] [ 0.39352033 0.914093 -0.09785568 19.77121398] [-0.1276417 0.15974064 0.97887207 27.79432554] [ 0. 0. 0. 1. ]] SLAMing on 279.97907232899996 meters Centerline goodness : 0.769965 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:19.80, Z:27.77 [[ 0.91267265 -0.35451117 0.20334815 9.38209383] [ 0.38700168 0.9096013 -0.15117927 19.80314633] [-0.13137101 0.21667326 0.96736465 27.77006084] [ 0. 0. 0. 1. ]] SLAMing on 280.03907232899996 meters Centerline goodness : 0.766575 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.81, Z:27.76 [[ 0.91341091 -0.34479626 0.21632392 9.36679834] [ 0.38335939 0.90734896 -0.17249187 19.81364785] [-0.13680673 0.24048577 0.96096333 27.76124265] [ 0. 0. 0. 1. ]] SLAMing on 280.09907232899997 meters Centerline goodness : 0.767580 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.82, Z:27.77 [[ 0.91695921 -0.3446103 0.20107099 9.3697629 ] [ 0.38009813 0.90772185 -0.1776695 19.81989134] [-0.12128979 0.23934239 0.96332965 27.77306675] [ 0. 0. 0. 1. ]] SLAMing on 280.15907232899997 meters Centerline goodness : 0.765642 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.82, Z:27.78 [[ 0.91900039 -0.33997103 0.19964465 9.37054483] [ 0.37508766 0.90990892 -0.17712991 19.82029495] [-0.12143941 0.2376667 0.96372559 27.77707423] [ 0. 0. 0. 1. ]] SLAMing on 280.21907232899997 meters Centerline goodness : 0.767780 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.82, Z:27.78 [[ 0.91942508 -0.33892553 0.19946679 9.37009924] [ 0.3738505 0.91066122 -0.17587482 19.81850268] [-0.1220382 0.23627447 0.96399225 27.77798658] [ 0. 0. 0. 1. ]] SLAMing on 280.279072329 meters Centerline goodness : 0.765544 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.82, Z:27.78 [[ 0.91911463 -0.33977485 0.19945262 9.36959672] [ 0.37457212 0.91054148 -0.17495697 19.81546923] [-0.1221639 0.2355149 0.96416218 27.77876681] [ 0. 0. 0. 1. ]] SLAMing on 280.339072329 meters Centerline goodness : 0.766689 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.81, Z:27.78 [[ 0.91870837 -0.34101607 0.19920585 9.36968587] [ 0.37551083 0.91050415 -0.17312947 19.81006596] [-0.12233782 0.23385944 0.96454301 27.77915268] [ 0. 0. 0. 1. ]] SLAMing on 280.399072329 meters Centerline goodness : 0.763544 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:19.81, Z:27.78 [[ 0.91774466 -0.34362189 0.1991701 9.37105279] [ 0.37803693 0.90953012 -0.17275138 19.8064293 ] [-0.12179005 0.23383531 0.96461818 27.77665171] [ 0. 0. 0. 1. ]] SLAMing on 280.459072329 meters Centerline goodness : 0.762552 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:19.78, Z:27.79 [[ 0.91600085 -0.3490955 0.19767338 9.3207017 ] [ 0.38205937 0.90939354 -0.16442028 19.77756661] [-0.12236451 0.22613208 0.96638047 27.78863169] [ 0. 0. 0. 1. ]] SLAMing on 280.519072329 meters Centerline goodness : 0.760678 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:19.76, Z:27.79 [[ 0.91841198 -0.34221301 0.19851873 9.27208982] [ 0.37880512 0.9054017 -0.19171449 19.76298857] [-0.11413201 0.2512728 0.96116381 27.79493106] [ 0. 0. 0. 1. ]] SLAMing on 280.579072329 meters Centerline goodness : 0.761229 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:19.76, Z:27.80 [[ 0.91739531 -0.34409865 0.19995493 9.2692181 ] [ 0.38106858 0.9043916 -0.19199629 19.7598696 ] [-0.11477189 0.25233304 0.96080979 27.79745653] [ 0. 0. 0. 1. ]] SLAMing on 280.639072329 meters Centerline goodness : 0.759466 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:19.76, Z:27.80 [[ 0.91644135 -0.34655172 0.20009287 9.26654483] [ 0.38306133 0.90435988 -0.18814152 19.75737764] [-0.1157552 0.2490685 0.96154335 27.79680538] [ 0. 0. 0. 1. ]] SLAMing on 280.699072329 meters Centerline goodness : 0.758342 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:19.77, Z:27.79 [[ 0.92305017 -0.32346786 0.20819926 9.16855847] [ 0.37364909 0.88259336 -0.28533369 19.77164602] [-0.091459 0.34117078 0.93554142 27.79258321] [ 0. 0. 0. 1. ]] SLAMing on 280.759072329 meters Centerline goodness : 0.758673 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:19.81, Z:27.78 [[ 0.92599288 -0.30160639 0.22709198 9.14386437] [ 0.36720163 0.85929487 -0.35605518 19.8098641 ] [-0.08775046 0.41309311 0.90645129 27.77684467] [ 0. 0. 0. 1. ]] SLAMing on 280.819072329 meters Centerline goodness : 0.759611 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:19.91, Z:27.76 [[ 0.93416485 -0.24352628 0.26082748 9.0885812 ] [ 0.3477245 0.78540161 -0.5120859 19.91117039] [-0.08014795 0.56906876 0.81837464 27.75771237] [ 0. 0. 0. 1. ]] SLAMing on 280.879072329 meters Centerline goodness : 0.757774 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:19.91, Z:27.76 [[ 0.93307815 -0.24425504 0.26401637 9.08327517] [ 0.35025178 0.78396869 -0.51255906 19.90609201] [-0.08178543 0.57072986 0.81705481 27.76180829] [ 0. 0. 0. 1. ]] SLAMing on 280.939072329 meters Centerline goodness : 0.757486 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:19.90, Z:27.77 [[ 0.93327057 -0.24265771 0.26480802 9.08200026] [ 0.34952787 0.78330279 -0.51406906 19.90436673] [-0.08268204 0.57232331 0.81584908 27.76549514] [ 0. 0. 0. 1. ]] SLAMing on 280.99907232899994 meters Centerline goodness : 0.756709 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.93, Z:27.76 [[ 0.93098882 -0.23293695 0.28106975 9.10238026] [ 0.35329081 0.76876335 -0.53309334 19.93439728] [-0.09189898 0.5956033 0.79800456 27.75836207] [ 0. 0. 0. 1. ]] SLAMing on 281.05907232899995 meters Centerline goodness : 0.757216 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:19.93, Z:27.77 [[ 0.93135216 -0.23389076 0.27906678 9.11326505] [ 0.35206655 0.77400812 -0.52627044 19.92544079] [-0.09291016 0.58839319 0.80321925 27.76553797] [ 0. 0. 0. 1. ]] SLAMing on 281.11907232899995 meters Centerline goodness : 0.757023 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.90, Z:27.78 [[ 0.93310279 -0.23615239 0.27120332 9.09844074] [ 0.34830607 0.78109903 -0.51823468 19.89796589] [-0.0894543 0.57802798 0.81109899 27.776268 ] [ 0. 0. 0. 1. ]] SLAMing on 281.17907232899995 meters Centerline goodness : 0.757113 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.93, Z:27.77 [[ 0.92989742 -0.2241599 0.29162153 9.10079377] [ 0.35452154 0.75747424 -0.5482219 19.93119927] [-0.09800643 0.61317625 0.78384286 27.766891 ] [ 0. 0. 0. 1. ]] SLAMing on 281.23907232899995 meters Centerline goodness : 0.754146 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:19.98, Z:27.76 [[ 0.92987554 -0.20288063 0.30687283 9.11744344] [ 0.353074 0.72642166 -0.5896188 19.9769538 ] [-0.10329684 0.65662091 0.74711361 27.76007369] [ 0. 0. 0. 1. ]] SLAMing on 281.29907232899996 meters Centerline goodness : 0.754140 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:20.02, Z:27.76 [[ 0.93221601 -0.1742814 0.31717393 9.12352248] [ 0.34645625 0.68307613 -0.6429425 20.02359582] [-0.10460103 0.70924819 0.69715539 27.7610952 ] [ 0. 0. 0. 1. ]] SLAMing on 281.35907232899996 meters Centerline goodness : 0.756078 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:19.99, Z:27.77 [[ 0.93133325 -0.18312027 0.31477824 9.09398296] [ 0.34868526 0.69776546 -0.62573313 19.98616604] [-0.10505697 0.6925246 0.71370352 27.77201841] [ 0. 0. 0. 1. ]] SLAMing on 281.41907232899996 meters Centerline goodness : 0.755942 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:19.97, Z:27.79 [[ 0.93307339 -0.18766424 0.30684878 9.09198566] [ 0.34512765 0.70737577 -0.61685202 19.96769864] [-0.10129632 0.68147021 0.72480163 27.79463925] [ 0. 0. 0. 1. ]] SLAMing on 281.47907232899996 meters Centerline goodness : 0.757896 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:19.95, Z:27.81 [[ 0.9353016 -0.18992176 0.29856429 9.09497761] [ 0.34037089 0.71355205 -0.6123652 19.9522425 ] [-0.09673968 0.67436874 0.73203021 27.81360349] [ 0. 0. 0. 1. ]] SLAMing on 281.53907232899996 meters Centerline goodness : 0.756806 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.93, Z:27.84 [[ 0.93678076 -0.19211853 0.29245902 9.09686955] [ 0.33694242 0.72074276 -0.60580499 19.92985278] [-0.09440136 0.6660483 0.73991083 27.83723069] [ 0. 0. 0. 1. ]] SLAMing on 281.59907232899997 meters Centerline goodness : 0.758423 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.91, Z:27.85 [[ 0.93757204 -0.19531116 0.28777112 9.09684731] [ 0.33538805 0.72674014 -0.59946945 19.91206123] [-0.09205175 0.65856079 0.74687627 27.85400508] [ 0. 0. 0. 1. ]] SLAMing on 281.65907232899997 meters Centerline goodness : 0.755760 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.90, Z:27.87 [[ 0.9374783 -0.1991481 0.28543733 9.09685363] [ 0.33595734 0.73203971 -0.59266393 19.89549017] [-0.09092356 0.65150434 0.75317661 27.86659073] [ 0. 0. 0. 1. ]] SLAMing on 281.71907232899997 meters Centerline goodness : 0.756724 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.88, Z:27.88 [[ 0.93732265 -0.20274508 0.28340905 9.09789878] [ 0.33680455 0.7357295 -0.58759237 19.87952311] [-0.08938094 0.64621709 0.75790139 27.8770356 ] [ 0. 0. 0. 1. ]] SLAMing on 281.779072329 meters Centerline goodness : 0.755871 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:19.87, Z:27.88 [[ 0.93668863 -0.20617197 0.28303274 9.09525375] [ 0.3384553 0.7403365 -0.58081828 19.86518044] [-0.08979102 0.63983981 0.76324478 27.88453986] [ 0. 0. 0. 1. ]] SLAMing on 281.839072329 meters Centerline goodness : 0.755161 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:19.81, Z:27.90 [[ 0.93598534 -0.2162344 0.27780231 9.03395827] [ 0.34083049 0.75414905 -0.56133215 19.81461451] [-0.08812503 0.62008216 0.77957174 27.89666622] [ 0. 0. 0. 1. ]] SLAMing on 281.899072329 meters Centerline goodness : 0.757517 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:19.80, Z:27.91 [[ 0.93530746 -0.22092632 0.27639016 9.03065635] [ 0.34293935 0.75835715 -0.55433476 19.80042212] [-0.08713532 0.6132585 0.78506143 27.90863839] [ 0. 0. 0. 1. ]] SLAMing on 281.959072329 meters Centerline goodness : 0.754986 with order 1 Centerline is valid? [False, False] Translation: X:8.98, Y:19.75, Z:27.92 [[ 0.93407331 -0.23321117 0.27040637 8.97536633] [ 0.34707292 0.77098044 -0.53397523 19.75238355] [-0.08394903 0.59262274 0.80109354 27.92214493] [ 0. 0. 0. 1. ]] SLAMing on 282.019072329 meters Centerline goodness : 0.756355 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:19.71, Z:27.94 [[ 0.93299386 -0.2453053 0.26333963 8.92144207] [ 0.35112543 0.78096593 -0.51652991 19.71095306] [-0.07895176 0.57438447 0.81476935 27.93508984] [ 0. 0. 0. 1. ]] SLAMing on 282.079072329 meters Centerline goodness : 0.755908 with order 1 Centerline is valid? [False, False] Translation: X:8.89, Y:19.76, Z:27.93 [[ 0.93379939 -0.219318 0.28269826 8.88955937] [ 0.34898201 0.73258905 -0.58440126 19.76303683] [-0.07893194 0.64437015 0.76062925 27.93030523] [ 0. 0. 0. 1. ]] SLAMing on 282.139072329 meters Centerline goodness : 0.754349 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:19.82, Z:27.93 [[ 0.92684374 -0.19609961 0.320165 8.83893061] [ 0.36539985 0.66710433 -0.64919547 19.81824788] [-0.08627648 0.718691 0.68995624 27.93105632] [ 0. 0. 0. 1. ]] SLAMing on 282.199072329 meters Centerline goodness : 0.751173 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:19.85, Z:27.94 [[ 0.92202814 -0.18887081 0.33792295 8.84721349] [ 0.3771627 0.63500311 -0.67418051 19.84563219] [-0.08724911 0.74906533 0.65672576 27.93519237] [ 0. 0. 0. 1. ]] SLAMing on 282.259072329 meters Centerline goodness : 0.753005 with order 1 Centerline is valid? [False, False] Translation: X:8.88, Y:19.86, Z:27.93 [[ 0.9173677 -0.1932862 0.34796113 8.88222991] [ 0.38728782 0.63525484 -0.6681762 19.85695333] [-0.09189476 0.74772437 0.65761966 27.93382564] [ 0. 0. 0. 1. ]] SLAMing on 282.319072329 meters Centerline goodness : 0.754304 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:19.95, Z:27.94 [[ 0.91280556 -0.14692729 0.38104905 8.89727452] [ 0.39480141 0.55618846 -0.7312908 19.94872317] [-0.1044885 0.81796502 0.56569902 27.94150235] [ 0. 0. 0. 1. ]] SLAMing on 282.379072329 meters Centerline goodness : 0.753169 with order 1 Centerline is valid? [False, False] Translation: X:8.93, Y:19.93, Z:27.94 [[ 0.91197941 -0.15709192 0.37896661 8.93314049] [ 0.39628836 0.57618341 -0.71482041 19.93477809] [-0.10606176 0.80208155 0.5877211 27.94252793] [ 0. 0. 0. 1. ]] SLAMing on 282.439072329 meters Centerline goodness : 0.755613 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:20.02, Z:27.95 [[ 0.90187507 -0.12227463 0.41433112 8.95005288] [ 0.41443687 0.51556854 -0.74995411 20.01557861] [-0.12191573 0.848079 0.51565353 27.94685157] [ 0. 0. 0. 1. ]] SLAMing on 282.49907232899994 meters Centerline goodness : 0.753864 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:20.10, Z:27.96 [[ 0.89220587 -0.07593695 0.44519912 8.97355189] [ 0.42954334 0.44717133 -0.7845574 20.09670473] [-0.13950339 0.89121904 0.4315871 27.95806989] [ 0. 0. 0. 1. ]] SLAMing on 282.55907232899995 meters Centerline goodness : 0.756644 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:20.07, Z:27.98 [[ 0.90321579 -0.08525086 0.42063468 8.97227947] [ 0.41245495 0.44340083 -0.79578679 20.07435543] [-0.11866826 0.89226005 0.43564877 27.98280178] [ 0. 0. 0. 1. ]] SLAMing on 282.61907232899995 meters Centerline goodness : 0.757181 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:20.06, Z:27.98 [[ 0.90314312 -0.0908298 0.41962179 8.99668919] [ 0.41233946 0.45580586 -0.78880745 20.06409806] [-0.11961884 0.88543265 0.44911064 27.98471194] [ 0. 0. 0. 1. ]] SLAMing on 282.67907232899995 meters Centerline goodness : 0.757699 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:20.04, Z:28.01 [[ 0.9116806 -0.09884926 0.39883242 8.9949592 ] [ 0.39740647 0.4588156 -0.79470519 20.04043285] [-0.10443452 0.8830159 0.45757662 28.01299732] [ 0. 0. 0. 1. ]] SLAMing on 282.73907232899995 meters Centerline goodness : 0.756719 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:20.02, Z:28.04 [[ 0.92031462 -0.10792387 0.3759966 8.99217991] [ 0.38178355 0.45720786 -0.80324485 20.01946534] [-0.08521931 0.8827873 0.46197863 28.03748365] [ 0. 0. 0. 1. ]] SLAMing on 282.79907232899996 meters Centerline goodness : 0.759001 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:19.99, Z:28.07 [[ 0.92866807 -0.12016912 0.35090596 8.99214715] [ 0.36547256 0.45788631 -0.81041343 19.99214384] [-0.06328837 0.88085158 0.46914292 28.06719328] [ 0. 0. 0. 1. ]] SLAMing on 282.85907232899996 meters Centerline goodness : 0.760041 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:19.96, Z:28.10 [[ 0.9347279 -0.1313625 0.33019335 8.99510025] [ 0.35236853 0.46300938 -0.81330113 19.96208457] [-0.04604535 0.876565 0.4790758 28.09510784] [ 0. 0. 0. 1. ]] SLAMing on 282.91907232899996 meters Centerline goodness : 0.763549 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:19.94, Z:28.12 [[ 0.93935906 -0.14138066 0.3124357 8.99362212] [ 0.34158708 0.46644797 -0.81593171 19.9404077 ] [-0.03037804 0.87317684 0.48645593 28.1174072 ] [ 0. 0. 0. 1. ]] SLAMing on 282.97907232899996 meters Centerline goodness : 0.765089 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:19.92, Z:28.13 [[ 9.46351539e-01 -1.29187698e-01 2.96191328e-01 8.99941348e+00] [ 3.21931696e-01 4.56085892e-01 -8.29665982e-01 1.99188424e+01] [-2.79060481e-02 8.80509056e-01 4.73207201e-01 2.81293002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03907232899996 meters Centerline goodness : 0.763304 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:19.89, Z:28.15 [[ 9.48498611e-01 -1.34611957e-01 2.86757749e-01 8.99749569e+00] [ 3.16016339e-01 4.64948728e-01 -8.27016538e-01 1.98944666e+01] [-2.20013363e-02 8.75044171e-01 4.83542801e-01 2.81479961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09907232899997 meters Centerline goodness : 0.764248 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:19.86, Z:28.17 [[ 9.52068524e-01 -1.42701328e-01 2.70558415e-01 8.99846075e+00] [ 3.05709122e-01 4.73878995e-01 -8.25821185e-01 1.98648383e+01] [-1.03661698e-02 8.68950533e-01 4.94790374e-01 2.81693146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15907232899997 meters Centerline goodness : 0.760478 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:19.82, Z:28.17 [[ 9.52644216e-01 -1.52511242e-01 2.63076639e-01 8.99136746e+00] [ 3.03790113e-01 5.15550297e-01 -8.01198764e-01 1.98154248e+01] [-1.34374205e-02 8.43177450e-01 5.37467416e-01 2.81691141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21907232899997 meters Centerline goodness : 0.758365 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:19.80, Z:28.17 [[ 9.56882418e-01 -1.43605325e-01 2.52494649e-01 9.01972626e+00] [ 2.90093451e-01 5.17011126e-01 -8.05323094e-01 1.98027409e+01] [-1.48938588e-02 8.43846554e-01 5.36377821e-01 2.81746653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279072329 meters Centerline goodness : 0.759599 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:19.77, Z:28.20 [[ 9.59468825e-01 -1.45611213e-01 2.41281886e-01 9.02278239e+00] [ 2.81583833e-01 5.29997915e-01 -7.99882963e-01 1.97695841e+01] [-1.14069681e-02 8.35403845e-01 5.49518240e-01 2.81990796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339072329 meters Centerline goodness : 0.760055 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:19.75, Z:28.21 [[ 9.60151385e-01 -1.47121563e-01 2.37622734e-01 9.01910139e+00] [ 2.79222686e-01 5.41475452e-01 -7.92993711e-01 1.97480026e+01] [-1.20004034e-02 8.27743668e-01 5.60978083e-01 2.82139722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399072329 meters Centerline goodness : 0.758758 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:19.71, Z:28.23 [[ 9.60861788e-01 -1.51595261e-01 2.31869580e-01 9.01471561e+00] [ 2.76842593e-01 5.56083896e-01 -7.83663754e-01 1.97136655e+01] [-1.01392283e-02 8.17183931e-01 5.76287792e-01 2.82329226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459072329 meters Centerline goodness : 0.761828 with order 1 Centerline is valid? [False, False] Translation: X:8.93, Y:19.66, Z:28.24 [[ 9.61488339e-01 -1.57109868e-01 2.25514219e-01 8.92952389e+00] [ 2.74696584e-01 5.76343684e-01 -7.69655601e-01 1.96570283e+01] [-9.05320614e-03 8.01962871e-01 5.97305276e-01 2.82353240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519072329 meters Centerline goodness : 0.760878 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:19.63, Z:28.25 [[ 9.59921082e-01 -1.59358997e-01 2.30556341e-01 8.91790154e+00] [ 2.79804477e-01 5.92309508e-01 -7.55565286e-01 1.96318125e+01] [-1.61545868e-02 7.89793743e-01 6.13159745e-01 2.82471632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579072329 meters Centerline goodness : 0.760566 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:19.61, Z:28.26 [[ 9.59015248e-01 -1.61474009e-01 2.32843077e-01 8.91038786e+00] [ 2.82651970e-01 6.02982779e-01 -7.46002435e-01 1.96095636e+01] [-1.99403617e-02 7.81241264e-01 6.23910626e-01 2.82579764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639072329 meters Centerline goodness : 0.762269 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:19.58, Z:28.27 [[ 9.58645539e-01 -1.61558246e-01 2.34302505e-01 8.90831809e+00] [ 2.83525448e-01 6.13690643e-01 -7.36883380e-01 1.95841012e+01] [-2.47396687e-02 7.72840688e-01 6.34117671e-01 2.82737158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699072329 meters Centerline goodness : 0.764048 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:19.56, Z:28.29 [[ 0.95838149 -0.15686394 0.23853432 8.89976158] [ 0.28310821 0.6299084 -0.72323243 19.56120212] [-0.03680568 0.7606636 0.64810202 28.28885825] [ 0. 0. 0. 1. ]] SLAMing on 283.759072329 meters Centerline goodness : 0.764868 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:19.54, Z:28.31 [[ 0.96043988 -0.15542032 0.2310839 8.90087701] [ 0.27595958 0.64269252 -0.71469758 19.53883204] [-0.03743737 0.75019387 0.66015725 28.31130988] [ 0. 0. 0. 1. ]] SLAMing on 283.819072329 meters Centerline goodness : 0.765554 with order 1 Centerline is valid? [False, False] Translation: X:8.89, Y:19.51, Z:28.34 [[ 0.96168347 -0.14394766 0.23333232 8.89375286] [ 0.26870748 0.66380627 -0.69796671 19.51315305] [-0.05441678 0.73392119 0.67705133 28.33514015] [ 0. 0. 0. 1. ]] SLAMing on 283.879072329 meters Centerline goodness : 0.767358 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:19.47, Z:28.35 [[ 0.96424572 -0.13472156 0.22821105 8.82043892] [ 0.25613628 0.69474847 -0.67210027 19.46996858] [-0.06800288 0.70652294 0.70441532 28.3499186 ] [ 0. 0. 0. 1. ]] SLAMing on 283.939072329 meters Centerline goodness : 0.767471 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:19.43, Z:28.36 [[ 0.9654801 -0.13049008 0.22543404 8.75369494] [ 0.24846198 0.7211831 -0.64665415 19.42873359] [-0.07819727 0.6803435 0.72870976 28.36351035] [ 0. 0. 0. 1. ]] SLAMing on 283.99907232899994 meters Centerline goodness : 0.768699 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:19.39, Z:28.38 [[ 0.96804713 -0.11626701 0.22218626 8.70364515] [ 0.23186684 0.75246362 -0.61647081 19.39442372] [-0.09551186 0.64829043 0.75537872 28.37890726] [ 0. 0. 0. 1. ]] SLAMing on 284.05907232899995 meters Centerline goodness : 0.772597 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:19.36, Z:28.39 [[ 0.97017325 -0.10388861 0.21902286 8.65282126] [ 0.21602919 0.78043466 -0.58673088 19.36037423] [-0.10997838 0.61654594 0.77959981 28.39371301] [ 0. 0. 0. 1. ]] SLAMing on 284.11907232899995 meters Centerline goodness : 0.771802 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:19.32, Z:28.40 [[ 0.9710463 -0.09991904 0.21699139 8.60311562] [ 0.20754508 0.80265263 -0.55917242 19.32400819] [-0.11829674 0.58801781 0.80015057 28.40467737] [ 0. 0. 0. 1. ]] SLAMing on 284.17907232899995 meters Centerline goodness : 0.773025 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:19.29, Z:28.42 [[ 0.97185483 -0.09781739 0.21431274 8.56053618] [ 0.20025937 0.82215602 -0.53287491 19.28707153] [-0.12407408 0.56079518 0.81860515 28.41602069] [ 0. 0. 0. 1. ]] SLAMing on 284.23907232899995 meters Centerline goodness : 0.771146 with order 1 Centerline is valid? [False, False] Translation: X:8.51, Y:19.25, Z:28.43 [[ 0.97104287 -0.11105349 0.21152511 8.51332221] [ 0.20606619 0.83733104 -0.50637285 19.2469505 ] [-0.12088207 0.53529792 0.8359687 28.42613997] [ 0. 0. 0. 1. ]] SLAMing on 284.29907232899996 meters Centerline goodness : 0.772410 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:19.21, Z:28.43 [[ 0.96993713 -0.12628983 0.20802126 8.48443005] [ 0.21307232 0.85367783 -0.47522031 19.21313646] [-0.11756765 0.5052574 0.85492269 28.43388954] [ 0. 0. 0. 1. ]] SLAMing on 284.35907232899996 meters Centerline goodness : 0.769546 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:19.18, Z:28.44 [[ 0.96786243 -0.14205147 0.20751795 8.46088023] [ 0.22315879 0.86557946 -0.4482994 19.17731763] [-0.11594169 0.48020161 0.86946187 28.44063491] [ 0. 0. 0. 1. ]] SLAMing on 284.41907232899996 meters Centerline goodness : 0.769654 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:19.15, Z:28.45 [[ 0.96570496 -0.15863041 0.20554885 8.44479454] [ 0.23407181 0.87448629 -0.42483422 19.14626556] [-0.11235803 0.4583777 0.88162665 28.44770375] [ 0. 0. 0. 1. ]] SLAMing on 284.47907232899996 meters Centerline goodness : 0.765839 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:19.11, Z:28.46 [[ 0.96275228 -0.1802157 0.20156971 8.41400763] [ 0.24895523 0.88169823 -0.40078614 19.10753864] [-0.1054957 0.4360396 0.89372262 28.45619809] [ 0. 0. 0. 1. ]] SLAMing on 284.53907232899996 meters Centerline goodness : 0.762959 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:19.07, Z:28.46 [[ 0.95658254 -0.21208852 0.19992074 8.39972103] [ 0.27504903 0.88380914 -0.37845664 19.07400752] [-0.09642547 0.41701302 0.90377114 28.46311552] [ 0. 0. 0. 1. ]] SLAMing on 284.59907232899997 meters Centerline goodness : 0.762925 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:19.06, Z:28.47 [[ 0.95256994 -0.22617978 0.20360065 8.39091705] [ 0.28873753 0.88306833 -0.36989319 19.05777724] [-0.09613093 0.41113628 0.90649093 28.46636399] [ 0. 0. 0. 1. ]] SLAMing on 284.65907232899997 meters Centerline goodness : 0.759574 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:19.04, Z:28.47 [[ 0.9471735 -0.24468685 0.20734202 8.3828883 ] [ 0.3066526 0.88030067 -0.36198745 19.04164848] [-0.09394975 0.40644689 0.90883132 28.46712456] [ 0. 0. 0. 1. ]] SLAMing on 284.71907232899997 meters Centerline goodness : 0.760656 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:19.02, Z:28.47 [[ 0.94285102 -0.25869948 0.21001557 8.37510078] [ 0.31994168 0.87896252 -0.35364136 19.02464229] [-0.09310898 0.40062385 0.91149945 28.47439553] [ 0. 0. 0. 1. ]] SLAMing on 284.779072329 meters Centerline goodness : 0.760094 with order 1 Centerline is valid? [False, False] Translation: X:8.37, Y:19.01, Z:28.48 [[ 0.94025158 -0.26649425 0.21191458 8.36937245] [ 0.32745425 0.87829088 -0.34839466 19.01461179] [-0.09327747 0.39697096 0.91307906 28.47866063] [ 0. 0. 0. 1. ]] SLAMing on 284.839072329 meters Centerline goodness : 0.759793 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:19.00, Z:28.48 [[ 0.93718667 -0.27584419 0.21352081 8.36396408] [ 0.33615335 0.87767821 -0.34158729 19.00285608] [-0.09317769 0.39190679 0.91527427 28.48217938] [ 0. 0. 0. 1. ]] SLAMing on 284.899072329 meters Centerline goodness : 0.759777 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:18.99, Z:28.48 [[ 0.93472914 -0.28278203 0.21521097 8.36156516] [ 0.34331332 0.87495829 -0.34144393 18.99316723] [-0.09174642 0.39304238 0.91493185 28.48368549] [ 0. 0. 0. 1. ]] SLAMing on 284.959072329 meters Centerline goodness : 0.757640 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:18.98, Z:28.49 [[ 0.93303474 -0.28797755 0.21567361 8.3583701 ] [ 0.34805441 0.87429154 -0.33833773 18.98493454] [-0.09112794 0.39074701 0.91597624 28.48807521] [ 0. 0. 0. 1. ]] SLAMing on 285.019072329 meters Centerline goodness : 0.756945 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:18.98, Z:28.49 [[ 0.93211864 -0.29042361 0.21635379 8.35590614] [ 0.35045401 0.87397151 -0.3366835 18.98178422] [-0.09130621 0.38965102 0.91642526 28.48793237] [ 0. 0. 0. 1. ]] SLAMing on 285.079072329 meters Centerline goodness : 0.755968 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:18.97, Z:28.49 [[ 0.93013851 -0.29607083 0.21721975 8.35370983] [ 0.35586837 0.87266077 -0.33439631 18.97425639] [-0.09055416 0.38833652 0.91705763 28.4873376 ] [ 0. 0. 0. 1. ]] SLAMing on 285.139072329 meters Centerline goodness : 0.755150 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:18.97, Z:28.49 [[ 0.92870135 -0.300486 0.21730617 8.3504117 ] [ 0.35946792 0.87341959 -0.32851337 18.96613343] [-0.0910858 0.38320541 0.91916103 28.48939601] [ 0. 0. 0. 1. ]] SLAMing on 285.199072329 meters Centerline goodness : 0.754937 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:18.96, Z:28.49 [[ 0.92844338 -0.30121107 0.21740466 8.34894797] [ 0.35998775 0.87396344 -0.32649154 18.96295328] [-0.09166086 0.38139192 0.91985786 28.48960995] [ 0. 0. 0. 1. ]] SLAMing on 285.259072329 meters Centerline goodness : 0.754560 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:18.96, Z:28.49 [[ 0.92862435 -0.3010107 0.21690867 8.34693283] [ 0.35919764 0.87580036 -0.32241399 18.95968803] [-0.09291863 0.37731456 0.92141188 28.49061127] [ 0. 0. 0. 1. ]] SLAMing on 285.319072329 meters Centerline goodness : 0.755819 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:18.96, Z:28.49 [[ 0.92858294 -0.30110573 0.21695406 8.3440986 ] [ 0.35900013 0.87698121 -0.31941017 18.9576778 ] [-0.0940884 0.37448537 0.92244679 28.49237458] [ 0. 0. 0. 1. ]] SLAMing on 285.379072329 meters Centerline goodness : 0.754301 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:18.95, Z:28.50 [[ 0.92829676 -0.3025206 0.21620918 8.34094113] [ 0.3597908 0.87758907 -0.31684065 18.9527728 ] [-0.09389199 0.37191222 0.92350722 28.50237428] [ 0. 0. 0. 1. ]] SLAMing on 285.439072329 meters Centerline goodness : 0.754638 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:18.95, Z:28.50 [[ 0.9278736 -0.30310989 0.217198 8.33647308] [ 0.36048931 0.87812585 -0.31455117 18.95308143] [-0.09538361 0.37016128 0.92405768 28.5049254 ] [ 0. 0. 0. 1. ]] SLAMing on 285.49907232899994 meters Centerline goodness : 0.754789 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:18.95, Z:28.51 [[ 0.92806914 -0.3022665 0.21753765 8.33321912] [ 0.35957888 0.87932262 -0.31224151 18.95256642] [-0.09690562 0.36800366 0.92476084 28.50760544] [ 0. 0. 0. 1. ]] SLAMing on 285.55907232899995 meters Centerline goodness : 0.753446 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:18.95, Z:28.52 [[ 0.92836796 -0.30184303 0.21684951 8.32969262] [ 0.35843973 0.8813891 -0.30769175 18.94670075] [-0.09825418 0.36337864 0.92644594 28.51558495] [ 0. 0. 0. 1. ]] SLAMing on 285.61907232899995 meters Centerline goodness : 0.754643 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:18.94, Z:28.52 [[ 0.92910425 -0.29993216 0.21634694 8.3262044 ] [ 0.35584074 0.8843617 -0.30212871 18.94343514] [-0.10071082 0.35769412 0.92839229 28.51848252] [ 0. 0. 0. 1. ]] SLAMing on 285.67907232899995 meters Centerline goodness : 0.755028 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:18.94, Z:28.52 [[ 0.92931342 -0.29899529 0.21674499 8.32474023] [ 0.35503909 0.88485808 -0.301618 18.94087108] [-0.10160619 0.35725059 0.92846551 28.52074135] [ 0. 0. 0. 1. ]] SLAMing on 285.73907232899995 meters Centerline goodness : 0.756043 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:18.94, Z:28.52 [[ 0.92930737 -0.29861392 0.21729597 8.32321762] [ 0.35477622 0.88527713 -0.30069627 18.93830896] [-0.10257506 0.3565307 0.92863568 28.52186344] [ 0. 0. 0. 1. ]] SLAMing on 285.79907232899996 meters Centerline goodness : 0.756680 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:18.93, Z:28.52 [[ 0.92904243 -0.29907513 0.21779402 8.32117537] [ 0.35527242 0.88546126 -0.29956612 18.9344768 ] [-0.10325539 0.35568584 0.92888423 28.52399908] [ 0. 0. 0. 1. ]] SLAMing on 285.85907232899996 meters Centerline goodness : 0.755195 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:18.93, Z:28.52 [[ 0.92812384 -0.30131795 0.21861754 8.32087836] [ 0.3578206 0.88409808 -0.30055781 18.92887265] [-0.10271589 0.35718073 0.92837028 28.52432394] [ 0. 0. 0. 1. ]] SLAMing on 285.91907232899996 meters Centerline goodness : 0.755068 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:18.92, Z:28.53 [[ 0.92690766 -0.30459383 0.21923682 8.31738992] [ 0.36081215 0.88397098 -0.29733801 18.92181942] [-0.10323167 0.35470819 0.92926063 28.52773058] [ 0. 0. 0. 1. ]] SLAMing on 285.97907232899996 meters Centerline goodness : 0.757897 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:18.92, Z:28.52 [[ 0.92464692 -0.31062919 0.22031248 8.31525452] [ 0.36666312 0.88246124 -0.29465287 18.91640889] [-0.10288944 0.35323033 0.92986133 28.52440855] [ 0. 0. 0. 1. ]] SLAMing on 286.03907232899996 meters Centerline goodness : 0.759311 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:18.91, Z:28.52 [[ 0.92250354 -0.3158711 0.22183926 8.31380288] [ 0.3722054 0.88018097 -0.29452438 18.91215741] [-0.10222696 0.35426955 0.92953899 28.5217823 ] [ 0. 0. 0. 1. ]] SLAMing on 286.09907232899997 meters Centerline goodness : 0.760605 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:18.90, Z:28.53 [[ 0.92073622 -0.32080844 0.2220963 8.30939324] [ 0.3763721 0.88033845 -0.28870099 18.90442359] [-0.1029022 0.34940831 0.93130284 28.52895215] [ 0. 0. 0. 1. ]] SLAMing on 286.15907232899997 meters Centerline goodness : 0.758760 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:18.90, Z:28.53 [[ 0.92006384 -0.3223685 0.22262316 8.30784063] [ 0.37803554 0.87967657 -0.28854508 18.9029942 ] [-0.10281854 0.34963936 0.93122536 28.53034227] [ 0. 0. 0. 1. ]] SLAMing on 286.21907232899997 meters Centerline goodness : 0.760328 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:18.90, Z:28.54 [[ 0.91843858 -0.32649749 0.22331585 8.30191995] [ 0.38177108 0.87942391 -0.28436671 18.89998228] [-0.10354429 0.34642889 0.93234414 28.53653096] [ 0. 0. 0. 1. ]] SLAMing on 286.279072329 meters Centerline goodness : 0.760725 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:18.89, Z:28.55 [[ 0.91704539 -0.33065104 0.22292968 8.29652331] [ 0.38483311 0.88033522 -0.27733261 18.8931532 ] [-0.10455253 0.34011731 0.93455283 28.54901488] [ 0. 0. 0. 1. ]] SLAMing on 286.339072329 meters Centerline goodness : 0.764150 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:18.89, Z:28.55 [[ 0.91569113 -0.33351986 0.22421922 8.29326402] [ 0.38794315 0.87923576 -0.27648615 18.89335463] [-0.10492794 0.34016023 0.93449513 28.54932735] [ 0. 0. 0. 1. ]] SLAMing on 286.399072329 meters Centerline goodness : 0.766329 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:18.89, Z:28.55 [[ 0.9156276 -0.33369724 0.22421476 8.28940826] [ 0.38773168 0.88038091 -0.27311827 18.89431444] [-0.10625558 0.33700979 0.93548605 28.55167963] [ 0. 0. 0. 1. ]] SLAMing on 286.459072329 meters Centerline goodness : 0.765261 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:18.89, Z:28.56 [[ 0.91636974 -0.3317478 0.22407565 8.28654408] [ 0.38562128 0.88181346 -0.27147974 18.89485114] [-0.10753012 0.33518416 0.93599618 28.55620273] [ 0. 0. 0. 1. ]] SLAMing on 286.519072329 meters Centerline goodness : 0.766415 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:18.89, Z:28.56 [[ 0.91623802 -0.33189855 0.22439084 8.28083578] [ 0.38542682 0.88307955 -0.26761292 18.8943333 ] [-0.10933462 0.33168337 0.93703366 28.56100794] [ 0. 0. 0. 1. ]] SLAMing on 286.579072329 meters Centerline goodness : 0.765513 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:18.89, Z:28.56 [[ 0.91557065 -0.33267488 0.22595975 8.27687086] [ 0.38676428 0.88235743 -0.26806484 18.89453146] [-0.11019882 0.33282545 0.93652733 28.56474419] [ 0. 0. 0. 1. ]] SLAMing on 286.639072329 meters Centerline goodness : 0.768536 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:18.89, Z:28.57 [[ 0.91481088 -0.33414752 0.22686226 8.27415653] [ 0.38841387 0.88183562 -0.26739598 18.89300328] [-0.11070552 0.3327332 0.93650035 28.56647563] [ 0. 0. 0. 1. ]] SLAMing on 286.699072329 meters Centerline goodness : 0.768600 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:18.88, Z:28.58 [[ 0.91247248 -0.34127035 0.22567346 8.26885605] [ 0.39373756 0.88237314 -0.25765942 18.88476888] [-0.11119668 0.32396325 0.93951217 28.57695028] [ 0. 0. 0. 1. ]] SLAMing on 286.759072329 meters Centerline goodness : 0.776011 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:18.86, Z:28.59 [[ 0.90841009 -0.35728331 0.21711687 8.26162274] [ 0.40358609 0.88495228 -0.23233108 18.85987818] [-0.10913005 0.29867725 0.94809416 28.59399573] [ 0. 0. 0. 1. ]] SLAMing on 286.819072329 meters Centerline goodness : 0.773182 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:18.84, Z:28.61 [[ 0.90352399 -0.37185538 0.2129976 8.2496758 ] [ 0.41397155 0.88585278 -0.20950516 18.83984372] [-0.1107789 0.27746789 0.95432678 28.60764895] [ 0. 0. 0. 1. ]] SLAMing on 286.879072329 meters Centerline goodness : 0.776832 with order 1 Centerline is valid? [False, False] Translation: X:8.24, Y:18.82, Z:28.63 [[ 0.90012047 -0.38791695 0.19825132 8.24314883] [ 0.42345415 0.88597823 -0.18902159 18.81892081] [-0.10232167 0.25409255 0.96175218 28.62641402] [ 0. 0. 0. 1. ]] SLAMing on 286.939072329 meters Centerline goodness : 0.776831 with order 1 Centerline is valid? [False, False] Translation: X:8.23, Y:18.80, Z:28.64 [[ 0.8964011 -0.40115933 0.18851065 8.22711999] [ 0.43196543 0.88597757 -0.16867014 18.79799037] [-0.0993526 0.23262618 0.96747823 28.64363205] [ 0. 0. 0. 1. ]] SLAMing on 286.99907232899994 meters Centerline goodness : 0.770850 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:18.78, Z:28.66 [[ 0.89238331 -0.4138709 0.17989692 8.20659553] [ 0.44072542 0.88497821 -0.1502487 18.77741759] [-0.09702129 0.21336458 0.97214321 28.66148448] [ 0. 0. 0. 1. ]] SLAMing on 287.05907232899995 meters Centerline goodness : 0.775808 with order 1 Centerline is valid? [False, False] Translation: X:8.19, Y:18.76, Z:28.68 [[ 0.88574471 -0.43031503 0.17402665 8.18777017] [ 0.45410617 0.88098629 -0.13285608 18.76183986] [-0.09614513 0.19670314 0.97573766 28.68050307] [ 0. 0. 0. 1. ]] SLAMing on 287.11907232899995 meters Centerline goodness : 0.776588 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:18.75, Z:28.70 [[ 0.8803008 -0.44408776 0.16690287 8.16678438] [ 0.46477897 0.87783615 -0.11569013 18.74609866] [-0.09513681 0.17941506 0.97916251 28.69813369] [ 0. 0. 0. 1. ]] SLAMing on 287.17907232899995 meters Centerline goodness : 0.778294 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:18.73, Z:28.72 [[ 0.87367025 -0.460472 0.15705361 8.14803878] [ 0.47824465 0.87211531 -0.10342606 18.7336249 ] [-0.08934405 0.16547032 0.98215946 28.71645907] [ 0. 0. 0. 1. ]] SLAMing on 287.23907232899995 meters Centerline goodness : 0.777510 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:18.72, Z:28.74 [[ 0.86499346 -0.47955514 0.14769287 8.10968648] [ 0.49421145 0.865141 -0.08535863 18.7163913 ] [-0.08684098 0.14682616 0.98534295 28.73698593] [ 0. 0. 0. 1. ]] SLAMing on 287.29907232899996 meters Centerline goodness : 0.780543 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:18.70, Z:28.75 [[ 0.85989586 -0.49141006 0.13818561 8.08246993] [ 0.5037604 0.86065473 -0.07415451 18.70441966] [-0.08248983 0.13337759 0.98762637 28.75319091] [ 0. 0. 0. 1. ]] SLAMing on 287.35907232899996 meters Centerline goodness : 0.786594 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:18.69, Z:28.77 [[ 0.84876696 -0.51198061 0.13217601 8.03805045] [ 0.52265038 0.85022634 -0.06286294 18.69015996] [-0.08019492 0.12243783 0.98923089 28.77284216] [ 0. 0. 0. 1. ]] SLAMing on 287.41907232899996 meters Centerline goodness : 0.791094 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:18.68, Z:28.79 [[ 0.8365313 -0.53334308 0.12554103 7.99519197] [ 0.54251975 0.83833997 -0.05346408 18.68051948] [-0.07673136 0.11283287 0.99064678 28.78935609] [ 0. 0. 0. 1. ]] SLAMing on 287.47907232899996 meters Centerline goodness : 0.794472 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:18.68, Z:28.80 [[ 0.82153531 -0.5574757 0.119585 7.95607574] [ 0.56545781 0.8235154 -0.04560544 18.67527508] [-0.07305617 0.10508675 0.99177597 28.80421526] [ 0. 0. 0. 1. ]] SLAMing on 287.53907232899996 meters Centerline goodness : 0.804125 with order 1 Centerline is valid? [False, False] Translation: X:7.89, Y:18.66, Z:28.82 [[ 0.80239144 -0.58535975 0.11628388 7.89166558] [ 0.59257696 0.80457949 -0.03878644 18.66186961] [-0.0708556 0.10002905 0.9924584 28.8228235 ] [ 0. 0. 0. 1. ]] SLAMing on 287.59907232899997 meters Centerline goodness : 0.811721 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:18.64, Z:28.84 [[ 0.78623727 -0.60767214 0.11209607 7.82246519] [ 0.61392231 0.78879776 -0.02995802 18.64494361] [-0.07021647 0.09237239 0.99324568 28.84008569] [ 0. 0. 0. 1. ]] SLAMing on 287.65907232899997 meters Centerline goodness : 0.816866 with order 1 Centerline is valid? [False, False] Translation: X:7.73, Y:18.63, Z:28.86 [[ 7.59275820e-01 -6.42449993e-01 1.03721911e-01 7.73020917e+00] [ 6.47314980e-01 7.61990817e-01 -1.87965792e-02 1.86308377e+01] [-6.69592812e-02 8.14125345e-02 9.94428707e-01 2.88574435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71907232899997 meters Centerline goodness : 0.816344 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:18.62, Z:28.88 [[ 7.25568533e-01 -6.81244272e-01 9.72447784e-02 7.62973178e+00] [ 6.85513359e-01 7.27893668e-01 -1.55641345e-02 1.86173252e+01] [-6.01808810e-02 7.79554409e-02 9.95138790e-01 2.88816186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779072329 meters Centerline goodness : 0.818388 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:18.59, Z:28.91 [[ 6.98526132e-01 -7.10481749e-01 8.53049093e-02 7.51228247e+00] [ 7.13510077e-01 7.00605003e-01 -7.48335465e-03 1.85908786e+01] [-5.44482593e-02 6.60932312e-02 9.96326790e-01 2.89097049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839072329 meters Centerline goodness : 0.813617 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:18.57, Z:28.94 [[ 6.52705791e-01 -7.54068490e-01 7.31837574e-02 7.36669035e+00] [ 7.56113986e-01 6.54439836e-01 -3.76022430e-04 1.85707682e+01] [-4.76108195e-02 5.55806945e-02 9.97318403e-01 2.89386962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899072329 meters Centerline goodness : 0.811406 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:18.52, Z:28.94 [[ 6.18631656e-01 -7.80798068e-01 8.74599983e-02 7.17004661e+00] [ 7.83936421e-01 6.20836002e-01 -2.51927004e-03 1.85225427e+01] [-5.23312745e-02 7.01215782e-02 9.96164847e-01 2.89429717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959072329 meters Centerline goodness : 0.708616 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:18.49, Z:28.95 [[ 5.58064096e-01 -8.22888337e-01 1.06860883e-01 6.96716962e+00] [ 8.28137827e-01 5.60451815e-01 -9.02786429e-03 1.84895252e+01] [-5.24614519e-02 9.35336667e-02 9.94232995e-01 2.89467077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019072329 meters Centerline goodness : 0.803205 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:18.45, Z:28.95 [[ 4.90127329e-01 -8.63398131e-01 1.19661477e-01 6.73779678e+00] [ 8.70445919e-01 4.92031558e-01 -1.51277224e-02 1.84485277e+01] [-4.58159755e-02 1.11573354e-01 9.92699493e-01 2.89506613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079072329 meters Centerline goodness : 0.814890 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:18.40, Z:28.97 [[ 4.23359248e-01 -8.94645074e-01 1.42748517e-01 6.47031269e+00] [ 9.05149605e-01 4.24366828e-01 -2.48392319e-02 1.83973987e+01] [-3.83554392e-02 1.39724683e-01 9.89447256e-01 2.89656677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139072329 meters Centerline goodness : 0.810907 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:18.32, Z:28.99 [[ 3.85626096e-01 -9.09250244e-01 1.56705161e-01 6.17022788e+00] [ 9.22278383e-01 3.84721500e-01 -3.73088790e-02 1.83213815e+01] [-2.63647373e-02 1.58913060e-01 9.86940495e-01 2.89914537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199072329 meters Centerline goodness : 0.804862 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:18.26, Z:29.02 [[ 3.38667012e-01 -9.25384728e-01 1.70199179e-01 5.84658390e+00] [ 9.40850155e-01 3.35036327e-01 -5.05138204e-02 1.82624478e+01] [-1.02781898e-02 1.77239288e-01 9.84114116e-01 2.90221699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259072329 meters Centerline goodness : 0.444451 with order 2 Centerline is valid? [False, False] Translation: X:5.47, Y:18.18, Z:29.07 [[ 2.99668054e-01 -9.36088451e-01 1.84221249e-01 5.47012247e+00] [ 9.54010296e-01 2.92406346e-01 -6.60521310e-02 1.81837516e+01] [ 7.96317487e-03 1.95542682e-01 9.80662861e-01 2.90670037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319072329 meters Centerline goodness : 0.792440 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:18.08, Z:29.12 [[ 2.78856509e-01 -9.38955925e-01 2.01496447e-01 5.07970033e+00] [ 9.60031868e-01 2.67311647e-01 -8.29656370e-02 1.80789911e+01] [ 2.40387294e-02 2.16578518e-01 9.75969203e-01 2.91225256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379072329 meters Centerline goodness : 0.785902 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:17.98, Z:29.19 [[ 0.25190326 -0.94203021 0.22163899 4.6544658 ] [ 0.96668714 0.23419487 -0.1032896 17.98488588] [ 0.04539521 0.24027454 0.96964293 29.19218721] [ 0. 0. 0. 1. ]] SLAMing on 288.439072329 meters Centerline goodness : 0.783763 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:17.88, Z:29.28 [[ 0.23545714 -0.94076042 0.24398722 4.20612702] [ 0.96958394 0.21011312 -0.12553672 17.88475337] [ 0.06683507 0.26612461 0.96161883 29.27873919] [ 0. 0. 0. 1. ]] SLAMing on 288.49907232899994 meters Centerline goodness : 0.782967 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:17.76, Z:29.38 [[ 0.23355545 -0.93548075 0.26519353 3.75490907] [ 0.96840925 0.19928218 -0.14990039 17.76238582] [ 0.08738059 0.29182592 0.95247166 29.37553997] [ 0. 0. 0. 1. ]] SLAMing on 288.55907232899995 meters Centerline goodness : 0.780080 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:17.65, Z:29.49 [[ 0.23628647 -0.92816292 0.28754531 3.26648809] [ 0.96595125 0.19227586 -0.1731132 17.64565453] [ 0.10538923 0.31865906 0.94199231 29.49432581] [ 0. 0. 0. 1. ]] SLAMing on 288.61907232899995 meters Centerline goodness : 0.781974 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:17.52, Z:29.63 [[ 0.25453515 -0.91572197 0.31091018 2.73952932] [ 0.95982266 0.19994835 -0.19687843 17.51509544] [ 0.11811992 0.34853111 0.92982458 29.63344666] [ 0. 0. 0. 1. ]] SLAMing on 288.67907232899995 meters Centerline goodness : 0.782954 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:17.39, Z:29.78 [[ 0.28819459 -0.89949339 0.32841364 2.23424509] [ 0.94973515 0.22471149 -0.21796305 17.39142622] [ 0.12225801 0.37472175 0.91904113 29.78172116] [ 0. 0. 0. 1. ]] SLAMing on 288.73907232899995 meters Centerline goodness : 0.781974 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:17.26, Z:29.92 [[ 0.31700029 -0.88531725 0.34018258 1.77146716] [ 0.93989693 0.24525295 -0.23758103 17.25976739] [ 0.1269038 0.39504982 0.90985222 29.92341566] [ 0. 0. 0. 1. ]] SLAMing on 288.79907232899996 meters Centerline goodness : 0.781033 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:17.13, Z:30.04 [[ 0.31665465 -0.89153439 0.32387693 1.42756892] [ 0.94274089 0.25810248 -0.21124089 17.13196167] [ 0.10473508 0.37222244 0.92221528 30.03790508] [ 0. 0. 0. 1. ]] SLAMing on 288.85907232899996 meters Centerline goodness : 0.776199 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:17.03, Z:30.15 [[ 0.34196892 -0.88757439 0.30865669 1.08038712] [ 0.93641359 0.29436946 -0.19098746 17.02885352] [ 0.07865647 0.35434209 0.93180193 30.1538264 ] [ 0. 0. 0. 1. ]] SLAMing on 288.91907232899996 meters Centerline goodness : 0.781314 with order 3 Centerline is valid? [False, False] Translation: X:0.77, Y:16.93, Z:30.25 [[ 0.39186018 -0.8723609 0.29228762 0.76677289] [ 0.91930236 0.35867985 -0.16196278 16.92712311] [ 0.03645231 0.33216746 0.94251579 30.2509215 ] [ 0. 0. 0. 1. ]] SLAMing on 288.97907232899996 meters Centerline goodness : 0.780978 with order 2 Centerline is valid? [False, False] Translation: X:0.50, Y:16.83, Z:30.33 [[ 4.09254532e-01 -8.68528349e-01 2.79587617e-01 5.01905551e-01] [ 9.12276726e-01 3.84071097e-01 -1.42269350e-01 1.68289942e+01] [ 1.61834406e-02 3.13285652e-01 9.49521035e-01 3.03298090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03907232899996 meters Centerline goodness : 0.781452 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:16.73, Z:30.41 [[ 4.39591507e-01 -8.53299222e-01 2.80427788e-01 2.27668190e-01] [ 8.98155343e-01 4.20633726e-01 -1.28000972e-01 1.67336562e+01] [-8.73425576e-03 3.08135856e-01 9.51302269e-01 3.04146507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09907232899997 meters Centerline goodness : 0.782138 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:16.64, Z:30.48 [[ 4.45465714e-01 -8.52785990e-01 2.72610258e-01 -1.08043522e-02] [ 8.95033425e-01 4.31602967e-01 -1.12401275e-01 1.66439678e+01] [-2.18051635e-02 2.94066208e-01 9.55536289e-01 3.04847320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15907232899997 meters Centerline goodness : 0.782141 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:16.56, Z:30.55 [[ 4.51478134e-01 -8.52575604e-01 2.63215374e-01 -2.38400655e-01] [ 8.91807122e-01 4.40782430e-01 -1.01935796e-01 1.65562931e+01] [-2.91127395e-02 2.80759128e-01 9.59336625e-01 3.05501880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21907232899997 meters Centerline goodness : 0.779849 with order 1 Centerline is valid? [False, False] Translation: X:-0.47, Y:16.47, Z:30.61 [[ 4.50993957e-01 -8.55697193e-01 2.53745472e-01 -4.68906422e-01] [ 8.92008747e-01 4.41819803e-01 -9.54759467e-02 1.64673064e+01] [-3.04112752e-02 2.69402256e-01 9.62547442e-01 3.06127482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279072329 meters Centerline goodness : 0.777192 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:16.39, Z:30.67 [[ 0.45963706 -0.85536638 0.23891867 -0.69315782] [ 0.88740986 0.45300088 -0.08540451 16.3854477 ] [-0.03517822 0.25127386 0.96727656 30.6725449 ] [ 0. 0. 0. 1. ]] SLAMing on 289.339072329 meters Centerline goodness : 0.773055 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:16.30, Z:30.73 [[ 0.4598925 -0.85830461 0.22762268 -0.91255984] [ 0.88729689 0.45419986 -0.08004191 16.30300245] [-0.03468585 0.23877957 0.97045412 30.72819278] [ 0. 0. 0. 1. ]] SLAMing on 289.399072329 meters Centerline goodness : 0.776202 with order 1 Centerline is valid? [False, False] Translation: X:-1.14, Y:16.22, Z:30.79 [[ 0.45794044 -0.85955989 0.22682008 -1.13677933] [ 0.88810711 0.45367013 -0.0738185 16.21649749] [-0.03945008 0.235245 0.97113515 30.78504455] [ 0. 0. 0. 1. ]] SLAMing on 289.459072329 meters Centerline goodness : 0.780166 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:16.13, Z:30.84 [[ 0.45332038 -0.86204013 0.22668799 -1.36177731] [ 0.89020065 0.45074882 -0.06609316 16.12720643] [-0.04520438 0.23175917 0.97172231 30.84209595] [ 0. 0. 0. 1. ]] SLAMing on 289.519072329 meters Centerline goodness : 0.776584 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:16.04, Z:30.89 [[ 0.45552403 -0.86313823 0.21792259 -1.58463953] [ 0.88916881 0.45305378 -0.06419582 16.0428469 ] [-0.04332079 0.22301271 0.97385247 30.89378254] [ 0. 0. 0. 1. ]] SLAMing on 289.579072329 meters Centerline goodness : 0.777435 with order 1 Centerline is valid? [False, False] Translation: X:-1.81, Y:15.96, Z:30.95 [[ 0.45531839 -0.86392332 0.21522468 -1.81463148] [ 0.88928881 0.45297859 -0.06305401 15.95504485] [-0.04301834 0.22010655 0.97452682 30.94710221] [ 0. 0. 0. 1. ]] SLAMing on 289.639072329 meters Centerline goodness : 0.776131 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:15.87, Z:31.00 [[ 0.46125531 -0.86149494 0.21229697 -2.04263376] [ 0.88617874 0.45915718 -0.06214439 15.87011544] [-0.0439406 0.21679749 0.97522719 30.99897097] [ 0. 0. 0. 1. ]] SLAMing on 289.699072329 meters Centerline goodness : 0.781624 with order 1 Centerline is valid? [False, False] Translation: X:-2.27, Y:15.79, Z:31.05 [[ 0.47246687 -0.856227 0.20892672 -2.26673615] [ 0.87970682 0.47260676 -0.05252398 15.7919421 ] [-0.05376773 0.2086101 0.97651977 31.05415637] [ 0. 0. 0. 1. ]] SLAMing on 289.759072329 meters Centerline goodness : 0.783645 with order 1 Centerline is valid? [False, False] Translation: X:-2.50, Y:15.71, Z:31.11 [[ 0.48138156 -0.85159228 0.20751476 -2.49785182] [ 0.87448756 0.48269453 -0.04772312 15.70874208] [-0.05952559 0.20444211 0.9770671 31.11029399] [ 0. 0. 0. 1. ]] SLAMing on 289.819072329 meters Centerline goodness : 0.781132 with order 1 Centerline is valid? [False, False] Translation: X:-2.72, Y:15.63, Z:31.16 [[ 0.4856264 -0.84966014 0.20553502 -2.71770762] [ 0.87214407 0.48690458 -0.04783986 15.62737627] [-0.05942832 0.20248845 0.97747977 31.16054299] [ 0. 0. 0. 1. ]] SLAMing on 289.879072329 meters Centerline goodness : 0.781369 with order 1 Centerline is valid? [False, False] Translation: X:-2.94, Y:15.55, Z:31.21 [[ 0.4956244 -0.84360135 0.20662334 -2.93796954] [ 0.86631117 0.49718205 -0.04811413 15.54760483] [-0.06214028 0.20284664 0.97723683 31.21109857] [ 0. 0. 0. 1. ]] SLAMing on 289.939072329 meters Centerline goodness : 0.782829 with order 1 Centerline is valid? [False, False] Translation: X:-3.16, Y:15.47, Z:31.26 [[ 0.50412855 -0.83844343 0.20704353 -3.15716014] [ 0.86120761 0.50599337 -0.04787658 15.46970458] [-0.06462085 0.20244342 0.97715956 31.26242912] [ 0. 0. 0. 1. ]] SLAMing on 289.99907232899994 meters Centerline goodness : 0.783011 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:15.39, Z:31.31 [[ 0.51223609 -0.83434256 0.20368281 -3.36256471] [ 0.85639452 0.5141041 -0.04780591 15.39452148] [-0.06482766 0.19892076 0.97786906 31.30825381] [ 0. 0. 0. 1. ]] SLAMing on 290.05907232899995 meters Centerline goodness : 0.782685 with order 1 Centerline is valid? [False, False] Translation: X:-3.57, Y:15.32, Z:31.35 [[ 0.51591494 -0.83318662 0.19907745 -3.570919 ] [ 0.85406395 0.51828967 -0.04416538 15.31724855] [-0.06638179 0.19281045 0.97898804 31.35476532] [ 0. 0. 0. 1. ]] SLAMing on 290.11907232899995 meters Centerline goodness : 0.781529 with order 1 Centerline is valid? [False, False] Translation: X:-3.77, Y:15.24, Z:31.40 [[ 0.51628717 -0.8335802 0.19644748 -3.76500903] [ 0.85367668 0.51924426 -0.04026816 15.24002074] [-0.06843748 0.18849257 0.97968713 31.39705147] [ 0. 0. 0. 1. ]] SLAMing on 290.17907232899995 meters Centerline goodness : 0.780586 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:15.15, Z:31.44 [[ 0.51110667 -0.83707853 0.19511406 -3.98181232] [ 0.8567782 0.51428567 -0.03796531 15.15339213] [-0.06856442 0.1865738 0.98004548 31.44136706] [ 0. 0. 0. 1. ]] SLAMing on 290.23907232899995 meters Centerline goodness : 0.778382 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:15.07, Z:31.48 [[ 0.5020034 -0.8426352 0.19482944 -4.19122918] [ 0.86231321 0.50495079 -0.03795554 15.06832119] [-0.0663966 0.18705781 0.98010248 31.48438213] [ 0. 0. 0. 1. ]] SLAMing on 290.29907232899996 meters Centerline goodness : 0.781700 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:14.98, Z:31.53 [[ 0.49702587 -0.84565175 0.19452094 -4.40374779] [ 0.86514636 0.50023612 -0.03585512 14.98352796] [-0.06698546 0.18611001 0.98024283 31.53074151] [ 0. 0. 0. 1. ]] SLAMing on 290.35907232899996 meters Centerline goodness : 0.781290 with order 1 Centerline is valid? [False, False] Translation: X:-4.62, Y:14.90, Z:31.58 [[ 0.49808963 -0.84554551 0.19224857 -4.61730732] [ 0.86443998 0.50162511 -0.03340324 14.9008299 ] [-0.06819275 0.18282516 0.9807776 31.57566839] [ 0. 0. 0. 1. ]] SLAMing on 290.41907232899996 meters Centerline goodness : 0.780392 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:14.82, Z:31.62 [[ 0.49612386 -0.84709557 0.19049989 -4.82810184] [ 0.86563197 0.49960585 -0.0327915 14.8170175 ] [-0.06739733 0.18117144 0.98113939 31.61890298] [ 0. 0. 0. 1. ]] SLAMing on 290.47907232899996 meters Centerline goodness : 0.778820 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:14.73, Z:31.66 [[ 0.48665432 -0.85173928 0.19418488 -5.03907752] [ 0.87126036 0.4894502 -0.03665921 14.73308448] [-0.06381974 0.18702595 0.98027972 31.6633316 ] [ 0. 0. 0. 1. ]] SLAMing on 290.53907232899996 meters Centerline goodness : 0.776489 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:14.65, Z:31.71 [[ 0.48338327 -0.85397852 0.19251311 -5.25201406] [ 0.87330641 0.48564942 -0.03847806 14.64931886] [-0.06063444 0.18672259 0.98053972 31.70659461] [ 0. 0. 0. 1. ]] SLAMing on 290.59907232899997 meters Centerline goodness : 0.776724 with order 1 Centerline is valid? [False, False] Translation: X:-5.47, Y:14.57, Z:31.75 [[ 0.4814365 -0.85511285 0.19235622 -5.46896642] [ 0.87445903 0.48351426 -0.03918378 14.56577099] [-0.05950042 0.18707213 0.98054256 31.75148281] [ 0. 0. 0. 1. ]] SLAMing on 290.65907232899997 meters Centerline goodness : 0.776448 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:14.47, Z:31.80 [[ 0.47353616 -0.85921485 0.19368364 -5.69932119] [ 0.878794 0.47564439 -0.03851648 14.47298641] [-0.05903061 0.18844696 0.98030767 31.80150389] [ 0. 0. 0. 1. ]] SLAMing on 290.71907232899997 meters Centerline goodness : 0.776407 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:14.39, Z:31.85 [[ 0.47020496 -0.86106133 0.19359927 -5.92698145] [ 0.88067114 0.47210568 -0.03917366 14.38546192] [-0.05766839 0.18891694 0.98029829 31.84905866] [ 0. 0. 0. 1. ]] SLAMing on 290.779072329 meters Centerline goodness : 0.776458 with order 1 Centerline is valid? [False, False] Translation: X:-6.15, Y:14.29, Z:31.89 [[ 0.46023686 -0.86718315 0.19019835 -6.1523345 ] [ 0.88615702 0.46173346 -0.03908892 14.29450681] [-0.05392369 0.18653577 0.9809672 31.8938508 ] [ 0. 0. 0. 1. ]] SLAMing on 290.839072329 meters Centerline goodness : 0.774972 with order 1 Centerline is valid? [False, False] Translation: X:-6.39, Y:14.20, Z:31.94 [[ 0.4526753 -0.87089658 0.19137456 -6.3889145 ] [ 0.89003007 0.45434294 -0.03766914 14.20150208] [-0.05414376 0.187381 0.98079397 31.94203694] [ 0. 0. 0. 1. ]] SLAMing on 290.899072329 meters Centerline goodness : 0.773936 with order 1 Centerline is valid? [False, False] Translation: X:-6.63, Y:14.11, Z:31.99 [[ 0.45283259 -0.87034018 0.19352161 -6.63027009] [ 0.89013893 0.45371697 -0.04235085 14.11043559] [-0.05094439 0.19143897 0.98018151 31.99116857] [ 0. 0. 0. 1. ]] SLAMing on 290.959072329 meters Centerline goodness : 0.770478 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:14.02, Z:32.04 [[ 0.45168657 -0.87085719 0.19387368 -6.86234583] [ 0.89090153 0.45187698 -0.04584396 14.02330614] [-0.04768351 0.19342946 0.97995476 32.03781336] [ 0. 0. 0. 1. ]] SLAMing on 291.019072329 meters Centerline goodness : 0.767404 with order 1 Centerline is valid? [False, False] Translation: X:-7.09, Y:13.94, Z:32.08 [[ 0.4559925 -0.86874072 0.19328838 -7.09008513] [ 0.88874027 0.4559627 -0.04731549 13.93857955] [-0.0470274 0.19335867 0.98000043 32.08445466] [ 0. 0. 0. 1. ]] SLAMing on 291.079072329 meters Centerline goodness : 0.768979 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:13.85, Z:32.14 [[ 0.45984305 -0.86646664 0.19437059 -7.32744056] [ 0.88663787 0.46012369 -0.04647018 13.85265224] [-0.04916965 0.19370531 0.97982682 32.13615362] [ 0. 0. 0. 1. ]] SLAMing on 291.139072329 meters Centerline goodness : 0.770448 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:13.77, Z:32.19 [[ 0.46656514 -0.86339244 0.19201682 -7.5554533 ] [ 0.88300934 0.46722004 -0.04472069 13.77315013] [-0.0511026 0.19041777 0.98037217 32.18569781] [ 0. 0. 0. 1. ]] SLAMing on 291.199072329 meters Centerline goodness : 0.769940 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:13.69, Z:32.24 [[ 0.46865784 -0.86215925 0.19246108 -7.79053375] [ 0.88188379 0.46929923 -0.04515761 13.68726688] [-0.05138878 0.19089177 0.98026503 32.23622339] [ 0. 0. 0. 1. ]] SLAMing on 291.259072329 meters Centerline goodness : 0.768530 with order 1 Centerline is valid? [False, False] Translation: X:-8.02, Y:13.60, Z:32.28 [[ 0.47251076 -0.86017751 0.19190685 -8.01928758] [ 0.87980031 0.47317744 -0.04532678 13.60345699] [-0.05181692 0.19025709 0.98036587 32.28414128] [ 0. 0. 0. 1. ]] SLAMing on 291.319072329 meters Centerline goodness : 0.768371 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:13.52, Z:32.33 [[ 0.47678174 -0.8579263 0.19142006 -8.24615585] [ 0.87745009 0.47752375 -0.0453035 13.52196112] [-0.05254056 0.18956143 0.98046211 32.33149798] [ 0. 0. 0. 1. ]] SLAMing on 291.379072329 meters Centerline goodness : 0.767556 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:13.44, Z:32.38 [[ 0.47664138 -0.85734404 0.19435582 -8.46808557] [ 0.87755368 0.47712828 -0.04741461 13.43913494] [-0.05208202 0.19315744 0.9797845 32.37878426] [ 0. 0. 0. 1. ]] SLAMing on 291.439072329 meters Centerline goodness : 0.766527 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:13.35, Z:32.43 [[ 0.47505596 -0.85854575 0.19292751 -8.68995601] [ 0.87853923 0.47518608 -0.048652 13.35474876] [-0.0499065 0.19260681 0.9800061 32.42546477] [ 0. 0. 0. 1. ]] SLAMing on 291.49907232899994 meters Centerline goodness : 0.766652 with order 1 Centerline is valid? [False, False] Translation: X:-8.92, Y:13.27, Z:32.47 [[ 0.47295708 -0.8599188 0.1919668 -8.91729086] [ 0.87972705 0.47297718 -0.04871244 13.2683928 ] [-0.04890717 0.19191728 0.98019174 32.47305719] [ 0. 0. 0. 1. ]] SLAMing on 291.55907232899995 meters Centerline goodness : 0.766535 with order 1 Centerline is valid? [False, False] Translation: X:-9.13, Y:13.19, Z:32.52 [[ 0.47341703 -0.85959221 0.19229549 -9.1342188 ] [ 0.87955862 0.4730907 -0.05061454 13.18706371] [-0.04746535 0.19309694 0.98003092 32.51694916] [ 0. 0. 0. 1. ]] SLAMing on 291.61907232899995 meters Centerline goodness : 0.766017 with order 1 Centerline is valid? [False, False] Translation: X:-9.37, Y:13.10, Z:32.57 [[ 0.4666013 -0.86301676 0.19361118 -9.36835227] [ 0.88318346 0.46641601 -0.04942749 13.09815254] [-0.0476466 0.19405712 0.97983245 32.56587881] [ 0. 0. 0. 1. ]] SLAMing on 291.67907232899995 meters Centerline goodness : 0.766006 with order 1 Centerline is valid? [False, False] Translation: X:-9.60, Y:13.01, Z:32.61 [[ 0.46157875 -0.86622562 0.19130665 -9.60094449] [ 0.88586606 0.46145824 -0.04793351 13.0093597 ] [-0.04675879 0.19159716 0.98035919 32.61465181] [ 0. 0. 0. 1. ]] SLAMing on 291.73907232899995 meters Centerline goodness : 0.765852 with order 1 Centerline is valid? [False, False] Translation: X:-9.83, Y:12.93, Z:32.66 [[ 0.45977124 -0.86710382 0.19168038 -9.8273973 ] [ 0.88686884 0.45941183 -0.0490349 12.9253314 ] [-0.04554188 0.19254019 0.98023171 32.66162199] [ 0. 0. 0. 1. ]] SLAMing on 291.79907232899996 meters Centerline goodness : 0.765996 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:12.84, Z:32.71 [[ 0.4575296 -0.86787089 0.1935634 -10.06357324] [ 0.88797528 0.45734054 -0.04836882 12.83640547] [ -0.0465465 0.19400968 0.97989472 32.70952446] [ 0. 0. 0. 1. ]] SLAMing on 291.85907232899996 meters Centerline goodness : 0.765898 with order 1 Centerline is valid? [False, False] Translation: X:-10.29, Y:12.75, Z:32.76 [[ 0.45463489 -0.86941375 0.19346021 -10.29375624] [ 0.88953089 0.45422905 -0.0490995 12.75090798] [ -0.04518747 0.19441118 0.97987876 32.75693199] [ 0. 0. 0. 1. ]] SLAMing on 291.91907232899996 meters Centerline goodness : 0.765094 with order 1 Centerline is valid? [False, False] Translation: X:-10.53, Y:12.66, Z:32.80 [[ 0.44923325 -0.87203738 0.19426859 -10.52570527] [ 0.89241206 0.44829014 -0.05134855 12.66171576] [ -0.04231084 0.19643511 0.97960351 32.80475634] [ 0. 0. 0. 1. ]] SLAMing on 291.97907232899996 meters Centerline goodness : 0.765161 with order 1 Centerline is valid? [False, False] Translation: X:-10.76, Y:12.57, Z:32.85 [[ 0.44306017 -0.87590204 0.19103221 -10.76233234] [ 0.89558022 0.44205159 -0.05026395 12.57351679] [ -0.0404198 0.19335462 0.98029599 32.85285442] [ 0. 0. 0. 1. ]] SLAMing on 292.03907232899996 meters Centerline goodness : 0.766030 with order 1 Centerline is valid? [False, False] Translation: X:-11.00, Y:12.49, Z:32.90 [[ 0.43803603 -0.87878047 0.18939197 -10.99911648] [ 0.89817352 0.43662733 -0.05138965 12.48551831] [ -0.03753349 0.19261737 0.98055586 32.90146428] [ 0. 0. 0. 1. ]] SLAMing on 292.09907232899997 meters Centerline goodness : 0.767079 with order 1 Centerline is valid? [False, False] Translation: X:-11.25, Y:12.39, Z:32.95 [[ 0.43438775 -0.88029575 0.19075291 -11.25060904] [ 0.90010671 0.43209475 -0.05569591 12.39266101] [ -0.03339446 0.1958916 0.98005678 32.9522382 ] [ 0. 0. 0. 1. ]] SLAMing on 292.15907232899997 meters Centerline goodness : 0.766420 with order 1 Centerline is valid? [False, False] Translation: X:-11.49, Y:12.30, Z:33.00 [[ 4.29964954e-01 -8.82528855e-01 1.90454608e-01 -1.14885585e+01] [ 9.02332266e-01 4.27162893e-01 -5.76918135e-02 1.23025114e+01] [-3.04404514e-02 1.96658796e-01 9.79999335e-01 3.30004846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21907232899997 meters Centerline goodness : 0.768133 with order 1 Centerline is valid? [False, False] Translation: X:-11.73, Y:12.21, Z:33.05 [[ 4.28701356e-01 -8.83219552e-01 1.90100947e-01 -1.17323679e+01] [ 9.02924792e-01 4.26009727e-01 -5.69432292e-02 1.22143626e+01] [-3.06914793e-02 1.96058498e-01 9.80111779e-01 3.30512239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279072329 meters Centerline goodness : 0.773851 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:12.12, Z:33.10 [[ 4.19992696e-01 -8.86679746e-01 1.93404148e-01 -1.19818410e+01] [ 9.06998118e-01 4.17383160e-01 -5.60866448e-02 1.21219857e+01] [-3.09927426e-02 1.98973179e-01 9.79514739e-01 3.31037196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339072329 meters Centerline goodness : 0.771528 with order 1 Centerline is valid? [False, False] Translation: X:-12.24, Y:12.03, Z:33.15 [[ 4.20525474e-01 -8.86539578e-01 1.92888318e-01 -1.22363703e+01] [ 9.06883667e-01 4.17021239e-01 -6.04590843e-02 1.20279468e+01] [-2.68391542e-02 2.00351850e-01 9.79356317e-01 3.31540406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399072329 meters Centerline goodness : 0.774658 with order 1 Centerline is valid? [False, False] Translation: X:-12.48, Y:11.94, Z:33.20 [[ 4.24195620e-01 -8.85126221e-01 1.91336480e-01 -1.24828504e+01] [ 9.05133270e-01 4.20984221e-01 -5.92118980e-02 1.19397304e+01] [-2.81396355e-02 1.98302442e-01 9.79736854e-01 3.32043386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459072329 meters Centerline goodness : 0.773250 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:11.85, Z:33.26 [[ 4.25535998e-01 -8.84941940e-01 1.89200626e-01 -1.27341676e+01] [ 9.04490998e-01 4.22520625e-01 -5.80719918e-02 1.18511756e+01] [-2.85508257e-02 1.95841986e-01 9.80219754e-01 3.32559433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519072329 meters Centerline goodness : 0.775440 with order 1 Centerline is valid? [False, False] Translation: X:-12.99, Y:11.76, Z:33.31 [[ 4.30725611e-01 -8.82120993e-01 1.90625291e-01 -1.29887088e+01] [ 9.01919077e-01 4.28209898e-01 -5.63760672e-02 1.17604558e+01] [-3.18971243e-02 1.96211203e-01 9.80042722e-01 3.33087297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579072329 meters Centerline goodness : 0.774119 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:11.67, Z:33.36 [[ 4.32738925e-01 -8.80901145e-01 1.91703404e-01 -1.32498695e+01] [ 9.01045273e-01 4.29514444e-01 -6.02889527e-02 1.16681087e+01] [-2.92307736e-02 1.98822823e-01 9.79599432e-01 3.33615911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639072329 meters Centerline goodness : 0.774553 with order 1 Centerline is valid? [False, False] Translation: X:-13.51, Y:11.58, Z:33.41 [[ 4.31844662e-01 -8.81411811e-01 1.91372432e-01 -1.35071327e+01] [ 9.01509318e-01 4.28423578e-01 -6.11079964e-02 1.15753391e+01] [-2.81271524e-02 1.98913193e-01 9.79613396e-01 3.34140337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699072329 meters Centerline goodness : 0.776410 with order 1 Centerline is valid? [False, False] Translation: X:-13.76, Y:11.48, Z:33.47 [[ 4.26257022e-01 -8.83960972e-01 1.92140446e-01 -1.37623046e+01] [ 9.04161849e-01 4.22953877e-01 -6.00114001e-02 1.14846505e+01] [-2.82188108e-02 1.99306341e-01 9.79530847e-01 3.34663653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759072329 meters Centerline goodness : 0.776418 with order 1 Centerline is valid? [False, False] Translation: X:-14.02, Y:11.39, Z:33.52 [[ 4.27934890e-01 -8.82677778e-01 1.94297888e-01 -1.40228940e+01] [ 9.03430545e-01 4.23979370e-01 -6.36768789e-02 1.13906552e+01] [-2.61721300e-02 2.02784205e-01 9.78873631e-01 3.35179559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819072329 meters Centerline goodness : 0.773565 with order 1 Centerline is valid? [False, False] Translation: X:-14.28, Y:11.30, Z:33.57 [[ 4.29437357e-01 -8.83101689e-01 1.88984030e-01 -1.42760517e+01] [ 9.02834423e-01 4.24849976e-01 -6.62759568e-02 1.13005766e+01] [-2.17614510e-02 1.99082659e-01 9.79741055e-01 3.35659716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879072329 meters Centerline goodness : 0.774179 with order 1 Centerline is valid? [False, False] Translation: X:-14.53, Y:11.21, Z:33.62 [[ 4.26563341e-01 -8.84580757e-01 1.88575185e-01 -1.45328977e+01] [ 9.04215525e-01 4.21901633e-01 -6.62819426e-02 1.12072657e+01] [-2.09284476e-02 1.98786057e-01 9.79819424e-01 3.36178487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939072329 meters Centerline goodness : 0.775204 with order 1 Centerline is valid? [False, False] Translation: X:-14.78, Y:11.12, Z:33.67 [[ 4.24182000e-01 -8.85770831e-01 1.88360467e-01 -1.47780804e+01] [ 9.05367342e-01 4.19283687e-01 -6.71652102e-02 1.11181234e+01] [-1.94834871e-02 1.99025689e-01 9.79800576e-01 3.36661565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99907232899994 meters Centerline goodness : 0.773437 with order 1 Centerline is valid? [False, False] Translation: X:-15.04, Y:11.03, Z:33.72 [[ 4.23676082e-01 -8.87026931e-01 1.83526026e-01 -1.50356398e+01] [ 9.05644824e-01 4.18724467e-01 -6.69124258e-02 1.10291878e+01] [-1.74937138e-02 1.94558590e-01 9.80734890e-01 3.37159406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05907232899995 meters Centerline goodness : 0.771381 with order 1 Centerline is valid? [False, False] Translation: X:-15.29, Y:10.94, Z:33.77 [[ 4.28727108e-01 -8.84763685e-01 1.82719151e-01 -1.52893586e+01] [ 9.03276483e-01 4.23570894e-01 -6.84053549e-02 1.09429047e+01] [-1.68719401e-02 1.94373142e-01 9.80782555e-01 3.37654145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11907232899995 meters Centerline goodness : 0.771854 with order 1 Centerline is valid? [False, False] Translation: X:-15.55, Y:10.86, Z:33.82 [[ 4.39724980e-01 -8.79206459e-01 1.83406503e-01 -1.55495332e+01] [ 8.97965847e-01 4.34312399e-01 -7.09230423e-02 1.08581597e+01] [-1.72997216e-02 1.95879409e-01 9.80475383e-01 3.38154857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17907232899995 meters Centerline goodness : 0.773652 with order 1 Centerline is valid? [False, False] Translation: X:-15.80, Y:10.77, Z:33.87 [[ 4.50412882e-01 -8.74147441e-01 1.81643846e-01 -1.58031557e+01] [ 8.92553983e-01 4.45830745e-01 -6.76929458e-02 1.07747962e+01] [-2.18087958e-02 1.92616713e-01 9.81031691e-01 3.38653836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23907232899995 meters Centerline goodness : 0.773859 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:10.69, Z:33.91 [[ 4.55458249e-01 -8.71210577e-01 1.83166355e-01 -1.60452459e+01] [ 8.89933695e-01 4.51097667e-01 -6.72972073e-02 1.06925892e+01] [-2.39958767e-02 1.93656980e-01 9.80775801e-01 3.39140595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29907232899996 meters Centerline goodness : 0.779118 with order 1 Centerline is valid? [False, False] Translation: X:-16.29, Y:10.61, Z:33.96 [[ 4.64438289e-01 -8.65769814e-01 1.86385902e-01 -1.62934963e+01] [ 8.85094762e-01 4.60920597e-01 -6.44939234e-02 1.06096387e+01] [-3.00722091e-02 1.94922633e-01 9.80357501e-01 3.39646547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35907232899996 meters Centerline goodness : 0.777940 with order 1 Centerline is valid? [False, False] Translation: X:-16.52, Y:10.53, Z:34.01 [[ 4.75669631e-01 -8.60632524e-01 1.81796758e-01 -1.65231430e+01] [ 8.79039614e-01 4.72622977e-01 -6.25849613e-02 1.05345477e+01] [-3.20586720e-02 1.89576318e-01 9.81342479e-01 3.40092071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41907232899996 meters Centerline goodness : 0.778044 with order 1 Centerline is valid? [False, False] Translation: X:-16.75, Y:10.46, Z:34.05 [[ 4.87845646e-01 -8.54037479e-01 1.80628374e-01 -1.67509123e+01] [ 8.72289547e-01 4.84861668e-01 -6.34043304e-02 1.04605233e+01] [-3.34301003e-02 1.88491769e-01 9.81505620e-01 3.40538217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47907232899996 meters Centerline goodness : 0.776615 with order 1 Centerline is valid? [False, False] Translation: X:-16.97, Y:10.39, Z:34.09 [[ 4.96287394e-01 -8.50346481e-01 1.74956236e-01 -1.69704160e+01] [ 8.67577578e-01 4.93149807e-01 -6.41281071e-02 1.03880621e+01] [-3.17485237e-02 1.83614078e-01 9.82485573e-01 3.40949359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53907232899996 meters Centerline goodness : 0.774434 with order 1 Centerline is valid? [False, False] Translation: X:-17.19, Y:10.32, Z:34.13 [[ 5.14128893e-01 -8.41307763e-01 1.66951276e-01 -1.71879323e+01] [ 8.57097930e-01 5.11303502e-01 -6.28638754e-02 1.03189835e+01] [-3.24749058e-02 1.75413728e-01 9.83959046e-01 3.41339707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59907232899997 meters Centerline goodness : 0.780125 with order 1 Centerline is valid? [False, False] Translation: X:-17.40, Y:10.26, Z:34.18 [[ 0.54147556 -0.82339339 0.16978675 -17.40427343] [ 0.83953154 0.54028958 -0.05721853 10.25615895] [ -0.04462065 0.17352377 0.98381833 34.17557063] [ 0. 0. 0. 1. ]] SLAMing on 293.65907232899997 meters Centerline goodness : 0.780453 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:10.20, Z:34.21 [[ 0.572839 -0.80313274 0.16380866 -17.60511506] [ 0.81805884 0.57269739 -0.05289086 10.19820749] [ -0.05133441 0.16430307 0.98507324 34.21126867] [ 0. 0. 0. 1. ]] SLAMing on 293.71907232899997 meters Centerline goodness : 0.781756 with order 1 Centerline is valid? [False, False] Translation: X:-17.79, Y:10.15, Z:34.24 [[ 0.59667878 -0.78677123 0.15800464 -17.78684189] [ 0.80033151 0.59783097 -0.04547096 10.14540484] [ -0.05868482 0.15358765 0.98639086 34.2437357 ] [ 0. 0. 0. 1. ]] SLAMing on 293.779072329 meters Centerline goodness : 0.785400 with order 1 Centerline is valid? [False, False] Translation: X:-17.96, Y:10.10, Z:34.28 [[ 0.63097119 -0.758599 0.16248974 -17.96360526] [ 0.77243344 0.63380304 -0.04050036 10.10031079] [ -0.07226296 0.15106706 0.9858787 34.2768046 ] [ 0. 0. 0. 1. ]] SLAMing on 293.839072329 meters Centerline goodness : 0.788743 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:10.06, Z:34.30 [[ 6.51996189e-01 -7.40477534e-01 1.63076641e-01 -1.81215730e+01] [ 7.53740524e-01 6.56324101e-01 -3.33750872e-02 1.00561220e+01] [-8.23176274e-02 1.44677902e-01 9.86048738e-01 3.43046597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899072329 meters Centerline goodness : 0.788231 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:10.02, Z:34.33 [[ 6.81130652e-01 -7.14871298e-01 1.58177313e-01 -1.82645283e+01] [ 7.26452993e-01 6.86785919e-01 -2.43135956e-02 1.00238596e+01] [-9.12528594e-02 1.31469117e-01 9.87111335e-01 3.43302560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959072329 meters Centerline goodness : 0.790942 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:9.99, Z:34.35 [[ 7.03715597e-01 -6.92607012e-01 1.58366300e-01 -1.84016016e+01] [ 7.03599813e-01 7.10315392e-01 -1.99836757e-02 9.99078513e+00] [-9.86491865e-02 1.25489323e-01 9.87178184e-01 3.43545104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019072329 meters Centerline goodness : 0.790865 with order 1 Centerline is valid? [False, False] Translation: X:-18.53, Y:9.96, Z:34.38 [[ 7.12440679e-01 -6.83406209e-01 1.59324303e-01 -1.85291999e+01] [ 6.94546473e-01 7.19138829e-01 -2.10841666e-02 9.95686996e+00] [-1.00167242e-01 1.25679351e-01 9.87001127e-01 3.43774746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079072329 meters Centerline goodness : 0.792386 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:9.92, Z:34.40 [[ 7.08676091e-01 -6.87849898e-01 1.56973615e-01 -1.86425319e+01] [ 6.98570774e-01 7.15275712e-01 -1.94814892e-02 9.92080062e+00] [-9.88790742e-02 1.23463246e-01 9.87410632e-01 3.43977295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139072329 meters Centerline goodness : 0.792271 with order 1 Centerline is valid? [False, False] Translation: X:-18.77, Y:9.88, Z:34.42 [[ 6.92845871e-01 -7.04170802e-01 1.55267772e-01 -1.87710769e+01] [ 7.14798781e-01 6.99066166e-01 -1.92145534e-02 9.87878862e+00] [-9.50121184e-02 1.24297938e-01 9.87685537e-01 3.44174541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199072329 meters Centerline goodness : 0.793683 with order 1 Centerline is valid? [False, False] Translation: X:-18.90, Y:9.83, Z:34.44 [[ 6.67833035e-01 -7.29066939e-01 1.49868060e-01 -1.89021881e+01] [ 7.39109130e-01 6.73347160e-01 -1.79247015e-02 9.83291980e+00] [-8.78449255e-02 1.22739559e-01 9.88543509e-01 3.44402823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259072329 meters Centerline goodness : 0.793714 with order 1 Centerline is valid? [False, False] Translation: X:-19.04, Y:9.78, Z:34.46 [[ 6.46032638e-01 -7.49149266e-01 1.46346195e-01 -1.90389530e+01] [ 7.59039871e-01 6.50751957e-01 -1.95029274e-02 9.78117846e+00] [-8.06244691e-02 1.23682125e-01 9.89041165e-01 3.44603861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319072329 meters Centerline goodness : 0.791290 with order 1 Centerline is valid? [False, False] Translation: X:-19.20, Y:9.73, Z:34.48 [[ 6.47660919e-01 -7.48255392e-01 1.43698302e-01 -1.91990728e+01] [ 7.57766209e-01 6.52250400e-01 -1.89680736e-02 9.72629164e+00] [-7.95343118e-02 1.21174598e-01 9.89439746e-01 3.44827799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379072329 meters Centerline goodness : 0.793349 with order 1 Centerline is valid? [False, False] Translation: X:-19.35, Y:9.67, Z:34.51 [[ 6.43922595e-01 -7.51749484e-01 1.42254718e-01 -1.93471568e+01] [ 7.60868874e-01 6.48708694e-01 -1.59870564e-02 9.67357399e+00] [-8.02636113e-02 1.18531614e-01 9.89700970e-01 3.45059523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439072329 meters Centerline goodness : 0.791455 with order 1 Centerline is valid? [False, False] Translation: X:-19.49, Y:9.62, Z:34.53 [[ 6.42822048e-01 -7.52456175e-01 1.43490485e-01 -1.94944891e+01] [ 7.61602960e-01 6.47883100e-01 -1.44367418e-02 9.62103889e+00] [-8.21020446e-02 1.18563034e-01 9.89546392e-01 3.45284333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49907232899994 meters Centerline goodness : 0.792467 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:9.57, Z:34.55 [[ 6.41919969e-01 -7.53316499e-01 1.43014006e-01 -1.96466110e+01] [ 7.62210956e-01 6.47217091e-01 -1.20206404e-02 9.56943853e+00] [-8.35057622e-02 1.16723131e-01 9.89647664e-01 3.45533778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55907232899995 meters Centerline goodness : 0.791423 with order 1 Centerline is valid? [False, False] Translation: X:-19.81, Y:9.51, Z:34.58 [[ 6.44956279e-01 -7.50436349e-01 1.44487663e-01 -1.98109942e+01] [ 7.59526336e-01 6.50355834e-01 -1.25313283e-02 9.51496563e+00] [-8.45644304e-02 1.17824344e-01 9.89427249e-01 3.45778459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61907232899995 meters Centerline goodness : 0.789688 with order 1 Centerline is valid? [False, False] Translation: X:-19.97, Y:9.46, Z:34.60 [[ 6.49448636e-01 -7.46114990e-01 1.46727266e-01 -1.99740311e+01] [ 7.55621183e-01 6.54845385e-01 -1.46338734e-02 9.46464815e+00] [-8.51651210e-02 1.20374180e-01 9.89068733e-01 3.46010735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67907232899995 meters Centerline goodness : 0.790523 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:9.42, Z:34.63 [[ 6.56434640e-01 -7.39730747e-01 1.47959403e-01 -2.01230584e+01] [ 7.49082924e-01 6.62370913e-01 -1.18130334e-02 9.41995769e+00] [-8.92655405e-02 1.18588346e-01 9.88922882e-01 3.46257340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73907232899995 meters Centerline goodness : 0.794644 with order 1 Centerline is valid? [False, False] Translation: X:-20.28, Y:9.38, Z:34.65 [[ 6.64132146e-01 -7.31544541e-01 1.54178721e-01 -2.02751458e+01] [ 7.41374290e-01 6.71022393e-01 -9.64937884e-03 9.37717008e+00] [-9.63984237e-02 1.20712602e-01 9.87995856e-01 3.46528630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79907232899996 meters Centerline goodness : 0.793819 with order 1 Centerline is valid? [False, False] Translation: X:-20.42, Y:9.33, Z:34.68 [[ 6.67852639e-01 -7.27483556e-01 1.57291222e-01 -2.04184209e+01] [ 7.37542910e-01 6.75246598e-01 -8.51402742e-03 9.33334430e+00] [-1.00016548e-01 1.21695141e-01 9.87515561e-01 3.46796737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85907232899996 meters Centerline goodness : 0.794379 with order 1 Centerline is valid? [False, False] Translation: X:-20.56, Y:9.29, Z:34.70 [[ 6.68594487e-01 -7.27241526e-01 1.55245530e-01 -2.05607708e+01] [ 7.36864727e-01 6.76006802e-01 -6.72145490e-03 9.28811053e+00] [-1.00058913e-01 1.18888882e-01 9.87853050e-01 3.47047495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91907232899996 meters Centerline goodness : 0.794014 with order 1 Centerline is valid? [False, False] Translation: X:-20.70, Y:9.24, Z:34.73 [[ 6.66802216e-01 -7.29258582e-01 1.53482001e-01 -2.06977934e+01] [ 7.38766689e-01 6.73919638e-01 -7.49003199e-03 9.24203900e+00] [-9.79723644e-02 1.18381759e-01 9.88123057e-01 3.47284866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97907232899996 meters Centerline goodness : 0.792358 with order 1 Centerline is valid? [False, False] Translation: X:-20.84, Y:9.19, Z:34.75 [[ 6.61443270e-01 -7.34520962e-01 1.51564369e-01 -2.08393024e+01] [ 7.43885311e-01 6.68261497e-01 -7.82410272e-03 9.18923765e+00] [-9.55376646e-02 1.17921708e-01 9.88416423e-01 3.47518403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03907232899996 meters Centerline goodness : 0.790301 with order 1 Centerline is valid? [False, False] Translation: X:-20.98, Y:9.13, Z:34.78 [[ 6.55632348e-01 -7.40049510e-01 1.49909798e-01 -2.09839725e+01] [ 7.49094833e-01 6.62435845e-01 -5.97346784e-03 9.13382028e+00] [-9.48849619e-02 1.16213054e-01 9.88681632e-01 3.47756513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09907232899997 meters Centerline goodness : 0.793484 with order 1 Centerline is valid? [False, False] Translation: X:-21.14, Y:9.08, Z:34.80 [[ 6.45429360e-01 -7.48135927e-01 1.53992129e-01 -2.11397809e+01] [ 7.57498062e-01 6.52829123e-01 -3.28957027e-03 9.07604380e+00] [-9.80695010e-02 1.18771925e-01 9.88066598e-01 3.48021538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15907232899997 meters Centerline goodness : 0.792791 with order 1 Centerline is valid? [False, False] Translation: X:-21.29, Y:9.01, Z:34.83 [[ 6.32708181e-01 -7.58944251e-01 1.53896010e-01 -2.12917248e+01] [ 7.68135685e-01 6.40286966e-01 -4.13395576e-04 9.01383914e+00] [-9.82238650e-02 1.18474576e-01 9.88086963e-01 3.48257720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21907232899997 meters Centerline goodness : 0.790139 with order 1 Centerline is valid? [False, False] Translation: X:-21.45, Y:8.95, Z:34.85 [[ 6.19992441e-01 -7.70398303e-01 1.48646651e-01 -2.14467697e+01] [ 7.79005976e-01 6.27016298e-01 5.01021985e-04 8.95383828e+00] [-9.35898594e-02 1.15486000e-01 9.88890248e-01 3.48500586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279072329 meters Centerline goodness : 0.786964 with order 1 Centerline is valid? [False, False] Translation: X:-21.61, Y:8.90, Z:34.88 [[ 6.15339208e-01 -7.74011183e-01 1.49212426e-01 -2.16132983e+01] [ 7.83048285e-01 6.21953894e-01 -2.95580175e-03 8.89508760e+00] [-9.05154256e-02 1.18659355e-01 9.88800746e-01 3.48752716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339072329 meters Centerline goodness : 0.784381 with order 1 Centerline is valid? [False, False] Translation: X:-21.78, Y:8.84, Z:34.90 [[ 6.15275781e-01 -7.73705918e-01 1.51045905e-01 -2.17818475e+01] [ 7.83158758e-01 6.21801047e-01 -5.08101547e-03 8.83887901e+00] [-8.99892903e-02 1.21419149e-01 9.88513691e-01 3.49003549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399072329 meters Centerline goodness : 0.786675 with order 1 Centerline is valid? [False, False] Translation: X:-21.96, Y:8.79, Z:34.93 [[ 6.18652206e-01 -7.70011653e-01 1.56049679e-01 -2.19564216e+01] [ 7.80124837e-01 6.25596751e-01 -5.82611117e-03 8.78513287e+00] [-9.31379987e-02 1.25342567e-01 9.87732025e-01 3.49314758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459072329 meters Centerline goodness : 0.790949 with order 1 Centerline is valid? [False, False] Translation: X:-22.13, Y:8.73, Z:34.97 [[ 6.18288785e-01 -7.69371111e-01 1.60583538e-01 -2.21294515e+01] [ 7.79324328e-01 6.26618761e-01 1.58721232e-03 8.73374548e+00] [-1.01845813e-01 1.24165302e-01 9.87020977e-01 3.49655711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519072329 meters Centerline goodness : 0.794229 with order 1 Centerline is valid? [False, False] Translation: X:-22.29, Y:8.68, Z:35.00 [[ 6.19259038e-01 -7.68488272e-01 1.61071475e-01 -2.22897062e+01] [ 7.78071486e-01 6.28150954e-01 5.58038842e-03 8.68337674e+00] [-1.05465664e-01 1.21869416e-01 9.86926968e-01 3.49966987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579072329 meters Centerline goodness : 0.793702 with order 1 Centerline is valid? [False, False] Translation: X:-22.46, Y:8.63, Z:35.03 [[ 6.27496264e-01 -7.61622556e-01 1.61800868e-01 -2.24576844e+01] [ 7.71138002e-01 6.36638509e-01 6.13119860e-03 8.63377977e+00] [-1.07678322e-01 1.20923494e-01 9.86804382e-01 3.50265365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639072329 meters Centerline goodness : 0.792237 with order 1 Centerline is valid? [False, False] Translation: X:-22.62, Y:8.59, Z:35.05 [[ 6.31622260e-01 -7.58048746e-01 1.62528214e-01 -2.26185745e+01] [ 7.68059462e-01 6.40375644e-01 1.92274433e-03 8.58542132e+00] [-1.05536643e-01 1.23616884e-01 9.86702023e-01 3.50547591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699072329 meters Centerline goodness : 0.791051 with order 1 Centerline is valid? [False, False] Translation: X:-22.79, Y:8.53, Z:35.09 [[ 6.30824500e-01 -7.58058634e-01 1.65552279e-01 -2.27905338e+01] [ 7.68629991e-01 6.39693543e-01 3.29707433e-04 8.53222194e+00] [-1.06152662e-01 1.27040459e-01 9.86200960e-01 3.50850741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759072329 meters Centerline goodness : 0.791981 with order 1 Centerline is valid? [False, False] Translation: X:-22.94, Y:8.48, Z:35.12 [[ 6.27295215e-01 -7.60956061e-01 1.65670115e-01 -2.29447885e+01] [ 7.71286348e-01 6.36480874e-01 3.07685435e-03 8.48099483e+00] [-1.07787210e-01 1.25849002e-01 9.86176427e-01 3.51155550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819072329 meters Centerline goodness : 0.791269 with order 1 Centerline is valid? [False, False] Translation: X:-23.10, Y:8.43, Z:35.14 [[ 6.19380525e-01 -7.68189035e-01 1.62028922e-01 -2.30984255e+01] [ 7.77836195e-01 6.28437816e-01 6.06341317e-03 8.42556742e+00] [-1.06482950e-01 1.22276400e-01 9.86767381e-01 3.51443199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879072329 meters Centerline goodness : 0.789424 with order 1 Centerline is valid? [False, False] Translation: X:-23.26, Y:8.37, Z:35.17 [[ 6.11763029e-01 -7.74332757e-01 1.61724386e-01 -2.32631691e+01] [ 7.84139474e-01 6.20564141e-01 5.04316105e-03 8.36719053e+00] [-1.04265439e-01 1.23729255e-01 9.86823079e-01 3.51713269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939072329 meters Centerline goodness : 0.787584 with order 1 Centerline is valid? [False, False] Translation: X:-23.43, Y:8.32, Z:35.20 [[ 6.10433471e-01 -7.76279256e-01 1.57357854e-01 -2.34272535e+01] [ 7.85580289e-01 6.18740346e-01 4.89834577e-03 8.31561843e+00] [-1.01166137e-01 1.20627114e-01 9.87529499e-01 3.51987187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99907232899994 meters Centerline goodness : 0.785427 with order 1 Centerline is valid? [False, False] Translation: X:-23.60, Y:8.26, Z:35.23 [[ 6.14962806e-01 -7.72448949e-01 1.58566602e-01 -2.35989404e+01] [ 7.81977618e-01 6.23295884e-01 3.63948049e-03 8.26497332e+00] [-1.01645223e-01 1.21757389e-01 9.87341576e-01 3.52282340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05907232899995 meters Centerline goodness : 0.787484 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:8.22, Z:35.26 [[ 6.25857646e-01 -7.63011853e-01 1.61601730e-01 -2.37601959e+01] [ 7.73112734e-01 6.34268357e-01 5.92559002e-04 8.22426479e+00] [-1.02950993e-01 1.24565498e-01 9.86855881e-01 3.52570425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11907232899995 meters Centerline goodness : 0.788716 with order 1 Centerline is valid? [False, False] Translation: X:-23.92, Y:8.19, Z:35.29 [[ 6.38805506e-01 -7.51752667e-01 1.63693169e-01 -2.39241411e+01] [ 7.61527779e-01 6.48115873e-01 4.61044537e-03 8.18714734e+00] [-1.09558056e-01 1.21711718e-01 9.86500527e-01 3.52891109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17907232899995 meters Centerline goodness : 0.788361 with order 1 Centerline is valid? [False, False] Translation: X:-24.07, Y:8.15, Z:35.32 [[ 6.45723804e-01 -7.45501497e-01 1.65131122e-01 -2.40711545e+01] [ 7.55221642e-01 6.55443220e-01 5.86993998e-03 8.14982305e+00] [-1.12610123e-01 1.20920237e-01 9.86254154e-01 3.53193551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23907232899995 meters Centerline goodness : 0.790131 with order 1 Centerline is valid? [False, False] Translation: X:-24.23, Y:8.11, Z:35.35 [[ 6.53695950e-01 -7.37593105e-01 1.69227706e-01 -2.42299576e+01] [ 7.48129888e-01 6.63548526e-01 2.24159067e-03 8.10867654e+00] [-1.13944177e-01 1.25138986e-01 9.85574431e-01 3.53495383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29907232899996 meters Centerline goodness : 0.789987 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:8.07, Z:35.38 [[ 6.61138941e-01 -7.30491369e-01 1.71107164e-01 -2.43797164e+01] [ 7.41018396e-01 6.71475837e-01 3.45506155e-03 8.06889241e+00] [-1.17418219e-01 1.24509280e-01 9.85246366e-01 3.53785573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35907232899996 meters Centerline goodness : 0.789374 with order 1 Centerline is valid? [False, False] Translation: X:-24.52, Y:8.03, Z:35.41 [[ 6.64772914e-01 -7.27207302e-01 1.71016121e-01 -2.45226351e+01] [ 7.37602176e-01 6.75223500e-01 4.03185316e-03 8.03043641e+00] [-1.18406097e-01 1.23461596e-01 9.85259981e-01 3.54084384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41907232899996 meters Centerline goodness : 0.789606 with order 1 Centerline is valid? [False, False] Translation: X:-24.67, Y:7.99, Z:35.44 [[ 6.65614243e-01 -7.26282584e-01 1.71672036e-01 -2.46650123e+01] [ 7.36637399e-01 6.76269928e-01 4.93223004e-03 7.98802343e+00] [-1.19678828e-01 1.23177079e-01 9.85141810e-01 3.54359194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47907232899996 meters Centerline goodness : 0.788983 with order 1 Centerline is valid? [False, False] Translation: X:-24.81, Y:7.94, Z:35.46 [[ 6.65408856e-01 -7.26014411e-01 1.73591846e-01 -2.48108393e+01] [ 7.36518134e-01 6.76393947e-01 5.68035837e-03 7.94425193e+00] [-1.21540496e-01 1.24073782e-01 9.84801302e-01 3.54648112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53907232899996 meters Centerline goodness : 0.789343 with order 1 Centerline is valid? [False, False] Translation: X:-24.95, Y:7.90, Z:35.49 [[ 6.62296619e-01 -7.29316619e-01 1.71640490e-01 -2.49497560e+01] [ 7.39620984e-01 6.72999350e-01 5.71620742e-03 7.90042608e+00] [-1.19682863e-01 1.23163084e-01 9.85143069e-01 3.54912058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59907232899997 meters Centerline goodness : 0.787703 with order 1 Centerline is valid? [False, False] Translation: X:-25.09, Y:7.85, Z:35.51 [[ 6.54119095e-01 -7.37122810e-01 1.69641308e-01 -2.50937809e+01] [ 7.47209038e-01 6.64557631e-01 6.46592979e-03 7.84918787e+00] [-1.17502610e-01 1.22528031e-01 9.85484662e-01 3.55149830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65907232899997 meters Centerline goodness : 0.786428 with order 1 Centerline is valid? [False, False] Translation: X:-25.25, Y:7.79, Z:35.54 [[ 6.42797217e-01 -7.46603857e-01 1.71448005e-01 -2.52496986e+01] [ 7.57416221e-01 6.52922681e-01 3.55532284e-03 7.79340137e+00] [-1.14596709e-01 1.27572148e-01 9.85186755e-01 3.55444909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71907232899997 meters Centerline goodness : 0.787607 with order 1 Centerline is valid? [False, False] Translation: X:-25.40, Y:7.74, Z:35.57 [[ 6.35239809e-01 -7.52985630e-01 1.71706221e-01 -2.54011572e+01] [ 7.63810741e-01 6.45423802e-01 4.61170551e-03 7.74181410e+00] [-1.14295830e-01 1.28221517e-01 9.85137405e-01 3.55733947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779072329 meters Centerline goodness : 0.786351 with order 1 Centerline is valid? [False, False] Translation: X:-25.56, Y:7.69, Z:35.60 [[ 6.25489848e-01 -7.61760018e-01 1.68772405e-01 -2.55569412e+01] [ 7.71924058e-01 6.35661346e-01 8.24030778e-03 7.68884322e+00] [-1.13559231e-01 1.25125251e-01 9.85620603e-01 3.56038977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839072329 meters Centerline goodness : 0.785179 with order 1 Centerline is valid? [False, False] Translation: X:-25.72, Y:7.64, Z:35.64 [[ 6.20663614e-01 -7.65678227e-01 1.68859500e-01 -2.57236149e+01] [ 7.75960649e-01 6.30732328e-01 7.86138471e-03 7.63714569e+00] [-1.12524436e-01 1.26149052e-01 9.85608780e-01 3.56361372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899072329 meters Centerline goodness : 0.784239 with order 1 Centerline is valid? [False, False] Translation: X:-25.90, Y:7.59, Z:35.67 [[ 6.22143012e-01 -7.62941407e-01 1.75665825e-01 -2.58991690e+01] [ 7.74393236e-01 6.32683079e-01 5.21887740e-03 7.58746960e+00] [-1.15122493e-01 1.32787539e-01 9.84436022e-01 3.56702081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959072329 meters Centerline goodness : 0.785759 with order 1 Centerline is valid? [False, False] Translation: X:-26.08, Y:7.54, Z:35.70 [[ 6.25622396e-01 -7.59396824e-01 1.78642328e-01 -2.60753067e+01] [ 7.71315863e-01 6.36438442e-01 4.23669479e-03 7.53953406e+00] [-1.16912178e-01 1.35139090e-01 9.83904959e-01 3.57041237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019072329 meters Centerline goodness : 0.784678 with order 1 Centerline is valid? [False, False] Translation: X:-26.25, Y:7.49, Z:35.74 [[ 6.30153349e-01 -7.55116496e-01 1.80847545e-01 -2.62461765e+01] [ 7.67704567e-01 6.40803659e-01 6.07193384e-04 7.49341870e+00] [-1.16346270e-01 1.38454861e-01 9.83510954e-01 3.57391509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079072329 meters Centerline goodness : 0.784251 with order 1 Centerline is valid? [False, False] Translation: X:-26.41, Y:7.45, Z:35.77 [[ 6.31935524e-01 -7.52746129e-01 1.84474278e-01 -2.64123641e+01] [ 7.66224161e-01 6.42567324e-01 -2.78738549e-03 7.44559387e+00] [-1.16438949e-01 1.43110096e-01 9.82833389e-01 3.57725938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139072329 meters Centerline goodness : 0.781074 with order 1 Centerline is valid? [False, False] Translation: X:-26.58, Y:7.40, Z:35.81 [[ 6.30663461e-01 -7.53649848e-01 1.85136451e-01 -2.65785920e+01] [ 7.67607910e-01 6.40892500e-01 -5.90767552e-03 7.39669675e+00] [-1.14200244e-01 1.45837960e-01 9.82695066e-01 3.58062518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199072329 meters Centerline goodness : 0.779604 with order 1 Centerline is valid? [False, False] Translation: X:-26.75, Y:7.34, Z:35.84 [[ 6.24181225e-01 -7.58508555e-01 1.87250021e-01 -2.67481386e+01] [ 7.73189367e-01 6.34115601e-01 -8.69520859e-03 7.34462003e+00] [-1.12142770e-01 1.50207111e-01 9.82273802e-01 3.58386966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259072329 meters Centerline goodness : 0.778856 with order 1 Centerline is valid? [False, False] Translation: X:-26.92, Y:7.30, Z:35.87 [[ 6.23117179e-01 -7.59502833e-01 1.86763028e-01 -2.69164352e+01] [ 7.74062880e-01 6.33056140e-01 -8.15978677e-03 7.29676938e+00] [-1.12034100e-01 1.49650831e-01 9.82371106e-01 3.58729221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319072329 meters Centerline goodness : 0.780361 with order 1 Centerline is valid? [False, False] Translation: X:-27.09, Y:7.24, Z:35.91 [[ 6.18611707e-01 -7.63093381e-01 1.87104377e-01 -2.70913137e+01] [ 7.77794278e-01 6.28462417e-01 -8.42917673e-03 7.24316746e+00] [-1.11155820e-01 1.50743102e-01 9.82303874e-01 3.59076274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379072329 meters Centerline goodness : 0.778022 with order 1 Centerline is valid? [False, False] Translation: X:-27.27, Y:7.19, Z:35.94 [[ 6.18920129e-01 -7.62384963e-01 1.88963070e-01 -2.72658440e+01] [ 7.77422665e-01 6.28915170e-01 -8.92802717e-03 7.19115812e+00] [-1.12035147e-01 1.52429909e-01 9.81943608e-01 3.59408749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439072329 meters Centerline goodness : 0.778388 with order 1 Centerline is valid? [False, False] Translation: X:-27.44, Y:7.14, Z:35.98 [[ 6.14430697e-01 -7.65734069e-01 1.90069075e-01 -2.74388506e+01] [ 7.81100590e-01 6.24328297e-01 -9.80029407e-03 7.14243545e+00] [-1.11161083e-01 1.54484668e-01 9.81721804e-01 3.59766525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49907232899994 meters Centerline goodness : 0.781433 with order 1 Centerline is valid? [False, False] Translation: X:-27.62, Y:7.09, Z:36.02 [[ 6.09913830e-01 -7.68775068e-01 1.92327884e-01 -2.76194899e+01] [ 7.84615672e-01 6.19896364e-01 -1.03317306e-02 7.08942281e+00] [-1.11280579e-01 1.57204937e-01 9.81276332e-01 3.60150134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55907232899995 meters Centerline goodness : 0.782090 with order 1 Centerline is valid? [False, False] Translation: X:-27.80, Y:7.04, Z:36.05 [[ 6.07734073e-01 -7.69699643e-01 1.95503850e-01 -2.77988195e+01] [ 7.86126531e-01 6.17971973e-01 -1.07571868e-02 7.03749243e+00] [-1.12536097e-01 1.60228273e-01 9.80643935e-01 3.60540542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61907232899995 meters Centerline goodness : 0.783273 with order 1 Centerline is valid? [False, False] Translation: X:-27.98, Y:6.99, Z:36.09 [[ 6.07353539e-01 -7.69620169e-01 1.96993591e-01 -2.79796851e+01] [ 7.86198745e-01 6.17893876e-01 -9.93433959e-03 6.98739102e+00] [-1.14075465e-01 1.60909770e-01 9.80354443e-01 3.60915222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67907232899995 meters Centerline goodness : 0.781608 with order 1 Centerline is valid? [False, False] Translation: X:-28.16, Y:6.94, Z:36.13 [[ 6.07764094e-01 -7.69452618e-01 1.96380944e-01 -2.81573747e+01] [ 7.86001007e-01 6.18134665e-01 -1.05807288e-02 6.93824149e+00] [-1.13248499e-01 1.60786207e-01 9.80470588e-01 3.61283605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73907232899995 meters Centerline goodness : 0.781930 with order 1 Centerline is valid? [False, False] Translation: X:-28.33, Y:6.89, Z:36.17 [[ 6.08943972e-01 -7.68161189e-01 1.97776710e-01 -2.83349829e+01] [ 7.85137282e-01 6.19196670e-01 -1.24471891e-02 6.89067074e+00] [-1.12901233e-01 1.62861510e-01 9.80168067e-01 3.61658818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79907232899996 meters Centerline goodness : 0.781513 with order 1 Centerline is valid? [False, False] Translation: X:-28.51, Y:6.84, Z:36.20 [[ 6.07975690e-01 -7.68508613e-01 1.99399279e-01 -2.85093992e+01] [ 7.86179613e-01 6.17789461e-01 -1.60560815e-02 6.84330503e+00] [-1.10847536e-01 1.66525356e-01 9.79786778e-01 3.62045143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85907232899996 meters Centerline goodness : 0.780577 with order 1 Centerline is valid? [False, False] Translation: X:-28.69, Y:6.79, Z:36.24 [[ 6.06878112e-01 -7.69071260e-01 2.00570074e-01 -2.86880602e+01] [ 7.87152152e-01 6.16501729e-01 -1.78074975e-02 6.79332812e+00] [-1.09956563e-01 1.68686146e-01 9.79517503e-01 3.62430443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91907232899996 meters Centerline goodness : 0.781448 with order 1 Centerline is valid? [False, False] Translation: X:-28.87, Y:6.74, Z:36.28 [[ 6.04519970e-01 -7.71255444e-01 1.99300391e-01 -2.88681356e+01] [ 7.89062480e-01 6.14076881e-01 -1.70290165e-02 6.74337778e+00] [-1.09252041e-01 1.67554842e-01 9.79790471e-01 3.62817280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97907232899996 meters Centerline goodness : 0.782223 with order 1 Centerline is valid? [False, False] Translation: X:-29.05, Y:6.69, Z:36.32 [[ 6.03249374e-01 -7.71634031e-01 2.01670809e-01 -2.90476736e+01] [ 7.89967386e-01 6.12885475e-01 -1.79700850e-02 6.69294213e+00] [-1.09734780e-01 1.70153804e-01 9.79288497e-01 3.63199506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03907232899996 meters Centerline goodness : 0.783451 with order 1 Centerline is valid? [False, False] Translation: X:-29.23, Y:6.65, Z:36.36 [[ 6.04197220e-01 -7.70812605e-01 2.01974372e-01 -2.92256230e+01] [ 7.89149192e-01 6.13948206e-01 -1.76395226e-02 6.64815556e+00] [-1.10405037e-01 1.70045663e-01 9.79231944e-01 3.63573190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09907232899997 meters Centerline goodness : 0.784419 with order 1 Centerline is valid? [False, False] Translation: X:-29.40, Y:6.61, Z:36.39 [[ 6.09288287e-01 -7.67348046e-01 1.99861849e-01 -2.94007028e+01] [ 7.85338833e-01 6.18794178e-01 -1.83489184e-02 6.60515064e+00] [-1.09593342e-01 1.68139052e-01 9.79652264e-01 3.63947244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15907232899997 meters Centerline goodness : 0.782479 with order 1 Centerline is valid? [False, False] Translation: X:-29.58, Y:6.57, Z:36.43 [[ 6.18210198e-01 -7.59912928e-01 2.00869343e-01 -2.95757671e+01] [ 7.78141186e-01 6.27773375e-01 -1.99219702e-02 6.56515863e+00] [-1.10961462e-01 1.68620674e-01 9.79415449e-01 3.64322300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21907232899997 meters Centerline goodness : 0.785299 with order 1 Centerline is valid? [False, False] Translation: X:-29.75, Y:6.52, Z:36.47 [[ 6.24846890e-01 -7.53757631e-01 2.03508718e-01 -2.97519702e+01] [ 7.72286920e-01 6.34978649e-01 -1.93656451e-02 6.52473446e+00] [-1.14626688e-01 1.69267684e-01 9.78881593e-01 3.64716386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279072329 meters Centerline goodness : 0.785841 with order 1 Centerline is valid? [False, False] Translation: X:-29.92, Y:6.49, Z:36.51 [[ 6.30374455e-01 -7.49308297e-01 2.02891900e-01 -2.99178390e+01] [ 7.67516005e-01 6.40772217e-01 -1.81699949e-02 6.48591376e+00] [-1.16392565e-01 1.67176681e-01 9.79032547e-01 3.65091552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339072329 meters Centerline goodness : 0.786467 with order 1 Centerline is valid? [False, False] Translation: X:-30.07, Y:6.45, Z:36.54 [[ 6.32930806e-01 -7.47927125e-01 2.00009029e-01 -3.00737344e+01] [ 7.65114266e-01 6.43743262e-01 -1.39560775e-02 6.44610999e+00] [-1.18316336e-01 1.61862993e-01 9.79694655e-01 3.65436047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399072329 meters Centerline goodness : 0.786318 with order 1 Centerline is valid? [False, False] Translation: X:-30.24, Y:6.41, Z:36.58 [[ 6.36980369e-01 -7.44520589e-01 1.99862708e-01 -3.02425996e+01] [ 7.61763945e-01 6.47678606e-01 -1.51034786e-02 6.40602296e+00] [-1.18201949e-01 1.61868824e-01 9.79707499e-01 3.65790871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459072329 meters Centerline goodness : 0.784987 with order 1 Centerline is valid? [False, False] Translation: X:-30.41, Y:6.37, Z:36.61 [[ 6.42820710e-01 -7.39065350e-01 2.01404922e-01 -3.04095220e+01] [ 7.56721880e-01 6.53512766e-01 -1.71190223e-02 6.36794799e+00] [-1.18968611e-01 1.63411973e-01 9.79358462e-01 3.66139973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519072329 meters Centerline goodness : 0.784570 with order 1 Centerline is valid? [False, False] Translation: X:-30.56, Y:6.33, Z:36.65 [[ 6.47409511e-01 -7.35643721e-01 1.99221590e-01 -3.05571054e+01] [ 7.52684841e-01 6.58197501e-01 -1.55428230e-02 6.33254059e+00] [-1.19693172e-01 1.60013642e-01 9.79831199e-01 3.66465568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579072329 meters Centerline goodness : 0.783451 with order 1 Centerline is valid? [False, False] Translation: X:-30.71, Y:6.30, Z:36.68 [[ 6.50790407e-01 -7.33413877e-01 1.96407566e-01 -3.07091944e+01] [ 7.49601988e-01 6.61768024e-01 -1.26468208e-02 6.29644290e+00] [-1.20700893e-01 1.55457932e-01 9.80440781e-01 3.66797386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639072329 meters Centerline goodness : 0.783457 with order 1 Centerline is valid? [False, False] Translation: X:-30.86, Y:6.26, Z:36.71 [[ 6.53341549e-01 -7.30605324e-01 1.98395266e-01 -3.08588962e+01] [ 7.46922190e-01 6.64812131e-01 -1.14923052e-02 6.25920022e+00] [-1.23499240e-01 1.55694227e-01 9.80054716e-01 3.67132173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699072329 meters Centerline goodness : 0.785680 with order 1 Centerline is valid? [False, False] Translation: X:-31.01, Y:6.22, Z:36.75 [[ 6.52704167e-01 -7.31255600e-01 1.98097243e-01 -3.10097320e+01] [ 7.47313237e-01 6.64400651e-01 -9.73141816e-03 6.22142931e+00] [-1.24499783e-01 1.54392429e-01 9.80134063e-01 3.67461769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759072329 meters Centerline goodness : 0.787308 with order 1 Centerline is valid? [False, False] Translation: X:-31.16, Y:6.18, Z:36.78 [[ 6.52996842e-01 -7.31957256e-01 1.94508867e-01 -3.11623847e+01] [ 7.46840127e-01 6.64985958e-01 -4.84783671e-03 6.18433828e+00] [-1.25797256e-01 1.48432649e-01 9.80888780e-01 3.67776576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819072329 meters Centerline goodness : 0.785623 with order 1 Centerline is valid? [False, False] Translation: X:-31.31, Y:6.15, Z:36.81 [[ 6.54714451e-01 -7.30674762e-01 1.93554592e-01 -3.13140792e+01] [ 7.45173761e-01 6.66862751e-01 -3.18384712e-03 6.14717110e+00] [-1.26747991e-01 1.46316314e-01 9.81084340e-01 3.68113217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879072329 meters Centerline goodness : 0.787645 with order 1 Centerline is valid? [False, False] Translation: X:-31.46, Y:6.11, Z:36.84 [[ 6.59354853e-01 -7.26532400e-01 1.93395580e-01 -3.14601338e+01] [ 7.40894725e-01 6.71614878e-01 -2.90887364e-03 6.11419623e+00] [-1.27773958e-01 1.45203745e-01 9.81116552e-01 3.68420434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939072329 meters Centerline goodness : 0.786616 with order 1 Centerline is valid? [False, False] Translation: X:-31.61, Y:6.08, Z:36.87 [[ 6.67061967e-01 -7.20061177e-01 1.91155000e-01 -3.16054098e+01] [ 7.33715143e-01 6.79456526e-01 -9.58383474e-04 6.08367879e+00] [-1.29191417e-01 1.40892619e-01 9.81559396e-01 3.68731010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99907232899994 meters Centerline goodness : 0.788211 with order 1 Centerline is valid? [False, False] Translation: X:-31.75, Y:6.05, Z:36.91 [[ 6.71499335e-01 -7.15232579e-01 1.93729193e-01 -3.17509896e+01] [ 7.29284425e-01 6.84208330e-01 -1.78557548e-03 6.04986359e+00] [-1.31274026e-01 1.42482696e-01 9.81053419e-01 3.69060275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05907232899995 meters Centerline goodness : 0.787983 with order 1 Centerline is valid? [False, False] Translation: X:-31.90, Y:6.01, Z:36.94 [[ 6.73642032e-01 -7.12965683e-01 1.94644156e-01 -3.18974078e+01] [ 7.26948397e-01 6.86691836e-01 -5.92267543e-04 6.01489279e+00] [-1.33238286e-01 1.41895233e-01 9.80873744e-01 3.69374459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11907232899995 meters Centerline goodness : 0.789475 with order 1 Centerline is valid? [False, False] Translation: X:-32.04, Y:5.98, Z:36.97 [[ 6.73409608e-01 -7.13463786e-01 1.93620572e-01 -3.20393946e+01] [ 7.27214260e-01 6.86410528e-01 8.25519110e-05 5.97990094e+00] [-1.32962097e-01 1.40748050e-01 9.81076484e-01 3.69679470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17907232899995 meters Centerline goodness : 0.789353 with order 1 Centerline is valid? [False, False] Translation: X:-32.18, Y:5.94, Z:37.00 [[ 6.69197677e-01 -7.16930768e-01 1.95409169e-01 -3.21837057e+01] [ 7.31147701e-01 6.82218588e-01 -9.15247971e-04 5.94196954e+00] [-1.32655598e-01 1.43485446e-01 9.80721377e-01 3.69994290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23907232899995 meters Centerline goodness : 0.790238 with order 1 Centerline is valid? [False, False] Translation: X:-32.33, Y:5.90, Z:37.03 [[ 6.67346925e-01 -7.18773957e-01 1.94966870e-01 -3.23281763e+01] [ 7.32873955e-01 6.80364382e-01 -2.71746265e-04 5.90427374e+00] [-1.32453190e-01 1.43067490e-01 9.80809791e-01 3.70302963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29907232899996 meters Centerline goodness : 0.787248 with order 1 Centerline is valid? [False, False] Translation: X:-32.47, Y:5.87, Z:37.06 [[ 6.64602329e-01 -7.22047757e-01 1.92225859e-01 -3.24697474e+01] [ 7.35759858e-01 6.77242516e-01 7.13958438e-05 5.86545007e+00] [-1.30235076e-01 1.41384621e-01 9.81350709e-01 3.70591867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35907232899996 meters Centerline goodness : 0.786416 with order 1 Centerline is valid? [False, False] Translation: X:-32.62, Y:5.82, Z:37.09 [[ 6.59277869e-01 -7.27011701e-01 1.91850668e-01 -3.26155149e+01] [ 7.40780707e-01 6.71746932e-01 -6.48749594e-05 5.82487748e+00] [-1.28827933e-01 1.42162044e-01 9.81424127e-01 3.70895495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41907232899996 meters Centerline goodness : 0.783998 with order 1 Centerline is valid? [False, False] Translation: X:-32.77, Y:5.78, Z:37.12 [[ 6.52614963e-01 -7.32475698e-01 1.93837717e-01 -3.27659976e+01] [ 7.46547354e-01 6.65331939e-01 6.78414949e-04 5.78167740e+00] [-1.29463347e-01 1.44266291e-01 9.81033373e-01 3.71199617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47907232899996 meters Centerline goodness : 0.782570 with order 1 Centerline is valid? [False, False] Translation: X:-32.92, Y:5.74, Z:37.15 [[ 6.49272737e-01 -7.35720179e-01 1.92771190e-01 -3.29193854e+01] [ 7.49421298e-01 6.62087675e-01 2.76205765e-03 5.74149000e+00] [-1.29663531e-01 1.42673507e-01 9.81239848e-01 3.71524657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53907232899996 meters Centerline goodness : 0.781350 with order 1 Centerline is valid? [False, False] Translation: X:-33.07, Y:5.70, Z:37.18 [[ 6.45149532e-01 -7.39358150e-01 1.92695634e-01 -3.30737974e+01] [ 7.52800812e-01 6.58228044e-01 5.17488078e-03 5.70182316e+00] [-1.30663761e-01 1.41722858e-01 9.81244930e-01 3.71844643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59907232899997 meters Centerline goodness : 0.778699 with order 1 Centerline is valid? [False, False] Translation: X:-33.24, Y:5.66, Z:37.22 [[ 6.42388284e-01 -7.40762287e-01 1.96490525e-01 -3.32401172e+01] [ 7.55379313e-01 6.55287255e-01 8.41083145e-04 5.65887251e+00] [-1.29380779e-01 1.47884576e-01 9.80505363e-01 3.72187852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65907232899997 meters Centerline goodness : 0.780169 with order 1 Centerline is valid? [False, False] Translation: X:-33.40, Y:5.62, Z:37.25 [[ 6.41087996e-01 -7.41712108e-01 1.97153063e-01 -3.33983753e+01] [ 7.56197659e-01 6.54337509e-01 2.74310696e-03 5.62133490e+00] [-1.31039240e-01 1.47328112e-01 9.80368882e-01 3.72536644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71907232899997 meters Centerline goodness : 0.778757 with order 1 Centerline is valid? [False, False] Translation: X:-33.56, Y:5.59, Z:37.29 [[ 6.41821753e-01 -7.41499174e-01 1.95560255e-01 -3.35553681e+01] [ 7.55286736e-01 6.55366060e-01 6.10520359e-03 5.58527208e+00] [-1.32690557e-01 1.43785614e-01 9.80672684e-01 3.72874149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779072329 meters Centerline goodness : 0.778659 with order 1 Centerline is valid? [False, False] Translation: X:-33.72, Y:5.55, Z:37.32 [[ 6.46375857e-01 -7.37031425e-01 1.97440951e-01 -3.37228624e+01] [ 7.51481879e-01 6.59748562e-01 2.61181517e-03 5.54831750e+00] [-1.32186373e-01 1.46685082e-01 9.80311302e-01 3.73219020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839072329 meters Centerline goodness : 0.779718 with order 1 Centerline is valid? [False, False] Translation: X:-33.88, Y:5.51, Z:37.36 [[ 6.48452165e-01 -7.34721134e-01 1.99235152e-01 -3.38778236e+01] [ 7.49229463e-01 6.62299355e-01 3.84403126e-03 5.51324038e+00] [-1.34777604e-01 1.46780176e-01 9.79944171e-01 3.73572581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899072329 meters Centerline goodness : 0.778207 with order 1 Centerline is valid? [False, False] Translation: X:-34.03, Y:5.48, Z:37.39 [[ 6.48763341e-01 -7.34313171e-01 1.99725548e-01 -3.40327274e+01] [ 7.48649723e-01 6.62942423e-01 5.56192203e-03 5.48005614e+00] [-1.36490731e-01 1.45916105e-01 9.79836094e-01 3.73921711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959072329 meters Centerline goodness : 0.777441 with order 1 Centerline is valid? [False, False] Translation: X:-34.19, Y:5.44, Z:37.43 [[ 6.47957209e-01 -7.34916268e-01 2.00123797e-01 -3.41879791e+01] [ 7.48941356e-01 6.62584241e-01 8.30479498e-03 5.44309268e+00] [-1.38702203e-01 1.44499836e-01 9.79735421e-01 3.74261484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019072329 meters Centerline goodness : 0.777794 with order 1 Centerline is valid? [False, False] Translation: X:-34.34, Y:5.41, Z:37.46 [[ 6.45141240e-01 -7.36761376e-01 2.02423947e-01 -3.43434030e+01] [ 7.51240319e-01 6.59981855e-01 7.86976303e-03 5.40605746e+00] [-1.39394269e-01 1.46991922e-01 9.79266364e-01 3.74608183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079072329 meters Centerline goodness : 0.776568 with order 1 Centerline is valid? [False, False] Translation: X:-34.50, Y:5.37, Z:37.50 [[ 6.48053932e-01 -7.34786406e-01 2.00287389e-01 -3.45025904e+01] [ 7.49040910e-01 6.62488506e-01 6.83338786e-03 5.37160639e+00] [-1.37709174e-01 1.45595044e-01 9.79713359e-01 3.74952040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139072329 meters Centerline goodness : 0.777285 with order 1 Centerline is valid? [False, False] Translation: X:-34.67, Y:5.34, Z:37.53 [[ 6.53033278e-01 -7.29461515e-01 2.03552050e-01 -3.46667127e+01] [ 7.44446443e-01 6.67667873e-01 4.37095896e-03 5.33892775e+00] [-1.39093611e-01 1.48679218e-01 9.79054369e-01 3.75301548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199072329 meters Centerline goodness : 0.777409 with order 1 Centerline is valid? [False, False] Translation: X:-34.82, Y:5.31, Z:37.56 [[ 6.56624619e-01 -7.25859972e-01 2.04869250e-01 -3.48163450e+01] [ 7.40895922e-01 6.71602168e-01 4.87446561e-03 5.30777165e+00] [-1.41128812e-01 1.48586098e-01 9.78777212e-01 3.75646003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259072329 meters Centerline goodness : 0.777768 with order 1 Centerline is valid? [False, False] Translation: X:-34.97, Y:5.28, Z:37.60 [[ 6.57872470e-01 -7.24587252e-01 2.05370709e-01 -3.49674395e+01] [ 7.39488580e-01 6.73141130e-01 6.13672410e-03 5.27623917e+00] [-1.42690063e-01 1.47832112e-01 9.78665016e-01 3.75987877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319072329 meters Centerline goodness : 0.777062 with order 1 Centerline is valid? [False, False] Translation: X:-35.12, Y:5.25, Z:37.63 [[ 6.60156370e-01 -7.22845067e-01 2.04177805e-01 -3.51171948e+01] [ 7.37190138e-01 6.75633011e-01 8.41043419e-03 5.24572592e+00] [-1.44028706e-01 1.44965662e-01 9.78897691e-01 3.76325626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379072329 meters Centerline goodness : 0.776031 with order 1 Centerline is valid? [False, False] Translation: X:-35.27, Y:5.22, Z:37.67 [[ 6.63428600e-01 -7.19464769e-01 2.05506540e-01 -3.52666339e+01] [ 7.33863741e-01 6.79238829e-01 8.86693610e-03 5.21616531e+00] [-1.45967470e-01 1.44931219e-01 9.78615573e-01 3.76680132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439072329 meters Centerline goodness : 0.777111 with order 1 Centerline is valid? [False, False] Translation: X:-35.42, Y:5.19, Z:37.70 [[ 6.64154107e-01 -7.18165177e-01 2.07697136e-01 -3.54168398e+01] [ 7.32792775e-01 6.80387541e-01 9.35645036e-03 5.18510020e+00] [-1.48034020e-01 1.45984835e-01 9.78148433e-01 3.77027559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49907232899994 meters Centerline goodness : 0.775877 with order 1 Centerline is valid? [False, False] Translation: X:-35.56, Y:5.16, Z:37.74 [[ 6.68703038e-01 -7.14025640e-01 2.07373173e-01 -3.55597517e+01] [ 7.28608327e-01 6.84875810e-01 8.66209780e-03 5.15731294e+00] [-1.48209829e-01 1.45301449e-01 9.78223561e-01 3.77373051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55907232899995 meters Centerline goodness : 0.775509 with order 1 Centerline is valid? [False, False] Translation: X:-35.70, Y:5.13, Z:37.77 [[ 6.70844850e-01 -7.12128534e-01 2.06978594e-01 -3.56973615e+01] [ 7.26885283e-01 6.86725144e-01 6.80901937e-03 5.12904618e+00] [-1.46986301e-01 1.45881898e-01 9.78321777e-01 3.77686583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61907232899995 meters Centerline goodness : 0.777527 with order 1 Centerline is valid? [False, False] Translation: X:-35.85, Y:5.10, Z:37.80 [[ 6.72872447e-01 -7.10056765e-01 2.07514001e-01 -3.58482192e+01] [ 7.24577271e-01 6.89140157e-01 8.58038093e-03 5.09984963e+00] [-1.49098789e-01 1.44586427e-01 9.78194416e-01 3.78038378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67907232899995 meters Centerline goodness : 0.776639 with order 1 Centerline is valid? [False, False] Translation: X:-36.00, Y:5.07, Z:37.84 [[ 6.73050063e-01 -7.09329321e-01 2.09417112e-01 -3.59962985e+01] [ 7.24038827e-01 6.89698958e-01 9.11728878e-03 5.06824444e+00] [-1.50901924e-01 1.45489728e-01 9.77783897e-01 3.78378466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73907232899995 meters Centerline goodness : 0.778113 with order 1 Centerline is valid? [False, False] Translation: X:-36.14, Y:5.03, Z:37.87 [[ 6.68627686e-01 -7.13146122e-01 2.10617251e-01 -3.61424234e+01] [ 7.28224971e-01 6.85285047e-01 8.53205085e-03 5.03341988e+00] [-1.50417452e-01 1.47671976e-01 9.77531369e-01 3.78716231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79907232899996 meters Centerline goodness : 0.778622 with order 1 Centerline is valid? [False, False] Translation: X:-36.29, Y:5.00, Z:37.90 [[ 6.66947522e-01 -7.14658827e-01 2.10816897e-01 -3.62860535e+01] [ 7.29752368e-01 6.83653838e-01 8.88314120e-03 4.99951142e+00] [-1.50474196e-01 1.47919541e-01 9.77485205e-01 3.79034222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85907232899996 meters Centerline goodness : 0.778955 with order 1 Centerline is valid? [False, False] Translation: X:-36.43, Y:4.97, Z:37.94 [[ 6.66480522e-01 -7.14072285e-01 2.14253322e-01 -3.64341619e+01] [ 7.29676054e-01 6.83734221e-01 8.96499854e-03 4.96614160e+00] [-1.52893985e-01 1.50360522e-01 9.76736988e-01 3.79374894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91907232899996 meters Centerline goodness : 0.777235 with order 1 Centerline is valid? [False, False] Translation: X:-36.58, Y:4.93, Z:37.97 [[ 6.62610319e-01 -7.16735349e-01 2.17343056e-01 -3.65816951e+01] [ 7.33011704e-01 6.80165736e-01 8.27128827e-03 4.93128477e+00] [-1.53757624e-01 1.53834363e-01 9.76060235e-01 3.79724750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97907232899996 meters Centerline goodness : 0.780494 with order 1 Centerline is valid? [False, False] Translation: X:-36.73, Y:4.90, Z:38.01 [[ 6.62417521e-01 -7.17073644e-01 2.16814245e-01 -3.67325703e+01] [ 7.33004271e-01 6.80150849e-01 9.97801344e-03 4.90029930e+00] [-1.54621363e-01 1.52316157e-01 9.76161883e-01 3.80077342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03907232899996 meters Centerline goodness : 0.779483 with order 1 Centerline is valid? [False, False] Translation: X:-36.88, Y:4.87, Z:38.04 [[ 6.61706531e-01 -7.17565854e-01 2.17356188e-01 -3.68803768e+01] [ 7.33525455e-01 6.79582001e-01 1.04264539e-02 4.86807944e+00] [-1.55193020e-01 1.52537044e-01 9.76036668e-01 3.80414186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09907232899997 meters Centerline goodness : 0.779120 with order 1 Centerline is valid? [False, False] Translation: X:-37.03, Y:4.84, Z:38.08 [[ 6.61975692e-01 -7.17414230e-01 2.17036876e-01 -3.70264896e+01] [ 7.33297194e-01 6.79826223e-01 1.05608305e-02 4.83705433e+00] [-1.55123850e-01 1.52161519e-01 9.76106277e-01 3.80758056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15907232899997 meters Centerline goodness : 0.779016 with order 1 Centerline is valid? [False, False] Translation: X:-37.18, Y:4.81, Z:38.11 [[ 6.64598692e-01 -7.14207958e-01 2.19580445e-01 -3.71759175e+01] [ 7.30405996e-01 6.82930957e-01 1.06013777e-02 4.80727953e+00] [-1.57529872e-01 1.53337212e-01 9.75536795e-01 3.81127825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21907232899997 meters Centerline goodness : 0.778740 with order 1 Centerline is valid? [False, False] Translation: X:-37.32, Y:4.78, Z:38.15 [[ 6.66431552e-01 -7.12221976e-01 2.20474134e-01 -3.73220276e+01] [ 7.28469926e-01 6.84991941e-01 1.08446765e-02 4.77800608e+00] [-1.58746822e-01 1.53381542e-01 9.75332533e-01 3.81473671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279072329 meters Centerline goodness : 0.777889 with order 1 Centerline is valid? [False, False] Translation: X:-37.47, Y:4.75, Z:38.18 [[ 6.65676153e-01 -7.12909838e-01 2.20533041e-01 -3.74705808e+01] [ 7.29131375e-01 6.84282378e-01 1.11832240e-02 4.74773520e+00] [-1.58879504e-01 1.53353154e-01 9.75315392e-01 3.81824198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339072329 meters Centerline goodness : 0.776821 with order 1 Centerline is valid? [False, False] Translation: X:-37.62, Y:4.72, Z:38.22 [[ 6.64955434e-01 -7.12790917e-01 2.23077073e-01 -3.76179082e+01] [ 7.29658421e-01 6.83742297e-01 9.74984295e-03 4.71637094e+00] [-1.59476830e-01 1.56286854e-01 9.74752051e-01 3.82180155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399072329 meters Centerline goodness : 0.776356 with order 1 Centerline is valid? [False, False] Translation: X:-37.77, Y:4.68, Z:38.25 [[ 6.63723892e-01 -7.13219616e-01 2.25362760e-01 -3.77698729e+01] [ 7.30388732e-01 6.82954126e-01 1.02937495e-02 4.68477261e+00] [-1.61254131e-01 1.57770213e-01 9.74220542e-01 3.82549221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459072329 meters Centerline goodness : 0.774556 with order 1 Centerline is valid? [False, False] Translation: X:-37.92, Y:4.65, Z:38.29 [[ 6.61792685e-01 -7.14477814e-01 2.27050426e-01 -3.79224672e+01] [ 7.32005136e-01 6.81224820e-01 1.00610918e-02 4.65428591e+00] [-1.61860813e-01 1.59543721e-01 9.73831032e-01 3.82928386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519072329 meters Centerline goodness : 0.774379 with order 1 Centerline is valid? [False, False] Translation: X:-38.07, Y:4.62, Z:38.33 [[ 6.60371290e-01 -7.15018264e-01 2.29474709e-01 -3.80709939e+01] [ 7.33239611e-01 6.79917620e-01 8.46772168e-03 4.62320352e+00] [-1.62078474e-01 1.62668106e-01 9.73277789e-01 3.83294394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579072329 meters Centerline goodness : 0.773153 with order 1 Centerline is valid? [False, False] Translation: X:-38.22, Y:4.60, Z:38.37 [[ 6.63247439e-01 -7.12105647e-01 2.30235491e-01 -3.82156679e+01] [ 7.30558066e-01 6.82810994e-01 7.35246558e-03 4.59567372e+00] [-1.62443057e-01 1.63323891e-01 9.73107168e-01 3.83653296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639072329 meters Centerline goodness : 0.773524 with order 1 Centerline is valid? [False, False] Translation: X:-38.37, Y:4.57, Z:38.40 [[ 6.62581394e-01 -7.12235253e-01 2.31747362e-01 -3.83667034e+01] [ 7.31133590e-01 6.82205425e-01 6.27942452e-03 4.56787162e+00] [-1.62571735e-01 1.65277651e-01 9.72755740e-01 3.84036220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699072329 meters Centerline goodness : 0.772840 with order 1 Centerline is valid? [False, False] Translation: X:-38.51, Y:4.54, Z:38.44 [[ 6.64093191e-01 -7.10487945e-01 2.32781258e-01 -3.85144358e+01] [ 7.29569343e-01 6.83880886e-01 5.95878105e-03 4.53991197e+00] [-1.63428295e-01 1.65872883e-01 9.72510863e-01 3.84407916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759072329 meters Centerline goodness : 0.772832 with order 1 Centerline is valid? [False, False] Translation: X:-38.67, Y:4.51, Z:38.48 [[ 6.63150094e-01 -7.10044967e-01 2.36787029e-01 -3.86656498e+01] [ 7.29969909e-01 6.83460247e-01 5.10118591e-03 4.51039160e+00] [-1.65456593e-01 1.69464554e-01 9.71548188e-01 3.84805958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819072329 meters Centerline goodness : 0.773322 with order 1 Centerline is valid? [False, False] Translation: X:-38.82, Y:4.48, Z:38.52 [[ 6.61080855e-01 -7.11050230e-01 2.39540548e-01 -3.88176065e+01] [ 7.31524978e-01 6.81796412e-01 4.98595309e-03 4.47876740e+00] [-1.66863149e-01 1.71933776e-01 9.70873558e-01 3.85204537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879072329 meters Centerline goodness : 0.770815 with order 1 Centerline is valid? [False, False] Translation: X:-38.96, Y:4.45, Z:38.56 [[ 6.60363522e-01 -7.12157727e-01 2.38225504e-01 -3.89646075e+01] [ 7.32189614e-01 6.81071017e-01 6.37495007e-03 4.44927331e+00] [-1.66788456e-01 1.70216455e-01 9.71188946e-01 3.85582214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939072329 meters Centerline goodness : 0.769755 with order 1 Centerline is valid? [False, False] Translation: X:-39.11, Y:4.42, Z:38.60 [[ 6.59178938e-01 -7.12944778e-01 2.39150312e-01 -3.91067501e+01] [ 7.33585489e-01 6.79585743e-01 3.94313901e-03 4.42135545e+00] [-1.65334383e-01 1.72837964e-01 9.70974552e-01 3.85951754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99907232899994 meters Centerline goodness : 0.769930 with order 1 Centerline is valid? [False, False] Translation: X:-39.25, Y:4.39, Z:38.63 [[ 6.61509455e-01 -7.09567321e-01 2.42733305e-01 -3.92519689e+01] [ 7.31175200e-01 6.82187943e-01 1.56123153e-03 4.39481084e+00] [-1.66697533e-01 1.76447804e-01 9.70091802e-01 3.86345885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05907232899995 meters Centerline goodness : 0.769978 with order 1 Centerline is valid? [False, False] Translation: X:-39.40, Y:4.37, Z:38.68 [[ 6.62432493e-01 -7.07533546e-01 2.46128978e-01 -3.94022185e+01] [ 7.29781263e-01 6.83679653e-01 1.20045980e-03 4.36713267e+00] [-1.69122740e-01 1.78825093e-01 9.69236341e-01 3.86763772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11907232899995 meters Centerline goodness : 0.769072 with order 1 Centerline is valid? [False, False] Translation: X:-39.56, Y:4.34, Z:38.72 [[ 6.61719630e-01 -7.06411300e-01 2.51217450e-01 -3.95552112e+01] [ 7.29675036e-01 6.83793618e-01 7.93112270e-04 4.33919216e+00] [-1.72341153e-01 1.82782284e-01 9.67930351e-01 3.87200933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17907232899995 meters Centerline goodness : 0.770298 with order 1 Centerline is valid? [False, False] Translation: X:-39.70, Y:4.31, Z:38.76 [[ 6.62329067e-01 -7.05137287e-01 2.53182966e-01 -3.97041360e+01] [ 7.28726231e-01 6.84804565e-01 8.87374642e-04 4.31152811e+00] [-1.74006572e-01 1.83913335e-01 9.67418006e-01 3.87604935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23907232899995 meters Centerline goodness : 0.766558 with order 1 Centerline is valid? [False, False] Translation: X:-39.85, Y:4.28, Z:38.80 [[ 6.63115711e-01 -7.04636767e-01 2.52516495e-01 -3.98481754e+01] [ 7.28262953e-01 6.85297782e-01 -1.44912785e-04 4.28497175e+00] [-1.72946883e-01 1.83994502e-01 9.67592579e-01 3.88000613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29907232899996 meters Centerline goodness : 0.765246 with order 1 Centerline is valid? [False, False] Translation: X:-39.99, Y:4.26, Z:38.84 [[ 6.68556611e-01 -7.00145591e-01 2.50655559e-01 -3.99909845e+01] [ 7.23267828e-01 6.90567602e-01 -1.90009325e-04 4.26218727e+00] [-1.72961574e-01 1.81418134e-01 9.68076316e-01 3.88391145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35907232899996 meters Centerline goodness : 0.766326 with order 1 Centerline is valid? [False, False] Translation: X:-40.14, Y:4.24, Z:38.88 [[ 6.70310294e-01 -6.97019063e-01 2.54653757e-01 -4.01375980e+01] [ 7.21205635e-01 6.92717101e-01 -2.33468323e-03 4.23670288e+00] [-1.74775693e-01 1.85222686e-01 9.67029479e-01 3.88808156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41907232899996 meters Centerline goodness : 0.764252 with order 1 Centerline is valid? [False, False] Translation: X:-40.28, Y:4.21, Z:38.92 [[ 6.72487339e-01 -6.95001266e-01 2.54428811e-01 -4.02811017e+01] [ 7.19154193e-01 6.94845013e-01 -2.76669300e-03 4.21155348e+00] [-1.74865735e-01 1.84834112e-01 9.67087548e-01 3.89208827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47907232899996 meters Centerline goodness : 0.764204 with order 1 Centerline is valid? [False, False] Translation: X:-40.43, Y:4.19, Z:38.96 [[ 6.73277405e-01 -6.94423989e-01 2.53915063e-01 -4.04253849e+01] [ 7.18334719e-01 6.95694508e-01 -2.09353608e-03 4.18546255e+00] [-1.75193513e-01 1.83805536e-01 9.67224254e-01 3.89603325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53907232899996 meters Centerline goodness : 0.764110 with order 1 Centerline is valid? [False, False] Translation: X:-40.58, Y:4.16, Z:39.00 [[ 6.72096304e-01 -6.94430086e-01 2.57008588e-01 -4.05777085e+01] [ 7.18910635e-01 6.95100013e-01 -1.86304710e-03 4.15663132e+00] [-1.77352917e-01 1.86018354e-01 9.66407323e-01 3.90030525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59907232899997 meters Centerline goodness : 0.765117 with order 1 Centerline is valid? [False, False] Translation: X:-40.73, Y:4.13, Z:39.05 [[ 6.70226320e-01 -6.94837188e-01 2.60764189e-01 -4.07293110e+01] [ 7.20060490e-01 6.93909157e-01 -1.72418327e-03 4.12841365e+00] [-1.79748632e-01 1.88921583e-01 9.65400986e-01 3.90456091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65907232899997 meters Centerline goodness : 0.764326 with order 1 Centerline is valid? [False, False] Translation: X:-40.87, Y:4.10, Z:39.09 [[ 6.69368159e-01 -6.95784560e-01 2.60442150e-01 -4.08709331e+01] [ 7.20926329e-01 6.93010178e-01 -1.45655287e-03 4.10090887e+00] [-1.79475614e-01 1.88734573e-01 9.65488356e-01 3.90861178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71907232899997 meters Centerline goodness : 0.764373 with order 1 Centerline is valid? [False, False] Translation: X:-41.02, Y:4.08, Z:39.13 [[ 6.70864347e-01 -6.93478936e-01 2.62731789e-01 -4.10182933e+01] [ 7.19084144e-01 6.94920457e-01 -1.88487006e-03 4.07626007e+00] [-1.81270577e-01 1.90190755e-01 9.64867066e-01 3.91288122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779072329 meters Centerline goodness : 0.765361 with order 1 Centerline is valid? [False, False] Translation: X:-41.17, Y:4.05, Z:39.17 [[ 6.73159032e-01 -6.90455854e-01 2.64816221e-01 -4.11678608e+01] [ 7.16447241e-01 6.97637659e-01 -2.24655942e-03 4.05252207e+00] [-1.83194618e-01 1.91239142e-01 9.64296283e-01 3.91737378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839072329 meters Centerline goodness : 0.763423 with order 1 Centerline is valid? [False, False] Translation: X:-41.31, Y:4.03, Z:39.22 [[ 6.73291181e-01 -6.89720124e-01 2.66392823e-01 -4.13119254e+01] [ 7.16347280e-01 6.97732351e-01 -4.01761056e-03 4.02665152e+00] [-1.83099864e-01 1.93534796e-01 9.63856173e-01 3.92158722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899072329 meters Centerline goodness : 0.765048 with order 1 Centerline is valid? [False, False] Translation: X:-41.46, Y:4.00, Z:39.26 [[ 6.74457884e-01 -6.87971518e-01 2.67958494e-01 -4.14552555e+01] [ 7.15105913e-01 6.98996046e-01 -5.29727533e-03 4.00185466e+00] [-1.83657553e-01 1.95191492e-01 9.63415894e-01 3.92576706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959072329 meters Centerline goodness : 0.762704 with order 1 Centerline is valid? [False, False] Translation: X:-41.60, Y:3.97, Z:39.30 [[ 6.69127242e-01 -6.92265355e-01 2.70254347e-01 -4.15979860e+01] [ 7.20546761e-01 6.93360804e-01 -7.94734437e-03 3.97269111e+00] [-1.81882100e-01 2.00048679e-01 9.62756162e-01 3.92989629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019072329 meters Centerline goodness : 0.762765 with order 1 Centerline is valid? [False, False] Translation: X:-41.75, Y:3.94, Z:39.34 [[ 6.66835451e-01 -6.94439587e-01 2.70340787e-01 -4.17467798e+01] [ 7.22476863e-01 6.91367831e-01 -6.14037171e-03 3.94419499e+00] [-1.82640807e-01 1.99409582e-01 9.62745114e-01 3.93427509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079072329 meters Centerline goodness : 0.762303 with order 1 Centerline is valid? [False, False] Translation: X:-41.90, Y:3.92, Z:39.39 [[ 6.64444238e-01 -6.95751649e-01 2.72843357e-01 -4.19007935e+01] [ 7.24276031e-01 6.89487363e-01 -5.60418631e-03 3.91608693e+00] [-1.84222925e-01 2.01337573e-01 9.62042149e-01 3.93879815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139072329 meters Centerline goodness : 0.761517 with order 1 Centerline is valid? [False, False] Translation: X:-42.04, Y:3.89, Z:39.43 [[ 6.58993997e-01 -7.00974442e-01 2.72693496e-01 -4.20431524e+01] [ 7.29895867e-01 6.83524175e-01 -6.83557765e-03 3.88614071e+00] [-1.81601032e-01 2.03542460e-01 9.62076677e-01 3.94293757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199072329 meters Centerline goodness : 0.760108 with order 1 Centerline is valid? [False, False] Translation: X:-42.20, Y:3.86, Z:39.47 [[ 6.55604057e-01 -7.03536709e-01 2.74261590e-01 -4.21958439e+01] [ 7.33009262e-01 6.80178247e-01 -7.41438326e-03 3.85653827e+00] [-1.81330477e-01 2.05897185e-01 9.61626543e-01 3.94741259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259072329 meters Centerline goodness : 0.758946 with order 1 Centerline is valid? [False, False] Translation: X:-42.35, Y:3.83, Z:39.52 [[ 6.52675955e-01 -7.05407066e-01 2.76432574e-01 -4.23504662e+01] [ 7.35367835e-01 6.77631418e-01 -7.05746604e-03 3.83021094e+00] [-1.82341011e-01 2.07885862e-01 9.61007401e-01 3.95215656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319072329 meters Centerline goodness : 0.758637 with order 1 Centerline is valid? [False, False] Translation: X:-42.50, Y:3.80, Z:39.57 [[ 6.47759271e-01 -7.09581465e-01 2.77312228e-01 -4.25016128e+01] [ 7.39900822e-01 6.72678948e-01 -7.05740055e-03 3.80188188e+00] [-1.81534297e-01 2.09755042e-01 9.60753934e-01 3.95684332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379072329 meters Centerline goodness : 0.757947 with order 1 Centerline is valid? [False, False] Translation: X:-42.65, Y:3.77, Z:39.61 [[ 6.46119021e-01 -7.10585322e-01 2.78565453e-01 -4.26523465e+01] [ 7.41368320e-01 6.71053079e-01 -7.79603136e-03 3.77449655e+00] [-1.81392460e-01 2.11556766e-01 9.60385605e-01 3.96142148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439072329 meters Centerline goodness : 0.756702 with order 1 Centerline is valid? [False, False] Translation: X:-42.81, Y:3.75, Z:39.66 [[ 6.42633375e-01 -7.12862040e-01 2.80802525e-01 -4.28102001e+01] [ 7.44976130e-01 6.66989143e-01 -1.16640093e-02 3.74664232e+00] [-1.78977406e-01 2.16686860e-01 9.59694687e-01 3.96631867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49907232899994 meters Centerline goodness : 0.756427 with order 1 Centerline is valid? [False, False] Translation: X:-42.97, Y:3.72, Z:39.71 [[ 6.40876785e-01 -7.13942534e-01 2.82069148e-01 -4.29694090e+01] [ 7.46113123e-01 6.65741708e-01 -1.01579975e-02 3.72161901e+00] [-1.80532970e-01 2.16965518e-01 9.59340300e-01 3.97130531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55907232899995 meters Centerline goodness : 0.754987 with order 1 Centerline is valid? [False, False] Translation: X:-43.13, Y:3.70, Z:39.76 [[ 6.41388007e-01 -7.13617123e-01 2.81730412e-01 -4.31255499e+01] [ 7.45560392e-01 6.66371206e-01 -9.44020017e-03 3.69658956e+00] [-1.81000346e-01 2.16101868e-01 9.59447162e-01 3.97621259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61907232899995 meters Centerline goodness : 0.756164 with order 1 Centerline is valid? [False, False] Translation: X:-43.28, Y:3.67, Z:39.81 [[ 6.40355546e-01 -7.13389864e-01 2.84639557e-01 -4.32787837e+01] [ 7.46596519e-01 6.65158903e-01 -1.25407786e-02 3.67085658e+00] [-1.80384071e-01 2.20541459e-01 9.58552582e-01 3.98111889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67907232899995 meters Centerline goodness : 0.756228 with order 1 Centerline is valid? [False, False] Translation: X:-43.44, Y:3.65, Z:39.86 [[ 6.42282189e-01 -7.11332780e-01 2.85445732e-01 -4.34381397e+01] [ 7.44720194e-01 6.67252148e-01 -1.28997958e-02 3.64635521e+00] [-1.81288230e-01 2.20862510e-01 9.58308056e-01 3.98630178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73907232899995 meters Centerline goodness : 0.758498 with order 1 Centerline is valid? [False, False] Translation: X:-43.60, Y:3.62, Z:39.92 [[ 6.42075592e-01 -7.09172197e-01 2.91227968e-01 -4.35952857e+01] [ 7.44044284e-01 6.67988118e-01 -1.37832678e-02 3.62186927e+00] [-1.84762112e-01 2.25536405e-01 9.56554385e-01 3.99151984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79907232899996 meters Centerline goodness : 0.757388 with order 1 Centerline is valid? [False, False] Translation: X:-43.75, Y:3.60, Z:39.97 [[ 6.42707552e-01 -7.08145299e-01 2.92330700e-01 -4.37526286e+01] [ 7.43120586e-01 6.69028600e-01 -1.31349681e-02 3.59828685e+00] [-1.86276133e-01 2.25678905e-01 9.56227083e-01 3.99665536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85907232899996 meters Centerline goodness : 0.757007 with order 1 Centerline is valid? [False, False] Translation: X:-43.90, Y:3.58, Z:40.01 [[ 6.44488969e-01 -7.07556600e-01 2.89823440e-01 -4.39044477e+01] [ 7.41790242e-01 6.70513759e-01 -1.25910859e-02 3.57811324e+00] [-1.85421699e-01 2.23103016e-01 9.56997303e-01 4.00144904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91907232899996 meters Centerline goodness : 0.753514 with order 1 Centerline is valid? [False, False] Translation: X:-44.06, Y:3.56, Z:40.06 [[ 6.47268353e-01 -7.04799159e-01 2.90347765e-01 -4.40571760e+01] [ 7.39605345e-01 6.72863150e-01 -1.54633566e-02 3.55584948e+00] [-1.84465751e-01 2.24751700e-01 9.56796248e-01 4.00646685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97907232899996 meters Centerline goodness : 0.752380 with order 1 Centerline is valid? [False, False] Translation: X:-44.21, Y:3.54, Z:40.11 [[ 6.53550081e-01 -6.98844676e-01 2.90668901e-01 -4.42088773e+01] [ 7.33469523e-01 6.79549150e-01 -1.53430954e-02 3.53694836e+00] [-1.86801364e-01 2.23224261e-01 9.56700674e-01 4.01141962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03907232899996 meters Centerline goodness : 0.753561 with order 1 Centerline is valid? [False, False] Translation: X:-44.36, Y:3.52, Z:40.16 [[ 6.55409026e-01 -6.96609034e-01 2.91847326e-01 -4.43588387e+01] [ 7.31686803e-01 6.81437661e-01 -1.66474175e-02 3.51524501e+00] [-1.87279018e-01 2.24451705e-01 9.56320031e-01 4.01632706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09907232899997 meters Centerline goodness : 0.752862 with order 1 Centerline is valid? [False, False] Translation: X:-44.51, Y:3.50, Z:40.21 [[ 6.59582292e-01 -6.92888974e-01 2.91300652e-01 -4.45060049e+01] [ 7.27838060e-01 6.85527753e-01 -1.74200600e-02 3.49585804e+00] [-1.87624514e-01 2.23509665e-01 9.56472933e-01 4.02112632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15907232899997 meters Centerline goodness : 0.752760 with order 1 Centerline is valid? [False, False] Translation: X:-44.66, Y:3.48, Z:40.26 [[ 6.61717518e-01 -6.90158503e-01 2.92935430e-01 -4.46592894e+01] [ 7.25203756e-01 6.88337869e-01 -1.64466155e-02 3.47532510e+00] [-1.90287778e-01 2.23320888e-01 9.55990765e-01 4.02613038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21907232899997 meters Centerline goodness : 0.753144 with order 1 Centerline is valid? [False, False] Translation: X:-44.81, Y:3.45, Z:40.31 [[ 6.63417644e-01 -6.87596282e-01 2.95107410e-01 -4.48098214e+01] [ 7.23169571e-01 6.90462333e-01 -1.69569463e-02 3.45304286e+00] [-1.92101017e-01 2.24662236e-01 9.55313602e-01 4.03120460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279072329 meters Centerline goodness : 0.751325 with order 1 Centerline is valid? [False, False] Translation: X:-44.96, Y:3.43, Z:40.36 [[ 6.63416208e-01 -6.87063260e-01 2.96349475e-01 -4.49562694e+01] [ 7.23464670e-01 6.90081168e-01 -1.96685729e-02 3.43118790e+00] [-1.90991638e-01 2.27446825e-01 9.54877027e-01 4.03604237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339072329 meters Centerline goodness : 0.749097 with order 1 Centerline is valid? [False, False] Translation: X:-45.10, Y:3.41, Z:40.41 [[ 6.68093567e-01 -6.83212091e-01 2.94740945e-01 -4.50992909e+01] [ 7.19265417e-01 6.94427524e-01 -2.06802525e-02 3.41252202e+00] [-1.90547226e-01 2.25813313e-01 9.55353391e-01 4.04057160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399072329 meters Centerline goodness : 0.748000 with order 1 Centerline is valid? [False, False] Translation: X:-45.25, Y:3.40, Z:40.45 [[ 6.73619796e-01 -6.78034166e-01 2.94119092e-01 -4.52464456e+01] [ 7.13619677e-01 7.00244233e-01 -2.01239135e-02 3.39603110e+00] [-1.92310497e-01 2.23445038e-01 9.55556899e-01 4.04530919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459072329 meters Centerline goodness : 0.747537 with order 1 Centerline is valid? [False, False] Translation: X:-45.39, Y:3.38, Z:40.50 [[ 6.76705464e-01 -6.74217233e-01 2.95805404e-01 -4.53915419e+01] [ 7.10517235e-01 7.03324082e-01 -2.23717304e-02 3.37820744e+00] [-1.92963658e-01 2.25313910e-01 9.54986214e-01 4.05015127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519072329 meters Centerline goodness : 0.745483 with order 1 Centerline is valid? [False, False] Translation: X:-45.54, Y:3.36, Z:40.55 [[ 6.78809606e-01 -6.72098331e-01 2.95806274e-01 -4.55355777e+01] [ 7.08599798e-01 7.05209812e-01 -2.37791177e-02 3.35875147e+00] [-1.92623581e-01 2.25749759e-01 9.54951937e-01 4.05483754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579072329 meters Centerline goodness : 0.744188 with order 1 Centerline is valid? [False, False] Translation: X:-45.68, Y:3.34, Z:40.60 [[ 6.80997561e-01 -6.69621566e-01 2.96393791e-01 -4.56806531e+01] [ 7.06228206e-01 7.07575230e-01 -2.40627579e-02 3.33873318e+00] [-1.93607963e-01 2.25708335e-01 9.54762643e-01 4.05964101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639072329 meters Centerline goodness : 0.743347 with order 1 Centerline is valid? [False, False] Translation: X:-45.82, Y:3.32, Z:40.64 [[ 6.85404396e-01 -6.65575627e-01 2.95347082e-01 -4.58228477e+01] [ 7.01768375e-01 7.11998776e-01 -2.40601558e-02 3.32020674e+00] [-1.94272907e-01 2.23756178e-01 9.55087017e-01 4.06423126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699072329 meters Centerline goodness : 0.741481 with order 1 Centerline is valid? [False, False] Translation: X:-45.97, Y:3.30, Z:40.69 [[ 6.88220897e-01 -6.62642716e-01 2.95392329e-01 -4.59663514e+01] [ 6.98526192e-01 7.15213067e-01 -2.30527114e-02 3.30311426e+00] [-1.95992742e-01 2.22204637e-01 9.55097872e-01 4.06885463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759072329 meters Centerline goodness : 0.739770 with order 1 Centerline is valid? [False, False] Translation: X:-46.11, Y:3.29, Z:40.74 [[ 6.91203707e-01 -6.59028201e-01 2.96511832e-01 -4.61089260e+01] [ 6.95203758e-01 7.18417121e-01 -2.38448238e-02 3.28508540e+00] [-1.97304765e-01 2.22617771e-01 9.54731458e-01 4.07353457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819072329 meters Centerline goodness : 0.742103 with order 1 Centerline is valid? [False, False] Translation: X:-46.25, Y:3.27, Z:40.78 [[ 6.93832849e-01 -6.54839314e-01 2.99635530e-01 -4.62515809e+01] [ 6.91874050e-01 7.21581298e-01 -2.51143166e-02 3.26861514e+00] [-1.99765553e-01 2.24735185e-01 9.53723136e-01 4.07830197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879072329 meters Centerline goodness : 0.743375 with order 1 Centerline is valid? [False, False] Translation: X:-46.40, Y:3.25, Z:40.83 [[ 6.94931261e-01 -6.52644653e-01 3.01870004e-01 -4.63962137e+01] [ 6.90353751e-01 7.23000141e-01 -2.61245771e-02 3.25043348e+00] [-2.01201990e-01 2.26551875e-01 9.52991085e-01 4.08314853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939072329 meters Centerline goodness : 0.744037 with order 1 Centerline is valid? [False, False] Translation: X:-46.53, Y:3.23, Z:40.88 [[ 6.94987909e-01 -6.53005863e-01 3.00957054e-01 -4.65347850e+01] [ 6.90488382e-01 7.22874255e-01 -2.60500638e-02 3.23183095e+00] [-2.00543262e-01 2.25911829e-01 9.53281829e-01 4.08784825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99907232899994 meters Centerline goodness : 0.743872 with order 1 Centerline is valid? [False, False] Translation: X:-46.67, Y:3.21, Z:40.92 [[ 6.94428188e-01 -6.53435291e-01 3.01316796e-01 -4.66714963e+01] [ 6.91476761e-01 7.21847681e-01 -2.82101941e-02 3.21167650e+00] [-1.99071294e-01 2.27943516e-01 9.53106696e-01 4.09231888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05907232899995 meters Centerline goodness : 0.745550 with order 1 Centerline is valid? [False, False] Translation: X:-46.81, Y:3.19, Z:40.97 [[ 6.94033940e-01 -6.53800918e-01 3.01431998e-01 -4.68081557e+01] [ 6.92095178e-01 7.21214725e-01 -2.92161894e-02 3.19392491e+00] [-1.98295624e-01 2.28896659e-01 9.53039960e-01 4.09705781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11907232899995 meters Centerline goodness : 0.747083 with order 1 Centerline is valid? [False, False] Translation: X:-46.95, Y:3.18, Z:41.02 [[ 6.94597129e-01 -6.54117626e-01 2.99441078e-01 -4.69461090e+01] [ 6.91946444e-01 7.21354023e-01 -2.93000313e-02 3.17618241e+00] [-1.96837359e-01 2.27548907e-01 9.53664799e-01 4.10168944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17907232899995 meters Centerline goodness : 0.746018 with order 1 Centerline is valid? [False, False] Translation: X:-47.08, Y:3.16, Z:41.06 [[ 6.95494245e-01 -6.54149595e-01 2.97281116e-01 -4.70815418e+01] [ 6.91620955e-01 7.21630985e-01 -3.01525306e-02 3.15893068e+00] [-1.94802999e-01 2.26576761e-01 9.54313765e-01 4.10611942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23907232899995 meters Centerline goodness : 0.748108 with order 1 Centerline is valid? [False, False] Translation: X:-47.22, Y:3.14, Z:41.11 [[ 6.95128811e-01 -6.54632085e-01 2.97073676e-01 -4.72191969e+01] [ 6.92485986e-01 7.20712412e-01 -3.21990534e-02 3.14019414e+00] [-1.93026152e-01 2.28101847e-01 9.54311507e-01 4.11059647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29907232899996 meters Centerline goodness : 0.749415 with order 1 Centerline is valid? [False, False] Translation: X:-47.36, Y:3.12, Z:41.15 [[ 6.93089953e-01 -6.56137646e-01 2.98512490e-01 -4.73587838e+01] [ 6.94721334e-01 7.18486154e-01 -3.37626150e-02 3.12092340e+00] [-1.92324168e-01 2.30783525e-01 9.53808355e-01 4.11528483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35907232899996 meters Centerline goodness : 0.748344 with order 1 Centerline is valid? [False, False] Translation: X:-47.49, Y:3.10, Z:41.20 [[ 6.91352383e-01 -6.57995041e-01 2.98453360e-01 -4.74919098e+01] [ 6.96696819e-01 7.16555431e-01 -3.40860139e-02 3.10107594e+00] [-1.91429948e-01 2.31496953e-01 9.53815357e-01 4.11970026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41907232899996 meters Centerline goodness : 0.747428 with order 1 Centerline is valid? [False, False] Translation: X:-47.62, Y:3.08, Z:41.24 [[ 6.86082252e-01 -6.65279079e-01 2.94439962e-01 -4.76152315e+01] [ 7.02704210e-01 7.10789798e-01 -3.13792485e-02 3.08261835e+00] [-1.88408964e-01 2.28432946e-01 9.55154674e-01 4.12392688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47907232899996 meters Centerline goodness : 0.749092 with order 1 Centerline is valid? [False, False] Translation: X:-47.75, Y:3.06, Z:41.28 [[ 6.83579889e-01 -6.68018084e-01 2.94058455e-01 -4.77467062e+01] [ 7.05221495e-01 7.08342221e-01 -3.02314677e-02 3.06491616e+00] [-1.88098852e-01 2.28041966e-01 9.55309208e-01 4.12834838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53907232899996 meters Centerline goodness : 0.747645 with order 1 Centerline is valid? [False, False] Translation: X:-47.89, Y:3.05, Z:41.33 [[ 6.83925168e-01 -6.68200184e-01 2.92839339e-01 -4.78861419e+01] [ 7.05107465e-01 7.08456129e-01 -3.02221225e-02 3.04755581e+00] [-1.87269397e-01 2.27152874e-01 9.55683915e-01 4.13278379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59907232899997 meters Centerline goodness : 0.747868 with order 1 Centerline is valid? [False, False] Translation: X:-48.03, Y:3.03, Z:41.37 [[ 6.86258546e-01 -6.65837964e-01 2.92761017e-01 -4.80261218e+01] [ 7.02962280e-01 7.10513200e-01 -3.18594655e-02 3.03092912e+00] [-1.86797325e-01 2.27663782e-01 9.55654729e-01 4.13727508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65907232899997 meters Centerline goodness : 0.748642 with order 1 Centerline is valid? [False, False] Translation: X:-48.17, Y:3.01, Z:41.42 [[ 6.84285318e-01 -6.67032522e-01 2.94654406e-01 -4.81660228e+01] [ 7.05106655e-01 7.08280865e-01 -3.41001518e-02 3.01361678e+00] [-1.85952168e-01 2.31097016e-01 9.54995267e-01 4.14190552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71907232899997 meters Centerline goodness : 0.748288 with order 1 Centerline is valid? [False, False] Translation: X:-48.31, Y:3.00, Z:41.46 [[ 6.85027427e-01 -6.66761465e-01 2.93541433e-01 -4.83058466e+01] [ 7.04660347e-01 7.08696764e-01 -3.46798439e-02 2.99628495e+00] [-1.84908680e-01 2.30603652e-01 9.55317086e-01 4.14634028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779072329 meters Centerline goodness : 0.748016 with order 1 Centerline is valid? [False, False] Translation: X:-48.45, Y:2.98, Z:41.51 [[ 6.83937032e-01 -6.68458279e-01 2.92221946e-01 -4.84460908e+01] [ 7.05930409e-01 7.07470976e-01 -3.38684979e-02 2.97975238e+00] [-1.84098867e-01 2.29452278e-01 9.55750626e-01 4.15082665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839072329 meters Centerline goodness : 0.746446 with order 1 Centerline is valid? [False, False] Translation: X:-48.58, Y:2.96, Z:41.55 [[ 6.83028678e-01 -6.70116218e-01 2.90544452e-01 -4.85830160e+01] [ 7.07073672e-01 7.06366941e-01 -3.30539876e-02 2.96265782e+00] [-1.83080983e-01 2.28013154e-01 9.56290414e-01 4.15516087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899072329 meters Centerline goodness : 0.746630 with order 1 Centerline is valid? [False, False] Translation: X:-48.73, Y:2.94, Z:41.60 [[ 6.80605190e-01 -6.72078474e-01 2.91696933e-01 -4.87282931e+01] [ 7.09550918e-01 7.03838071e-01 -3.39037514e-02 2.94341635e+00] [-1.82521425e-01 2.30048896e-01 9.55909742e-01 4.15964048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959072329 meters Centerline goodness : 0.747256 with order 1 Centerline is valid? [False, False] Translation: X:-48.87, Y:2.93, Z:41.64 [[ 6.80770702e-01 -6.71978149e-01 2.91541794e-01 -4.88662582e+01] [ 7.09471744e-01 7.03901849e-01 -3.42349400e-02 2.92767873e+00] [-1.82211676e-01 2.30146809e-01 9.55945266e-01 4.16403664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019072329 meters Centerline goodness : 0.747128 with order 1 Centerline is valid? [False, False] Translation: X:-49.00, Y:2.91, Z:41.68 [[ 6.78831859e-01 -6.74129444e-01 2.91095861e-01 -4.89952878e+01] [ 7.10878173e-01 7.02652047e-01 -3.05339885e-02 2.91183846e+00] [-1.83955242e-01 2.27661138e-01 9.56206503e-01 4.16825957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079072329 meters Centerline goodness : 0.747423 with order 1 Centerline is valid? [False, False] Translation: X:-49.14, Y:2.90, Z:41.73 [[ 6.79417220e-01 -6.72829068e-01 2.92734157e-01 -4.91384936e+01] [ 7.10243860e-01 7.03222433e-01 -3.21227111e-02 2.89585742e+00] [-1.84244132e-01 2.29737360e-01 9.55654145e-01 4.17278045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139072329 meters Centerline goodness : 0.748224 with order 1 Centerline is valid? [False, False] Translation: X:-49.28, Y:2.88, Z:41.77 [[ 6.80921241e-01 -6.71575828e-01 2.92116708e-01 -4.92787302e+01] [ 7.08979999e-01 7.04451752e-01 -3.30921548e-02 2.88078182e+00] [-1.83558235e-01 2.29638054e-01 9.55809991e-01 4.17720038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199072329 meters Centerline goodness : 0.747670 with order 1 Centerline is valid? [False, False] Translation: X:-49.42, Y:2.87, Z:41.82 [[ 6.80770563e-01 -6.71606564e-01 2.92397098e-01 -4.94179197e+01] [ 7.09084265e-01 7.04346131e-01 -3.31063815e-02 2.86601715e+00] [-1.83714302e-01 2.29872031e-01 9.55723760e-01 4.18173932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259072329 meters Centerline goodness : 0.747593 with order 1 Centerline is valid? [False, False] Translation: X:-49.55, Y:2.85, Z:41.86 [[ 6.82944386e-01 -6.69934540e-01 2.91160914e-01 -4.95504567e+01] [ 7.07274020e-01 7.06107552e-01 -3.42868247e-02 2.85303754e+00] [-1.82620992e-01 2.29346544e-01 9.56059483e-01 4.18594347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319072329 meters Centerline goodness : 0.748783 with order 1 Centerline is valid? [False, False] Translation: X:-49.68, Y:2.84, Z:41.90 [[ 6.86222105e-01 -6.67281485e-01 2.89542126e-01 -4.96793542e+01] [ 7.03063446e-01 7.10545828e-01 -2.87474675e-02 2.84200484e+00] [-1.86550297e-01 2.23293633e-01 9.56733474e-01 4.19020010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379072329 meters Centerline goodness : 0.749206 with order 1 Centerline is valid? [False, False] Translation: X:-49.82, Y:2.83, Z:41.95 [[ 6.87639316e-01 -6.65035524e-01 2.91341592e-01 -4.98215896e+01] [ 7.01438696e-01 7.12093966e-01 -3.00988282e-02 2.82799281e+00] [-1.87445800e-01 2.25055404e-01 9.56145458e-01 4.19487046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439072329 meters Centerline goodness : 0.749916 with order 1 Centerline is valid? [False, False] Translation: X:-49.96, Y:2.81, Z:41.99 [[ 6.87680700e-01 -6.64422289e-01 2.92640182e-01 -4.99616775e+01] [ 7.01403789e-01 7.12066064e-01 -3.15379967e-02 2.81258134e+00] [-1.87424595e-01 2.26947004e-01 9.55702401e-01 4.19938934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49907232899994 meters Centerline goodness : 0.749807 with order 1 Centerline is valid? [False, False] Translation: X:-50.10, Y:2.80, Z:42.04 [[ 6.87646425e-01 -6.65061076e-01 2.91266475e-01 -5.00973957e+01] [ 7.02273831e-01 7.11077554e-01 -3.43537183e-02 2.79570368e+00] [-1.84265732e-01 2.28172035e-01 9.56024928e-01 4.20350799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55907232899995 meters Centerline goodness : 0.749634 with order 1 Centerline is valid? [False, False] Translation: X:-50.24, Y:2.78, Z:42.08 [[ 6.88918444e-01 -6.64025605e-01 2.90622391e-01 -5.02379181e+01] [ 7.01200241e-01 7.12096724e-01 -3.51635719e-02 2.78102067e+00] [-1.83601741e-01 2.28009324e-01 9.56191481e-01 4.20778020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61907232899995 meters Centerline goodness : 0.753014 with order 1 Centerline is valid? [False, False] Translation: X:-50.36, Y:2.77, Z:42.12 [[ 6.85674154e-01 -6.68262199e-01 2.88576831e-01 -5.03649763e+01] [ 7.04252351e-01 7.09279043e-01 -3.08523101e-02 2.76666153e+00] [-1.84064066e-01 2.24385544e-01 9.56959533e-01 4.21201721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67907232899995 meters Centerline goodness : 0.754447 with order 1 Centerline is valid? [False, False] Translation: X:-50.50, Y:2.75, Z:42.17 [[ 6.81989296e-01 -6.71909102e-01 2.88840370e-01 -5.04999761e+01] [ 7.07465947e-01 7.06207650e-01 -2.76168299e-02 2.75079469e+00] [-1.85425279e-01 2.23179108e-01 9.56978867e-01 4.21650312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73907232899995 meters Centerline goodness : 0.756341 with order 1 Centerline is valid? [False, False] Translation: X:-50.64, Y:2.74, Z:42.21 [[ 6.83842598e-01 -6.69245532e-01 2.90636747e-01 -5.06425372e+01] [ 7.05330841e-01 7.08301753e-01 -2.85837581e-02 2.73748674e+00] [-1.86728965e-01 2.24541853e-01 9.56406425e-01 4.22092369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79907232899996 meters Centerline goodness : 0.756492 with order 1 Centerline is valid? [False, False] Translation: X:-50.79, Y:2.72, Z:42.25 [[ 6.85066622e-01 -6.67263401e-01 2.92306819e-01 -5.07855396e+01] [ 7.04051441e-01 7.09495726e-01 -3.04529735e-02 2.72495703e+00] [-1.87070284e-01 2.26661353e-01 9.55839599e-01 4.22537167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85907232899996 meters Centerline goodness : 0.758361 with order 1 Centerline is valid? [False, False] Translation: X:-50.93, Y:2.71, Z:42.30 [[ 6.86659636e-01 -6.64529384e-01 2.94786773e-01 -5.09276185e+01] [ 7.02351485e-01 7.11060587e-01 -3.30942992e-02 2.71087721e+00] [-1.87619121e-01 2.29768447e-01 9.54989804e-01 4.22980748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91907232899996 meters Centerline goodness : 0.758138 with order 1 Centerline is valid? [False, False] Translation: X:-51.07, Y:2.70, Z:42.34 [[ 6.91677759e-01 -6.60023985e-01 2.93172675e-01 -5.10692842e+01] [ 6.97387542e-01 7.15905891e-01 -3.36061088e-02 2.70046195e+00] [-1.87703207e-01 2.27699569e-01 9.55468687e-01 4.23424305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97907232899996 meters Centerline goodness : 0.759170 with order 1 Centerline is valid? [False, False] Translation: X:-51.21, Y:2.69, Z:42.39 [[ 6.97148552e-01 -6.54439424e-01 2.92733559e-01 -5.12078238e+01] [ 6.91763519e-01 7.21278173e-01 -3.49432549e-02 2.69060146e+00] [-1.88274083e-01 2.26863036e-01 9.55555353e-01 4.23872099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03907232899996 meters Centerline goodness : 0.760234 with order 1 Centerline is valid? [False, False] Translation: X:-51.34, Y:2.68, Z:42.43 [[ 6.97182848e-01 -6.54525949e-01 2.92458303e-01 -5.13387047e+01] [ 6.90963088e-01 7.22233717e-01 -3.07972284e-02 2.68062504e+00] [-1.91065662e-01 2.23549192e-01 9.55782230e-01 4.24316256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09907232899997 meters Centerline goodness : 0.763534 with order 1 Centerline is valid? [False, False] Translation: X:-51.47, Y:2.67, Z:42.47 [[ 6.99670712e-01 -6.51412406e-01 2.93466817e-01 -5.14654801e+01] [ 6.87340771e-01 7.25809021e-01 -2.76392611e-02 2.67174633e+00] [-1.94996306e-01 2.21050090e-01 9.55569620e-01 4.24741372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15907232899997 meters Centerline goodness : 0.762998 with order 1 Centerline is valid? [False, False] Translation: X:-51.59, Y:2.66, Z:42.52 [[ 7.03661408e-01 -6.47560033e-01 2.92449357e-01 -5.15885823e+01] [ 6.82374220e-01 7.30605483e-01 -2.41050064e-02 2.66347445e+00] [-1.98055665e-01 2.16521665e-01 9.55977156e-01 4.25150162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21907232899997 meters Centerline goodness : 0.761862 with order 1 Centerline is valid? [False, False] Translation: X:-51.72, Y:2.65, Z:42.56 [[ 7.06396189e-01 -6.44117151e-01 2.93457868e-01 -5.17247889e+01] [ 6.79672651e-01 7.33012307e-01 -2.71670044e-02 2.65172959e+00] [-1.97609495e-01 2.18645955e-01 9.55585911e-01 4.25575884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279072329 meters Centerline goodness : 0.761738 with order 1 Centerline is valid? [False, False] Translation: X:-51.86, Y:2.64, Z:42.60 [[ 7.08211604e-01 -6.41126677e-01 2.95622914e-01 -5.18593777e+01] [ 6.78166118e-01 7.34194826e-01 -3.23832320e-02 2.63979760e+00] [-1.96283060e-01 2.23415625e-01 9.54755686e-01 4.26016532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339072329 meters Centerline goodness : 0.763467 with order 1 Centerline is valid? [False, False] Translation: X:-51.98, Y:2.63, Z:42.64 [[ 7.08754218e-01 -6.41287511e-01 2.93969023e-01 -5.19801008e+01] [ 6.77264995e-01 7.35162168e-01 -2.91326760e-02 2.62882873e+00] [-1.97432483e-01 2.19742836e-01 9.55370871e-01 4.26413279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399072329 meters Centerline goodness : 0.762949 with order 1 Centerline is valid? [False, False] Translation: X:-52.10, Y:2.62, Z:42.68 [[ 7.09145871e-01 -6.40925040e-01 2.93814953e-01 -5.21035179e+01] [ 6.76152520e-01 7.36310974e-01 -2.57666512e-02 2.61813629e+00] [-1.99824682e-01 2.16936035e-01 9.55514967e-01 4.26816627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459072329 meters Centerline goodness : 0.762546 with order 1 Centerline is valid? [False, False] Translation: X:-52.23, Y:2.61, Z:42.72 [[ 7.10353689e-01 -6.38665378e-01 2.95811042e-01 -5.22302132e+01] [ 6.73600423e-01 7.38750642e-01 -2.25822782e-02 2.60793630e+00] [-2.04108078e-01 2.15299847e-01 9.54979512e-01 4.27248310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519072329 meters Centerline goodness : 0.761933 with order 1 Centerline is valid? [False, False] Translation: X:-52.36, Y:2.60, Z:42.77 [[ 7.14542083e-01 -6.33897216e-01 2.95979614e-01 -5.23610355e+01] [ 6.68868637e-01 7.43010470e-01 -2.34560769e-02 2.59975075e+00] [-2.05047210e-01 2.14731835e-01 9.54906216e-01 4.27677973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579072329 meters Centerline goodness : 0.763357 with order 1 Centerline is valid? [False, False] Translation: X:-52.49, Y:2.59, Z:42.81 [[ 7.17403289e-01 -6.30235535e-01 2.96876560e-01 -5.24893252e+01] [ 6.65882603e-01 7.45592905e-01 -2.62978872e-02 2.58867352e+00] [-2.04775194e-01 2.16551127e-01 9.54553681e-01 4.28102281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639072329 meters Centerline goodness : 0.762960 with order 1 Centerline is valid? [False, False] Translation: X:-52.61, Y:2.58, Z:42.85 [[ 7.17685107e-01 -6.28972726e-01 2.98866854e-01 -5.26120630e+01] [ 6.64640322e-01 7.46763143e-01 -2.44550761e-02 2.57717579e+00] [-2.07801175e-01 2.16190006e-01 9.53981422e-01 4.28522256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699072329 meters Centerline goodness : 0.762911 with order 1 Centerline is valid? [False, False] Translation: X:-52.73, Y:2.57, Z:42.89 [[ 7.18944297e-01 -6.27970460e-01 2.97946638e-01 -5.27292199e+01] [ 6.62886581e-01 7.48390962e-01 -2.21889061e-02 2.56707021e+00] [-2.09046594e-01 2.13457416e-01 9.54324606e-01 4.28914083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759072329 meters Centerline goodness : 0.762245 with order 1 Centerline is valid? [False, False] Translation: X:-52.85, Y:2.56, Z:42.93 [[ 7.20320617e-01 -6.26883736e-01 2.96909059e-01 -5.28489407e+01] [ 6.60665565e-01 7.50456570e-01 -1.83288764e-02 2.55614293e+00] [-2.11327279e-01 2.09360259e-01 9.54729838e-01 4.29305864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819072329 meters Centerline goodness : 0.761539 with order 1 Centerline is valid? [False, False] Translation: X:-52.97, Y:2.55, Z:42.97 [[ 7.19295808e-01 -6.27761744e-01 2.97537786e-01 -5.29672231e+01] [ 6.61513342e-01 7.49732015e-01 -1.73782854e-02 2.54507867e+00] [-2.12164181e-01 2.09325343e-01 9.54551864e-01 4.29697224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879072329 meters Centerline goodness : 0.762151 with order 1 Centerline is valid? [False, False] Translation: X:-53.09, Y:2.53, Z:43.01 [[ 7.18704514e-01 -6.27943254e-01 2.98581799e-01 -5.30857063e+01] [ 6.61566404e-01 7.49722216e-01 -1.57000621e-02 2.53394016e+00] [-2.13994660e-01 2.08815393e-01 9.54254902e-01 4.30092681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939072329 meters Centerline goodness : 0.765129 with order 1 Centerline is valid? [False, False] Translation: X:-53.20, Y:2.52, Z:43.05 [[ 7.17679729e-01 -6.29164888e-01 2.98475041e-01 -5.32040912e+01] [ 6.62304261e-01 7.49114785e-01 -1.34202952e-02 2.52309407e+00] [-2.15148487e-01 2.07312765e-01 9.54323082e-01 4.30490011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99907232899994 meters Centerline goodness : 0.765266 with order 1 Centerline is valid? [False, False] Translation: X:-53.33, Y:2.51, Z:43.09 [[ 7.15791940e-01 -6.30964030e-01 2.99209445e-01 -5.33275941e+01] [ 6.64044458e-01 7.47595648e-01 -1.20708352e-02 2.50949824e+00] [-2.16071416e-01 2.07328581e-01 9.54111106e-01 4.30913209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05907232899995 meters Centerline goodness : 0.765866 with order 1 Centerline is valid? [False, False] Translation: X:-53.46, Y:2.50, Z:43.13 [[ 7.16507763e-01 -6.29384181e-01 3.00819178e-01 -5.34566321e+01] [ 6.63681794e-01 7.47840973e-01 -1.61355385e-02 2.49868876e+00] [-2.14809454e-01 2.11209450e-01 9.53544685e-01 4.31338467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11907232899995 meters Centerline goodness : 0.763111 with order 1 Centerline is valid? [False, False] Translation: X:-53.58, Y:2.49, Z:43.17 [[ 7.19994729e-01 -6.26386098e-01 2.98744115e-01 -5.35842358e+01] [ 6.60501939e-01 7.50607720e-01 -1.80344106e-02 2.49007847e+00] [-2.12943135e-01 2.10305747e-01 9.54162834e-01 4.31721142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17907232899995 meters Centerline goodness : 0.760779 with order 1 Centerline is valid? [False, False] Translation: X:-53.71, Y:2.48, Z:43.21 [[ 7.24834051e-01 -6.21404518e-01 2.97442471e-01 -5.37094372e+01] [ 6.54841260e-01 7.55569075e-01 -1.72712602e-02 2.48179100e+00] [-2.14005894e-01 2.07296400e-01 9.54583511e-01 4.32124523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23907232899995 meters Centerline goodness : 0.764858 with order 1 Centerline is valid? [False, False] Translation: X:-53.83, Y:2.48, Z:43.26 [[ 7.27504203e-01 -6.17371656e-01 2.99315674e-01 -5.38306074e+01] [ 6.50541119e-01 7.59323081e-01 -1.49903637e-02 2.47561658e+00] [-2.18022674e-01 2.05622706e-01 9.54036381e-01 4.32557012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29907232899996 meters Centerline goodness : 0.768017 with order 1 Centerline is valid? [False, False] Translation: X:-53.95, Y:2.47, Z:43.30 [[ 7.29359955e-01 -6.14532097e-01 3.00639913e-01 -5.39523249e+01] [ 6.47366950e-01 7.62071090e-01 -1.27939926e-02 2.46729242e+00] [-2.21246667e-01 2.03955769e-01 9.53651905e-01 4.32994060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35907232899996 meters Centerline goodness : 0.770127 with order 1 Centerline is valid? [False, False] Translation: X:-54.07, Y:2.46, Z:43.34 [[ 7.30541367e-01 -6.13627541e-01 2.99617343e-01 -5.40660353e+01] [ 6.45984790e-01 7.63257663e-01 -1.18907959e-02 2.45919237e+00] [-2.21388713e-01 2.02234965e-01 9.53985355e-01 4.33382604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41907232899996 meters Centerline goodness : 0.769807 with order 1 Centerline is valid? [False, False] Translation: X:-54.18, Y:2.45, Z:43.38 [[ 7.33313511e-01 -6.10965439e-01 2.98282630e-01 -5.41811782e+01] [ 6.42424320e-01 7.66286438e-01 -9.80245887e-03 2.45188637e+00] [-2.22580971e-01 1.98812291e-01 9.54427255e-01 4.33772769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47907232899996 meters Centerline goodness : 0.772841 with order 1 Centerline is valid? [False, False] Translation: X:-54.30, Y:2.44, Z:43.42 [[ 7.34163791e-01 -6.09313959e-01 2.99566400e-01 -5.42983696e+01] [ 6.40990442e-01 7.67485588e-01 -9.85521339e-03 2.44401037e+00] [-2.23907976e-01 1.99254540e-01 9.54024552e-01 4.34182166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53907232899996 meters Centerline goodness : 0.774572 with order 1 Centerline is valid? [False, False] Translation: X:-54.41, Y:2.44, Z:43.46 [[ 7.35479001e-01 -6.08328580e-01 2.98340371e-01 -5.44107812e+01] [ 6.39269805e-01 7.68940403e-01 -8.04817133e-03 2.43552359e+00] [-2.24510033e-01 1.96639252e-01 9.54425612e-01 4.34565204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59907232899997 meters Centerline goodness : 0.773138 with order 1 Centerline is valid? [False, False] Translation: X:-54.52, Y:2.43, Z:43.49 [[ 7.35078380e-01 -6.09757728e-01 2.96403928e-01 -5.45225144e+01] [ 6.39987376e-01 7.68357870e-01 -6.50711743e-03 2.42573039e+00] [-2.23776526e-01 1.94478013e-01 9.55040506e-01 4.34929131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65907232899997 meters Centerline goodness : 0.775431 with order 1 Centerline is valid? [False, False] Translation: X:-54.64, Y:2.42, Z:43.53 [[ 7.34510198e-01 -6.10805558e-01 2.95654089e-01 -5.46372600e+01] [ 6.40718882e-01 7.67754894e-01 -5.63359900e-03 2.41543774e+00] [-2.23548840e-01 1.93569093e-01 9.55278453e-01 4.35314917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71907232899997 meters Centerline goodness : 0.777734 with order 1 Centerline is valid? [False, False] Translation: X:-54.75, Y:2.41, Z:43.57 [[ 7.33790307e-01 -6.12031315e-01 2.94905841e-01 -5.47520425e+01] [ 6.41600977e-01 7.67024772e-01 -4.60282067e-03 2.40544344e+00] [-2.23383015e-01 1.92589381e-01 9.55515232e-01 4.35699880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779072329 meters Centerline goodness : 0.778427 with order 1 Centerline is valid? [False, False] Translation: X:-54.88, Y:2.39, Z:43.61 [[ 7.33605576e-01 -6.10110585e-01 2.99312434e-01 -5.48815127e+01] [ 6.41592737e-01 7.66991385e-01 -9.10903392e-03 2.39349563e+00] [-2.24012540e-01 1.98719122e-01 9.54111677e-01 4.36130557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839072329 meters Centerline goodness : 0.778349 with order 1 Centerline is valid? [False, False] Translation: X:-55.00, Y:2.39, Z:43.65 [[ 7.34135753e-01 -6.09503041e-01 2.99250296e-01 -5.50002382e+01] [ 6.40309467e-01 7.68090222e-01 -6.41853154e-03 2.38544830e+00] [-2.25939112e-01 1.96324871e-01 9.54153061e-01 4.36530073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899072329 meters Centerline goodness : 0.779590 with order 1 Centerline is valid? [False, False] Translation: X:-55.12, Y:2.37, Z:43.69 [[ 7.31986617e-01 -6.12406517e-01 2.98586421e-01 -5.51174279e+01] [ 6.42714363e-01 7.66093572e-01 -4.34586509e-03 2.37452557e+00] [-2.26083702e-01 1.95086896e-01 9.54372706e-01 4.36924569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959072329 meters Centerline goodness : 0.777353 with order 1 Centerline is valid? [False, False] Translation: X:-55.24, Y:2.36, Z:43.73 [[ 7.29241071e-01 -6.15252440e-01 2.99452660e-01 -5.52351855e+01] [ 6.45759162e-01 7.63531512e-01 -3.83859364e-03 2.36269238e+00] [-2.26279838e-01 1.96173559e-01 9.54103438e-01 4.37330365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019072329 meters Centerline goodness : 0.778933 with order 1 Centerline is valid? [False, False] Translation: X:-55.37, Y:2.35, Z:43.78 [[ 7.24800747e-01 -6.18616722e-01 3.03277478e-01 -5.53678314e+01] [ 6.51437268e-01 7.58644211e-01 -9.40466830e-03 2.34838692e+00] [-2.24261818e-01 2.04382762e-01 9.52855878e-01 4.37769025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079072329 meters Centerline goodness : 0.776449 with order 1 Centerline is valid? [False, False] Translation: X:-55.50, Y:2.34, Z:43.82 [[ 7.22988055e-01 -6.20682174e-01 3.03384099e-01 -5.54985630e+01] [ 6.54300104e-01 7.56134962e-01 -1.23001413e-02 2.33535170e+00] [-2.21764845e-01 2.07397102e-01 9.52788956e-01 4.38183399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139072329 meters Centerline goodness : 0.776999 with order 1 Centerline is valid? [False, False] Translation: X:-55.63, Y:2.32, Z:43.86 [[ 7.22452033e-01 -6.20540686e-01 3.04946418e-01 -5.56297701e+01] [ 6.55342803e-01 7.55164583e-01 -1.58827638e-02 2.32406440e+00] [-2.20428833e-01 2.11318975e-01 9.52237061e-01 4.38632237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199072329 meters Centerline goodness : 0.777167 with order 1 Centerline is valid? [False, False] Translation: X:-55.75, Y:2.31, Z:43.91 [[ 7.20895856e-01 -6.21215906e-01 3.07245771e-01 -5.57505060e+01] [ 6.56186386e-01 7.54465656e-01 -1.41775100e-02 2.31331248e+00] [-2.22999087e-01 2.11831000e-01 9.51524584e-01 4.39059995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259072329 meters Centerline goodness : 0.776018 with order 1 Centerline is valid? [False, False] Translation: X:-55.87, Y:2.30, Z:43.95 [[ 7.20589836e-01 -6.21748689e-01 3.06885736e-01 -5.58701058e+01] [ 6.56361498e-01 7.54336188e-01 -1.29034608e-02 2.30335562e+00] [-2.23472307e-01 2.10726084e-01 9.51658891e-01 4.39466000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319072329 meters Centerline goodness : 0.774207 with order 1 Centerline is valid? [False, False] Translation: X:-56.01, Y:2.29, Z:43.99 [[ 7.19668124e-01 -6.21850693e-01 3.08835727e-01 -5.60073446e+01] [ 6.57416417e-01 7.53378137e-01 -1.50012519e-02 2.29407767e+00] [-2.23341546e-01 2.13829600e-01 9.50997085e-01 4.39923765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379072329 meters Centerline goodness : 0.773825 with order 1 Centerline is valid? [False, False] Translation: X:-56.14, Y:2.28, Z:44.04 [[ 7.19922497e-01 -6.21012028e-01 3.09928476e-01 -5.61377714e+01] [ 6.57073226e-01 7.53653127e-01 -1.61783792e-02 2.28383433e+00] [-2.23531597e-01 2.15292883e-01 9.50622217e-01 4.40362596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439072329 meters Centerline goodness : 0.775492 with order 1 Centerline is valid? [False, False] Translation: X:-56.26, Y:2.28, Z:44.08 [[ 7.20825100e-01 -6.19973341e-01 3.09910038e-01 -5.62623412e+01] [ 6.55359323e-01 7.55195769e-01 -1.35465288e-02 2.27677714e+00] [-2.25644263e-01 2.12867111e-01 9.50669374e-01 4.40802907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49907232899994 meters Centerline goodness : 0.776711 with order 1 Centerline is valid? [False, False] Translation: X:-56.38, Y:2.27, Z:44.12 [[ 7.19323389e-01 -6.22805014e-01 3.07713790e-01 -5.63824593e+01] [ 6.57224945e-01 7.53613338e-01 -1.10593318e-02 2.26721972e+00] [-2.25009409e-01 2.10192415e-01 9.51414691e-01 4.41227101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55907232899995 meters Centerline goodness : 0.775221 with order 1 Centerline is valid? [False, False] Translation: X:-56.51, Y:2.26, Z:44.16 [[ 7.20382857e-01 -6.21440005e-01 3.07994901e-01 -5.65137271e+01] [ 6.56891101e-01 7.53827417e-01 -1.54371852e-02 2.25706576e+00] [-2.22581716e-01 2.13439793e-01 9.51262758e-01 4.41644628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61907232899995 meters Centerline goodness : 0.775992 with order 1 Centerline is valid? [False, False] Translation: X:-56.64, Y:2.25, Z:44.21 [[ 7.23032319e-01 -6.17075328e-01 3.10551614e-01 -5.66382330e+01] [ 6.52296703e-01 7.57855498e-01 -1.28083944e-02 2.25108658e+00] [-2.27449504e-01 2.11832677e-01 9.50470220e-01 4.42083286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67907232899995 meters Centerline goodness : 0.777235 with order 1 Centerline is valid? [False, False] Translation: X:-56.76, Y:2.25, Z:44.25 [[ 7.24905300e-01 -6.15615143e-01 3.09079767e-01 -5.67579128e+01] [ 6.49655030e-01 7.60168524e-01 -9.59985277e-03 2.24573462e+00] [-2.29042895e-01 2.07754209e-01 9.50987666e-01 4.42499886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73907232899995 meters Centerline goodness : 0.777406 with order 1 Centerline is valid? [False, False] Translation: X:-56.88, Y:2.24, Z:44.29 [[ 7.29410180e-01 -6.11314500e-01 3.07010377e-01 -5.68755720e+01] [ 6.43937986e-01 7.65049705e-01 -6.54357231e-03 2.24303873e+00] [-2.30878018e-01 2.02468592e-01 9.51683671e-01 4.42913632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79907232899996 meters Centerline goodness : 0.776775 with order 1 Centerline is valid? [False, False] Translation: X:-57.01, Y:2.24, Z:44.33 [[ 7.32157631e-01 -6.06903259e-01 3.09214548e-01 -5.70062628e+01] [ 6.40418966e-01 7.67972258e-01 -9.06414952e-03 2.23674007e+00] [-2.31967133e-01 2.04663247e-01 9.50949107e-01 4.43347418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85907232899996 meters Centerline goodness : 0.780074 with order 1 Centerline is valid? [False, False] Translation: X:-57.13, Y:2.23, Z:44.38 [[ 7.33018550e-01 -6.04592635e-01 3.11691436e-01 -5.71272710e+01] [ 6.38328258e-01 7.69721180e-01 -8.14490473e-03 2.23051318e+00] [-2.34991151e-01 2.04931818e-01 9.50148467e-01 4.43784117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91907232899996 meters Centerline goodness : 0.777408 with order 1 Centerline is valid? [False, False] Translation: X:-57.24, Y:2.22, Z:44.42 [[ 7.31443077e-01 -6.06386572e-01 3.11907599e-01 -5.72436108e+01] [ 6.39974198e-01 7.68364649e-01 -6.98505428e-03 2.22191500e+00] [-2.35423130e-01 2.04721985e-01 9.50086764e-01 4.44194563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97907232899996 meters Centerline goodness : 0.778502 with order 1 Centerline is valid? [False, False] Translation: X:-57.36, Y:2.22, Z:44.46 [[ 7.32103701e-01 -6.05907831e-01 3.11287443e-01 -5.73605574e+01] [ 6.38778965e-01 7.69375575e-01 -4.76009674e-03 2.21549977e+00] [-2.36612775e-01 2.02328755e-01 9.50303883e-01 4.44597086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03907232899996 meters Centerline goodness : 0.776292 with order 1 Centerline is valid? [False, False] Translation: X:-57.49, Y:2.21, Z:44.50 [[ 7.32238395e-01 -6.05352837e-01 3.12049476e-01 -5.74896251e+01] [ 6.39253547e-01 7.68950917e-01 -8.33000125e-03 2.20819634e+00] [-2.34908141e-01 2.05578281e-01 9.50029334e-01 4.45035136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09907232899997 meters Centerline goodness : 0.775266 with order 1 Centerline is valid? [False, False] Translation: X:-57.61, Y:2.20, Z:44.54 [[ 7.31544992e-01 -6.06731192e-01 3.10997083e-01 -5.76054226e+01] [ 6.40018470e-01 7.68331758e-01 -6.53209784e-03 2.20025288e+00] [-2.34985708e-01 2.03822401e-01 9.50388418e-01 4.45439556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15907232899997 meters Centerline goodness : 0.775115 with order 1 Centerline is valid? [False, False] Translation: X:-57.74, Y:2.19, Z:44.59 [[ 7.31638151e-01 -6.05299059e-01 3.13558073e-01 -5.77358214e+01] [ 6.40305249e-01 7.68035674e-01 -1.14188672e-02 2.19104654e+00] [-2.33911956e-01 2.09127359e-01 9.49500366e-01 4.45885370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21907232899997 meters Centerline goodness : 0.774392 with order 1 Centerline is valid? [False, False] Translation: X:-57.86, Y:2.18, Z:44.63 [[ 7.30063115e-01 -6.08021259e-01 3.11958325e-01 -5.78563106e+01] [ 6.42203132e-01 7.66481505e-01 -9.01328607e-03 2.18278710e+00] [-2.33630017e-01 2.06920881e-01 9.50053032e-01 4.46310163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279072329 meters Centerline goodness : 0.772070 with order 1 Centerline is valid? [False, False] Translation: X:-57.97, Y:2.17, Z:44.67 [[ 7.26362002e-01 -6.13376560e-01 3.10108752e-01 -5.79691078e+01] [ 6.47376265e-01 7.62118451e-01 -8.91276392e-03 2.17242108e+00] [-2.30872721e-01 2.07230939e-01 9.50659310e-01 4.46693930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339072329 meters Centerline goodness : 0.771002 with order 1 Centerline is valid? [False, False] Translation: X:-58.10, Y:2.16, Z:44.71 [[ 7.26917801e-01 -6.11314263e-01 3.12866397e-01 -5.81017602e+01] [ 6.47066365e-01 7.62306596e-01 -1.39202036e-02 2.16359621e+00] [-2.29990499e-01 2.12564166e-01 9.49695133e-01 4.47145635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399072329 meters Centerline goodness : 0.770768 with order 1 Centerline is valid? [False, False] Translation: X:-58.22, Y:2.16, Z:44.76 [[ 7.25737912e-01 -6.11862705e-01 3.14529034e-01 -5.82229995e+01] [ 6.47469999e-01 7.62002453e-01 -1.16130534e-02 2.15500307e+00] [-2.32566301e-01 2.12076146e-01 9.49176814e-01 4.47572465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459072329 meters Centerline goodness : 0.771970 with order 1 Centerline is valid? [False, False] Translation: X:-58.34, Y:2.15, Z:44.80 [[ 7.23550715e-01 -6.14622509e-01 3.14187099e-01 -5.83418670e+01] [ 6.49865128e-01 7.59985240e-01 -9.88692026e-03 2.14803561e+00] [-2.32700834e-01 2.11332927e-01 9.49309599e-01 4.47990833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519072329 meters Centerline goodness : 0.769725 with order 1 Centerline is valid? [False, False] Translation: X:-58.47, Y:2.14, Z:44.84 [[ 7.21794390e-01 -6.14718811e-01 3.18015161e-01 -5.84738901e+01] [ 6.52390387e-01 7.57712634e-01 -1.60731721e-02 2.13843100e+00] [-2.31083624e-01 2.19071560e-01 9.47949371e-01 4.48434434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579072329 meters Centerline goodness : 0.771756 with order 1 Centerline is valid? [False, False] Translation: X:-58.59, Y:2.13, Z:44.89 [[ 7.20610760e-01 -6.15341236e-01 3.19492246e-01 -5.85928192e+01] [ 6.53215644e-01 7.57017194e-01 -1.53065572e-02 2.13109955e+00] [-2.32442368e-01 2.19727403e-01 9.47465257e-01 4.48855715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639072329 meters Centerline goodness : 0.770397 with order 1 Centerline is valid? [False, False] Translation: X:-58.71, Y:2.13, Z:44.93 [[ 7.20357353e-01 -6.16263961e-01 3.18282915e-01 -5.87073894e+01] [ 6.53577751e-01 7.56729392e-01 -1.40267848e-02 2.12618334e+00] [-2.32209835e-01 2.18126929e-01 9.47891996e-01 4.49264718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699072329 meters Centerline goodness : 0.769089 with order 1 Centerline is valid? [False, False] Translation: X:-58.82, Y:2.12, Z:44.97 [[ 7.20060044e-01 -6.17593489e-01 3.16372906e-01 -5.88227033e+01] [ 6.54144375e-01 7.56266232e-01 -1.25109527e-02 2.12037010e+00] [-2.31535463e-01 2.15962194e-01 9.48552403e-01 4.49668546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759072329 meters Centerline goodness : 0.767270 with order 1 Centerline is valid? [False, False] Translation: X:-58.94, Y:2.11, Z:45.01 [[ 7.20171690e-01 -6.16441935e-01 3.18358411e-01 -5.89408774e+01] [ 6.53742245e-01 7.56590352e-01 -1.38605937e-02 2.11467219e+00] [-2.32322651e-01 2.18106350e-01 9.47869087e-01 4.50080368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819072329 meters Centerline goodness : 0.768194 with order 1 Centerline is valid? [False, False] Translation: X:-59.06, Y:2.11, Z:45.05 [[ 7.20040879e-01 -6.15237237e-01 3.20973948e-01 -5.90632818e+01] [ 6.52926782e-01 7.57307441e-01 -1.31170664e-02 2.10771168e+00] [-2.35005852e-01 2.19017311e-01 9.46997184e-01 4.50511884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879072329 meters Centerline goodness : 0.767336 with order 1 Centerline is valid? [False, False] Translation: X:-59.18, Y:2.10, Z:45.09 [[ 7.15090690e-01 -6.21032492e-01 3.20879960e-01 -5.91838127e+01] [ 6.58560900e-01 7.52441937e-01 -1.13434238e-02 2.09885575e+00] [-2.34398904e-01 2.19430572e-01 9.47051940e-01 4.50949602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939072329 meters Centerline goodness : 0.764415 with order 1 Centerline is valid? [False, False] Translation: X:-59.30, Y:2.09, Z:45.14 [[ 7.12053312e-01 -6.25732543e-01 3.18494686e-01 -5.92979073e+01] [ 6.62784567e-01 7.48732616e-01 -1.07743789e-02 2.08992927e+00] [-2.31725480e-01 2.18765295e-01 9.47863412e-01 4.51355678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99907232899994 meters Centerline goodness : 0.763772 with order 1 Centerline is valid? [False, False] Translation: X:-59.43, Y:2.08, Z:45.18 [[ 7.12561532e-01 -6.23637913e-01 3.21452667e-01 -5.94288497e+01] [ 6.62351822e-01 7.49041910e-01 -1.50426353e-02 2.08300652e+00] [-2.31400362e-01 2.23633563e-01 9.46806159e-01 4.51814746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05907232899995 meters Centerline goodness : 0.765589 with order 1 Centerline is valid? [False, False] Translation: X:-59.55, Y:2.08, Z:45.23 [[ 7.12299442e-01 -6.22398678e-01 3.24421626e-01 -5.95505644e+01] [ 6.61787765e-01 7.49540436e-01 -1.50362323e-02 2.07657117e+00] [-2.33808596e-01 2.25408563e-01 9.45793064e-01 4.52262082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11907232899995 meters Centerline goodness : 0.764862 with order 1 Centerline is valid? [False, False] Translation: X:-59.67, Y:2.07, Z:45.27 [[ 7.12761210e-01 -6.22311020e-01 3.23574491e-01 -5.96712474e+01] [ 6.60845281e-01 7.50418762e-01 -1.24577701e-02 2.07263854e+00] [-2.35063761e-01 2.22712091e-01 9.46120686e-01 4.52698631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17907232899995 meters Centerline goodness : 0.765642 with order 1 Centerline is valid? [False, False] Translation: X:-59.79, Y:2.07, Z:45.31 [[ 7.15146833e-01 -6.20182617e-01 3.22394988e-01 -5.97891080e+01] [ 6.57803893e-01 7.53117303e-01 -1.04099340e-02 2.06829995e+00] [-2.36345184e-01 2.19517309e-01 9.46547994e-01 4.53120305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23907232899995 meters Centerline goodness : 0.764319 with order 1 Centerline is valid? [False, False] Translation: X:-59.91, Y:2.07, Z:45.35 [[ 7.16470192e-01 -6.18787046e-01 3.22138256e-01 -5.99059236e+01] [ 6.56257049e-01 7.54466391e-01 -1.03514064e-02 2.06518945e+00] [-2.36637171e-01 2.18821975e-01 9.46636040e-01 4.53538203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29907232899996 meters Centerline goodness : 0.766068 with order 1 Centerline is valid? [False, False] Translation: X:-60.02, Y:2.06, Z:45.40 [[ 7.20204876e-01 -6.13484684e-01 3.23946723e-01 -6.00192968e+01] [ 6.51323733e-01 7.58717455e-01 -1.11900794e-02 2.06207169e+00] [-2.38919091e-01 2.19053339e-01 9.46009145e-01 4.53966651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35907232899996 meters Centerline goodness : 0.767611 with order 1 Centerline is valid? [False, False] Translation: X:-60.14, Y:2.06, Z:45.44 [[ 7.22103278e-01 -6.09352056e-01 3.27501035e-01 -6.01371574e+01] [ 6.47914291e-01 7.61626615e-01 -1.14878714e-02 2.05833866e+00] [-2.42433347e-01 2.20488031e-01 9.44780980e-01 4.54418148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41907232899996 meters Centerline goodness : 0.766215 with order 1 Centerline is valid? [False, False] Translation: X:-60.26, Y:2.06, Z:45.49 [[ 7.23246544e-01 -6.07278545e-01 3.28827014e-01 -6.02564021e+01] [ 6.45809234e-01 7.63426004e-01 -1.05437328e-02 2.05523258e+00] [-2.44632111e-01 2.19985240e-01 9.44331311e-01 4.54860891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47907232899996 meters Centerline goodness : 0.766668 with order 1 Centerline is valid? [False, False] Translation: X:-60.37, Y:2.05, Z:45.53 [[ 7.24976936e-01 -6.07181695e-01 3.25175079e-01 -6.03680692e+01] [ 6.44480935e-01 7.64564562e-01 -9.23873592e-03 2.05293853e+00] [-2.43007750e-01 2.16267009e-01 9.45608700e-01 4.55258710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53907232899996 meters Centerline goodness : 0.765709 with order 1 Centerline is valid? [False, False] Translation: X:-60.48, Y:2.05, Z:45.57 [[ 7.28192113e-01 -6.03142416e-01 3.25508023e-01 -6.04829855e+01] [ 6.40107456e-01 7.68238467e-01 -8.49132948e-03 2.05029040e+00] [-2.44946303e-01 2.14543431e-01 9.45501150e-01 4.55674375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59907232899997 meters Centerline goodness : 0.765727 with order 1 Centerline is valid? [False, False] Translation: X:-60.60, Y:2.05, Z:45.61 [[ 7.32228397e-01 -5.96931499e-01 3.27893823e-01 -6.05979560e+01] [ 6.34230364e-01 7.73092912e-01 -8.89913701e-03 2.04933210e+00] [-2.48180215e-01 2.14476420e-01 9.44672666e-01 4.56098374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65907232899997 meters Centerline goodness : 0.765996 with order 1 Centerline is valid? [False, False] Translation: X:-60.71, Y:2.05, Z:45.65 [[ 7.33348007e-01 -5.94877935e-01 3.29121472e-01 -6.07148825e+01] [ 6.32077156e-01 7.74865745e-01 -7.84509048e-03 2.04597021e+00] [-2.50358083e-01 2.13783345e-01 9.44255003e-01 4.56522871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71907232899997 meters Centerline goodness : 0.766635 with order 1 Centerline is valid? [False, False] Translation: X:-60.83, Y:2.05, Z:45.70 [[ 7.36363553e-01 -5.90449927e-01 3.30359805e-01 -6.08292622e+01] [ 6.27536476e-01 7.78553320e-01 -7.25947355e-03 2.04503144e+00] [-2.52916367e-01 2.12658439e-01 9.43827155e-01 4.56959999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779072329 meters Centerline goodness : 0.765514 with order 1 Centerline is valid? [False, False] Translation: X:-60.94, Y:2.04, Z:45.74 [[ 7.40969673e-01 -5.84036417e-01 3.31459510e-01 -6.09402498e+01] [ 6.20921020e-01 7.83842658e-01 -6.91181742e-03 2.04369661e+00] [-2.55775351e-01 2.10931624e-01 9.43444127e-01 4.57379166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839072329 meters Centerline goodness : 0.766819 with order 1 Centerline is valid? [False, False] Translation: X:-61.05, Y:2.04, Z:45.78 [[ 7.41015017e-01 -5.84735817e-01 3.30122355e-01 -6.10519877e+01] [ 6.21221819e-01 7.83608184e-01 -6.45495583e-03 2.03963817e+00] [-2.54912135e-01 2.09862429e-01 9.43916079e-01 4.57795858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899072329 meters Centerline goodness : 0.765783 with order 1 Centerline is valid? [False, False] Translation: X:-61.17, Y:2.03, Z:45.82 [[ 7.39670351e-01 -5.85572990e-01 3.31650486e-01 -6.11650651e+01] [ 6.22616148e-01 7.82496075e-01 -7.00176504e-03 2.03414015e+00] [-2.55415159e-01 2.11669946e-01 9.43376346e-01 4.58225444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959072329 meters Centerline goodness : 0.766222 with order 1 Centerline is valid? [False, False] Translation: X:-61.28, Y:2.03, Z:45.87 [[ 7.38961245e-01 -5.84927035e-01 3.34360049e-01 -6.12821186e+01] [ 6.22481158e-01 7.82606578e-01 -6.64465179e-03 2.02973477e+00] [-2.57785738e-01 2.13042971e-01 9.42421989e-01 4.58666475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019072329 meters Centerline goodness : 0.762581 with order 1 Centerline is valid? [False, False] Translation: X:-61.39, Y:2.03, Z:45.91 [[ 7.39705657e-01 -5.85190197e-01 3.32246857e-01 -6.13947171e+01] [ 6.21515035e-01 7.83392393e-01 -3.92671274e-03 2.02554295e+00] [-2.57981787e-01 2.09401029e-01 9.43184291e-01 4.59071016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079072329 meters Centerline goodness : 0.761608 with order 1 Centerline is valid? [False, False] Translation: X:-61.50, Y:2.02, Z:45.95 [[ 7.40954774e-01 -5.84241378e-01 3.31131446e-01 -6.15042883e+01] [ 6.20447842e-01 7.84233889e-01 -4.65646596e-03 2.02204546e+00] [-2.56964002e-01 2.08900022e-01 9.43573146e-01 4.59491705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139072329 meters Centerline goodness : 0.760329 with order 1 Centerline is valid? [False, False] Translation: X:-61.61, Y:2.02, Z:45.99 [[ 7.42655185e-01 -5.81552584e-01 3.32054015e-01 -6.16145513e+01] [ 6.17929377e-01 7.86217294e-01 -5.06470832e-03 2.01832086e+00] [-2.58121215e-01 2.08947263e-01 9.43246776e-01 4.59918794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199072329 meters Centerline goodness : 0.760038 with order 1 Centerline is valid? [False, False] Translation: X:-61.73, Y:2.01, Z:46.04 [[ 7.42246124e-01 -5.81511659e-01 3.33038860e-01 -6.17303275e+01] [ 6.18156230e-01 7.86038023e-01 -5.20597105e-03 2.01463807e+00] [-2.58753874e-01 2.09734158e-01 9.42898730e-01 4.60359686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259072329 meters Centerline goodness : 0.758136 with order 1 Centerline is valid? [False, False] Translation: X:-61.84, Y:2.01, Z:46.08 [[ 7.40557897e-01 -5.82964983e-01 3.34254139e-01 -6.18440165e+01] [ 6.19916622e-01 7.84651982e-01 -4.96484857e-03 2.00953284e+00] [-2.59378840e-01 2.10886455e-01 9.42469904e-01 4.60779322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319072329 meters Centerline goodness : 0.757444 with order 1 Centerline is valid? [False, False] Translation: X:-61.96, Y:2.00, Z:46.12 [[ 7.38519070e-01 -5.84408020e-01 3.36239274e-01 -6.19610889e+01] [ 6.21732240e-01 7.83218121e-01 -4.28910044e-03 2.00463668e+00] [-2.60842108e-01 2.12218380e-01 9.41766826e-01 4.61225017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379072329 meters Centerline goodness : 0.754803 with order 1 Centerline is valid? [False, False] Translation: X:-62.08, Y:2.00, Z:46.17 [[ 7.34506209e-01 -5.88329081e-01 3.38185630e-01 -6.20770375e+01] [ 6.26309771e-01 7.79563475e-01 -4.10588859e-03 1.99618545e+00] [-2.61221552e-01 2.14824765e-01 9.41070466e-01 4.61673411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439072329 meters Centerline goodness : 0.751567 with order 1 Centerline is valid? [False, False] Translation: X:-62.20, Y:1.99, Z:46.21 [[ 7.36932623e-01 -5.84820274e-01 3.38991970e-01 -6.21965344e+01] [ 6.24310650e-01 7.81116908e-01 -9.62229469e-03 1.99086792e+00] [-2.59165047e-01 2.18727280e-01 9.40740057e-01 4.62109360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49907232899994 meters Centerline goodness : 0.749170 with order 1 Centerline is valid? [False, False] Translation: X:-62.31, Y:1.99, Z:46.25 [[ 7.36427519e-01 -5.86850286e-01 3.36572803e-01 -6.23065388e+01] [ 6.25651455e-01 7.80052719e-01 -8.83252369e-03 1.98704472e+00] [-2.57361161e-01 2.17081777e-01 9.41616023e-01 4.62525303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55907232899995 meters Centerline goodness : 0.749963 with order 1 Centerline is valid? [False, False] Translation: X:-62.42, Y:1.98, Z:46.30 [[ 7.35378526e-01 -5.87875224e-01 3.37077357e-01 -6.24202918e+01] [ 6.26821136e-01 7.79114742e-01 -8.68806559e-03 1.98221510e+00] [-2.57514440e-01 2.17676229e-01 9.41436866e-01 4.62965369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61907232899995 meters Centerline goodness : 0.748107 with order 1 Centerline is valid? [False, False] Translation: X:-62.54, Y:1.98, Z:46.34 [[ 7.31500589e-01 -5.91400317e-01 3.39341354e-01 -6.25370818e+01] [ 6.31270701e-01 7.75507384e-01 -9.25197082e-03 1.97504225e+00] [-2.57690107e-01 2.20984076e-01 9.40617801e-01 4.63413853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67907232899995 meters Centerline goodness : 0.745960 with order 1 Centerline is valid? [False, False] Translation: X:-62.66, Y:1.97, Z:46.39 [[ 7.29906627e-01 -5.92567240e-01 3.40735061e-01 -6.26624445e+01] [ 6.34207665e-01 7.73032323e-01 -1.42009091e-02 1.96647304e+00] [-2.54984222e-01 2.26462125e-01 9.40052101e-01 4.63872632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73907232899995 meters Centerline goodness : 0.743881 with order 1 Centerline is valid? [False, False] Translation: X:-62.78, Y:1.96, Z:46.43 [[ 7.29249548e-01 -5.93410397e-01 3.40674621e-01 -6.27792207e+01] [ 6.34729032e-01 7.72627299e-01 -1.28885078e-02 1.96235980e+00] [-2.55566338e-01 2.25635011e-01 9.40092915e-01 4.64323859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79907232899996 meters Centerline goodness : 0.741672 with order 1 Centerline is valid? [False, False] Translation: X:-62.90, Y:1.96, Z:46.48 [[ 7.29097177e-01 -5.93333121e-01 3.41135038e-01 -6.28976947e+01] [ 6.34411224e-01 7.72908780e-01 -1.15938070e-02 1.95806543e+00] [-2.56787277e-01 2.24872909e-01 9.39942801e-01 4.64778620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85907232899996 meters Centerline goodness : 0.739656 with order 1 Centerline is valid? [False, False] Translation: X:-63.01, Y:1.95, Z:46.52 [[ 7.30179137e-01 -5.92374667e-01 3.40485949e-01 -6.30123254e+01] [ 6.33067391e-01 7.74018599e-01 -1.09948470e-02 1.95484771e+00] [-2.57029389e-01 2.23578759e-01 9.40185318e-01 4.65226865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91907232899996 meters Centerline goodness : 0.742914 with order 1 Centerline is valid? [False, False] Translation: X:-63.13, Y:1.95, Z:46.57 [[ 7.29655299e-01 -5.92278236e-01 3.41774248e-01 -6.31293955e+01] [ 6.33207256e-01 7.73908440e-01 -1.06909862e-02 1.95115966e+00] [-2.58169937e-01 2.24214668e-01 9.39721271e-01 4.65682736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97907232899996 meters Centerline goodness : 0.744326 with order 1 Centerline is valid? [False, False] Translation: X:-63.25, Y:1.95, Z:46.62 [[ 7.28894482e-01 -5.91801397e-01 3.44214962e-01 -6.32474110e+01] [ 6.33362265e-01 7.73779548e-01 -1.08375387e-02 1.94749553e+00] [-2.59932827e-01 2.25912190e-01 9.38828316e-01 4.66152957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03907232899996 meters Centerline goodness : 0.744473 with order 1 Centerline is valid? [False, False] Translation: X:-63.37, Y:1.95, Z:46.66 [[ 7.29082875e-01 -5.91040890e-01 3.45121469e-01 -6.33660864e+01] [ 6.32439858e-01 7.74550079e-01 -9.59170174e-03 1.94546350e+00] [-2.61644773e-01 2.25261718e-01 9.38509015e-01 4.66624263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09907232899997 meters Centerline goodness : 0.744150 with order 1 Centerline is valid? [False, False] Translation: X:-63.48, Y:1.94, Z:46.71 [[ 7.29648862e-01 -5.91997461e-01 3.42274078e-01 -6.34775040e+01] [ 6.32383302e-01 7.74610885e-01 -8.32689212e-03 1.94199345e+00] [-2.60199728e-01 2.22524119e-01 9.39563259e-01 4.67056226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15907232899997 meters Centerline goodness : 0.741849 with order 1 Centerline is valid? [False, False] Translation: X:-63.60, Y:1.94, Z:46.75 [[ 7.32889004e-01 -5.88891505e-01 3.40705888e-01 -6.36006902e+01] [ 6.30015289e-01 7.76471714e-01 -1.31306241e-02 1.93986685e+00] [-2.56815972e-01 2.24273209e-01 9.40078233e-01 4.67511312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21907232899997 meters Centerline goodness : 0.740806 with order 1 Centerline is valid? [False, False] Translation: X:-63.72, Y:1.94, Z:46.80 [[ 7.35091436e-01 -5.86728459e-01 3.39691471e-01 -6.37161185e+01] [ 6.27046640e-01 7.78895514e-01 -1.15883108e-02 1.93911267e+00] [-2.57784971e-01 2.21520864e-01 9.40465531e-01 4.67955927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279072329 meters Centerline goodness : 0.742625 with order 1 Centerline is valid? [False, False] Translation: X:-63.83, Y:1.94, Z:46.84 [[ 7.37910949e-01 -5.81908724e-01 3.41862060e-01 -6.38327915e+01] [ 6.22321805e-01 7.82683921e-01 -1.10204448e-02 1.94081320e+00] [-2.61157045e-01 2.20880321e-01 9.39685523e-01 4.68408181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339072329 meters Centerline goodness : 0.742242 with order 1 Centerline is valid? [False, False] Translation: X:-63.95, Y:1.94, Z:46.89 [[ 7.43241992e-01 -5.75899259e-01 3.40486981e-01 -6.39486696e+01] [ 6.14662294e-01 7.88753408e-01 -7.63707513e-03 1.94414257e+00] [-2.64162081e-01 2.14960704e-01 9.40218215e-01 4.68867374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399072329 meters Centerline goodness : 0.743855 with order 1 Centerline is valid? [False, False] Translation: X:-64.06, Y:1.94, Z:46.93 [[ 7.47337060e-01 -5.70743213e-01 3.40205090e-01 -6.40614818e+01] [ 6.08657498e-01 7.93410449e-01 -5.99249196e-03 1.94469832e+00] [-2.66502099e-01 2.11546790e-01 9.40332168e-01 4.69313886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459072329 meters Centerline goodness : 0.744886 with order 1 Centerline is valid? [False, False] Translation: X:-64.17, Y:1.94, Z:46.98 [[ 7.48666195e-01 -5.67653848e-01 3.42444210e-01 -6.41743658e+01] [ 6.06246313e-01 7.95244693e-01 -7.16148933e-03 1.94414772e+00] [-2.68261694e-01 2.12967105e-01 9.39510871e-01 4.69761432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519072329 meters Centerline goodness : 0.744494 with order 1 Centerline is valid? [False, False] Translation: X:-64.28, Y:1.94, Z:47.02 [[ 7.50437682e-01 -5.66283150e-01 3.40832333e-01 -6.42826541e+01] [ 6.04326187e-01 7.96707243e-01 -6.88683411e-03 1.94238524e+00] [-2.67643690e-01 2.11142044e-01 9.40098874e-01 4.70181239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579072329 meters Centerline goodness : 0.741623 with order 1 Centerline is valid? [False, False] Translation: X:-64.39, Y:1.94, Z:47.06 [[ 7.52153960e-01 -5.65429821e-01 3.38457588e-01 -6.43914072e+01] [ 6.02499725e-01 7.98099276e-01 -5.62381667e-03 1.94171408e+00] [-2.66942882e-01 2.08150579e-01 9.40964842e-01 4.70599192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639072329 meters Centerline goodness : 0.741318 with order 1 Centerline is valid? [False, False] Translation: X:-64.50, Y:1.94, Z:47.10 [[ 7.53750356e-01 -5.64117977e-01 3.37092435e-01 -6.45025402e+01] [ 6.00450077e-01 7.99649987e-01 -4.42764639e-03 1.94079515e+00] [-2.67058246e-01 2.05744518e-01 9.41461144e-01 4.71022204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699072329 meters Centerline goodness : 0.740448 with order 1 Centerline is valid? [False, False] Translation: X:-64.61, Y:1.94, Z:47.15 [[ 7.56910296e-01 -5.60528857e-01 3.35997327e-01 -6.46132867e+01] [ 5.95999332e-01 8.02979134e-01 -3.05078327e-03 1.94226735e+00] [-2.68088791e-01 2.02563352e-01 9.41857998e-01 4.71453680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759072329 meters Centerline goodness : 0.741149 with order 1 Centerline is valid? [False, False] Translation: X:-64.72, Y:1.94, Z:47.19 [[ 7.54402769e-01 -5.63179861e-01 3.37201581e-01 -6.47226500e+01] [ 6.00067222e-01 7.99923172e-01 -6.49982894e-03 1.94044027e+00] [-2.66074786e-01 2.07247105e-01 9.41410031e-01 4.71871587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819072329 meters Centerline goodness : 0.742267 with order 1 Centerline is valid? [False, False] Translation: X:-64.83, Y:1.94, Z:47.23 [[ 7.56760870e-01 -5.60031787e-01 3.37160766e-01 -6.48319214e+01] [ 5.97035404e-01 8.02178745e-01 -7.61487072e-03 1.93984735e+00] [-2.66198631e-01 2.07059551e-01 9.41416290e-01 4.72315182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879072329 meters Centerline goodness : 0.743769 with order 1 Centerline is valid? [False, False] Translation: X:-64.94, Y:1.94, Z:47.27 [[ 7.59872040e-01 -5.55352036e-01 3.37903239e-01 -6.49409403e+01] [ 5.91826245e-01 8.06042173e-01 -6.14097129e-03 1.94167832e+00] [-2.68953860e-01 2.04646358e-01 9.41160820e-01 4.72728680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939072329 meters Centerline goodness : 0.744767 with order 1 Centerline is valid? [False, False] Translation: X:-65.05, Y:1.94, Z:47.32 [[ 7.61485959e-01 -5.52863842e-01 3.38349977e-01 -6.50542594e+01] [ 5.88877935e-01 8.08208270e-01 -4.70858611e-03 1.94162670e+00] [-2.70854043e-01 2.02832358e-01 9.41008566e-01 4.73154388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99907232899994 meters Centerline goodness : 0.744664 with order 1 Centerline is valid? [False, False] Translation: X:-65.16, Y:1.94, Z:47.36 [[ 7.64791912e-01 -5.48074280e-01 3.38685570e-01 -6.51605882e+01] [ 5.83867301e-01 8.11835521e-01 -4.69704472e-03 1.94155076e+00] [-2.72382647e-01 2.01339691e-01 9.40887890e-01 4.73560725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05907232899995 meters Centerline goodness : 0.746270 with order 1 Centerline is valid? [False, False] Translation: X:-65.27, Y:1.94, Z:47.40 [[ 7.66280232e-01 -5.44482853e-01 3.41105599e-01 -6.52702645e+01] [ 5.80878096e-01 8.13971059e-01 -5.63496501e-03 1.94008831e+00] [-2.74581944e-01 2.02458733e-01 9.40008094e-01 4.73994885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11907232899995 meters Centerline goodness : 0.746753 with order 1 Centerline is valid? [False, False] Translation: X:-65.38, Y:1.94, Z:47.44 [[ 7.65903362e-01 -5.45504029e-01 3.40319547e-01 -6.53768083e+01] [ 5.81764876e-01 8.13337920e-01 -5.57288774e-03 1.93687162e+00] [-2.73754759e-01 2.02254253e-01 9.40293331e-01 4.74406994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17907232899995 meters Centerline goodness : 0.744799 with order 1 Centerline is valid? [False, False] Translation: X:-65.48, Y:1.93, Z:47.48 [[ 7.63682206e-01 -5.48957417e-01 3.39757624e-01 -6.54816866e+01] [ 5.85535850e-01 8.10621429e-01 -6.37708624e-03 1.93137064e+00] [-2.71914062e-01 2.03810336e-01 9.40491409e-01 4.74792302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23907232899995 meters Centerline goodness : 0.745398 with order 1 Centerline is valid? [False, False] Translation: X:-65.59, Y:1.93, Z:47.52 [[ 7.61745260e-01 -5.51809601e-01 3.39485379e-01 -6.55876152e+01] [ 5.88629824e-01 8.08373879e-01 -6.82654043e-03 1.92580658e+00] [-2.70664162e-01 2.05031303e-01 9.40586560e-01 4.75180259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29907232899996 meters Centerline goodness : 0.747258 with order 1 Centerline is valid? [False, False] Translation: X:-65.69, Y:1.92, Z:47.56 [[ 7.59589695e-01 -5.54641147e-01 3.39700888e-01 -6.56925146e+01] [ 5.91966244e-01 8.05924937e-01 -7.80783103e-03 1.91998363e+00] [-2.69442872e-01 2.07022207e-01 9.40501114e-01 4.75573406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35907232899996 meters Centerline goodness : 0.748449 with order 1 Centerline is valid? [False, False] Translation: X:-65.80, Y:1.92, Z:47.60 [[ 7.60968870e-01 -5.53738841e-01 3.38082348e-01 -6.57986902e+01] [ 5.90236910e-01 8.07204521e-01 -6.42275035e-03 1.91875848e+00] [-2.69345074e-01 2.04436194e-01 9.41094615e-01 4.75971628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41907232899996 meters Centerline goodness : 0.749995 with order 1 Centerline is valid? [False, False] Translation: X:-65.91, Y:1.92, Z:47.64 [[ 7.60367724e-01 -5.53695791e-01 3.39502423e-01 -6.59053383e+01] [ 5.90902633e-01 8.06705581e-01 -7.75784140e-03 1.91586478e+00] [-2.69583015e-01 2.06511688e-01 9.40573187e-01 4.76379195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47907232899996 meters Centerline goodness : 0.752110 with order 1 Centerline is valid? [False, False] Translation: X:-66.01, Y:1.91, Z:47.68 [[ 7.56751402e-01 -5.56015264e-01 3.43764951e-01 -6.60145278e+01] [ 5.94939502e-01 8.03711567e-01 -9.73165882e-03 1.91121872e+00] [-2.70876916e-01 2.11883795e-01 9.39005300e-01 4.76797742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53907232899996 meters Centerline goodness : 0.753753 with order 1 Centerline is valid? [False, False] Translation: X:-66.12, Y:1.91, Z:47.72 [[ 7.55420373e-01 -5.57992257e-01 3.43489013e-01 -6.61210910e+01] [ 5.96807083e-01 8.02332523e-01 -9.15573450e-03 1.90793857e+00] [-2.70483578e-01 2.11913105e-01 9.39112065e-01 4.77200954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59907232899997 meters Centerline goodness : 0.749707 with order 1 Centerline is valid? [False, False] Translation: X:-66.23, Y:1.90, Z:47.76 [[ 7.52533347e-01 -5.62037576e-01 3.43230718e-01 -6.62270361e+01] [ 6.01320498e-01 7.98943688e-01 -1.01312400e-02 1.90282505e+00] [-2.68527878e-01 2.14015762e-01 9.39196482e-01 4.77591074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65907232899997 meters Centerline goodness : 0.750094 with order 1 Centerline is valid? [False, False] Translation: X:-66.33, Y:1.90, Z:47.80 [[ 7.50695787e-01 -5.64072981e-01 3.43914970e-01 -6.63331765e+01] [ 6.04131912e-01 7.96796541e-01 -1.18281590e-02 1.89845801e+00] [-2.67358314e-01 2.16649358e-01 9.38926295e-01 4.77993305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71907232899997 meters Centerline goodness : 0.752074 with order 1 Centerline is valid? [False, False] Translation: X:-66.44, Y:1.90, Z:47.84 [[ 7.50346274e-01 -5.63805570e-01 3.45114108e-01 -6.64386149e+01] [ 6.04080007e-01 7.96839097e-01 -1.16102502e-02 1.89529150e+00] [-2.68454491e-01 2.17188241e-01 9.38488921e-01 4.78391265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779072329 meters Centerline goodness : 0.754113 with order 1 Centerline is valid? [False, False] Translation: X:-66.55, Y:1.89, Z:47.88 [[ 7.45181580e-01 -5.69137562e-01 3.47544024e-01 -6.65516335e+01] [ 6.10664916e-01 7.91786952e-01 -1.27193979e-02 1.89012915e+00] [-2.67941737e-01 2.21711203e-01 9.37577393e-01 4.78835239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839072329 meters Centerline goodness : 0.754018 with order 1 Centerline is valid? [False, False] Translation: X:-66.66, Y:1.88, Z:47.93 [[ 7.39541030e-01 -5.74719544e-01 3.50394793e-01 -6.66605322e+01] [ 6.18027748e-01 7.86009558e-01 -1.51880739e-02 1.88259135e+00] [-2.66684773e-01 2.27785909e-01 9.36478943e-01 4.79258931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899072329 meters Centerline goodness : 0.753070 with order 1 Centerline is valid? [False, False] Translation: X:-66.77, Y:1.88, Z:47.97 [[ 7.36064367e-01 -5.78995291e-01 3.50676062e-01 -6.67699951e+01] [ 6.22929934e-01 7.82110019e-01 -1.61930346e-02 1.87819494e+00] [-2.64891571e-01 2.30365732e-01 9.36356815e-01 4.79683181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959072329 meters Centerline goodness : 0.754104 with order 1 Centerline is valid? [False, False] Translation: X:-66.88, Y:1.87, Z:48.01 [[ 7.29656236e-01 -5.87360774e-01 3.50155820e-01 -6.68795958e+01] [ 6.31996274e-01 7.74777777e-01 -1.73235659e-02 1.87182620e+00] [-2.61117765e-01 2.33937421e-01 9.36531257e-01 4.80098979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019072329 meters Centerline goodness : 0.753805 with order 1 Centerline is valid? [False, False] Translation: X:-66.99, Y:1.87, Z:48.05 [[ 7.25830989e-01 -5.91898362e-01 3.50464983e-01 -6.69882587e+01] [ 6.37185631e-01 7.70491523e-01 -1.83653324e-02 1.86535105e+00] [-2.59159889e-01 2.36641379e-01 9.36395755e-01 4.80519689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079072329 meters Centerline goodness : 0.753548 with order 1 Centerline is valid? [False, False] Translation: X:-67.10, Y:1.86, Z:48.10 [[ 7.23934317e-01 -5.92565166e-01 3.53250095e-01 -6.71030496e+01] [ 6.38862839e-01 7.69082379e-01 -1.91459422e-02 1.86295684e+00] [-2.60333205e-01 2.39538763e-01 9.35332991e-01 4.80965541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139072329 meters Centerline goodness : 0.753419 with order 1 Centerline is valid? [False, False] Translation: X:-67.21, Y:1.86, Z:48.14 [[ 7.23824079e-01 -5.93948894e-01 3.51145859e-01 -6.72114247e+01] [ 6.39674704e-01 7.68415016e-01 -1.88317896e-02 1.86097139e+00] [-2.58640630e-01 2.38250026e-01 9.36131374e-01 4.81398965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199072329 meters Centerline goodness : 0.753301 with order 1 Centerline is valid? [False, False] Translation: X:-67.32, Y:1.86, Z:48.18 [[ 7.26221879e-01 -5.90659365e-01 3.51743226e-01 -6.73241518e+01] [ 6.36057686e-01 7.71436045e-01 -1.78058405e-02 1.86202970e+00] [-2.60830217e-01 2.36659974e-01 9.35927163e-01 4.81832809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259072329 meters Centerline goodness : 0.757439 with order 1 Centerline is valid? [False, False] Translation: X:-67.44, Y:1.86, Z:48.23 [[ 7.23658337e-01 -5.91665871e-01 3.55316913e-01 -6.74360584e+01] [ 6.38994275e-01 7.68924350e-01 -2.10157152e-02 1.85983978e+00] [-2.60777545e-01 2.42253670e-01 9.34509621e-01 4.82280544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319072329 meters Centerline goodness : 0.756670 with order 1 Centerline is valid? [False, False] Translation: X:-67.55, Y:1.86, Z:48.27 [[ 7.20916004e-01 -5.95205649e-01 3.54979366e-01 -6.75453107e+01] [ 6.43018470e-01 7.65525857e-01 -2.23026782e-02 1.85757059e+00] [-2.58471204e-01 2.44336646e-01 9.34608068e-01 4.82721275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379072329 meters Centerline goodness : 0.759346 with order 1 Centerline is valid? [False, False] Translation: X:-67.66, Y:1.85, Z:48.32 [[ 7.16841149e-01 -5.98706719e-01 3.57336021e-01 -6.76627582e+01] [ 6.47441725e-01 7.61783765e-01 -2.24657226e-02 1.85496130e+00] [-2.58762400e-01 2.47458604e-01 9.33705660e-01 4.83201460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439072329 meters Centerline goodness : 0.756562 with order 1 Centerline is valid? [False, False] Translation: X:-67.77, Y:1.85, Z:48.36 [[ 7.18173605e-01 -5.99355176e-01 3.53553457e-01 -6.77719784e+01] [ 6.46366111e-01 7.62767998e-01 -1.98955281e-02 1.85383106e+00] [-2.57754774e-01 2.42813416e-01 9.35202717e-01 4.83630445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49907232899994 meters Centerline goodness : 0.755823 with order 1 Centerline is valid? [False, False] Translation: X:-67.89, Y:1.85, Z:48.41 [[ 7.19092534e-01 -5.97602077e-01 3.54651499e-01 -6.78896162e+01] [ 6.44745039e-01 7.64144498e-01 -1.96728463e-02 1.85486685e+00] [-2.59248458e-01 2.42806391e-01 9.34791577e-01 4.84108771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55907232899995 meters Centerline goodness : 0.756822 with order 1 Centerline is valid? [False, False] Translation: X:-68.01, Y:1.86, Z:48.46 [[ 7.20078912e-01 -5.95653908e-01 3.55925248e-01 -6.80068866e+01] [ 6.43028812e-01 7.65589027e-01 -1.96821978e-02 1.85662292e+00] [-2.60768686e-01 2.43042925e-01 9.34307138e-01 4.84585101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61907232899995 meters Centerline goodness : 0.757266 with order 1 Centerline is valid? [False, False] Translation: X:-68.13, Y:1.86, Z:48.51 [[ 7.17721713e-01 -5.95968868e-01 3.60134212e-01 -6.81256081e+01] [ 6.44997492e-01 7.63887417e-01 -2.13131232e-02 1.85694601e+00] [-2.62400035e-01 2.47582555e-01 9.32657011e-01 4.85076382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67907232899995 meters Centerline goodness : 0.759059 with order 1 Centerline is valid? [False, False] Translation: X:-68.24, Y:1.86, Z:48.56 [[ 7.16707970e-01 -5.96102088e-01 3.61928152e-01 -6.82422479e+01] [ 6.45898171e-01 7.63100754e-01 -2.21989216e-02 1.85541362e+00] [-2.62954822e-01 2.49678875e-01 9.31941640e-01 4.85560663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73907232899995 meters Centerline goodness : 0.754582 with order 1 Centerline is valid? [False, False] Translation: X:-68.35, Y:1.85, Z:48.60 [[ 7.14898493e-01 -5.99494620e-01 3.59897688e-01 -6.83507450e+01] [ 6.48835440e-01 7.60614719e-01 -2.18591179e-02 1.85400784e+00] [-2.60639055e-01 2.49141425e-01 9.32735672e-01 4.86002422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79907232899996 meters Centerline goodness : 0.758168 with order 1 Centerline is valid? [False, False] Translation: X:-68.48, Y:1.86, Z:48.65 [[ 7.13219419e-01 -5.98804675e-01 3.64350136e-01 -6.84765350e+01] [ 6.49128612e-01 7.60389108e-01 -2.09868973e-02 1.85598569e+00] [-2.64480823e-01 2.51478361e-01 9.31025525e-01 4.86539297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85907232899996 meters Centerline goodness : 0.756106 with order 1 Centerline is valid? [False, False] Translation: X:-68.60, Y:1.86, Z:48.70 [[ 7.12898952e-01 -5.98774987e-01 3.65025477e-01 -6.85952260e+01] [ 6.48946219e-01 7.60577246e-01 -1.97751906e-02 1.85642620e+00] [-2.65789183e-01 2.50979616e-01 9.30787485e-01 4.87028673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91907232899996 meters Centerline goodness : 0.750779 with order 1 Centerline is valid? [False, False] Translation: X:-68.71, Y:1.86, Z:48.75 [[ 7.14588881e-01 -5.96517116e-01 3.65417654e-01 -6.87120601e+01] [ 6.46360269e-01 7.62801556e-01 -1.87666815e-02 1.85682094e+00] [-2.67546508e-01 2.49601915e-01 9.30654474e-01 4.87507789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97907232899996 meters Centerline goodness : 0.751139 with order 1 Centerline is valid? [False, False] Translation: X:-68.83, Y:1.86, Z:48.80 [[ 7.14340090e-01 -5.95188101e-01 3.68061627e-01 -6.88320205e+01] [ 6.45651788e-01 7.63405458e-01 -1.85977319e-02 1.85838198e+00] [-2.69911106e-01 2.50924753e-01 9.29615384e-01 4.88008220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03907232899996 meters Centerline goodness : 0.752505 with order 1 Centerline is valid? [False, False] Translation: X:-68.95, Y:1.86, Z:48.85 [[ 7.16716419e-01 -5.91521472e-01 3.69350677e-01 -6.89499692e+01] [ 6.41946069e-01 7.66537092e-01 -1.80590952e-02 1.86365200e+00] [-2.72438651e-01 2.50046465e-01 9.29114603e-01 4.88513021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09907232899997 meters Centerline goodness : 0.763561 with order 2 Centerline is valid? [False, False] Translation: X:-69.07, Y:1.87, Z:48.90 [[ 7.18468094e-01 -5.87845521e-01 3.71808070e-01 -6.90674097e+01] [ 6.38471043e-01 7.69453249e-01 -1.72170218e-02 1.86627737e+00] [-2.75967978e-01 2.49758567e-01 9.28149952e-01 4.89023833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15907232899997 meters Centerline goodness : 0.754063 with order 1 Centerline is valid? [False, False] Translation: X:-69.18, Y:1.87, Z:48.95 [[ 7.21896529e-01 -5.84104393e-01 3.71062609e-01 -6.91776849e+01] [ 6.34473026e-01 7.72736259e-01 -1.79625538e-02 1.86856401e+00] [-2.76241526e-01 2.48396322e-01 9.28434105e-01 4.89510571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21907232899997 meters Centerline goodness : 0.756603 with order 1 Centerline is valid? [False, False] Translation: X:-69.29, Y:1.87, Z:49.00 [[ 7.24257138e-01 -5.80570879e-01 3.72006791e-01 -6.92907142e+01] [ 6.31113527e-01 7.75470425e-01 -1.84752840e-02 1.87091533e+00] [-2.77754052e-01 2.48159374e-01 9.28046126e-01 4.90007098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279072329 meters Centerline goodness : 0.759881 with order 1 Centerline is valid? [False, False] Translation: X:-69.40, Y:1.88, Z:49.05 [[ 7.28402725e-01 -5.74386779e-01 3.73509435e-01 -6.94020794e+01] [ 6.25022092e-01 7.80380273e-01 -1.88152781e-02 1.87785960e+00] [-2.80672148e-01 2.47156748e-01 9.27435543e-01 4.90497593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339072329 meters Centerline goodness : 0.758560 with order 1 Centerline is valid? [False, False] Translation: X:-69.51, Y:1.88, Z:49.10 [[ 7.34607061e-01 -5.68458815e-01 3.70414688e-01 -6.95109491e+01] [ 6.17085054e-01 7.86724424e-01 -1.64534644e-02 1.88480349e+00] [-2.82061165e-01 2.40664199e-01 9.28720756e-01 4.90959481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399072329 meters Centerline goodness : 0.758265 with order 1 Centerline is valid? [False, False] Translation: X:-69.62, Y:1.89, Z:49.14 [[ 7.38136687e-01 -5.62981459e-01 3.71760820e-01 -6.96162416e+01] [ 6.12437847e-01 7.90284940e-01 -1.92249273e-02 1.88898999e+00] [-2.82973700e-01 2.41871020e-01 9.28129460e-01 4.91436841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459072329 meters Centerline goodness : 0.760795 with order 1 Centerline is valid? [False, False] Translation: X:-69.72, Y:1.89, Z:49.19 [[ 7.40713871e-01 -5.58571896e-01 3.73283269e-01 -6.97235464e+01] [ 6.08888469e-01 7.92959950e-01 -2.16644913e-02 1.89303896e+00] [-2.83897506e-01 2.43335067e-01 9.27464420e-01 4.91899867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519072329 meters Centerline goodness : 0.762245 with order 1 Centerline is valid? [False, False] Translation: X:-69.83, Y:1.90, Z:49.24 [[ 7.44263799e-01 -5.53582834e-01 3.73654177e-01 -6.98338859e+01] [ 6.03376796e-01 7.97185532e-01 -2.07766458e-02 1.89855900e+00] [-2.86370109e-01 2.40917566e-01 9.27335369e-01 4.92380126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579072329 meters Centerline goodness : 0.766555 with order 1 Centerline is valid? [False, False] Translation: X:-69.95, Y:1.90, Z:49.29 [[ 7.44704826e-01 -5.51082240e-01 3.76461269e-01 -6.99469863e+01] [ 6.01145085e-01 7.98896956e-01 -1.97038130e-02 1.90232564e+00] [-2.89895340e-01 2.40981366e-01 9.26222799e-01 4.92874380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639072329 meters Centerline goodness : 0.766424 with order 1 Centerline is valid? [False, False] Translation: X:-70.05, Y:1.91, Z:49.33 [[ 7.49534449e-01 -5.45298964e-01 3.75296082e-01 -7.00512090e+01] [ 5.94263509e-01 8.04055938e-01 -1.85722738e-02 1.90778484e+00] [-2.91631602e-01 2.36945326e-01 9.26718901e-01 4.93315780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699072329 meters Centerline goodness : 0.767796 with order 1 Centerline is valid? [False, False] Translation: X:-70.16, Y:1.91, Z:49.38 [[ 7.52827266e-01 -5.40054414e-01 3.76287573e-01 -7.01584491e+01] [ 5.88660674e-01 8.08184339e-01 -1.77956626e-02 1.91161669e+00] [-2.94499097e-01 2.34902756e-01 9.26332001e-01 4.93783587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759072329 meters Centerline goodness : 0.771213 with order 1 Centerline is valid? [False, False] Translation: X:-70.25, Y:1.91, Z:49.42 [[ 7.48437874e-01 -5.45070507e-01 3.77808009e-01 -7.02546989e+01] [ 5.92342886e-01 8.05608615e-01 -1.11653383e-02 1.91175123e+00] [-2.98279490e-01 2.32148449e-01 9.25816636e-01 4.94249056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819072329 meters Centerline goodness : 0.771680 with order 1 Centerline is valid? [False, False] Translation: X:-70.36, Y:1.91, Z:49.47 [[ 7.45197114e-01 -5.50267699e-01 3.76678538e-01 -7.03614842e+01] [ 5.97746370e-01 8.01602360e-01 -1.15296813e-02 1.90903351e+00] [-2.95601994e-01 2.33750114e-01 9.26272285e-01 4.94707493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879072329 meters Centerline goodness : 0.767900 with order 1 Centerline is valid? [False, False] Translation: X:-70.47, Y:1.91, Z:49.51 [[ 7.42404837e-01 -5.55228504e-01 3.74908477e-01 -7.04673881e+01] [ 6.02874122e-01 7.97739960e-01 -1.23995577e-02 1.90507947e+00] [-2.92194886e-01 2.35228110e-01 9.26978902e-01 4.95142061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939072329 meters Centerline goodness : 0.770121 with order 1 Centerline is valid? [False, False] Translation: X:-70.58, Y:1.91, Z:49.56 [[ 7.39530685e-01 -5.58121556e-01 3.76290705e-01 -7.05783754e+01] [ 6.06643938e-01 7.94862528e-01 -1.32926389e-02 1.90508118e+00] [-2.91680473e-01 2.38104790e-01 9.26406288e-01 4.95611873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99907232899994 meters Centerline goodness : 0.772320 with order 1 Centerline is valid? [False, False] Translation: X:-70.69, Y:1.91, Z:49.61 [[ 7.37082623e-01 -5.60337490e-01 3.77797702e-01 -7.06914284e+01] [ 6.09246229e-01 7.92879976e-01 -1.26640074e-02 1.90680760e+00] [-2.92452114e-01 2.39506245e-01 9.25801555e-01 4.96097659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05907232899995 meters Centerline goodness : 0.773755 with order 1 Centerline is valid? [False, False] Translation: X:-70.80, Y:1.91, Z:49.66 [[ 7.34997267e-01 -5.61776847e-01 3.79718043e-01 -7.08037051e+01] [ 6.11856900e-01 7.90838809e-01 -1.43217247e-02 1.90816573e+00] [-2.92250151e-01 2.42859533e-01 9.24991403e-01 4.96590148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11907232899995 meters Centerline goodness : 0.776415 with order 1 Centerline is valid? [False, False] Translation: X:-70.91, Y:1.91, Z:49.71 [[ 7.35974108e-01 -5.57843725e-01 3.83604603e-01 -7.09129932e+01] [ 6.09007170e-01 7.93018955e-01 -1.52053991e-02 1.91191663e+00] [-2.95723485e-01 2.44808733e-01 9.23372246e-01 4.97080723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17907232899995 meters Centerline goodness : 0.774375 with order 1 Centerline is valid? [False, False] Translation: X:-71.03, Y:1.92, Z:49.76 [[ 7.36468447e-01 -5.56656672e-01 3.84379469e-01 -7.10277004e+01] [ 6.07478973e-01 7.94216843e-01 -1.37442066e-02 1.91631102e+00] [-2.97629844e-01 2.43624620e-01 9.23072869e-01 4.97568380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23907232899995 meters Centerline goodness : 0.772010 with order 1 Centerline is valid? [False, False] Translation: X:-71.14, Y:1.92, Z:49.81 [[ 7.35857705e-01 -5.58557056e-01 3.82789046e-01 -7.11365320e+01] [ 6.09089102e-01 7.92981970e-01 -1.37862731e-02 1.91866187e+00] [-2.95844392e-01 2.43297372e-01 9.23732908e-01 4.98052484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29907232899996 meters Centerline goodness : 0.769804 with order 1 Centerline is valid? [False, False] Translation: X:-71.24, Y:1.92, Z:49.85 [[ 7.34900173e-01 -5.60371946e-01 3.81975154e-01 -7.12412901e+01] [ 6.11311459e-01 7.91241216e-01 -1.53505190e-02 1.91957997e+00] [-2.93632485e-01 2.44786888e-01 9.24045098e-01 4.98511641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35907232899996 meters Centerline goodness : 0.768578 with order 1 Centerline is valid? [False, False] Translation: X:-71.35, Y:1.92, Z:49.90 [[ 7.34508834e-01 -5.59333846e-01 3.84242659e-01 -7.13510771e+01] [ 6.11468399e-01 7.91079481e-01 -1.73104470e-02 1.92064586e+00] [-2.94284164e-01 2.47666920e-01 9.23069839e-01 4.98986883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41907232899996 meters Centerline goodness : 0.768866 with order 1 Centerline is valid? [False, False] Translation: X:-71.46, Y:1.92, Z:49.95 [[ 7.32875207e-01 -5.60602853e-01 3.85510535e-01 -7.14616454e+01] [ 6.13597566e-01 7.89401068e-01 -1.85467088e-02 1.92251769e+00] [-2.93925090e-01 2.50140749e-01 9.22517017e-01 4.99465004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47907232899996 meters Centerline goodness : 0.769118 with order 1 Centerline is valid? [False, False] Translation: X:-71.57, Y:1.93, Z:50.00 [[ 7.33529108e-01 -5.58716104e-01 3.87003052e-01 -7.15738218e+01] [ 6.11806912e-01 7.90803643e-01 -1.79415859e-02 1.92600794e+00] [-2.96019171e-01 2.49931818e-01 9.21903865e-01 4.99958014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53907232899996 meters Centerline goodness : 0.768573 with order 1 Centerline is valid? [False, False] Translation: X:-71.69, Y:1.93, Z:50.04 [[ 7.32668345e-01 -5.58521551e-01 3.88909725e-01 -7.16857499e+01] [ 6.12257738e-01 7.90447457e-01 -1.82559693e-02 1.93105868e+00] [-2.97216351e-01 2.51488559e-01 9.21094971e-01 5.00443458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59907232899997 meters Centerline goodness : 0.769134 with order 1 Centerline is valid? [False, False] Translation: X:-71.80, Y:1.94, Z:50.09 [[ 7.33658119e-01 -5.57385631e-01 3.88673414e-01 -7.17964535e+01] [ 6.10672633e-01 7.91692886e-01 -1.73582649e-02 1.93595800e+00] [-2.98034729e-01 2.50087249e-01 9.21212065e-01 5.00924344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65907232899997 meters Centerline goodness : 0.771583 with order 3 Centerline is valid? [False, False] Translation: X:-71.91, Y:1.94, Z:50.14 [[ 7.36061285e-01 -5.53820954e-01 3.89225044e-01 -7.19079538e+01] [ 6.06290258e-01 7.95097728e-01 -1.52225660e-02 1.94273086e+00] [-3.01041372e-01 2.47188094e-01 9.21016904e-01 5.01404964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71907232899997 meters Centerline goodness : 0.772995 with order 3 Centerline is valid? [False, False] Translation: X:-72.01, Y:1.95, Z:50.19 [[ 7.40018036e-01 -5.46795899e-01 3.91647229e-01 -7.20135109e+01] [ 6.00036228e-01 7.99788999e-01 -1.71488164e-02 1.95104931e+00] [-3.03858243e-01 2.47692960e-01 9.19955633e-01 5.01896525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779072329 meters Centerline goodness : 0.771193 with order 1 Centerline is valid? [False, False] Translation: X:-72.12, Y:1.96, Z:50.24 [[ 7.42711150e-01 -5.42239747e-01 3.92881921e-01 -7.21243431e+01] [ 5.95352824e-01 8.03288742e-01 -1.67991856e-02 1.95720937e+00] [-3.06488438e-01 2.46380303e-01 9.19435470e-01 5.02403776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839072329 meters Centerline goodness : 0.770412 with order 1 Centerline is valid? [False, False] Translation: X:-72.23, Y:1.96, Z:50.29 [[ 7.44318775e-01 -5.39044570e-01 3.94234083e-01 -7.22320965e+01] [ 5.93067423e-01 8.04925584e-01 -1.91268416e-02 1.96419368e+00] [-3.07018880e-01 2.48043859e-01 9.18810999e-01 5.02906193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899072329 meters Centerline goodness : 0.772215 with order 1 Centerline is valid? [False, False] Translation: X:-72.34, Y:1.97, Z:50.34 [[ 7.43512551e-01 -5.40319960e-01 3.94009425e-01 -7.23396636e+01] [ 5.94939161e-01 8.03501463e-01 -2.08037047e-02 1.96740811e+00] [-3.05346492e-01 2.49879452e-01 9.18870926e-01 5.03401937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959072329 meters Centerline goodness : 0.771099 with order 1 Centerline is valid? [False, False] Translation: X:-72.44, Y:1.97, Z:50.39 [[ 7.44053561e-01 -5.41970372e-01 3.90707581e-01 -7.24428656e+01] [ 5.95488413e-01 8.03115126e-01 -1.99910918e-02 1.97280120e+00] [-3.02948589e-01 2.47536281e-01 9.20297746e-01 5.03861571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019072329 meters Centerline goodness : 0.773641 with order 3 Centerline is valid? [False, False] Translation: X:-72.56, Y:1.98, Z:50.44 [[ 7.43016176e-01 -5.41605858e-01 3.93179420e-01 -7.25578871e+01] [ 5.95832805e-01 8.02858352e-01 -2.00433306e-02 1.97701715e+00] [-3.04811796e-01 2.49161715e-01 9.19243280e-01 5.04378025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079072329 meters Centerline goodness : 0.772527 with order 1 Centerline is valid? [False, False] Translation: X:-72.67, Y:1.98, Z:50.49 [[ 7.41025976e-01 -5.42160595e-01 3.96159553e-01 -7.26687870e+01] [ 5.97961185e-01 8.01223245e-01 -2.19939153e-02 1.98090006e+00] [-3.05488009e-01 2.53186099e-01 9.17918229e-01 5.04873417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139072329 meters Centerline goodness : 0.772678 with order 1 Centerline is valid? [False, False] Translation: X:-72.78, Y:1.99, Z:50.54 [[ 7.42494840e-01 -5.40229892e-01 3.96046811e-01 -7.27772713e+01] [ 5.95886366e-01 8.02763714e-01 -2.21327321e-02 1.98623888e+00] [-3.05975246e-01 2.52432334e-01 9.17963543e-01 5.05372300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199072329 meters Centerline goodness : 0.770759 with order 1 Centerline is valid? [False, False] Translation: X:-72.88, Y:1.99, Z:50.59 [[ 7.42932988e-01 -5.39602557e-01 3.96080366e-01 -7.28838059e+01] [ 5.95558763e-01 8.02977958e-01 -2.31551291e-02 1.99186066e+00] [-3.05549236e-01 2.53091842e-01 9.17923844e-01 5.05857648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259072329 meters Centerline goodness : 0.768927 with order 1 Centerline is valid? [False, False] Translation: X:-72.99, Y:2.00, Z:50.63 [[ 7.40193087e-01 -5.42093799e-01 3.97804609e-01 -7.29913100e+01] [ 5.99892227e-01 7.99640668e-01 -2.65352177e-02 1.99621633e+00] [-3.03716167e-01 2.58281078e-01 9.17086351e-01 5.06341569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319072329 meters Centerline goodness : 0.769334 with order 1 Centerline is valid? [False, False] Translation: X:-73.10, Y:2.00, Z:50.68 [[ 7.39912173e-01 -5.42071027e-01 3.98357852e-01 -7.31019521e+01] [ 5.99564731e-01 7.99932065e-01 -2.51162294e-02 2.00122664e+00] [-3.05044439e-01 2.57425122e-01 9.16886142e-01 5.06841517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379072329 meters Centerline goodness : 0.771785 with order 1 Centerline is valid? [False, False] Translation: X:-73.21, Y:2.01, Z:50.73 [[ 7.38179914e-01 -5.43508933e-01 3.99610379e-01 -7.32092943e+01] [ 6.00197861e-01 7.99569977e-01 -2.12221223e-02 2.00774259e+00] [-3.07982048e-01 2.55511039e-01 9.16439396e-01 5.07345569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439072329 meters Centerline goodness : 0.771185 with order 1 Centerline is valid? [False, False] Translation: X:-73.32, Y:2.01, Z:50.79 [[ 7.34132086e-01 -5.47223631e-01 4.01990520e-01 -7.33224318e+01] [ 6.05173433e-01 7.95792572e-01 -2.18928904e-02 2.01042474e+00] [-3.07920763e-01 2.59346257e-01 9.15382064e-01 5.07879435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49907232899994 meters Centerline goodness : 0.768251 with order 1 Centerline is valid? [False, False] Translation: X:-73.43, Y:2.01, Z:50.84 [[ 7.32233075e-01 -5.51079638e-01 4.00182405e-01 -7.34311122e+01] [ 6.08867829e-01 7.92963567e-01 -2.21076367e-02 2.01401013e+00] [-3.05146999e-01 2.59846135e-01 9.16168814e-01 5.08376397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55907232899995 meters Centerline goodness : 0.770420 with order 1 Centerline is valid? [False, False] Translation: X:-73.54, Y:2.02, Z:50.89 [[ 7.30701445e-01 -5.51710339e-01 4.02108318e-01 -7.35440739e+01] [ 6.10491632e-01 7.91684469e-01 -2.31445357e-02 2.01909738e+00] [-3.05573831e-01 2.62395509e-01 9.15299531e-01 5.08902112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61907232899995 meters Centerline goodness : 0.767682 with order 1 Centerline is valid? [False, False] Translation: X:-73.65, Y:2.02, Z:50.94 [[ 7.29148823e-01 -5.53248890e-01 4.02812188e-01 -7.36514300e+01] [ 6.13321534e-01 7.89405968e-01 -2.59791019e-02 2.02112014e+00] [-3.03609436e-01 2.65996021e-01 9.14913891e-01 5.09412008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67907232899995 meters Centerline goodness : 0.766386 with order 1 Centerline is valid? [False, False] Translation: X:-73.76, Y:2.02, Z:50.99 [[ 7.25674462e-01 -5.57720300e-01 4.02920144e-01 -7.37612283e+01] [ 6.19146792e-01 7.84744512e-01 -2.88669383e-02 2.02314823e+00] [-3.00089694e-01 2.70414714e-01 9.14779786e-01 5.09936933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73907232899995 meters Centerline goodness : 0.763242 with order 1 Centerline is valid? [False, False] Translation: X:-73.87, Y:2.02, Z:51.04 [[ 7.21934637e-01 -5.62698720e-01 4.02716439e-01 -7.38689815e+01] [ 6.25281923e-01 7.79767678e-01 -3.13828853e-02 2.02401711e+00] [-2.96366153e-01 2.74467701e-01 9.14786633e-01 5.10439667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79907232899996 meters Centerline goodness : 0.763672 with order 1 Centerline is valid? [False, False] Translation: X:-73.99, Y:2.03, Z:51.10 [[ 7.19667002e-01 -5.65173969e-01 4.03308556e-01 -7.39855915e+01] [ 6.28151656e-01 7.77457349e-01 -3.13937398e-02 2.02961516e+00] [-2.95812276e-01 2.75931976e-01 9.14525364e-01 5.10996665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85907232899996 meters Centerline goodness : 0.763766 with order 1 Centerline is valid? [False, False] Translation: X:-74.10, Y:2.04, Z:51.16 [[ 7.15851661e-01 -5.69044767e-01 4.04653496e-01 -7.41032858e+01] [ 6.33182936e-01 7.73312864e-01 -3.26586047e-02 2.03640582e+00] [-2.94339546e-01 2.79598405e-01 9.13886735e-01 5.11564782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91907232899996 meters Centerline goodness : 0.764622 with order 1 Centerline is valid? [False, False] Translation: X:-74.22, Y:2.04, Z:51.21 [[ 7.16465628e-01 -5.68812075e-01 4.03893336e-01 -7.42178945e+01] [ 6.32314977e-01 7.74069835e-01 -3.15223751e-02 2.04368658e+00] [-2.94711340e-01 2.77972503e-01 9.14262825e-01 5.12079077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97907232899996 meters Centerline goodness : 0.765087 with order 1 Centerline is valid? [False, False] Translation: X:-74.33, Y:2.05, Z:51.26 [[ 7.17533354e-01 -5.68149681e-01 4.02929059e-01 -7.43340416e+01] [ 6.30650189e-01 7.75504101e-01 -2.95588944e-02 2.05320849e+00] [-2.95679262e-01 2.75316780e-01 9.14753762e-01 5.12619031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03907232899996 meters Centerline goodness : 0.764299 with order 1 Centerline is valid? [False, False] Translation: X:-74.45, Y:2.06, Z:51.32 [[ 7.18575991e-01 -5.65380012e-01 4.04961711e-01 -7.44518757e+01] [ 6.28459067e-01 7.77264196e-01 -2.99928503e-02 2.06129966e+00] [-2.97804881e-01 2.76054001e-01 9.13841585e-01 5.13173371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09907232899997 meters Centerline goodness : 0.764146 with order 1 Centerline is valid? [False, False] Translation: X:-74.57, Y:2.07, Z:51.37 [[ 7.20182536e-01 -5.63006340e-01 4.05414574e-01 -7.45660518e+01] [ 6.26225091e-01 7.79043076e-01 -3.05617617e-02 2.06940507e+00] [-2.98628951e-01 2.75890825e-01 9.13621914e-01 5.13699122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15907232899997 meters Centerline goodness : 0.765290 with order 1 Centerline is valid? [False, False] Translation: X:-74.68, Y:2.08, Z:51.42 [[ 7.20674964e-01 -5.62205541e-01 4.05650744e-01 -7.46794213e+01] [ 6.25286110e-01 7.79814724e-01 -3.01044334e-02 2.07845363e+00] [-2.99407544e-01 2.75343287e-01 9.13532264e-01 5.14229398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21907232899997 meters Centerline goodness : 0.765381 with order 1 Centerline is valid? [False, False] Translation: X:-74.80, Y:2.09, Z:51.48 [[ 7.18910396e-01 -5.63122226e-01 4.07506075e-01 -7.48004758e+01] [ 6.26658576e-01 7.78738630e-01 -2.94138775e-02 2.08597519e+00] [-3.00777114e-01 2.76513119e-01 9.12728669e-01 5.14814607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279072329 meters Centerline goodness : 0.764749 with order 1 Centerline is valid? [False, False] Translation: X:-74.92, Y:2.09, Z:51.54 [[ 7.18185721e-01 -5.64012359e-01 4.07552854e-01 -7.49158685e+01] [ 6.27420655e-01 7.78149437e-01 -2.87537071e-02 2.09396836e+00] [-3.00919578e-01 2.76357580e-01 9.12728818e-01 5.15358751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339072329 meters Centerline goodness : 0.764635 with order 1 Centerline is valid? [False, False] Translation: X:-75.03, Y:2.10, Z:51.59 [[ 7.16170895e-01 -5.67283572e-01 4.06557005e-01 -7.50308262e+01] [ 6.30508522e-01 7.75664007e-01 -2.83610996e-02 2.10122375e+00] [-2.99262850e-01 2.76649050e-01 9.13185112e-01 5.15894796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399072329 meters Centerline goodness : 0.770740 with order 3 Centerline is valid? [False, False] Translation: X:-75.15, Y:2.11, Z:51.64 [[ 7.15326910e-01 -5.67447885e-01 4.07811610e-01 -7.51459598e+01] [ 6.31162192e-01 7.75125167e-01 -2.85528010e-02 2.10875262e+00] [-2.99902816e-01 2.77819857e-01 9.12619542e-01 5.16442478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459072329 meters Centerline goodness : 0.769735 with order 1 Centerline is valid? [False, False] Translation: X:-75.27, Y:2.11, Z:51.70 [[ 7.11151654e-01 -5.69975005e-01 4.11572374e-01 -7.52671761e+01] [ 6.35566097e-01 7.71471148e-01 -2.97994012e-02 2.11386711e+00] [-3.00531298e-01 2.82773341e-01 9.10889772e-01 5.17034311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519072329 meters Centerline goodness : 0.770220 with order 1 Centerline is valid? [False, False] Translation: X:-75.38, Y:2.12, Z:51.76 [[ 7.05449125e-01 -5.74773995e-01 4.14700359e-01 -7.53837489e+01] [ 6.42742684e-01 7.65390611e-01 -3.25431227e-02 2.11802213e+00] [-2.98702820e-01 2.89503139e-01 9.09375917e-01 5.17612772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579072329 meters Centerline goodness : 0.768441 with order 1 Centerline is valid? [False, False] Translation: X:-75.50, Y:2.12, Z:51.81 [[ 7.01382018e-01 -5.83900499e-01 4.08807377e-01 -7.54974642e+01] [ 6.50337066e-01 7.58983591e-01 -3.17113327e-02 2.12075645e+00] [-2.91761828e-01 2.88104349e-01 9.12069581e-01 5.18143085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639072329 meters Centerline goodness : 0.766728 with order 1 Centerline is valid? [False, False] Translation: X:-75.61, Y:2.13, Z:51.87 [[ 7.02220113e-01 -5.82657671e-01 4.09141725e-01 -7.56136009e+01] [ 6.49401345e-01 7.59745371e-01 -3.26322556e-02 2.12726785e+00] [-2.91830098e-01 2.88612213e-01 9.11887156e-01 5.18687962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699072329 meters Centerline goodness : 0.766843 with order 1 Centerline is valid? [False, False] Translation: X:-75.73, Y:2.14, Z:51.93 [[ 7.05297888e-01 -5.77695502e-01 4.10880513e-01 -7.57291016e+01] [ 6.45505646e-01 7.62936514e-01 -3.53601017e-02 2.13748679e+00] [-2.93048375e-01 2.90165096e-01 9.11003220e-01 5.19257188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759072329 meters Centerline goodness : 0.766219 with order 1 Centerline is valid? [False, False] Translation: X:-75.84, Y:2.15, Z:51.98 [[ 7.10909468e-01 -5.70007685e-01 4.11945345e-01 -7.58421608e+01] [ 6.38056866e-01 7.69104015e-01 -3.69113716e-02 2.15069142e+00] [-2.95789053e-01 2.89085199e-01 9.10460644e-01 5.19819209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819072329 meters Centerline goodness : 0.766539 with order 1 Centerline is valid? [False, False] Translation: X:-75.96, Y:2.16, Z:52.04 [[ 7.13807922e-01 -5.65504526e-01 4.13137848e-01 -7.59584487e+01] [ 6.33394145e-01 7.72977153e-01 -3.63067193e-02 2.16358951e+00] [-2.98814503e-01 2.87595118e-01 9.09944471e-01 5.20384517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879072329 meters Centerline goodness : 0.764517 with order 1 Centerline is valid? [False, False] Translation: X:-76.07, Y:2.17, Z:52.09 [[ 7.17667814e-01 -5.60394683e-01 4.13413482e-01 -7.60682446e+01] [ 6.28576609e-01 7.76809349e-01 -3.81926875e-02 2.17295046e+00] [-2.99740479e-01 2.87271708e-01 9.09742058e-01 5.20929858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939072329 meters Centerline goodness : 0.762042 with order 1 Centerline is valid? [False, False] Translation: X:-76.18, Y:2.18, Z:52.14 [[ 7.22818969e-01 -5.54896562e-01 4.11852575e-01 -7.61751092e+01] [ 6.21919249e-01 7.82175496e-01 -3.76555539e-02 2.18447723e+00] [-3.01246055e-01 2.83357193e-01 9.10472139e-01 5.21441358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99907232899994 meters Centerline goodness : 0.760059 with order 1 Centerline is valid? [False, False] Translation: X:-76.28, Y:2.20, Z:52.19 [[ 7.26038760e-01 -5.51962631e-01 4.10127996e-01 -7.62818922e+01] [ 6.17977462e-01 7.85320879e-01 -3.70806475e-02 2.19532631e+00] [-3.01614947e-01 2.80371845e-01 9.11273862e-01 5.21949379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05907232899995 meters Centerline goodness : 0.762843 with order 1 Centerline is valid? [False, False] Translation: X:-76.37, Y:2.20, Z:52.24 [[ 7.27746604e-01 -5.49716599e-01 4.10117716e-01 -7.63720813e+01] [ 6.14005720e-01 7.88633510e-01 -3.24678648e-02 2.20432464e+00] [-3.05584450e-01 2.75443002e-01 9.11454495e-01 5.22423851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11907232899995 meters Centerline goodness : 0.761572 with order 1 Centerline is valid? [False, False] Translation: X:-76.48, Y:2.21, Z:52.29 [[ 7.29356871e-01 -5.47607639e-01 4.10078563e-01 -7.64774323e+01] [ 6.12100721e-01 7.90063984e-01 -3.36393931e-02 2.21494086e+00] [-3.05567114e-01 2.75544506e-01 9.11429626e-01 5.22930551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17907232899995 meters Centerline goodness : 0.762199 with order 1 Centerline is valid? [False, False] Translation: X:-76.58, Y:2.23, Z:52.34 [[ 7.32614781e-01 -5.44796216e-01 4.08010620e-01 -7.65830494e+01] [ 6.08404677e-01 7.92910983e-01 -3.37034278e-02 2.22593663e+00] [-3.05154602e-01 2.72927199e-01 9.12354872e-01 5.23429865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23907232899995 meters Centerline goodness : 0.762054 with order 1 Centerline is valid? [False, False] Translation: X:-76.69, Y:2.24, Z:52.39 [[ 7.34213759e-01 -5.41009344e-01 4.10169533e-01 -7.66881380e+01] [ 6.06184145e-01 7.94453442e-01 -3.72090139e-02 2.23540944e+00] [-3.05730173e-01 2.75957638e-01 9.11249935e-01 5.23944035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29907232899996 meters Centerline goodness : 0.761751 with order 1 Centerline is valid? [False, False] Translation: X:-76.79, Y:2.25, Z:52.44 [[ 7.40100413e-01 -5.32272462e-01 4.11019957e-01 -7.67886129e+01] [ 5.97254493e-01 8.01153687e-01 -3.79452404e-02 2.24799425e+00] [-3.09092947e-01 2.73566804e-01 9.10836293e-01 5.24434413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35907232899996 meters Centerline goodness : 0.762795 with order 1 Centerline is valid? [False, False] Translation: X:-76.88, Y:2.26, Z:52.49 [[ 7.43383429e-01 -5.29501072e-01 4.08668194e-01 -7.68760503e+01] [ 5.90992560e-01 8.06096426e-01 -3.05997739e-02 2.25936451e+00] [-3.13223357e-01 2.64267227e-01 9.12169919e-01 5.24886595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41907232899996 meters Centerline goodness : 0.763146 with order 1 Centerline is valid? [False, False] Translation: X:-76.96, Y:2.27, Z:52.53 [[ 7.44100921e-01 -5.30636779e-01 4.05879820e-01 -7.69607797e+01] [ 5.89175925e-01 8.07640814e-01 -2.42496125e-02 2.26798120e+00] [-3.14937372e-01 2.57178777e-01 9.13604689e-01 5.25317987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47907232899996 meters Centerline goodness : 0.764148 with order 1 Centerline is valid? [False, False] Translation: X:-77.06, Y:2.28, Z:52.58 [[ 7.45016632e-01 -5.27413289e-01 4.08393732e-01 -7.70625275e+01] [ 5.87814438e-01 8.08504230e-01 -2.81974390e-02 2.27729868e+00] [-3.15316356e-01 2.61067293e-01 9.12370245e-01 5.25811420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53907232899996 meters Centerline goodness : 0.762476 with order 1 Centerline is valid? [False, False] Translation: X:-77.16, Y:2.29, Z:52.63 [[ 7.49052362e-01 -5.21508600e-01 4.08594345e-01 -7.71596340e+01] [ 5.81732436e-01 8.12864558e-01 -2.89583012e-02 2.28795726e+00] [-3.17029858e-01 2.59383868e-01 9.12256586e-01 5.26279326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59907232899997 meters Centerline goodness : 0.764637 with order 1 Centerline is valid? [False, False] Translation: X:-77.26, Y:2.30, Z:52.68 [[ 7.51472520e-01 -5.19036719e-01 4.07295882e-01 -7.72582698e+01] [ 5.78778212e-01 8.14957646e-01 -2.93226110e-02 2.29945069e+00] [-3.16709382e-01 2.57769119e-01 9.12825421e-01 5.26764154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65907232899997 meters Centerline goodness : 0.765223 with order 1 Centerline is valid? [False, False] Translation: X:-77.34, Y:2.31, Z:52.72 [[ 7.51991055e-01 -5.18237924e-01 4.07355995e-01 -7.73445323e+01] [ 5.76850961e-01 8.16428353e-01 -2.62243066e-02 2.30727491e+00] [-3.18986554e-01 2.54704141e-01 9.12892863e-01 5.27200132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71907232899997 meters Centerline goodness : 0.763988 with order 1 Centerline is valid? [False, False] Translation: X:-77.44, Y:2.32, Z:52.77 [[ 7.54955744e-01 -5.15345686e-01 4.05537480e-01 -7.74423982e+01] [ 5.73437821e-01 8.18803746e-01 -2.70090897e-02 2.31648306e+00] [-3.18136590e-01 2.52941196e-01 9.13679299e-01 5.27653032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779072329 meters Centerline goodness : 0.766962 with order 1 Centerline is valid? [False, False] Translation: X:-77.53, Y:2.32, Z:52.81 [[ 7.52672540e-01 -5.17428785e-01 4.07125902e-01 -7.75277459e+01] [ 5.75387728e-01 8.17506136e-01 -2.47523839e-02 2.32239245e+00] [-3.20020327e-01 2.52885687e-01 9.13036593e-01 5.28099795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839072329 meters Centerline goodness : 0.766762 with order 1 Centerline is valid? [False, False] Translation: X:-77.63, Y:2.33, Z:52.86 [[ 7.53025215e-01 -5.17247124e-01 4.06704363e-01 -7.76276641e+01] [ 5.75419280e-01 8.17452521e-01 -2.57687461e-02 2.32982494e+00] [-3.19132697e-01 2.53430047e-01 9.13196328e-01 5.28562514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899072329 meters Centerline goodness : 0.770128 with order 1 Centerline is valid? [False, False] Translation: X:-77.71, Y:2.34, Z:52.90 [[ 7.50774910e-01 -5.22453118e-01 4.04202640e-01 -7.77149402e+01] [ 5.77870705e-01 8.15913163e-01 -1.87392402e-02 2.33589828e+00] [-3.20003880e-01 2.47645816e-01 9.14477483e-01 5.28986070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959072329 meters Centerline goodness : 0.769582 with order 1 Centerline is valid? [False, False] Translation: X:-77.82, Y:2.34, Z:52.95 [[ 7.46272642e-01 -5.26665631e-01 4.07063210e-01 -7.78169968e+01] [ 5.84798970e-01 8.10851466e-01 -2.30231407e-02 2.33948257e+00] [-3.17942303e-01 2.55231686e-01 9.13109784e-01 5.29478873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019072329 meters Centerline goodness : 0.769592 with order 1 Centerline is valid? [False, False] Translation: X:-77.90, Y:2.34, Z:52.99 [[ 7.43085130e-01 -5.30798463e-01 4.07526050e-01 -7.79012728e+01] [ 5.88650571e-01 8.08120472e-01 -2.07799753e-02 2.34363813e+00] [-3.18300165e-01 2.55331733e-01 9.12957124e-01 5.29898051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079072329 meters Centerline goodness : 0.767223 with order 1 Centerline is valid? [False, False] Translation: X:-78.01, Y:2.35, Z:53.04 [[ 7.40302493e-01 -5.34781873e-01 4.07382580e-01 -7.80051814e+01] [ 5.93549259e-01 8.04481874e-01 -2.25431179e-02 2.34982415e+00] [-3.15676251e-01 2.58490355e-01 9.12979321e-01 5.30373702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139072329 meters Centerline goodness : 0.766295 with order 1 Centerline is valid? [False, False] Translation: X:-78.10, Y:2.36, Z:53.08 [[ 7.41097757e-01 -5.33523125e-01 4.07587035e-01 -7.81039327e+01] [ 5.92576672e-01 8.05171074e-01 -2.35038270e-02 2.35931879e+00] [-3.15637455e-01 2.58945202e-01 9.12863834e-01 5.30834171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199072329 meters Centerline goodness : 0.765941 with order 1 Centerline is valid? [False, False] Translation: X:-78.21, Y:2.37, Z:53.13 [[ 7.42413390e-01 -5.30180907e-01 4.09549221e-01 -7.82064321e+01] [ 5.90116459e-01 8.06926825e-01 -2.51329148e-02 2.36886162e+00] [-3.17151261e-01 2.60340749e-01 9.11941759e-01 5.31320859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259072329 meters Centerline goodness : 0.765373 with order 1 Centerline is valid? [False, False] Translation: X:-78.31, Y:2.38, Z:53.18 [[ 7.46103660e-01 -5.26026696e-01 4.08197554e-01 -7.83065873e+01] [ 5.85604529e-01 8.10168891e-01 -2.63382698e-02 2.38155854e+00] [-3.16854326e-01 2.58693415e-01 9.12513590e-01 5.31782766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319072329 meters Centerline goodness : 0.764292 with order 1 Centerline is valid? [False, False] Translation: X:-78.40, Y:2.39, Z:53.22 [[ 7.47547368e-01 -5.22682265e-01 4.09848976e-01 -7.84044782e+01] [ 5.83459638e-01 8.11619030e-01 -2.91445011e-02 2.39072523e+00] [-3.17407914e-01 2.60917230e-01 9.11687674e-01 5.32244963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379072329 meters Centerline goodness : 0.763714 with order 1 Centerline is valid? [False, False] Translation: X:-78.49, Y:2.40, Z:53.27 [[ 7.45464074e-01 -5.22994191e-01 4.13231643e-01 -7.84875980e+01] [ 5.85401975e-01 8.10161731e-01 -3.07001232e-02 2.39797359e+00] [-3.18728477e-01 2.64792459e-01 9.10108297e-01 5.32672280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439072329 meters Centerline goodness : 0.762761 with order 1 Centerline is valid? [False, False] Translation: X:-78.57, Y:2.41, Z:53.31 [[ 7.45471617e-01 -5.22893032e-01 4.13346036e-01 -7.85721949e+01] [ 5.84235937e-01 8.11114693e-01 -2.75921057e-02 2.40629980e+00] [-3.20843324e-01 2.62060741e-01 9.10155882e-01 5.33123540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49907232899994 meters Centerline goodness : 0.761838 with order 1 Centerline is valid? [False, False] Translation: X:-78.67, Y:2.42, Z:53.36 [[ 7.47132796e-01 -5.21517219e-01 4.12082971e-01 -7.86722406e+01] [ 5.82830384e-01 8.12077139e-01 -2.89734937e-02 2.41562511e+00] [-3.19532984e-01 2.61821524e-01 9.10685545e-01 5.33593780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55907232899995 meters Centerline goodness : 0.761645 with order 1 Centerline is valid? [False, False] Translation: X:-78.77, Y:2.43, Z:53.40 [[ 7.49780064e-01 -5.19374151e-01 4.09976032e-01 -7.87674605e+01] [ 5.80030037e-01 8.14060885e-01 -2.94963048e-02 2.42614375e+00] [-3.18425833e-01 2.59914154e-01 9.11619231e-01 5.34043714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61907232899995 meters Centerline goodness : 0.759756 with order 1 Centerline is valid? [False, False] Translation: X:-78.87, Y:2.44, Z:53.45 [[ 7.51340433e-01 -5.16274759e-01 4.11032757e-01 -7.88700219e+01] [ 5.77630364e-01 8.15697429e-01 -3.13188019e-02 2.43725024e+00] [-3.19109256e-01 2.60956083e-01 9.11082436e-01 5.34516922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67907232899995 meters Centerline goodness : 0.761955 with order 1 Centerline is valid? [False, False] Translation: X:-78.96, Y:2.45, Z:53.50 [[ 7.51149096e-01 -5.17127924e-01 4.10309329e-01 -7.89561629e+01] [ 5.76388258e-01 8.16769100e-01 -2.57839852e-02 2.44704806e+00] [-3.21794363e-01 2.55865096e-01 9.11581834e-01 5.34955859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73907232899995 meters Centerline goodness : 0.760617 with order 1 Centerline is valid? [False, False] Translation: X:-79.04, Y:2.46, Z:53.54 [[ 7.50981562e-01 -5.17459107e-01 4.10198447e-01 -7.90395427e+01] [ 5.75391922e-01 8.17580580e-01 -2.20483718e-02 2.45662865e+00] [-3.23961154e-01 2.52582794e-01 9.11729732e-01 5.35393467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79907232899996 meters Centerline goodness : 0.759337 with order 1 Centerline is valid? [False, False] Translation: X:-79.14, Y:2.47, Z:53.59 [[ 7.52761783e-01 -5.14354570e-01 4.10839475e-01 -7.91385403e+01] [ 5.72700797e-01 8.19429292e-01 -2.34399877e-02 2.46606543e+00] [-3.24597435e-01 2.52932822e-01 9.11406327e-01 5.35866402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85907232899996 meters Centerline goodness : 0.760455 with order 1 Centerline is valid? [False, False] Translation: X:-79.24, Y:2.48, Z:53.63 [[ 7.54977805e-01 -5.11324464e-01 4.10555485e-01 -7.92364999e+01] [ 5.70136483e-01 8.21146638e-01 -2.57407994e-02 2.47633304e+00] [-3.23964356e-01 2.53506393e-01 9.11472219e-01 5.36330285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91907232899996 meters Centerline goodness : 0.758319 with order 1 Centerline is valid? [False, False] Translation: X:-79.34, Y:2.48, Z:53.68 [[ 7.54020860e-01 -5.10929806e-01 4.12799318e-01 -7.93350587e+01] [ 5.72445358e-01 8.19336736e-01 -3.15218113e-02 2.48351714e+00] [-3.22116213e-01 2.60073157e-01 9.10276386e-01 5.36807906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97907232899996 meters Centerline goodness : 0.758955 with order 1 Centerline is valid? [False, False] Translation: X:-79.42, Y:2.49, Z:53.73 [[ 7.50618761e-01 -5.15718083e-01 4.13045197e-01 -7.94239590e+01] [ 5.76160166e-01 8.16887460e-01 -2.70987189e-02 2.49053081e+00] [-3.23436142e-01 2.58320996e-01 9.10307270e-01 5.37268202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03907232899996 meters Centerline goodness : 0.758876 with order 1 Centerline is valid? [False, False] Translation: X:-79.51, Y:2.50, Z:53.77 [[ 7.48396737e-01 -5.21864893e-01 4.09340148e-01 -7.95092763e+01] [ 5.80540235e-01 8.13884035e-01 -2.37868501e-02 2.49771718e+00] [-3.20741889e-01 2.55440427e-01 9.12071724e-01 5.37713379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09907232899997 meters Centerline goodness : 0.759901 with order 1 Centerline is valid? [False, False] Translation: X:-79.61, Y:2.51, Z:53.82 [[ 7.48341667e-01 -5.22069144e-01 4.09180351e-01 -7.96099823e+01] [ 5.81670075e-01 8.12992527e-01 -2.65155477e-02 2.50682368e+00] [-3.18817618e-01 2.57850655e-01 9.12068181e-01 5.38190251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15907232899997 meters Centerline goodness : 0.758412 with order 1 Centerline is valid? [False, False] Translation: X:-79.71, Y:2.51, Z:53.87 [[ 7.48244595e-01 -5.20821561e-01 4.10943946e-01 -7.97070186e+01] [ 5.82295479e-01 8.12400321e-01 -3.06217955e-02 2.51454779e+00] [-3.17902503e-01 2.62203395e-01 9.11146189e-01 5.38657890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21907232899997 meters Centerline goodness : 0.757300 with order 1 Centerline is valid? [False, False] Translation: X:-79.80, Y:2.52, Z:53.91 [[ 7.45878999e-01 -5.23174326e-01 4.12253735e-01 -7.97951354e+01] [ 5.84457757e-01 8.10929594e-01 -2.83253296e-02 2.52251839e+00] [-3.19489669e-01 2.62072162e-01 9.10628647e-01 5.39117226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279072329 meters Centerline goodness : 0.759373 with order 1 Centerline is valid? [False, False] Translation: X:-79.89, Y:2.53, Z:53.96 [[ 7.47908109e-01 -5.19875510e-01 4.12750427e-01 -7.98949021e+01] [ 5.81329945e-01 8.13144218e-01 -2.91886182e-02 2.53347038e+00] [-3.20451175e-01 2.61774587e-01 9.10376356e-01 5.39589637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339072329 meters Centerline goodness : 0.759315 with order 1 Centerline is valid? [False, False] Translation: X:-79.98, Y:2.54, Z:54.00 [[ 7.47847394e-01 -5.21610759e-01 4.10665913e-01 -7.99789947e+01] [ 5.80799740e-01 8.13687909e-01 -2.41588203e-02 2.54373991e+00] [-3.21552388e-01 2.56581766e-01 9.11465775e-01 5.40014891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399072329 meters Centerline goodness : 0.759260 with order 1 Centerline is valid? [False, False] Translation: X:-80.08, Y:2.55, Z:54.05 [[ 7.47465261e-01 -5.21757243e-01 4.11175220e-01 -8.00801283e+01] [ 5.82070660e-01 8.12694108e-01 -2.68706864e-02 2.55245855e+00] [-3.20139704e-01 2.59417937e-01 9.11160197e-01 5.40491220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459072329 meters Centerline goodness : 0.760673 with order 1 Centerline is valid? [False, False] Translation: X:-80.18, Y:2.56, Z:54.10 [[ 7.47913221e-01 -5.18681613e-01 4.14240508e-01 -8.01807709e+01] [ 5.81017623e-01 8.13313324e-01 -3.06587452e-02 2.56259719e+00] [-3.21005197e-01 2.63611116e-01 9.09650946e-01 5.40983156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519072329 meters Centerline goodness : 0.759566 with order 1 Centerline is valid? [False, False] Translation: X:-80.28, Y:2.57, Z:54.15 [[ 7.50307236e-01 -5.15360424e-01 4.14056379e-01 -8.02785299e+01] [ 5.78342987e-01 8.15106555e-01 -3.34767631e-02 2.57411179e+00] [-3.20247470e-01 2.64584461e-01 9.09635433e-01 5.41455530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579072329 meters Centerline goodness : 0.755540 with order 1 Centerline is valid? [False, False] Translation: X:-80.37, Y:2.59, Z:54.19 [[ 7.55010387e-01 -5.11731635e-01 4.09987865e-01 -8.03722939e+01] [ 5.73054018e-01 8.18842604e-01 -3.32548168e-02 2.58742846e+00] [-3.18697989e-01 2.60052925e-01 9.11484541e-01 5.41901484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639072329 meters Centerline goodness : 0.755366 with order 1 Centerline is valid? [False, False] Translation: X:-80.46, Y:2.60, Z:54.23 [[ 7.54810674e-01 -5.12152826e-01 4.09829634e-01 -8.04557589e+01] [ 5.72458468e-01 8.19370318e-01 -3.03905269e-02 2.59679284e+00] [-3.20237644e-01 2.57549539e-01 9.11655684e-01 5.42341344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699072329 meters Centerline goodness : 0.756602 with order 1 Centerline is valid? [False, False] Translation: X:-80.55, Y:2.61, Z:54.28 [[ 7.53386434e-01 -5.13656173e-01 4.10568164e-01 -8.05460960e+01] [ 5.72724247e-01 8.19339596e-01 -2.58759396e-02 2.60736964e+00] [-3.23103417e-01 2.54636924e-01 9.11462681e-01 5.42797744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759072329 meters Centerline goodness : 0.759907 with order 1 Centerline is valid? [False, False] Translation: X:-80.63, Y:2.61, Z:54.32 [[ 7.46449321e-01 -5.22202271e-01 4.12453876e-01 -8.06333441e+01] [ 5.82371973e-01 8.12530857e-01 -2.52287715e-02 2.61052600e+00] [-3.21956980e-01 2.59033577e-01 9.10629073e-01 5.43237423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819072329 meters Centerline goodness : 0.758974 with order 1 Centerline is valid? [False, False] Translation: X:-80.74, Y:2.61, Z:54.37 [[ 7.40936870e-01 -5.28467250e-01 4.14409122e-01 -8.07364826e+01] [ 5.91646950e-01 8.05621015e-01 -3.04740311e-02 2.61482592e+00] [-3.17752170e-01 2.67763226e-01 9.09580350e-01 5.43725914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879072329 meters Centerline goodness : 0.756704 with order 1 Centerline is valid? [False, False] Translation: X:-80.84, Y:2.62, Z:54.42 [[ 7.36877355e-01 -5.35424749e-01 4.12713098e-01 -8.08383057e+01] [ 5.99460585e-01 7.99732389e-01 -3.27889181e-02 2.62143005e+00] [-3.12504034e-01 2.71566646e-01 9.10270721e-01 5.44201846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939072329 meters Centerline goodness : 0.755711 with order 1 Centerline is valid? [False, False] Translation: X:-80.94, Y:2.63, Z:54.47 [[ 7.35663467e-01 -5.38082157e-01 4.11420534e-01 -8.09417654e+01] [ 6.02404226e-01 7.97458354e-01 -3.41953523e-02 2.63101566e+00] [-3.09690833e-01 2.72997740e-01 9.10803943e-01 5.44688116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99907232899994 meters Centerline goodness : 0.756719 with order 1 Centerline is valid? [False, False] Translation: X:-81.05, Y:2.64, Z:54.52 [[ 7.34558292e-01 -5.39947610e-01 4.10950964e-01 -8.10468977e+01] [ 6.04829589e-01 7.95548044e-01 -3.58396171e-02 2.64092257e+00] [-3.07579720e-01 2.74881590e-01 9.10952703e-01 5.45179942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05907232899995 meters Centerline goodness : 0.758458 with order 1 Centerline is valid? [False, False] Translation: X:-81.15, Y:2.65, Z:54.57 [[ 7.31543289e-01 -5.40085613e-01 4.16115304e-01 -8.11547923e+01] [ 6.08780346e-01 7.92225971e-01 -4.20059714e-02 2.64933441e+00] [-3.06970530e-01 2.84052005e-01 9.08341099e-01 5.45711651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11907232899995 meters Centerline goodness : 0.760440 with order 1 Centerline is valid? [False, False] Translation: X:-81.26, Y:2.66, Z:54.62 [[ 7.30292217e-01 -5.41294978e-01 4.16740956e-01 -8.12606988e+01] [ 6.10955787e-01 7.90444213e-01 -4.39428224e-02 2.66151123e+00] [-3.05624448e-01 2.86701400e-01 9.07962557e-01 5.46244327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17907232899995 meters Centerline goodness : 0.757471 with order 1 Centerline is valid? [False, False] Translation: X:-81.35, Y:2.67, Z:54.67 [[ 7.28470845e-01 -5.46436922e-01 4.13203240e-01 -8.13491589e+01] [ 6.13357890e-01 7.88886338e-01 -3.80846920e-02 2.66920024e+00] [-3.05159509e-01 2.81185055e-01 9.09842096e-01 5.46703667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23907232899995 meters Centerline goodness : 0.758837 with order 1 Centerline is valid? [False, False] Translation: X:-81.46, Y:2.68, Z:54.72 [[ 7.26520387e-01 -5.48975403e-01 4.13272470e-01 -8.14570463e+01] [ 6.16432467e-01 7.86441853e-01 -3.89900664e-02 2.68280207e+00] [-3.03610180e-01 2.83081646e-01 9.09772301e-01 5.47243687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29907232899996 meters Centerline goodness : 0.757489 with order 1 Centerline is valid? [False, False] Translation: X:-81.56, Y:2.69, Z:54.77 [[ 7.27838415e-01 -5.47932803e-01 4.12335888e-01 -8.15602882e+01] [ 6.15822933e-01 7.86790986e-01 -4.14977147e-02 2.69370512e+00] [-3.01684201e-01 2.84129527e-01 9.10086290e-01 5.47736538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35907232899996 meters Centerline goodness : 0.755178 with order 1 Centerline is valid? [False, False] Translation: X:-81.67, Y:2.71, Z:54.82 [[ 7.27698998e-01 -5.48885061e-01 4.11314185e-01 -8.16672325e+01] [ 6.17394205e-01 7.85411708e-01 -4.41910140e-02 2.70586652e+00] [-2.98795189e-01 2.86100751e-01 9.10421768e-01 5.48244293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41907232899996 meters Centerline goodness : 0.755403 with order 1 Centerline is valid? [False, False] Translation: X:-81.77, Y:2.72, Z:54.88 [[ 7.30848134e-01 -5.45739402e-01 4.09914027e-01 -8.17735763e+01] [ 6.14128828e-01 7.87862456e-01 -4.60275105e-02 2.72073401e+00] [-2.97836846e-01 2.85379142e-01 9.10962106e-01 5.48754516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47907232899996 meters Centerline goodness : 0.755283 with order 1 Centerline is valid? [False, False] Translation: X:-81.88, Y:2.74, Z:54.93 [[ 7.34339119e-01 -5.41172002e-01 4.09730304e-01 -8.18790549e+01] [ 6.09813232e-01 7.91085964e-01 -4.80709783e-02 2.73631019e+00] [-2.98117225e-01 2.85159361e-01 9.10939218e-01 5.49263837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53907232899996 meters Centerline goodness : 0.761916 with order 1 Centerline is valid? [False, False] Translation: X:-81.97, Y:2.75, Z:54.98 [[ 7.35937782e-01 -5.35009948e-01 4.14921604e-01 -8.19730690e+01] [ 6.04625757e-01 7.95111373e-01 -4.71762485e-02 2.74886913e+00] [-3.04669124e-01 2.85591073e-01 9.08633295e-01 5.49768033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59907232899997 meters Centerline goodness : 0.761393 with order 1 Centerline is valid? [False, False] Translation: X:-82.06, Y:2.76, Z:55.02 [[ 7.39428028e-01 -5.31803787e-01 4.12832804e-01 -8.20613470e+01] [ 5.98652236e-01 7.99917036e-01 -4.18119223e-02 2.76406090e+00] [-3.07996254e-01 2.78060188e-01 9.09846602e-01 5.50233836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65907232899997 meters Centerline goodness : 0.757888 with order 1 Centerline is valid? [False, False] Translation: X:-82.16, Y:2.78, Z:55.07 [[ 7.49712430e-01 -5.20139686e-01 4.09128316e-01 -8.21564591e+01] [ 5.84350818e-01 8.10495442e-01 -4.03888607e-02 2.78370778e+00] [-3.10588786e-01 2.69354497e-01 9.11582559e-01 5.50691513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71907232899997 meters Centerline goodness : 0.758639 with order 1 Centerline is valid? [False, False] Translation: X:-82.24, Y:2.80, Z:55.11 [[ 7.52404236e-01 -5.17794573e-01 4.07156783e-01 -8.22437923e+01] [ 5.79061454e-01 8.14567834e-01 -3.41624842e-02 2.79834791e+00] [-3.13967670e-01 2.61472797e-01 9.12719168e-01 5.51134110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779072329 meters Centerline goodness : 0.761828 with order 1 Centerline is valid? [False, False] Translation: X:-82.33, Y:2.82, Z:55.16 [[ 7.58571943e-01 -5.09042933e-01 4.06747957e-01 -8.23259788e+01] [ 5.68437815e-01 8.22133569e-01 -3.12225153e-02 2.81573964e+00] [-3.18507549e-01 2.54895444e-01 9.13006711e-01 5.51563605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839072329 meters Centerline goodness : 0.763008 with order 1 Centerline is valid? [False, False] Translation: X:-82.43, Y:2.83, Z:55.20 [[ 7.64212932e-01 -4.99861294e-01 4.07574878e-01 -8.24258468e+01] [ 5.59249397e-01 8.28354725e-01 -3.26888574e-02 2.83148796e+00] [-3.21276681e-01 2.52917252e-01 9.12586521e-01 5.52047269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899072329 meters Centerline goodness : 0.759699 with order 1 Centerline is valid? [False, False] Translation: X:-82.52, Y:2.85, Z:55.25 [[ 7.72554287e-01 -4.89149568e-01 4.04836477e-01 -8.25186606e+01] [ 5.47111721e-01 8.36389786e-01 -3.34796984e-02 2.85077848e+00] [-3.22224514e-01 2.47355666e-01 9.13775977e-01 5.52496679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959072329 meters Centerline goodness : 0.761571 with order 1 Centerline is valid? [False, False] Translation: X:-82.60, Y:2.87, Z:55.29 [[ 7.75710182e-01 -4.84078341e-01 4.04897362e-01 -8.25996369e+01] [ 5.40890238e-01 8.40507915e-01 -3.13718709e-02 2.86548590e+00] [-3.25132994e-01 2.43340510e-01 9.13823797e-01 5.52905005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019072329 meters Centerline goodness : 0.762950 with order 1 Centerline is valid? [False, False] Translation: X:-82.68, Y:2.88, Z:55.33 [[ 7.75635948e-01 -4.82946827e-01 4.06388040e-01 -8.26798535e+01] [ 5.39662034e-01 8.41341212e-01 -3.01637923e-02 2.87501668e+00] [-3.27343498e-01 2.42708318e-01 9.13202555e-01 5.53317363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079072329 meters Centerline goodness : 0.763190 with order 1 Centerline is valid? [False, False] Translation: X:-82.76, Y:2.89, Z:55.37 [[ 7.75433689e-01 -4.85323596e-01 4.03935144e-01 -8.27648018e+01] [ 5.39007478e-01 8.41984241e-01 -2.30971185e-02 2.88593911e+00] [-3.28897449e-01 2.35634347e-01 9.14495994e-01 5.53744507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139072329 meters Centerline goodness : 0.762263 with order 1 Centerline is valid? [False, False] Translation: X:-82.86, Y:2.90, Z:55.42 [[ 7.74495108e-01 -4.87267736e-01 4.03394944e-01 -8.28625312e+01] [ 5.41749387e-01 8.40159693e-01 -2.52842487e-02 2.89636426e+00] [-3.26595973e-01 2.38121490e-01 9.14676569e-01 5.54191924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199072329 meters Centerline goodness : 0.766045 with order 1 Centerline is valid? [False, False] Translation: X:-82.96, Y:2.91, Z:55.47 [[ 7.73976567e-01 -4.86642189e-01 4.05141522e-01 -8.29606759e+01] [ 5.43180192e-01 8.39087117e-01 -2.98008195e-02 2.90579988e+00] [-3.25446696e-01 2.43129986e-01 9.13768164e-01 5.54661252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259072329 meters Centerline goodness : 0.764631 with order 1 Centerline is valid? [False, False] Translation: X:-83.05, Y:2.92, Z:55.51 [[ 7.73386174e-01 -4.88197045e-01 4.04397664e-01 -8.30527313e+01] [ 5.45002458e-01 8.37868822e-01 -3.07921738e-02 2.91731180e+00] [-3.23799546e-01 2.44211962e-01 9.14064752e-01 5.55102791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319072329 meters Centerline goodness : 0.764021 with order 1 Centerline is valid? [False, False] Translation: X:-83.14, Y:2.92, Z:55.55 [[ 7.69740389e-01 -4.95281240e-01 4.02735927e-01 -8.31353766e+01] [ 5.51817725e-01 8.33434794e-01 -2.97261089e-02 2.92462504e+00] [-3.20931350e-01 2.45118210e-01 9.14833390e-01 5.55519744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379072329 meters Centerline goodness : 0.761217 with order 1 Centerline is valid? [False, False] Translation: X:-83.22, Y:2.93, Z:55.59 [[ 7.66848194e-01 -5.01715972e-01 4.00281064e-01 -8.32201676e+01] [ 5.56363288e-01 8.30568257e-01 -2.48246133e-02 2.93077982e+00] [-3.20005841e-01 2.41738399e-01 9.16056116e-01 5.55930469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439072329 meters Centerline goodness : 0.762445 with order 1 Centerline is valid? [False, False] Translation: X:-83.32, Y:2.94, Z:55.64 [[ 7.64773283e-01 -5.04240364e-01 4.01077900e-01 -8.33227169e+01] [ 5.60539715e-01 8.27643503e-01 -2.83100528e-02 2.94091005e+00] [-3.17674447e-01 2.46470864e-01 9.15606389e-01 5.56392366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49907232899994 meters Centerline goodness : 0.762224 with order 1 Centerline is valid? [False, False] Translation: X:-83.41, Y:2.95, Z:55.68 [[ 7.62166943e-01 -5.08202011e-01 4.01038985e-01 -8.34066813e+01] [ 5.63968392e-01 8.25391236e-01 -2.58642668e-02 2.94827846e+00] [-3.17869791e-01 2.45886201e-01 9.15695786e-01 5.56809308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55907232899995 meters Centerline goodness : 0.761245 with order 1 Centerline is valid? [False, False] Translation: X:-83.51, Y:2.96, Z:55.73 [[ 7.61049087e-01 -5.09339647e-01 4.01718074e-01 -8.35064873e+01] [ 5.66578680e-01 8.23487531e-01 -2.92726151e-02 2.95977286e+00] [-3.15900122e-01 2.49882793e-01 9.15295418e-01 5.57273975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61907232899995 meters Centerline goodness : 0.767718 with order 1 Centerline is valid? [False, False] Translation: X:-83.60, Y:2.97, Z:55.78 [[ 7.55546334e-01 -5.15460730e-01 4.04289467e-01 -8.36017932e+01] [ 5.72802044e-01 8.19284577e-01 -2.58959475e-02 2.96838235e+00] [-3.17879781e-01 2.51143421e-01 9.14264418e-01 5.57759309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67907232899995 meters Centerline goodness : 0.765676 with order 1 Centerline is valid? [False, False] Translation: X:-83.70, Y:2.98, Z:55.82 [[ 7.53345463e-01 -5.18807285e-01 4.04115843e-01 -8.37045322e+01] [ 5.77767854e-01 8.15652451e-01 -2.99229988e-02 2.97942597e+00] [-3.14093808e-01 2.56027499e-01 9.14218245e-01 5.58236159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73907232899995 meters Centerline goodness : 0.764838 with order 1 Centerline is valid? [False, False] Translation: X:-83.80, Y:2.99, Z:55.87 [[ 7.49637487e-01 -5.25102279e-01 4.02878685e-01 -8.38039574e+01] [ 5.85298258e-01 8.10140164e-01 -3.31491096e-02 2.98828464e+00] [-3.08981531e-01 2.60654008e-01 9.14652886e-01 5.58689053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79907232899996 meters Centerline goodness : 0.766272 with order 1 Centerline is valid? [False, False] Translation: X:-83.91, Y:3.00, Z:55.92 [[ 7.45888838e-01 -5.30209315e-01 4.03147522e-01 -8.39084928e+01] [ 5.91630892e-01 8.05434602e-01 -3.53268933e-02 2.99878300e+00] [-3.05978316e-01 2.64864463e-01 9.14452889e-01 5.59177790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85907232899996 meters Centerline goodness : 0.766830 with order 1 Centerline is valid? [False, False] Translation: X:-84.01, Y:3.01, Z:55.97 [[ 7.43608252e-01 -5.32696524e-01 4.04080661e-01 -8.40139268e+01] [ 5.96028043e-01 8.01987281e-01 -3.95850021e-02 3.01238869e+00] [-3.02980758e-01 2.70279140e-01 9.13866427e-01 5.59687040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91907232899996 meters Centerline goodness : 0.767351 with order 1 Centerline is valid? [False, False] Translation: X:-84.12, Y:3.02, Z:56.02 [[ 7.38343306e-01 -5.39493639e-01 4.04716907e-01 -8.41216589e+01] [ 6.04478765e-01 7.95493515e-01 -4.23732194e-02 3.02367235e+00] [-2.99089593e-01 2.75928759e-01 9.13459761e-01 5.60204872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97907232899996 meters Centerline goodness : 0.767627 with order 1 Centerline is valid? [False, False] Translation: X:-84.22, Y:3.04, Z:56.07 [[ 7.41947154e-01 -5.35206606e-01 4.03817174e-01 -8.42245086e+01] [ 6.00473088e-01 7.98370149e-01 -4.51350811e-02 3.03908739e+00] [-2.98238984e-01 2.75969190e-01 9.13725623e-01 5.60690254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03907232899996 meters Centerline goodness : 0.766581 with order 1 Centerline is valid? [False, False] Translation: X:-84.31, Y:3.05, Z:56.12 [[ 7.42334876e-01 -5.35724719e-01 4.02415156e-01 -8.43143760e+01] [ 5.99182250e-01 7.99569023e-01 -4.08657329e-02 3.05258116e+00] [-2.99865910e-01 2.71456077e-01 9.14544714e-01 5.61151866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09907232899997 meters Centerline goodness : 0.771019 with order 1 Centerline is valid? [False, False] Translation: X:-84.42, Y:3.07, Z:56.16 [[ 7.47773284e-01 -5.28023241e-01 4.02525244e-01 -8.44169820e+01] [ 5.91140557e-01 8.05498635e-01 -4.15306034e-02 3.07123050e+00] [-3.02304411e-01 2.69004473e-01 9.14466313e-01 5.61626406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15907232899997 meters Centerline goodness : 0.774100 with order 1 Centerline is valid? [False, False] Translation: X:-84.50, Y:3.08, Z:56.21 [[ 7.48394818e-01 -5.25119506e-01 4.05160093e-01 -8.45036385e+01] [ 5.88847058e-01 8.07176877e-01 -4.15286800e-02 3.08373862e+00] [-3.05228339e-01 2.69657177e-01 9.13302068e-01 5.62074468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21907232899997 meters Centerline goodness : 0.776579 with order 1 Centerline is valid? [False, False] Translation: X:-84.59, Y:3.10, Z:56.25 [[ 7.50934183e-01 -5.21118545e-01 4.05627064e-01 -8.45940070e+01] [ 5.83270025e-01 8.11418962e-01 -3.73543381e-02 3.09924691e+00] [-3.09667453e-01 2.64640757e-01 9.13275062e-01 5.62534377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279072329 meters Centerline goodness : 0.777432 with order 1 Centerline is valid? [False, False] Translation: X:-84.68, Y:3.12, Z:56.30 [[ 7.55683895e-01 -5.14749960e-01 4.04937438e-01 -8.46798955e+01] [ 5.74863991e-01 8.17561906e-01 -3.35249343e-02 3.11750945e+00] [-3.13804465e-01 2.58118205e-01 9.13729583e-01 5.62978798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339072329 meters Centerline goodness : 0.778193 with order 1 Centerline is valid? [False, False] Translation: X:-84.76, Y:3.13, Z:56.34 [[ 7.58226002e-01 -5.09144473e-01 4.07265559e-01 -8.47643317e+01] [ 5.70172552e-01 8.20760103e-01 -3.54417012e-02 3.13197031e+00] [-3.16222376e-01 2.59084463e-01 9.12621855e-01 5.63408635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399072329 meters Centerline goodness : 0.775974 with order 1 Centerline is valid? [False, False] Translation: X:-84.86, Y:3.15, Z:56.39 [[ 7.61253171e-01 -5.06053964e-01 4.05466392e-01 -8.48603486e+01] [ 5.66750190e-01 8.23067109e-01 -3.68070114e-02 3.14574203e+00] [-3.15099717e-01 2.57817609e-01 9.13368627e-01 5.63861228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459072329 meters Centerline goodness : 0.775478 with order 1 Centerline is valid? [False, False] Translation: X:-84.95, Y:3.16, Z:56.43 [[ 7.64878542e-01 -5.02441689e-01 4.03129216e-01 -8.49522266e+01] [ 5.63115772e-01 8.25425935e-01 -3.96566893e-02 3.16180257e+00] [-3.12828136e-01 2.57340970e-01 9.14283426e-01 5.64297230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519072329 meters Centerline goodness : 0.776765 with order 1 Centerline is valid? [False, False] Translation: X:-85.03, Y:3.17, Z:56.47 [[ 7.65501864e-01 -5.01515288e-01 4.03099631e-01 -8.50328140e+01] [ 5.61811003e-01 8.26355555e-01 -3.87929548e-02 3.17439687e+00] [-3.13648359e-01 2.56161887e-01 9.14333525e-01 5.64697751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579072329 meters Centerline goodness : 0.781386 with order 1 Centerline is valid? [False, False] Translation: X:-85.12, Y:3.19, Z:56.51 [[ 7.72419577e-01 -4.90490900e-01 4.03468305e-01 -8.51171337e+01] [ 5.48085554e-01 8.35760769e-01 -3.32590175e-02 3.19218917e+00] [-3.20889736e-01 2.46825066e-01 9.14388957e-01 5.65124778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639072329 meters Centerline goodness : 0.783579 with order 1 Centerline is valid? [False, False] Translation: X:-85.20, Y:3.21, Z:56.55 [[ 7.77630082e-01 -4.80911522e-01 4.04988349e-01 -8.51975546e+01] [ 5.37633745e-01 8.42579023e-01 -3.17890943e-02 3.20804975e+00] [-3.25946946e-01 2.42455559e-01 9.13769058e-01 5.65545788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699072329 meters Centerline goodness : 0.786516 with order 1 Centerline is valid? [False, False] Translation: X:-85.28, Y:3.22, Z:56.59 [[ 7.80467211e-01 -4.75657262e-01 4.05735261e-01 -8.52785437e+01] [ 5.31324773e-01 8.46654881e-01 -2.94872619e-02 3.22338431e+00] [-3.29491909e-01 2.38591037e-01 9.13514860e-01 5.65942057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759072329 meters Centerline goodness : 0.784286 with order 1 Centerline is valid? [False, False] Translation: X:-85.36, Y:3.24, Z:56.63 [[ 7.84146356e-01 -4.69682655e-01 4.05601647e-01 -8.53554392e+01] [ 5.24132118e-01 8.51188562e-01 -2.76324968e-02 3.23718497e+00] [-3.32264978e-01 2.34256772e-01 9.13632174e-01 5.66304968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819072329 meters Centerline goodness : 0.786346 with order 1 Centerline is valid? [False, False] Translation: X:-85.43, Y:3.25, Z:56.67 [[ 7.88701164e-01 -4.62129734e-01 4.05446153e-01 -8.54324974e+01] [ 5.14850337e-01 8.56921346e-01 -2.47979313e-02 3.25104507e+00] [-3.35975602e-01 2.28302246e-01 9.13782512e-01 5.66689298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879072329 meters Centerline goodness : 0.783455 with order 1 Centerline is valid? [False, False] Translation: X:-85.51, Y:3.27, Z:56.70 [[ 7.95645728e-01 -4.52241340e-01 4.03020652e-01 -8.55064806e+01] [ 5.02083174e-01 8.64562771e-01 -2.10641968e-02 3.27087817e+00] [-3.38910551e-01 2.19109527e-01 9.14948443e-01 5.67047555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939072329 meters Centerline goodness : 0.782667 with order 1 Centerline is valid? [False, False] Translation: X:-85.59, Y:3.29, Z:56.74 [[ 8.02034828e-01 -4.42040713e-01 4.01671685e-01 -8.55882377e+01] [ 4.91585839e-01 8.70510044e-01 -2.35716984e-02 3.28836215e+00] [-3.39239586e-01 2.16361435e-01 9.15480329e-01 5.67417412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99907232899994 meters Centerline goodness : 0.781967 with order 1 Centerline is valid? [False, False] Translation: X:-85.66, Y:3.30, Z:56.78 [[ 8.03661883e-01 -4.38568694e-01 4.02225159e-01 -8.56625457e+01] [ 4.87739524e-01 8.72686601e-01 -2.29837468e-02 3.30126070e+00] [-3.40936555e-01 2.14652269e-01 9.15252243e-01 5.67769280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05907232899995 meters Centerline goodness : 0.781879 with order 1 Centerline is valid? [False, False] Translation: X:-85.74, Y:3.31, Z:56.81 [[ 8.03811945e-01 -4.35265201e-01 4.05500384e-01 -8.57389321e+01] [ 4.84875325e-01 8.74288886e-01 -2.26906084e-02 3.31322648e+00] [-3.44648046e-01 2.14856112e-01 9.13813206e-01 5.68138044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11907232899995 meters Centerline goodness : 0.782198 with order 1 Centerline is valid? [False, False] Translation: X:-85.82, Y:3.33, Z:56.85 [[ 8.03509762e-01 -4.32432703e-01 4.09113701e-01 -8.58198284e+01] [ 4.82346191e-01 8.75711508e-01 -2.17142041e-02 3.32649183e+00] [-3.48875644e-01 2.14782010e-01 9.12225012e-01 5.68529014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17907232899995 meters Centerline goodness : 0.781967 with order 1 Centerline is valid? [False, False] Translation: X:-85.89, Y:3.34, Z:56.89 [[ 8.05075477e-01 -4.30818629e-01 4.07736170e-01 -8.58903807e+01] [ 4.79733890e-01 8.77176852e-01 -2.04001079e-02 3.33798506e+00] [-3.48867984e-01 2.12028486e-01 9.12871870e-01 5.68886797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23907232899995 meters Centerline goodness : 0.781446 with order 1 Centerline is valid? [False, False] Translation: X:-85.96, Y:3.35, Z:56.92 [[ 8.07451643e-01 -4.28500354e-01 4.05474155e-01 -8.59602995e+01] [ 4.75540408e-01 8.79519518e-01 -1.75139618e-02 3.35109262e+00] [-3.49117694e-01 2.06961022e-01 9.13938713e-01 5.69227832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29907232899996 meters Centerline goodness : 0.780263 with order 1 Centerline is valid? [False, False] Translation: X:-86.04, Y:3.37, Z:56.96 [[ 8.10622947e-01 -4.24469552e-01 4.03380759e-01 -8.60399027e+01] [ 4.72333145e-01 8.81146123e-01 -2.19752337e-02 3.36541041e+00] [-3.46109574e-01 2.08343731e-01 9.14768305e-01 5.69595101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35907232899996 meters Centerline goodness : 0.780687 with order 1 Centerline is valid? [False, False] Translation: X:-86.11, Y:3.38, Z:56.99 [[ 8.10997672e-01 -4.23971967e-01 4.03150775e-01 -8.61097253e+01] [ 4.71950206e-01 8.81336940e-01 -2.25433338e-02 3.37647310e+00] [-3.45753929e-01 2.08549682e-01 9.14855863e-01 5.69933977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41907232899996 meters Centerline goodness : 0.779676 with order 1 Centerline is valid? [False, False] Translation: X:-86.18, Y:3.39, Z:57.03 [[ 8.11638629e-01 -4.21619313e-01 4.04326465e-01 -8.61833677e+01] [ 4.69426497e-01 8.82700767e-01 -2.18659636e-02 3.38818491e+00] [-3.47680168e-01 2.07548817e-01 9.14353317e-01 5.70289118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47907232899996 meters Centerline goodness : 0.780753 with order 1 Centerline is valid? [False, False] Translation: X:-86.25, Y:3.40, Z:57.06 [[ 8.14100093e-01 -4.16889960e-01 4.04281832e-01 -8.62538272e+01] [ 4.64141095e-01 8.85499749e-01 -2.15229898e-02 3.40294163e+00] [-3.49018742e-01 2.05165680e-01 9.14381190e-01 5.70642368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53907232899996 meters Centerline goodness : 0.782438 with order 1 Centerline is valid? [False, False] Translation: X:-86.32, Y:3.41, Z:57.10 [[ 8.15161195e-01 -4.15701459e-01 4.03366488e-01 -8.63201464e+01] [ 4.62935466e-01 8.86110522e-01 -2.23359932e-02 3.41458598e+00] [-3.48142184e-01 2.04940088e-01 9.14765861e-01 5.70964715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59907232899997 meters Centerline goodness : 0.781287 with order 1 Centerline is valid? [False, False] Translation: X:-86.39, Y:3.43, Z:57.13 [[ 8.15426108e-01 -4.17713343e-01 4.00744090e-01 -8.63924128e+01] [ 4.63861722e-01 8.85666035e-01 -2.06876141e-02 3.42505836e+00] [-3.46283936e-01 2.02759064e-01 9.15956439e-01 5.71319856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65907232899997 meters Centerline goodness : 0.782018 with order 1 Centerline is valid? [False, False] Translation: X:-86.47, Y:3.43, Z:57.17 [[ 8.14346579e-01 -4.19732033e-01 4.00829976e-01 -8.64664465e+01] [ 4.65818872e-01 8.84653827e-01 -2.00096197e-02 3.43365942e+00] [-3.46197094e-01 2.03008933e-01 9.15933920e-01 5.71673703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71907232899997 meters Centerline goodness : 0.783240 with order 1 Centerline is valid? [False, False] Translation: X:-86.54, Y:3.44, Z:57.20 [[ 8.14394379e-01 -4.19723859e-01 4.00741411e-01 -8.65369296e+01] [ 4.65289414e-01 8.84961275e-01 -1.86896639e-02 3.44443027e+00] [-3.46796132e-01 2.01681493e-01 9.16000556e-01 5.72004546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779072329 meters Centerline goodness : 0.784834 with order 1 Centerline is valid? [False, False] Translation: X:-86.61, Y:3.45, Z:57.23 [[ 8.13889358e-01 -4.19512567e-01 4.01986715e-01 -8.66083350e+01] [ 4.65392723e-01 8.84905032e-01 -1.87802298e-02 3.45492834e+00] [-3.47841525e-01 2.02366721e-01 9.15452885e-01 5.72348835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839072329 meters Centerline goodness : 0.781660 with order 1 Centerline is valid? [False, False] Translation: X:-86.68, Y:3.46, Z:57.27 [[ 8.13406126e-01 -4.18257768e-01 4.04265895e-01 -8.66789365e+01] [ 4.65632192e-01 8.84716115e-01 -2.15419854e-02 3.46417607e+00] [-3.48650450e-01 2.05761598e-01 9.14387789e-01 5.72696100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899072329 meters Centerline goodness : 0.782825 with order 1 Centerline is valid? [False, False] Translation: X:-86.75, Y:3.48, Z:57.30 [[ 8.13488481e-01 -4.19793335e-01 4.02504717e-01 -8.67498033e+01] [ 4.66133377e-01 8.84497382e-01 -1.95973532e-02 3.47520332e+00] [-3.47787530e-01 2.03563104e-01 9.15208117e-01 5.73028308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959072329 meters Centerline goodness : 0.781510 with order 1 Centerline is valid? [False, False] Translation: X:-86.83, Y:3.49, Z:57.34 [[ 8.14404952e-01 -4.20232926e-01 4.00186035e-01 -8.68335736e+01] [ 4.67871606e-01 8.83458595e-01 -2.44350412e-02 3.48605843e+00] [-3.43279383e-01 2.07135701e-01 9.16108108e-01 5.73407278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019072329 meters Centerline goodness : 0.782540 with order 1 Centerline is valid? [False, False] Translation: X:-86.91, Y:3.49, Z:57.38 [[ 8.11690913e-01 -4.25462733e-01 4.00174119e-01 -8.69087246e+01] [ 4.72882441e-01 8.80833818e-01 -2.26711744e-02 3.49369880e+00] [-3.42841157e-01 2.07637301e-01 9.16158661e-01 5.73751134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079072329 meters Centerline goodness : 0.782820 with order 1 Centerline is valid? [False, False] Translation: X:-86.98, Y:3.50, Z:57.41 [[ 8.10828370e-01 -4.27866569e-01 3.99358929e-01 -8.69821162e+01] [ 4.74363551e-01 8.80097482e-01 -2.01901962e-02 3.50250811e+00] [-3.42836077e-01 2.05812103e-01 9.16572311e-01 5.74086737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139072329 meters Centerline goodness : 0.783291 with order 1 Centerline is valid? [False, False] Translation: X:-87.06, Y:3.51, Z:57.44 [[ 8.09912267e-01 -4.31045595e-01 3.97796198e-01 -8.70580799e+01] [ 4.76609043e-01 8.78931498e-01 -1.79789558e-02 3.51425243e+00] [-3.41885858e-01 2.04154642e-01 9.17297630e-01 5.74448850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199072329 meters Centerline goodness : 0.784674 with order 1 Centerline is valid? [False, False] Translation: X:-87.13, Y:3.52, Z:57.48 [[ 8.07993512e-01 -4.33595383e-01 3.98925468e-01 -8.71318099e+01] [ 4.79672175e-01 8.77262390e-01 -1.80361590e-02 3.52429614e+00] [-3.42141914e-01 2.05926546e-01 9.16805960e-01 5.74793283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259072329 meters Centerline goodness : 0.784616 with order 1 Centerline is valid? [False, False] Translation: X:-87.20, Y:3.53, Z:57.51 [[ 8.06062257e-01 -4.36284055e-01 3.99899813e-01 -8.72023608e+01] [ 4.83770334e-01 8.74953527e-01 -2.05569839e-02 3.53099994e+00] [-3.40925068e-01 2.10029875e-01 9.16328298e-01 5.75124291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319072329 meters Centerline goodness : 0.782710 with order 1 Centerline is valid? [False, False] Translation: X:-87.28, Y:3.54, Z:57.55 [[ 8.02683114e-01 -4.42440680e-01 3.99932573e-01 -8.72777162e+01] [ 4.90633923e-01 8.71112135e-01 -2.10238409e-02 3.53695190e+00] [-3.39084315e-01 2.13095969e-01 9.16303408e-01 5.75472640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379072329 meters Centerline goodness : 0.785150 with order 1 Centerline is valid? [False, False] Translation: X:-87.35, Y:3.54, Z:57.58 [[ 7.99032827e-01 -4.47703516e-01 4.01382739e-01 -8.73549810e+01] [ 4.96493999e-01 8.67799836e-01 -2.04243102e-02 3.54438805e+00] [-3.39175840e-01 2.15603816e-01 9.15682666e-01 5.75826758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439072329 meters Centerline goodness : 0.782584 with order 1 Centerline is valid? [False, False] Translation: X:-87.43, Y:3.55, Z:57.62 [[ 7.96346853e-01 -4.54478829e-01 3.99099842e-01 -8.74292227e+01] [ 5.02382251e-01 8.64457786e-01 -1.80224626e-02 3.55137889e+00] [-3.36814138e-01 2.14852809e-01 9.16730335e-01 5.76150526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49907232899994 meters Centerline goodness : 0.783233 with order 1 Centerline is valid? [False, False] Translation: X:-87.51, Y:3.56, Z:57.65 [[ 7.91416901e-01 -4.62986801e-01 3.99127186e-01 -8.75070579e+01] [ 5.11836022e-01 8.58881734e-01 -1.86025215e-02 3.55931152e+00] [-3.34190327e-01 2.19010021e-01 9.16706843e-01 5.76506953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55907232899995 meters Centerline goodness : 0.784769 with order 1 Centerline is valid? [False, False] Translation: X:-87.58, Y:3.57, Z:57.69 [[ 7.88108413e-01 -4.66980104e-01 4.01017098e-01 -8.75838120e+01] [ 5.16898034e-01 8.55830722e-01 -1.92405015e-02 3.56785355e+00] [-3.34217821e-01 2.22448551e-01 9.15868490e-01 5.76868553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61907232899995 meters Centerline goodness : 0.783286 with order 1 Centerline is valid? [False, False] Translation: X:-87.66, Y:3.58, Z:57.72 [[ 7.83815717e-01 -4.73679048e-01 4.01573259e-01 -8.76609486e+01] [ 5.24426022e-01 8.51232013e-01 -1.95296606e-02 3.57702427e+00] [-3.32581222e-01 2.25903122e-01 9.15618649e-01 5.77225366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67907232899995 meters Centerline goodness : 0.784059 with order 1 Centerline is valid? [False, False] Translation: X:-87.74, Y:3.59, Z:57.76 [[ 7.81313020e-01 -4.78284921e-01 4.00990646e-01 -8.77379829e+01] [ 5.28609184e-01 8.48680738e-01 -1.77012568e-02 3.58659144e+00] [-3.31846793e-01 2.25797561e-01 9.15911113e-01 5.77580065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73907232899995 meters Centerline goodness : 0.784452 with order 1 Centerline is valid? [False, False] Translation: X:-87.82, Y:3.60, Z:57.80 [[ 7.83732249e-01 -4.74736734e-01 4.00485698e-01 -8.78231093e+01] [ 5.27179013e-01 8.49392475e-01 -2.47933553e-02 3.60012754e+00] [-3.28399222e-01 2.30559007e-01 9.15967518e-01 5.77964432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79907232899996 meters Centerline goodness : 0.782428 with order 1 Centerline is valid? [False, False] Translation: X:-87.90, Y:3.61, Z:57.83 [[ 7.83174184e-01 -4.75549640e-01 4.00612953e-01 -8.78978941e+01] [ 5.28178445e-01 8.48764507e-01 -2.50268160e-02 3.61288923e+00] [-3.28124563e-01 2.31195483e-01 9.15905519e-01 5.78317051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85907232899996 meters Centerline goodness : 0.784462 with order 1 Centerline is valid? [False, False] Translation: X:-87.98, Y:3.62, Z:57.87 [[ 7.82075188e-01 -4.74811210e-01 4.03624473e-01 -8.79774318e+01] [ 5.28625933e-01 8.48450740e-01 -2.61909375e-02 3.62486081e+00] [-3.30019732e-01 2.33849646e-01 9.14549791e-01 5.78696340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91907232899996 meters Centerline goodness : 0.784993 with order 1 Centerline is valid? [False, False] Translation: X:-88.06, Y:3.64, Z:57.91 [[ 7.80983333e-01 -4.73943861e-01 4.06745928e-01 -8.80581687e+01] [ 5.28692727e-01 8.48397312e-01 -2.65706678e-02 3.63865162e+00] [-3.32489147e-01 2.35794863e-01 9.13154833e-01 5.79070104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97907232899996 meters Centerline goodness : 0.787619 with order 1 Centerline is valid? [False, False] Translation: X:-88.14, Y:3.66, Z:57.95 [[ 7.80464466e-01 -4.74504810e-01 4.07087709e-01 -8.81363388e+01] [ 5.28848587e-01 8.48346018e-01 -2.50640419e-02 3.65549332e+00] [-3.33458228e-01 2.34849354e-01 9.13045120e-01 5.79456937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03907232899996 meters Centerline goodness : 0.788117 with order 1 Centerline is valid? [False, False] Translation: X:-88.21, Y:3.67, Z:57.98 [[ 7.80699970e-01 -4.77184475e-01 4.03487960e-01 -8.82106943e+01] [ 5.29461186e-01 8.48062096e-01 -2.14833323e-02 3.66832385e+00] [-3.31931333e-01 2.30403251e-01 9.14732711e-01 5.79801399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09907232899997 meters Centerline goodness : 0.785826 with order 1 Centerline is valid? [False, False] Translation: X:-88.30, Y:3.68, Z:58.02 [[ 7.84630751e-01 -4.69770174e-01 4.04562194e-01 -8.82982627e+01] [ 5.23942385e-01 8.51304999e-01 -2.76437323e-02 3.68452206e+00] [-3.31419617e-01 2.33657403e-01 9.14092586e-01 5.80195794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15907232899997 meters Centerline goodness : 0.784914 with order 1 Centerline is valid? [False, False] Translation: X:-88.37, Y:3.70, Z:58.05 [[ 7.84783686e-01 -4.67839527e-01 4.06498146e-01 -8.83713529e+01] [ 5.23407013e-01 8.51538544e-01 -3.04500656e-02 3.69579927e+00] [-3.31903095e-01 2.36660695e-01 9.13144047e-01 5.80530898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21907232899997 meters Centerline goodness : 0.785557 with order 1 Centerline is valid? [False, False] Translation: X:-88.44, Y:3.71, Z:58.09 [[ 7.84729493e-01 -4.67523265e-01 4.06966361e-01 -8.84432039e+01] [ 5.23672998e-01 8.51327026e-01 -3.17629582e-02 3.70772816e+00] [-3.31611540e-01 2.38042624e-01 9.12890736e-01 5.80886036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279072329 meters Centerline goodness : 0.784106 with order 1 Centerline is valid? [False, False] Translation: X:-88.52, Y:3.72, Z:58.13 [[ 7.81772645e-01 -4.72922260e-01 4.06418586e-01 -8.85206117e+01] [ 5.29127612e-01 8.47972808e-01 -3.10819342e-02 3.71872494e+00] [-3.29932571e-01 2.39346302e-01 9.13158172e-01 5.81264257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339072329 meters Centerline goodness : 0.786757 with order 1 Centerline is valid? [False, False] Translation: X:-88.59, Y:3.73, Z:58.16 [[ 7.83053333e-01 -4.70803884e-01 4.06412574e-01 -8.85933668e+01] [ 5.26667963e-01 8.49518723e-01 -3.06397729e-02 3.73188645e+00] [-3.30829767e-01 2.38037059e-01 9.13175790e-01 5.81596066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399072329 meters Centerline goodness : 0.786420 with order 1 Centerline is valid? [False, False] Translation: X:-88.68, Y:3.75, Z:58.20 [[ 7.80817039e-01 -4.71453771e-01 4.09946451e-01 -8.86752736e+01] [ 5.28568293e-01 8.48318871e-01 -3.11552861e-02 3.74589103e+00] [-3.33077034e-01 2.41011274e-01 9.11577345e-01 5.81985241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459072329 meters Centerline goodness : 0.786925 with order 1 Centerline is valid? [False, False] Translation: X:-88.75, Y:3.76, Z:58.23 [[ 7.77970573e-01 -4.76641255e-01 4.09359134e-01 -8.87531118e+01] [ 5.33315918e-01 8.45412679e-01 -2.91810520e-02 3.75824258e+00] [-3.32168509e-01 2.41019742e-01 9.11906555e-01 5.82346182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519072329 meters Centerline goodness : 0.788007 with order 1 Centerline is valid? [False, False] Translation: X:-88.83, Y:3.77, Z:58.27 [[ 7.76570046e-01 -4.77982228e-01 4.10453351e-01 -8.88306343e+01] [ 5.34791609e-01 8.44507683e-01 -2.83673667e-02 3.77235648e+00] [-3.33071911e-01 2.41536255e-01 9.11440256e-01 5.82725988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579072329 meters Centerline goodness : 0.786184 with order 1 Centerline is valid? [False, False] Translation: X:-88.91, Y:3.78, Z:58.31 [[ 7.74601716e-01 -4.78081896e-01 4.14040918e-01 -8.89105788e+01] [ 5.36572188e-01 8.43318115e-01 -3.00806367e-02 3.78413729e+00] [-3.34787199e-01 2.45463354e-01 9.09761108e-01 5.83126540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639072329 meters Centerline goodness : 0.789758 with order 1 Centerline is valid? [False, False] Translation: X:-88.99, Y:3.79, Z:58.35 [[ 7.70771502e-01 -4.82616776e-01 4.15923477e-01 -8.89897033e+01] [ 5.42491262e-01 8.39480741e-01 -3.12300624e-02 3.79407122e+00] [-3.34087596e-01 2.49706094e-01 9.08863216e-01 5.83522527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699072329 meters Centerline goodness : 0.786800 with order 1 Centerline is valid? [False, False] Translation: X:-89.08, Y:3.80, Z:58.39 [[ 7.67589864e-01 -4.87485383e-01 4.16129549e-01 -8.90788593e+01] [ 5.51455247e-01 8.33188889e-01 -4.11507765e-02 3.80370879e+00] [-3.26654115e-01 2.61063742e-01 9.08373718e-01 5.83930895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759072329 meters Centerline goodness : 0.786488 with order 1 Centerline is valid? [False, False] Translation: X:-89.15, Y:3.81, Z:58.43 [[ 7.64495329e-01 -4.95427941e-01 4.12429445e-01 -8.91538799e+01] [ 5.58755227e-01 8.28333279e-01 -4.07010468e-02 3.81199726e+00] [-3.21464599e-01 2.61562868e-01 9.10079874e-01 5.84289748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819072329 meters Centerline goodness : 0.785592 with order 1 Centerline is valid? [False, False] Translation: X:-89.23, Y:3.82, Z:58.47 [[ 7.63736854e-01 -4.97412607e-01 4.11444669e-01 -8.92330271e+01] [ 5.59755855e-01 8.27771574e-01 -3.83093047e-02 3.82494178e+00] [-3.21526670e-01 2.59566790e-01 9.10629278e-01 5.84674622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879072329 meters Centerline goodness : 0.785161 with order 1 Centerline is valid? [False, False] Translation: X:-89.31, Y:3.84, Z:58.50 [[ 7.63773379e-01 -5.00760142e-01 4.07295355e-01 -8.93104182e+01] [ 5.60530964e-01 8.27443267e-01 -3.38035302e-02 3.84015863e+00] [-3.20086338e-01 2.54119894e-01 9.12670705e-01 5.85038512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939072329 meters Centerline goodness : 0.784788 with order 1 Centerline is valid? [False, False] Translation: X:-89.39, Y:3.86, Z:58.54 [[ 7.62842009e-01 -5.02465354e-01 4.06940583e-01 -8.93904325e+01] [ 5.61872675e-01 8.26578518e-01 -3.26657335e-02 3.85524944e+00] [-3.19954944e-01 2.53567588e-01 9.12870370e-01 5.85415684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99907232899994 meters Centerline goodness : 0.783908 with order 1 Centerline is valid? [False, False] Translation: X:-89.47, Y:3.87, Z:58.58 [[ 7.62540540e-01 -5.00931854e-01 4.09388816e-01 -8.94702017e+01] [ 5.61466860e-01 8.26794997e-01 -3.41320807e-02 3.87126268e+00] [-3.21382778e-01 2.55885348e-01 9.11721338e-01 5.85792800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05907232899995 meters Centerline goodness : 0.787149 with order 1 Centerline is valid? [False, False] Translation: X:-89.55, Y:3.89, Z:58.62 [[ 7.64684047e-01 -4.94976377e-01 4.12621734e-01 -8.95542193e+01] [ 5.56181087e-01 8.30337668e-01 -3.46692204e-02 3.88991831e+00] [-3.25454923e-01 2.56003404e-01 9.10242468e-01 5.86212691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11907232899995 meters Centerline goodness : 0.784355 with order 1 Centerline is valid? [False, False] Translation: X:-89.63, Y:3.90, Z:58.66 [[ 7.67258031e-01 -4.89950740e-01 4.13839807e-01 -8.96316912e+01] [ 5.51001809e-01 8.33794084e-01 -3.44155741e-02 3.90453147e+00] [-3.28195247e-01 2.54432108e-01 9.09698952e-01 5.86585428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17907232899995 meters Centerline goodness : 0.782591 with order 1 Centerline is valid? [False, False] Translation: X:-89.71, Y:3.92, Z:58.70 [[ 7.70322902e-01 -4.84498971e-01 4.14564077e-01 -8.97068865e+01] [ 5.46065349e-01 8.36945391e-01 -3.65382936e-02 3.92243292e+00] [-3.29264728e-01 2.54525362e-01 9.09286302e-01 5.86957971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23907232899995 meters Centerline goodness : 0.781724 with order 1 Centerline is valid? [False, False] Translation: X:-89.78, Y:3.94, Z:58.73 [[ 7.77563086e-01 -4.73921549e-01 4.13272323e-01 -8.97792788e+01] [ 5.34033551e-01 8.44691378e-01 -3.61198385e-02 3.94213964e+00] [-3.31969598e-01 2.48786739e-01 9.09890842e-01 5.87323962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29907232899996 meters Centerline goodness : 0.779674 with order 1 Centerline is valid? [False, False] Translation: X:-89.85, Y:3.96, Z:58.77 [[ 7.84167731e-01 -4.63568657e-01 4.12534933e-01 -8.98532917e+01] [ 5.22227901e-01 8.52079648e-01 -3.51893834e-02 3.96434020e+00] [-3.35199925e-01 2.43031631e-01 9.10261851e-01 5.87688248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35907232899996 meters Centerline goodness : 0.780184 with order 1 Centerline is valid? [False, False] Translation: X:-89.93, Y:3.98, Z:58.81 [[ 7.86878070e-01 -4.56986872e-01 4.14711830e-01 -8.99323918e+01] [ 5.15238455e-01 8.56374316e-01 -3.39465161e-02 3.98377188e+00] [-3.39635447e-01 2.40387251e-01 9.09319379e-01 5.88077202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41907232899996 meters Centerline goodness : 0.779323 with order 1 Centerline is valid? [False, False] Translation: X:-90.01, Y:4.00, Z:58.84 [[ 7.87383699e-01 -4.54714954e-01 4.16246587e-01 -9.00081168e+01] [ 5.13116763e-01 8.57656704e-01 -3.37070525e-02 3.99768863e+00] [-3.41669575e-01 2.40123485e-01 9.08626774e-01 5.88444174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47907232899996 meters Centerline goodness : 0.778052 with order 1 Centerline is valid? [False, False] Translation: X:-90.08, Y:4.01, Z:58.88 [[ 7.87182123e-01 -4.54530956e-01 4.16828399e-01 -9.00810607e+01] [ 5.13481849e-01 8.57395963e-01 -3.47642467e-02 4.01250183e+00] [-3.41585561e-01 2.41399611e-01 9.08320171e-01 5.88805368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53907232899996 meters Centerline goodness : 0.778558 with order 1 Centerline is valid? [False, False] Translation: X:-90.15, Y:4.03, Z:58.92 [[ 7.87218480e-01 -4.53739566e-01 4.17621204e-01 -9.01529856e+01] [ 5.13391548e-01 8.57390476e-01 -3.62034578e-02 4.02549355e+00] [-3.41637502e-01 2.42903228e-01 9.07899686e-01 5.89166004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59907232899997 meters Centerline goodness : 0.777274 with order 1 Centerline is valid? [False, False] Translation: X:-90.23, Y:4.04, Z:58.95 [[ 7.88513083e-01 -4.52836450e-01 4.16156542e-01 -9.02259809e+01] [ 5.11171013e-01 8.58804578e-01 -3.40425137e-02 4.04089367e+00] [-3.41981452e-01 2.39570128e-01 9.08655512e-01 5.89525623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65907232899997 meters Centerline goodness : 0.777729 with order 1 Centerline is valid? [False, False] Translation: X:-90.30, Y:4.06, Z:58.99 [[ 7.90048484e-01 -4.48311540e-01 4.18138920e-01 -9.03015448e+01] [ 5.07146182e-01 8.61151916e-01 -3.49303314e-02 4.05646954e+00] [-3.44421461e-01 2.39654212e-01 9.07711251e-01 5.89899429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71907232899997 meters Centerline goodness : 0.777441 with order 1 Centerline is valid? [False, False] Translation: X:-90.38, Y:4.07, Z:59.02 [[ 7.93847015e-01 -4.42322584e-01 4.17321995e-01 -9.03750015e+01] [ 4.99331492e-01 8.65813702e-01 -3.21666741e-02 4.07363942e+00] [-3.47095055e-01 2.33917433e-01 9.08189219e-01 5.90243117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779072329 meters Centerline goodness : 0.775528 with order 1 Centerline is valid? [False, False] Translation: X:-90.45, Y:4.09, Z:59.06 [[ 7.93979573e-01 -4.41762692e-01 4.17662736e-01 -9.04452263e+01] [ 4.99299325e-01 8.65784419e-01 -3.34293870e-02 4.08648401e+00] [-3.46838033e-01 2.35080973e-01 9.07986957e-01 5.90599654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839072329 meters Centerline goodness : 0.776497 with order 1 Centerline is valid? [False, False] Translation: X:-90.52, Y:4.10, Z:59.10 [[ 7.94245607e-01 -4.39216777e-01 4.19836325e-01 -9.05162869e+01] [ 4.98143497e-01 8.66344884e-01 -3.60499449e-02 4.09879646e+00] [-3.47889311e-01 2.37771245e-01 9.06883599e-01 5.90965301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899072329 meters Centerline goodness : 0.776675 with order 1 Centerline is valid? [False, False] Translation: X:-90.59, Y:4.11, Z:59.13 [[ 7.95137812e-01 -4.36683592e-01 4.20788903e-01 -9.05906114e+01] [ 4.95113026e-01 8.68137216e-01 -3.46535054e-02 4.11355803e+00] [-3.50169890e-01 2.35892380e-01 9.06496461e-01 5.91331500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959072329 meters Centerline goodness : 0.776502 with order 1 Centerline is valid? [False, False] Translation: X:-90.66, Y:4.13, Z:59.17 [[ 7.94596841e-01 -4.36722368e-01 4.21769407e-01 -9.06645280e+01] [ 4.95148047e-01 8.68146426e-01 -3.39145292e-02 4.12695791e+00] [-3.51346370e-01 2.35786676e-01 9.06068635e-01 5.91697493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019072329 meters Centerline goodness : 0.774372 with order 1 Centerline is valid? [False, False] Translation: X:-90.74, Y:4.14, Z:59.21 [[ 7.93200260e-01 -4.40254303e-01 4.20724964e-01 -9.07390591e+01] [ 4.97739694e-01 8.66757656e-01 -3.14064248e-02 4.14034833e+00] [-3.50839770e-01 2.34323099e-01 9.06644440e-01 5.92061494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079072329 meters Centerline goodness : 0.773510 with order 1 Centerline is valid? [False, False] Translation: X:-90.82, Y:4.15, Z:59.24 [[ 7.90538143e-01 -4.45732445e-01 4.19966703e-01 -9.08166640e+01] [ 5.03067137e-01 8.63717537e-01 -3.02567595e-02 4.15310502e+00] [-3.49246187e-01 2.35190570e-01 9.07035003e-01 5.92443810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139072329 meters Centerline goodness : 0.770986 with order 1 Centerline is valid? [False, False] Translation: X:-90.89, Y:4.17, Z:59.28 [[ 7.90134857e-01 -4.47135023e-01 4.19234037e-01 -9.08872890e+01] [ 5.04457858e-01 8.62899957e-01 -3.04291728e-02 4.16695514e+00] [-3.48151084e-01 2.35529054e-01 9.07368110e-01 5.92795671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199072329 meters Centerline goodness : 0.772610 with order 1 Centerline is valid? [False, False] Translation: X:-90.97, Y:4.18, Z:59.32 [[ 7.87653640e-01 -4.51205610e-01 4.19541704e-01 -9.09651156e+01] [ 5.08531187e-01 8.60547335e-01 -2.92286933e-02 4.17909698e+00] [-3.47847345e-01 2.36372127e-01 9.07265365e-01 5.93185698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259072329 meters Centerline goodness : 0.773153 with order 1 Centerline is valid? [False, False] Translation: X:-91.04, Y:4.19, Z:59.36 [[ 7.83718221e-01 -4.56190677e-01 4.21516092e-01 -9.10413930e+01] [ 5.15765001e-01 8.56116794e-01 -3.24114059e-02 4.18897879e+00] [-3.46081224e-01 2.42804657e-01 9.06241516e-01 5.93583437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319072329 meters Centerline goodness : 0.772974 with order 1 Centerline is valid? [False, False] Translation: X:-91.12, Y:4.20, Z:59.40 [[ 7.78624309e-01 -4.64760340e-01 4.21594605e-01 -9.11195034e+01] [ 5.25697221e-01 8.49997581e-01 -3.38606584e-02 4.19775639e+00] [-3.42617304e-01 2.47995844e-01 9.06151999e-01 5.93974896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379072329 meters Centerline goodness : 0.772053 with order 1 Centerline is valid? [False, False] Translation: X:-91.20, Y:4.21, Z:59.43 [[ 7.75726382e-01 -4.70288084e-01 4.20806010e-01 -9.11951155e+01] [ 5.31359187e-01 8.46483903e-01 -3.35024851e-02 4.20962159e+00] [-3.40449695e-01 2.49587901e-01 9.06531789e-01 5.94344576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439072329 meters Centerline goodness : 0.773678 with order 1 Centerline is valid? [False, False] Translation: X:-91.28, Y:4.22, Z:59.48 [[ 7.71144860e-01 -4.75817490e-01 4.23005108e-01 -9.12770003e+01] [ 5.38066974e-01 8.42235506e-01 -3.35154260e-02 4.22414944e+00] [-3.40322695e-01 2.53450327e-01 9.05507258e-01 5.94755583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49907232899994 meters Centerline goodness : 0.773355 with order 1 Centerline is valid? [False, False] Translation: X:-91.36, Y:4.24, Z:59.52 [[ 7.73935822e-01 -4.69286847e-01 4.25197835e-01 -9.13555691e+01] [ 5.31686916e-01 8.46268397e-01 -3.37464616e-02 4.24212655e+00] [-3.43994720e-01 2.52189721e-01 9.04471103e-01 5.95159457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55907232899995 meters Centerline goodness : 0.771335 with order 1 Centerline is valid? [False, False] Translation: X:-91.44, Y:4.26, Z:59.56 [[ 7.75672562e-01 -4.66721760e-01 4.24856300e-01 -9.14412403e+01] [ 5.31686902e-01 8.45926991e-01 -4.14314376e-02 4.25975112e+00] [-3.40060458e-01 2.58027759e-01 9.04312203e-01 5.95591341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61907232899995 meters Centerline goodness : 0.767649 with order 1 Centerline is valid? [False, False] Translation: X:-91.51, Y:4.27, Z:59.59 [[ 7.78207155e-01 -4.63931695e-01 4.23274150e-01 -9.15104010e+01] [ 5.28014702e-01 8.48242179e-01 -4.10570483e-02 4.27431703e+00] [-3.39991321e-01 2.55445863e-01 9.05070888e-01 5.95930255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67907232899995 meters Centerline goodness : 0.768639 with order 1 Centerline is valid? [False, False] Translation: X:-91.59, Y:4.29, Z:59.63 [[ 7.83102680e-01 -4.55749271e-01 4.23134486e-01 -9.15857996e+01] [ 5.18594874e-01 8.54090963e-01 -3.98495095e-02 4.29376404e+00] [-3.43233956e-01 2.50641633e-01 9.05190158e-01 5.96307231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73907232899995 meters Centerline goodness : 0.768111 with order 1 Centerline is valid? [False, False] Translation: X:-91.66, Y:4.32, Z:59.67 [[ 7.87884570e-01 -4.46880486e-01 4.23716575e-01 -9.16604769e+01] [ 5.09069122e-01 8.59805692e-01 -3.97844269e-02 4.31600331e+00] [-3.46535039e-01 2.47046561e-01 9.04920694e-01 5.96701247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79907232899996 meters Centerline goodness : 0.768526 with order 1 Centerline is valid? [False, False] Translation: X:-91.73, Y:4.34, Z:59.71 [[ 7.91687286e-01 -4.40312352e-01 4.23504751e-01 -9.17320624e+01] [ 5.01400509e-01 8.64351693e-01 -3.86481635e-02 4.33648525e+00] [-3.49039785e-01 2.42942757e-01 9.05069083e-01 5.97062837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85907232899996 meters Centerline goodness : 0.768117 with order 1 Centerline is valid? [False, False] Translation: X:-91.81, Y:4.36, Z:59.75 [[ 7.95837360e-01 -4.32133155e-01 4.24150719e-01 -9.18090310e+01] [ 4.92152423e-01 8.69707209e-01 -3.73545640e-02 4.35953814e+00] [-3.52744792e-01 2.38474962e-01 9.04820869e-01 5.97462988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91907232899996 meters Centerline goodness : 0.770144 with order 1 Centerline is valid? [False, False] Translation: X:-91.88, Y:4.38, Z:59.78 [[ 8.01277366e-01 -4.22338433e-01 4.23774504e-01 -9.18789480e+01] [ 4.80908767e-01 8.76020723e-01 -3.62553435e-02 4.38052558e+00] [-3.55923223e-01 2.32847461e-01 9.05041833e-01 5.97827753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97907232899996 meters Centerline goodness : 0.770364 with order 1 Centerline is valid? [False, False] Translation: X:-91.95, Y:4.41, Z:59.82 [[ 8.07762332e-01 -4.10295416e-01 4.23293855e-01 -9.19493067e+01] [ 4.67371983e-01 8.83341272e-01 -3.56598810e-02 4.40617882e+00] [-3.59281846e-01 2.26640397e-01 9.05290387e-01 5.98211468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03907232899996 meters Centerline goodness : 0.770684 with order 1 Centerline is valid? [False, False] Translation: X:-92.02, Y:4.42, Z:59.86 [[ 8.11520926e-01 -4.04384074e-01 4.21790596e-01 -9.20162348e+01] [ 4.60263407e-01 8.87089805e-01 -3.50609920e-02 4.42439328e+00] [-3.59988031e-01 2.22587505e-01 9.06015132e-01 5.98563532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09907232899997 meters Centerline goodness : 0.770311 with order 1 Centerline is valid? [False, False] Translation: X:-92.08, Y:4.45, Z:59.89 [[ 8.15963391e-01 -3.99280337e-01 4.18065734e-01 -9.20811928e+01] [ 4.52526762e-01 8.91173109e-01 -3.20939283e-02 4.44602064e+00] [-3.59754465e-01 2.15373403e-01 9.07849669e-01 5.98908910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15907232899997 meters Centerline goodness : 0.770304 with order 1 Centerline is valid? [False, False] Translation: X:-92.15, Y:4.46, Z:59.93 [[ 8.18000204e-01 -3.97627833e-01 4.15653428e-01 -9.21464966e+01] [ 4.49660769e-01 8.92662130e-01 -3.09760275e-02 4.46153230e+00] [-3.58721144e-01 2.12241437e-01 9.08995442e-01 5.99251027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21907232899997 meters Centerline goodness : 0.769906 with order 1 Centerline is valid? [False, False] Translation: X:-92.21, Y:4.48, Z:59.96 [[ 8.19548026e-01 -3.94446313e-01 4.15635825e-01 -9.22139328e+01] [ 4.46769122e-01 8.94060373e-01 -3.24561388e-02 4.47572101e+00] [-3.58801317e-01 2.12292617e-01 9.08951847e-01 5.99595681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279072329 meters Centerline goodness : 0.768826 with order 1 Centerline is valid? [False, False] Translation: X:-92.28, Y:4.49, Z:59.99 [[ 8.20747009e-01 -3.96107156e-01 4.11671553e-01 -9.22795873e+01] [ 4.46583988e-01 8.94241329e-01 -2.99196838e-02 4.49110612e+00] [-3.56282316e-01 2.08402415e-01 9.10841010e-01 5.99923358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339072329 meters Centerline goodness : 0.769669 with order 1 Centerline is valid? [False, False] Translation: X:-92.35, Y:4.51, Z:60.03 [[ 8.19037008e-01 -4.00423517e-01 4.10900702e-01 -9.23496302e+01] [ 4.51181125e-01 8.91923093e-01 -3.01461079e-02 4.50500999e+00] [-3.54420614e-01 2.10081419e-01 9.11181555e-01 6.00268214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399072329 meters Centerline goodness : 0.769330 with order 1 Centerline is valid? [False, False] Translation: X:-92.42, Y:4.52, Z:60.06 [[ 8.16281829e-01 -4.04076497e-01 4.12802811e-01 -9.24199026e+01] [ 4.56740770e-01 8.88988698e-01 -3.29691365e-02 4.51567482e+00] [-3.53654980e-01 2.15455981e-01 9.10223531e-01 6.00614836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459072329 meters Centerline goodness : 0.767637 with order 1 Centerline is valid? [False, False] Translation: X:-92.49, Y:4.52, Z:60.10 [[ 8.11123039e-01 -4.14422198e-01 4.12714984e-01 -9.24949429e+01] [ 4.67605030e-01 8.83358545e-01 -3.19877477e-02 4.52487558e+00] [-3.51318875e-01 2.18933602e-01 9.10298372e-01 6.00971836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519072329 meters Centerline goodness : 0.767385 with order 1 Centerline is valid? [False, False] Translation: X:-92.57, Y:4.53, Z:60.14 [[ 8.06838830e-01 -4.23042506e-01 4.12366513e-01 -9.25732474e+01] [ 4.76262047e-01 8.78780300e-01 -3.03256740e-02 4.53391932e+00] [-3.49550519e-01 2.20862451e-01 9.10513159e-01 6.01353349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579072329 meters Centerline goodness : 0.765113 with order 1 Centerline is valid? [False, False] Translation: X:-92.65, Y:4.54, Z:60.17 [[ 8.02744167e-01 -4.30841709e-01 4.12282942e-01 -9.26491001e+01] [ 4.84543674e-01 8.74258377e-01 -2.98281436e-02 4.54280495e+00] [-3.47590607e-01 2.23713460e-01 9.10567437e-01 6.01694477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639072329 meters Centerline goodness : 0.766314 with order 1 Centerline is valid? [False, False] Translation: X:-92.73, Y:4.55, Z:60.21 [[ 7.98803083e-01 -4.37246609e-01 4.13193704e-01 -9.27273072e+01] [ 4.91761081e-01 8.70219544e-01 -2.98158541e-02 4.55481413e+00] [-3.46532355e-01 2.27009579e-01 9.10154920e-01 6.02067952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699072329 meters Centerline goodness : 0.763497 with order 1 Centerline is valid? [False, False] Translation: X:-92.80, Y:4.56, Z:60.24 [[ 7.95988025e-01 -4.42949921e-01 4.12551127e-01 -9.27991354e+01] [ 4.98208694e-01 8.66506243e-01 -3.09035195e-02 4.56463586e+00] [-3.43789415e-01 2.30135389e-01 9.10410095e-01 6.02412082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759072329 meters Centerline goodness : 0.764626 with order 1 Centerline is valid? [False, False] Translation: X:-92.87, Y:4.58, Z:60.28 [[ 7.93847239e-01 -4.44825606e-01 4.14652554e-01 -9.28720717e+01] [ 5.01817517e-01 8.64324366e-01 -3.35047744e-02 4.57670453e+00] [-3.43490525e-01 2.34677588e-01 9.09362793e-01 6.02772821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819072329 meters Centerline goodness : 0.762131 with order 1 Centerline is valid? [False, False] Translation: X:-92.95, Y:4.59, Z:60.31 [[ 7.91955570e-01 -4.50060790e-01 4.12615634e-01 -9.29451560e+01] [ 5.06691389e-01 8.61501948e-01 -3.28364201e-02 4.59040263e+00] [-3.40690787e-01 2.35073774e-01 9.10313192e-01 6.03109901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879072329 meters Centerline goodness : 0.763552 with order 1 Centerline is valid? [False, False] Translation: X:-93.02, Y:4.61, Z:60.35 [[ 7.91487272e-01 -4.49983111e-01 4.13597750e-01 -9.30193677e+01] [ 5.06833334e-01 8.61423503e-01 -3.27035257e-02 4.60520907e+00] [-3.41566788e-01 2.35509551e-01 9.09872178e-01 6.03455123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939072329 meters Centerline goodness : 0.762250 with order 1 Centerline is valid? [False, False] Translation: X:-93.09, Y:4.62, Z:60.38 [[ 7.91968886e-01 -4.48312706e-01 4.14488842e-01 -9.30920062e+01] [ 5.05538756e-01 8.62156107e-01 -3.34277464e-02 4.61975351e+00] [-3.42368003e-01 2.36013909e-01 9.09440259e-01 6.03794869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99907232899994 meters Centerline goodness : 0.760288 with order 1 Centerline is valid? [False, False] Translation: X:-93.16, Y:4.64, Z:60.41 [[ 7.91958583e-01 -4.48512228e-01 4.14292631e-01 -9.31641246e+01] [ 5.05293068e-01 8.62341395e-01 -3.23455467e-02 4.63736970e+00] [-3.42754312e-01 2.34955528e-01 9.09568789e-01 6.04143712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05907232899995 meters Centerline goodness : 0.761224 with order 1 Centerline is valid? [False, False] Translation: X:-93.24, Y:4.65, Z:60.45 [[ 7.93213545e-01 -4.44468365e-01 4.16245294e-01 -9.32394611e+01] [ 5.02192566e-01 8.64073853e-01 -3.43366126e-02 4.65385096e+00] [-3.44405137e-01 2.36271559e-01 9.08603793e-01 6.04506470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11907232899995 meters Centerline goodness : 0.763654 with order 1 Centerline is valid? [False, False] Translation: X:-93.31, Y:4.67, Z:60.49 [[ 7.93534433e-01 -4.40180711e-01 4.20171447e-01 -9.33149818e+01] [ 4.99986381e-01 8.65205095e-01 -3.78650551e-02 4.67221869e+00] [-3.46867010e-01 2.40127226e-01 9.06654395e-01 6.04880858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17907232899995 meters Centerline goodness : 0.761448 with order 1 Centerline is valid? [False, False] Translation: X:-93.38, Y:4.69, Z:60.52 [[ 7.94241547e-01 -4.39161049e-01 4.19902296e-01 -9.33845020e+01] [ 4.98688610e-01 8.65966101e-01 -3.75816761e-02 4.68826348e+00] [-3.47116745e-01 2.39249421e-01 9.06790869e-01 6.05224687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23907232899995 meters Centerline goodness : 0.760064 with order 1 Centerline is valid? [False, False] Translation: X:-93.45, Y:4.71, Z:60.56 [[ 7.95742635e-01 -4.38588501e-01 4.17652709e-01 -9.34546783e+01] [ 4.96782485e-01 8.67131943e-01 -3.59075968e-02 4.70567341e+00] [-3.46411346e-01 2.36055756e-01 9.07896943e-01 6.05570218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29907232899996 meters Centerline goodness : 0.760627 with order 1 Centerline is valid? [False, False] Translation: X:-93.53, Y:4.72, Z:60.59 [[ 7.96415956e-01 -4.35301457e-01 4.19802652e-01 -9.35279259e+01] [ 4.94253722e-01 8.68527125e-01 -3.70660536e-02 4.72222261e+00] [-3.48475084e-01 2.37009020e-01 9.06858225e-01 6.05920396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35907232899996 meters Centerline goodness : 0.760722 with order 1 Centerline is valid? [False, False] Translation: X:-93.60, Y:4.74, Z:60.63 [[ 7.97966339e-01 -4.32576537e-01 4.19675185e-01 -9.35975079e+01] [ 4.91392915e-01 8.70132538e-01 -3.74482113e-02 4.73769241e+00] [-3.48973817e-01 2.36107825e-01 9.06901522e-01 6.06256411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41907232899996 meters Centerline goodness : 0.758364 with order 1 Centerline is valid? [False, False] Translation: X:-93.67, Y:4.75, Z:60.66 [[ 7.98339109e-01 -4.32505535e-01 4.19038936e-01 -9.36670164e+01] [ 4.91207331e-01 8.70229203e-01 -3.76363024e-02 4.75431763e+00] [-3.48382010e-01 2.35881529e-01 9.07187896e-01 6.06601233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47907232899996 meters Centerline goodness : 0.763435 with order 1 Centerline is valid? [False, False] Translation: X:-93.74, Y:4.77, Z:60.70 [[ 7.98779955e-01 -4.28544866e-01 4.22255706e-01 -9.37400237e+01] [ 4.88830251e-01 8.71447987e-01 -4.02913337e-02 4.77072770e+00] [-3.50707241e-01 2.38595272e-01 9.05580878e-01 6.06982428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53907232899996 meters Centerline goodness : 0.759761 with order 1 Centerline is valid? [False, False] Translation: X:-93.80, Y:4.79, Z:60.73 [[ 8.04296731e-01 -4.21313418e-01 4.19048651e-01 -9.38034314e+01] [ 4.78964863e-01 8.77031675e-01 -3.75246667e-02 4.79012547e+00] [-3.51709295e-01 2.30890547e-01 9.07188033e-01 6.07287952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59907232899997 meters Centerline goodness : 0.759199 with order 1 Centerline is valid? [False, False] Translation: X:-93.87, Y:4.81, Z:60.76 [[ 8.06411869e-01 -4.19016895e-01 4.17282565e-01 -9.38708388e+01] [ 4.75545203e-01 8.78937220e-01 -3.64159732e-02 4.80863503e+00] [-3.51506269e-01 2.27802995e-01 9.08046881e-01 6.07608431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65907232899997 meters Centerline goodness : 0.758556 with order 1 Centerline is valid? [False, False] Translation: X:-93.94, Y:4.83, Z:60.79 [[ 8.09086030e-01 -4.14237851e-01 4.16877439e-01 -9.39393266e+01] [ 4.70241470e-01 8.81784550e-01 -3.64550004e-02 4.82651684e+00] [-3.52495044e-01 2.25528291e-01 9.08231377e-01 6.07942386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71907232899997 meters Centerline goodness : 0.761761 with order 1 Centerline is valid? [False, False] Translation: X:-94.01, Y:4.85, Z:60.83 [[ 8.13330630e-01 -4.04369285e-01 4.18304635e-01 -9.40074440e+01] [ 4.60532040e-01 8.86822604e-01 -3.81563825e-02 4.84908979e+00] [-3.55532737e-01 2.23676442e-01 9.07504999e-01 6.08306990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779072329 meters Centerline goodness : 0.764066 with order 1 Centerline is valid? [False, False] Translation: X:-94.07, Y:4.87, Z:60.86 [[ 8.16066266e-01 -3.99469886e-01 4.17683683e-01 -9.40724391e+01] [ 4.55167011e-01 8.89572499e-01 -3.85196248e-02 4.87209865e+00] [-3.56172487e-01 2.21550400e-01 9.07775622e-01 6.08647465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839072329 meters Centerline goodness : 0.764451 with order 1 Centerline is valid? [False, False] Translation: X:-94.14, Y:4.89, Z:60.90 [[ 8.17597936e-01 -3.97195029e-01 4.16856959e-01 -9.41380001e+01] [ 4.52646374e-01 8.90837997e-01 -3.89733595e-02 4.88795885e+00] [-3.55871994e-01 2.20553329e-01 9.08136198e-01 6.08998681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899072329 meters Centerline goodness : 0.764211 with order 1 Centerline is valid? [False, False] Translation: X:-94.20, Y:4.91, Z:60.93 [[ 8.20004778e-01 -3.95350477e-01 4.13872159e-01 -9.42001317e+01] [ 4.49420167e-01 8.92517849e-01 -3.78603049e-02 4.90680927e+00] [-3.54420200e-01 2.17048126e-01 9.09547378e-01 6.09312957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959072329 meters Centerline goodness : 0.763870 with order 1 Centerline is valid? [False, False] Translation: X:-94.26, Y:4.92, Z:60.96 [[ 8.21034298e-01 -3.94730383e-01 4.12420424e-01 -9.42642540e+01] [ 4.48843648e-01 8.92755252e-01 -3.90824637e-02 4.92267191e+00] [-3.52763464e-01 2.17200331e-01 9.10154907e-01 6.09640407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019072329 meters Centerline goodness : 0.761791 with order 1 Centerline is valid? [False, False] Translation: X:-94.32, Y:4.93, Z:60.99 [[ 8.15451184e-01 -4.05265552e-01 4.13278596e-01 -9.43211295e+01] [ 4.59466466e-01 8.87451344e-01 -3.63411384e-02 4.93138688e+00] [-3.52036834e-01 2.19522080e-01 9.09879181e-01 6.09922033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079072329 meters Centerline goodness : 0.764962 with order 1 Centerline is valid? [False, False] Translation: X:-94.39, Y:4.94, Z:61.03 [[ 8.13863933e-01 -4.07930475e-01 4.13785242e-01 -9.43897423e+01] [ 4.63167888e-01 8.85452555e-01 -3.80694047e-02 4.94350859e+00] [-3.50857530e-01 2.22635352e-01 9.09578196e-01 6.10256248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139072329 meters Centerline goodness : 0.763574 with order 1 Centerline is valid? [False, False] Translation: X:-94.45, Y:4.96, Z:61.06 [[ 8.15541608e-01 -4.05187386e-01 4.13176800e-01 -9.44544395e+01] [ 4.59745287e-01 8.87264969e-01 -3.73516543e-02 4.95755947e+00] [-3.51462881e-01 2.20417915e-01 9.09884490e-01 6.10576982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199072329 meters Centerline goodness : 0.763107 with order 1 Centerline is valid? [False, False] Translation: X:-94.52, Y:4.97, Z:61.09 [[ 8.16437431e-01 -4.04580318e-01 4.12000834e-01 -9.45195896e+01] [ 4.59098079e-01 8.87564409e-01 -3.81886726e-02 4.97353114e+00] [-3.50226891e-01 2.20327453e-01 9.10382852e-01 6.10900671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259072329 meters Centerline goodness : 0.764834 with order 1 Centerline is valid? [False, False] Translation: X:-94.58, Y:4.99, Z:61.12 [[ 8.16890256e-01 -4.03488619e-01 4.12173803e-01 -9.45840154e+01] [ 4.59611439e-01 8.87102763e-01 -4.24972094e-02 4.98671211e+00] [-3.48493380e-01 2.24155351e-01 9.10113588e-01 6.11219753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319072329 meters Centerline goodness : 0.764828 with order 1 Centerline is valid? [False, False] Translation: X:-94.65, Y:5.00, Z:61.16 [[ 8.17747757e-01 -4.02723325e-01 4.11220779e-01 -9.46499577e+01] [ 4.58515925e-01 8.87670787e-01 -4.24702253e-02 5.00388551e+00] [-3.47924922e-01 2.23281207e-01 9.10545853e-01 6.11561176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379072329 meters Centerline goodness : 0.764405 with order 1 Centerline is valid? [False, False] Translation: X:-94.72, Y:5.02, Z:61.19 [[ 8.18741111e-01 -4.02072220e-01 4.09879157e-01 -9.47158480e+01] [ 4.56945902e-01 8.88542634e-01 -4.11391637e-02 5.02123683e+00] [-3.47654191e-01 2.20974925e-01 9.11211636e-01 6.11893822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439072329 meters Centerline goodness : 0.762921 with order 1 Centerline is valid? [False, False] Translation: X:-94.78, Y:5.04, Z:61.22 [[ 8.18761398e-01 -4.05324089e-01 4.06622868e-01 -9.47812438e+01] [ 4.59095209e-01 8.87497094e-01 -3.97554712e-02 5.03530381e+00] [-3.44762763e-01 2.19228856e-01 9.12730708e-01 6.12201572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49907232899994 meters Centerline goodness : 0.763514 with order 1 Centerline is valid? [False, False] Translation: X:-94.84, Y:5.05, Z:61.25 [[ 8.19332532e-01 -4.07211480e-01 4.03575287e-01 -9.48447789e+01] [ 4.60220200e-01 8.86929596e-01 -3.94114046e-02 5.04909453e+00] [-3.41894090e-01 2.18024545e-01 9.14097221e-01 6.12490909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55907232899995 meters Centerline goodness : 0.762384 with order 1 Centerline is valid? [False, False] Translation: X:-94.91, Y:5.06, Z:61.28 [[ 8.17971795e-01 -4.09201998e-01 4.04321490e-01 -9.49147343e+01] [ 4.62810224e-01 8.85551857e-01 -4.00575307e-02 5.06352143e+00] [-3.41656025e-01 2.19890050e-01 9.13739310e-01 6.12824080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61907232899995 meters Centerline goodness : 0.762097 with order 1 Centerline is valid? [False, False] Translation: X:-94.98, Y:5.08, Z:61.31 [[ 8.17395145e-01 -4.09625327e-01 4.05058352e-01 -9.49803525e+01] [ 4.64339066e-01 8.84641721e-01 -4.24058514e-02 5.07544596e+00] [-3.40961007e-01 2.22746754e-01 9.13306890e-01 6.13133334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67907232899995 meters Centerline goodness : 0.762841 with order 1 Centerline is valid? [False, False] Translation: X:-95.05, Y:5.09, Z:61.35 [[ 8.15556505e-01 -4.12948887e-01 4.05389695e-01 -9.50496722e+01] [ 4.68711042e-01 8.82242438e-01 -4.42520036e-02 5.09154446e+00] [-3.39378178e-01 2.26100636e-01 9.13072262e-01 6.13472982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73907232899995 meters Centerline goodness : 0.763398 with order 1 Centerline is valid? [False, False] Translation: X:-95.12, Y:5.11, Z:61.38 [[ 8.15632767e-01 -4.15255566e-01 4.02872194e-01 -9.51152375e+01] [ 4.70199557e-01 8.81494839e-01 -4.33500454e-02 5.10776308e+00] [-3.37128412e-01 2.24788044e-01 9.14229057e-01 6.13782553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79907232899996 meters Centerline goodness : 0.763135 with order 1 Centerline is valid? [False, False] Translation: X:-95.18, Y:5.12, Z:61.41 [[ 8.14403072e-01 -4.19102410e-01 4.01373650e-01 -9.51838224e+01] [ 4.73797039e-01 8.79587853e-01 -4.29135688e-02 5.12282242e+00] [-3.35058207e-01 2.25118589e-01 9.14908530e-01 6.14104980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85907232899996 meters Centerline goodness : 0.762827 with order 1 Centerline is valid? [False, False] Translation: X:-95.25, Y:5.14, Z:61.44 [[ 8.13102974e-01 -4.20880673e-01 4.02147999e-01 -9.52522672e+01] [ 4.76969235e-01 8.77727400e-01 -4.57707245e-02 5.13760243e+00] [-3.33712304e-01 2.29028536e-01 9.14429892e-01 6.14429659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91907232899996 meters Centerline goodness : 0.762511 with order 1 Centerline is valid? [False, False] Translation: X:-95.32, Y:5.16, Z:61.47 [[ 8.15841640e-01 -4.17243435e-01 4.00387729e-01 -9.53188501e+01] [ 4.71852357e-01 8.80588977e-01 -4.37996217e-02 5.15556078e+00] [-3.34301916e-01 2.24657449e-01 9.15298454e-01 6.14733147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97907232899996 meters Centerline goodness : 0.763343 with order 1 Centerline is valid? [False, False] Translation: X:-95.39, Y:5.17, Z:61.51 [[ 8.16993798e-01 -4.15064566e-01 4.00303060e-01 -9.53867842e+01] [ 4.69359089e-01 8.81936527e-01 -4.34742196e-02 5.17306999e+00] [-3.34997282e-01 2.23404047e-01 9.15351000e-01 6.15062532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03907232899996 meters Centerline goodness : 0.763459 with order 1 Centerline is valid? [False, False] Translation: X:-95.46, Y:5.19, Z:61.54 [[ 8.16065683e-01 -4.17623138e-01 3.99534375e-01 -9.54561048e+01] [ 4.72207227e-01 8.80375249e-01 -4.42691296e-02 5.18763055e+00] [-3.33252362e-01 2.24789537e-01 9.15648692e-01 6.15384162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09907232899997 meters Centerline goodness : 0.764787 with order 1 Centerline is valid? [False, False] Translation: X:-95.52, Y:5.20, Z:61.57 [[ 8.15406348e-01 -4.19124232e-01 3.99308609e-01 -9.55249725e+01] [ 4.73676520e-01 8.79598033e-01 -4.40210666e-02 5.20208816e+00] [-3.32780772e-01 2.25038170e-01 9.15759128e-01 6.15710375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15907232899997 meters Centerline goodness : 0.765216 with order 1 Centerline is valid? [False, False] Translation: X:-95.60, Y:5.22, Z:61.60 [[ 8.12591036e-01 -4.24387399e-01 3.99488602e-01 -9.55960591e+01] [ 4.79331403e-01 8.76539001e-01 -4.38267697e-02 5.21785306e+00] [-3.31567812e-01 2.27100673e-01 9.15689942e-01 6.16033691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21907232899997 meters Centerline goodness : 0.764015 with order 1 Centerline is valid? [False, False] Translation: X:-95.67, Y:5.23, Z:61.64 [[ 8.11418351e-01 -4.25874676e-01 4.00288672e-01 -9.56666422e+01] [ 4.81603963e-01 8.75228847e-01 -4.50786976e-02 5.23268148e+00] [-3.31146317e-01 2.29358293e-01 9.15279679e-01 6.16355842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279072329 meters Centerline goodness : 0.764898 with order 1 Centerline is valid? [False, False] Translation: X:-95.74, Y:5.25, Z:61.67 [[ 8.11810210e-01 -4.24561639e-01 4.00888510e-01 -9.57374096e+01] [ 4.80447225e-01 8.75850462e-01 -4.53479060e-02 5.25150337e+00] [-3.31865405e-01 2.29419665e-01 9.15003809e-01 6.16702500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339072329 meters Centerline goodness : 0.764667 with order 1 Centerline is valid? [False, False] Translation: X:-95.81, Y:5.27, Z:61.70 [[ 8.12163720e-01 -4.23879576e-01 4.00894246e-01 -9.58062360e+01] [ 4.79792593e-01 8.76197847e-01 -4.55675400e-02 5.26820833e+00] [-3.31947526e-01 2.29354392e-01 9.14990384e-01 6.17026644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399072329 meters Centerline goodness : 0.763627 with order 1 Centerline is valid? [False, False] Translation: X:-95.88, Y:5.28, Z:61.73 [[ 8.11658337e-01 -4.25336269e-01 4.00374579e-01 -9.58755680e+01] [ 4.81307756e-01 8.75354282e-01 -4.58009307e-02 5.28294569e+00] [-3.30988805e-01 2.29878097e-01 9.15206245e-01 6.17340413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459072329 meters Centerline goodness : 0.760886 with order 1 Centerline is valid? [False, False] Translation: X:-95.95, Y:5.30, Z:61.77 [[ 8.12140658e-01 -4.25441325e-01 3.99283397e-01 -9.59451843e+01] [ 4.80554871e-01 8.75849152e-01 -4.42185319e-02 5.29821097e+00] [-3.30899634e-01 2.27789249e-01 9.15760607e-01 6.17653889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519072329 meters Centerline goodness : 0.760206 with order 1 Centerline is valid? [False, False] Translation: X:-96.01, Y:5.32, Z:61.80 [[ 8.13119316e-01 -4.23379270e-01 3.99483380e-01 -9.60147285e+01] [ 4.78530046e-01 8.76936711e-01 -4.46206265e-02 5.31518141e+00] [-3.31430194e-01 2.27446694e-01 9.15653880e-01 6.17973552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579072329 meters Centerline goodness : 0.762402 with order 1 Centerline is valid? [False, False] Translation: X:-96.08, Y:5.33, Z:61.83 [[ 8.12701989e-01 -4.22681818e-01 4.01068020e-01 -9.60847075e+01] [ 4.78779787e-01 8.76718175e-01 -4.62077558e-02 5.33178671e+00] [-3.32092445e-01 2.29576397e-01 9.14882116e-01 6.18301979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639072329 meters Centerline goodness : 0.762583 with order 1 Centerline is valid? [False, False] Translation: X:-96.15, Y:5.35, Z:61.86 [[ 8.12848802e-01 -4.22760418e-01 4.00687477e-01 -9.61526694e+01] [ 4.78912077e-01 8.76623938e-01 -4.66228838e-02 5.34753098e+00] [-3.31541925e-01 2.29791427e-01 9.15027788e-01 6.18623236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699072329 meters Centerline goodness : 0.763971 with order 1 Centerline is valid? [False, False] Translation: X:-96.22, Y:5.36, Z:61.90 [[ 8.11726255e-01 -4.23514392e-01 4.02164203e-01 -9.62214766e+01] [ 4.81064299e-01 8.75303313e-01 -4.92061989e-02 5.36455695e+00] [-3.31176126e-01 2.33408804e-01 9.14244335e-01 6.18969241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759072329 meters Centerline goodness : 0.762892 with order 1 Centerline is valid? [False, False] Translation: X:-96.30, Y:5.38, Z:61.93 [[ 8.09134324e-01 -4.29042768e-01 4.01527021e-01 -9.62961087e+01] [ 4.86509716e-01 8.72340919e-01 -4.82661097e-02 5.38012908e+00] [-3.29560225e-01 2.34400563e-01 9.14574455e-01 6.19313591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819072329 meters Centerline goodness : 0.761813 with order 1 Centerline is valid? [False, False] Translation: X:-96.37, Y:5.40, Z:61.96 [[ 8.09253439e-01 -4.30495179e-01 3.99728373e-01 -9.63657715e+01] [ 4.87046104e-01 8.72122555e-01 -4.67797135e-02 5.39691885e+00] [-3.28473689e-01 2.32542791e-01 9.15439177e-01 6.19635400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879072329 meters Centerline goodness : 0.763376 with order 1 Centerline is valid? [False, False] Translation: X:-96.44, Y:5.41, Z:62.00 [[ 8.10111461e-01 -4.27252678e-01 4.01465528e-01 -9.64380877e+01] [ 4.84471668e-01 8.73488348e-01 -4.80136235e-02 5.41364128e+00] [-3.30161512e-01 2.33395061e-01 9.14614739e-01 6.19971848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939072329 meters Centerline goodness : 0.760902 with order 1 Centerline is valid? [False, False] Translation: X:-96.51, Y:5.43, Z:62.03 [[ 8.11381810e-01 -4.26094188e-01 4.00129107e-01 -9.65066874e+01] [ 4.82453852e-01 8.74665090e-01 -4.68962846e-02 5.43330356e+00] [-3.29996727e-01 2.31094621e-01 9.15258125e-01 6.20285508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99907232899994 meters Centerline goodness : 0.761686 with order 1 Centerline is valid? [False, False] Translation: X:-96.57, Y:5.45, Z:62.06 [[ 8.12374784e-01 -4.25272256e-01 3.98987115e-01 -9.65744776e+01] [ 4.81326492e-01 8.75275754e-01 -4.70867593e-02 5.45270945e+00] [-3.29199056e-01 2.30295164e-01 9.15746755e-01 6.20606198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05907232899995 meters Centerline goodness : 0.763296 with order 1 Centerline is valid? [False, False] Translation: X:-96.65, Y:5.47, Z:62.10 [[ 8.12523348e-01 -4.23654657e-01 4.00402973e-01 -9.66458695e+01] [ 4.80294180e-01 8.75793494e-01 -4.79922582e-02 5.47103271e+00] [-3.30338175e-01 2.31306048e-01 9.15081528e-01 6.20960076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11907232899995 meters Centerline goodness : 0.759058 with order 1 Centerline is valid? [False, False] Translation: X:-96.71, Y:5.49, Z:62.13 [[ 8.15011297e-01 -4.21062632e-01 3.98073921e-01 -9.67117899e+01] [ 4.76512914e-01 8.77910452e-01 -4.69966048e-02 5.48789540e+00] [-3.29684742e-01 2.27990128e-01 9.16148718e-01 6.21250590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17907232899995 meters Centerline goodness : 0.759321 with order 1 Centerline is valid? [False, False] Translation: X:-96.78, Y:5.51, Z:62.16 [[ 8.18335109e-01 -4.14623412e-01 3.98013913e-01 -9.67824567e+01] [ 4.69549904e-01 8.81655750e-01 -4.69683498e-02 5.51032228e+00] [-3.31437077e-01 2.25323244e-01 9.16176238e-01 6.21576961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23907232899995 meters Centerline goodness : 0.760785 with order 1 Centerline is valid? [False, False] Translation: X:-96.85, Y:5.53, Z:62.19 [[ 8.19563830e-01 -4.11916308e-01 3.98296477e-01 -9.68507614e+01] [ 4.67054152e-01 8.82929072e-01 -4.79236120e-02 5.52906313e+00] [-3.31927022e-01 2.25302482e-01 9.16003954e-01 6.21897683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29907232899996 meters Centerline goodness : 0.762140 with order 1 Centerline is valid? [False, False] Translation: X:-96.92, Y:5.55, Z:62.22 [[ 8.20666345e-01 -4.08622361e-01 3.99417721e-01 -9.69213275e+01] [ 4.64333669e-01 8.84282370e-01 -4.93855548e-02 5.54960415e+00] [-3.33018007e-01 2.25992159e-01 9.15437901e-01 6.22238926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35907232899996 meters Centerline goodness : 0.762331 with order 1 Centerline is valid? [False, False] Translation: X:-96.99, Y:5.57, Z:62.26 [[ 8.24635959e-01 -4.01942949e-01 3.98016834e-01 -9.69871110e+01] [ 4.56176079e-01 8.88606895e-01 -4.77616043e-02 5.57171316e+00] [-3.34483063e-01 2.20951695e-01 9.16133958e-01 6.22556975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41907232899996 meters Centerline goodness : 0.762405 with order 1 Centerline is valid? [False, False] Translation: X:-97.05, Y:5.59, Z:62.29 [[ 8.28638681e-01 -3.94838094e-01 3.96813327e-01 -9.70529435e+01] [ 4.48083102e-01 8.92733804e-01 -4.74119069e-02 5.59387124e+00] [-3.35528644e-01 2.17092686e-01 9.16674040e-01 6.22878598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47907232899996 meters Centerline goodness : 0.763003 with order 1 Centerline is valid? [False, False] Translation: X:-97.12, Y:5.61, Z:62.32 [[ 8.30444210e-01 -3.91817516e-01 3.96032131e-01 -9.71168501e+01] [ 4.45141665e-01 8.94128950e-01 -4.88090039e-02 5.61231403e+00] [-3.34979571e-01 2.16823557e-01 9.16938511e-01 6.23184265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53907232899996 meters Centerline goodness : 0.761397 with order 1 Centerline is valid? [False, False] Translation: X:-97.18, Y:5.63, Z:62.35 [[ 8.30931677e-01 -3.92019634e-01 3.94807745e-01 -9.71816284e+01] [ 4.45791615e-01 8.93691000e-01 -5.08550192e-02 5.63035409e+00] [-3.32899962e-01 2.18259029e-01 9.17355227e-01 6.23491828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59907232899997 meters Centerline goodness : 0.761608 with order 1 Centerline is valid? [False, False] Translation: X:-97.25, Y:5.65, Z:62.38 [[ 8.30144452e-01 -3.94055718e-01 3.94436660e-01 -9.72499221e+01] [ 4.48293265e-01 8.92373881e-01 -5.19808083e-02 5.64745752e+00] [-3.31501639e-01 2.19974878e-01 9.17451752e-01 6.23816856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65907232899997 meters Centerline goodness : 0.761924 with order 1 Centerline is valid? [False, False] Translation: X:-97.32, Y:5.66, Z:62.41 [[ 8.29902704e-01 -3.95187281e-01 3.93812791e-01 -9.73168511e+01] [ 4.49487351e-01 8.91750495e-01 -5.23657825e-02 5.66388558e+00] [-3.30488461e-01 2.20472373e-01 9.17697832e-01 6.24130250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71907232899997 meters Centerline goodness : 0.760531 with order 1 Centerline is valid? [False, False] Translation: X:-97.38, Y:5.68, Z:62.44 [[ 8.30330383e-01 -3.96439779e-01 3.91646468e-01 -9.73826476e+01] [ 4.50058620e-01 8.91497605e-01 -5.17615616e-02 5.67804498e+00] [-3.28631546e-01 2.19243066e-01 9.18658688e-01 6.24425735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779072329 meters Centerline goodness : 0.761522 with order 1 Centerline is valid? [False, False] Translation: X:-97.45, Y:5.69, Z:62.47 [[ 8.30434848e-01 -3.96522710e-01 3.91340905e-01 -9.74494070e+01] [ 4.49789159e-01 8.91678737e-01 -5.09778627e-02 5.69439121e+00] [-3.28736483e-01 2.18354690e-01 9.18832713e-01 6.24743956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839072329 meters Centerline goodness : 0.760713 with order 1 Centerline is valid? [False, False] Translation: X:-97.52, Y:5.71, Z:62.51 [[ 8.27956093e-01 -4.01064070e-01 3.91964691e-01 -9.75195318e+01] [ 4.55222134e-01 8.88852951e-01 -5.20887664e-02 5.70766772e+00] [-3.27508040e-01 2.21558215e-01 9.18504459e-01 6.25066633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899072329 meters Centerline goodness : 0.762657 with order 1 Centerline is valid? [False, False] Translation: X:-97.59, Y:5.72, Z:62.54 [[ 8.26846830e-01 -4.03165534e-01 3.92150317e-01 -9.75870389e+01] [ 4.58141155e-01 8.87248776e-01 -5.38172065e-02 5.72403222e+00] [-3.26237646e-01 2.24158786e-01 9.18325562e-01 6.25385501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959072329 meters Centerline goodness : 0.762340 with order 1 Centerline is valid? [False, False] Translation: X:-97.65, Y:5.74, Z:62.57 [[ 8.27315045e-01 -4.02450555e-01 3.91897138e-01 -9.76541839e+01] [ 4.57781224e-01 8.87352610e-01 -5.51515722e-02 5.74135363e+00] [-3.25555168e-01 2.25030877e-01 9.18354472e-01 6.25706208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019072329 meters Centerline goodness : 0.761696 with order 1 Centerline is valid? [False, False] Translation: X:-97.72, Y:5.76, Z:62.60 [[ 8.29008231e-01 -4.02269778e-01 3.88489869e-01 -9.77182548e+01] [ 4.55987173e-01 8.88398975e-01 -5.31315280e-02 5.76009503e+00] [-3.23760794e-01 2.21192871e-01 9.19919922e-01 6.25994580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079072329 meters Centerline goodness : 0.758422 with order 1 Centerline is valid? [False, False] Translation: X:-97.78, Y:5.78, Z:62.63 [[ 8.29553826e-01 -4.03297224e-01 3.86253542e-01 -9.77826694e+01] [ 4.56605623e-01 8.88065371e-01 -5.33966427e-02 5.77702347e+00] [-3.21483678e-01 2.20660929e-01 9.20845807e-01 6.26283691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139072329 meters Centerline goodness : 0.759494 with order 1 Centerline is valid? [False, False] Translation: X:-97.85, Y:5.80, Z:62.66 [[ 8.29962845e-01 -4.02542208e-01 3.86162462e-01 -9.78498698e+01] [ 4.56048948e-01 8.88303672e-01 -5.41843484e-02 5.79500298e+00] [-3.21218046e-01 2.21079981e-01 9.20837993e-01 6.26598168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199072329 meters Centerline goodness : 0.760293 with order 1 Centerline is valid? [False, False] Translation: X:-97.92, Y:5.81, Z:62.69 [[ 8.29167552e-01 -4.02892954e-01 3.87502823e-01 -9.79182844e+01] [ 4.57567027e-01 8.87380475e-01 -5.64651120e-02 5.81239484e+00] [-3.21113044e-01 2.24127553e-01 9.20137627e-01 6.26930039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259072329 meters Centerline goodness : 0.764285 with order 1 Centerline is valid? [False, False] Translation: X:-97.99, Y:5.83, Z:62.73 [[ 8.29183921e-01 -4.02525698e-01 3.87849310e-01 -9.79861453e+01] [ 4.57387013e-01 8.87450857e-01 -5.68163479e-02 5.83039625e+00] [-3.21327163e-01 2.24508440e-01 9.19970008e-01 6.27255731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319072329 meters Centerline goodness : 0.761263 with order 1 Centerline is valid? [False, False] Translation: X:-98.05, Y:5.85, Z:62.76 [[ 8.32044893e-01 -3.98728984e-01 3.85637775e-01 -9.80500657e+01] [ 4.52477266e-01 8.90014072e-01 -5.60292410e-02 5.85190234e+00] [-3.20882564e-01 2.21111170e-01 9.20947463e-01 6.27558354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379072329 meters Centerline goodness : 0.760556 with order 1 Centerline is valid? [False, False] Translation: X:-98.11, Y:5.87, Z:62.78 [[ 8.36701819e-01 -3.92331624e-01 3.82107265e-01 -9.81119557e+01] [ 4.43972872e-01 8.94422825e-01 -5.38135560e-02 5.87304441e+00] [-3.20652700e-01 2.14671160e-01 9.22549803e-01 6.27836412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439072329 meters Centerline goodness : 0.759925 with order 1 Centerline is valid? [False, False] Translation: X:-98.18, Y:5.89, Z:62.81 [[ 8.38231286e-01 -3.89981628e-01 3.81159600e-01 -9.81754077e+01] [ 4.41715535e-01 8.95453896e-01 -5.52241428e-02 5.89107463e+00] [-3.19774447e-01 2.14654721e-01 9.22858415e-01 6.28130434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49907232899994 meters Centerline goodness : 0.760688 with order 1 Centerline is valid? [False, False] Translation: X:-98.24, Y:5.91, Z:62.84 [[ 8.40101393e-01 -3.85873362e-01 3.81223553e-01 -9.82405126e+01] [ 4.38212753e-01 8.97015383e-01 -5.77320115e-02 5.91013709e+00] [-3.19686146e-01 2.15557766e-01 9.22678502e-01 6.28443820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55907232899995 meters Centerline goodness : 0.764001 with order 1 Centerline is valid? [False, False] Translation: X:-98.30, Y:5.93, Z:62.88 [[ 8.39339852e-01 -3.86255608e-01 3.82511723e-01 -9.82970854e+01] [ 4.36569656e-01 8.98227191e-01 -5.09396703e-02 5.92707195e+00] [-3.23906697e-01 2.09748706e-01 9.22545355e-01 6.28751718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61907232899995 meters Centerline goodness : 0.762632 with order 1 Centerline is valid? [False, False] Translation: X:-98.36, Y:5.95, Z:62.90 [[ 8.41325719e-01 -3.84919441e-01 3.79483936e-01 -9.83588183e+01] [ 4.34269344e-01 8.99364117e-01 -5.05403073e-02 5.94594752e+00] [-3.21840289e-01 2.07319100e-01 9.23816875e-01 6.29033606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67907232899995 meters Centerline goodness : 0.762672 with order 1 Centerline is valid? [False, False] Translation: X:-98.42, Y:5.96, Z:62.93 [[ 8.42872435e-01 -3.83226146e-01 3.77761538e-01 -9.84220372e+01] [ 4.32290473e-01 9.00277506e-01 -5.12382628e-02 5.96417739e+00] [-3.20454373e-01 2.06490033e-01 9.24484105e-01 6.29323158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73907232899995 meters Centerline goodness : 0.762959 with order 1 Centerline is valid? [False, False] Translation: X:-98.49, Y:5.98, Z:62.96 [[ 8.43119607e-01 -3.81785593e-01 3.78667518e-01 -9.84875046e+01] [ 4.32206300e-01 9.00107751e-01 -5.48064824e-02 5.98143919e+00] [-3.19917243e-01 2.09870907e-01 9.23908632e-01 6.29621472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79907232899996 meters Centerline goodness : 0.764279 with order 1 Centerline is valid? [False, False] Translation: X:-98.54, Y:5.99, Z:62.99 [[ 8.41300829e-01 -3.86548475e-01 3.77879865e-01 -9.85422831e+01] [ 4.34718208e-01 8.99290495e-01 -4.79237472e-02 5.99481558e+00] [-3.21298919e-01 2.04589546e-01 9.24613499e-01 6.29894479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85907232899996 meters Centerline goodness : 0.764391 with order 1 Centerline is valid? [False, False] Translation: X:-98.61, Y:6.01, Z:63.02 [[ 8.41495843e-01 -3.86290872e-01 3.77709025e-01 -9.86061988e+01] [ 4.35280768e-01 8.98879738e-01 -5.04566138e-02 6.01159924e+00] [-3.20024060e-01 2.06868505e-01 9.24548551e-01 6.30180649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91907232899996 meters Centerline goodness : 0.764492 with order 1 Centerline is valid? [False, False] Translation: X:-98.67, Y:6.03, Z:63.05 [[ 8.41753457e-01 -3.86904064e-01 3.76505463e-01 -9.86707531e+01] [ 4.36057551e-01 8.98435656e-01 -5.16447873e-02 6.02791463e+00] [-3.18284355e-01 2.07650229e-01 9.24973757e-01 6.30458061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97907232899996 meters Centerline goodness : 0.763917 with order 1 Centerline is valid? [False, False] Translation: X:-98.74, Y:6.04, Z:63.07 [[ 8.40375282e-01 -3.92199842e-01 3.74097140e-01 -9.87362534e+01] [ 4.41783497e-01 8.95520782e-01 -5.35711708e-02 6.04217213e+00] [-3.14001158e-01 2.10289830e-01 9.25840947e-01 6.30747856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03907232899996 meters Centerline goodness : 0.763284 with order 1 Centerline is valid? [False, False] Translation: X:-98.79, Y:6.05, Z:63.10 [[ 8.35984947e-01 -3.99874831e-01 3.75804852e-01 -9.87920019e+01] [ 4.49257999e-01 8.91986932e-01 -5.02649203e-02 6.05113426e+00] [-3.15113341e-01 2.10854053e-01 9.25334616e-01 6.31016671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09907232899997 meters Centerline goodness : 0.764300 with order 1 Centerline is valid? [False, False] Translation: X:-98.85, Y:6.06, Z:63.13 [[ 8.31511560e-01 -4.08116927e-01 3.76867483e-01 -9.88510481e+01] [ 4.56611500e-01 8.88513758e-01 -4.52685276e-02 6.06231564e+00] [-3.16377091e-01 2.09723331e-01 9.25160343e-01 6.31300019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15907232899997 meters Centerline goodness : 0.765984 with order 1 Centerline is valid? [False, False] Translation: X:-98.92, Y:6.08, Z:63.16 [[ 8.29745469e-01 -4.14288354e-01 3.74015529e-01 -9.89155993e+01] [ 4.62780364e-01 8.85275055e-01 -4.60696501e-02 6.07662065e+00] [-3.12020498e-01 2.11313126e-01 9.26277481e-01 6.31553772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21907232899997 meters Centerline goodness : 0.768232 with order 1 Centerline is valid? [False, False] Translation: X:-98.98, Y:6.09, Z:63.18 [[ 8.28495626e-01 -4.14943792e-01 3.76054048e-01 -9.89825993e+01] [ 4.65303516e-01 8.83738251e-01 -4.99934174e-02 6.09197441e+00] [-3.11588889e-01 2.16398599e-01 9.25248081e-01 6.31836128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279072329 meters Centerline goodness : 0.767268 with order 1 Centerline is valid? [False, False] Translation: X:-99.05, Y:6.11, Z:63.21 [[ 8.28041834e-01 -4.15044674e-01 3.76941163e-01 -9.90503067e+01] [ 4.66066401e-01 8.83262472e-01 -5.12788057e-02 6.11033438e+00] [-3.11654988e-01 2.18140608e-01 9.24816654e-01 6.32127227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339072329 meters Centerline goodness : 0.766604 with order 1 Centerline is valid? [False, False] Translation: X:-99.12, Y:6.13, Z:63.24 [[ 8.26629746e-01 -4.19384994e-01 3.75232580e-01 -9.91166541e+01] [ 4.70678814e-01 8.80739967e-01 -5.25220459e-02 6.12558339e+00] [-3.08455372e-01 2.20030311e-01 9.25441487e-01 6.32407653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399072329 meters Centerline goodness : 0.769044 with order 1 Centerline is valid? [False, False] Translation: X:-99.19, Y:6.14, Z:63.27 [[ 8.24665226e-01 -4.22113359e-01 3.76493794e-01 -9.91855719e+01] [ 4.74715875e-01 8.78422134e-01 -5.49489980e-02 6.14232983e+00] [-3.07525776e-01 2.24042109e-01 9.24788100e-01 6.32706060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459072329 meters Centerline goodness : 0.770214 with order 1 Centerline is valid? [False, False] Translation: X:-99.25, Y:6.16, Z:63.30 [[ 8.24314621e-01 -4.21668511e-01 3.77757955e-01 -9.92528209e+01] [ 4.75679639e-01 8.77685493e-01 -5.82842707e-02 6.15734764e+00] [-3.06976035e-01 2.27736344e-01 9.24068110e-01 6.33003720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519072329 meters Centerline goodness : 0.765318 with order 1 Centerline is valid? [False, False] Translation: X:-99.32, Y:6.18, Z:63.33 [[ 8.24344018e-01 -4.24127447e-01 3.74930458e-01 -9.93183257e+01] [ 4.77334212e-01 8.76831374e-01 -5.76089515e-02 6.17610658e+00] [-3.04317251e-01 2.26456729e-01 9.25261239e-01 6.33280141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579072329 meters Centerline goodness : 0.764519 with order 1 Centerline is valid? [False, False] Translation: X:-99.38, Y:6.20, Z:63.35 [[ 8.28296608e-01 -4.20104965e-01 3.70724356e-01 -9.93819978e+01] [ 4.71121013e-01 8.80352602e-01 -5.49935230e-02 6.19659115e+00] [-3.03265099e-01 2.20206983e-01 9.27113350e-01 6.33527254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639072329 meters Centerline goodness : 0.764999 with order 1 Centerline is valid? [False, False] Translation: X:-99.45, Y:6.22, Z:63.38 [[ 8.28911082e-01 -4.17533534e-01 3.72252825e-01 -9.94482634e+01] [ 4.69890587e-01 8.80791040e-01 -5.83950398e-02 6.21658258e+00] [-3.03495066e-01 2.23322394e-01 9.26292531e-01 6.33832696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699072329 meters Centerline goodness : 0.770994 with order 1 Centerline is valid? [False, False] Translation: X:-99.51, Y:6.23, Z:63.41 [[ 8.27111379e-01 -4.16468842e-01 3.77412865e-01 -9.95080282e+01] [ 4.69062582e-01 8.81430629e-01 -5.53203353e-02 6.23211643e+00] [-3.09624063e-01 2.22786332e-01 9.24391254e-01 6.34128005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759072329 meters Centerline goodness : 0.768257 with order 1 Centerline is valid? [False, False] Translation: X:-99.57, Y:6.25, Z:63.44 [[ 8.28298550e-01 -4.15940923e-01 3.75386015e-01 -9.95724543e+01] [ 4.67726524e-01 8.82188003e-01 -5.45548008e-02 6.25099655e+00] [-3.08469465e-01 2.20765659e-01 9.25261646e-01 6.34404108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819072329 meters Centerline goodness : 0.766848 with order 1 Centerline is valid? [False, False] Translation: X:-99.64, Y:6.27, Z:63.47 [[ 8.28326630e-01 -4.16903528e-01 3.74254515e-01 -9.96380159e+01] [ 4.69075355e-01 8.81355502e-01 -5.63984918e-02 6.26642958e+00] [-3.06338546e-01 2.22269942e-01 9.25609404e-01 6.34680474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879072329 meters Centerline goodness : 0.766644 with order 1 Centerline is valid? [False, False] Translation: X:-99.70, Y:6.28, Z:63.50 [[ 8.28795000e-01 -4.16199270e-01 3.74001358e-01 -9.97041239e+01] [ 4.68811059e-01 8.81388124e-01 -5.80617350e-02 6.28452325e+00] [-3.05475104e-01 2.23457249e-01 9.25608891e-01 6.34971017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93907232899994 meters Centerline goodness : 0.766695 with order 1 Centerline is valid? [False, False] Translation: X:-99.77, Y:6.31, Z:63.53 [[ 8.29948486e-01 -4.14444896e-01 3.73391133e-01 -9.97717528e+01] [ 4.66736794e-01 8.82498742e-01 -5.79028109e-02 6.30561196e+00] [-3.05519681e-01 2.22331731e-01 9.25865177e-01 6.35263777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99907232899994 meters Centerline goodness : 0.765110 with order 1 Centerline is valid? [False, False] Translation: X:-99.84, Y:6.32, Z:63.55 [[ 8.30826860e-01 -4.13931018e-01 3.72005163e-01 -9.98366294e+01] [ 4.66267974e-01 8.82659572e-01 -5.92136457e-02 6.32272875e+00] [-3.03843553e-01 2.22650381e-01 9.26340058e-01 6.35540234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05907232899995 meters Centerline goodness : 0.764621 with order 1 Centerline is valid? [False, False] Translation: X:-99.90, Y:6.34, Z:63.59 [[ 8.30698129e-01 -4.12804172e-01 3.73541609e-01 -9.99038039e+01] [ 4.66683705e-01 8.82183084e-01 -6.29231724e-02 6.34162539e+00] [-3.03557141e-01 2.26595943e-01 9.25476818e-01 6.35852863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11907232899995 meters Centerline goodness : 0.762689 with order 1 Centerline is valid? [False, False] Translation: X:-99.97, Y:6.36, Z:63.62 [[ 8.31617934e-01 -4.11400019e-01 3.73043745e-01 -9.99697900e+01] [ 4.65310340e-01 8.82854218e-01 -6.36766645e-02 6.36206308e+00] [-3.03146663e-01 2.26535768e-01 9.25626084e-01 6.36156542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17907232899995 meters Centerline goodness : 0.759196 with order 1 Centerline is valid? [False, False] Translation: X:-100.03, Y:6.38, Z:63.64 [[ 8.32918645e-01 -4.14146375e-01 3.67054915e-01 -1.00031096e+02] [ 4.65663853e-01 8.82889798e-01 -6.05209063e-02 6.37939590e+00] [-2.99004526e-01 2.21333197e-01 9.28228371e-01 6.36416155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23907232899995 meters Centerline goodness : 0.762389 with order 1 Centerline is valid? [False, False] Translation: X:-100.10, Y:6.40, Z:63.67 [[ 8.33790048e-01 -4.12596805e-01 3.66821527e-01 -1.00097693e+02] [ 4.64235394e-01 8.83583291e-01 -6.13682885e-02 6.39886192e+00] [-2.98797012e-01 2.21459804e-01 9.28264995e-01 6.36710912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29907232899996 meters Centerline goodness : 0.761662 with order 1 Centerline is valid? [False, False] Translation: X:-100.16, Y:6.42, Z:63.70 [[ 8.34842300e-01 -4.10225856e-01 3.67087293e-01 -1.00163943e+02] [ 4.62204521e-01 8.84557176e-01 -6.26544707e-02 6.41826213e+00] [-2.99007215e-01 2.21976009e-01 9.28073993e-01 6.37004239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35907232899996 meters Centerline goodness : 0.762952 with order 1 Centerline is valid? [False, False] Translation: X:-100.22, Y:6.43, Z:63.73 [[ 8.32772892e-01 -4.14522496e-01 3.66961048e-01 -1.00219911e+02] [ 4.64845104e-01 8.83566682e-01 -5.68238380e-02 6.43350431e+00] [-3.00679796e-01 2.17901398e-01 9.28499133e-01 6.37275138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41907232899996 meters Centerline goodness : 0.758176 with order 1 Centerline is valid? [False, False] Translation: X:-100.28, Y:6.45, Z:63.75 [[ 8.32934215e-01 -4.15444352e-01 3.65549700e-01 -1.00284669e+02] [ 4.65896511e-01 8.82926853e-01 -5.81430381e-02 6.44974157e+00] [-2.98598450e-01 2.18737656e-01 9.28974060e-01 6.37538412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47907232899996 meters Centerline goodness : 0.757192 with order 1 Centerline is valid? [False, False] Translation: X:-100.35, Y:6.47, Z:63.78 [[ 8.34815966e-01 -4.13547776e-01 3.63401349e-01 -1.00350033e+02] [ 4.62805359e-01 8.84661894e-01 -5.64316669e-02 6.46933722e+00] [-2.98150135e-01 2.15294148e-01 9.29922000e-01 6.37807830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53907232899996 meters Centerline goodness : 0.757874 with order 1 Centerline is valid? [False, False] Translation: X:-100.41, Y:6.49, Z:63.81 [[ 8.36447192e-01 -4.10150333e-01 3.63500756e-01 -1.00414769e+02] [ 4.59913306e-01 8.86030588e-01 -5.85623353e-02 6.48916403e+00] [-2.98053427e-01 2.16163135e-01 9.29751393e-01 6.38096382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59907232899997 meters Centerline goodness : 0.761558 with order 1 Centerline is valid? [False, False] Translation: X:-100.47, Y:6.51, Z:63.84 [[ 8.35190545e-01 -4.10222843e-01 3.66297655e-01 -1.00473064e+02] [ 4.58669258e-01 8.87062524e-01 -5.23697499e-02 6.50542117e+00] [-3.03445654e-01 2.11748193e-01 9.29022840e-01 6.38393868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65907232899997 meters Centerline goodness : 0.762076 with order 1 Centerline is valid? [False, False] Translation: X:-100.54, Y:6.52, Z:63.87 [[ 8.35545075e-01 -4.09036144e-01 3.66815839e-01 -1.00540356e+02] [ 4.58346093e-01 8.87079428e-01 -5.48538787e-02 6.52312548e+00] [-3.02957566e-01 2.13961495e-01 9.28674966e-01 6.38687834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71907232899997 meters Centerline goodness : 0.761811 with order 1 Centerline is valid? [False, False] Translation: X:-100.61, Y:6.54, Z:63.90 [[ 8.35286516e-01 -4.08986881e-01 3.67459068e-01 -1.00605243e+02] [ 4.59637056e-01 8.86178610e-01 -5.84914384e-02 6.54015767e+00] [-3.01712135e-01 2.17754914e-01 9.28198570e-01 6.38962062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779072329 meters Centerline goodness : 0.759540 with order 1 Centerline is valid? [False, False] Translation: X:-100.67, Y:6.56, Z:63.92 [[ 8.34517115e-01 -4.12303638e-01 3.65495409e-01 -1.00670661e+02] [ 4.63072898e-01 8.84303487e-01 -5.97564666e-02 6.55537518e+00] [-2.98571056e-01 2.19118812e-01 9.28893035e-01 6.39232063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839072329 meters Centerline goodness : 0.758363 with order 1 Centerline is valid? [False, False] Translation: X:-100.74, Y:6.57, Z:63.95 [[ 8.36236040e-01 -4.10340070e-01 3.63772336e-01 -1.00735561e+02] [ 4.60337213e-01 8.85778129e-01 -5.90487688e-02 6.57475968e+00] [-2.97991503e-01 2.16836652e-01 9.29614399e-01 6.39499301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899072329 meters Centerline goodness : 0.759351 with order 1 Centerline is valid? [False, False] Translation: X:-100.79, Y:6.59, Z:63.97 [[ 8.35005128e-01 -4.12273688e-01 3.64413010e-01 -1.00786998e+02] [ 4.60968671e-01 8.85762476e-01 -5.41546008e-02 6.58834174e+00] [-3.00456853e-01 2.13202350e-01 9.29661464e-01 6.39746378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959072329 meters Centerline goodness : 0.755386 with order 1 Centerline is valid? [False, False] Translation: X:-100.85, Y:6.61, Z:64.00 [[ 8.37217539e-01 -4.09763275e-01 3.62161360e-01 -1.00849231e+02] [ 4.58127869e-01 8.87164869e-01 -5.52933236e-02 6.60710933e+00] [-2.98639662e-01 2.12208752e-01 9.30473964e-01 6.40004596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019072329 meters Centerline goodness : 0.758169 with order 1 Centerline is valid? [False, False] Translation: X:-100.91, Y:6.63, Z:64.03 [[ 8.39426141e-01 -4.04887916e-01 3.62532107e-01 -1.00913234e+02] [ 4.53936203e-01 8.89141540e-01 -5.80452055e-02 6.62926480e+00] [-2.98840554e-01 2.13291111e-01 9.30161935e-01 6.40296922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079072329 meters Centerline goodness : 0.759483 with order 1 Centerline is valid? [False, False] Translation: X:-100.98, Y:6.65, Z:64.06 [[ 8.40447721e-01 -4.02380795e-01 3.62956367e-01 -1.00980086e+02] [ 4.52028433e-01 8.89979960e-01 -6.00497045e-02 6.65062336e+00] [-2.98861045e-01 2.14535235e-01 9.29869189e-01 6.40605515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139072329 meters Centerline goodness : 0.760359 with order 1 Centerline is valid? [False, False] Translation: X:-101.04, Y:6.67, Z:64.09 [[ 8.42683736e-01 -3.99732516e-01 3.60691055e-01 -1.01041915e+02] [ 4.48728231e-01 8.91637221e-01 -6.02166106e-02 6.67060574e+00] [-2.97535033e-01 2.12595817e-01 9.30739449e-01 6.40861402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199072329 meters Centerline goodness : 0.759844 with order 1 Centerline is valid? [False, False] Translation: X:-101.11, Y:6.69, Z:64.11 [[ 8.43834114e-01 -3.98099436e-01 3.59806652e-01 -1.01107253e+02] [ 4.47159125e-01 8.92345740e-01 -6.13823805e-02 6.68954570e+00] [-2.96635642e-01 2.12687374e-01 9.31005573e-01 6.41143834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259072329 meters Centerline goodness : 0.762071 with order 1 Centerline is valid? [False, False] Translation: X:-101.16, Y:6.70, Z:64.14 [[ 8.42819827e-01 -3.99598179e-01 3.60521892e-01 -1.01162105e+02] [ 4.47052298e-01 8.92780596e-01 -5.55612321e-02 6.70469757e+00] [-2.99664782e-01 2.08000248e-01 9.31094471e-01 6.41423343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319072329 meters Centerline goodness : 0.762055 with order 1 Centerline is valid? [False, False] Translation: X:-101.22, Y:6.72, Z:64.17 [[ 8.44059037e-01 -3.98159992e-01 3.59211585e-01 -1.01223075e+02] [ 4.46075128e-01 8.93099146e-01 -5.82314020e-02 6.72250605e+00] [-2.97626145e-01 2.09386095e-01 9.31437674e-01 6.41675931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379072329 meters Centerline goodness : 0.763353 with order 1 Centerline is valid? [False, False] Translation: X:-101.28, Y:6.74, Z:64.20 [[ 8.42941223e-01 -3.98994887e-01 3.60906046e-01 -1.01281802e+02] [ 4.44966000e-01 8.94105042e-01 -5.08078050e-02 6.74075378e+00] [-3.02415861e-01 2.03418913e-01 9.31217157e-01 6.41963129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43907232899994 meters Centerline goodness : 0.762076 with order 1 Centerline is valid? [False, False] Translation: X:-101.34, Y:6.76, Z:64.22 [[ 8.43942198e-01 -3.98220551e-01 3.59418919e-01 -1.01344191e+02] [ 4.44466170e-01 8.94234273e-01 -5.28666990e-02 6.75820251e+00] [-3.00352110e-01 2.04365989e-01 9.31677601e-01 6.42217546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49907232899994 meters Centerline goodness : 0.761624 with order 1 Centerline is valid? [False, False] Translation: X:-101.41, Y:6.77, Z:64.25 [[ 8.43626828e-01 -4.00628847e-01 3.57477693e-01 -1.01406668e+02] [ 4.47475297e-01 8.92559000e-01 -5.57161531e-02 6.77128523e+00] [-2.96748434e-01 2.06966078e-01 9.32258231e-01 6.42456944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55907232899995 meters Centerline goodness : 0.762152 with order 1 Centerline is valid? [False, False] Translation: X:-101.47, Y:6.79, Z:64.27 [[ 8.42790851e-01 -4.01424194e-01 3.58555710e-01 -1.01471833e+02] [ 4.49951485e-01 8.91031387e-01 -6.00560458e-02 6.78914771e+00] [-2.95376442e-01 2.11947360e-01 9.31574514e-01 6.42734306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61907232899995 meters Centerline goodness : 0.761582 with order 1 Centerline is valid? [False, False] Translation: X:-101.54, Y:6.80, Z:64.30 [[ 8.44033126e-01 -3.99302161e-01 3.58002608e-01 -1.01535854e+02] [ 4.48011855e-01 8.91914373e-01 -6.14339374e-02 6.80494635e+00] [-2.94776968e-01 2.12241690e-01 9.31697378e-01 6.42990497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67907232899995 meters Centerline goodness : 0.760194 with order 1 Centerline is valid? [False, False] Translation: X:-101.59, Y:6.82, Z:64.32 [[ 8.42019491e-01 -4.03213790e-01 3.58359899e-01 -1.01586933e+02] [ 4.50473725e-01 8.91038591e-01 -5.58896502e-02 6.81950705e+00] [-2.96777022e-01 2.08491893e-01 9.31909078e-01 6.43215008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73907232899995 meters Centerline goodness : 0.762285 with order 1 Centerline is valid? [False, False] Translation: X:-101.65, Y:6.84, Z:64.35 [[ 8.42935987e-01 -4.01663645e-01 3.57945859e-01 -1.01652083e+02] [ 4.49095266e-01 8.91662574e-01 -5.70201378e-02 6.83962486e+00] [-2.96264009e-01 2.08816117e-01 9.31999714e-01 6.43498154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79907232899996 meters Centerline goodness : 0.762009 with order 1 Centerline is valid? [False, False] Translation: X:-101.72, Y:6.86, Z:64.38 [[ 8.43642106e-01 -4.01141453e-01 3.56866266e-01 -1.01715765e+02] [ 4.48725483e-01 8.91759222e-01 -5.84031698e-02 6.85742967e+00] [-2.94810851e-01 2.09406361e-01 9.32328021e-01 6.43756476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85907232899996 meters Centerline goodness : 0.761527 with order 1 Centerline is valid? [False, False] Translation: X:-101.76, Y:6.87, Z:64.40 [[ 8.43970916e-01 -4.02703155e-01 3.54320846e-01 -1.01763111e+02] [ 4.47611535e-01 8.92741663e-01 -5.15386928e-02 6.87230013e+00] [-2.95562187e-01 2.02095256e-01 9.33702576e-01 6.43969916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91907232899996 meters Centerline goodness : 0.763072 with order 1 Centerline is valid? [False, False] Translation: X:-101.83, Y:6.89, Z:64.42 [[ 8.45295152e-01 -3.99415033e-01 3.54885526e-01 -1.01826223e+02] [ 4.45523922e-01 8.93546859e-01 -5.55197700e-02 6.89169491e+00] [-2.94931417e-01 2.05040584e-01 9.33259781e-01 6.44244104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97907232899996 meters Centerline goodness : 0.765856 with order 1 Centerline is valid? [False, False] Translation: X:-101.88, Y:6.91, Z:64.45 [[ 8.42538373e-01 -4.01852794e-01 3.58668958e-01 -1.01884543e+02] [ 4.47660195e-01 8.92726775e-01 -5.13736777e-02 6.90804225e+00] [-2.99548726e-01 2.03846110e-01 9.32050065e-01 6.44530941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03907232899996 meters Centerline goodness : 0.766272 with order 1 Centerline is valid? [False, False] Translation: X:-101.94, Y:6.93, Z:64.48 [[ 8.42973579e-01 -4.03481850e-01 3.55806046e-01 -1.01944122e+02] [ 4.49150527e-01 8.91899549e-01 -5.27162122e-02 6.92570908e+00] [-2.96073217e-01 2.04248847e-01 9.33071840e-01 6.44766773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09907232899997 meters Centerline goodness : 0.766048 with order 1 Centerline is valid? [False, False] Translation: X:-102.01, Y:6.94, Z:64.50 [[ 8.42942856e-01 -4.04487046e-01 3.54735916e-01 -1.02008558e+02] [ 4.50079293e-01 8.91409983e-01 -5.30742247e-02 6.94490001e+00] [-2.94747300e-01 2.04397829e-01 9.33458921e-01 6.45031564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15907232899997 meters Centerline goodness : 0.766324 with order 1 Centerline is valid? [False, False] Translation: X:-102.07, Y:6.96, Z:64.53 [[ 8.42288196e-01 -4.07318589e-01 3.53046970e-01 -1.02072769e+02] [ 4.53166271e-01 8.89750890e-01 -5.46231126e-02 6.96091143e+00] [-2.91874846e-01 2.05997382e-01 9.34009718e-01 6.45277025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21907232899997 meters Centerline goodness : 0.767952 with order 1 Centerline is valid? [False, False] Translation: X:-102.13, Y:6.97, Z:64.56 [[ 8.38218213e-01 -4.13806914e-01 3.55181737e-01 -1.02129696e+02] [ 4.59960210e-01 8.86366841e-01 -5.28245010e-02 6.97387630e+00] [-2.92962170e-01 2.07647925e-01 9.33303544e-01 6.45555609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279072329 meters Centerline goodness : 0.766524 with order 1 Centerline is valid? [False, False] Translation: X:-102.19, Y:6.99, Z:64.58 [[ 8.39767739e-01 -4.11204269e-01 3.54543642e-01 -1.02190609e+02] [ 4.58086568e-01 8.87135071e-01 -5.61076008e-02 6.99037589e+00] [-2.91456414e-01 2.09529033e-01 9.33354564e-01 6.45798405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339072329 meters Centerline goodness : 0.765011 with order 1 Centerline is valid? [False, False] Translation: X:-102.25, Y:7.01, Z:64.60 [[ 8.41673863e-01 -4.09152504e-01 3.52390887e-01 -1.02252091e+02] [ 4.55661431e-01 8.88332007e-01 -5.69113807e-02 7.01026447e+00] [-2.89754670e-01 2.08471758e-01 9.34120847e-01 6.46049665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399072329 meters Centerline goodness : 0.766407 with order 1 Centerline is valid? [False, False] Translation: X:-102.30, Y:7.02, Z:64.63 [[ 8.40410444e-01 -4.11852917e-01 3.52260501e-01 -1.02304144e+02] [ 4.57080920e-01 8.87880020e-01 -5.24032695e-02 7.02395984e+00] [-2.91182621e-01 2.05051808e-01 9.34433752e-01 6.46305071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459072329 meters Centerline goodness : 0.765527 with order 1 Centerline is valid? [False, False] Translation: X:-102.37, Y:7.04, Z:64.66 [[ 8.40179193e-01 -4.11755928e-01 3.52924891e-01 -1.02369080e+02] [ 4.58376391e-01 8.86966909e-01 -5.63984693e-02 7.04327877e+00] [-2.89810295e-01 2.09157258e-01 9.33950338e-01 6.46567012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519072329 meters Centerline goodness : 0.762567 with order 1 Centerline is valid? [False, False] Translation: X:-102.43, Y:7.06, Z:64.68 [[ 8.42588432e-01 -4.08592614e-01 3.50851549e-01 -1.02429960e+02] [ 4.55056787e-01 8.88569000e-01 -5.80383752e-02 7.06072629e+00] [-2.88041759e-01 2.08559842e-01 9.34630803e-01 6.46806467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579072329 meters Centerline goodness : 0.763259 with order 1 Centerline is valid? [False, False] Translation: X:-102.48, Y:7.08, Z:64.70 [[ 8.43747472e-01 -4.07505333e-01 3.49327363e-01 -1.02477347e+02] [ 4.51430572e-01 8.90838349e-01 -5.11612525e-02 7.07592662e+00] [-2.90345728e-01 2.00864229e-01 9.35602971e-01 6.47032114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639072329 meters Centerline goodness : 0.764966 with order 1 Centerline is valid? [False, False] Translation: X:-102.53, Y:7.09, Z:64.73 [[ 8.42837001e-01 -4.06923578e-01 3.52191697e-01 -1.02530059e+02] [ 4.50431871e-01 8.91526868e-01 -4.78641161e-02 7.09322797e+00] [-2.94511323e-01 1.98980013e-01 9.34703180e-01 6.47285517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699072329 meters Centerline goodness : 0.764267 with order 1 Centerline is valid? [False, False] Translation: X:-102.59, Y:7.11, Z:64.75 [[ 8.42228688e-01 -4.07631895e-01 3.52827261e-01 -1.02593652e+02] [ 4.52890352e-01 8.89998687e-01 -5.28456779e-02 7.11024685e+00] [-2.92474215e-01 2.04300208e-01 9.34194979e-01 6.47540633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759072329 meters Centerline goodness : 0.764252 with order 1 Centerline is valid? [False, False] Translation: X:-102.66, Y:7.13, Z:64.78 [[ 8.43529080e-01 -4.04848693e-01 3.52925243e-01 -1.02656328e+02] [ 4.51355298e-01 8.90504726e-01 -5.72689127e-02 7.12973831e+00] [-2.91096352e-01 2.07602671e-01 9.33897235e-01 6.47807433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819072329 meters Centerline goodness : 0.764589 with order 1 Centerline is valid? [False, False] Translation: X:-102.72, Y:7.15, Z:64.81 [[ 8.45040923e-01 -4.02400097e-01 3.52107939e-01 -1.02717828e+02] [ 4.49567167e-01 8.91198871e-01 -6.04477775e-02 7.14846721e+00] [-2.89474006e-01 2.09377014e-01 9.34005389e-01 6.48059179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879072329 meters Centerline goodness : 0.762410 with order 1 Centerline is valid? [False, False] Translation: X:-102.78, Y:7.17, Z:64.83 [[ 8.46456363e-01 -4.00930226e-01 3.50380621e-01 -1.02781137e+02] [ 4.47932032e-01 8.91950589e-01 -6.14901802e-02 7.16715062e+00] [-2.87868929e-01 2.08995458e-01 9.34586742e-01 6.48306473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93907232899994 meters Centerline goodness : 0.761706 with order 1 Centerline is valid? [False, False] Translation: X:-102.83, Y:7.18, Z:64.85 [[ 8.47166326e-01 -4.00510359e-01 3.49142762e-01 -1.02831828e+02] [ 4.44728627e-01 8.94066611e-01 -5.34915240e-02 7.18310373e+00] [-2.90732976e-01 2.00589999e-01 9.35541548e-01 6.48546681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99907232899994 meters Centerline goodness : 0.761499 with order 1 Centerline is valid? [False, False] Translation: X:-102.88, Y:7.20, Z:64.88 [[ 8.45698378e-01 -4.01607370e-01 3.51433882e-01 -1.02884494e+02] [ 4.45433955e-01 8.93895836e-01 -5.03867692e-02 7.19785943e+00] [-2.93909585e-01 1.99152593e-01 9.34855818e-01 6.48802069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05907232899995 meters Centerline goodness : 0.759634 with order 1 Centerline is valid? [False, False] Translation: X:-102.95, Y:7.22, Z:64.90 [[ 8.47151754e-01 -3.99581075e-01 3.50241159e-01 -1.02945230e+02] [ 4.43855320e-01 8.94527402e-01 -5.30394311e-02 7.21689179e+00] [-2.92106761e-01 2.00388849e-01 9.35156644e-01 6.49035184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11907232899995 meters Centerline goodness : 0.759608 with order 1 Centerline is valid? [False, False] Translation: X:-103.01, Y:7.24, Z:64.93 [[ 8.50399050e-01 -3.94635150e-01 3.47972058e-01 -1.03005455e+02] [ 4.38442238e-01 8.97132118e-01 -5.40589226e-02 7.23761009e+00] [-2.90843359e-01 1.98537304e-01 9.35945019e-01 6.49274260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17907232899995 meters Centerline goodness : 0.758585 with order 1 Centerline is valid? [False, False] Translation: X:-103.05, Y:7.25, Z:64.95 [[ 8.49134963e-01 -3.95745089e-01 3.49793709e-01 -1.03054508e+02] [ 4.39208564e-01 8.96910228e-01 -5.14575563e-02 7.25069587e+00] [-2.93369480e-01 1.97326803e-01 9.35412466e-01 6.49508092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23907232899995 meters Centerline goodness : 0.758213 with order 1 Centerline is valid? [False, False] Translation: X:-103.12, Y:7.27, Z:64.98 [[ 8.52423428e-01 -3.90591510e-01 3.47581029e-01 -1.03115159e+02] [ 4.33676735e-01 8.99524033e-01 -5.27352124e-02 7.27325869e+00] [-2.92059563e-01 1.95690536e-01 9.36165811e-01 6.49750336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29907232899996 meters Centerline goodness : 0.755079 with order 1 Centerline is valid? [False, False] Translation: X:-103.17, Y:7.29, Z:65.00 [[ 8.55510673e-01 -3.86076898e-01 3.45030603e-01 -1.03173435e+02] [ 4.29206170e-01 9.01501093e-01 -5.54783068e-02 7.29255004e+00] [-2.89626574e-01 1.95551547e-01 9.36950394e-01 6.49985114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35907232899996 meters Centerline goodness : 0.755836 with order 1 Centerline is valid? [False, False] Translation: X:-103.22, Y:7.31, Z:65.02 [[ 8.55956685e-01 -3.84924504e-01 3.45211935e-01 -1.03221004e+02] [ 4.26327512e-01 9.03186137e-01 -4.99965548e-02 7.30742771e+00] [-2.92545735e-01 1.89968230e-01 9.37192117e-01 6.50202690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41907232899996 meters Centerline goodness : 0.756465 with order 1 Centerline is valid? [False, False] Translation: X:-103.29, Y:7.33, Z:65.05 [[ 8.56166419e-01 -3.83124080e-01 3.46691508e-01 -1.03285830e+02] [ 4.25885830e-01 9.03185386e-01 -5.36415660e-02 7.32776901e+00] [-2.92575328e-01 1.93577108e-01 9.36444115e-01 6.50470382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47907232899996 meters Centerline goodness : 0.754844 with order 1 Centerline is valid? [False, False] Translation: X:-103.34, Y:7.34, Z:65.07 [[ 8.52563809e-01 -3.90324995e-01 3.47536112e-01 -1.03341789e+02] [ 4.31422471e-01 9.00952230e-01 -4.64728995e-02 7.33971134e+00] [-2.94973901e-01 1.89556001e-01 9.36514239e-01 6.50682355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53907232899996 meters Centerline goodness : 0.754836 with order 1 Centerline is valid? [False, False] Translation: X:-103.41, Y:7.36, Z:65.10 [[ 8.50845778e-01 -3.93199272e-01 3.48505086e-01 -1.03407421e+02] [ 4.36031242e-01 8.98496053e-01 -5.08094384e-02 7.35711467e+00] [-2.93152210e-01 1.95190101e-01 9.35928740e-01 6.50950386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59907232899997 meters Centerline goodness : 0.752834 with order 1 Centerline is valid? [False, False] Translation: X:-103.47, Y:7.38, Z:65.12 [[ 8.52724020e-01 -3.91233866e-01 3.46118198e-01 -1.03469284e+02] [ 4.33402053e-01 8.99772996e-01 -5.07071682e-02 7.37688813e+00] [-2.91589447e-01 1.93247558e-01 9.36819607e-01 6.51190963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65907232899997 meters Centerline goodness : 0.753174 with order 1 Centerline is valid? [False, False] Translation: X:-103.52, Y:7.39, Z:65.14 [[ 8.51665324e-01 -3.93659007e-01 3.45975088e-01 -1.03519059e+02] [ 4.34550708e-01 8.99457451e-01 -4.62814898e-02 7.39293435e+00] [-2.92970746e-01 1.89760059e-01 9.37101522e-01 6.51414103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71907232899997 meters Centerline goodness : 0.753808 with order 1 Centerline is valid? [False, False] Translation: X:-103.58, Y:7.42, Z:65.17 [[ 8.55415432e-01 -3.85251874e-01 3.46186991e-01 -1.03580183e+02] [ 4.27297309e-01 9.02653204e-01 -5.13244991e-02 7.41512630e+00] [-2.92713937e-01 1.91828538e-01 9.36760569e-01 6.51692269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779072329 meters Centerline goodness : 0.753676 with order 1 Centerline is valid? [False, False] Translation: X:-103.63, Y:7.44, Z:65.19 [[ 8.61305951e-01 -3.75907729e-01 3.41826619e-01 -1.03634278e+02] [ 4.16980360e-01 9.07379166e-01 -5.28245114e-02 7.43907749e+00] [-2.90309210e-01 1.88033053e-01 9.38277216e-01 6.51932684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839072329 meters Centerline goodness : 0.754666 with order 1 Centerline is valid? [False, False] Translation: X:-103.69, Y:7.46, Z:65.22 [[ 8.61793654e-01 -3.75089607e-01 3.41495951e-01 -1.03685409e+02] [ 4.13908362e-01 9.09158719e-01 -4.59379175e-02 7.45796436e+00] [-2.93243186e-01 1.80937035e-01 9.38759939e-01 6.52180106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899072329 meters Centerline goodness : 0.751073 with order 1 Centerline is valid? [False, False] Translation: X:-103.75, Y:7.48, Z:65.24 [[ 8.59760793e-01 -3.80852142e-01 3.40239657e-01 -1.03748049e+02] [ 4.22292582e-01 9.04833921e-01 -5.42637150e-02 7.47697190e+00] [-2.87193931e-01 1.90334498e-01 9.38771764e-01 6.52430107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959072329 meters Centerline goodness : 0.751601 with order 1 Centerline is valid? [False, False] Translation: X:-103.81, Y:7.50, Z:65.27 [[ 8.62135076e-01 -3.76586833e-01 3.38977091e-01 -1.03807745e+02] [ 4.18323136e-01 9.06517881e-01 -5.68426319e-02 7.49685710e+00] [-2.85882607e-01 1.90807986e-01 9.39075847e-01 6.52669010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019072329 meters Centerline goodness : 0.753285 with order 1 Centerline is valid? [False, False] Translation: X:-103.86, Y:7.52, Z:65.29 [[ 8.65909362e-01 -3.66167078e-01 3.40767734e-01 -1.03859371e+02] [ 4.05225450e-01 9.12916701e-01 -4.87383889e-02 7.52019863e+00] [-2.93246162e-01 1.80290786e-01 9.38883337e-01 6.52882099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079072329 meters Centerline goodness : 0.751734 with order 1 Centerline is valid? [False, False] Translation: X:-103.91, Y:7.54, Z:65.31 [[ 8.71000599e-01 -3.57527639e-01 3.36945016e-01 -1.03914267e+02] [ 3.95620680e-01 9.17074660e-01 -4.95817116e-02 7.54253570e+00] [-2.91276904e-01 1.76488117e-01 9.40217905e-01 6.53108341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139072329 meters Centerline goodness : 0.752709 with order 1 Centerline is valid? [False, False] Translation: X:-103.97, Y:7.56, Z:65.34 [[ 8.72529165e-01 -3.54533523e-01 3.36152998e-01 -1.03974670e+02] [ 3.93642789e-01 9.17682471e-01 -5.38909792e-02 7.56296698e+00] [-2.89375555e-01 1.79345655e-01 9.40264284e-01 6.53352031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199072329 meters Centerline goodness : 0.753464 with order 1 Centerline is valid? [False, False] Translation: X:-104.02, Y:7.58, Z:65.36 [[ 8.72348312e-01 -3.53952233e-01 3.37233213e-01 -1.04024858e+02] [ 3.91764966e-01 9.18753891e-01 -4.91070129e-02 7.57966995e+00] [-2.92452790e-01 1.74954578e-01 9.40139490e-01 6.53601720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259072329 meters Centerline goodness : 0.751475 with order 1 Centerline is valid? [False, False] Translation: X:-104.08, Y:7.59, Z:65.38 [[ 8.73364364e-01 -3.52443221e-01 3.36182188e-01 -1.04084415e+02] [ 3.91530390e-01 9.18570392e-01 -5.41515375e-02 7.59463348e+00] [-2.89721662e-01 1.78919566e-01 9.40238878e-01 6.53838485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319072329 meters Centerline goodness : 0.750424 with order 1 Centerline is valid? [False, False] Translation: X:-104.14, Y:7.61, Z:65.40 [[ 8.71272966e-01 -3.59354425e-01 3.34287026e-01 -1.04136194e+02] [ 3.96267340e-01 9.16924547e-01 -4.71335291e-02 7.60573665e+00] [-2.89578337e-01 1.73533200e-01 9.41291992e-01 6.54033421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379072329 meters Centerline goodness : 0.748975 with order 1 Centerline is valid? [False, False] Translation: X:-104.20, Y:7.62, Z:65.42 [[ 8.72374353e-01 -3.59333942e-01 3.31424360e-01 -1.04195185e+02] [ 3.96269737e-01 9.16824090e-01 -4.90294104e-02 7.62318385e+00] [-2.86239906e-01 1.74105444e-01 9.42206989e-01 6.54248809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43907232899994 meters Centerline goodness : 0.747368 with order 1 Centerline is valid? [False, False] Translation: X:-104.25, Y:7.63, Z:65.44 [[ 8.69078634e-01 -3.67481961e-01 3.31148510e-01 -1.04247642e+02] [ 4.03132300e-01 9.14102594e-01 -4.35981288e-02 7.63184103e+00] [-2.86682186e-01 1.71386863e-01 9.42570882e-01 6.54441049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49907232899994 meters Centerline goodness : 0.748964 with order 1 Centerline is valid? [False, False] Translation: X:-104.31, Y:7.65, Z:65.47 [[ 8.66920426e-01 -3.70896343e-01 3.32993809e-01 -1.04313427e+02] [ 4.08483514e-01 9.11491617e-01 -4.82104902e-02 7.64847788e+00] [-2.85639971e-01 1.77817140e-01 9.41695743e-01 6.54681193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55907232899995 meters Centerline goodness : 0.749885 with order 1 Centerline is valid? [False, False] Translation: X:-104.37, Y:7.66, Z:65.49 [[ 8.62208401e-01 -3.79091889e-01 3.35985138e-01 -1.04370221e+02] [ 4.17232262e-01 9.07601311e-01 -4.66594045e-02 7.65768738e+00] [-2.87252350e-01 1.80413970e-01 9.40710841e-01 6.54934082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61907232899995 meters Centerline goodness : 0.751234 with order 1 Centerline is valid? [False, False] Translation: X:-104.43, Y:7.67, Z:65.51 [[ 8.57518611e-01 -3.88475155e-01 3.37266789e-01 -1.04425074e+02] [ 4.26272581e-01 9.03569364e-01 -4.30591534e-02 7.66748511e+00] [-2.88016526e-01 1.80691610e-01 9.40423853e-01 6.55140349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67907232899995 meters Centerline goodness : 0.750706 with order 1 Centerline is valid? [False, False] Translation: X:-104.49, Y:7.68, Z:65.54 [[ 8.55149571e-01 -3.95836880e-01 3.34712379e-01 -1.04488759e+02] [ 4.34522292e-01 8.99463522e-01 -4.64300651e-02 7.68084083e+00] [-2.82682843e-01 1.85144640e-01 9.41175792e-01 6.55372626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73907232899995 meters Centerline goodness : 0.751782 with order 1 Centerline is valid? [False, False] Translation: X:-104.55, Y:7.70, Z:65.56 [[ 8.53926957e-01 -3.97702252e-01 3.35621322e-01 -1.04553618e+02] [ 4.37373939e-01 8.97956667e-01 -4.87633159e-02 7.69755414e+00] [-2.81980124e-01 1.88432330e-01 9.40734004e-01 6.55613267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79907232899996 meters Centerline goodness : 0.752224 with order 1 Centerline is valid? [False, False] Translation: X:-104.62, Y:7.71, Z:65.59 [[ 8.51837223e-01 -4.00149075e-01 3.38014885e-01 -1.04619382e+02] [ 4.42267430e-01 8.95207470e-01 -5.48005980e-02 7.71401887e+00] [-2.80665041e-01 1.96174164e-01 9.39543949e-01 6.55859035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85907232899996 meters Centerline goodness : 0.750361 with order 1 Centerline is valid? [False, False] Translation: X:-104.68, Y:7.73, Z:65.61 [[ 8.52905963e-01 -3.99275144e-01 3.36349191e-01 -1.04681150e+02] [ 4.41431454e-01 8.95526704e-01 -5.63044783e-02 7.73204918e+00] [-2.78728703e-01 1.96497538e-01 9.40052673e-01 6.56082680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91907232899996 meters Centerline goodness : 0.750016 with order 1 Centerline is valid? [False, False] Translation: X:-104.74, Y:7.75, Z:65.63 [[ 8.54554325e-01 -3.98103238e-01 3.33542678e-01 -1.04742127e+02] [ 4.40204133e-01 8.95996447e-01 -5.84011003e-02 7.75093528e+00] [-2.75603387e-01 1.96733778e-01 9.40924329e-01 6.56306395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97907232899996 meters Centerline goodness : 0.751803 with order 1 Centerline is valid? [False, False] Translation: X:-104.79, Y:7.77, Z:65.65 [[ 8.54869389e-01 -3.96907575e-01 3.34159699e-01 -1.04794297e+02] [ 4.37163328e-01 8.97883792e-01 -5.18933553e-02 7.76720744e+00] [-2.79439712e-01 1.90444407e-01 9.41086805e-01 6.56546697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03907232899996 meters Centerline goodness : 0.751366 with order 1 Centerline is valid? [False, False] Translation: X:-104.85, Y:7.78, Z:65.68 [[ 8.54306016e-01 -3.97929826e-01 3.34384635e-01 -1.04845283e+02] [ 4.36607370e-01 8.98461564e-01 -4.62690177e-02 7.78175138e+00] [-2.82019920e-01 1.85522696e-01 9.41300215e-01 6.56773337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09907232899997 meters Centerline goodness : 0.752925 with order 1 Centerline is valid? [False, False] Translation: X:-104.90, Y:7.80, Z:65.70 [[ 8.57434735e-01 -3.92633401e-01 3.32632962e-01 -1.04903089e+02] [ 4.31648015e-01 9.00681787e-01 -4.95207922e-02 7.80135882e+00] [-2.80152934e-01 1.86041205e-01 9.41755278e-01 6.56994053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15907232899997 meters Centerline goodness : 0.754538 with order 1 Centerline is valid? [False, False] Translation: X:-104.96, Y:7.82, Z:65.72 [[ 8.55973983e-01 -3.94796041e-01 3.33833230e-01 -1.04955319e+02] [ 4.32895549e-01 9.00307103e-01 -4.52610637e-02 7.81856689e+00] [-2.82683540e-01 1.83257212e-01 9.41544906e-01 6.57228057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21907232899997 meters Centerline goodness : 0.755231 with order 1 Centerline is valid? [False, False] Translation: X:-105.00, Y:7.84, Z:65.74 [[ 8.60426378e-01 -3.83191810e-01 3.35902491e-01 -1.05000419e+02] [ 4.20330954e-01 9.06364275e-01 -4.27280947e-02 7.83712857e+00] [-2.88076962e-01 1.77954595e-01 9.40927110e-01 6.57409054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279072329 meters Centerline goodness : 0.757893 with order 1 Centerline is valid? [False, False] Translation: X:-105.04, Y:7.86, Z:65.76 [[ 8.66429215e-01 -3.67626557e-01 3.37862591e-01 -1.05044564e+02] [ 4.03313286e-01 9.14207774e-01 -3.95289614e-02 7.85792224e+00] [-2.94344712e-01 1.70513519e-01 9.40364999e-01 6.57600505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339072329 meters Centerline goodness : 0.757137 with order 1 Centerline is valid? [False, False] Translation: X:-105.10, Y:7.88, Z:65.78 [[ 8.69646499e-01 -3.62226172e-01 3.35420882e-01 -1.05098833e+02] [ 3.98816682e-01 9.15931575e-01 -4.48843335e-02 7.87891022e+00] [-2.90964296e-01 1.72804947e-01 9.40998527e-01 6.57825780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399072329 meters Centerline goodness : 0.755043 with order 1 Centerline is valid? [False, False] Translation: X:-105.15, Y:7.90, Z:65.80 [[ 8.74471851e-01 -3.54798686e-01 3.30782215e-01 -1.05151248e+02] [ 3.90671679e-01 9.19344487e-01 -4.67049601e-02 7.90077701e+00] [-2.87531947e-01 1.70069416e-01 9.42550674e-01 6.58027208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459072329 meters Centerline goodness : 0.755798 with order 1 Centerline is valid? [False, False] Translation: X:-105.20, Y:7.91, Z:65.82 [[ 8.73487507e-01 -3.57537635e-01 3.30433678e-01 -1.05198817e+02] [ 3.92374044e-01 9.18797171e-01 -4.30623736e-02 7.91393075e+00] [-2.88205110e-01 1.67268044e-01 9.42846338e-01 6.58240603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519072329 meters Centerline goodness : 0.758476 with order 1 Centerline is valid? [False, False] Translation: X:-105.25, Y:7.92, Z:65.85 [[ 8.69735203e-01 -3.64240425e-01 3.33000885e-01 -1.05250804e+02] [ 3.99326223e-01 9.15884560e-01 -4.11587282e-02 7.92484076e+00] [-2.89998696e-01 1.68773180e-01 9.42027797e-01 6.58456032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579072329 meters Centerline goodness : 0.758033 with order 1 Centerline is valid? [False, False] Translation: X:-105.31, Y:7.94, Z:65.87 [[ 8.68342151e-01 -3.66618348e-01 3.34025291e-01 -1.05313815e+02] [ 4.03817704e-01 9.13631568e-01 -4.69959537e-02 7.93873994e+00] [-2.87946472e-01 1.75693894e-01 9.41391781e-01 6.58676647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639072329 meters Centerline goodness : 0.757640 with order 1 Centerline is valid? [False, False] Translation: X:-105.37, Y:7.95, Z:65.89 [[ 8.65657166e-01 -3.72921620e-01 3.34016671e-01 -1.05366465e+02] [ 4.08699772e-01 9.11734856e-01 -4.12801144e-02 7.95074195e+00] [-2.89140394e-01 1.72246964e-01 9.41662793e-01 6.58883208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699072329 meters Centerline goodness : 0.756640 with order 1 Centerline is valid? [False, False] Translation: X:-105.43, Y:7.96, Z:65.91 [[ 8.62064205e-01 -3.82207484e-01 3.32810376e-01 -1.05430716e+02] [ 4.19921816e-01 9.06351297e-01 -4.68294196e-02 7.96240348e+00] [-2.83744561e-01 1.80124304e-01 9.41830271e-01 6.59126742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759072329 meters Centerline goodness : 0.755799 with order 1 Centerline is valid? [False, False] Translation: X:-105.50, Y:7.97, Z:65.94 [[ 8.58325215e-01 -3.90124214e-01 3.33288047e-01 -1.05496763e+02] [ 4.30262095e-01 9.01131327e-01 -5.32622007e-02 7.97442525e+00] [-2.79557426e-01 1.89117503e-01 9.41319401e-01 6.59366315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819072329 meters Centerline goodness : 0.754622 with order 1 Centerline is valid? [False, False] Translation: X:-105.55, Y:7.98, Z:65.95 [[ 8.52210757e-01 -4.02260597e-01 3.34549305e-01 -1.05553755e+02] [ 4.41854983e-01 8.95775668e-01 -4.84780998e-02 7.98225295e+00] [-2.80180298e-01 1.89135836e-01 9.41130510e-01 6.59539153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879072329 meters Centerline goodness : 0.754653 with order 1 Centerline is valid? [False, False] Translation: X:-105.61, Y:7.99, Z:65.98 [[ 8.45651452e-01 -4.13525415e-01 3.37446815e-01 -1.05613582e+02] [ 4.53678290e-01 8.89960655e-01 -4.63253925e-02 7.99257874e+00] [-2.81157661e-01 1.92267429e-01 9.40204023e-01 6.59766775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93907232899994 meters Centerline goodness : 0.753982 with order 1 Centerline is valid? [False, False] Translation: X:-105.68, Y:8.01, Z:66.00 [[ 8.45961749e-01 -4.12591962e-01 3.37811474e-01 -1.05676564e+02] [ 4.53830275e-01 8.89692124e-01 -4.98598654e-02 8.01056275e+00] [-2.79976428e-01 1.95488613e-01 9.39892229e-01 6.59984175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99907232899994 meters Centerline goodness : 0.754971 with order 1 Centerline is valid? [False, False] Translation: X:-105.74, Y:8.03, Z:66.02 [[ 8.45001588e-01 -4.15546175e-01 3.36591286e-01 -1.05741771e+02] [ 4.57467945e-01 8.87671132e-01 -5.25646295e-02 8.02759008e+00] [-2.76939337e-01 1.98396919e-01 9.40182571e-01 6.60218196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05907232899995 meters Centerline goodness : 0.754934 with order 1 Centerline is valid? [False, False] Translation: X:-105.81, Y:8.05, Z:66.05 [[ 8.44570512e-01 -4.15655224e-01 3.37537234e-01 -1.05805756e+02] [ 4.59210267e-01 8.86472350e-01 -5.73820782e-02 8.04656831e+00] [-2.75366265e-01 2.03463775e-01 9.39561553e-01 6.60458859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11907232899995 meters Centerline goodness : 0.757189 with order 1 Centerline is valid? [False, False] Translation: X:-105.86, Y:8.06, Z:66.07 [[ 8.40093231e-01 -4.21486334e-01 3.41456635e-01 -1.05863009e+02] [ 4.65728488e-01 8.83174790e-01 -5.56710395e-02 8.06004364e+00] [-2.78101310e-01 2.05794946e-01 9.38247356e-01 6.60713131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17907232899995 meters Centerline goodness : 0.757304 with order 1 Centerline is valid? [False, False] Translation: X:-105.92, Y:8.07, Z:66.09 [[ 8.37626388e-01 -4.26430922e-01 3.41377653e-01 -1.05915168e+02] [ 4.69305420e-01 8.81604138e-01 -5.02649728e-02 8.07341999e+00] [-2.79525413e-01 2.02313651e-01 9.38581233e-01 6.60918852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23907232899995 meters Centerline goodness : 0.754885 with order 1 Centerline is valid? [False, False] Translation: X:-105.98, Y:8.09, Z:66.12 [[ 8.34606639e-01 -4.34453793e-01 3.38646807e-01 -1.05981978e+02] [ 4.77813565e-01 8.76883636e-01 -5.26240061e-02 8.08885648e+00] [-2.74091145e-01 2.05730383e-01 9.39440820e-01 6.61169568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29907232899996 meters Centerline goodness : 0.756821 with order 1 Centerline is valid? [False, False] Translation: X:-106.05, Y:8.10, Z:66.14 [[ 8.33345892e-01 -4.34945820e-01 3.41111063e-01 -1.06050170e+02] [ 4.80569108e-01 8.75014987e-01 -5.83275754e-02 8.10431908e+00] [-2.73107958e-01 2.12534485e-01 9.38211669e-01 6.61430428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35907232899996 meters Centerline goodness : 0.755907 with order 1 Centerline is valid? [False, False] Translation: X:-106.12, Y:8.12, Z:66.17 [[ 8.33000936e-01 -4.34582567e-01 3.42414125e-01 -1.06116770e+02] [ 4.81947867e-01 8.73909923e-01 -6.33064035e-02 8.12347633e+00] [-2.71727242e-01 2.17760050e-01 9.37413925e-01 6.61694125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41907232899996 meters Centerline goodness : 0.755772 with order 1 Centerline is valid? [False, False] Translation: X:-106.17, Y:8.14, Z:66.19 [[ 8.32629512e-01 -4.35920704e-01 3.41615626e-01 -1.06167119e+02] [ 4.81555174e-01 8.74508654e-01 -5.77860613e-02 8.13884913e+00] [-2.73555681e-01 2.12621152e-01 9.38061584e-01 6.61925963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47907232899996 meters Centerline goodness : 0.754901 with order 1 Centerline is valid? [False, False] Translation: X:-106.23, Y:8.16, Z:66.22 [[ 8.36882850e-01 -4.30520616e-01 3.38051910e-01 -1.06225696e+02] [ 4.75463978e-01 8.77739016e-01 -5.92302737e-02 8.16055938e+00] [-2.71221497e-01 2.10300306e-01 9.39261774e-01 6.62150202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53907232899996 meters Centerline goodness : 0.753236 with order 1 Centerline is valid? [False, False] Translation: X:-106.29, Y:8.18, Z:66.24 [[ 8.39819552e-01 -4.25403630e-01 3.37246010e-01 -1.06289919e+02] [ 4.70919796e-01 8.79942588e-01 -6.27342675e-02 8.18415935e+00] [-2.70069742e-01 2.11501287e-01 9.39323980e-01 6.62398886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59907232899997 meters Centerline goodness : 0.752062 with order 1 Centerline is valid? [False, False] Translation: X:-106.34, Y:8.20, Z:66.26 [[ 8.42056632e-01 -4.23476700e-01 3.34078006e-01 -1.06336564e+02] [ 4.65804909e-01 8.83205713e-01 -5.45293963e-02 8.20120060e+00] [-2.71967674e-01 2.01532015e-01 9.40966753e-01 6.62597411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65907232899997 meters Centerline goodness : 0.755011 with order 1 Centerline is valid? [False, False] Translation: X:-106.39, Y:8.22, Z:66.28 [[ 8.43081796e-01 -4.17315180e-01 3.39206612e-01 -1.06392292e+02] [ 4.60266935e-01 8.86150861e-01 -5.37680178e-02 8.22055206e+00] [-2.78150022e-01 2.01456425e-01 9.39174038e-01 6.62826163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71907232899997 meters Centerline goodness : 0.756843 with order 1 Centerline is valid? [False, False] Translation: X:-106.45, Y:8.24, Z:66.31 [[ 8.46631468e-01 -4.10550479e-01 3.38619936e-01 -1.06453520e+02] [ 4.54025313e-01 8.89154573e-01 -5.71415885e-02 8.24456814e+00] [-2.77625958e-01 2.02119889e-01 9.39186551e-01 6.63074392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779072329 meters Centerline goodness : 0.756255 with order 1 Centerline is valid? [False, False] Translation: X:-106.51, Y:8.27, Z:66.33 [[ 8.49230321e-01 -4.03968042e-01 3.40026003e-01 -1.06512663e+02] [ 4.47234379e-01 8.92630605e-01 -5.64979063e-02 8.26513955e+00] [-2.80694268e-01 2.00051053e-01 9.38717372e-01 6.63285578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839072329 meters Centerline goodness : 0.758112 with order 1 Centerline is valid? [False, False] Translation: X:-106.56, Y:8.29, Z:66.35 [[ 8.52169535e-01 -3.94852188e-01 3.43363996e-01 -1.06564805e+02] [ 4.37784142e-01 8.97426373e-01 -5.45064188e-02 8.28597190e+00] [-2.86621927e-01 1.96768022e-01 9.37619441e-01 6.63504648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899072329 meters Centerline goodness : 0.759151 with order 1 Centerline is valid? [False, False] Translation: X:-106.61, Y:8.30, Z:66.37 [[ 8.55539434e-01 -3.85110136e-01 3.46038236e-01 -1.06608562e+02] [ 4.28135805e-01 9.02063588e-01 -5.45986866e-02 8.30375929e+00] [-2.91121985e-01 1.94862688e-01 9.36630409e-01 6.63689728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959072329 meters Centerline goodness : 0.757006 with order 1 Centerline is valid? [False, False] Translation: X:-106.66, Y:8.33, Z:66.39 [[ 8.60361433e-01 -3.77926799e-01 3.41978859e-01 -1.06661114e+02] [ 4.20495195e-01 9.05488354e-01 -5.72243955e-02 8.32651661e+00] [-2.88031241e-01 1.93034130e-01 9.37963661e-01 6.63900918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019072329 meters Centerline goodness : 0.759253 with order 1 Centerline is valid? [False, False] Translation: X:-106.71, Y:8.35, Z:66.41 [[ 8.65091910e-01 -3.65364198e-01 3.43693163e-01 -1.06707619e+02] [ 4.06506160e-01 9.12073729e-01 -5.36120748e-02 8.34908407e+00] [-2.93885572e-01 1.86092760e-01 9.37550401e-01 6.64098236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079072329 meters Centerline goodness : 0.761233 with order 1 Centerline is valid? [False, False] Translation: X:-106.76, Y:8.37, Z:66.43 [[ 8.65083958e-01 -3.60863243e-01 3.48435741e-01 -1.06759567e+02] [ 4.02600607e-01 9.13832146e-01 -5.31371863e-02 8.36786327e+00] [-2.99236524e-01 1.86248568e-01 9.35825290e-01 6.64319463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139072329 meters Centerline goodness : 0.763165 with order 1 Centerline is valid? [False, False] Translation: X:-106.81, Y:8.39, Z:66.46 [[ 8.68387205e-01 -3.54638338e-01 3.46605412e-01 -1.06814550e+02] [ 3.97178008e-01 9.15909840e-01 -5.79551145e-02 8.38996320e+00] [-2.96906202e-01 1.87991527e-01 9.36218934e-01 6.64564114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199072329 meters Centerline goodness : 0.762387 with order 1 Centerline is valid? [False, False] Translation: X:-106.86, Y:8.41, Z:66.48 [[ 8.68630244e-01 -3.55710685e-01 3.44893327e-01 -1.06858628e+02] [ 3.96131747e-01 9.16707710e-01 -5.22169801e-02 8.40525578e+00] [-2.97592234e-01 1.81980444e-01 9.37188338e-01 6.64769568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259072329 meters Centerline goodness : 0.761417 with order 1 Centerline is valid? [False, False] Translation: X:-106.92, Y:8.43, Z:66.50 [[ 8.71045455e-01 -3.51478323e-01 3.43136712e-01 -1.06915303e+02] [ 3.92551500e-01 9.18014261e-01 -5.61527986e-02 8.42690223e+00] [-2.95267904e-01 1.83610471e-01 9.37605493e-01 6.65003195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319072329 meters Centerline goodness : 0.760715 with order 1 Centerline is valid? [False, False] Translation: X:-106.96, Y:8.44, Z:66.52 [[ 8.72579773e-01 -3.51608455e-01 3.39081161e-01 -1.06956888e+02] [ 3.90149366e-01 9.19356007e-01 -5.06754792e-02 8.44256356e+00] [-2.93918375e-01 1.76510698e-01 9.39391272e-01 6.65197732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379072329 meters Centerline goodness : 0.762189 with order 1 Centerline is valid? [False, False] Translation: X:-107.01, Y:8.46, Z:66.54 [[ 8.75381554e-01 -3.45845451e-01 3.37784042e-01 -1.07011452e+02] [ 3.85413322e-01 9.21056757e-01 -5.57765321e-02 8.46400050e+00] [-2.91828214e-01 1.79012217e-01 9.39569539e-01 6.65432197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43907232899994 meters Centerline goodness : 0.764320 with order 1 Centerline is valid? [False, False] Translation: X:-107.06, Y:8.48, Z:66.56 [[ 8.74744035e-01 -3.47649030e-01 3.37584101e-01 -1.07056581e+02] [ 3.85851981e-01 9.21138100e-01 -5.12137627e-02 8.47855119e+00] [-2.93157162e-01 1.75056427e-01 9.39901125e-01 6.65635944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49907232899994 meters Centerline goodness : 0.763693 with order 1 Centerline is valid? [False, False] Translation: X:-107.10, Y:8.49, Z:66.58 [[ 8.74868539e-01 -3.49083364e-01 3.35776481e-01 -1.07101266e+02] [ 3.85307514e-01 9.21653785e-01 -4.57429844e-02 8.49386920e+00] [-2.93501549e-01 1.69396299e-01 9.40830343e-01 6.65835361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55907232899995 meters Centerline goodness : 0.767117 with order 1 Centerline is valid? [False, False] Translation: X:-107.15, Y:8.51, Z:66.61 [[ 8.73123712e-01 -3.52527158e-01 3.36718854e-01 -1.07150650e+02] [ 3.88202410e-01 9.20578602e-01 -4.28243614e-02 8.50911774e+00] [-2.94879422e-01 1.68106036e-01 9.40630899e-01 6.66068759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61907232899995 meters Centerline goodness : 0.766141 with order 1 Centerline is valid? [False, False] Translation: X:-107.21, Y:8.53, Z:66.63 [[ 8.73071311e-01 -3.51230666e-01 3.38206306e-01 -1.07208585e+02] [ 3.89616197e-01 9.19575420e-01 -5.07963234e-02 8.52656385e+00] [-2.93164979e-01 1.76119467e-01 9.39700074e-01 6.66299354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67907232899995 meters Centerline goodness : 0.766734 with order 1 Centerline is valid? [False, False] Translation: X:-107.26, Y:8.54, Z:66.65 [[ 8.71289812e-01 -3.56102025e-01 3.37706101e-01 -1.07256603e+02] [ 3.93629782e-01 9.18039690e-01 -4.75260174e-02 8.53821533e+00] [-2.93103493e-01 1.74340114e-01 9.40050992e-01 6.66517818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73907232899995 meters Centerline goodness : 0.767284 with order 1 Centerline is valid? [False, False] Translation: X:-107.30, Y:8.55, Z:66.67 [[ 8.70300098e-01 -3.59734527e-01 3.36405722e-01 -1.07303978e+02] [ 3.95762145e-01 9.17350869e-01 -4.28918162e-02 8.55273926e+00] [-2.93172414e-01 1.70465402e-01 9.40739859e-01 6.66726928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79907232899996 meters Centerline goodness : 0.767250 with order 1 Centerline is valid? [False, False] Translation: X:-107.36, Y:8.57, Z:66.70 [[ 8.70934535e-01 -3.57629970e-01 3.37007182e-01 -1.07362412e+02] [ 3.95703977e-01 9.17045124e-01 -4.94631559e-02 8.57067073e+00] [-2.91361286e-01 1.76434253e-01 9.40201870e-01 6.66959346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85907232899996 meters Centerline goodness : 0.766056 with order 1 Centerline is valid? [False, False] Translation: X:-107.41, Y:8.58, Z:66.72 [[ 8.68475885e-01 -3.63420074e-01 3.37157955e-01 -1.07410609e+02] [ 4.01218271e-01 9.14750886e-01 -4.74838514e-02 8.58217437e+00] [-2.91158953e-01 1.76512512e-01 9.40249859e-01 6.67169722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91907232899996 meters Centerline goodness : 0.771999 with order 1 Centerline is valid? [False, False] Translation: X:-107.47, Y:8.60, Z:66.74 [[ 8.68530907e-01 -3.63140741e-01 3.37317159e-01 -1.07468640e+02] [ 4.02775435e-01 9.13740884e-01 -5.33811320e-02 8.59779960e+00] [-2.88835615e-01 1.82226228e-01 9.39876369e-01 6.67374357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97907232899996 meters Centerline goodness : 0.767714 with order 1 Centerline is valid? [False, False] Translation: X:-107.52, Y:8.61, Z:66.76 [[ 8.66827121e-01 -3.67423921e-01 3.37061427e-01 -1.07516089e+02] [ 4.05848010e-01 9.12632283e-01 -4.88846503e-02 8.61126951e+00] [-2.89651749e-01 1.79170250e-01 9.40212681e-01 6.67569305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03907232899996 meters Centerline goodness : 0.767963 with order 1 Centerline is valid? [False, False] Translation: X:-107.57, Y:8.62, Z:66.78 [[ 8.64275354e-01 -3.74047961e-01 3.36327572e-01 -1.07565610e+02] [ 4.11351594e-01 9.10385968e-01 -4.45786518e-02 8.62283418e+00] [-2.89513349e-01 1.76877113e-01 9.40689379e-01 6.67764631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09907232899997 meters Centerline goodness : 0.768835 with order 1 Centerline is valid? [False, False] Translation: X:-107.62, Y:8.64, Z:66.80 [[ 8.64026098e-01 -3.71886361e-01 3.39351493e-01 -1.07622880e+02] [ 4.10872840e-01 9.10404979e-01 -4.84384551e-02 8.63929270e+00] [-2.90933688e-01 1.81282401e-01 9.39411667e-01 6.67959907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15907232899997 meters Centerline goodness : 0.772788 with order 1 Centerline is valid? [False, False] Translation: X:-107.68, Y:8.66, Z:66.82 [[ 8.63574674e-01 -3.71744608e-01 3.40653386e-01 -1.07683480e+02] [ 4.13098660e-01 9.09008510e-01 -5.52541927e-02 8.65846481e+00] [-2.89116379e-01 1.88439579e-01 9.38563927e-01 6.68196679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21907232899997 meters Centerline goodness : 0.771914 with order 1 Centerline is valid? [False, False] Translation: X:-107.73, Y:8.67, Z:66.84 [[ 8.60628005e-01 -3.77856395e-01 3.41385385e-01 -1.07733953e+02] [ 4.18370628e-01 9.06844449e-01 -5.09819861e-02 8.66971911e+00] [-2.90319572e-01 1.86702143e-01 9.38539747e-01 6.68398405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279072329 meters Centerline goodness : 0.770125 with order 1 Centerline is valid? [False, False] Translation: X:-107.79, Y:8.69, Z:66.86 [[ 8.60884285e-01 -3.78723800e-01 3.39774237e-01 -1.07794432e+02] [ 4.20047891e-01 9.05859653e-01 -5.45715831e-02 8.68733024e+00] [-2.87120215e-01 1.89701270e-01 9.38922473e-01 6.68615806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339072329 meters Centerline goodness : 0.769598 with order 1 Centerline is valid? [False, False] Translation: X:-107.85, Y:8.70, Z:66.88 [[ 8.58883706e-01 -3.83181830e-01 3.39838881e-01 -1.07845340e+02] [ 4.23251042e-01 9.04650209e-01 -4.96644215e-02 8.70021436e+00] [-2.88404811e-01 1.86493123e-01 9.39171433e-01 6.68828199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399072329 meters Centerline goodness : 0.770796 with order 1 Centerline is valid? [False, False] Translation: X:-107.91, Y:8.72, Z:66.91 [[ 8.57094199e-01 -3.85000876e-01 3.42292068e-01 -1.07909016e+02] [ 4.27838762e-01 9.02076757e-01 -5.66702561e-02 8.71652439e+00] [-2.86955621e-01 1.95017562e-01 9.37883054e-01 6.69066558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459072329 meters Centerline goodness : 0.772269 with order 1 Centerline is valid? [False, False] Translation: X:-107.95, Y:8.73, Z:66.93 [[ 8.56889590e-01 -3.86840604e-01 3.40726544e-01 -1.07954781e+02] [ 4.27559480e-01 9.02573507e-01 -5.05366747e-02 8.73311230e+00] [-2.87981114e-01 1.88985214e-01 9.38803210e-01 6.69253871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519072329 meters Centerline goodness : 0.772845 with order 1 Centerline is valid? [False, False] Translation: X:-108.01, Y:8.75, Z:66.95 [[ 8.59827780e-01 -3.83017927e-01 3.37629170e-01 -1.08009281e+02] [ 4.23948387e-01 9.04072495e-01 -5.40433975e-02 8.75158610e+00] [-2.84541657e-01 1.89605357e-01 9.39726479e-01 6.69455325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579072329 meters Centerline goodness : 0.772138 with order 1 Centerline is valid? [False, False] Translation: X:-108.06, Y:8.77, Z:66.97 [[ 8.59038100e-01 -3.83623419e-01 3.38949280e-01 -1.08056082e+02] [ 4.24113010e-01 9.04139673e-01 -5.15713781e-02 8.76665999e+00] [-2.86673503e-01 1.88054578e-01 9.39390110e-01 6.69667278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639072329 meters Centerline goodness : 0.771683 with order 1 Centerline is valid? [False, False] Translation: X:-108.11, Y:8.79, Z:66.99 [[ 8.60481695e-01 -3.80171139e-01 3.39177177e-01 -1.08114490e+02] [ 4.22467984e-01 9.04524030e-01 -5.79403261e-02 8.78643112e+00] [-2.84766668e-01 1.93148088e-01 9.38936505e-01 6.69905332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699072329 meters Centerline goodness : 0.773066 with order 1 Centerline is valid? [False, False] Translation: X:-108.17, Y:8.81, Z:67.01 [[ 8.63620069e-01 -3.75609929e-01 3.36270065e-01 -1.08170548e+02] [ 4.17818654e-01 9.06514549e-01 -6.04892059e-02 8.80569635e+00] [-2.82113361e-01 1.92739598e-01 9.39820993e-01 6.70123055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759072329 meters Centerline goodness : 0.771698 with order 1 Centerline is valid? [False, False] Translation: X:-108.22, Y:8.82, Z:67.03 [[ 8.62971849e-01 -3.77101015e-01 3.36265389e-01 -1.08217534e+02] [ 4.17811828e-01 9.06850857e-01 -5.52702369e-02 8.82131967e+00] [-2.84100094e-01 1.88192316e-01 9.40144026e-01 6.70329152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819072329 meters Centerline goodness : 0.774637 with order 1 Centerline is valid? [False, False] Translation: X:-108.26, Y:8.84, Z:67.05 [[ 8.62582483e-01 -3.78231988e-01 3.35994082e-01 -1.08263992e+02] [ 4.17468696e-01 9.07292521e-01 -5.04000861e-02 8.83665684e+00] [-2.85781993e-01 1.83741243e-01 9.40514651e-01 6.70532575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879072329 meters Centerline goodness : 0.775954 with order 1 Centerline is valid? [False, False] Translation: X:-108.32, Y:8.85, Z:67.08 [[ 8.58875214e-01 -3.83655307e-01 3.39325761e-01 -1.08318940e+02] [ 4.23515843e-01 9.04548850e-01 -4.92514735e-02 8.85147140e+00] [-2.88041137e-01 1.86010706e-01 9.39378689e-01 6.70782769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93907232899994 meters Centerline goodness : 0.774047 with order 1 Centerline is valid? [False, False] Translation: X:-108.38, Y:8.87, Z:67.10 [[ 8.58128988e-01 -3.84413657e-01 3.40353905e-01 -1.08380674e+02] [ 4.26472387e-01 9.02790126e-01 -5.55993746e-02 8.86677985e+00] [-2.85894986e-01 1.92862978e-01 9.38652187e-01 6.71013808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99907232899994 meters Centerline goodness : 0.774689 with order 1 Centerline is valid? [False, False] Translation: X:-108.44, Y:8.89, Z:67.12 [[ 8.58028724e-01 -3.85943648e-01 3.38871965e-01 -1.08442438e+02] [ 4.28576462e-01 9.01622780e-01 -5.82973270e-02 8.88616539e+00] [-2.83035200e-01 1.95253329e-01 9.39024607e-01 6.71247710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05907232899995 meters Centerline goodness : 0.774342 with order 1 Centerline is valid? [False, False] Translation: X:-108.49, Y:8.90, Z:67.15 [[ 8.54712473e-01 -3.92453736e-01 3.39774416e-01 -1.08494966e+02] [ 4.34575488e-01 8.98963865e-01 -5.48462788e-02 8.89902081e+00] [-2.83920295e-01 1.94535431e-01 9.38906402e-01 6.71467263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11907232899995 meters Centerline goodness : 0.773382 with order 1 Centerline is valid? [False, False] Translation: X:-108.56, Y:8.91, Z:67.17 [[ 8.54578196e-01 -3.92589218e-01 3.39955606e-01 -1.08556965e+02] [ 4.36086003e-01 8.97952188e-01 -5.92525675e-02 8.91369288e+00] [-2.82001961e-01 1.98885833e-01 9.38573023e-01 6.71691832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17907232899995 meters Centerline goodness : 0.773696 with order 1 Centerline is valid? [False, False] Translation: X:-108.61, Y:8.93, Z:67.19 [[ 8.51226584e-01 -3.98212257e-01 3.41819106e-01 -1.08611388e+02] [ 4.41088807e-01 8.95784829e-01 -5.48653371e-02 8.92930777e+00] [-2.84348320e-01 1.97475415e-01 9.38162829e-01 6.71905840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23907232899995 meters Centerline goodness : 0.779604 with order 1 Centerline is valid? [False, False] Translation: X:-108.66, Y:8.94, Z:67.21 [[ 8.50510924e-01 -3.98932693e-01 3.42759210e-01 -1.08658260e+02] [ 4.41077008e-01 8.95981622e-01 -5.16527417e-02 8.94493904e+00] [-2.86499985e-01 1.95114428e-01 9.38002195e-01 6.72122287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29907232899996 meters Centerline goodness : 0.774611 with order 1 Centerline is valid? [False, False] Translation: X:-108.72, Y:8.96, Z:67.24 [[ 8.50865881e-01 -3.98517934e-01 3.42360496e-01 -1.08719500e+02] [ 4.41978643e-01 8.95254344e-01 -5.63430532e-02 8.96410604e+00] [-2.84046004e-01 1.99256409e-01 9.37877791e-01 6.72350931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35907232899996 meters Centerline goodness : 0.772324 with order 1 Centerline is valid? [False, False] Translation: X:-108.78, Y:8.98, Z:67.26 [[ 8.52259751e-01 -3.96407592e-01 3.41341966e-01 -1.08778233e+02] [ 4.41100748e-01 8.95344153e-01 -6.15546737e-02 8.98375412e+00] [-2.81217793e-01 2.03026767e-01 9.37921470e-01 6.72580222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41907232899996 meters Centerline goodness : 0.776111 with order 1 Centerline is valid? [False, False] Translation: X:-108.84, Y:9.01, Z:67.28 [[ 8.53839793e-01 -3.92952355e-01 3.41388422e-01 -1.08842643e+02] [ 4.38400777e-01 8.96453585e-01 -6.46198855e-02 9.00596256e+00] [-2.80646338e-01 2.04839979e-01 9.37698361e-01 6.72836905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47907232899996 meters Centerline goodness : 0.773457 with order 1 Centerline is valid? [False, False] Translation: X:-108.89, Y:9.02, Z:67.30 [[ 8.55055850e-01 -3.90252949e-01 3.41441251e-01 -1.08885037e+02] [ 4.34685175e-01 8.98469909e-01 -6.16491705e-02 9.02010322e+00] [-2.82715920e-01 2.01132934e-01 9.37879124e-01 6.73024028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53907232899996 meters Centerline goodness : 0.775156 with order 1 Centerline is valid? [False, False] Translation: X:-108.93, Y:9.04, Z:67.32 [[ 8.59849552e-01 -3.78560846e-01 3.42564496e-01 -1.08929156e+02] [ 4.21596775e-01 9.04912222e-01 -5.82239599e-02 9.03916995e+00] [-2.87949488e-01 1.94487933e-01 9.37688401e-01 6.73197665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59907232899997 meters Centerline goodness : 0.776763 with order 1 Centerline is valid? [False, False] Translation: X:-108.97, Y:9.06, Z:67.34 [[ 8.62161631e-01 -3.70863435e-01 3.45163201e-01 -1.08974743e+02] [ 4.13540569e-01 9.08726704e-01 -5.65683255e-02 9.05894265e+00] [-2.92679894e-01 1.91510026e-01 9.36836373e-01 6.73387103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65907232899997 meters Centerline goodness : 0.777964 with order 1 Centerline is valid? [False, False] Translation: X:-109.02, Y:9.09, Z:67.36 [[ 8.66948120e-01 -3.59263283e-01 3.45442978e-01 -1.09021802e+02] [ 3.99771271e-01 9.15166205e-01 -5.15145397e-02 9.08505897e+00] [-2.97630457e-01 1.82758612e-01 9.37024760e-01 6.73578467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71907232899997 meters Centerline goodness : 0.783065 with order 1 Centerline is valid? [False, False] Translation: X:-109.07, Y:9.11, Z:67.38 [[ 8.71749450e-01 -3.44057826e-01 3.48822461e-01 -1.09066156e+02] [ 3.84322689e-01 9.21773174e-01 -5.12863150e-02 9.10744263e+00] [-3.03889729e-01 1.78769203e-01 9.35784486e-01 6.73795440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779072329 meters Centerline goodness : 0.783132 with order 1 Centerline is valid? [False, False] Translation: X:-109.12, Y:9.14, Z:67.40 [[ 8.78953028e-01 -3.27272350e-01 3.46892467e-01 -1.09117954e+02] [ 3.67782512e-01 9.28213875e-01 -5.61696144e-02 9.13535570e+00] [-3.03607639e-01 1.76951435e-01 9.36221443e-01 6.74046725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839072329 meters Centerline goodness : 0.785037 with order 1 Centerline is valid? [False, False] Translation: X:-109.16, Y:9.15, Z:67.43 [[ 8.80893994e-01 -3.25530239e-01 3.43592542e-01 -1.09156074e+02] [ 3.63994414e-01 9.29940272e-01 -5.21455282e-02 9.15467336e+00] [-3.02545596e-01 1.71000449e-01 9.37669989e-01 6.74250953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899072329 meters Centerline goodness : 0.785091 with order 1 Centerline is valid? [False, False] Translation: X:-109.21, Y:9.18, Z:67.45 [[ 8.84738121e-01 -3.18737217e-01 3.40066234e-01 -1.09206622e+02] [ 3.57339291e-01 9.32303423e-01 -5.58476343e-02 9.17800113e+00] [-2.99244195e-01 1.70929558e-01 9.38741710e-01 6.74474010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959072329 meters Centerline goodness : 0.782690 with order 1 Centerline is valid? [False, False] Translation: X:-109.25, Y:9.19, Z:67.47 [[ 8.85902383e-01 -3.19174185e-01 3.36607794e-01 -1.09246905e+02] [ 3.55581420e-01 9.33257416e-01 -5.09160895e-02 9.19325745e+00] [-2.97890619e-01 1.64798163e-01 9.40267379e-01 6.74666408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019072329 meters Centerline goodness : 0.781986 with order 1 Centerline is valid? [False, False] Translation: X:-109.29, Y:9.21, Z:67.49 [[ 8.87680352e-01 -3.15993191e-01 3.34920730e-01 -1.09286017e+02] [ 3.50501293e-01 9.35410760e-01 -4.64279410e-02 9.20674180e+00] [-2.98617542e-01 1.58603320e-01 9.41101775e-01 6.74854310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079072329 meters Centerline goodness : 0.783356 with order 1 Centerline is valid? [False, False] Translation: X:-109.33, Y:9.22, Z:67.51 [[ 8.87999868e-01 -3.16117389e-01 3.33955133e-01 -1.09329085e+02] [ 3.48953009e-01 9.36213196e-01 -4.16731276e-02 9.21995176e+00] [-2.99479602e-01 1.53540381e-01 9.41667308e-01 6.75054785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139072329 meters Centerline goodness : 0.783398 with order 1 Centerline is valid? [False, False] Translation: X:-109.37, Y:9.23, Z:67.52 [[ 8.85974253e-01 -3.21765220e-01 3.33941261e-01 -1.09371932e+02] [ 3.55041618e-01 9.33901823e-01 -4.21050289e-02 9.23046661e+00] [-2.98320419e-01 1.55867017e-01 9.41653015e-01 6.75246311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199072329 meters Centerline goodness : 0.782234 with order 1 Centerline is valid? [False, False] Translation: X:-109.42, Y:9.24, Z:67.54 [[ 8.82491411e-01 -3.30392498e-01 3.34738266e-01 -1.09418205e+02] [ 3.64508524e-01 9.30214143e-01 -4.28390445e-02 9.23953456e+00] [-2.97224570e-01 1.59820040e-01 9.41336874e-01 6.75443338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259072329 meters Centerline goodness : 0.780263 with order 1 Centerline is valid? [False, False] Translation: X:-109.47, Y:9.25, Z:67.56 [[ 8.78683288e-01 -3.39478554e-01 3.35663508e-01 -1.09466558e+02] [ 3.73931169e-01 9.26513365e-01 -4.18146486e-02 9.24673021e+00] [-2.96801550e-01 1.62256881e-01 9.41053423e-01 6.75634338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319072329 meters Centerline goodness : 0.780656 with order 1 Centerline is valid? [False, False] Translation: X:-109.52, Y:9.26, Z:67.58 [[ 8.74068092e-01 -3.49566678e-01 3.37354573e-01 -1.09518799e+02] [ 3.84840103e-01 9.22041622e-01 -4.16814507e-02 9.25719573e+00] [-2.96484511e-01 1.66259995e-01 9.40454438e-01 6.75848841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379072329 meters Centerline goodness : 0.780457 with order 1 Centerline is valid? [False, False] Translation: X:-109.58, Y:9.27, Z:67.61 [[ 8.73306051e-01 -3.51060142e-01 3.37777023e-01 -1.09576823e+02] [ 3.88709365e-01 9.20070518e-01 -4.87367501e-02 9.27365272e+00] [-2.93669151e-01 1.73859191e-01 9.39963516e-01 6.76053772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43907232899994 meters Centerline goodness : 0.781545 with order 1 Centerline is valid? [False, False] Translation: X:-109.63, Y:9.29, Z:67.63 [[ 8.70396658e-01 -3.56478626e-01 3.39606606e-01 -1.09626513e+02] [ 3.93914847e-01 9.17995988e-01 -4.59832582e-02 9.28526271e+00] [-2.95365453e-01 1.73799759e-01 9.39442863e-01 6.76263595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49907232899994 meters Centerline goodness : 0.781235 with order 1 Centerline is valid? [False, False] Translation: X:-109.69, Y:9.30, Z:67.65 [[ 8.67599772e-01 -3.62360140e-01 3.40537465e-01 -1.09690828e+02] [ 4.02288958e-01 9.14015501e-01 -5.23379250e-02 9.30239960e+00] [-2.92291343e-01 1.82402834e-01 9.38773123e-01 6.76512114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55907232899995 meters Centerline goodness : 0.781491 with order 1 Centerline is valid? [False, False] Translation: X:-109.74, Y:9.31, Z:67.67 [[ 8.65690665e-01 -3.67286325e-01 3.40118257e-01 -1.09736911e+02] [ 4.06430947e-01 9.12353548e-01 -4.92431502e-02 9.31286131e+00] [-2.92221763e-01 1.80863921e-01 9.39092479e-01 6.76707732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61907232899995 meters Centerline goodness : 0.780658 with order 1 Centerline is valid? [False, False] Translation: X:-109.79, Y:9.33, Z:67.69 [[ 8.67987914e-01 -3.63919197e-01 3.37875419e-01 -1.09793080e+02] [ 4.03557123e-01 9.13424531e-01 -5.28892691e-02 9.33317970e+00] [-2.89376276e-01 1.82259279e-01 9.39703637e-01 6.76911209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67907232899995 meters Centerline goodness : 0.778763 with order 1 Centerline is valid? [False, False] Translation: X:-109.85, Y:9.36, Z:67.71 [[ 8.70070369e-01 -3.60454304e-01 3.36229457e-01 -1.09851449e+02] [ 4.00482862e-01 9.14600961e-01 -5.58440618e-02 9.35582914e+00] [-2.87386552e-01 1.83242399e-01 9.40122967e-01 6.77129060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73907232899995 meters Centerline goodness : 0.777657 with order 1 Centerline is valid? [False, False] Translation: X:-109.89, Y:9.37, Z:67.73 [[ 8.70976060e-01 -3.60198582e-01 3.34152188e-01 -1.09892382e+02] [ 3.98349602e-01 9.15808319e-01 -5.11147584e-02 9.37022850e+00] [-2.87607890e-01 1.77629122e-01 9.41132083e-01 6.77303812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79907232899996 meters Centerline goodness : 0.783244 with order 1 Centerline is valid? [False, False] Translation: X:-109.94, Y:9.39, Z:67.75 [[ 8.69186785e-01 -3.60690238e-01 3.38255651e-01 -1.09944952e+02] [ 3.98847922e-01 9.15738314e-01 -4.84115276e-02 9.39093381e+00] [-2.92292094e-01 1.76991224e-01 9.39808192e-01 6.77545360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85907232899996 meters Centerline goodness : 0.782395 with order 1 Centerline is valid? [False, False] Translation: X:-110.00, Y:9.41, Z:67.78 [[ 8.69575783e-01 -3.59512830e-01 3.38509206e-01 -1.10003286e+02] [ 4.00027579e-01 9.14787013e-01 -5.60594133e-02 9.40924448e+00] [-2.89509747e-01 1.84160926e-01 9.39291680e-01 6.77783774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91907232899996 meters Centerline goodness : 0.779499 with order 1 Centerline is valid? [False, False] Translation: X:-110.06, Y:9.43, Z:67.80 [[ 8.70706547e-01 -3.57715118e-01 3.37505561e-01 -1.10061688e+02] [ 3.99402412e-01 9.14753270e-01 -6.08618766e-02 9.42672104e+00] [-2.86963102e-01 1.87793370e-01 9.39353942e-01 6.78002789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97907232899996 meters Centerline goodness : 0.778617 with order 1 Centerline is valid? [False, False] Translation: X:-110.11, Y:9.44, Z:67.82 [[ 8.70975788e-01 -3.58879459e-01 3.35569234e-01 -1.10108074e+02] [ 3.98201656e-01 9.15693008e-01 -5.42379551e-02 9.44345787e+00] [-2.87813513e-01 1.80864170e-01 9.40452834e-01 6.78204920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03907232899996 meters Centerline goodness : 0.779373 with order 1 Centerline is valid? [False, False] Translation: X:-110.16, Y:9.47, Z:67.84 [[ 8.76684421e-01 -3.48869336e-01 3.31231961e-01 -1.10159468e+02] [ 3.87603895e-01 9.20073135e-01 -5.68211833e-02 9.46803517e+00] [-2.84934460e-01 1.78201044e-01 9.41836897e-01 6.78442522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09907232899997 meters Centerline goodness : 0.777689 with order 1 Centerline is valid? [False, False] Translation: X:-110.21, Y:9.48, Z:67.87 [[ 8.75268675e-01 -3.52574576e-01 3.31052737e-01 -1.10205531e+02] [ 3.90637647e-01 9.18952806e-01 -5.41107121e-02 9.48217782e+00] [-2.85143781e-01 1.76683074e-01 9.42059508e-01 6.78650411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15907232899997 meters Centerline goodness : 0.776913 with order 1 Centerline is valid? [False, False] Translation: X:-110.26, Y:9.50, Z:67.89 [[ 8.76625413e-01 -3.49941240e-01 3.30255982e-01 -1.10264419e+02] [ 3.89152839e-01 9.19289831e-01 -5.88750735e-02 9.50115014e+00] [-2.82998150e-01 1.80131439e-01 9.42053455e-01 6.78883527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21907232899997 meters Centerline goodness : 0.775403 with order 1 Centerline is valid? [False, False] Translation: X:-110.31, Y:9.51, Z:67.91 [[ 8.75218811e-01 -3.54288628e-01 3.29350272e-01 -1.10312164e+02] [ 3.92644186e-01 9.17988970e-01 -5.59177441e-02 9.51362318e+00] [-2.82528896e-01 1.78257731e-01 9.42550584e-01 6.79097616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279072329 meters Centerline goodness : 0.774546 with order 1 Centerline is valid? [False, False] Translation: X:-110.36, Y:9.53, Z:67.93 [[ 8.73690046e-01 -3.58800028e-01 3.28524342e-01 -1.10357842e+02] [ 3.95960106e-01 9.16809363e-01 -5.17318716e-02 9.52671860e+00] [-2.82632795e-01 1.75280154e-01 9.43077712e-01 6.79268171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339072329 meters Centerline goodness : 0.773393 with order 1 Centerline is valid? [False, False] Translation: X:-110.41, Y:9.54, Z:67.95 [[ 8.74427423e-01 -3.57031510e-01 3.28489242e-01 -1.10414511e+02] [ 3.95695422e-01 9.16606356e-01 -5.70782066e-02 9.54459820e+00] [-2.80716609e-01 1.79892438e-01 9.42781468e-01 6.79464948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399072329 meters Centerline goodness : 0.772026 with order 1 Centerline is valid? [False, False] Translation: X:-110.46, Y:9.56, Z:67.97 [[ 8.73680307e-01 -3.58670151e-01 3.28692020e-01 -1.10461663e+02] [ 3.95887377e-01 9.16834959e-01 -5.18347587e-02 9.55851642e+00] [-2.82764754e-01 1.75412029e-01 9.43013634e-01 6.79651152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459072329 meters Centerline goodness : 0.775906 with order 1 Centerline is valid? [False, False] Translation: X:-110.51, Y:9.58, Z:67.99 [[ 8.73262064e-01 -3.59304255e-01 3.29110651e-01 -1.10507812e+02] [ 3.95314439e-01 9.17319457e-01 -4.74500550e-02 9.57634386e+00] [-2.84850597e-01 1.71538525e-01 9.43098442e-01 6.79857056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519072329 meters Centerline goodness : 0.775465 with order 1 Centerline is valid? [False, False] Translation: X:-110.56, Y:9.59, Z:68.01 [[ 8.70546371e-01 -3.64911303e-01 3.30134452e-01 -1.10557783e+02] [ 4.00792403e-01 9.15041638e-01 -4.54340222e-02 9.59216127e+00] [-2.85507382e-01 1.71867803e-01 9.42839856e-01 6.80057046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579072329 meters Centerline goodness : 0.775037 with order 1 Centerline is valid? [False, False] Translation: X:-110.61, Y:9.61, Z:68.03 [[ 8.71657689e-01 -3.62682131e-01 3.29658225e-01 -1.10614850e+02] [ 4.00353314e-01 9.14881206e-01 -5.20538469e-02 9.60913414e+00] [-2.82719114e-01 1.77352899e-01 9.42664231e-01 6.80274911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639072329 meters Centerline goodness : 0.776884 with order 1 Centerline is valid? [False, False] Translation: X:-110.67, Y:9.62, Z:68.05 [[ 8.69196216e-01 -3.66486307e-01 3.31942353e-01 -1.10666371e+02] [ 4.04080101e-01 9.13374362e-01 -4.96643382e-02 9.62358908e+00] [-2.84986335e-01 1.77299354e-01 9.41991363e-01 6.80492191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699072329 meters Centerline goodness : 0.776427 with order 1 Centerline is valid? [False, False] Translation: X:-110.72, Y:9.64, Z:68.07 [[ 8.69618995e-01 -3.66122170e-01 3.31236109e-01 -1.10724499e+02] [ 4.05019153e-01 9.12681145e-01 -5.45216751e-02 9.64168023e+00] [-2.82351357e-01 1.81570052e-01 9.41971352e-01 6.80694702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759072329 meters Centerline goodness : 0.774295 with order 1 Centerline is valid? [False, False] Translation: X:-110.78, Y:9.66, Z:68.09 [[ 8.71498644e-01 -3.63334279e-01 3.29360464e-01 -1.10779973e+02] [ 4.02858397e-01 9.13399898e-01 -5.83587128e-02 9.66087764e+00] [-2.79634094e-01 1.83545168e-01 9.42399037e-01 6.80898630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819072329 meters Centerline goodness : 0.776650 with order 1 Centerline is valid? [False, False] Translation: X:-110.83, Y:9.67, Z:68.11 [[ 8.68424970e-01 -3.69038413e-01 3.31132483e-01 -1.10830511e+02] [ 4.08126122e-01 9.11282493e-01 -5.47474829e-02 9.67433169e+00] [-2.81551310e-01 1.82687897e-01 9.41994688e-01 6.81098132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879072329 meters Centerline goodness : 0.775205 with order 1 Centerline is valid? [False, False] Translation: X:-110.89, Y:9.69, Z:68.13 [[ 8.68795330e-01 -3.68591394e-01 3.30658523e-01 -1.10892588e+02] [ 4.08576305e-01 9.10869366e-01 -5.81584178e-02 9.69418200e+00] [-2.79750027e-01 1.85626999e-01 9.41956761e-01 6.81329822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93907232899994 meters Centerline goodness : 0.773663 with order 1 Centerline is valid? [False, False] Translation: X:-110.94, Y:9.71, Z:68.15 [[ 8.65847084e-01 -3.75660198e-01 3.30436444e-01 -1.10942659e+02] [ 4.14997692e-01 9.08160198e-01 -5.49724517e-02 9.70521021e+00] [-2.79438265e-01 1.84728099e-01 9.42225974e-01 6.81524322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99907232899994 meters Centerline goodness : 0.774769 with order 1 Centerline is valid? [False, False] Translation: X:-111.01, Y:9.73, Z:68.18 [[ 8.65668466e-01 -3.74728047e-01 3.31959331e-01 -1.11005517e+02] [ 4.16440863e-01 9.07041274e-01 -6.20736225e-02 9.72533824e+00] [-2.77840087e-01 1.91976608e-01 9.41249100e-01 6.81783646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05907232899995 meters Centerline goodness : 0.772350 with order 1 Centerline is valid? [False, False] Translation: X:-111.05, Y:9.74, Z:68.20 [[ 8.65835670e-01 -3.75883284e-01 3.30212583e-01 -1.11049152e+02] [ 4.15475844e-01 9.07881670e-01 -5.59526296e-02 9.73892173e+00] [-2.78762293e-01 1.85641134e-01 9.42246758e-01 6.81961679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11907232899995 meters Centerline goodness : 0.769102 with order 1 Centerline is valid? [False, False] Translation: X:-111.10, Y:9.76, Z:68.22 [[ 8.68496522e-01 -3.72366462e-01 3.27195674e-01 -1.11104523e+02] [ 4.12139004e-01 9.09191964e-01 -5.92571918e-02 9.75834233e+00] [-2.75418287e-01 1.86314764e-01 9.43096801e-01 6.82155925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17907232899995 meters Centerline goodness : 0.767377 with order 1 Centerline is valid? [False, False] Translation: X:-111.16, Y:9.78, Z:68.24 [[ 8.69639384e-01 -3.70303550e-01 3.26500571e-01 -1.11160461e+02] [ 4.11958252e-01 9.08767743e-01 -6.65701731e-02 9.77709760e+00] [-2.72062015e-01 1.92396649e-01 9.42849823e-01 6.82365837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23907232899995 meters Centerline goodness : 0.763563 with order 1 Centerline is valid? [False, False] Translation: X:-111.21, Y:9.79, Z:68.25 [[ 8.72954167e-01 -3.61600942e-01 3.27407668e-01 -1.11206098e+02] [ 4.01524119e-01 9.13791777e-01 -6.13430516e-02 9.79364968e+00] [-2.77000729e-01 1.85011748e-01 9.42889839e-01 6.82517067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29907232899996 meters Centerline goodness : 0.768157 with order 1 Centerline is valid? [False, False] Translation: X:-111.26, Y:9.81, Z:68.27 [[ 8.73726031e-01 -3.57094147e-01 3.30282595e-01 -1.11255078e+02] [ 3.96290837e-01 9.16313555e-01 -5.76458259e-02 9.81392503e+00] [-2.82057432e-01 1.81254625e-01 9.42120144e-01 6.82724253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35907232899996 meters Centerline goodness : 0.774024 with order 1 Centerline is valid? [False, False] Translation: X:-111.30, Y:9.83, Z:68.29 [[ 8.73089706e-01 -3.56161600e-01 3.32961380e-01 -1.11301049e+02] [ 3.94710229e-01 9.17225000e-01 -5.38714560e-02 9.83027575e+00] [-2.86213558e-01 1.78457876e-01 9.41400332e-01 6.82924978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41907232899996 meters Centerline goodness : 0.772030 with order 1 Centerline is valid? [False, False] Translation: X:-111.36, Y:9.85, Z:68.32 [[ 8.73854317e-01 -3.53968728e-01 3.33293823e-01 -1.11361091e+02] [ 3.94376461e-01 9.16978648e-01 -6.01445488e-02 9.85013166e+00] [-2.84334030e-01 1.84000812e-01 9.40902684e-01 6.83162789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47907232899996 meters Centerline goodness : 0.771585 with order 1 Centerline is valid? [False, False] Translation: X:-111.40, Y:9.87, Z:68.33 [[ 8.75638251e-01 -3.53275285e-01 3.29323893e-01 -1.11401497e+02] [ 3.90975487e-01 9.18820440e-01 -5.39181603e-02 9.86548114e+00] [-2.83541571e-01 1.75970373e-01 9.42676299e-01 6.83332069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53907232899996 meters Centerline goodness : 0.769519 with order 1 Centerline is valid? [False, False] Translation: X:-111.44, Y:9.88, Z:68.35 [[ 8.78079067e-01 -3.49975304e-01 3.26334856e-01 -1.11444041e+02] [ 3.84735157e-01 9.21850593e-01 -4.65869504e-02 9.88415411e+00] [-2.84527698e-01 1.66459518e-01 9.44105512e-01 6.83514443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59907232899997 meters Centerline goodness : 0.770221 with order 1 Centerline is valid? [False, False] Translation: X:-111.50, Y:9.91, Z:68.38 [[ 8.80482256e-01 -3.44762071e-01 3.25407608e-01 -1.11498717e+02] [ 3.81455650e-01 9.22780885e-01 -5.44703986e-02 9.90548905e+00] [-2.81500593e-01 1.72088790e-01 9.44003636e-01 6.83754561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65907232899997 meters Centerline goodness : 0.771481 with order 1 Centerline is valid? [False, False] Translation: X:-111.54, Y:9.92, Z:68.39 [[ 8.79623743e-01 -3.47656618e-01 3.24648959e-01 -1.11542149e+02] [ 3.83630130e-01 9.22017673e-01 -5.20704734e-02 9.91732802e+00] [-2.81229433e-01 1.70347547e-01 9.44400190e-01 6.83937242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71907232899997 meters Centerline goodness : 0.769556 with order 1 Centerline is valid? [False, False] Translation: X:-111.59, Y:9.93, Z:68.41 [[ 8.79636559e-01 -3.48864297e-01 3.23315986e-01 -1.11587891e+02] [ 3.83290230e-01 9.22405039e-01 -4.75136212e-02 9.93434447e+00] [-2.81652488e-01 1.65718577e-01 9.45097471e-01 6.84142333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779072329 meters Centerline goodness : 0.773552 with order 1 Centerline is valid? [False, False] Translation: X:-111.65, Y:9.96, Z:68.44 [[ 8.82007293e-01 -3.43467147e-01 3.22635172e-01 -1.11647032e+02] [ 3.78821911e-01 9.24011185e-01 -5.19354483e-02 9.95780008e+00] [-2.80280388e-01 1.68028717e-01 9.45097484e-01 6.84382756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839072329 meters Centerline goodness : 0.773475 with order 1 Centerline is valid? [False, False] Translation: X:-111.69, Y:9.97, Z:68.46 [[ 8.82054507e-01 -3.44588945e-01 3.21307182e-01 -1.11691146e+02] [ 3.78356368e-01 9.24454509e-01 -4.72262583e-02 9.97363451e+00] [-2.80760227e-01 1.63224752e-01 9.45796688e-01 6.84569231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899072329 meters Centerline goodness : 0.772254 with order 1 Centerline is valid? [False, False] Translation: X:-111.75, Y:9.99, Z:68.48 [[ 8.83434912e-01 -3.42103256e-01 3.20168890e-01 -1.11749214e+02] [ 3.76732027e-01 9.24904000e-01 -5.12403188e-02 9.99467012e+00] [-2.78596007e-01 1.65885361e-01 9.45973737e-01 6.84776036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959072329 meters Centerline goodness : 0.772884 with order 1 Centerline is valid? [False, False] Translation: X:-111.80, Y:10.01, Z:68.50 [[ 8.81008174e-01 -3.47426908e-01 3.21121693e-01 -1.11795399e+02] [ 3.81983293e-01 9.22840051e-01 -4.95480016e-02 1.00065643e+01] [-2.79129650e-01 1.66315316e-01 9.45740902e-01 6.84957769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019072329 meters Centerline goodness : 0.769958 with order 1 Centerline is valid? [False, False] Translation: X:-111.84, Y:10.02, Z:68.51 [[ 8.78505667e-01 -3.53680336e-01 3.21151075e-01 -1.11841159e+02] [ 3.88097829e-01 9.20364764e-01 -4.80497334e-02 1.00169363e+01] [-2.78581887e-01 1.66849998e-01 9.45808231e-01 6.85136483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079072329 meters Centerline goodness : 0.770341 with order 1 Centerline is valid? [False, False] Translation: X:-111.89, Y:10.02, Z:68.53 [[ 8.73676342e-01 -3.64132121e-01 3.22641361e-01 -1.11891877e+02] [ 3.98455563e-01 9.16078687e-01 -4.50888358e-02 1.00240141e+01] [-2.79146581e-01 1.67951294e-01 9.45446746e-01 6.85293347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139072329 meters Centerline goodness : 0.769853 with order 1 Centerline is valid? [False, False] Translation: X:-111.95, Y:10.04, Z:68.55 [[ 8.71460811e-01 -3.69686113e-01 3.22316976e-01 -1.11954126e+02] [ 4.05879994e-01 9.12515059e-01 -5.07710251e-02 1.00398661e+01] [-2.75349751e-01 1.75066971e-01 9.45269311e-01 6.85518319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199072329 meters Centerline goodness : 0.768397 with order 1 Centerline is valid? [False, False] Translation: X:-112.00, Y:10.05, Z:68.57 [[ 8.68459544e-01 -3.76096825e-01 3.23000307e-01 -1.12001634e+02] [ 4.12155047e-01 9.09805465e-01 -4.88081182e-02 1.00507027e+01] [-2.75510866e-01 1.75514083e-01 9.45139445e-01 6.85698496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259072329 meters Centerline goodness : 0.763122 with order 1 Centerline is valid? [False, False] Translation: X:-112.06, Y:10.07, Z:68.59 [[ 8.65647282e-01 -3.86216273e-01 3.18577735e-01 -1.12060030e+02] [ 4.23014517e-01 9.04584112e-01 -5.27854300e-02 1.00650488e+01] [-2.67793765e-01 1.80456571e-01 9.46425869e-01 6.85896699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319072329 meters Centerline goodness : 0.762925 with order 1 Centerline is valid? [False, False] Translation: X:-112.11, Y:10.08, Z:68.61 [[ 8.61766400e-01 -3.93299529e-01 3.20428078e-01 -1.12111561e+02] [ 4.30050627e-01 9.01409075e-01 -5.01810461e-02 1.00766581e+01] [-2.69100595e-01 1.81044635e-01 9.45942762e-01 6.86081215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379072329 meters Centerline goodness : 0.770304 with order 1 Centerline is valid? [False, False] Translation: X:-112.16, Y:10.09, Z:68.63 [[ 8.58119178e-01 -3.98220242e-01 3.24117441e-01 -1.12160627e+02] [ 4.36291257e-01 8.98337255e-01 -5.13820422e-02 1.00897314e+01] [-2.70705403e-01 1.85501522e-01 9.44620437e-01 6.86298982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43907232899994 meters Centerline goodness : 0.771611 with order 1 Centerline is valid? [False, False] Translation: X:-112.21, Y:10.10, Z:68.65 [[ 8.55089718e-01 -4.02903051e-01 3.26329136e-01 -1.12211492e+02] [ 4.41105721e-01 8.96089964e-01 -4.94825132e-02 1.01029016e+01] [-2.72483608e-01 1.86257637e-01 9.43960156e-01 6.86516929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49907232899994 meters Centerline goodness : 0.767797 with order 1 Centerline is valid? [False, False] Translation: X:-112.27, Y:10.12, Z:68.67 [[ 8.54410667e-01 -4.04575228e-01 3.26038796e-01 -1.12272019e+02] [ 4.44622599e-01 8.93974950e-01 -5.58527766e-02 1.01179900e+01] [-2.68873867e-01 1.92685425e-01 9.43705023e-01 6.86722556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55907232899995 meters Centerline goodness : 0.767398 with order 1 Centerline is valid? [False, False] Translation: X:-112.34, Y:10.14, Z:68.69 [[ 8.52343738e-01 -4.08947421e-01 3.25994110e-01 -1.12335094e+02] [ 4.50967447e-01 8.90373317e-01 -6.21588146e-02 1.01360124e+01] [-2.64836770e-01 1.99993408e-01 9.43326095e-01 6.86947824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61907232899995 meters Centerline goodness : 0.768182 with order 1 Centerline is valid? [False, False] Translation: X:-112.39, Y:10.15, Z:68.72 [[ 8.46278609e-01 -4.18273121e-01 3.29939559e-01 -1.12393279e+02] [ 4.61331763e-01 8.85113672e-01 -6.12110431e-02 1.01501458e+01] [-2.66431080e-01 2.04013195e-01 9.42015444e-01 6.87170100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67907232899995 meters Centerline goodness : 0.768376 with order 1 Centerline is valid? [False, False] Translation: X:-112.43, Y:10.16, Z:68.73 [[ 8.50281928e-01 -4.09546833e-01 3.30593458e-01 -1.12433141e+02] [ 4.51624552e-01 8.90276508e-01 -5.86771159e-02 1.01625375e+01] [-2.70288562e-01 1.99196213e-01 9.41947430e-01 6.87304835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73907232899995 meters Centerline goodness : 0.768373 with order 1 Centerline is valid? [False, False] Translation: X:-112.48, Y:10.18, Z:68.75 [[ 8.51326650e-01 -4.06485792e-01 3.31680926e-01 -1.12484780e+02] [ 4.47448870e-01 8.92647316e-01 -5.45002611e-02 1.01846731e+01] [-2.73920506e-01 1.94807780e-01 9.41816057e-01 6.87548245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79907232899996 meters Centerline goodness : 0.767105 with order 1 Centerline is valid? [False, False] Translation: X:-112.55, Y:10.20, Z:68.78 [[ 8.52158977e-01 -4.05455450e-01 3.30803500e-01 -1.12546373e+02] [ 4.47197374e-01 8.92551469e-01 -5.80205454e-02 1.02048511e+01] [-2.71734403e-01 1.97377185e-01 9.41914360e-01 6.87773172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85907232899996 meters Centerline goodness : 0.764289 with order 1 Centerline is valid? [False, False] Translation: X:-112.60, Y:10.22, Z:68.80 [[ 8.53009643e-01 -4.04304008e-01 3.30019421e-01 -1.12603615e+02] [ 4.47245532e-01 8.92190233e-01 -6.29922458e-02 1.02225394e+01] [-2.68972086e-01 2.01332704e-01 9.41870033e-01 6.87967651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91907232899996 meters Centerline goodness : 0.766776 with order 1 Centerline is valid? [False, False] Translation: X:-112.67, Y:10.24, Z:68.82 [[ 8.52259378e-01 -4.04577142e-01 3.31619194e-01 -1.12668216e+02] [ 4.49982998e-01 8.90263647e-01 -7.03273777e-02 1.02429216e+01] [-2.66775663e-01 2.09160166e-01 9.40788377e-01 6.88225350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97907232899996 meters Centerline goodness : 0.769611 with order 1 Centerline is valid? [False, False] Translation: X:-112.72, Y:10.26, Z:68.85 [[ 8.50595140e-01 -4.07380089e-01 3.32459578e-01 -1.12720503e+02] [ 4.51535715e-01 8.89895814e-01 -6.48146425e-02 1.02579841e+01] [-2.69450192e-01 2.05248393e-01 9.40887714e-01 6.88454066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03907232899996 meters Centerline goodness : 0.769080 with order 1 Centerline is valid? [False, False] Translation: X:-112.77, Y:10.28, Z:68.87 [[ 8.48366419e-01 -4.11507782e-01 3.33070209e-01 -1.12769824e+02] [ 4.55134790e-01 8.88274172e-01 -6.18168088e-02 1.02755805e+01] [-2.70419566e-01 2.04035144e-01 9.40873487e-01 6.88654449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09907232899997 meters Centerline goodness : 0.771611 with order 1 Centerline is valid? [False, False] Translation: X:-112.82, Y:10.30, Z:68.88 [[ 8.54118388e-01 -3.98925092e-01 3.33677313e-01 -1.12818251e+02] [ 4.40548914e-01 8.95946499e-01 -5.65378209e-02 1.02996615e+01] [-2.76402665e-01 1.95291170e-01 9.40990396e-01 6.88835744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15907232899997 meters Centerline goodness : 0.773024 with order 1 Centerline is valid? [False, False] Translation: X:-112.87, Y:10.32, Z:68.91 [[ 8.55177535e-01 -3.95778321e-01 3.34710180e-01 -1.12871104e+02] [ 4.35697833e-01 8.98671626e-01 -5.05638981e-02 1.03221667e+01] [-2.80782447e-01 1.89073610e-01 9.40963542e-01 6.89079333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21907232899997 meters Centerline goodness : 0.774317 with order 1 Centerline is valid? [False, False] Translation: X:-112.93, Y:10.35, Z:68.93 [[ 8.59002707e-01 -3.87985484e-01 3.34038341e-01 -1.12931048e+02] [ 4.29315224e-01 9.01348008e-01 -5.70982233e-02 1.03496447e+01] [-2.78931512e-01 1.92455274e-01 9.40828454e-01 6.89337703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279072329 meters Centerline goodness : 0.773567 with order 1 Centerline is valid? [False, False] Translation: X:-112.99, Y:10.37, Z:68.96 [[ 8.63297958e-01 -3.80393132e-01 3.31689162e-01 -1.12985905e+02] [ 4.22665148e-01 9.04075587e-01 -6.32574625e-02 1.03729409e+01] [-2.75809369e-01 1.94803487e-01 9.41265528e-01 6.89588518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339072329 meters Centerline goodness : 0.770934 with order 1 Centerline is valid? [False, False] Translation: X:-113.03, Y:10.39, Z:68.98 [[ 8.65956595e-01 -3.75720699e-01 3.30080493e-01 -1.13026927e+02] [ 4.15822210e-01 9.07607638e-01 -5.77950207e-02 1.03881478e+01] [-2.77868791e-01 1.87302780e-01 9.42181831e-01 6.89765769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399072329 meters Centerline goodness : 0.772543 with order 1 Centerline is valid? [False, False] Translation: X:-113.07, Y:10.41, Z:68.99 [[ 8.68306018e-01 -3.67656822e-01 3.32976155e-01 -1.13074085e+02] [ 4.07508161e-01 9.11466597e-01 -5.62649175e-02 1.04050509e+01] [-2.82810462e-01 1.84545667e-01 9.41255087e-01 6.89924514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459072329 meters Centerline goodness : 0.772640 with order 1 Centerline is valid? [False, False] Translation: X:-113.12, Y:10.42, Z:69.01 [[ 8.67412612e-01 -3.68930951e-01 3.33894167e-01 -1.13119000e+02] [ 4.08771612e-01 9.10954285e-01 -5.53900688e-02 1.04203076e+01] [-2.83727211e-01 1.84532501e-01 9.40981735e-01 6.90133606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519072329 meters Centerline goodness : 0.772490 with order 1 Centerline is valid? [False, False] Translation: X:-113.16, Y:10.44, Z:69.03 [[ 8.70209404e-01 -3.59460784e-01 3.36932541e-01 -1.13164233e+02] [ 3.99084891e-01 9.15309276e-01 -5.42234203e-02 1.04352886e+01] [-2.88906287e-01 1.81650416e-01 9.39966108e-01 6.90316789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579072329 meters Centerline goodness : 0.772097 with order 1 Centerline is valid? [False, False] Translation: X:-113.21, Y:10.45, Z:69.06 [[ 8.68945711e-01 -3.61361186e-01 3.38158904e-01 -1.13213349e+02] [ 4.00705217e-01 9.14719645e-01 -5.21852399e-02 1.04523790e+01] [-2.90462872e-01 1.80848177e-01 9.39641025e-01 6.90551601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639072329 meters Centerline goodness : 0.773203 with order 1 Centerline is valid? [False, False] Translation: X:-113.26, Y:10.47, Z:69.07 [[ 8.68377554e-01 -3.63807437e-01 3.36993431e-01 -1.13257268e+02] [ 4.01966091e-01 9.14359177e-01 -4.86883754e-02 1.04671072e+01] [-2.90419843e-01 1.77739824e-01 9.40247239e-01 6.90747371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699072329 meters Centerline goodness : 0.771640 with order 1 Centerline is valid? [False, False] Translation: X:-113.31, Y:10.48, Z:69.10 [[ 8.66161049e-01 -3.69622969e-01 3.36368693e-01 -1.13307686e+02] [ 4.06828013e-01 9.12395797e-01 -4.49986458e-02 1.04827583e+01] [-2.90268848e-01 1.75820281e-01 9.40654679e-01 6.90962075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759072329 meters Centerline goodness : 0.768766 with order 1 Centerline is valid? [False, False] Translation: X:-113.36, Y:10.50, Z:69.11 [[ 8.67536439e-01 -3.68843274e-01 3.33669247e-01 -1.13362269e+02] [ 4.06981507e-01 9.12070744e-01 -4.99300652e-02 1.05003290e+01] [-2.85913589e-01 1.79113364e-01 9.41366997e-01 6.91139042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819072329 meters Centerline goodness : 0.769002 with order 1 Centerline is valid? [False, False] Translation: X:-113.42, Y:10.52, Z:69.13 [[ 8.69238621e-01 -3.65789773e-01 3.32598950e-01 -1.13418399e+02] [ 4.05226160e-01 9.12533267e-01 -5.54508413e-02 1.05206555e+01] [-2.83224256e-01 1.82977808e-01 9.41436744e-01 6.91349939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879072329 meters Centerline goodness : 0.770608 with order 1 Centerline is valid? [False, False] Translation: X:-113.47, Y:10.53, Z:69.16 [[ 8.66764299e-01 -3.70115784e-01 3.34266295e-01 -1.13465896e+02] [ 4.09706836e-01 9.10610899e-01 -5.41119234e-02 1.05340717e+01] [-2.84358854e-01 1.83853469e-01 9.40923984e-01 6.91557387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93907232899994 meters Centerline goodness : 0.770814 with order 1 Centerline is valid? [False, False] Translation: X:-113.52, Y:10.55, Z:69.18 [[ 8.64927443e-01 -3.73202483e-01 3.35589667e-01 -1.13516475e+02] [ 4.12403680e-01 9.09549372e-01 -5.14115247e-02 1.05497597e+01] [-2.86048462e-01 1.82865652e-01 9.40604290e-01 6.91777402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99907232899994 meters Centerline goodness : 0.769620 with order 1 Centerline is valid? [False, False] Translation: X:-113.58, Y:10.57, Z:69.20 [[ 8.65352865e-01 -3.72689723e-01 3.35062368e-01 -1.13575629e+02] [ 4.13357565e-01 9.08801549e-01 -5.67033404e-02 1.05704869e+01] [-2.83372447e-01 1.87568962e-01 9.40488140e-01 6.92008845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05907232899995 meters Centerline goodness : 0.766510 with order 1 Centerline is valid? [False, False] Translation: X:-113.64, Y:10.59, Z:69.22 [[ 8.66245457e-01 -3.71936186e-01 3.33589990e-01 -1.13636495e+02] [ 4.13138244e-01 9.08713202e-01 -5.96414910e-02 1.05922825e+01] [-2.80954799e-01 1.89482953e-01 9.40829746e-01 6.92239048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11907232899995 meters Centerline goodness : 0.766097 with order 1 Centerline is valid? [False, False] Translation: X:-113.68, Y:10.61, Z:69.24 [[ 8.64442463e-01 -3.75855508e-01 3.33874027e-01 -1.13683412e+02] [ 4.16225323e-01 9.07534648e-01 -5.60119863e-02 1.06068701e+01] [-2.81949835e-01 1.87385964e-01 9.40952066e-01 6.92433479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17907232899995 meters Centerline goodness : 0.763035 with order 1 Centerline is valid? [False, False] Translation: X:-113.74, Y:10.63, Z:69.27 [[ 8.66386039e-01 -3.72231370e-01 3.32894936e-01 -1.13741291e+02] [ 4.13783205e-01 9.08311852e-01 -6.12620532e-02 1.06264357e+01] [-2.79568758e-01 1.90822921e-01 9.40971797e-01 6.92668357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23907232899995 meters Centerline goodness : 0.762008 with order 1 Centerline is valid? [False, False] Translation: X:-113.79, Y:10.65, Z:69.29 [[ 8.67904688e-01 -3.70310695e-01 3.31076186e-01 -1.13787416e+02] [ 4.09463321e-01 9.10679691e-01 -5.47931479e-02 1.06463863e+01] [-2.81213870e-01 1.83118785e-01 9.42011820e-01 6.92874690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29907232899996 meters Centerline goodness : 0.760896 with order 1 Centerline is valid? [False, False] Translation: X:-113.84, Y:10.67, Z:69.31 [[ 8.70214348e-01 -3.61752154e-01 3.34458320e-01 -1.13838721e+02] [ 4.00600039e-01 9.14722546e-01 -5.29364927e-02 1.06678089e+01] [-2.86786676e-01 1.80050112e-01 9.40922611e-01 6.93079268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35907232899996 meters Centerline goodness : 0.760018 with order 1 Centerline is valid? [False, False] Translation: X:-113.88, Y:10.68, Z:69.33 [[ 8.69969771e-01 -3.61937453e-01 3.34893831e-01 -1.13882999e+02] [ 4.00029129e-01 9.15129539e-01 -5.01460255e-02 1.06837618e+01] [-2.88321512e-01 1.77592814e-01 9.40920559e-01 6.93279269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41907232899996 meters Centerline goodness : 0.760501 with order 1 Centerline is valid? [False, False] Translation: X:-113.94, Y:10.70, Z:69.35 [[ 8.71175949e-01 -3.58707353e-01 3.35233501e-01 -1.13941235e+02] [ 3.98911426e-01 9.15192427e-01 -5.73802665e-02 1.07037789e+01] [-2.86220438e-01 1.83716782e-01 9.40386093e-01 6.93528054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47907232899996 meters Centerline goodness : 0.759343 with order 1 Centerline is valid? [False, False] Translation: X:-113.99, Y:10.72, Z:69.38 [[ 8.70665376e-01 -3.60694865e-01 3.34426401e-01 -1.13989470e+02] [ 3.99565642e-01 9.15159001e-01 -5.32099667e-02 1.07228179e+01] [-2.86860769e-01 1.79953375e-01 9.40918531e-01 6.93752935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53907232899996 meters Centerline goodness : 0.759965 with order 1 Centerline is valid? [False, False] Translation: X:-114.04, Y:10.74, Z:69.40 [[ 8.73380404e-01 -3.55813305e-01 3.32571137e-01 -1.14042331e+02] [ 3.95871635e-01 9.16397216e-01 -5.91759299e-02 1.07441312e+01] [-2.83711681e-01 1.83338577e-01 9.41219766e-01 6.93967986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59907232899997 meters Centerline goodness : 0.757898 with order 1 Centerline is valid? [False, False] Translation: X:-114.09, Y:10.76, Z:69.42 [[ 8.73314894e-01 -3.57575788e-01 3.30848381e-01 -1.14086362e+02] [ 3.96014375e-01 9.16615737e-01 -5.46644878e-02 1.07589726e+01] [-2.83714135e-01 1.78760026e-01 9.42099327e-01 6.94167878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65907232899997 meters Centerline goodness : 0.754135 with order 1 Centerline is valid? [False, False] Translation: X:-114.13, Y:10.77, Z:69.44 [[ 8.71568135e-01 -3.62365838e-01 3.30242313e-01 -1.14131534e+02] [ 4.00109064e-01 9.14993280e-01 -5.19618594e-02 1.07711364e+01] [-2.83340294e-01 1.77421244e-01 9.42464843e-01 6.94356653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71907232899997 meters Centerline goodness : 0.753513 with order 1 Centerline is valid? [False, False] Translation: X:-114.18, Y:10.78, Z:69.46 [[ 8.68941025e-01 -3.69274443e-01 3.29511578e-01 -1.14180557e+02] [ 4.06653153e-01 9.12208934e-01 -5.00806714e-02 1.07830910e+01] [-2.82089893e-01 1.77514072e-01 9.42822383e-01 6.94568579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779072329 meters Centerline goodness : 0.746690 with order 1 Centerline is valid? [False, False] Translation: X:-114.24, Y:10.80, Z:69.48 [[ 8.67630235e-01 -3.74964465e-01 3.26526300e-01 -1.14240089e+02] [ 4.13103991e-01 9.09097839e-01 -5.37234766e-02 1.07993128e+01] [-2.76699959e-01 1.81501430e-01 9.43660089e-01 6.94778353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839072329 meters Centerline goodness : 0.744379 with order 1 Centerline is valid? [False, False] Translation: X:-114.29, Y:10.82, Z:69.50 [[ 8.70439426e-01 -3.68597649e-01 3.26298911e-01 -1.14291884e+02] [ 4.06824585e-01 9.11836307e-01 -5.52114601e-02 1.08176698e+01] [-2.77180380e-01 1.80804651e-01 9.43652857e-01 6.94956936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899072329 meters Centerline goodness : 0.744948 with order 1 Centerline is valid? [False, False] Translation: X:-114.34, Y:10.83, Z:69.51 [[ 8.68105752e-01 -3.73663548e-01 3.26753662e-01 -1.14341025e+02] [ 4.11360043e-01 9.09972779e-01 -5.22729043e-02 1.08347508e+01] [-2.77804459e-01 1.79791809e-01 9.43662857e-01 6.95144002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959072329 meters Centerline goodness : 0.745850 with order 1 Centerline is valid? [False, False] Translation: X:-114.39, Y:10.85, Z:69.53 [[ 8.68194776e-01 -3.68778882e-01 3.32024045e-01 -1.14393693e+02] [ 4.07227864e-01 9.11841669e-01 -5.20599407e-02 1.08544896e+01] [-2.83554753e-01 1.80407611e-01 9.41833210e-01 6.95337063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019072329 meters Centerline goodness : 0.742977 with order 1 Centerline is valid? [False, False] Translation: X:-114.44, Y:10.87, Z:69.55 [[ 8.68858610e-01 -3.68177448e-01 3.30953295e-01 -1.14439084e+02] [ 4.04671651e-01 9.13284842e-01 -4.63858979e-02 1.08741064e+01] [-2.85176386e-01 1.74230203e-01 9.42506374e-01 6.95540190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079072329 meters Centerline goodness : 0.739787 with order 1 Centerline is valid? [False, False] Translation: X:-114.49, Y:10.90, Z:69.58 [[ 8.72001106e-01 -3.62443638e-01 3.29011672e-01 -1.14494960e+02] [ 3.99654022e-01 9.15247317e-01 -5.09805061e-02 1.08993542e+01] [-2.82649490e-01 1.75945895e-01 9.42948730e-01 6.95770996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139072329 meters Centerline goodness : 0.745919 with order 1 Centerline is valid? [False, False] Translation: X:-114.55, Y:10.92, Z:69.60 [[ 8.72309400e-01 -3.56321901e-01 3.34829827e-01 -1.14548346e+02] [ 3.94787561e-01 9.17279512e-01 -5.23553151e-02 1.09190734e+01] [-2.88477195e-01 1.77856684e-01 9.40822995e-01 6.95984540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199072329 meters Centerline goodness : 0.746341 with order 1 Centerline is valid? [False, False] Translation: X:-114.60, Y:10.94, Z:69.62 [[ 8.75653922e-01 -3.50455533e-01 3.32281699e-01 -1.14602197e+02] [ 3.89482939e-01 9.19278262e-01 -5.68376449e-02 1.09408818e+01] [-2.85540276e-01 1.79188159e-01 9.41466067e-01 6.96201314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259072329 meters Centerline goodness : 0.748152 with order 1 Centerline is valid? [False, False] Translation: X:-114.65, Y:10.96, Z:69.64 [[ 8.75285389e-01 -3.52252166e-01 3.31351624e-01 -1.14645243e+02] [ 3.90280977e-01 9.19119264e-01 -5.38566402e-02 1.09558655e+01] [-2.85580542e-01 1.76460166e-01 9.41968982e-01 6.96400865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319072329 meters Centerline goodness : 0.753818 with order 1 Centerline is valid? [False, False] Translation: X:-114.70, Y:10.98, Z:69.66 [[ 8.76932765e-01 -3.48206298e-01 3.31272245e-01 -1.14703075e+02] [ 3.87793144e-01 9.19809472e-01 -5.97244790e-02 1.09769237e+01] [-2.83910909e-01 1.80839458e-01 9.41643078e-01 6.96648869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379072329 meters Centerline goodness : 0.757902 with order 1 Centerline is valid? [False, False] Translation: X:-114.75, Y:10.99, Z:69.69 [[ 8.74575409e-01 -3.53414792e-01 3.31987708e-01 -1.14750775e+02] [ 3.92536616e-01 9.17977221e-01 -5.68579565e-02 1.09889524e+01] [-2.84662710e-01 1.80043902e-01 9.41568550e-01 6.96852008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43907232899994 meters Centerline goodness : 0.756076 with order 1 Centerline is valid? [False, False] Translation: X:-114.79, Y:11.00, Z:69.70 [[ 8.73610655e-01 -3.57648635e-01 3.29987692e-01 -1.14792873e+02] [ 3.95186897e-01 9.17114792e-01 -5.22281002e-02 1.09996482e+01] [-2.83957285e-01 1.76033837e-01 9.42539309e-01 6.97009681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49907232899994 meters Centerline goodness : 0.756577 with order 1 Centerline is valid? [False, False] Translation: X:-114.84, Y:11.01, Z:69.72 [[ 8.72471936e-01 -3.61918426e-01 3.28340942e-01 -1.14836419e+02] [ 3.98487488e-01 9.15844379e-01 -4.93639129e-02 1.10111942e+01] [-2.82843496e-01 1.73908386e-01 9.43268482e-01 6.97183590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55907232899995 meters Centerline goodness : 0.759952 with order 1 Centerline is valid? [False, False] Translation: X:-114.90, Y:11.03, Z:69.74 [[ 8.71036629e-01 -3.64001179e-01 3.29845924e-01 -1.14900587e+02] [ 4.02697543e-01 9.13670890e-01 -5.51379559e-02 1.10331786e+01] [-2.81300337e-01 1.80855322e-01 9.42423192e-01 6.97434145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61907232899995 meters Centerline goodness : 0.757401 with order 1 Centerline is valid? [False, False] Translation: X:-114.96, Y:11.06, Z:69.76 [[ 8.72626026e-01 -3.64571912e-01 3.24978675e-01 -1.14958805e+02] [ 4.02375762e-01 9.13801777e-01 -5.53177871e-02 1.10552925e+01] [-2.76798779e-01 1.79035283e-01 9.44102115e-01 6.97639784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67907232899995 meters Centerline goodness : 0.760682 with order 1 Centerline is valid? [False, False] Translation: X:-115.00, Y:11.07, Z:69.78 [[ 8.71019962e-01 -3.67221848e-01 3.26300996e-01 -1.15004993e+02] [ 4.04941751e-01 9.12763617e-01 -5.37099371e-02 1.10700661e+01] [-2.78112215e-01 1.78915324e-01 9.43738790e-01 6.97845988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73907232899995 meters Centerline goodness : 0.768355 with order 1 Centerline is valid? [False, False] Translation: X:-115.06, Y:11.09, Z:69.81 [[ 8.69031785e-01 -3.66775142e-01 3.32053838e-01 -1.15058426e+02] [ 4.05613598e-01 9.12467735e-01 -5.36678813e-02 1.10854147e+01] [-2.83304369e-01 1.81324647e-01 9.41732450e-01 6.98075769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79907232899996 meters Centerline goodness : 0.767184 with order 1 Centerline is valid? [False, False] Translation: X:-115.12, Y:11.10, Z:69.83 [[ 8.68178649e-01 -3.69546960e-01 3.31211229e-01 -1.15115818e+02] [ 4.08652673e-01 9.11051137e-01 -5.46700911e-02 1.11048705e+01] [-2.81547200e-01 1.82813760e-01 9.41971498e-01 6.98299743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85907232899996 meters Centerline goodness : 0.764761 with order 1 Centerline is valid? [False, False] Translation: X:-115.17, Y:11.12, Z:69.85 [[ 8.67961512e-01 -3.73620503e-01 3.27185778e-01 -1.15173804e+02] [ 4.12856483e-01 9.08996486e-01 -5.72268532e-02 1.11232765e+01] [-2.76029597e-01 1.84751476e-01 9.43225611e-01 6.98506612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91907232899996 meters Centerline goodness : 0.763822 with order 1 Centerline is valid? [False, False] Translation: X:-115.22, Y:11.14, Z:69.87 [[ 8.67462783e-01 -3.75463045e-01 3.26398257e-01 -1.15215155e+02] [ 4.13902198e-01 9.08673204e-01 -5.47537987e-02 1.11354937e+01] [-2.76031322e-01 1.82593838e-01 9.43645166e-01 6.98672633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97907232899996 meters Centerline goodness : 0.763268 with order 1 Centerline is valid? [False, False] Translation: X:-115.28, Y:11.15, Z:69.89 [[ 8.67893393e-01 -3.73826388e-01 3.27131305e-01 -1.15275271e+02] [ 4.14153089e-01 9.08162853e-01 -6.09709011e-02 1.11538875e+01] [-2.74295968e-01 1.88398683e-01 9.43009893e-01 6.98896365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03907232899996 meters Centerline goodness : 0.765761 with order 1 Centerline is valid? [False, False] Translation: X:-115.32, Y:11.17, Z:69.91 [[ 8.65235543e-01 -3.78830663e-01 3.28412521e-01 -1.15324282e+02] [ 4.18403265e-01 9.06491835e-01 -5.66679791e-02 1.11671918e+01] [-2.76235701e-01 1.86440021e-01 9.42832942e-01 6.99069218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09907232899997 meters Centerline goodness : 0.765459 with order 1 Centerline is valid? [False, False] Translation: X:-115.38, Y:11.18, Z:69.93 [[ 8.60578717e-01 -3.87010133e-01 3.31100330e-01 -1.15380908e+02] [ 4.26496552e-01 9.02927319e-01 -5.31314279e-02 1.11804874e+01] [-2.78397132e-01 1.86936925e-01 9.42098521e-01 6.99288440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15907232899997 meters Centerline goodness : 0.767224 with order 1 Centerline is valid? [False, False] Translation: X:-115.43, Y:11.19, Z:69.95 [[ 8.59602239e-01 -3.89170294e-01 3.31104929e-01 -1.15425323e+02] [ 4.27985955e-01 9.02373418e-01 -5.04998708e-02 1.11940789e+01] [-2.79127237e-01 1.85118061e-01 9.42241630e-01 6.99478919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21907232899997 meters Centerline goodness : 0.766330 with order 1 Centerline is valid? [False, False] Translation: X:-115.47, Y:11.21, Z:69.97 [[ 8.57784351e-01 -3.92740634e-01 3.31603381e-01 -1.15474728e+02] [ 4.30896932e-01 9.01159079e-01 -4.73302097e-02 1.12097944e+01] [-2.80238901e-01 1.83485993e-01 9.42230889e-01 6.99688209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279072329 meters Centerline goodness : 0.765534 with order 1 Centerline is valid? [False, False] Translation: X:-115.53, Y:11.23, Z:69.99 [[ 8.58218948e-01 -3.92537319e-01 3.30718447e-01 -1.15531947e+02] [ 4.32328286e-01 9.00126775e-01 -5.35167483e-02 1.12274174e+01] [-2.76681208e-01 1.88908027e-01 9.42210840e-01 6.99874367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339072329 meters Centerline goodness : 0.766392 with order 1 Centerline is valid? [False, False] Translation: X:-115.58, Y:11.24, Z:70.01 [[ 8.57471037e-01 -3.94133649e-01 3.30759864e-01 -1.15580082e+02] [ 4.32603619e-01 9.00266017e-01 -4.87360946e-02 1.12442957e+01] [-2.78563330e-01 1.84877704e-01 9.42455678e-01 7.00079158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399072329 meters Centerline goodness : 0.766302 with order 1 Centerline is valid? [False, False] Translation: X:-115.62, Y:11.26, Z:70.03 [[ 8.56418984e-01 -3.96967604e-01 3.30095811e-01 -1.15624737e+02] [ 4.34563828e-01 8.99477797e-01 -4.57599459e-02 1.12607217e+01] [-2.78748637e-01 1.82637386e-01 9.42837623e-01 7.00256592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459072329 meters Centerline goodness : 0.764032 with order 1 Centerline is valid? [False, False] Translation: X:-115.68, Y:11.28, Z:70.05 [[ 8.56144327e-01 -3.97021196e-01 3.30743195e-01 -1.15684495e+02] [ 4.36672184e-01 8.98100654e-01 -5.22744465e-02 1.12802783e+01] [-2.76286617e-01 1.89180824e-01 9.42271893e-01 7.00457082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519072329 meters Centerline goodness : 0.766493 with order 1 Centerline is valid? [False, False] Translation: X:-115.73, Y:11.30, Z:70.07 [[ 8.55120970e-01 -3.97883360e-01 3.32350657e-01 -1.15728997e+02] [ 4.37779757e-01 8.97588190e-01 -5.18104755e-02 1.12957377e+01] [-2.77699499e-01 1.89800614e-01 9.41731764e-01 7.00662424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579072329 meters Centerline goodness : 0.767894 with order 1 Centerline is valid? [False, False] Translation: X:-115.77, Y:11.31, Z:70.09 [[ 8.55064045e-01 -3.97291020e-01 3.33204628e-01 -1.15773881e+02] [ 4.36691779e-01 8.98241259e-01 -4.96279224e-02 1.13098193e+01] [-2.79581417e-01 1.87942774e-01 9.41547527e-01 7.00875866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639072329 meters Centerline goodness : 0.767897 with order 1 Centerline is valid? [False, False] Translation: X:-115.83, Y:11.33, Z:70.11 [[ 8.57242676e-01 -3.92547571e-01 3.33228748e-01 -1.15833638e+02] [ 4.33495773e-01 8.99436530e-01 -5.56358119e-02 1.13326962e+01] [-2.77878406e-01 1.92146646e-01 9.41203091e-01 7.01115322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699072329 meters Centerline goodness : 0.765483 with order 1 Centerline is valid? [False, False] Translation: X:-115.89, Y:11.35, Z:70.13 [[ 8.58046800e-01 -3.91640583e-01 3.32224837e-01 -1.15893186e+02] [ 4.33924217e-01 8.98876866e-01 -6.10749826e-02 1.13542427e+01] [-2.74709779e-01 1.96565596e-01 9.41220752e-01 7.01334317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759072329 meters Centerline goodness : 0.764713 with order 1 Centerline is valid? [False, False] Translation: X:-115.94, Y:11.37, Z:70.15 [[ 8.57767723e-01 -3.93581262e-01 3.30648338e-01 -1.15937133e+02] [ 4.34443610e-01 8.98890084e-01 -5.70558190e-02 1.13696260e+01] [-2.74760411e-01 1.92588698e-01 9.42027765e-01 7.01519390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819072329 meters Centerline goodness : 0.760806 with order 1 Centerline is valid? [False, False] Translation: X:-115.99, Y:11.39, Z:70.17 [[ 8.63238544e-01 -3.85292319e-01 3.26142677e-01 -1.15991098e+02] [ 4.25312912e-01 9.03134556e-01 -5.87954071e-02 1.13928859e+01] [-2.71897303e-01 1.89467153e-01 9.43490357e-01 7.01723539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879072329 meters Centerline goodness : 0.759093 with order 1 Centerline is valid? [False, False] Translation: X:-116.04, Y:11.41, Z:70.19 [[ 8.65796406e-01 -3.77340143e-01 3.28650270e-01 -1.16038111e+02] [ 4.17160458e-01 9.07006542e-01 -5.75871955e-02 1.14087971e+01] [-2.76357984e-01 1.86958684e-01 9.42694391e-01 7.01891817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93907232899994 meters Centerline goodness : 0.758967 with order 1 Centerline is valid? [False, False] Translation: X:-116.09, Y:11.43, Z:70.21 [[ 8.67047789e-01 -3.71445813e-01 3.32048399e-01 -1.16090370e+02] [ 4.11545723e-01 9.09597994e-01 -5.71104770e-02 1.14274465e+01] [-2.80817110e-01 1.86170611e-01 9.41531866e-01 7.02086367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99907232899994 meters Centerline goodness : 0.760397 with order 1 Centerline is valid? [False, False] Translation: X:-116.14, Y:11.45, Z:70.23 [[ 8.67590851e-01 -3.67133624e-01 3.35408732e-01 -1.16139944e+02] [ 4.07350153e-01 9.11559733e-01 -5.58990725e-02 1.14460957e+01] [-2.85222665e-01 1.85126322e-01 9.40412822e-01 7.02280381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05907232899995 meters Centerline goodness : 0.760742 with order 1 Centerline is valid? [False, False] Translation: X:-116.19, Y:11.46, Z:70.25 [[ 8.67133469e-01 -3.68743920e-01 3.34824534e-01 -1.16185269e+02] [ 4.07803674e-01 9.11575526e-01 -5.22132622e-02 1.14632057e+01] [-2.85964527e-01 1.81818542e-01 9.40832773e-01 7.02477548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11907232899995 meters Centerline goodness : 0.756185 with order 1 Centerline is valid? [False, False] Translation: X:-116.24, Y:11.48, Z:70.27 [[ 8.69602563e-01 -3.65195268e-01 3.32300767e-01 -1.16239612e+02] [ 4.05097444e-01 9.12475981e-01 -5.73031037e-02 1.14840665e+01] [-2.82289646e-01 1.84445117e-01 9.41431121e-01 7.02671761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17907232899995 meters Centerline goodness : 0.758013 with order 1 Centerline is valid? [False, False] Translation: X:-116.29, Y:11.50, Z:70.29 [[ 8.69841009e-01 -3.60927704e-01 3.36315049e-01 -1.16291367e+02] [ 4.01335864e-01 9.14158745e-01 -5.69500990e-02 1.15018632e+01] [-2.86890474e-01 1.84512822e-01 9.40025997e-01 7.02870178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23907232899995 meters Centerline goodness : 0.756559 with order 1 Centerline is valid? [False, False] Translation: X:-116.33, Y:11.52, Z:70.30 [[ 8.71453281e-01 -3.59995008e-01 3.33125762e-01 -1.16330022e+02] [ 3.98292366e-01 9.15766398e-01 -5.22981362e-02 1.15199679e+01] [-2.86238311e-01 1.78256830e-01 9.41430896e-01 7.03038011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29907232899996 meters Centerline goodness : 0.753573 with order 1 Centerline is valid? [False, False] Translation: X:-116.38, Y:11.54, Z:70.33 [[ 8.73864790e-01 -3.56230360e-01 3.30847789e-01 -1.16375739e+02] [ 3.91381010e-01 9.19173415e-01 -4.40583490e-02 1.15432493e+01] [-2.88411571e-01 1.67988582e-01 9.42655081e-01 7.03255652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35907232899996 meters Centerline goodness : 0.755163 with order 1 Centerline is valid? [False, False] Translation: X:-116.43, Y:11.56, Z:70.35 [[ 8.76105915e-01 -3.51341954e-01 3.30147326e-01 -1.16426641e+02] [ 3.88596564e-01 9.19926597e-01 -5.22280194e-02 1.15649045e+01] [-2.85361412e-01 1.74051393e-01 9.42483409e-01 7.03468515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41907232899996 meters Centerline goodness : 0.756238 with order 1 Centerline is valid? [False, False] Translation: X:-116.47, Y:11.59, Z:70.36 [[ 8.80208810e-01 -3.38361247e-01 3.32782388e-01 -1.16470050e+02] [ 3.75247585e-01 9.25491596e-01 -5.15223756e-02 1.15851721e+01] [-2.90554129e-01 1.70226236e-01 9.41595097e-01 7.03647563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47907232899996 meters Centerline goodness : 0.754713 with order 1 Centerline is valid? [False, False] Translation: X:-116.51, Y:11.61, Z:70.39 [[ 8.87180979e-01 -3.26777967e-01 3.25769965e-01 -1.16513974e+02] [ 3.63184826e-01 9.30022163e-01 -5.61743539e-02 1.16117477e+01] [-2.84616746e-01 1.68151526e-01 9.43778773e-01 7.03857245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53907232899996 meters Centerline goodness : 0.754901 with order 1 Centerline is valid? [False, False] Translation: X:-116.56, Y:11.63, Z:70.40 [[ 8.91409636e-01 -3.13998581e-01 3.26793133e-01 -1.16555109e+02] [ 3.49268646e-01 9.35472851e-01 -5.38698243e-02 1.16338272e+01] [-2.88791055e-01 1.62158676e-01 9.43559373e-01 7.04032928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59907232899997 meters Centerline goodness : 0.757868 with order 1 Centerline is valid? [False, False] Translation: X:-116.59, Y:11.65, Z:70.42 [[ 8.93361054e-01 -3.05611894e-01 3.29404610e-01 -1.16591467e+02] [ 3.41383565e-01 9.38294311e-01 -5.53267326e-02 1.16503308e+01] [-2.92169964e-01 1.61880068e-01 9.42566473e-01 7.04192533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65907232899997 meters Centerline goodness : 0.756271 with order 1 Centerline is valid? [False, False] Translation: X:-116.63, Y:11.67, Z:70.44 [[ 8.95630553e-01 -3.02981896e-01 3.25649939e-01 -1.16628343e+02] [ 3.36779647e-01 9.40173424e-01 -5.15111882e-02 1.16677929e+01] [-2.90560460e-01 1.55807265e-01 9.44086180e-01 7.04391442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71907232899997 meters Centerline goodness : 0.755317 with order 1 Centerline is valid? [False, False] Translation: X:-116.66, Y:11.69, Z:70.46 [[ 8.99285169e-01 -3.00015346e-01 3.18240438e-01 -1.16658112e+02] [ 3.30880811e-01 9.42528524e-01 -4.64528795e-02 1.16863508e+01] [-2.86014113e-01 1.47074040e-01 9.46871245e-01 7.04550678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779072329 meters Centerline goodness : 0.757621 with order 1 Centerline is valid? [False, False] Translation: X:-116.70, Y:11.70, Z:70.47 [[ 9.01105200e-01 -2.93297649e-01 3.19352327e-01 -1.16695239e+02] [ 3.23518985e-01 9.45159863e-01 -4.48140599e-02 1.17044343e+01] [-2.88695143e-01 1.43698723e-01 9.46575824e-01 7.04721831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839072329 meters Centerline goodness : 0.757590 with order 1 Centerline is valid? [False, False] Translation: X:-116.73, Y:11.72, Z:70.49 [[ 9.03613372e-01 -2.91798909e-01 3.13586146e-01 -1.16725415e+02] [ 3.20424858e-01 9.46308425e-01 -4.27583326e-02 1.17219849e+01] [-2.84272377e-01 1.39117797e-01 9.48596571e-01 7.04879856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899072329 meters Centerline goodness : 0.758154 with order 1 Centerline is valid? [False, False] Translation: X:-116.76, Y:11.74, Z:70.50 [[ 9.06350984e-01 -2.90290606e-01 3.07016706e-01 -1.16755325e+02] [ 3.17337636e-01 9.47425489e-01 -4.10093623e-02 1.17382621e+01] [-2.78970820e-01 1.34596832e-01 9.50820159e-01 7.05041230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959072329 meters Centerline goodness : 0.757979 with order 1 Centerline is valid? [False, False] Translation: X:-116.79, Y:11.75, Z:70.52 [[ 9.05919554e-01 -2.94187989e-01 3.04570499e-01 -1.16791706e+02] [ 3.21060277e-01 9.46168589e-01 -4.10523939e-02 1.17520802e+01] [-2.76097918e-01 1.34975655e-01 9.51604704e-01 7.05184146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019072329 meters Centerline goodness : 0.757435 with order 1 Centerline is valid? [False, False] Translation: X:-116.83, Y:11.77, Z:70.53 [[ 9.05721931e-01 -2.95924057e-01 3.03474439e-01 -1.16833064e+02] [ 3.21736919e-01 9.46078818e-01 -3.76858791e-02 1.17676925e+01] [-2.75958581e-01 1.31771858e-01 9.52094029e-01 7.05347219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079072329 meters Centerline goodness : 0.759525 with order 1 Centerline is valid? [False, False] Translation: X:-116.87, Y:11.78, Z:70.55 [[ 9.05052381e-01 -2.98567416e-01 3.02882297e-01 -1.16873366e+02] [ 3.24184299e-01 9.45274078e-01 -3.68979379e-02 1.17813006e+01] [-2.75290262e-01 1.31584252e-01 9.52313423e-01 7.05511852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139072329 meters Centerline goodness : 0.761398 with order 1 Centerline is valid? [False, False] Translation: X:-116.92, Y:11.79, Z:70.57 [[ 9.02577321e-01 -3.05008621e-01 3.03848515e-01 -1.16917667e+02] [ 3.31136367e-01 9.42849897e-01 -3.71857300e-02 1.17934106e+01] [-2.75141573e-01 1.34178290e-01 9.51994381e-01 7.05678416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199072329 meters Centerline goodness : 0.759220 with order 1 Centerline is valid? [False, False] Translation: X:-116.96, Y:11.81, Z:70.58 [[ 9.01375023e-01 -3.09517695e-01 3.02856177e-01 -1.16957017e+02] [ 3.35473741e-01 9.41346006e-01 -3.64014542e-02 1.18051283e+01] [-2.73825558e-01 1.34411656e-01 9.52340837e-01 7.05819584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259072329 meters Centerline goodness : 0.762493 with order 1 Centerline is valid? [False, False] Translation: X:-117.00, Y:11.82, Z:70.60 [[ 8.99201716e-01 -3.15093939e-01 3.03565617e-01 -1.16998762e+02] [ 3.41729885e-01 9.39048172e-01 -3.75395335e-02 1.18158854e+01] [-2.73234258e-01 1.37493056e-01 9.52070743e-01 7.05982758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319072329 meters Centerline goodness : 0.760391 with order 1 Centerline is valid? [False, False] Translation: X:-117.04, Y:11.83, Z:70.61 [[ 8.97433777e-01 -3.20719952e-01 3.02904816e-01 -1.17040809e+02] [ 3.47359687e-01 9.37000415e-01 -3.70333764e-02 1.18274150e+01] [-2.71944596e-01 1.38451925e-01 9.52301003e-01 7.06140575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379072329 meters Centerline goodness : 0.761061 with order 1 Centerline is valid? [False, False] Translation: X:-117.09, Y:11.85, Z:70.63 [[ 8.99275384e-01 -3.17634347e-01 3.00686223e-01 -1.17089574e+02] [ 3.46088119e-01 9.37116225e-01 -4.51242032e-02 1.18454087e+01] [-2.67444942e-01 1.44643015e-01 9.52655028e-01 7.06308931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43907232899994 meters Centerline goodness : 0.760359 with order 1 Centerline is valid? [False, False] Translation: X:-117.13, Y:11.86, Z:70.65 [[ 8.96574246e-01 -3.24822273e-01 3.01073268e-01 -1.17133950e+02] [ 3.53206980e-01 9.34529707e-01 -4.35781561e-02 1.18562699e+01] [-2.67206757e-01 1.45412232e-01 9.52604762e-01 7.06452305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49907232899994 meters Centerline goodness : 0.759073 with order 1 Centerline is valid? [False, False] Translation: X:-117.18, Y:11.86, Z:70.66 [[ 8.93703751e-01 -3.32370935e-01 3.01368821e-01 -1.17178464e+02] [ 3.60866895e-01 9.31640934e-01 -4.26644314e-02 1.18647643e+01] [-2.66587113e-01 1.46883393e-01 9.52552665e-01 7.06597187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55907232899995 meters Centerline goodness : 0.760186 with order 1 Centerline is valid? [False, False] Translation: X:-117.22, Y:11.88, Z:70.68 [[ 8.91477970e-01 -3.37105953e-01 3.02698871e-01 -1.17220448e+02] [ 3.66227357e-01 9.29512397e-01 -4.34076896e-02 1.18752337e+01] [-2.66729362e-01 1.49553606e-01 9.52097246e-01 7.06750913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61907232899995 meters Centerline goodness : 0.761511 with order 1 Centerline is valid? [False, False] Translation: X:-117.27, Y:11.89, Z:70.69 [[ 8.88998005e-01 -3.42560560e-01 3.03866435e-01 -1.17267365e+02] [ 3.71359570e-01 9.27594766e-01 -4.07433437e-02 1.18883189e+01] [-2.67907852e-01 1.49064460e-01 9.51843038e-01 7.06918635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67907232899995 meters Centerline goodness : 0.762132 with order 1 Centerline is valid? [False, False] Translation: X:-117.32, Y:11.91, Z:70.71 [[ 8.88413365e-01 -3.43673047e-01 3.04319782e-01 -1.17324868e+02] [ 3.74915178e-01 9.25761757e-01 -4.90283330e-02 1.19056633e+01] [-2.64877900e-01 1.57651532e-01 9.51307360e-01 7.07099885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73907232899995 meters Centerline goodness : 0.760837 with order 1 Centerline is valid? [False, False] Translation: X:-117.37, Y:11.92, Z:70.73 [[ 8.85847748e-01 -3.49701160e-01 3.04930920e-01 -1.17370861e+02] [ 3.80658536e-01 9.23535043e-01 -4.67129793e-02 1.19162576e+01] [-2.65278807e-01 1.57455145e-01 9.51228170e-01 7.07269062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79907232899996 meters Centerline goodness : 0.759276 with order 1 Centerline is valid? [False, False] Translation: X:-117.42, Y:11.93, Z:70.74 [[ 8.82246652e-01 -3.59231926e-01 3.04291419e-01 -1.17420051e+02] [ 3.90257150e-01 9.19560993e-01 -4.59013853e-02 1.19255049e+01] [-2.63325276e-01 1.59248246e-01 9.51472435e-01 7.07444172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85907232899996 meters Centerline goodness : 0.756664 with order 1 Centerline is valid? [False, False] Translation: X:-117.48, Y:11.94, Z:70.76 [[ 8.81701853e-01 -3.62255504e-01 3.02279328e-01 -1.17478687e+02] [ 3.94572063e-01 9.17423259e-01 -5.14533823e-02 1.19431340e+01] [-2.58678816e-01 1.64637521e-01 9.51829689e-01 7.07620039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91907232899996 meters Centerline goodness : 0.755864 with order 1 Centerline is valid? [False, False] Translation: X:-117.52, Y:11.96, Z:70.78 [[ 8.80627385e-01 -3.64835298e-01 3.02308807e-01 -1.17523505e+02] [ 3.96467711e-01 9.16764879e-01 -4.85336027e-02 1.19561073e+01] [-2.59439325e-01 1.62595700e-01 9.51973673e-01 7.07791671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97907232899996 meters Centerline goodness : 0.759988 with order 1 Centerline is valid? [False, False] Translation: X:-117.57, Y:11.97, Z:70.79 [[ 8.81066305e-01 -3.60231792e-01 3.06521160e-01 -1.17570853e+02] [ 3.92538601e-01 9.18432018e-01 -4.89497142e-02 1.19716099e+01] [-2.63885604e-01 1.63449331e-01 9.50604389e-01 7.07938219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03907232899996 meters Centerline goodness : 0.762631 with order 1 Centerline is valid? [False, False] Translation: X:-117.62, Y:11.99, Z:70.81 [[ 8.80432822e-01 -3.61085695e-01 3.07335594e-01 -1.17618036e+02] [ 3.92582534e-01 9.18595931e-01 -4.53923925e-02 1.19905433e+01] [-2.65926683e-01 1.60619539e-01 9.50517945e-01 7.08135513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09907232899997 meters Centerline goodness : 0.762941 with order 1 Centerline is valid? [False, False] Translation: X:-117.66, Y:12.01, Z:70.83 [[ 8.79108633e-01 -3.63828896e-01 3.07890478e-01 -1.17664652e+02] [ 3.94522974e-01 9.17936798e-01 -4.17571225e-02 1.20054797e+01] [-2.67431552e-01 1.58178914e-01 9.50505022e-01 7.08317714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15907232899997 meters Centerline goodness : 0.760545 with order 1 Centerline is valid? [False, False] Translation: X:-117.72, Y:12.02, Z:70.85 [[ 8.80105130e-01 -3.62053922e-01 3.07135015e-01 -1.17719150e+02] [ 3.94846188e-01 9.17384482e-01 -5.00219935e-02 1.20228572e+01] [-2.63650238e-01 1.65295703e-01 9.50350400e-01 7.08507514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21907232899997 meters Centerline goodness : 0.760041 with order 1 Centerline is valid? [False, False] Translation: X:-117.76, Y:12.03, Z:70.87 [[ 8.78636477e-01 -3.65363638e-01 3.07420483e-01 -1.17761488e+02] [ 3.98178757e-01 9.15976096e-01 -4.94112198e-02 1.20346948e+01] [-2.63536751e-01 1.65822806e-01 9.50290049e-01 7.08665773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279072329 meters Centerline goodness : 0.759908 with order 1 Centerline is valid? [False, False] Translation: X:-117.80, Y:12.05, Z:70.88 [[ 8.78384181e-01 -3.67225162e-01 3.05919779e-01 -1.17803631e+02] [ 3.98973157e-01 9.15795517e-01 -4.62492259e-02 1.20485273e+01] [-2.63176082e-01 1.62678368e-01 9.50933277e-01 7.08825426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339072329 meters Centerline goodness : 0.759553 with order 1 Centerline is valid? [False, False] Translation: X:-117.85, Y:12.06, Z:70.90 [[ 8.75792100e-01 -3.72159491e-01 3.07384955e-01 -1.17851821e+02] [ 4.03993351e-01 9.13661769e-01 -4.48502306e-02 1.20615903e+01] [-2.64154443e-01 1.63460956e-01 9.50527720e-01 7.09009982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399072329 meters Centerline goodness : 0.760485 with order 1 Centerline is valid? [False, False] Translation: X:-117.90, Y:12.07, Z:70.92 [[ 8.73193195e-01 -3.77170379e-01 3.08668348e-01 -1.17896601e+02] [ 4.09296729e-01 9.11325875e-01 -4.42869930e-02 1.20746526e+01] [-2.64593710e-01 1.65008046e-01 9.50138155e-01 7.09173310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459072329 meters Centerline goodness : 0.760854 with order 1 Centerline is valid? [False, False] Translation: X:-117.96, Y:12.09, Z:70.94 [[ 8.72183941e-01 -3.78365755e-01 3.10055685e-01 -1.17957445e+02] [ 4.12892936e-01 9.09303808e-01 -5.18267080e-02 1.20930271e+01] [-2.62325364e-01 1.73222225e-01 9.49304727e-01 7.09369425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519072329 meters Centerline goodness : 0.761087 with order 1 Centerline is valid? [False, False] Translation: X:-118.01, Y:12.10, Z:70.96 [[ 8.69496732e-01 -3.83436158e-01 3.11371395e-01 -1.18005497e+02] [ 4.17982806e-01 9.07066580e-01 -5.02055096e-02 1.21043597e+01] [-2.63183979e-01 1.73801416e-01 9.48961148e-01 7.09556563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579072329 meters Centerline goodness : 0.759967 with order 1 Centerline is valid? [False, False] Translation: X:-118.05, Y:12.12, Z:70.97 [[ 8.68683716e-01 -3.85323869e-01 3.11310325e-01 -1.18049263e+02] [ 4.19255728e-01 9.06612227e-01 -4.77378721e-02 1.21182432e+01] [-2.63843206e-01 1.71987749e-01 9.49108517e-01 7.09729238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639072329 meters Centerline goodness : 0.759225 with order 1 Centerline is valid? [False, False] Translation: X:-118.10, Y:12.13, Z:70.99 [[ 8.65350159e-01 -3.91569642e-01 3.12797567e-01 -1.18096574e+02] [ 4.26023695e-01 9.03458321e-01 -4.76116901e-02 1.21317211e+01] [-2.63956273e-01 1.74459959e-01 9.48625747e-01 7.09898758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699072329 meters Centerline goodness : 0.759151 with order 1 Centerline is valid? [False, False] Translation: X:-118.15, Y:12.15, Z:71.01 [[ 8.61809307e-01 -3.97877935e-01 3.14607482e-01 -1.18146526e+02] [ 4.32313775e-01 9.00585066e-01 -4.52917022e-02 1.21458632e+01] [-2.65310231e-01 1.75041959e-01 9.48140704e-01 7.10068933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759072329 meters Centerline goodness : 0.759196 with order 1 Centerline is valid? [False, False] Translation: X:-118.20, Y:12.16, Z:71.03 [[ 8.62743699e-01 -3.96099320e-01 3.14290691e-01 -1.18201840e+02] [ 4.32285859e-01 9.00230906e-01 -5.20888826e-02 1.21634689e+01] [-2.62301822e-01 1.80802776e-01 9.47896677e-01 7.10254588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819072329 meters Centerline goodness : 0.758960 with order 1 Centerline is valid? [False, False] Translation: X:-118.25, Y:12.18, Z:71.04 [[ 8.60494458e-01 -4.00241546e-01 3.15207856e-01 -1.18248816e+02] [ 4.36723353e-01 8.98100890e-01 -5.18411452e-02 1.21770171e+01] [-2.62339476e-01 1.82267650e-01 9.47605669e-01 7.10448013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879072329 meters Centerline goodness : 0.757771 with order 1 Centerline is valid? [False, False] Translation: X:-118.31, Y:12.20, Z:71.06 [[ 8.62793013e-01 -3.97138954e-01 3.12840003e-01 -1.18307098e+02] [ 4.34058635e-01 8.99164134e-01 -5.56503442e-02 1.21993188e+01] [-2.59193591e-01 1.83805633e-01 9.48174125e-01 7.10644260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93907232899994 meters Centerline goodness : 0.754309 with order 1 Centerline is valid? [False, False] Translation: X:-118.35, Y:12.21, Z:71.08 [[ 8.62180802e-01 -3.99082855e-01 3.12053105e-01 -1.18352659e+02] [ 4.34972985e-01 8.98931393e-01 -5.21617941e-02 1.22142749e+01] [-2.59697455e-01 1.80707568e-01 9.48631650e-01 7.10823961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99907232899994 meters Centerline goodness : 0.756212 with order 1 Centerline is valid? [False, False] Translation: X:-118.40, Y:12.23, Z:71.10 [[ 8.63579448e-01 -3.93841319e-01 3.14832578e-01 -1.18397698e+02] [ 4.30140648e-01 9.01236279e-01 -5.24613406e-02 1.22298442e+01] [-2.63077097e-01 1.80726825e-01 9.47696289e-01 7.10984747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05907232899995 meters Centerline goodness : 0.757040 with order 1 Centerline is valid? [False, False] Translation: X:-118.45, Y:12.25, Z:71.11 [[ 8.65579652e-01 -3.86296987e-01 3.18663623e-01 -1.18448209e+02] [ 4.22839756e-01 9.04722191e-01 -5.18102198e-02 1.22502888e+01] [-2.68287919e-01 1.79589520e-01 9.46450842e-01 7.11147018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11907232899995 meters Centerline goodness : 0.757248 with order 1 Centerline is valid? [False, False] Translation: X:-118.50, Y:12.27, Z:71.13 [[ 8.68121288e-01 -3.77953672e-01 3.21739727e-01 -1.18500089e+02] [ 4.14347119e-01 9.08716270e-01 -5.05094718e-02 1.22722273e+01] [-2.73279884e-01 1.77160277e-01 9.45479953e-01 7.11336913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17907232899995 meters Centerline goodness : 0.756616 with order 1 Centerline is valid? [False, False] Translation: X:-118.56, Y:12.29, Z:71.16 [[ 8.71450090e-01 -3.71806207e-01 3.19898243e-01 -1.18555332e+02] [ 4.09459187e-01 9.10537134e-01 -5.71428183e-02 1.22948548e+01] [-2.70033175e-01 1.80782389e-01 9.45727134e-01 7.11563586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23907232899995 meters Centerline goodness : 0.757323 with order 1 Centerline is valid? [False, False] Translation: X:-118.60, Y:12.31, Z:71.17 [[ 8.72180866e-01 -3.67454895e-01 3.22920173e-01 -1.18602713e+02] [ 4.05434827e-01 9.12353354e-01 -5.68679025e-02 1.23122261e+01] [-2.73720913e-01 1.80522181e-01 9.44716150e-01 7.11729376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29907232899996 meters Centerline goodness : 0.756244 with order 1 Centerline is valid? [False, False] Translation: X:-118.65, Y:12.33, Z:71.19 [[ 8.72491241e-01 -3.66494917e-01 3.23172571e-01 -1.18645263e+02] [ 4.03753502e-01 9.13251045e-01 -5.43657800e-02 1.23275278e+01] [-2.75212906e-01 1.77915724e-01 9.44777144e-01 7.11913573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35907232899996 meters Centerline goodness : 0.757054 with order 1 Centerline is valid? [False, False] Translation: X:-118.69, Y:12.34, Z:71.21 [[ 8.72152191e-01 -3.66758508e-01 3.23788128e-01 -1.18688886e+02] [ 4.03601929e-01 9.13427905e-01 -5.24875681e-02 1.23432428e+01] [-2.76506849e-01 1.76458661e-01 9.44672591e-01 7.12108534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41907232899996 meters Centerline goodness : 0.756278 with order 1 Centerline is valid? [False, False] Translation: X:-118.73, Y:12.36, Z:71.23 [[ 8.71434403e-01 -3.69031052e-01 3.23137994e-01 -1.18734951e+02] [ 4.04759180e-01 9.13123366e-01 -4.87413987e-02 1.23595650e+01] [-2.77077763e-01 1.73268001e-01 9.45095822e-01 7.12307830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47907232899996 meters Centerline goodness : 0.749446 with order 1 Centerline is valid? [False, False] Translation: X:-118.79, Y:12.38, Z:71.25 [[ 8.74275099e-01 -3.65404000e-01 3.19566846e-01 -1.18787359e+02] [ 4.01506839e-01 9.14322412e-01 -5.29791047e-02 1.23798370e+01] [-2.72828352e-01 1.74626586e-01 9.46081522e-01 7.12476342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53907232899996 meters Centerline goodness : 0.748974 with order 1 Centerline is valid? [False, False] Translation: X:-118.83, Y:12.39, Z:71.26 [[ 8.74299691e-01 -3.65546231e-01 3.19336818e-01 -1.18827752e+02] [ 4.01418087e-01 9.14399949e-01 -5.23092033e-02 1.23943080e+01] [-2.72880138e-01 1.73921495e-01 9.46196461e-01 7.12647521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59907232899997 meters Centerline goodness : 0.749833 with order 1 Centerline is valid? [False, False] Translation: X:-118.88, Y:12.42, Z:71.29 [[ 8.75551021e-01 -3.62101394e-01 3.19832752e-01 -1.18884374e+02] [ 4.00495099e-01 9.14246505e-01 -6.12944065e-02 1.24151276e+01] [-2.70211185e-01 1.81757830e-01 9.45489295e-01 7.12882888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65907232899997 meters Centerline goodness : 0.750319 with order 1 Centerline is valid? [False, False] Translation: X:-118.93, Y:12.43, Z:71.31 [[ 8.75891483e-01 -3.62499408e-01 3.18446681e-01 -1.18927951e+02] [ 3.99214313e-01 9.15126052e-01 -5.63226619e-02 1.24308250e+01] [-2.71001922e-01 1.76461013e-01 9.46266067e-01 7.13060707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71907232899997 meters Centerline goodness : 0.752929 with order 1 Centerline is valid? [False, False] Translation: X:-118.98, Y:12.45, Z:71.33 [[ 8.75299227e-01 -3.62808596e-01 3.19720480e-01 -1.18976346e+02] [ 3.98681989e-01 9.15585577e-01 -5.24949742e-02 1.24488552e+01] [-2.73685833e-01 1.73415607e-01 9.46056601e-01 7.13274403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779072329 meters Centerline goodness : 0.754733 with order 1 Centerline is valid? [False, False] Translation: X:-119.03, Y:12.47, Z:71.34 [[ 8.75752778e-01 -3.58075550e-01 3.23788468e-01 -1.19027656e+02] [ 3.94403221e-01 9.17457388e-01 -5.21348353e-02 1.24681007e+01] [-2.78393912e-01 1.73360442e-01 9.44692006e-01 7.13446996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839072329 meters Centerline goodness : 0.755050 with order 1 Centerline is valid? [False, False] Translation: X:-119.07, Y:12.48, Z:71.36 [[ 8.76127492e-01 -3.57632126e-01 3.23264413e-01 -1.19070212e+02] [ 3.92677341e-01 9.18412309e-01 -4.82009958e-02 1.24839942e+01] [-2.79651792e-01 1.69168828e-01 9.45080305e-01 7.13629601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899072329 meters Centerline goodness : 0.754199 with order 1 Centerline is valid? [False, False] Translation: X:-119.12, Y:12.51, Z:71.39 [[ 8.79715425e-01 -3.50606675e-01 3.21209793e-01 -1.19124270e+02] [ 3.86633442e-01 9.20652026e-01 -5.39854560e-02 1.25070334e+01] [-2.76794785e-01 1.71682286e-01 9.45468053e-01 7.13863138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959072329 meters Centerline goodness : 0.753327 with order 1 Centerline is valid? [False, False] Translation: X:-119.17, Y:12.52, Z:71.40 [[ 8.80276067e-01 -3.50253905e-01 3.20056632e-01 -1.19167513e+02] [ 3.84763227e-01 9.21681589e-01 -4.96014844e-02 1.25249631e+01] [-2.77617192e-01 1.66809022e-01 9.46099067e-01 7.14048687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019072329 meters Centerline goodness : 0.752197 with order 1 Centerline is valid? [False, False] Translation: X:-119.22, Y:12.54, Z:71.42 [[ 8.82826986e-01 -3.46468900e-01 3.17136901e-01 -1.19219172e+02] [ 3.81792254e-01 9.22618641e-01 -5.48590802e-02 1.25444245e+01] [-2.73589451e-01 1.69511489e-01 9.46791776e-01 7.14230710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079072329 meters Centerline goodness : 0.753283 with order 1 Centerline is valid? [False, False] Translation: X:-119.27, Y:12.57, Z:71.44 [[ 8.85774035e-01 -3.37896595e-01 3.18167017e-01 -1.19269923e+02] [ 3.73783273e-01 9.25733879e-01 -5.74704196e-02 1.25654690e+01] [-2.75118928e-01 1.69831314e-01 9.46291129e-01 7.14418906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139072329 meters Centerline goodness : 0.753883 with order 1 Centerline is valid? [False, False] Translation: X:-119.31, Y:12.58, Z:71.46 [[ 8.90642428e-01 -3.23836377e-01 3.19195967e-01 -1.19311185e+02] [ 3.58005284e-01 9.32204214e-01 -5.31744190e-02 1.25844231e+01] [-2.80336014e-01 1.61633237e-01 9.46195760e-01 7.14582793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199072329 meters Centerline goodness : 0.752882 with order 1 Centerline is valid? [False, False] Translation: X:-119.35, Y:12.60, Z:71.48 [[ 8.93316068e-01 -3.16699660e-01 3.18885133e-01 -1.19349811e+02] [ 3.49189297e-01 9.35778320e-01 -4.88443404e-02 1.26040282e+01] [-2.82936809e-01 1.54984710e-01 9.46533941e-01 7.14776392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259072329 meters Centerline goodness : 0.756039 with order 1 Centerline is valid? [False, False] Translation: X:-119.39, Y:12.62, Z:71.49 [[ 8.95943363e-01 -3.11309555e-01 3.16815167e-01 -1.19385977e+02] [ 3.41959884e-01 9.38650169e-01 -4.47135211e-02 1.26222017e+01] [-2.83458864e-01 1.48398860e-01 9.47432769e-01 7.14949832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319072329 meters Centerline goodness : 0.755038 with order 1 Centerline is valid? [False, False] Translation: X:-119.43, Y:12.64, Z:71.51 [[ 8.96186577e-01 -3.13019368e-01 3.14433608e-01 -1.19425796e+02] [ 3.43129778e-01 9.38259896e-01 -4.39354484e-02 1.26396622e+01] [-2.81267798e-01 1.47265893e-01 9.48262191e-01 7.15141717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379072329 meters Centerline goodness : 0.753483 with order 1 Centerline is valid? [False, False] Translation: X:-119.46, Y:12.65, Z:71.53 [[ 8.98465663e-01 -3.12691821e-01 3.08193570e-01 -1.19457131e+02] [ 3.40838886e-01 9.39240931e-01 -4.06857238e-02 1.26538767e+01] [-2.76745922e-01 1.41599079e-01 9.50453258e-01 7.15274497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43907232899994 meters Centerline goodness : 0.752272 with order 1 Centerline is valid? [False, False] Translation: X:-119.51, Y:12.68, Z:71.55 [[ 9.00973585e-01 -3.07541583e-01 3.06047014e-01 -1.19509907e+02] [ 3.36920131e-01 9.40364170e-01 -4.69047305e-02 1.26772687e+01] [-2.73370491e-01 1.45373323e-01 9.50860227e-01 7.15472538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49907232899994 meters Centerline goodness : 0.753824 with order 1 Centerline is valid? [False, False] Translation: X:-119.55, Y:12.69, Z:71.56 [[ 9.02231944e-01 -3.06091805e-01 3.03785000e-01 -1.19546403e+02] [ 3.34553154e-01 9.41293669e-01 -4.51709717e-02 1.26920188e+01] [-2.72124433e-01 1.42386923e-01 9.51669195e-01 7.15640078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55907232899995 meters Centerline goodness : 0.757730 with order 1 Centerline is valid? [False, False] Translation: X:-119.59, Y:12.71, Z:71.58 [[ 9.02086796e-01 -3.04448669e-01 3.05860132e-01 -1.19589197e+02] [ 3.32833031e-01 9.41957349e-01 -4.40286907e-02 1.27083711e+01] [-2.74702723e-01 1.41518055e-01 9.51057861e-01 7.15839798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61907232899995 meters Centerline goodness : 0.758992 with order 1 Centerline is valid? [False, False] Translation: X:-119.63, Y:12.72, Z:71.60 [[ 9.00700064e-01 -3.09561391e-01 3.04813286e-01 -1.19628659e+02] [ 3.37787660e-01 9.40227517e-01 -4.32633007e-02 1.27194617e+01] [-2.73201192e-01 1.41929424e-01 9.51429003e-01 7.15983557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67907232899995 meters Centerline goodness : 0.757611 with order 1 Centerline is valid? [False, False] Translation: X:-119.67, Y:12.73, Z:71.61 [[ 8.98587310e-01 -3.15783681e-01 3.04666234e-01 -1.19672036e+02] [ 3.43840608e-01 9.38097226e-01 -4.17998793e-02 1.27295549e+01] [-2.72606829e-01 1.42317464e-01 9.51541516e-01 7.16147217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73907232899995 meters Centerline goodness : 0.756436 with order 1 Centerline is valid? [False, False] Translation: X:-119.72, Y:12.74, Z:71.63 [[ 8.95450578e-01 -3.23444496e-01 3.05862583e-01 -1.19719234e+02] [ 3.51872495e-01 9.35138263e-01 -4.12574319e-02 1.27400483e+01] [-2.72679316e-01 1.44568622e-01 9.51181320e-01 7.16327768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79907232899996 meters Centerline goodness : 0.753306 with order 1 Centerline is valid? [False, False] Translation: X:-119.78, Y:12.76, Z:71.65 [[ 8.96117699e-01 -3.23943997e-01 3.03369998e-01 -1.19775308e+02] [ 3.53310990e-01 9.34379735e-01 -4.58895911e-02 1.27568102e+01] [-2.68597121e-01 1.48306429e-01 9.51767193e-01 7.16487677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85907232899996 meters Centerline goodness : 0.751002 with order 1 Centerline is valid? [False, False] Translation: X:-119.82, Y:12.77, Z:71.66 [[ 8.95175050e-01 -3.28858819e-01 3.00854627e-01 -1.19817478e+02] [ 3.57156443e-01 9.33064301e-01 -4.27818333e-02 1.27695757e+01] [-2.66647529e-01 1.45749398e-01 9.52709929e-01 7.16640448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91907232899996 meters Centerline goodness : 0.752587 with order 1 Centerline is valid? [False, False] Translation: X:-119.87, Y:12.79, Z:71.68 [[ 8.97010263e-01 -3.25571783e-01 2.98957527e-01 -1.19870358e+02] [ 3.55430721e-01 9.33364340e-01 -5.00001197e-02 1.27904267e+01] [-2.62757666e-01 1.51109310e-01 9.52955605e-01 7.16830622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97907232899996 meters Centerline goodness : 0.751532 with order 1 Centerline is valid? [False, False] Translation: X:-119.91, Y:12.81, Z:71.70 [[ 8.97710928e-01 -3.25442911e-01 2.96988217e-01 -1.19910445e+02] [ 3.53864846e-01 9.34166512e-01 -4.59630042e-02 1.28059149e+01] [-2.62478113e-01 1.46355181e-01 9.53774293e-01 7.16987556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03907232899996 meters Centerline goodness : 0.751076 with order 1 Centerline is valid? [False, False] Translation: X:-119.96, Y:12.82, Z:71.72 [[ 8.97224830e-01 -3.26119084e-01 2.97714540e-01 -1.19955957e+02] [ 3.53812516e-01 9.34336234e-01 -4.28077762e-02 1.28213955e+01] [-2.64205049e-01 1.43743330e-01 9.53694682e-01 7.17167999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09907232899997 meters Centerline goodness : 0.752817 with order 1 Centerline is valid? [False, False] Translation: X:-120.00, Y:12.84, Z:71.73 [[ 8.96747176e-01 -3.27812228e-01 2.97293871e-01 -1.19998485e+02] [ 3.54760038e-01 9.34097032e-01 -4.01004975e-02 1.28360574e+01] [-2.64555889e-01 1.41427993e-01 9.53943554e-01 7.17327592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15907232899997 meters Centerline goodness : 0.753559 with order 1 Centerline is valid? [False, False] Translation: X:-120.04, Y:12.85, Z:71.75 [[ 8.97022726e-01 -3.25625851e-01 2.98861230e-01 -1.20038224e+02] [ 3.52614525e-01 9.34925803e-01 -3.97081684e-02 1.28491703e+01] [-2.66483069e-01 1.41001940e-01 9.53470097e-01 7.17465330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21907232899997 meters Centerline goodness : 0.755138 with order 1 Centerline is valid? [False, False] Translation: X:-120.08, Y:12.86, Z:71.76 [[ 8.95294845e-01 -3.29204525e-01 3.00119180e-01 -1.20081457e+02] [ 3.56488869e-01 9.33463133e-01 -3.95254971e-02 1.28648125e+01] [-2.67138218e-01 1.42376121e-01 9.53082480e-01 7.17629993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279072329 meters Centerline goodness : 0.759540 with order 1 Centerline is valid? [False, False] Translation: X:-120.13, Y:12.88, Z:71.78 [[ 8.96507025e-01 -3.21428439e-01 3.04891641e-01 -1.20125644e+02] [ 3.49342192e-01 9.36127814e-01 -4.03081807e-02 1.28801553e+01] [-2.72461350e-01 1.42648081e-01 9.51533677e-01 7.17795668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339072329 meters Centerline goodness : 0.759694 with order 1 Centerline is valid? [False, False] Translation: X:-120.17, Y:12.89, Z:71.80 [[ 8.95722400e-01 -3.23699384e-01 3.04795161e-01 -1.20167491e+02] [ 3.51495374e-01 9.35351777e-01 -3.95986789e-02 1.28945864e+01] [-2.72272628e-01 1.42603513e-01 9.51594375e-01 7.17962640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399072329 meters Centerline goodness : 0.756533 with order 1 Centerline is valid? [False, False] Translation: X:-120.22, Y:12.91, Z:71.81 [[ 8.96372822e-01 -3.24417898e-01 3.02107251e-01 -1.20220536e+02] [ 3.53833661e-01 9.34140695e-01 -4.67215423e-02 1.29110752e+01] [-2.67053373e-01 1.48775635e-01 9.52128304e-01 7.18110129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459072329 meters Centerline goodness : 0.755231 with order 1 Centerline is valid? [False, False] Translation: X:-120.26, Y:12.92, Z:71.83 [[ 8.94600973e-01 -3.29738881e-01 3.01598026e-01 -1.20261828e+02] [ 3.59114100e-01 9.32155697e-01 -4.60740643e-02 1.29209492e+01] [-2.65943908e-01 1.49526006e-01 9.52321275e-01 7.18255310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519072329 meters Centerline goodness : 0.757812 with order 1 Centerline is valid? [False, False] Translation: X:-120.30, Y:12.93, Z:71.84 [[ 8.93230717e-01 -3.33386217e-01 3.01649660e-01 -1.20303491e+02] [ 3.62649878e-01 9.30833775e-01 -4.50948957e-02 1.29325827e+01] [-2.65751675e-01 1.49673358e-01 9.52351791e-01 7.18415718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579072329 meters Centerline goodness : 0.756279 with order 1 Centerline is valid? [False, False] Translation: X:-120.35, Y:12.94, Z:71.86 [[ 8.90177110e-01 -3.40700136e-01 3.02503106e-01 -1.20347864e+02] [ 3.70146631e-01 9.27924147e-01 -4.41389670e-02 1.29419751e+01] [-2.65661784e-01 1.51262004e-01 9.52125844e-01 7.18569463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639072329 meters Centerline goodness : 0.753295 with order 1 Centerline is valid? [False, False] Translation: X:-120.41, Y:12.96, Z:71.87 [[ 8.89881446e-01 -3.42551006e-01 3.01280301e-01 -1.20405093e+02] [ 3.73609291e-01 9.26214527e-01 -5.04256615e-02 1.29583019e+01] [-2.61776831e-01 1.57433980e-01 9.52201361e-01 7.18747282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699072329 meters Centerline goodness : 0.756488 with order 1 Centerline is valid? [False, False] Translation: X:-120.46, Y:12.97, Z:71.89 [[ 8.85652962e-01 -3.50080923e-01 3.05060942e-01 -1.20455243e+02] [ 3.82043607e-01 9.22780535e-01 -5.01873175e-02 1.29716528e+01] [-2.63934677e-01 1.60995129e-01 9.51009492e-01 7.18931398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759072329 meters Centerline goodness : 0.755923 with order 1 Centerline is valid? [False, False] Translation: X:-120.50, Y:12.98, Z:71.91 [[ 8.81657779e-01 -3.57683059e-01 3.07802519e-01 -1.20503038e+02] [ 3.90458816e-01 9.19250910e-01 -5.01963905e-02 1.29815300e+01] [-2.64993347e-01 1.64440245e-01 9.50125219e-01 7.19106467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819072329 meters Centerline goodness : 0.758316 with order 1 Centerline is valid? [False, False] Translation: X:-120.55, Y:12.99, Z:71.93 [[ 8.76318465e-01 -3.68790200e-01 3.09935052e-01 -1.20553933e+02] [ 4.02119955e-01 9.14270674e-01 -4.90782708e-02 1.29875827e+01] [-2.65264944e-01 1.67639264e-01 9.49490172e-01 7.19264127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879072329 meters Centerline goodness : 0.755870 with order 1 Centerline is valid? [False, False] Translation: X:-120.59, Y:13.00, Z:71.94 [[ 8.75221063e-01 -3.72090194e-01 3.09090567e-01 -1.20594682e+02] [ 4.04623003e-01 9.13312553e-01 -4.62645312e-02 1.29971000e+01] [-2.65081716e-01 1.65556846e-01 9.49906635e-01 7.19394795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93907232899994 meters Centerline goodness : 0.756352 with order 1 Centerline is valid? [False, False] Translation: X:-120.64, Y:13.01, Z:71.95 [[ 8.70807644e-01 -3.80136171e-01 3.11753971e-01 -1.20643078e+02] [ 4.13428169e-01 9.09375812e-01 -4.59649960e-02 1.30103832e+01] [-2.66028563e-01 1.68914543e-01 9.49050410e-01 7.19540892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99907232899994 meters Centerline goodness : 0.755489 with order 1 Centerline is valid? [False, False] Translation: X:-120.70, Y:13.03, Z:71.97 [[ 8.71659793e-01 -3.78715299e-01 3.11101154e-01 -1.20699824e+02] [ 4.13588065e-01 9.08960706e-01 -5.23005520e-02 1.30287773e+01] [-2.62971705e-01 1.74256013e-01 9.48936628e-01 7.19719170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05907232899995 meters Centerline goodness : 0.755150 with order 1 Centerline is valid? [False, False] Translation: X:-120.74, Y:13.04, Z:71.99 [[ 8.71445031e-01 -3.79677207e-01 3.10529831e-01 -1.20744842e+02] [ 4.13392178e-01 9.09267404e-01 -4.83703956e-02 1.30445712e+01] [-2.63989517e-01 1.70522744e-01 9.49332149e-01 7.19898706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11907232899995 meters Centerline goodness : 0.755299 with order 1 Centerline is valid? [False, False] Translation: X:-120.79, Y:13.06, Z:72.01 [[ 8.70593638e-01 -3.81891968e-01 3.10201936e-01 -1.20786888e+02] [ 4.15223237e-01 9.08511638e-01 -4.68643475e-02 1.30589954e+01] [-2.63924951e-01 1.69602855e-01 9.49514872e-01 7.20067785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17907232899995 meters Centerline goodness : 0.755572 with order 1 Centerline is valid? [False, False] Translation: X:-120.83, Y:13.07, Z:72.02 [[ 8.68979312e-01 -3.85135064e-01 3.10718422e-01 -1.20831777e+02] [ 4.18223969e-01 9.07221755e-01 -4.51375517e-02 1.30723114e+01] [-2.64506458e-01 1.69173490e-01 9.49429652e-01 7.20237979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23907232899995 meters Centerline goodness : 0.753255 with order 1 Centerline is valid? [False, False] Translation: X:-120.88, Y:13.09, Z:72.04 [[ 8.65739132e-01 -3.90452967e-01 3.13116967e-01 -1.20880601e+02] [ 4.24321427e-01 9.04369190e-01 -4.54719216e-02 1.30857361e+01] [-2.65418691e-01 1.72229060e-01 9.48625358e-01 7.20432214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29907232899996 meters Centerline goodness : 0.754424 with order 1 Centerline is valid? [False, False] Translation: X:-120.94, Y:13.10, Z:72.06 [[ 8.66012564e-01 -3.90749345e-01 3.11989085e-01 -1.20938349e+02] [ 4.26190575e-01 9.03145083e-01 -5.18705443e-02 1.31047530e+01] [-2.61503027e-01 1.77887351e-01 9.48668676e-01 7.20611968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35907232899996 meters Centerline goodness : 0.754308 with order 1 Centerline is valid? [False, False] Translation: X:-120.98, Y:13.12, Z:72.08 [[ 8.65626107e-01 -3.91625742e-01 3.11962691e-01 -1.20982658e+02] [ 4.26366601e-01 9.03210555e-01 -4.92160041e-02 1.31198451e+01] [-2.62493741e-01 1.75613130e-01 9.48818773e-01 7.20800671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41907232899996 meters Centerline goodness : 0.754459 with order 1 Centerline is valid? [False, False] Translation: X:-121.05, Y:13.14, Z:72.10 [[ 8.63821423e-01 -3.95064742e-01 3.12628213e-01 -1.21045768e+02] [ 4.32092418e-01 9.00056380e-01 -5.65212784e-02 1.31403869e+01] [-2.59053453e-01 1.83908572e-01 9.48192462e-01 7.21008285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47907232899996 meters Centerline goodness : 0.753553 with order 1 Centerline is valid? [False, False] Translation: X:-121.09, Y:13.15, Z:72.12 [[ 8.63312185e-01 -3.96903077e-01 3.11705018e-01 -1.21089983e+02] [ 4.32942570e-01 8.99844398e-01 -5.32990637e-02 1.31529890e+01] [-2.59331452e-01 1.80964103e-01 9.48682872e-01 7.21181076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53907232899996 meters Centerline goodness : 0.755038 with order 1 Centerline is valid? [False, False] Translation: X:-121.13, Y:13.17, Z:72.14 [[ 8.63514243e-01 -3.97624333e-01 3.10222570e-01 -1.21131949e+02] [ 4.32672444e-01 9.00128551e-01 -5.06275331e-02 1.31668043e+01] [-2.59109454e-01 1.77942354e-01 9.49314916e-01 7.21356538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59907232899997 meters Centerline goodness : 0.754033 with order 1 Centerline is valid? [False, False] Translation: X:-121.19, Y:13.19, Z:72.16 [[ 8.66331682e-01 -3.92285921e-01 3.09162051e-01 -1.21189359e+02] [ 4.28715120e-01 9.01620489e-01 -5.73047909e-02 1.31909282e+01] [-2.56266977e-01 1.82187402e-01 9.49281300e-01 7.21564126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65907232899997 meters Centerline goodness : 0.753195 with order 1 Centerline is valid? [False, False] Translation: X:-121.23, Y:13.21, Z:72.18 [[ 8.66987882e-01 -3.92213140e-01 3.07409930e-01 -1.21233564e+02] [ 4.27037094e-01 9.02699994e-01 -5.26501780e-02 1.32089473e+01] [-2.56848850e-01 1.76922510e-01 9.50119516e-01 7.21750647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71907232899997 meters Centerline goodness : 0.754027 with order 1 Centerline is valid? [False, False] Translation: X:-121.28, Y:13.23, Z:72.19 [[ 8.67464748e-01 -3.92048905e-01 3.06272046e-01 -1.21279226e+02] [ 4.25344999e-01 9.03766126e-01 -4.78374463e-02 1.32267753e+01] [-2.58043682e-01 1.71768582e-01 9.50741296e-01 7.21931408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779072329 meters Centerline goodness : 0.755167 with order 1 Centerline is valid? [False, False] Translation: X:-121.32, Y:13.25, Z:72.21 [[ 8.71714945e-01 -3.81013874e-01 3.08125758e-01 -1.21324637e+02] [ 4.13947157e-01 9.09089036e-01 -4.69561142e-02 1.32472546e+01] [-2.62222817e-01 1.68480128e-01 9.50186109e-01 7.22090506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839072329 meters Centerline goodness : 0.755514 with order 1 Centerline is valid? [False, False] Translation: X:-121.37, Y:13.27, Z:72.23 [[ 8.76965505e-01 -3.67141494e-01 3.10062293e-01 -1.21366106e+02] [ 3.99931115e-01 9.15322736e-01 -4.73222188e-02 1.32688290e+01] [-2.66433117e-01 1.65503512e-01 9.49537773e-01 7.22260691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899072329 meters Centerline goodness : 0.757998 with order 1 Centerline is valid? [False, False] Translation: X:-121.41, Y:13.29, Z:72.24 [[ 8.81430345e-01 -3.53780750e-01 3.12921281e-01 -1.21410344e+02] [ 3.86528259e-01 9.21056538e-01 -4.74421683e-02 1.32924724e+01] [-2.71434065e-01 1.62769885e-01 9.48593439e-01 7.22438511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959072329 meters Centerline goodness : 0.757676 with order 1 Centerline is valid? [False, False] Translation: X:-121.45, Y:13.31, Z:72.26 [[ 8.84387623e-01 -3.44326131e-01 3.15115928e-01 -1.21451648e+02] [ 3.76940959e-01 9.25038141e-01 -4.71163570e-02 1.33104748e+01] [-2.75270860e-01 1.60449223e-01 9.47882904e-01 7.22583717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019072329 meters Centerline goodness : 0.757079 with order 1 Centerline is valid? [False, False] Translation: X:-121.50, Y:13.34, Z:72.28 [[ 8.90488518e-01 -3.33912650e-01 3.09083389e-01 -1.21497054e+02] [ 3.66417539e-01 9.28993508e-01 -5.20504445e-02 1.33354382e+01] [-2.69756160e-01 1.59603898e-01 9.49609504e-01 7.22780794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079072329 meters Centerline goodness : 0.757593 with order 1 Centerline is valid? [False, False] Translation: X:-121.55, Y:13.35, Z:72.30 [[ 8.89976372e-01 -3.30824283e-01 3.13842876e-01 -1.21547517e+02] [ 3.64893336e-01 9.29421536e-01 -5.50314666e-02 1.33531778e+01] [-2.73486582e-01 1.63495879e-01 9.47878783e-01 7.22959765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139072329 meters Centerline goodness : 0.759128 with order 1 Centerline is valid? [False, False] Translation: X:-121.59, Y:13.37, Z:72.31 [[ 8.89147936e-01 -3.33370310e-01 3.13496705e-01 -1.21588573e+02] [ 3.67037254e-01 9.28668713e-01 -5.34609755e-02 1.33673236e+01] [-2.73312279e-01 1.62599686e-01 9.48083193e-01 7.23138059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199072329 meters Centerline goodness : 0.760261 with order 1 Centerline is valid? [False, False] Translation: X:-121.63, Y:13.38, Z:72.33 [[ 8.88320886e-01 -3.35762909e-01 3.13287844e-01 -1.21631647e+02] [ 3.68629752e-01 9.28206487e-01 -5.04462525e-02 1.33806352e+01] [-2.73857829e-01 1.60299680e-01 9.48317406e-01 7.23320419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259072329 meters Centerline goodness : 0.758435 with order 1 Centerline is valid? [False, False] Translation: X:-121.67, Y:13.39, Z:72.35 [[ 8.88523790e-01 -3.37929270e-01 3.10369589e-01 -1.21669868e+02] [ 3.69390435e-01 9.28085357e-01 -4.69923039e-02 1.33934532e+01] [-2.72169396e-01 1.56401338e-01 9.49453759e-01 7.23458465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319072329 meters Centerline goodness : 0.758608 with order 1 Centerline is valid? [False, False] Translation: X:-121.71, Y:13.41, Z:72.36 [[ 8.87744995e-01 -3.40791963e-01 3.09466737e-01 -1.21714260e+02] [ 3.71185822e-01 9.27545722e-01 -4.33591963e-02 1.34083538e+01] [-2.72268082e-01 1.53361575e-01 9.49921217e-01 7.23627663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379072329 meters Centerline goodness : 0.756655 with order 1 Centerline is valid? [False, False] Translation: X:-121.76, Y:13.42, Z:72.38 [[ 8.85422200e-01 -3.46887679e-01 3.09348453e-01 -1.21758588e+02] [ 3.77556722e-01 9.24967068e-01 -4.34378265e-02 1.34208064e+01] [-2.71069084e-01 1.55257404e-01 9.49956152e-01 7.23795475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43907232899994 meters Centerline goodness : 0.756260 with order 1 Centerline is valid? [False, False] Translation: X:-121.81, Y:13.44, Z:72.40 [[ 8.86308805e-01 -3.45414163e-01 3.08457061e-01 -1.21812221e+02] [ 3.77981011e-01 9.24412689e-01 -5.09071270e-02 1.34396638e+01] [-2.67557579e-01 1.61710347e-01 9.49875100e-01 7.23967972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49907232899994 meters Centerline goodness : 0.756749 with order 1 Centerline is valid? [False, False] Translation: X:-121.86, Y:13.45, Z:72.41 [[ 8.85013030e-01 -3.48739652e-01 3.08435718e-01 -1.21857013e+02] [ 3.80733307e-01 9.23418533e-01 -4.83772772e-02 1.34534826e+01] [-2.67944184e-01 1.60246272e-01 9.50014235e-01 7.24133291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55907232899995 meters Centerline goodness : 0.757229 with order 1 Centerline is valid? [False, False] Translation: X:-121.91, Y:13.47, Z:72.43 [[ 8.84104426e-01 -3.46523133e-01 3.13498138e-01 -1.21907917e+02] [ 3.79793623e-01 9.23716745e-01 -5.00417750e-02 1.34685719e+01] [-2.72242847e-01 1.63306749e-01 9.48269338e-01 7.24318101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61907232899995 meters Centerline goodness : 0.756444 with order 1 Centerline is valid? [False, False] Translation: X:-121.97, Y:13.49, Z:72.45 [[ 8.84870360e-01 -3.44588093e-01 3.13470083e-01 -1.21965586e+02] [ 3.79512781e-01 9.23481516e-01 -5.61421273e-02 1.34885208e+01] [-2.70137919e-01 1.68644407e-01 9.47937007e-01 7.24524405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67907232899995 meters Centerline goodness : 0.756396 with order 1 Centerline is valid? [False, False] Translation: X:-122.00, Y:13.50, Z:72.47 [[ 8.85562726e-01 -3.45370268e-01 3.10641331e-01 -1.22004645e+02] [ 3.78322077e-01 9.24273610e-01 -5.08989122e-02 1.35040676e+01] [-2.69538614e-01 1.62596653e-01 9.49163455e-01 7.24670600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73907232899995 meters Centerline goodness : 0.755598 with order 1 Centerline is valid? [False, False] Translation: X:-122.05, Y:13.52, Z:72.49 [[ 8.84650851e-01 -3.46926232e-01 3.11504514e-01 -1.22050840e+02] [ 3.79472171e-01 9.23920939e-01 -4.86926144e-02 1.35212753e+01] [-2.70912797e-01 1.61283257e-01 9.48996295e-01 7.24866879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79907232899996 meters Centerline goodness : 0.758019 with order 1 Centerline is valid? [False, False] Translation: X:-122.11, Y:13.54, Z:72.51 [[ 8.86464952e-01 -3.42604866e-01 3.11129866e-01 -1.22106236e+02] [ 3.77054671e-01 9.24478617e-01 -5.62944282e-02 1.35432953e+01] [-2.68346163e-01 1.67216007e-01 9.48698658e-01 7.25093053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85907232899996 meters Centerline goodness : 0.755208 with order 1 Centerline is valid? [False, False] Translation: X:-122.15, Y:13.56, Z:72.52 [[ 8.88144957e-01 -3.38188083e-01 3.11170943e-01 -1.22149025e+02] [ 3.71745922e-01 9.26774408e-01 -5.37974565e-02 1.35600079e+01] [-2.70191608e-01 1.63456469e-01 9.48830057e-01 7.25235529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91907232899996 meters Centerline goodness : 0.756236 with order 1 Centerline is valid? [False, False] Translation: X:-122.19, Y:13.58, Z:72.54 [[ 8.88874197e-01 -3.37418671e-01 3.09921445e-01 -1.22188985e+02] [ 3.69888684e-01 9.27682111e-01 -5.08749621e-02 1.35755613e+01] [-2.70342418e-01 1.59857876e-01 9.49400040e-01 7.25402272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97907232899996 meters Centerline goodness : 0.756433 with order 1 Centerline is valid? [False, False] Translation: X:-122.24, Y:13.60, Z:72.56 [[ 8.90702052e-01 -3.32935000e-01 3.09522440e-01 -1.22244761e+02] [ 3.67198056e-01 9.28324608e-01 -5.81292526e-02 1.35981893e+01] [-2.67984035e-01 1.65431883e-01 9.49113718e-01 7.25631251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03907232899996 meters Centerline goodness : 0.756696 with order 1 Centerline is valid? [False, False] Translation: X:-122.29, Y:13.61, Z:72.58 [[ 8.91331399e-01 -3.33193587e-01 3.07425389e-01 -1.22286179e+02] [ 3.65681451e-01 9.29222624e-01 -5.31261908e-02 1.36134110e+01] [-2.67965320e-01 1.59772804e-01 9.50088016e-01 7.25804616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09907232899997 meters Centerline goodness : 0.755474 with order 1 Centerline is valid? [False, False] Translation: X:-122.33, Y:13.63, Z:72.60 [[ 8.89738199e-01 -3.37528968e-01 3.07311133e-01 -1.22331143e+02] [ 3.69264437e-01 9.27985110e-01 -4.98739458e-02 1.36262400e+01] [-2.68346254e-01 1.57853827e-01 9.50301245e-01 7.25976472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15907232899997 meters Centerline goodness : 0.755872 with order 1 Centerline is valid? [False, False] Translation: X:-122.37, Y:13.64, Z:72.61 [[ 8.87756838e-01 -3.42042362e-01 3.08050027e-01 -1.22374826e+02] [ 3.73634869e-01 9.26321392e-01 -4.82251302e-02 1.36378248e+01] [-2.68858293e-01 1.57910421e-01 9.50147103e-01 7.26143962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21907232899997 meters Centerline goodness : 0.757050 with order 1 Centerline is valid? [False, False] Translation: X:-122.42, Y:13.65, Z:72.63 [[ 8.86558074e-01 -3.44928046e-01 3.08284648e-01 -1.22419833e+02] [ 3.75838304e-01 9.25580801e-01 -4.52299718e-02 1.36504168e+01] [-2.69741266e-01 1.55964176e-01 9.50218304e-01 7.26311167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279072329 meters Centerline goodness : 0.754604 with order 1 Centerline is valid? [False, False] Translation: X:-122.47, Y:13.67, Z:72.65 [[ 8.89940474e-01 -3.39632930e-01 3.04393537e-01 -1.22467440e+02] [ 3.71256006e-01 9.27131165e-01 -5.09586112e-02 1.36702397e+01] [-2.64905512e-01 1.58358059e-01 9.51182314e-01 7.26474864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339072329 meters Centerline goodness : 0.755298 with order 1 Centerline is valid? [False, False] Translation: X:-122.51, Y:13.69, Z:72.66 [[ 8.90492518e-01 -3.34480639e-01 3.08457092e-01 -1.22514562e+02] [ 3.66846180e-01 9.28835004e-01 -5.18595701e-02 1.36875869e+01] [-2.69159722e-01 1.59336865e-01 9.49823567e-01 7.26623871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399072329 meters Centerline goodness : 0.758854 with order 1 Centerline is valid? [False, False] Translation: X:-122.56, Y:13.70, Z:72.68 [[ 8.89765357e-01 -3.36199819e-01 3.08686396e-01 -1.22559853e+02] [ 3.67822439e-01 9.28612564e-01 -4.88401431e-02 1.37044537e+01] [-2.70230019e-01 1.56998051e-01 9.49909127e-01 7.26802227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459072329 meters Centerline goodness : 0.759497 with order 1 Centerline is valid? [False, False] Translation: X:-122.60, Y:13.72, Z:72.70 [[ 8.88796940e-01 -3.38360872e-01 3.09114735e-01 -1.22604396e+02] [ 3.69280402e-01 9.28189574e-01 -4.57831861e-02 1.37201721e+01] [-2.71425835e-01 1.54841969e-01 9.49922092e-01 7.26983297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519072329 meters Centerline goodness : 0.757270 with order 1 Centerline is valid? [False, False] Translation: X:-122.65, Y:13.73, Z:72.72 [[ 8.86931548e-01 -3.43278709e-01 3.09050413e-01 -1.22648663e+02] [ 3.73971427e-01 9.26383397e-01 -4.42625538e-02 1.37327048e+01] [-2.71104779e-01 1.54833879e-01 9.50015089e-01 7.27151173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579072329 meters Centerline goodness : 0.756311 with order 1 Centerline is valid? [False, False] Translation: X:-122.70, Y:13.75, Z:72.73 [[ 8.88550923e-01 -3.41175848e-01 3.06718597e-01 -1.22701984e+02] [ 3.73120438e-01 9.26411421e-01 -5.04283323e-02 1.37500928e+01] [-2.66942682e-01 1.59251119e-01 9.50463406e-01 7.27325444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639072329 meters Centerline goodness : 0.756643 with order 1 Centerline is valid? [False, False] Translation: X:-122.74, Y:13.77, Z:72.75 [[ 8.89610441e-01 -3.40658954e-01 3.04211670e-01 -1.22743372e+02] [ 3.70568408e-01 9.27724891e-01 -4.47837320e-02 1.37683227e+01] [-2.66968759e-01 1.52571310e-01 9.51551195e-01 7.27480626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699072329 meters Centerline goodness : 0.757025 with order 1 Centerline is valid? [False, False] Translation: X:-122.79, Y:13.79, Z:72.76 [[ 8.88876647e-01 -3.37341144e-01 3.09998804e-01 -1.22793624e+02] [ 3.68812393e-01 9.28297477e-01 -4.73414432e-02 1.37851578e+01] [-2.71800891e-01 1.56412104e-01 9.49557544e-01 7.27648608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759072329 meters Centerline goodness : 0.758584 with order 1 Centerline is valid? [False, False] Translation: X:-122.84, Y:13.80, Z:72.78 [[ 8.88562737e-01 -3.37750336e-01 3.10452850e-01 -1.22838492e+02] [ 3.68446012e-01 9.28592768e-01 -4.43058495e-02 1.38012105e+01] [-2.73319956e-01 1.53753641e-01 9.49555696e-01 7.27836684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819072329 meters Centerline goodness : 0.756018 with order 1 Centerline is valid? [False, False] Translation: X:-122.89, Y:13.82, Z:72.80 [[ 8.89687992e-01 -3.35903424e-01 3.09231574e-01 -1.22890492e+02] [ 3.68393631e-01 9.28236594e-01 -5.16038507e-02 1.38179873e+01] [-2.69706153e-01 1.59830269e-01 9.49585634e-01 7.28008338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879072329 meters Centerline goodness : 0.753829 with order 1 Centerline is valid? [False, False] Translation: X:-122.93, Y:13.83, Z:72.82 [[ 8.90405603e-01 -3.35801659e-01 3.07270416e-01 -1.22933208e+02] [ 3.66280453e-01 9.29380231e-01 -4.57276182e-02 1.38344281e+01] [-2.70215641e-01 1.53263275e-01 9.50522949e-01 7.28176542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93907232899994 meters Centerline goodness : 0.755694 with order 1 Centerline is valid? [False, False] Translation: X:-122.99, Y:13.86, Z:72.84 [[ 8.91805287e-01 -3.32265060e-01 3.07055792e-01 -1.22988946e+02] [ 3.64834196e-01 9.29517753e-01 -5.37843411e-02 1.38569308e+01] [-2.67543153e-01 1.59989613e-01 9.50170503e-01 7.28393284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99907232899994 meters Centerline goodness : 0.757383 with order 1 Centerline is valid? [False, False] Translation: X:-123.03, Y:13.87, Z:72.86 [[ 8.90825464e-01 -3.35435353e-01 3.06452471e-01 -1.23030020e+02] [ 3.67442520e-01 9.28609014e-01 -5.16845584e-02 1.38698977e+01] [-2.67237699e-01 1.58645589e-01 9.50481767e-01 7.28554874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05907232899995 meters Centerline goodness : 0.758000 with order 1 Centerline is valid? [False, False] Translation: X:-123.07, Y:13.88, Z:72.87 [[ 8.90260855e-01 -3.38004549e-01 3.05267973e-01 -1.23072886e+02] [ 3.68572447e-01 9.28415177e-01 -4.69000031e-02 1.38833669e+01] [-2.67563004e-01 1.54266601e-01 9.51110853e-01 7.28708542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11907232899995 meters Centerline goodness : 0.755202 with order 1 Centerline is valid? [False, False] Translation: X:-123.12, Y:13.89, Z:72.89 [[ 8.88200715e-01 -3.44192054e-01 3.04353938e-01 -1.23118442e+02] [ 3.74116468e-01 9.26327256e-01 -4.42117936e-02 1.38947960e+01] [-2.66714000e-01 1.53132767e-01 9.51532447e-01 7.28866124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17907232899995 meters Centerline goodness : 0.755045 with order 1 Centerline is valid? [False, False] Translation: X:-123.16, Y:13.91, Z:72.90 [[ 8.86759161e-01 -3.48274293e-01 3.03913156e-01 -1.23158399e+02] [ 3.78332811e-01 9.24607462e-01 -4.43319934e-02 1.39060928e+01] [-2.65560678e-01 1.54292120e-01 9.51667730e-01 7.29004682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23907232899995 meters Centerline goodness : 0.758303 with order 1 Centerline is valid? [False, False] Translation: X:-123.21, Y:13.92, Z:72.92 [[ 8.87146785e-01 -3.47149892e-01 3.04068307e-01 -1.23214359e+02] [ 3.79556532e-01 9.23656857e-01 -5.28663425e-02 1.39248138e+01] [-2.62502231e-01 1.62311318e-01 9.51182220e-01 7.29202074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29907232899996 meters Centerline goodness : 0.760385 with order 1 Centerline is valid? [False, False] Translation: X:-123.26, Y:13.94, Z:72.94 [[ 8.86351794e-01 -3.47814261e-01 3.05623522e-01 -1.23260634e+02] [ 3.80035308e-01 9.23559300e-01 -5.11017011e-02 1.39391846e+01] [-2.64487545e-01 1.61441814e-01 9.50780142e-01 7.29390762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35907232899996 meters Centerline goodness : 0.761337 with order 1 Centerline is valid? [False, False] Translation: X:-123.30, Y:13.95, Z:72.96 [[ 8.85849420e-01 -3.49626824e-01 3.05011294e-01 -1.23302032e+02] [ 3.81196227e-01 9.23201486e-01 -4.88718071e-02 1.39540600e+01] [-2.64499985e-01 1.59562216e-01 9.51093927e-01 7.29552902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41907232899996 meters Centerline goodness : 0.760888 with order 1 Centerline is valid? [False, False] Translation: X:-123.35, Y:13.97, Z:72.97 [[ 8.86527575e-01 -3.45228504e-01 3.08035938e-01 -1.23351270e+02] [ 3.76815187e-01 9.25058255e-01 -4.77235755e-02 1.39721838e+01] [-2.68475649e-01 1.58380885e-01 9.50176995e-01 7.29703956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47907232899996 meters Centerline goodness : 0.761897 with order 1 Centerline is valid? [False, False] Translation: X:-123.39, Y:13.99, Z:72.99 [[ 8.86526103e-01 -3.45495892e-01 3.07740243e-01 -1.23392299e+02] [ 3.76553561e-01 9.25252473e-01 -4.59921399e-02 1.39886831e+01] [-2.68847325e-01 1.56653917e-01 9.50358178e-01 7.29870074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53907232899996 meters Centerline goodness : 0.764313 with order 1 Centerline is valid? [False, False] Translation: X:-123.44, Y:14.01, Z:73.01 [[ 8.85980978e-01 -3.46289169e-01 3.08417764e-01 -1.23439515e+02] [ 3.76385300e-01 9.25507262e-01 -4.20762895e-02 1.40064262e+01] [-2.70872317e-01 1.53362705e-01 9.50319982e-01 7.30071743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59907232899997 meters Centerline goodness : 0.764359 with order 1 Centerline is valid? [False, False] Translation: X:-123.50, Y:14.02, Z:73.03 [[ 8.85139164e-01 -3.46500946e-01 3.10589368e-01 -1.23497880e+02] [ 3.80065878e-01 9.23444221e-01 -5.29216372e-02 1.40215205e+01] [-2.68474559e-01 1.64887435e-01 9.49069831e-01 7.30288420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65907232899997 meters Centerline goodness : 0.764058 with order 1 Centerline is valid? [False, False] Translation: X:-123.55, Y:14.03, Z:73.04 [[ 8.81793241e-01 -3.54593100e-01 3.10973331e-01 -1.23547832e+02] [ 3.87575420e-01 9.20514951e-01 -4.93712297e-02 1.40342692e+01] [-2.68748903e-01 1.64060836e-01 9.49135432e-01 7.30445261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71907232899997 meters Centerline goodness : 0.758663 with order 1 Centerline is valid? [False, False] Translation: X:-123.60, Y:14.05, Z:73.06 [[ 8.84159025e-01 -3.51302476e-01 3.07976278e-01 -1.23600110e+02] [ 3.84738730e-01 9.21478286e-01 -5.34216997e-02 1.40490421e+01] [-2.65026277e-01 1.65723680e-01 9.49893012e-01 7.30609898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779072329 meters Centerline goodness : 0.760870 with order 1 Centerline is valid? [False, False] Translation: X:-123.64, Y:14.06, Z:73.08 [[ 8.81175397e-01 -3.57352875e-01 3.09562339e-01 -1.23644666e+02] [ 3.91224504e-01 9.18766612e-01 -5.30216870e-02 1.40640706e+01] [-2.65468089e-01 1.67829779e-01 9.49399736e-01 7.30760809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839072329 meters Centerline goodness : 0.759330 with order 1 Centerline is valid? [False, False] Translation: X:-123.71, Y:14.08, Z:73.10 [[ 8.80413144e-01 -3.58732480e-01 3.10134977e-01 -1.23706101e+02] [ 3.94727975e-01 9.16833104e-01 -6.00573495e-02 1.40828787e+01] [-2.62797491e-01 1.75294231e-01 9.48793661e-01 7.30963746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899072329 meters Centerline goodness : 0.759452 with order 1 Centerline is valid? [False, False] Translation: X:-123.76, Y:14.10, Z:73.11 [[ 8.77864035e-01 -3.64492224e-01 3.10644741e-01 -1.23755461e+02] [ 3.99427930e-01 9.15111981e-01 -5.50217383e-02 1.40967766e+01] [-2.64219728e-01 1.72381791e-01 9.48932270e-01 7.31124670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959072329 meters Centerline goodness : 0.760310 with order 1 Centerline is valid? [False, False] Translation: X:-123.80, Y:14.11, Z:73.13 [[ 8.77289624e-01 -3.65942898e-01 3.10561928e-01 -1.23798904e+02] [ 4.00154149e-01 9.14956730e-01 -5.22574223e-02 1.41110398e+01] [-2.65027494e-01 1.70117539e-01 9.49115615e-01 7.31290992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019072329 meters Centerline goodness : 0.758281 with order 1 Centerline is valid? [False, False] Translation: X:-123.84, Y:14.12, Z:73.14 [[ 8.77456827e-01 -3.67056408e-01 3.08770318e-01 -1.23838481e+02] [ 4.00368815e-01 9.14986076e-01 -5.00528943e-02 1.41248487e+01] [-2.64148307e-01 1.67541260e-01 9.49818719e-01 7.31437269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079072329 meters Centerline goodness : 0.754328 with order 1 Centerline is valid? [False, False] Translation: X:-123.89, Y:14.14, Z:73.16 [[ 8.79018443e-01 -3.64691729e-01 3.07126226e-01 -1.23892803e+02] [ 3.98998295e-01 9.15293877e-01 -5.51133428e-02 1.41438241e+01] [-2.61011374e-01 1.70988485e-01 9.50071577e-01 7.31603253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139072329 meters Centerline goodness : 0.758182 with order 1 Centerline is valid? [False, False] Translation: X:-123.95, Y:14.16, Z:73.18 [[ 8.74675590e-01 -3.71537964e-01 3.11291107e-01 -1.23945320e+02] [ 4.06766316e-01 9.11901826e-01 -5.45547861e-02 1.41585938e+01] [-2.63597755e-01 1.74340476e-01 9.48747396e-01 7.31796393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199072329 meters Centerline goodness : 0.760430 with order 1 Centerline is valid? [False, False] Translation: X:-124.00, Y:14.17, Z:73.20 [[ 8.69677518e-01 -3.79609689e-01 3.15527335e-01 -1.23999373e+02] [ 4.15827751e-01 9.07844241e-01 -5.39084073e-02 1.41738576e+01] [-2.65985520e-01 1.78087952e-01 9.47383969e-01 7.31995002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259072329 meters Centerline goodness : 0.757430 with order 1 Centerline is valid? [False, False] Translation: X:-124.04, Y:14.19, Z:73.21 [[ 8.69240002e-01 -3.82114606e-01 3.13704074e-01 -1.24040799e+02] [ 4.16944370e-01 9.07565265e-01 -4.98265157e-02 1.41866644e+01] [-2.65667481e-01 1.74108348e-01 9.48212567e-01 7.32141609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319072329 meters Centerline goodness : 0.754887 with order 1 Centerline is valid? [False, False] Translation: X:-124.09, Y:14.20, Z:73.23 [[ 8.69614027e-01 -3.82446878e-01 3.12259235e-01 -1.24085189e+02] [ 4.15787243e-01 9.08326216e-01 -4.54362645e-02 1.42022266e+01] [-2.66256292e-01 1.69345419e-01 9.48909751e-01 7.32322781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379072329 meters Centerline goodness : 0.754342 with order 1 Centerline is valid? [False, False] Translation: X:-124.14, Y:14.23, Z:73.25 [[ 8.73612168e-01 -3.75128756e-01 3.09968056e-01 -1.24140356e+02] [ 4.09356477e-01 9.10930976e-01 -5.13033355e-02 1.42264659e+01] [-2.63114147e-01 1.71706649e-01 9.49361771e-01 7.32543026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43907232899994 meters Centerline goodness : 0.753045 with order 1 Centerline is valid? [False, False] Translation: X:-124.18, Y:14.25, Z:73.27 [[ 8.74727491e-01 -3.74514073e-01 3.07556539e-01 -1.24182957e+02] [ 4.07049452e-01 9.12201126e-01 -4.69025514e-02 1.42463156e+01] [-2.62987756e-01 1.66217672e-01 9.50373151e-01 7.32708230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49907232899994 meters Centerline goodness : 0.752846 with order 1 Centerline is valid? [False, False] Translation: X:-124.23, Y:14.26, Z:73.29 [[ 8.75126485e-01 -3.70816326e-01 3.10884043e-01 -1.24230286e+02] [ 4.04053539e-01 9.13485158e-01 -4.78079966e-02 1.42609704e+01] [-2.66259973e-01 1.67451842e-01 9.49244704e-01 7.32855887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55907232899995 meters Centerline goodness : 0.754511 with order 1 Centerline is valid? [False, False] Translation: X:-124.28, Y:14.28, Z:73.30 [[ 8.76920045e-01 -3.63107775e-01 3.14903127e-01 -1.24280061e+02] [ 3.96384653e-01 9.16902955e-01 -4.65637041e-02 1.42793495e+01] [-2.71827964e-01 1.65655412e-01 9.47980929e-01 7.33030109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61907232899995 meters Centerline goodness : 0.756685 with order 1 Centerline is valid? [False, False] Translation: X:-124.33, Y:14.30, Z:73.32 [[ 8.76577768e-01 -3.59317593e-01 3.20159778e-01 -1.24333682e+02] [ 3.93814603e-01 9.17933852e-01 -4.80364624e-02 1.42971994e+01] [-2.76625152e-01 1.68191291e-01 9.46144923e-01 7.33229769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67907232899995 meters Centerline goodness : 0.756829 with order 1 Centerline is valid? [False, False] Translation: X:-124.39, Y:14.32, Z:73.34 [[ 8.77394286e-01 -3.57572468e-01 3.19876846e-01 -1.24390331e+02] [ 3.94389509e-01 9.17205871e-01 -5.64827845e-02 1.43184983e+01] [-2.73196232e-01 1.75713745e-01 9.45774021e-01 7.33448498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73907232899995 meters Centerline goodness : 0.754368 with order 1 Centerline is valid? [False, False] Translation: X:-124.44, Y:14.34, Z:73.36 [[ 8.80058983e-01 -3.53856213e-01 3.16673282e-01 -1.24441716e+02] [ 3.91428313e-01 9.18125716e-01 -6.18792759e-02 1.43371183e+01] [-2.68849517e-01 1.78412301e-01 9.46514124e-01 7.33631286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79907232899996 meters Centerline goodness : 0.754309 with order 1 Centerline is valid? [False, False] Translation: X:-124.48, Y:14.36, Z:73.38 [[ 8.80815916e-01 -3.54316035e-01 3.14043739e-01 -1.24483829e+02] [ 3.89641608e-01 9.19281814e-01 -5.56809139e-02 1.43554789e+01] [-2.68966058e-01 1.71409143e-01 9.47774322e-01 7.33784790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85907232899996 meters Centerline goodness : 0.753992 with order 1 Centerline is valid? [False, False] Translation: X:-124.53, Y:14.37, Z:73.39 [[ 8.82170487e-01 -3.48452603e-01 3.16790176e-01 -1.24530984e+02] [ 3.83322109e-01 9.22081184e-01 -5.32019743e-02 1.43710009e+01] [-2.73567894e-01 1.68365890e-01 9.47002394e-01 7.33922932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91907232899996 meters Centerline goodness : 0.754679 with order 1 Centerline is valid? [False, False] Translation: X:-124.57, Y:14.39, Z:73.41 [[ 8.81250056e-01 -3.50748956e-01 3.16817785e-01 -1.24574371e+02] [ 3.85201668e-01 9.21400896e-01 -5.13815543e-02 1.43883771e+01] [-2.73894164e-01 1.67318737e-01 9.47093674e-01 7.34105429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97907232899996 meters Centerline goodness : 0.757244 with order 1 Centerline is valid? [False, False] Translation: X:-124.63, Y:14.40, Z:73.43 [[ 8.80695928e-01 -3.46783831e-01 3.22669579e-01 -1.24626379e+02] [ 3.82591156e-01 9.22401488e-01 -5.29103238e-02 1.44044554e+01] [-2.79282455e-01 1.70048434e-01 9.45031661e-01 7.34301330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03907232899996 meters Centerline goodness : 0.758145 with order 1 Centerline is valid? [False, False] Translation: X:-124.67, Y:14.42, Z:73.45 [[ 8.80863718e-01 -3.47120180e-01 3.21848863e-01 -1.24668205e+02] [ 3.81557680e-01 9.23058960e-01 -4.87431407e-02 1.44189401e+01] [-2.80165749e-01 1.65739970e-01 9.45535518e-01 7.34471581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09907232899997 meters Centerline goodness : 0.757568 with order 1 Centerline is valid? [False, False] Translation: X:-124.73, Y:14.44, Z:73.47 [[ 8.79802936e-01 -3.49348327e-01 3.22339171e-01 -1.24728925e+02] [ 3.86108757e-01 9.20754810e-01 -5.59518283e-02 1.44385807e+01] [-2.77248664e-01 1.73684559e-01 9.44969233e-01 7.34692569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15907232899997 meters Centerline goodness : 0.757777 with order 1 Centerline is valid? [False, False] Translation: X:-124.77, Y:14.45, Z:73.49 [[ 8.79346466e-01 -3.51024992e-01 3.21762721e-01 -1.24773067e+02] [ 3.86244292e-01 9.20995820e-01 -5.08138503e-02 1.44532704e+01] [-2.78505190e-01 1.68961994e-01 9.45455818e-01 7.34864480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21907232899997 meters Centerline goodness : 0.756493 with order 1 Centerline is valid? [False, False] Translation: X:-124.82, Y:14.47, Z:73.50 [[ 8.81956210e-01 -3.48169030e-01 3.17697292e-01 -1.24824609e+02] [ 3.83722107e-01 9.21807810e-01 -5.50245931e-02 1.44736818e+01] [-2.73697986e-01 1.70436756e-01 9.46594277e-01 7.35025394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279072329 meters Centerline goodness : 0.756744 with order 1 Centerline is valid? [False, False] Translation: X:-124.87, Y:14.49, Z:73.52 [[ 8.81220112e-01 -3.50611738e-01 3.17052873e-01 -1.24868917e+02] [ 3.85411818e-01 9.21252579e-01 -5.24539557e-02 1.44878904e+01] [-2.73694804e-01 1.68419405e-01 9.46956207e-01 7.35207761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339072329 meters Centerline goodness : 0.759025 with order 1 Centerline is valid? [False, False] Translation: X:-124.92, Y:14.51, Z:73.54 [[ 8.81842739e-01 -3.44948716e-01 3.21502360e-01 -1.24919630e+02] [ 3.80314389e-01 9.23368850e-01 -5.24493271e-02 1.45088714e+01] [-2.78772937e-01 1.68524032e-01 9.45455076e-01 7.35387427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399072329 meters Centerline goodness : 0.760440 with order 1 Centerline is valid? [False, False] Translation: X:-124.97, Y:14.52, Z:73.56 [[ 8.79595711e-01 -3.46976961e-01 3.25451031e-01 -1.24968884e+02] [ 3.83408391e-01 9.22045073e-01 -5.32060988e-02 1.45244434e+01] [-2.81619230e-01 1.71580513e-01 9.44060770e-01 7.35614622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459072329 meters Centerline goodness : 0.759527 with order 1 Centerline is valid? [False, False] Translation: X:-125.01, Y:14.54, Z:73.58 [[ 8.77532574e-01 -3.53779170e-01 3.23692570e-01 -1.25014573e+02] [ 3.89764372e-01 9.19460512e-01 -5.17310469e-02 1.45380380e+01] [-2.79321169e-01 1.71559510e-01 9.44747066e-01 7.35796669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519072329 meters Centerline goodness : 0.758171 with order 1 Centerline is valid? [False, False] Translation: X:-125.06, Y:14.56, Z:73.59 [[ 8.81024562e-01 -3.49358821e-01 3.18973565e-01 -1.25062497e+02] [ 3.85476179e-01 9.21019732e-01 -5.59532685e-02 1.45567889e+01] [-2.74233179e-01 1.72252915e-01 9.46110510e-01 7.35943987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579072329 meters Centerline goodness : 0.757661 with order 1 Centerline is valid? [False, False] Translation: X:-125.10, Y:14.57, Z:73.61 [[ 8.84553473e-01 -3.38807156e-01 3.20585190e-01 -1.25104081e+02] [ 3.73914007e-01 9.25940528e-01 -5.31267729e-02 1.45719632e+01] [-2.78843089e-01 1.66864764e-01 9.45728651e-01 7.36092433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639072329 meters Centerline goodness : 0.759471 with order 1 Centerline is valid? [False, False] Translation: X:-125.15, Y:14.59, Z:73.63 [[ 8.85872616e-01 -3.31324987e-01 3.24735986e-01 -1.25149842e+02] [ 3.67383479e-01 9.28446085e-01 -5.49294721e-02 1.45909615e+01] [-2.83300348e-01 1.67963151e-01 9.44208289e-01 7.36267383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699072329 meters Centerline goodness : 0.757911 with order 1 Centerline is valid? [False, False] Translation: X:-125.19, Y:14.61, Z:73.65 [[ 8.86621812e-01 -3.31794778e-01 3.22201782e-01 -1.25190968e+02] [ 3.66519259e-01 9.28958665e-01 -5.19560614e-02 1.46074216e+01] [-2.82073388e-01 1.64158536e-01 9.45244190e-01 7.36462536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759072329 meters Centerline goodness : 0.759498 with order 1 Centerline is valid? [False, False] Translation: X:-125.23, Y:14.62, Z:73.67 [[ 8.87504093e-01 -3.26847405e-01 3.24818809e-01 -1.25234077e+02] [ 3.61633453e-01 9.30903763e-01 -5.13753813e-02 1.46244577e+01] [-2.85583141e-01 1.63061209e-01 9.44379856e-01 7.36653871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819072329 meters Centerline goodness : 0.760513 with order 1 Centerline is valid? [False, False] Translation: X:-125.27, Y:14.64, Z:73.68 [[ 8.87493153e-01 -3.26732871e-01 3.24963897e-01 -1.25274543e+02] [ 3.61173436e-01 9.31148271e-01 -5.01661989e-02 1.46388728e+01] [-2.86198625e-01 1.61890485e-01 9.44394948e-01 7.36843488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879072329 meters Centerline goodness : 0.762229 with order 1 Centerline is valid? [False, False] Translation: X:-125.31, Y:14.66, Z:73.70 [[ 8.88435981e-01 -3.26988483e-01 3.22118052e-01 -1.25314492e+02] [ 3.59376232e-01 9.32107274e-01 -4.49972640e-02 1.46572700e+01] [-2.85534992e-01 1.55738760e-01 9.45629529e-01 7.37013501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93907232899994 meters Centerline goodness : 0.759319 with order 1 Centerline is valid? [False, False] Translation: X:-125.35, Y:14.67, Z:73.72 [[ 8.89394825e-01 -3.28774579e-01 3.17622610e-01 -1.25350244e+02] [ 3.59442323e-01 9.32243070e-01 -4.15219783e-02 1.46714874e+01] [-2.82450106e-01 1.51096441e-01 9.47307660e-01 7.37152645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99907232899994 meters Centerline goodness : 0.760654 with order 1 Centerline is valid? [False, False] Translation: X:-125.41, Y:14.69, Z:73.73 [[ 8.89799890e-01 -3.27827698e-01 3.17466781e-01 -1.25405037e+02] [ 3.60696504e-01 9.31385604e-01 -4.91821893e-02 1.46922382e+01] [-2.79560706e-01 1.58271465e-01 9.46993113e-01 7.37345182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05907232899995 meters Centerline goodness : 0.759572 with order 1 Centerline is valid? [False, False] Translation: X:-125.45, Y:14.70, Z:73.75 [[ 8.86411299e-01 -3.34866174e-01 3.19592951e-01 -1.25451480e+02] [ 3.68380957e-01 9.28383938e-01 -4.89768780e-02 1.47027927e+01] [-2.80304263e-01 1.61145615e-01 9.46288334e-01 7.37521510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11907232899995 meters Centerline goodness : 0.758050 with order 1 Centerline is valid? [False, False] Translation: X:-125.50, Y:14.71, Z:73.77 [[ 8.81824851e-01 -3.46128725e-01 3.20280873e-01 -1.25502384e+02] [ 3.80007452e-01 9.23738091e-01 -4.79820327e-02 1.47146575e+01] [-2.79247682e-01 1.64020867e-01 9.46106700e-01 7.37689891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17907232899995 meters Centerline goodness : 0.760358 with order 1 Centerline is valid? [False, False] Translation: X:-125.55, Y:14.73, Z:73.79 [[ 8.80397438e-01 -3.50230923e-01 3.19747796e-01 -1.25545375e+02] [ 3.83498498e-01 9.22416315e-01 -4.55746005e-02 1.47285987e+01] [-2.78978949e-01 1.62746561e-01 9.46405993e-01 7.37852489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23907232899995 meters Centerline goodness : 0.758987 with order 1 Centerline is valid? [False, False] Translation: X:-125.61, Y:14.75, Z:73.81 [[ 8.78497335e-01 -3.53739717e-01 3.21108462e-01 -1.25607746e+02] [ 3.89603931e-01 9.19456417e-01 -5.29969282e-02 1.47478117e+01] [-2.76498117e-01 1.71662779e-01 9.45558397e-01 7.38063409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29907232899996 meters Centerline goodness : 0.758388 with order 1 Centerline is valid? [False, False] Translation: X:-125.66, Y:14.76, Z:73.82 [[ 8.74333756e-01 -3.62421641e-01 3.22786365e-01 -1.25660275e+02] [ 3.97898679e-01 9.16109630e-01 -4.91913296e-02 1.47618640e+01] [-2.77879695e-01 1.71445908e-01 9.45192666e-01 7.38231799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35907232899996 meters Centerline goodness : 0.762537 with order 1 Centerline is valid? [False, False] Translation: X:-125.71, Y:14.78, Z:73.85 [[ 8.72408852e-01 -3.65111534e-01 3.24955939e-01 -1.25710680e+02] [ 4.00580219e-01 9.15038705e-01 -4.73250122e-02 1.47780858e+01] [-2.80068353e-01 1.71457681e-01 9.44544325e-01 7.38459880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41907232899996 meters Centerline goodness : 0.763512 with order 1 Centerline is valid? [False, False] Translation: X:-125.77, Y:14.80, Z:73.86 [[ 8.73163674e-01 -3.63767934e-01 3.24435031e-01 -1.25765841e+02] [ 4.01047888e-01 9.14462495e-01 -5.40271958e-02 1.47974978e+01] [-2.77030306e-01 1.77288569e-01 9.44363793e-01 7.38649083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47907232899996 meters Centerline goodness : 0.758165 with order 1 Centerline is valid? [False, False] Translation: X:-125.82, Y:14.81, Z:73.88 [[ 8.74941614e-01 -3.61727273e-01 3.21916996e-01 -1.25820138e+02] [ 4.00057124e-01 9.14545296e-01 -5.96757877e-02 1.48144003e+01] [-2.72821314e-01 1.80998017e-01 9.44885310e-01 7.38828569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53907232899996 meters Centerline goodness : 0.752949 with order 1 Centerline is valid? [False, False] Translation: X:-125.87, Y:14.83, Z:73.90 [[ 8.76316118e-01 -3.60568305e-01 3.19469182e-01 -1.25874957e+02] [ 4.00080145e-01 9.14121200e-01 -6.57138437e-02 1.48323517e+01] [-2.68339223e-01 1.85399377e-01 9.45315361e-01 7.39007173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59907232899997 meters Centerline goodness : 0.756013 with order 1 Centerline is valid? [False, False] Translation: X:-125.93, Y:14.85, Z:73.92 [[ 8.77922976e-01 -3.53511539e-01 3.22925441e-01 -1.25927237e+02] [ 3.92400183e-01 9.17689653e-01 -6.21916174e-02 1.48504016e+01] [-2.74359881e-01 1.81315452e-01 9.44378823e-01 7.39203440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65907232899997 meters Centerline goodness : 0.755421 with order 1 Centerline is valid? [False, False] Translation: X:-125.97, Y:14.87, Z:73.94 [[ 8.77844437e-01 -3.54078837e-01 3.22517164e-01 -1.25969455e+02] [ 3.91948535e-01 9.18101049e-01 -5.88796248e-02 1.48650322e+01] [-2.75255317e-01 1.78097281e-01 9.44730580e-01 7.39386371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71907232899997 meters Centerline goodness : 0.753372 with order 1 Centerline is valid? [False, False] Translation: X:-126.01, Y:14.88, Z:73.96 [[ 8.75859992e-01 -3.58846713e-01 3.22642700e-01 -1.26014678e+02] [ 3.96200435e-01 9.16438123e-01 -5.62706100e-02 1.48788980e+01] [-2.75489547e-01 1.77116354e-01 9.44846711e-01 7.39554494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779072329 meters Centerline goodness : 0.753038 with order 1 Centerline is valid? [False, False] Translation: X:-126.06, Y:14.90, Z:73.97 [[ 8.77881425e-01 -3.51514261e-01 3.25210589e-01 -1.26064039e+02] [ 3.88040493e-01 9.20120348e-01 -5.29445146e-02 1.48978499e+01] [-2.80622129e-01 1.72673883e-01 9.44158329e-01 7.39728665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839072329 meters Centerline goodness : 0.754857 with order 1 Centerline is valid? [False, False] Translation: X:-126.10, Y:14.91, Z:73.99 [[ 8.77659926e-01 -3.51907014e-01 3.25383633e-01 -1.26104178e+02] [ 3.88291322e-01 9.20051831e-01 -5.22922436e-02 1.49132884e+01] [-2.80967800e-01 1.72238448e-01 9.44135061e-01 7.39906648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899072329 meters Centerline goodness : 0.756074 with order 1 Centerline is valid? [False, False] Translation: X:-126.15, Y:14.93, Z:74.01 [[ 8.76160018e-01 -3.54845998e-01 3.26232953e-01 -1.26150839e+02] [ 3.90723764e-01 9.19172224e-01 -4.95718003e-02 1.49322105e+01] [-2.82273914e-01 1.70899797e-01 9.43988716e-01 7.40105178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959072329 meters Centerline goodness : 0.753875 with order 1 Centerline is valid? [False, False] Translation: X:-126.21, Y:14.95, Z:74.03 [[ 8.75978558e-01 -3.56266730e-01 3.25170083e-01 -1.26208282e+02] [ 3.94422850e-01 9.17114556e-01 -5.77191972e-02 1.49522206e+01] [-2.77654786e-01 1.78815290e-01 9.43892426e-01 7.40309272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019072329 meters Centerline goodness : 0.750738 with order 1 Centerline is valid? [False, False] Translation: X:-126.26, Y:14.98, Z:74.05 [[ 8.82374505e-01 -3.46838262e-01 3.17991279e-01 -1.26255010e+02] [ 3.83584193e-01 9.21608353e-01 -5.91710334e-02 1.49769975e+01] [-2.72540641e-01 1.74187439e-01 9.46245388e-01 7.40477406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079072329 meters Centerline goodness : 0.749722 with order 1 Centerline is valid? [False, False] Translation: X:-126.30, Y:15.00, Z:74.06 [[ 8.85679531e-01 -3.37111145e-01 3.19261405e-01 -1.26295730e+02] [ 3.73247521e-01 9.25933015e-01 -5.77437488e-02 1.49953809e+01] [-2.76148614e-01 1.70305984e-01 9.45905817e-01 7.40623985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139072329 meters Centerline goodness : 0.752235 with order 1 Centerline is valid? [False, False] Translation: X:-126.34, Y:15.02, Z:74.08 [[ 8.88165881e-01 -3.26968249e-01 3.22882537e-01 -1.26339244e+02] [ 3.63650077e-01 9.29673620e-01 -5.88691970e-02 1.50176439e+01] [-2.80927019e-01 1.69701872e-01 9.44606418e-01 7.40799029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199072329 meters Centerline goodness : 0.751722 with order 1 Centerline is valid? [False, False] Translation: X:-126.38, Y:15.04, Z:74.10 [[ 8.92577960e-01 -3.13741577e-01 3.23837626e-01 -1.26376420e+02] [ 3.49680563e-01 9.35079326e-01 -5.78805542e-02 1.50379945e+01] [-2.84654333e-01 1.64902630e-01 9.44340528e-01 7.40967776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259072329 meters Centerline goodness : 0.750796 with order 1 Centerline is valid? [False, False] Translation: X:-126.41, Y:15.06, Z:74.11 [[ 8.96707313e-01 -3.04914034e-01 3.20847982e-01 -1.26410563e+02] [ 3.38141385e-01 9.39654873e-01 -5.20492440e-02 1.50592702e+01] [-2.85615824e-01 1.55164919e-01 9.45699450e-01 7.41140379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319072329 meters Centerline goodness : 0.753445 with order 1 Centerline is valid? [False, False] Translation: X:-126.46, Y:15.09, Z:74.14 [[ 9.01953635e-01 -2.93732700e-01 3.16545008e-01 -1.26463046e+02] [ 3.26738124e-01 9.43483489e-01 -5.55077019e-02 1.50895458e+01] [-2.82350561e-01 1.53492695e-01 9.46952033e-01 7.41378211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379072329 meters Centerline goodness : 0.753362 with order 1 Centerline is valid? [False, False] Translation: X:-126.50, Y:15.11, Z:74.16 [[ 9.04792323e-01 -2.86275071e-01 3.15273590e-01 -1.26499196e+02] [ 3.17560295e-01 9.46832491e-01 -5.16109766e-02 1.51106008e+01] [-2.83736343e-01 1.46815590e-01 9.47596365e-01 7.41555481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43907232899994 meters Centerline goodness : 0.753179 with order 1 Centerline is valid? [False, False] Translation: X:-126.53, Y:15.13, Z:74.17 [[ 9.07958818e-01 -2.82544361e-01 3.09482583e-01 -1.26528442e+02] [ 3.12396986e-01 9.48610055e-01 -5.04686734e-02 1.51274037e+01] [-2.79318651e-01 1.42504903e-01 9.49564871e-01 7.41722881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49907232899994 meters Centerline goodness : 0.753347 with order 1 Centerline is valid? [False, False] Translation: X:-126.57, Y:15.14, Z:74.19 [[ 9.07762167e-01 -2.82798067e-01 3.09827535e-01 -1.26566844e+02] [ 3.12912082e-01 9.48404625e-01 -5.11341082e-02 1.51431331e+01] [-2.79381240e-01 1.43366388e-01 9.49416769e-01 7.41902171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55907232899995 meters Centerline goodness : 0.756220 with order 1 Centerline is valid? [False, False] Translation: X:-126.61, Y:15.16, Z:74.21 [[ 9.06970850e-01 -2.85460109e-01 3.09703734e-01 -1.26609653e+02] [ 3.15023337e-01 9.47822167e-01 -4.89227716e-02 1.51563615e+01] [-2.79578565e-01 1.41935432e-01 9.49573672e-01 7.42079219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61907232899995 meters Centerline goodness : 0.753803 with order 1 Centerline is valid? [False, False] Translation: X:-126.65, Y:15.17, Z:74.22 [[ 9.04829320e-01 -2.92910924e-01 3.09009859e-01 -1.26651877e+02] [ 3.22656567e-01 9.45258450e-01 -4.87770722e-02 1.51666668e+01] [-2.77806843e-01 1.43838985e-01 9.49807193e-01 7.42234470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67907232899995 meters Centerline goodness : 0.754164 with order 1 Centerline is valid? [False, False] Translation: X:-126.69, Y:15.18, Z:74.24 [[ 9.02541533e-01 -2.99609910e-01 3.09277678e-01 -1.26692953e+02] [ 3.29783166e-01 9.42780506e-01 -4.90711819e-02 1.51763997e+01] [-2.76878753e-01 1.46283352e-01 9.49704868e-01 7.42384090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73907232899995 meters Centerline goodness : 0.755351 with order 1 Centerline is valid? [False, False] Translation: X:-126.74, Y:15.18, Z:74.26 [[ 8.99201550e-01 -3.07601723e-01 3.11155512e-01 -1.26738303e+02] [ 3.38541867e-01 9.39652400e-01 -4.94243990e-02 1.51848173e+01] [-2.77174994e-01 1.49781664e-01 9.49072956e-01 7.42555351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79907232899996 meters Centerline goodness : 0.755298 with order 1 Centerline is valid? [False, False] Translation: X:-126.78, Y:15.20, Z:74.27 [[ 8.96726189e-01 -3.14166937e-01 3.11739119e-01 -1.26781291e+02] [ 3.45132386e-01 9.37317287e-01 -4.81657469e-02 1.51950723e+01] [-2.77066380e-01 1.50782752e-01 9.48946143e-01 7.42703927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85907232899996 meters Centerline goodness : 0.755097 with order 1 Centerline is valid? [False, False] Translation: X:-126.82, Y:15.21, Z:74.29 [[ 8.93798009e-01 -3.21597196e-01 3.12570572e-01 -1.26823929e+02] [ 3.53187111e-01 9.34285626e-01 -4.86747659e-02 1.52064938e+01] [-2.76376524e-01 1.53901306e-01 9.48646618e-01 7.42853882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91907232899996 meters Centerline goodness : 0.755618 with order 1 Centerline is valid? [False, False] Translation: X:-126.87, Y:15.22, Z:74.30 [[ 8.91980078e-01 -3.27080092e-01 3.12073955e-01 -1.26865783e+02] [ 3.58358686e-01 9.32398143e-01 -4.70399349e-02 1.52174967e+01] [-2.75591350e-01 1.53793097e-01 9.48892560e-01 7.43004214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97907232899996 meters Centerline goodness : 0.756855 with order 1 Centerline is valid? [False, False] Translation: X:-126.91, Y:15.23, Z:74.32 [[ 8.90624565e-01 -3.31264997e-01 3.11530715e-01 -1.26907274e+02] [ 3.62237030e-01 9.30967645e-01 -4.56462335e-02 1.52314327e+01] [-2.74904016e-01 1.53501618e-01 9.49139102e-01 7.43166227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03907232899996 meters Centerline goodness : 0.754436 with order 1 Centerline is valid? [False, False] Translation: X:-126.95, Y:15.24, Z:74.33 [[ 8.88775783e-01 -3.37081839e-01 3.10569544e-01 -1.26948794e+02] [ 3.67925439e-01 9.28772763e-01 -4.48556194e-02 1.52418664e+01] [-2.73328519e-01 1.54133024e-01 9.49491723e-01 7.43314210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09907232899997 meters Centerline goodness : 0.754759 with order 1 Centerline is valid? [False, False] Translation: X:-126.99, Y:15.25, Z:74.35 [[ 8.86112699e-01 -3.43839652e-01 3.10770943e-01 -1.26993102e+02] [ 3.74718906e-01 9.26103228e-01 -4.38012921e-02 1.52540846e+01] [-2.72745352e-01 1.55264629e-01 9.49475049e-01 7.43464937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15907232899997 meters Centerline goodness : 0.754774 with order 1 Centerline is valid? [False, False] Translation: X:-127.04, Y:15.27, Z:74.36 [[ 8.84755247e-01 -3.47243118e-01 3.10854259e-01 -1.27037329e+02] [ 3.77736862e-01 9.24965636e-01 -4.18740276e-02 1.52691797e+01] [-2.72989039e-01 1.54469378e-01 9.49534726e-01 7.43643140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21907232899997 meters Centerline goodness : 0.756196 with order 1 Centerline is valid? [False, False] Translation: X:-127.08, Y:15.28, Z:74.38 [[ 8.83912462e-01 -3.48749068e-01 3.11565157e-01 -1.27078892e+02] [ 3.79158222e-01 9.24426556e-01 -4.09217070e-02 1.52819789e+01] [-2.73747698e-01 1.54303698e-01 9.49343229e-01 7.43805236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279072329 meters Centerline goodness : 0.755696 with order 1 Centerline is valid? [False, False] Translation: X:-127.12, Y:15.30, Z:74.40 [[ 8.80561576e-01 -3.55455772e-01 3.13468508e-01 -1.27124266e+02] [ 3.86879345e-01 9.21162750e-01 -4.22322157e-02 1.52963529e+01] [-2.73743828e-01 1.58462558e-01 9.48659019e-01 7.43970324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339072329 meters Centerline goodness : 0.756672 with order 1 Centerline is valid? [False, False] Translation: X:-127.18, Y:15.32, Z:74.42 [[ 8.82017635e-01 -3.53081630e-01 3.12054888e-01 -1.27179675e+02] [ 3.85953864e-01 9.21240549e-01 -4.85331281e-02 1.53168163e+01] [-2.70341461e-01 1.63245865e-01 9.48823631e-01 7.44164581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399072329 meters Centerline goodness : 0.755188 with order 1 Centerline is valid? [False, False] Translation: X:-127.22, Y:15.33, Z:74.43 [[ 8.81267626e-01 -3.56099281e-01 3.10742133e-01 -1.27221163e+02] [ 3.88152475e-01 9.20446144e-01 -4.60059921e-02 1.53307190e+01] [-2.69638697e-01 1.61158919e-01 9.49380206e-01 7.44314696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459072329 meters Centerline goodness : 0.754109 with order 1 Centerline is valid? [False, False] Translation: X:-127.28, Y:15.35, Z:74.45 [[ 8.81944057e-01 -3.54016867e-01 3.11202086e-01 -1.27278704e+02] [ 3.88161594e-01 9.20041365e-01 -5.34271787e-02 1.53520212e+01] [-2.67404669e-01 1.67916480e-01 9.48840766e-01 7.44519026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519072329 meters Centerline goodness : 0.756306 with order 1 Centerline is valid? [False, False] Translation: X:-127.32, Y:15.37, Z:74.47 [[ 8.81514625e-01 -3.51904544e-01 3.14793834e-01 -1.27322121e+02] [ 3.87234344e-01 9.20305116e-01 -5.55702903e-02 1.53669727e+01] [-2.70150938e-01 1.70885007e-01 9.47531944e-01 7.44690403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579072329 meters Centerline goodness : 0.755889 with order 1 Centerline is valid? [False, False] Translation: X:-127.37, Y:15.38, Z:74.49 [[ 8.84053566e-01 -3.43103923e-01 3.17378309e-01 -1.27366122e+02] [ 3.78124473e-01 9.24167743e-01 -5.41836367e-02 1.53842241e+01] [-2.74720177e-01 1.67909743e-01 9.46749778e-01 7.44854720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639072329 meters Centerline goodness : 0.755796 with order 1 Centerline is valid? [False, False] Translation: X:-127.42, Y:15.41, Z:74.50 [[ 8.84774257e-01 -3.38550131e-01 3.20247285e-01 -1.27417138e+02] [ 3.73845387e-01 9.25916585e-01 -5.40194856e-02 1.54053228e+01] [-2.78233969e-01 1.67518020e-01 9.45792563e-01 7.45046494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699072329 meters Centerline goodness : 0.754217 with order 1 Centerline is valid? [False, False] Translation: X:-127.46, Y:15.42, Z:74.52 [[ 8.84466737e-01 -3.41704483e-01 3.17736743e-01 -1.27457767e+02] [ 3.75941490e-01 9.25212030e-01 -5.14848998e-02 1.54182668e+01] [-2.76381236e-01 1.64987106e-01 9.46780158e-01 7.45214441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759072329 meters Centerline goodness : 0.753771 with order 1 Centerline is valid? [False, False] Translation: X:-127.50, Y:15.43, Z:74.54 [[ 8.84374107e-01 -3.42412488e-01 3.17231977e-01 -1.27498126e+02] [ 3.76220383e-01 9.25168363e-01 -5.02167676e-02 1.54319484e+01] [-2.76298140e-01 1.63759545e-01 9.47017502e-01 7.45376926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819072329 meters Centerline goodness : 0.755163 with order 1 Centerline is valid? [False, False] Translation: X:-127.54, Y:15.45, Z:74.55 [[ 8.84148999e-01 -3.43822532e-01 3.16333074e-01 -1.27538135e+02] [ 3.77276538e-01 9.24785592e-01 -4.93358143e-02 1.54465901e+01] [-2.75577505e-01 1.62965258e-01 9.47364430e-01 7.45546993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879072329 meters Centerline goodness : 0.751989 with order 1 Centerline is valid? [False, False] Translation: X:-127.58, Y:15.46, Z:74.57 [[ 8.83006238e-01 -3.48556050e-01 3.14338454e-01 -1.27583437e+02] [ 3.81168622e-01 9.23314345e-01 -4.69158949e-02 1.54612065e+01] [-2.73880385e-01 1.61242983e-01 9.48150956e-01 7.45735853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93907232899994 meters Centerline goodness : 0.752968 with order 1 Centerline is valid? [False, False] Translation: X:-127.63, Y:15.48, Z:74.59 [[ 8.83070320e-01 -3.49697634e-01 3.12887159e-01 -1.27625257e+02] [ 3.81037076e-01 9.23549542e-01 -4.32086851e-02 1.54795270e+01] [-2.73856817e-01 1.57377915e-01 9.48806954e-01 7.45896976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99907232899994 meters Centerline goodness : 0.753588 with order 1 Centerline is valid? [False, False] Translation: X:-127.67, Y:15.50, Z:74.60 [[ 8.83710422e-01 -3.44308782e-01 3.17028947e-01 -1.27670414e+02] [ 3.76767443e-01 9.25193410e-01 -4.54251863e-02 1.54965455e+01] [-2.77672802e-01 1.59588896e-01 9.47327398e-01 7.46041543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05907232899995 meters Centerline goodness : 0.755291 with order 1 Centerline is valid? [False, False] Translation: X:-127.71, Y:15.51, Z:74.62 [[ 8.85120206e-01 -3.37734778e-01 3.20152216e-01 -1.27713779e+02] [ 3.70479459e-01 9.27721238e-01 -4.55880927e-02 1.55128460e+01] [-2.81615326e-01 1.58960762e-01 9.46268611e-01 7.46193739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11907232899995 meters Centerline goodness : 0.756209 with order 1 Centerline is valid? [False, False] Translation: X:-127.76, Y:15.53, Z:74.64 [[ 8.85080376e-01 -3.38008676e-01 3.19973221e-01 -1.27758492e+02] [ 3.69748545e-01 9.28169478e-01 -4.22780554e-02 1.55312575e+01] [-2.82699028e-01 1.55729110e-01 9.46482807e-01 7.46395652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17907232899995 meters Centerline goodness : 0.758858 with order 1 Centerline is valid? [False, False] Translation: X:-127.82, Y:15.55, Z:74.66 [[ 8.83913978e-01 -3.39114197e-01 3.22021181e-01 -1.27818731e+02] [ 3.74236129e-01 9.25861290e-01 -5.22320857e-02 1.55495092e+01] [-2.80434305e-01 1.66680631e-01 9.45290520e-01 7.46622891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23907232899995 meters Centerline goodness : 0.758082 with order 1 Centerline is valid? [False, False] Translation: X:-127.86, Y:15.56, Z:74.68 [[ 8.81302038e-01 -3.45689261e-01 3.22188847e-01 -1.27864301e+02] [ 3.80548103e-01 9.23398426e-01 -5.01845394e-02 1.55601230e+01] [-2.80160418e-01 1.66836091e-01 9.45344307e-01 7.46795044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29907232899996 meters Centerline goodness : 0.756165 with order 1 Centerline is valid? [False, False] Translation: X:-127.91, Y:15.57, Z:74.69 [[ 8.79931994e-01 -3.50567355e-01 3.20659034e-01 -1.27907472e+02] [ 3.84372651e-01 9.21991849e-01 -4.67834912e-02 1.55733110e+01] [-2.79244251e-01 1.64418854e-01 9.46038630e-01 7.46946612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35907232899996 meters Centerline goodness : 0.755536 with order 1 Centerline is valid? [False, False] Translation: X:-127.97, Y:15.60, Z:74.71 [[ 8.80293523e-01 -3.52047754e-01 3.18034104e-01 -1.27965533e+02] [ 3.86513566e-01 9.20903073e-01 -5.04459432e-02 1.55957163e+01] [-2.75119203e-01 1.67331733e-01 9.46736244e-01 7.47142852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41907232899996 meters Centerline goodness : 0.755474 with order 1 Centerline is valid? [False, False] Translation: X:-128.01, Y:15.61, Z:74.73 [[ 8.77284799e-01 -3.58920410e-01 3.18665218e-01 -1.28013979e+02] [ 3.93492825e-01 9.18004061e-01 -4.93147002e-02 1.56077379e+01] [-2.74835912e-01 1.68655514e-01 9.46583614e-01 7.47341812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47907232899996 meters Centerline goodness : 0.756555 with order 1 Centerline is valid? [False, False] Translation: X:-128.06, Y:15.62, Z:74.75 [[ 8.74853150e-01 -3.62716293e-01 3.21043388e-01 -1.28057207e+02] [ 3.98483243e-01 9.15741487e-01 -5.12702105e-02 1.56201833e+01] [-2.75396209e-01 1.72784315e-01 9.45675689e-01 7.47510635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53907232899996 meters Centerline goodness : 0.757549 with order 1 Centerline is valid? [False, False] Translation: X:-128.10, Y:15.64, Z:74.77 [[ 8.73282367e-01 -3.66258631e-01 3.21298184e-01 -1.28102248e+02] [ 4.01842999e-01 9.14347637e-01 -4.99059485e-02 1.56360998e+01] [-2.75499751e-01 1.72693411e-01 9.45662135e-01 7.47690351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59907232899997 meters Centerline goodness : 0.754711 with order 1 Centerline is valid? [False, False] Translation: X:-128.16, Y:15.66, Z:74.79 [[ 8.76619215e-01 -3.61333080e-01 3.17769030e-01 -1.28155102e+02] [ 3.97303309e-01 9.16075657e-01 -5.43642551e-02 1.56592857e+01] [-2.71456869e-01 1.73907438e-01 9.46608352e-01 7.47876258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65907232899997 meters Centerline goodness : 0.754019 with order 1 Centerline is valid? [False, False] Translation: X:-128.19, Y:15.67, Z:74.80 [[ 8.78337803e-01 -3.54719855e-01 3.20462992e-01 -1.28190610e+02] [ 3.91855847e-01 9.18219330e-01 -5.76390306e-02 1.56710337e+01] [-2.73809605e-01 1.76201836e-01 9.45505798e-01 7.48017223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71907232899997 meters Centerline goodness : 0.753386 with order 1 Centerline is valid? [False, False] Translation: X:-128.24, Y:15.69, Z:74.82 [[ 8.80484955e-01 -3.47648676e-01 3.22314508e-01 -1.28239386e+02] [ 3.84431453e-01 9.21434338e-01 -5.63135781e-02 1.56940998e+01] [-2.77414314e-01 1.73491093e-01 9.44956157e-01 7.48187784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779072329 meters Centerline goodness : 0.753751 with order 1 Centerline is valid? [False, False] Translation: X:-128.28, Y:15.71, Z:74.84 [[ 8.81495965e-01 -3.46739836e-01 3.20525115e-01 -1.28281726e+02] [ 3.81773939e-01 9.22811137e-01 -5.16552488e-02 1.57135639e+01] [-2.77873213e-01 1.67902029e-01 9.45830527e-01 7.48374705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839072329 meters Centerline goodness : 0.756125 with order 1 Centerline is valid? [False, False] Translation: X:-128.32, Y:15.73, Z:74.85 [[ 8.82051004e-01 -3.41549595e-01 3.24545682e-01 -1.28322470e+02] [ 3.78058534e-01 9.24151375e-01 -5.49179450e-02 1.57286936e+01] [-2.81172137e-01 1.71137693e-01 9.44274388e-01 7.48531761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899072329 meters Centerline goodness : 0.759495 with order 1 Centerline is valid? [False, False] Translation: X:-128.37, Y:15.74, Z:74.87 [[ 8.81293567e-01 -3.41738624e-01 3.26399082e-01 -1.28366612e+02] [ 3.78361593e-01 9.24076138e-01 -5.40906225e-02 1.57448833e+01] [-2.83132749e-01 1.71166594e-01 9.43683127e-01 7.48744391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959072329 meters Centerline goodness : 0.758209 with order 1 Centerline is valid? [False, False] Translation: X:-128.41, Y:15.76, Z:74.89 [[ 8.81756503e-01 -3.43063956e-01 3.23747728e-01 -1.28405591e+02] [ 3.78306890e-01 9.24278190e-01 -5.09286290e-02 1.57609804e+01] [-2.81761187e-01 1.67382646e-01 9.44771763e-01 7.48908287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019072329 meters Centerline goodness : 0.755224 with order 1 Centerline is valid? [False, False] Translation: X:-128.46, Y:15.78, Z:74.91 [[ 8.85564595e-01 -3.38514975e-01 3.18092690e-01 -1.28455898e+02] [ 3.73249379e-01 9.26189043e-01 -5.34673560e-02 1.57829574e+01] [-2.76514463e-01 1.66076696e-01 9.46550729e-01 7.49077254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079072329 meters Centerline goodness : 0.756693 with order 1 Centerline is valid? [False, False] Translation: X:-128.50, Y:15.80, Z:74.93 [[ 8.86461850e-01 -3.32180301e-01 3.22244683e-01 -1.28504548e+02] [ 3.67808997e-01 9.28279085e-01 -5.49042976e-02 1.58031036e+01] [-2.80894874e-01 1.67195059e-01 9.45062899e-01 7.49251917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139072329 meters Centerline goodness : 0.755836 with order 1 Centerline is valid? [False, False] Translation: X:-128.54, Y:15.82, Z:74.94 [[ 8.89389582e-01 -3.22747468e-01 3.23759544e-01 -1.28543336e+02] [ 3.57463295e-01 9.32453941e-01 -5.24370091e-02 1.58191744e+01] [-2.84966951e-01 1.62369083e-01 9.44685195e-01 7.49400711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199072329 meters Centerline goodness : 0.759349 with order 1 Centerline is valid? [False, False] Translation: X:-128.58, Y:15.84, Z:74.96 [[ 8.94894123e-01 -3.06703200e-01 3.24187686e-01 -1.28579788e+02] [ 3.40390525e-01 9.38879427e-01 -5.13781269e-02 1.58415292e+01] [-2.88615313e-01 1.56328401e-01 9.44596545e-01 7.49567245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259072329 meters Centerline goodness : 0.759213 with order 1 Centerline is valid? [False, False] Translation: X:-128.62, Y:15.86, Z:74.97 [[ 8.95541441e-01 -3.04118574e-01 3.24834452e-01 -1.28617437e+02] [ 3.37739486e-01 9.39845425e-01 -5.12114865e-02 1.58570328e+01] [-2.89719809e-01 1.55571429e-01 9.44383377e-01 7.49748217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319072329 meters Centerline goodness : 0.759687 with order 1 Centerline is valid? [False, False] Translation: X:-128.65, Y:15.87, Z:74.99 [[ 8.98446949e-01 -3.01912728e-01 3.18813087e-01 -1.28648025e+02] [ 3.33717327e-01 9.41401366e-01 -4.89511275e-02 1.58729477e+01] [-2.85352107e-01 1.50373442e-01 9.46552694e-01 7.49911955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379072329 meters Centerline goodness : 0.759122 with order 1 Centerline is valid? [False, False] Translation: X:-128.69, Y:15.89, Z:75.01 [[ 8.98555038e-01 -3.04001004e-01 3.16515771e-01 -1.28687001e+02] [ 3.35077997e-01 9.40994144e-01 -4.74632198e-02 1.58895894e+01] [-2.83410621e-01 1.48705786e-01 9.47399076e-01 7.50089077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43907232899994 meters Centerline goodness : 0.759512 with order 1 Centerline is valid? [False, False] Translation: X:-128.73, Y:15.90, Z:75.02 [[ 8.98286352e-01 -3.06777810e-01 3.14593397e-01 -1.28726296e+02] [ 3.36972054e-01 9.40433050e-01 -4.51166689e-02 1.59044224e+01] [-2.82013235e-01 1.46536871e-01 9.48153722e-01 7.50248347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49907232899994 meters Centerline goodness : 0.759083 with order 1 Centerline is valid? [False, False] Translation: X:-128.76, Y:15.92, Z:75.04 [[ 9.00079149e-01 -3.06890570e-01 3.09314893e-01 -1.28759132e+02] [ 3.35649448e-01 9.41001153e-01 -4.30845393e-02 1.59200328e+01] [-2.77843433e-01 1.42600869e-01 9.49983168e-01 7.50408795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55907232899995 meters Centerline goodness : 0.758854 with order 1 Centerline is valid? [False, False] Translation: X:-128.80, Y:15.94, Z:75.06 [[ 8.99833942e-01 -3.08277089e-01 3.08648852e-01 -1.28799632e+02] [ 3.36910477e-01 9.40563518e-01 -4.27971771e-02 1.59367373e+01] [-2.77110461e-01 1.42497384e-01 9.50212759e-01 7.50588725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61907232899995 meters Centerline goodness : 0.759191 with order 1 Centerline is valid? [False, False] Translation: X:-128.83, Y:15.95, Z:75.07 [[ 9.01642821e-01 -3.08549087e-01 3.03047330e-01 -1.28829801e+02] [ 3.36126555e-01 9.40875165e-01 -4.21053764e-02 1.59506676e+01] [-2.72138132e-01 1.39826266e-01 9.52044880e-01 7.50732674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67907232899995 meters Centerline goodness : 0.760376 with order 1 Centerline is valid? [False, False] Translation: X:-128.87, Y:15.97, Z:75.09 [[ 9.01771098e-01 -3.06016974e-01 3.05225326e-01 -1.28872225e+02] [ 3.33747067e-01 9.41732706e-01 -4.18617489e-02 1.59666142e+01] [-2.74630266e-01 1.39617772e-01 9.51359603e-01 7.50923453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73907232899995 meters Centerline goodness : 0.758952 with order 1 Centerline is valid? [False, False] Translation: X:-128.91, Y:15.98, Z:75.11 [[ 9.00815964e-01 -3.10485145e-01 3.03528539e-01 -1.28910650e+02] [ 3.37990773e-01 9.40242763e-01 -4.13011341e-02 1.59787215e+01] [-2.72567124e-01 1.39794567e-01 9.51926805e-01 7.51064592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79907232899996 meters Centerline goodness : 0.758830 with order 1 Centerline is valid? [False, False] Translation: X:-128.95, Y:15.99, Z:75.12 [[ 8.99346447e-01 -3.15797579e-01 3.02403468e-01 -1.28952370e+02] [ 3.42721973e-01 9.38624714e-01 -3.90550298e-02 1.59899982e+01] [-2.71509885e-01 1.38764316e-01 9.52379571e-01 7.51209855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85907232899996 meters Centerline goodness : 0.758526 with order 1 Centerline is valid? [False, False] Translation: X:-129.00, Y:16.00, Z:75.14 [[ 8.95605145e-01 -3.25360298e-01 3.03367928e-01 -1.28998073e+02] [ 3.53210390e-01 9.34674775e-01 -4.03173096e-02 1.59987368e+01] [-2.70432698e-01 1.43261094e-01 9.52020176e-01 7.51374202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91907232899996 meters Centerline goodness : 0.757380 with order 1 Centerline is valid? [False, False] Translation: X:-129.04, Y:16.01, Z:75.15 [[ 8.93535191e-01 -3.31525718e-01 3.02796237e-01 -1.29040071e+02] [ 3.59280794e-01 9.32399449e-01 -3.93519936e-02 1.60101514e+01] [-2.69280847e-01 1.43951263e-01 9.52242542e-01 7.51516656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97907232899996 meters Centerline goodness : 0.757969 with order 1 Centerline is valid? [False, False] Translation: X:-129.09, Y:16.02, Z:75.17 [[ 8.90230125e-01 -3.38592029e-01 3.04706027e-01 -1.29087476e+02] [ 3.67112153e-01 9.29321127e-01 -3.98862215e-02 1.60216187e+01] [-2.69664591e-01 1.47369201e-01 9.51610911e-01 7.51688242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03907232899996 meters Centerline goodness : 0.757479 with order 1 Centerline is valid? [False, False] Translation: X:-129.15, Y:16.04, Z:75.19 [[ 8.90196105e-01 -3.38617890e-01 3.04776672e-01 -1.29145281e+02] [ 3.69287638e-01 9.28102179e-01 -4.74656236e-02 1.60404089e+01] [-2.66791184e-01 1.54803970e-01 9.51240345e-01 7.51886223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09907232899997 meters Centerline goodness : 0.757542 with order 1 Centerline is valid? [False, False] Translation: X:-129.19, Y:16.05, Z:75.21 [[ 8.88490111e-01 -3.43559774e-01 3.04223609e-01 -1.29190482e+02] [ 3.73688643e-01 9.26456307e-01 -4.51166312e-02 1.60543645e+01] [-2.66349621e-01 1.53770588e-01 9.51531652e-01 7.52054057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15907232899997 meters Centerline goodness : 0.757424 with order 1 Centerline is valid? [False, False] Translation: X:-129.23, Y:16.07, Z:75.22 [[ 8.89770666e-01 -3.38983661e-01 3.05611254e-01 -1.29231715e+02] [ 3.69199375e-01 9.28245762e-01 -4.52948861e-02 1.60692826e+01] [-2.68328125e-01 1.53133545e-01 9.51078406e-01 7.52177080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21907232899997 meters Centerline goodness : 0.758732 with order 1 Centerline is valid? [False, False] Translation: X:-129.28, Y:16.09, Z:75.24 [[ 8.89240584e-01 -3.39647107e-01 3.06416427e-01 -1.29275636e+02] [ 3.69620806e-01 9.28146954e-01 -4.38598997e-02 1.60863813e+01] [-2.69502586e-01 1.52259890e-01 9.50886577e-01 7.52362849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279072329 meters Centerline goodness : 0.759447 with order 1 Centerline is valid? [False, False] Translation: X:-129.34, Y:16.11, Z:75.26 [[ 8.88692459e-01 -3.39830015e-01 3.07800706e-01 -1.29335437e+02] [ 3.72464632e-01 9.26565325e-01 -5.24098914e-02 1.61063413e+01] [-2.67387007e-01 1.61221152e-01 9.50006278e-01 7.52580431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339072329 meters Centerline goodness : 0.757215 with order 1 Centerline is valid? [False, False] Translation: X:-129.38, Y:16.12, Z:75.27 [[ 8.88418617e-01 -3.42579113e-01 3.05535451e-01 -1.29375562e+02] [ 3.73971804e-01 9.26145771e-01 -4.89806227e-02 1.61191038e+01] [-2.66190627e-01 1.57776941e-01 9.50920074e-01 7.52727019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399072329 meters Centerline goodness : 0.757385 with order 1 Centerline is valid? [False, False] Translation: X:-129.42, Y:16.14, Z:75.29 [[ 8.87728468e-01 -3.44621899e-01 3.05244024e-01 -1.29418690e+02] [ 3.75379598e-01 9.25699914e-01 -4.65813961e-02 1.61359788e+01] [-2.66511397e-01 1.55934010e-01 9.51134196e-01 7.52897653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459072329 meters Centerline goodness : 0.757600 with order 1 Centerline is valid? [False, False] Translation: X:-129.46, Y:16.15, Z:75.31 [[ 8.86352933e-01 -3.47916528e-01 3.05503793e-01 -1.29464057e+02] [ 3.78145100e-01 9.24698555e-01 -4.40325391e-02 1.61513229e+01] [-2.67179268e-01 1.54553133e-01 9.51172207e-01 7.53064634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519072329 meters Centerline goodness : 0.755556 with order 1 Centerline is valid? [False, False] Translation: X:-129.52, Y:16.17, Z:75.32 [[ 8.87485584e-01 -3.46762338e-01 3.03521364e-01 -1.29515304e+02] [ 3.78545649e-01 9.24175598e-01 -5.10162278e-02 1.61676107e+01] [-2.62816532e-01 1.60172859e-01 9.51457895e-01 7.53210008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579072329 meters Centerline goodness : 0.753859 with order 1 Centerline is valid? [False, False] Translation: X:-129.56, Y:16.18, Z:75.34 [[ 8.85645702e-01 -3.51901338e-01 3.02980427e-01 -1.29559578e+02] [ 3.83247652e-01 9.22344749e-01 -4.90041041e-02 1.61791530e+01] [-2.62207796e-01 1.59516811e-01 9.51736024e-01 7.53369547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639072329 meters Centerline goodness : 0.755682 with order 1 Centerline is valid? [False, False] Translation: X:-129.61, Y:16.19, Z:75.35 [[ 8.84226072e-01 -3.50501750e-01 3.08695281e-01 -1.29610375e+02] [ 3.83355405e-01 9.22191839e-01 -5.09984811e-02 1.61949528e+01] [-2.66801212e-01 1.63434191e-01 9.49792808e-01 7.53548914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699072329 meters Centerline goodness : 0.754580 with order 1 Centerline is valid? [False, False] Translation: X:-129.65, Y:16.21, Z:75.37 [[ 8.83811899e-01 -3.51320073e-01 3.08951021e-01 -1.29651049e+02] [ 3.84027703e-01 9.21956409e-01 -5.01906759e-02 1.62072765e+01] [-2.67206382e-01 1.63004868e-01 9.49752685e-01 7.53713920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759072329 meters Centerline goodness : 0.752458 with order 1 Centerline is valid? [False, False] Translation: X:-129.69, Y:16.22, Z:75.39 [[ 8.82110861e-01 -3.56530116e-01 3.07842015e-01 -1.29691335e+02] [ 3.89005956e-01 9.19916573e-01 -4.92733788e-02 1.62198980e+01] [-2.65621528e-01 1.63216960e-01 9.50160738e-01 7.53852979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819072329 meters Centerline goodness : 0.752791 with order 1 Centerline is valid? [False, False] Translation: X:-129.73, Y:16.24, Z:75.40 [[ 8.82769993e-01 -3.56428868e-01 3.06064700e-01 -1.29732586e+02] [ 3.87458405e-01 9.20776656e-01 -4.52364223e-02 1.62362623e+01] [-2.65693664e-01 1.58520697e-01 9.50935363e-01 7.54016088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879072329 meters Centerline goodness : 0.750010 with order 1 Centerline is valid? [False, False] Translation: X:-129.79, Y:16.26, Z:75.42 [[ 8.85485876e-01 -3.51496929e-01 3.03915568e-01 -1.29786837e+02] [ 3.83819381e-01 9.21942301e-01 -5.20103442e-02 1.62587770e+01] [-2.61911142e-01 1.62703110e-01 9.51278220e-01 7.54223368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93907232899994 meters Centerline goodness : 0.750519 with order 1 Centerline is valid? [False, False] Translation: X:-129.83, Y:16.27, Z:75.44 [[ 8.85728814e-01 -3.52428322e-01 3.02123725e-01 -1.29826326e+02] [ 3.83698780e-01 9.22147124e-01 -4.91927667e-02 1.62741936e+01] [-2.61265600e-01 1.59495956e-01 9.51998596e-01 7.54363133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99907232899994 meters Centerline goodness : 0.749140 with order 1 Centerline is valid? [False, False] Translation: X:-129.86, Y:16.29, Z:75.45 [[ 8.85945437e-01 -3.53126159e-01 3.00670249e-01 -1.29864947e+02] [ 3.83778901e-01 9.22189457e-01 -4.77531279e-02 1.62884150e+01] [-2.60412055e-01 1.57697563e-01 9.52531910e-01 7.54510882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05907232899995 meters Centerline goodness : 0.750372 with order 1 Centerline is valid? [False, False] Translation: X:-129.91, Y:16.30, Z:75.47 [[ 8.87409310e-01 -3.45234822e-01 3.05479351e-01 -1.29909299e+02] [ 3.76974691e-01 9.24880816e-01 -4.98553726e-02 1.63041225e+01] [-2.65320181e-01 1.59400106e-01 9.50892637e-01 7.54685185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11907232899995 meters Centerline goodness : 0.751462 with order 1 Centerline is valid? [False, False] Translation: X:-129.95, Y:16.32, Z:75.49 [[ 8.87716620e-01 -3.45849543e-01 3.03886978e-01 -1.29951439e+02] [ 3.76229838e-01 9.25390147e-01 -4.58713968e-02 1.63233206e+01] [-2.65349413e-01 1.55052150e-01 9.51603131e-01 7.54856607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17907232899995 meters Centerline goodness : 0.752002 with order 1 Centerline is valid? [False, False] Translation: X:-129.99, Y:16.34, Z:75.50 [[ 8.88935182e-01 -3.45316284e-01 3.00916776e-01 -1.29988876e+02] [ 3.74291098e-01 9.26328383e-01 -4.26837323e-02 1.63398795e+01] [-2.64008362e-01 1.50573542e-01 9.52694701e-01 7.55009951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23907232899995 meters Centerline goodness : 0.753331 with order 1 Centerline is valid? [False, False] Translation: X:-130.04, Y:16.36, Z:75.52 [[ 8.89508050e-01 -3.39350807e-01 3.05968068e-01 -1.30037146e+02] [ 3.69347104e-01 9.28237387e-01 -4.42500941e-02 1.63578917e+01] [-2.68994695e-01 1.52369235e-01 9.51012866e-01 7.55173488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29907232899996 meters Centerline goodness : 0.751474 with order 1 Centerline is valid? [False, False] Translation: X:-130.08, Y:16.37, Z:75.53 [[ 8.88626142e-01 -3.41140182e-01 3.06540300e-01 -1.30077003e+02] [ 3.71521472e-01 9.27333369e-01 -4.49957730e-02 1.63695834e+01] [-2.68915183e-01 1.53870724e-01 9.50793576e-01 7.55327343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35907232899996 meters Centerline goodness : 0.751525 with order 1 Centerline is valid? [False, False] Translation: X:-130.12, Y:16.38, Z:75.55 [[ 8.85582175e-01 -3.48392287e-01 3.07192163e-01 -1.30122804e+02] [ 3.79176346e-01 9.24233976e-01 -4.49094298e-02 1.63824809e+01] [-2.68271335e-01 1.56250993e-01 9.50587249e-01 7.55502793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41907232899996 meters Centerline goodness : 0.752536 with order 1 Centerline is valid? [False, False] Translation: X:-130.18, Y:16.40, Z:75.57 [[ 8.84199775e-01 -3.52358324e-01 3.06650240e-01 -1.30181472e+02] [ 3.85481254e-01 9.21192230e-01 -5.30007318e-02 1.63993722e+01] [-2.63808569e-01 1.65071154e-01 9.50345491e-01 7.55688986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47907232899996 meters Centerline goodness : 0.748979 with order 1 Centerline is valid? [False, False] Translation: X:-130.22, Y:16.41, Z:75.58 [[ 8.83287050e-01 -3.56505691e-01 3.04479359e-01 -1.30223720e+02] [ 3.88452319e-01 9.20136703e-01 -4.95302286e-02 1.64088512e+01] [-2.62504825e-01 1.62025123e-01 9.51230296e-01 7.55836477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53907232899996 meters Centerline goodness : 0.750262 with order 1 Centerline is valid? [False, False] Translation: X:-130.26, Y:16.42, Z:75.60 [[ 8.82971417e-01 -3.58421905e-01 3.03142236e-01 -1.30262409e+02] [ 3.89904105e-01 9.19581984e-01 -4.84124362e-02 1.64241692e+01] [-2.61412061e-01 1.60943200e-01 9.51714779e-01 7.55985166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59907232899997 meters Centerline goodness : 0.750607 with order 1 Centerline is valid? [False, False] Translation: X:-130.31, Y:16.44, Z:75.62 [[ 8.82388717e-01 -3.59823294e-01 3.03178742e-01 -1.30308000e+02] [ 3.90180771e-01 9.19681873e-01 -4.40932924e-02 1.64424307e+01] [-2.62962199e-01 1.57201939e-01 9.51913038e-01 7.56160466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65907232899997 meters Centerline goodness : 0.750497 with order 1 Centerline is valid? [False, False] Translation: X:-130.35, Y:16.46, Z:75.63 [[ 8.83990169e-01 -3.52395481e-01 3.07211337e-01 -1.30354002e+02] [ 3.83385548e-01 9.22491018e-01 -4.50093730e-02 1.64596108e+01] [-2.67538599e-01 1.57568230e-01 9.50576326e-01 7.56312431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71907232899997 meters Centerline goodness : 0.753734 with order 1 Centerline is valid? [False, False] Translation: X:-130.40, Y:16.48, Z:75.65 [[ 8.83699953e-01 -3.53678814e-01 3.06570856e-01 -1.30395429e+02] [ 3.84063889e-01 9.22302261e-01 -4.30519414e-02 1.64777612e+01] [-2.67524434e-01 1.55787794e-01 9.50873725e-01 7.56486847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779072329 meters Centerline goodness : 0.752378 with order 1 Centerline is valid? [False, False] Translation: X:-130.44, Y:16.50, Z:75.67 [[ 8.82555586e-01 -3.56269942e-01 3.06867018e-01 -1.30439350e+02] [ 3.86501068e-01 9.21335702e-01 -4.19219351e-02 1.64957408e+01] [-2.67792014e-01 1.55602868e-01 9.50828683e-01 7.56666777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839072329 meters Centerline goodness : 0.753328 with order 1 Centerline is valid? [False, False] Translation: X:-130.49, Y:16.51, Z:75.68 [[ 8.84063585e-01 -3.52346514e-01 3.07056203e-01 -1.30488442e+02] [ 3.83925884e-01 9.22156199e-01 -4.72108065e-02 1.65140603e+01] [-2.66519218e-01 1.59624179e-01 9.50519662e-01 7.56812495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899072329 meters Centerline goodness : 0.751369 with order 1 Centerline is valid? [False, False] Translation: X:-130.54, Y:16.53, Z:75.70 [[ 8.87372863e-01 -3.47020865e-01 3.03555468e-01 -1.30540362e+02] [ 3.79335509e-01 9.23746750e-01 -5.28820661e-02 1.65348247e+01] [-2.62057197e-01 1.62075478e-01 9.51345135e-01 7.57009666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959072329 meters Centerline goodness : 0.752952 with order 1 Centerline is valid? [False, False] Translation: X:-130.58, Y:16.56, Z:75.71 [[ 8.92714068e-01 -3.33211647e-01 3.03367089e-01 -1.30579745e+02] [ 3.63873276e-01 9.30153165e-01 -4.91052763e-02 1.65567058e+01] [-2.65815408e-01 1.54224147e-01 9.51607630e-01 7.57142850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019072329 meters Centerline goodness : 0.752336 with order 1 Centerline is valid? [False, False] Translation: X:-130.62, Y:16.57, Z:75.73 [[ 8.93631822e-01 -3.26684780e-01 3.07732384e-01 -1.30619023e+02] [ 3.59124592e-01 9.31740739e-01 -5.37468447e-02 1.65728457e+01] [-2.69168523e-01 1.58544158e-01 9.49953713e-01 7.57286660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079072329 meters Centerline goodness : 0.753897 with order 1 Centerline is valid? [False, False] Translation: X:-130.66, Y:16.59, Z:75.75 [[ 8.94706783e-01 -3.26276703e-01 3.05029976e-01 -1.30659479e+02] [ 3.56807086e-01 9.32908430e-01 -4.86884391e-02 1.65899564e+01] [-2.68679133e-01 1.52398734e-01 9.51097340e-01 7.57456773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139072329 meters Centerline goodness : 0.753798 with order 1 Centerline is valid? [False, False] Translation: X:-130.71, Y:16.60, Z:75.76 [[ 8.91640836e-01 -3.32166938e-01 3.07638984e-01 -1.30706220e+02] [ 3.63641476e-01 9.30219187e-01 -4.95695647e-02 1.66029243e+01] [-2.69706315e-01 1.56068542e-01 9.50211089e-01 7.57648432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199072329 meters Centerline goodness : 0.753714 with order 1 Centerline is valid? [False, False] Translation: X:-130.75, Y:16.61, Z:75.78 [[ 8.89129077e-01 -3.38046805e-01 3.08502582e-01 -1.30750021e+02] [ 3.69818089e-01 9.27801020e-01 -4.91919573e-02 1.66140415e+01] [-2.69599826e-01 1.57827835e-01 9.49950687e-01 7.57817923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259072329 meters Centerline goodness : 0.753837 with order 1 Centerline is valid? [False, False] Translation: X:-130.79, Y:16.62, Z:75.80 [[ 8.87122796e-01 -3.45718536e-01 3.05764352e-01 -1.30794226e+02] [ 3.76406986e-01 9.25319177e-01 -4.58497741e-02 1.66215873e+01] [-2.67078502e-01 1.55766218e-01 9.51002607e-01 7.57967153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319072329 meters Centerline goodness : 0.752097 with order 1 Centerline is valid? [False, False] Translation: X:-130.85, Y:16.64, Z:75.81 [[ 8.88088088e-01 -3.44492259e-01 3.04342950e-01 -1.30847678e+02] [ 3.77073461e-01 9.24624266e-01 -5.37175141e-02 1.66392920e+01] [-2.62897609e-01 1.62465534e-01 9.51046685e-01 7.58137629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379072329 meters Centerline goodness : 0.751232 with order 1 Centerline is valid? [False, False] Translation: X:-130.89, Y:16.65, Z:75.83 [[ 8.88733190e-01 -3.44512931e-01 3.02430418e-01 -1.30885717e+02] [ 3.76070853e-01 9.25173827e-01 -5.12260067e-02 1.66534505e+01] [-2.62152686e-01 1.59261518e-01 9.51793958e-01 7.58279897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43907232899994 meters Centerline goodness : 0.751304 with order 1 Centerline is valid? [False, False] Translation: X:-130.93, Y:16.67, Z:75.84 [[ 8.88718050e-01 -3.44527596e-01 3.02458203e-01 -1.30925258e+02] [ 3.75976522e-01 9.25235067e-01 -5.08106826e-02 1.66684046e+01] [-2.62339253e-01 1.58873554e-01 9.51807391e-01 7.58442809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49907232899994 meters Centerline goodness : 0.751791 with order 1 Centerline is valid? [False, False] Translation: X:-130.97, Y:16.68, Z:75.86 [[ 8.87693851e-01 -3.45960317e-01 3.03827394e-01 -1.30969151e+02] [ 3.77329795e-01 9.24757843e-01 -4.94485446e-02 1.66824048e+01] [-2.63859531e-01 1.58538297e-01 9.51442986e-01 7.58609556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55907232899995 meters Centerline goodness : 0.753656 with order 1 Centerline is valid? [False, False] Translation: X:-131.01, Y:16.70, Z:75.88 [[ 8.86689702e-01 -3.48442391e-01 3.03923136e-01 -1.31010909e+02] [ 3.79508622e-01 9.23946306e-01 -4.79210855e-02 1.66969947e+01] [-2.64110921e-01 1.57832584e-01 9.51490566e-01 7.58773308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61907232899995 meters Centerline goodness : 0.751424 with order 1 Centerline is valid? [False, False] Translation: X:-131.06, Y:16.71, Z:75.89 [[ 8.86235216e-01 -3.48635830e-01 3.05024917e-01 -1.31060849e+02] [ 3.80909090e-01 9.23174465e-01 -5.15477657e-02 1.67109698e+01] [-2.63619817e-01 1.61870209e-01 9.50948278e-01 7.58899693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67907232899995 meters Centerline goodness : 0.752788 with order 1 Centerline is valid? [False, False] Translation: X:-131.11, Y:16.73, Z:75.91 [[ 8.85003261e-01 -3.50982213e-01 3.05909649e-01 -1.31105357e+02] [ 3.83025255e-01 9.22394456e-01 -4.98008233e-02 1.67258983e+01] [-2.64690161e-01 1.61245012e-01 9.50757153e-01 7.59069456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73907232899995 meters Centerline goodness : 0.753896 with order 1 Centerline is valid? [False, False] Translation: X:-131.15, Y:16.74, Z:75.92 [[ 8.84920931e-01 -3.51553779e-01 3.05491222e-01 -1.31145419e+02] [ 3.83270338e-01 9.22345830e-01 -4.88059284e-02 1.67418284e+01] [-2.64610646e-01 1.60275111e-01 9.50943266e-01 7.59235652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79907232899996 meters Centerline goodness : 0.753272 with order 1 Centerline is valid? [False, False] Translation: X:-131.19, Y:16.76, Z:75.94 [[ 8.83454489e-01 -3.54877514e-01 3.05892327e-01 -1.31191249e+02] [ 3.86255758e-01 9.21202082e-01 -4.68317682e-02 1.67575323e+01] [-2.65169107e-01 1.59526408e-01 9.50913597e-01 7.59414722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85907232899996 meters Centerline goodness : 0.754409 with order 1 Centerline is valid? [False, False] Translation: X:-131.23, Y:16.77, Z:75.96 [[ 8.83414372e-01 -3.55529984e-01 3.05249861e-01 -1.31234510e+02] [ 3.85796818e-01 9.21574190e-01 -4.31489028e-02 1.67720714e+01] [-2.65969664e-01 1.55882786e-01 9.51294221e-01 7.59592287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91907232899996 meters Centerline goodness : 0.753830 with order 1 Centerline is valid? [False, False] Translation: X:-131.29, Y:16.79, Z:75.98 [[ 8.84999472e-01 -3.52956216e-01 3.03640979e-01 -1.31288318e+02] [ 3.85050513e-01 9.21477494e-01 -5.11403022e-02 1.67934871e+01] [-2.61748041e-01 1.62176255e-01 9.51413068e-01 7.59777568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97907232899996 meters Centerline goodness : 0.754573 with order 1 Centerline is valid? [False, False] Translation: X:-131.33, Y:16.81, Z:76.00 [[ 8.83643178e-01 -3.53404216e-01 3.07050802e-01 -1.31331296e+02] [ 3.86627624e-01 9.20714983e-01 -5.29433756e-02 1.68074666e+01] [-2.63995862e-01 1.65497375e-01 9.50219345e-01 7.59950774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03907232899996 meters Centerline goodness : 0.754855 with order 1 Centerline is valid? [False, False] Translation: X:-131.37, Y:16.82, Z:76.01 [[ 8.83994044e-01 -3.52543026e-01 3.07030853e-01 -1.31371259e+02] [ 3.85270798e-01 9.21376239e-01 -5.13053444e-02 1.68211748e+01] [-2.64803591e-01 1.63643641e-01 9.50315641e-01 7.60113500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09907232899997 meters Centerline goodness : 0.750089 with order 1 Centerline is valid? [False, False] Translation: X:-131.41, Y:16.83, Z:76.02 [[ 8.83117741e-01 -3.58039457e-01 3.03167945e-01 -1.31411973e+02] [ 3.89210222e-01 9.19932666e-01 -4.73211628e-02 1.68329394e+01] [-2.61951253e-01 1.59786222e-01 9.51761475e-01 7.60237538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15907232899997 meters Centerline goodness : 0.748881 with order 1 Centerline is valid? [False, False] Translation: X:-131.45, Y:16.85, Z:76.04 [[ 8.83181913e-01 -3.59029297e-01 3.01807343e-01 -1.31454351e+02] [ 3.88661851e-01 9.20402699e-01 -4.24362859e-02 1.68479782e+01] [-2.62548423e-01 1.54779961e-01 9.52424007e-01 7.60393081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21907232899997 meters Centerline goodness : 0.751326 with order 1 Centerline is valid? [False, False] Translation: X:-131.50, Y:16.86, Z:76.05 [[ 8.83269531e-01 -3.54350219e-01 3.07035598e-01 -1.31500869e+02] [ 3.85333148e-01 9.21689890e-01 -4.47896439e-02 1.68634582e+01] [-2.67120387e-01 1.57872322e-01 9.50643482e-01 7.60538909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279072329 meters Centerline goodness : 0.750271 with order 1 Centerline is valid? [False, False] Translation: X:-131.54, Y:16.88, Z:76.07 [[ 8.82143310e-01 -3.56685023e-01 3.07569464e-01 -1.31542658e+02] [ 3.87867027e-01 9.20625659e-01 -4.48058720e-02 1.68785014e+01] [-2.67174757e-01 1.58821254e-01 9.50470125e-01 7.60700345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339072329 meters Centerline goodness : 0.749958 with order 1 Centerline is valid? [False, False] Translation: X:-131.58, Y:16.89, Z:76.08 [[ 8.85141850e-01 -3.47936461e-01 3.08972692e-01 -1.31580742e+02] [ 3.79202026e-01 9.24189767e-01 -4.55971230e-02 1.68933855e+01] [-2.69684499e-01 1.57522993e-01 9.49977251e-01 7.60836841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399072329 meters Centerline goodness : 0.750141 with order 1 Centerline is valid? [False, False] Translation: X:-131.62, Y:16.92, Z:76.10 [[ 8.89829913e-01 -3.34664465e-01 3.10165153e-01 -1.31619795e+02] [ 3.65279482e-01 9.29825194e-01 -4.46767099e-02 1.69172580e+01] [-2.73447666e-01 1.53051639e-01 9.49632334e-01 7.60973403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459072329 meters Centerline goodness : 0.752262 with order 1 Centerline is valid? [False, False] Translation: X:-131.66, Y:16.93, Z:76.11 [[ 8.89803616e-01 -3.35805171e-01 3.09005521e-01 -1.31658739e+02] [ 3.66085835e-01 9.29539679e-01 -4.40130291e-02 1.69337253e+01] [-2.72453090e-01 1.52285497e-01 9.50041284e-01 7.61136707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519072329 meters Centerline goodness : 0.753897 with order 1 Centerline is valid? [False, False] Translation: X:-131.71, Y:16.95, Z:76.13 [[ 8.89102378e-01 -3.32521697e-01 3.14525489e-01 -1.31709728e+02] [ 3.64570984e-01 9.29968792e-01 -4.73924324e-02 1.69526283e+01] [-2.76739877e-01 1.56803592e-01 9.48065227e-01 7.61325976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579072329 meters Centerline goodness : 0.752673 with order 1 Centerline is valid? [False, False] Translation: X:-131.75, Y:16.97, Z:76.15 [[ 8.89540461e-01 -3.32342905e-01 3.13474021e-01 -1.31748839e+02] [ 3.63927594e-01 9.30268401e-01 -4.64479231e-02 1.69680051e+01] [-2.76178338e-01 1.55399153e-01 9.48460136e-01 7.61499188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639072329 meters Centerline goodness : 0.751534 with order 1 Centerline is valid? [False, False] Translation: X:-131.80, Y:16.99, Z:76.17 [[ 8.93257700e-01 -3.26755887e-01 3.08741432e-01 -1.31799038e+02] [ 3.58532886e-01 9.32134239e-01 -5.07930238e-02 1.69924496e+01] [-2.71191540e-01 1.56065216e-01 9.49788817e-01 7.61674676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699072329 meters Centerline goodness : 0.750774 with order 1 Centerline is valid? [False, False] Translation: X:-131.84, Y:17.01, Z:76.18 [[ 8.93558816e-01 -3.28314048e-01 3.06206675e-01 -1.31836132e+02] [ 3.59407057e-01 9.31858074e-01 -4.96698800e-02 1.70055657e+01] [-2.69033843e-01 1.54435799e-01 9.50668383e-01 7.61834830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759072329 meters Centerline goodness : 0.752002 with order 1 Centerline is valid? [False, False] Translation: X:-131.87, Y:17.02, Z:76.20 [[ 8.94110498e-01 -3.29325779e-01 3.03497858e-01 -1.31872988e+02] [ 3.59577244e-01 9.31872403e-01 -4.81459207e-02 1.70207860e+01] [-2.66965585e-01 1.52178696e-01 9.51614954e-01 7.61992245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819072329 meters Centerline goodness : 0.751518 with order 1 Centerline is valid? [False, False] Translation: X:-131.92, Y:17.04, Z:76.22 [[ 8.94051898e-01 -3.29668746e-01 3.03298074e-01 -1.31917802e+02] [ 3.58657975e-01 9.32444517e-01 -4.37227584e-02 1.70369291e+01] [-2.68394599e-01 1.47870688e-01 9.51892115e-01 7.62177554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879072329 meters Centerline goodness : 0.749304 with order 1 Centerline is valid? [False, False] Translation: X:-131.96, Y:17.05, Z:76.23 [[ 8.92981102e-01 -3.32724468e-01 3.03115787e-01 -1.31959424e+02] [ 3.61496400e-01 9.31400245e-01 -4.25903331e-02 1.70493032e+01] [-2.68151273e-01 1.47607628e-01 9.52001514e-01 7.62337603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93907232899994 meters Centerline goodness : 0.745689 with order 1 Centerline is valid? [False, False] Translation: X:-132.01, Y:17.06, Z:76.25 [[ 8.89420349e-01 -3.42636085e-01 3.02542487e-01 -1.32008342e+02] [ 3.71676954e-01 9.27394845e-01 -4.23679560e-02 1.70608757e+01] [-2.66059552e-01 1.50130992e-01 9.52193783e-01 7.62512634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99907232899994 meters Centerline goodness : 0.742215 with order 1 Centerline is valid? [False, False] Translation: X:-132.07, Y:17.08, Z:76.27 [[ 8.87398373e-01 -3.48350327e-01 3.01953933e-01 -1.32068978e+02] [ 3.79662219e-01 9.23769713e-01 -5.00611257e-02 1.70766040e+01] [-2.61497089e-01 1.59064662e-01 9.52007199e-01 7.62704317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05907232899995 meters Centerline goodness : 0.745016 with order 1 Centerline is valid? [False, False] Translation: X:-132.11, Y:17.09, Z:76.29 [[ 8.85619394e-01 -3.52329762e-01 3.02559130e-01 -1.32113996e+02] [ 3.83104395e-01 9.22501882e-01 -4.71306659e-02 1.70928856e+01] [-2.62505830e-01 1.57651564e-01 9.51964639e-01 7.62864106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11907232899995 meters Centerline goodness : 0.742030 with order 1 Centerline is valid? [False, False] Translation: X:-132.16, Y:17.10, Z:76.30 [[ 8.81283434e-01 -3.61173853e-01 3.04783458e-01 -1.32160340e+02] [ 3.92597767e-01 9.18522147e-01 -4.67339171e-02 1.71020085e+01] [-2.63071287e-01 1.60843132e-01 9.51274400e-01 7.63002054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17907232899995 meters Centerline goodness : 0.740299 with order 1 Centerline is valid? [False, False] Translation: X:-132.23, Y:17.12, Z:76.32 [[ 8.77914880e-01 -3.69141175e-01 3.04959433e-01 -1.32227471e+02] [ 4.02368842e-01 9.14001066e-01 -5.19746712e-02 1.71216987e+01] [-2.59547256e-01 1.68335511e-01 9.50946044e-01 7.63227871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23907232899995 meters Centerline goodness : 0.740302 with order 1 Centerline is valid? [False, False] Translation: X:-132.27, Y:17.13, Z:76.34 [[ 8.75834454e-01 -3.73162107e-01 3.06045831e-01 -1.32273258e+02] [ 4.06261879e-01 9.12378582e-01 -5.01658118e-02 1.71346918e+01] [-2.60509682e-01 1.68271701e-01 9.50694136e-01 7.63397209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29907232899996 meters Centerline goodness : 0.742671 with order 1 Centerline is valid? [False, False] Translation: X:-132.32, Y:17.15, Z:76.36 [[ 8.73827801e-01 -3.76740305e-01 3.07395051e-01 -1.32320369e+02] [ 4.09927562e-01 9.10799405e-01 -4.90289437e-02 1.71485100e+01] [-2.61504051e-01 1.68852558e-01 9.50318076e-01 7.63590938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35907232899996 meters Centerline goodness : 0.741231 with order 1 Centerline is valid? [False, False] Translation: X:-132.37, Y:17.16, Z:76.38 [[ 8.72114923e-01 -3.80214275e-01 3.07981602e-01 -1.32366187e+02] [ 4.13289705e-01 9.09349805e-01 -4.76922714e-02 1.71626944e+01] [-2.61929727e-01 1.68878767e-01 9.50196180e-01 7.63773865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41907232899996 meters Centerline goodness : 0.740396 with order 1 Centerline is valid? [False, False] Translation: X:-132.42, Y:17.18, Z:76.39 [[ 8.74395341e-01 -3.76597537e-01 3.05952746e-01 -1.32420253e+02] [ 4.10588993e-01 9.10280375e-01 -5.29747005e-02 1.71838773e+01] [-2.58552638e-01 1.71941661e-01 9.50571722e-01 7.63949589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47907232899996 meters Centerline goodness : 0.740356 with order 1 Centerline is valid? [False, False] Translation: X:-132.47, Y:17.20, Z:76.41 [[ 8.74887986e-01 -3.75963787e-01 3.05323178e-01 -1.32465274e+02] [ 4.08776349e-01 9.11308766e-01 -4.91755076e-02 1.72018868e+01] [-2.59755478e-01 1.67831955e-01 9.50978195e-01 7.64141174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53907232899996 meters Centerline goodness : 0.738267 with order 1 Centerline is valid? [False, False] Translation: X:-132.51, Y:17.22, Z:76.43 [[ 8.75741182e-01 -3.74463415e-01 3.04720419e-01 -1.32512022e+02] [ 4.05674196e-01 9.12960007e-01 -4.39598960e-02 1.72218666e+01] [-2.61736183e-01 1.62114702e-01 9.51426820e-01 7.64347427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59907232899997 meters Centerline goodness : 0.738737 with order 1 Centerline is valid? [False, False] Translation: X:-132.56, Y:17.24, Z:76.45 [[ 8.76253402e-01 -3.70218458e-01 3.08412498e-01 -1.32562368e+02] [ 4.02023884e-01 9.14552503e-01 -4.43904796e-02 1.72406602e+01] [-2.65625247e-01 1.62886499e-01 9.50216405e-01 7.64519111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65907232899997 meters Centerline goodness : 0.736872 with order 1 Centerline is valid? [False, False] Translation: X:-132.60, Y:17.26, Z:76.47 [[ 8.76364485e-01 -3.71279968e-01 3.06816679e-01 -1.32601490e+02] [ 4.02538449e-01 9.14379270e-01 -4.32821818e-02 1.72556462e+01] [-2.64477003e-01 1.61436477e-01 9.50783981e-01 7.64675876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71907232899997 meters Centerline goodness : 0.736107 with order 1 Centerline is valid? [False, False] Translation: X:-132.66, Y:17.28, Z:76.49 [[ 8.78256795e-01 -3.67833713e-01 3.05554187e-01 -1.32658664e+02] [ 4.00342799e-01 9.15046238e-01 -4.91530753e-02 1.72780388e+01] [-2.61516052e-01 1.65495441e-01 9.50905155e-01 7.64874729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779072329 meters Centerline goodness : 0.735790 with order 1 Centerline is valid? [False, False] Translation: X:-132.71, Y:17.30, Z:76.50 [[ 8.77752388e-01 -3.64719120e-01 3.10693916e-01 -1.32709750e+02] [ 3.98183602e-01 9.15958816e-01 -4.96917168e-02 1.72951831e+01] [-2.66459312e-01 1.67330246e-01 9.49210211e-01 7.65035722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839072329 meters Centerline goodness : 0.735195 with order 1 Centerline is valid? [False, False] Translation: X:-132.75, Y:17.31, Z:76.52 [[ 8.77471616e-01 -3.66249888e-01 3.09684650e-01 -1.32754347e+02] [ 3.98349766e-01 9.16116798e-01 -4.52490563e-02 1.73116246e+01] [-2.67134848e-01 1.63067571e-01 9.49762044e-01 7.65207120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899072329 meters Centerline goodness : 0.735115 with order 1 Centerline is valid? [False, False] Translation: X:-132.80, Y:17.33, Z:76.54 [[ 8.76773241e-01 -3.67699587e-01 3.09944668e-01 -1.32799347e+02] [ 3.99067142e-01 9.15947379e-01 -4.22588926e-02 1.73281522e+01] [-2.68354429e-01 1.60740199e-01 9.49814976e-01 7.65384551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959072329 meters Centerline goodness : 0.736500 with order 1 Centerline is valid? [False, False] Translation: X:-132.84, Y:17.34, Z:76.56 [[ 8.76218646e-01 -3.69004968e-01 3.09961639e-01 -1.32841275e+02] [ 4.00212374e-01 9.15483420e-01 -4.14748549e-02 1.73426330e+01] [-2.68460314e-01 1.60391524e-01 9.49843997e-01 7.65558975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019072329 meters Centerline goodness : 0.737417 with order 1 Centerline is valid? [False, False] Translation: X:-132.89, Y:17.36, Z:76.58 [[ 8.76734397e-01 -3.68061194e-01 3.09625185e-01 -1.32887626e+02] [ 3.97838885e-01 9.16717382e-01 -3.67894506e-02 1.73635263e+01] [-2.70298020e-01 1.55435515e-01 9.50146716e-01 7.65750982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079072329 meters Centerline goodness : 0.741031 with order 1 Centerline is valid? [False, False] Translation: X:-132.94, Y:17.39, Z:76.59 [[ 8.80955530e-01 -3.53581065e-01 3.14480180e-01 -1.32941552e+02] [ 3.85954519e-01 9.21409629e-01 -4.52040259e-02 1.73855982e+01] [-2.73781779e-01 1.61197783e-01 9.48187119e-01 7.65918551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139072329 meters Centerline goodness : 0.738367 with order 1 Centerline is valid? [False, False] Translation: X:-132.99, Y:17.41, Z:76.61 [[ 8.84024120e-01 -3.49296817e-01 3.10633368e-01 -1.32989384e+02] [ 3.82675698e-01 9.22429040e-01 -5.18071160e-02 1.74066940e+01] [-2.68441178e-01 1.64670581e-01 9.49116923e-01 7.66081834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199072329 meters Centerline goodness : 0.739111 with order 1 Centerline is valid? [False, False] Translation: X:-133.03, Y:17.43, Z:76.62 [[ 8.90091168e-01 -3.33907476e-01 3.10231383e-01 -1.33027971e+02] [ 3.65466588e-01 9.29583950e-01 -4.80401169e-02 1.74287081e+01] [-2.72345160e-01 1.56139289e-01 9.49446489e-01 7.66227933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259072329 meters Centerline goodness : 0.742159 with order 1 Centerline is valid? [False, False] Translation: X:-133.07, Y:17.45, Z:76.64 [[ 8.91788372e-01 -3.25227621e-01 3.14548079e-01 -1.33073696e+02] [ 3.58046983e-01 9.32300952e-01 -5.11594778e-02 1.74530945e+01] [-2.76614998e-01 1.58246418e-01 9.47861917e-01 7.66397645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319072329 meters Centerline goodness : 0.740764 with order 1 Centerline is valid? [False, False] Translation: X:-133.11, Y:17.47, Z:76.65 [[ 8.94778948e-01 -3.15228216e-01 3.16230622e-01 -1.33108307e+02] [ 3.48146481e-01 9.35993545e-01 -5.20587348e-02 1.74687913e+01] [-2.79579439e-01 1.56675638e-01 9.47252913e-01 7.66547093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379072329 meters Centerline goodness : 0.741521 with order 1 Centerline is valid? [False, False] Translation: X:-133.14, Y:17.49, Z:76.67 [[ 8.99075460e-01 -3.01981041e-01 3.16971243e-01 -1.33143672e+02] [ 3.33765695e-01 9.41334657e-01 -4.98951446e-02 1.74875612e+01] [-2.83308628e-01 1.50653627e-01 9.47121801e-01 7.66695946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43907232899994 meters Centerline goodness : 0.743452 with order 1 Centerline is valid? [False, False] Translation: X:-133.18, Y:17.50, Z:76.69 [[ 8.99381908e-01 -3.01852689e-01 3.16223239e-01 -1.33180986e+02] [ 3.33615712e-01 9.41368419e-01 -5.02598958e-02 1.75043554e+01] [-2.82511486e-01 1.50699882e-01 9.47352525e-01 7.66875311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49907232899994 meters Centerline goodness : 0.740326 with order 1 Centerline is valid? [False, False] Translation: X:-133.21, Y:17.52, Z:76.70 [[ 9.00398693e-01 -3.04045340e-01 3.11189049e-01 -1.33214535e+02] [ 3.34398221e-01 9.41211374e-01 -4.79476686e-02 1.75191749e+01] [-2.78316408e-01 1.47233083e-01 9.49137712e-01 7.67016284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55907232899995 meters Centerline goodness : 0.739562 with order 1 Centerline is valid? [False, False] Translation: X:-133.25, Y:17.53, Z:76.72 [[ 9.02411167e-01 -3.04534792e-01 3.04815756e-01 -1.33246714e+02] [ 3.32844372e-01 9.41939739e-01 -4.43187569e-02 1.75324695e+01] [-2.73621471e-01 1.41449950e-01 9.51379631e-01 7.67155704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61907232899995 meters Centerline goodness : 0.738411 with order 1 Centerline is valid? [False, False] Translation: X:-133.28, Y:17.55, Z:76.73 [[ 9.04249621e-01 -3.03409032e-01 3.00458952e-01 -1.33279633e+02] [ 3.30540580e-01 9.42825367e-01 -4.26995515e-02 1.75496748e+01] [-2.70324892e-01 1.37924929e-01 9.52838479e-01 7.67309625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67907232899995 meters Centerline goodness : 0.737039 with order 1 Centerline is valid? [False, False] Translation: X:-133.31, Y:17.57, Z:76.75 [[ 9.05671263e-01 -3.02348268e-01 2.97229017e-01 -1.33314162e+02] [ 3.28380866e-01 9.43669412e-01 -4.06699930e-02 1.75669533e+01] [-2.68189429e-01 1.34437966e-01 9.53939654e-01 7.67465498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73907232899995 meters Centerline goodness : 0.737853 with order 1 Centerline is valid? [False, False] Translation: X:-133.35, Y:17.58, Z:76.76 [[ 9.05641696e-01 -3.04712595e-01 2.94895496e-01 -1.33350837e+02] [ 3.30200200e-01 9.43080347e-01 -3.95889693e-02 1.75801712e+01] [-2.66046889e-01 1.33227973e-01 9.54709045e-01 7.67605640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79907232899996 meters Centerline goodness : 0.737726 with order 1 Centerline is valid? [False, False] Translation: X:-133.39, Y:17.60, Z:76.78 [[ 9.06348343e-01 -3.01592762e-01 2.95929870e-01 -1.33389804e+02] [ 3.26998892e-01 9.44210309e-01 -3.92252016e-02 1.75959596e+01] [-2.67589997e-01 1.32320436e-01 9.54403948e-01 7.67766720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85907232899996 meters Centerline goodness : 0.737134 with order 1 Centerline is valid? [False, False] Translation: X:-133.43, Y:17.61, Z:76.79 [[ 9.04924022e-01 -3.04855998e-01 2.96943318e-01 -1.33431233e+02] [ 3.30877506e-01 9.42808275e-01 -4.04058476e-02 1.76086728e+01] [-2.67642653e-01 1.34816087e-01 9.54039849e-01 7.67934551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91907232899996 meters Centerline goodness : 0.735658 with order 1 Centerline is valid? [False, False] Translation: X:-133.47, Y:17.62, Z:76.81 [[ 9.03856275e-01 -3.10851865e-01 2.93964202e-01 -1.33470217e+02] [ 3.36187519e-01 9.41002924e-01 -3.86192742e-02 1.76209539e+01] [-2.64616300e-01 1.33733369e-01 9.55035915e-01 7.68056018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97907232899996 meters Centerline goodness : 0.733823 with order 1 Centerline is valid? [False, False] Translation: X:-133.51, Y:17.63, Z:76.82 [[ 9.03103691e-01 -3.12980967e-01 2.94018092e-01 -1.33509351e+02] [ 3.38317310e-01 9.40253287e-01 -3.82773302e-02 1.76325697e+01] [-2.64471401e-01 1.34039808e-01 9.55033092e-01 7.68183979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03907232899996 meters Centerline goodness : 0.733347 with order 1 Centerline is valid? [False, False] Translation: X:-133.55, Y:17.64, Z:76.83 [[ 9.01802011e-01 -3.16195047e-01 2.94573973e-01 -1.33551716e+02] [ 3.41401128e-01 9.39187755e-01 -3.70355434e-02 1.76442627e+01] [-2.64949813e-01 1.33966614e-01 9.54910751e-01 7.68343507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09907232899997 meters Centerline goodness : 0.734113 with order 1 Centerline is valid? [False, False] Translation: X:-133.59, Y:17.65, Z:76.85 [[ 8.98895084e-01 -3.23868734e-01 2.95121453e-01 -1.33593161e+02] [ 3.49332263e-01 9.36286795e-01 -3.65240651e-02 1.76535228e+01] [-2.64489317e-01 1.35926748e-01 9.54761395e-01 7.68468630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15907232899997 meters Centerline goodness : 0.730657 with order 1 Centerline is valid? [False, False] Translation: X:-133.64, Y:17.66, Z:76.86 [[ 8.96334587e-01 -3.29042257e-01 2.97179240e-01 -1.33635838e+02] [ 3.55501742e-01 9.33893893e-01 -3.82191991e-02 1.76635758e+01] [-2.64958146e-01 1.39904928e-01 9.54056493e-01 7.68614923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21907232899997 meters Centerline goodness : 0.729280 with order 1 Centerline is valid? [False, False] Translation: X:-133.68, Y:17.67, Z:76.88 [[ 8.93325968e-01 -3.35360531e-01 2.99168896e-01 -1.33680842e+02] [ 3.62470659e-01 9.31199808e-01 -3.84959501e-02 1.76735788e+01] [-2.65675997e-01 1.42829379e-01 9.53423323e-01 7.68769538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279072329 meters Centerline goodness : 0.726314 with order 1 Centerline is valid? [False, False] Translation: X:-133.72, Y:17.68, Z:76.89 [[ 8.90752609e-01 -3.41792945e-01 2.99561968e-01 -1.33721684e+02] [ 3.69171893e-01 9.28573282e-01 -3.82592982e-02 1.76839917e+01] [-2.65088482e-01 1.44669429e-01 9.53309422e-01 7.68884839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339072329 meters Centerline goodness : 0.725174 with order 1 Centerline is valid? [False, False] Translation: X:-133.76, Y:17.70, Z:76.90 [[ 8.90630991e-01 -3.42432764e-01 2.99192647e-01 -1.33762430e+02] [ 3.69080447e-01 9.28709925e-01 -3.57421134e-02 1.76980924e+01] [-2.65623910e-01 1.42259190e-01 9.53523078e-01 7.69033851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399072329 meters Centerline goodness : 0.723687 with order 1 Centerline is valid? [False, False] Translation: X:-133.80, Y:17.71, Z:76.92 [[ 8.90289159e-01 -3.43986589e-01 2.98426609e-01 -1.33800505e+02] [ 3.70620364e-01 9.28091030e-01 -3.58829403e-02 1.77117003e+01] [-2.64623808e-01 1.42549171e-01 9.53757817e-01 7.69183572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459072329 meters Centerline goodness : 0.720324 with order 1 Centerline is valid? [False, False] Translation: X:-133.86, Y:17.73, Z:76.94 [[ 8.90417627e-01 -3.43043373e-01 2.99128224e-01 -1.33858844e+02] [ 3.71832854e-01 9.27283709e-01 -4.34194920e-02 1.77326709e+01] [-2.62481960e-01 1.49887182e-01 9.53224555e-01 7.69386672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519072329 meters Centerline goodness : 0.717911 with order 1 Centerline is valid? [False, False] Translation: X:-133.89, Y:17.75, Z:76.95 [[ 8.90584815e-01 -3.44491688e-01 2.96958186e-01 -1.33894378e+02] [ 3.72661733e-01 9.27005773e-01 -4.22318616e-02 1.77451501e+01] [-2.60733427e-01 1.48276007e-01 9.53956134e-01 7.69518842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579072329 meters Centerline goodness : 0.719337 with order 1 Centerline is valid? [False, False] Translation: X:-133.94, Y:17.76, Z:76.97 [[ 8.89104096e-01 -3.47701641e-01 2.97653280e-01 -1.33937523e+02] [ 3.75907087e-01 9.25729056e-01 -4.14677742e-02 1.77594140e+01] [-2.61127877e-01 1.48759145e-01 9.53773007e-01 7.69679333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639072329 meters Centerline goodness : 0.717771 with order 1 Centerline is valid? [False, False] Translation: X:-134.00, Y:17.78, Z:76.99 [[ 8.88637470e-01 -3.48877927e-01 2.97670352e-01 -1.33995513e+02] [ 3.79087214e-01 9.24081593e-01 -4.86425103e-02 1.77777682e+01] [-2.58101395e-01 1.56068582e-01 9.53428690e-01 7.69851196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699072329 meters Centerline goodness : 0.714820 with order 1 Centerline is valid? [False, False] Translation: X:-134.04, Y:17.79, Z:77.00 [[ 8.86602174e-01 -3.53649628e-01 2.98108246e-01 -1.34038628e+02] [ 3.83449658e-01 9.22407947e-01 -4.61512689e-02 1.77900517e+01] [-2.58656036e-01 1.55227320e-01 9.53415719e-01 7.69992017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759072329 meters Centerline goodness : 0.711731 with order 1 Centerline is valid? [False, False] Translation: X:-134.09, Y:17.81, Z:77.02 [[ 8.85910559e-01 -3.51334650e-01 3.02863741e-01 -1.34088491e+02] [ 3.82019027e-01 9.22970518e-01 -4.67641507e-02 1.78050922e+01] [-2.63104438e-01 1.57128567e-01 9.51885848e-01 7.70151470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819072329 meters Centerline goodness : 0.710188 with order 1 Centerline is valid? [False, False] Translation: X:-134.13, Y:17.82, Z:77.03 [[ 8.84752283e-01 -3.54125812e-01 3.02998855e-01 -1.34130352e+02] [ 3.84517212e-01 9.22010699e-01 -4.51971797e-02 1.78202542e+01] [-2.63362698e-01 1.56496583e-01 9.51918541e-01 7.70309312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879072329 meters Centerline goodness : 0.708173 with order 1 Centerline is valid? [False, False] Translation: X:-134.17, Y:17.83, Z:77.05 [[ 8.83132623e-01 -3.57294171e-01 3.04002707e-01 -1.34174548e+02] [ 3.87921009e-01 9.20596359e-01 -4.49403402e-02 1.78339418e+01] [-2.63806864e-01 1.57617317e-01 9.51610593e-01 7.70494300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93907232899994 meters Centerline goodness : 0.708248 with order 1 Centerline is valid? [False, False] Translation: X:-134.23, Y:17.85, Z:77.07 [[ 8.84446510e-01 -3.55734807e-01 3.02005163e-01 -1.34227923e+02] [ 3.87731236e-01 9.20336661e-01 -5.14287691e-02 1.78518894e+01] [-2.59651421e-01 1.62582831e-01 9.51918044e-01 7.70660453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99907232899994 meters Centerline goodness : 0.706780 with order 1 Centerline is valid? [False, False] Translation: X:-134.27, Y:17.86, Z:77.08 [[ 8.84348887e-01 -3.57617066e-01 3.00061792e-01 -1.34265475e+02] [ 3.88899028e-01 9.19934302e-01 -4.97837998e-02 1.78632955e+01] [-2.58233599e-01 1.60719987e-01 9.52619806e-01 7.70797077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05907232899995 meters Centerline goodness : 0.706521 with order 1 Centerline is valid? [False, False] Translation: X:-134.31, Y:17.88, Z:77.10 [[ 8.83632935e-01 -3.59513693e-01 2.99904554e-01 -1.34308579e+02] [ 3.90221890e-01 9.19495412e-01 -4.74875147e-02 1.78772003e+01] [-2.58688449e-01 1.58990854e-01 9.52786542e-01 7.70968551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11907232899995 meters Centerline goodness : 0.708258 with order 1 Centerline is valid? [False, False] Translation: X:-134.35, Y:17.89, Z:77.11 [[ 8.83097802e-01 -3.61631292e-01 2.98933238e-01 -1.34351166e+02] [ 3.91233117e-01 9.19252990e-01 -4.37102903e-02 1.78920066e+01] [-2.58988264e-01 1.55553043e-01 9.53272432e-01 7.71130342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17907232899995 meters Centerline goodness : 0.711203 with order 1 Centerline is valid? [False, False] Translation: X:-134.39, Y:17.91, Z:77.13 [[ 8.82722927e-01 -3.62881150e-01 2.98525551e-01 -1.34393824e+02] [ 3.91822979e-01 9.19111096e-01 -4.13466657e-02 1.79107131e+01] [-2.59374221e-01 1.53466821e-01 9.53505610e-01 7.71296351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23907232899995 meters Centerline goodness : 0.712123 with order 1 Centerline is valid? [False, False] Translation: X:-134.44, Y:17.92, Z:77.14 [[ 8.81619987e-01 -3.61679170e-01 3.03206821e-01 -1.34440809e+02] [ 3.92220882e-01 9.18796030e-01 -4.44593676e-02 1.79235936e+01] [-2.62505196e-01 1.58120314e-01 9.51887067e-01 7.71421798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29907232899996 meters Centerline goodness : 0.715666 with order 1 Centerline is valid? [False, False] Translation: X:-134.49, Y:17.94, Z:77.16 [[ 8.81662520e-01 -3.58344280e-01 3.07018857e-01 -1.34488483e+02] [ 3.89752868e-01 9.19784858e-01 -4.57002977e-02 1.79390332e+01] [-2.66014855e-01 1.59953720e-01 9.50605546e-01 7.71565783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35907232899996 meters Centerline goodness : 0.714893 with order 1 Centerline is valid? [False, False] Translation: X:-134.53, Y:17.95, Z:77.17 [[ 8.80072694e-01 -3.62562850e-01 3.06627188e-01 -1.34531732e+02] [ 3.93415288e-01 9.18340488e-01 -4.33031003e-02 1.79541858e+01] [-2.65888066e-01 1.58741700e-01 9.50844156e-01 7.71712951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41907232899996 meters Centerline goodness : 0.717970 with order 1 Centerline is valid? [False, False] Translation: X:-134.58, Y:17.97, Z:77.19 [[ 8.81268726e-01 -3.56818101e-01 3.09913337e-01 -1.34578086e+02] [ 3.88132347e-01 9.20562011e-01 -4.38048608e-02 1.79713025e+01] [-2.69664077e-01 1.58891245e-01 9.49755157e-01 7.71857597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47907232899996 meters Centerline goodness : 0.720291 with order 1 Centerline is valid? [False, False] Translation: X:-134.63, Y:17.99, Z:77.21 [[ 8.82542159e-01 -3.53695011e-01 3.09869611e-01 -1.34633355e+02] [ 3.87006014e-01 9.20644458e-01 -5.13821625e-02 1.79922910e+01] [-2.67106126e-01 1.65268328e-01 9.49389645e-01 7.72052293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53907232899996 meters Centerline goodness : 0.721186 with order 1 Centerline is valid? [False, False] Translation: X:-134.67, Y:18.01, Z:77.22 [[ 8.84868887e-01 -3.46034886e-01 3.11876436e-01 -1.34671262e+02] [ 3.79408844e-01 9.23794670e-01 -5.15008413e-02 1.80050241e+01] [-2.70288702e-01 1.63900170e-01 9.48725857e-01 7.72184878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59907232899997 meters Centerline goodness : 0.724479 with order 1 Centerline is valid? [False, False] Translation: X:-134.72, Y:18.02, Z:77.23 [[ 8.86698779e-01 -3.37875032e-01 3.15603766e-01 -1.34715208e+02] [ 3.71952041e-01 9.26745190e-01 -5.28680627e-02 1.80247151e+01] [-2.74621474e-01 1.64267512e-01 9.47417137e-01 7.72346470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65907232899997 meters Centerline goodness : 0.724372 with order 1 Centerline is valid? [False, False] Translation: X:-134.75, Y:18.04, Z:77.25 [[ 8.87751685e-01 -3.38448779e-01 3.12008604e-01 -1.34749031e+02] [ 3.71590476e-01 9.26951908e-01 -5.17752692e-02 1.80397797e+01] [-2.71693694e-01 1.61903008e-01 9.48667462e-01 7.72493724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71907232899997 meters Centerline goodness : 0.725332 with order 1 Centerline is valid? [False, False] Translation: X:-134.79, Y:18.06, Z:77.27 [[ 8.89806518e-01 -3.36547725e-01 3.08188237e-01 -1.34786008e+02] [ 3.67597451e-01 9.28792876e-01 -4.70734356e-02 1.80596066e+01] [-2.70400581e-01 1.55175460e-01 9.50160040e-01 7.72653246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779072329 meters Centerline goodness : 0.726644 with order 1 Centerline is valid? [False, False] Translation: X:-134.83, Y:18.08, Z:77.28 [[ 8.92538765e-01 -3.26052556e-01 3.11551414e-01 -1.34827993e+02] [ 3.57203872e-01 9.32839849e-01 -4.70660223e-02 1.80813237e+01] [-2.75281577e-01 1.53295621e-01 9.49062962e-01 7.72800596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839072329 meters Centerline goodness : 0.724491 with order 1 Centerline is valid? [False, False] Translation: X:-134.86, Y:18.09, Z:77.30 [[ 8.92883662e-01 -3.28565044e-01 3.07902220e-01 -1.34863377e+02] [ 3.59312110e-01 9.32012466e-01 -4.74085425e-02 1.80940010e+01] [-2.71391917e-01 1.52963309e-01 9.50236104e-01 7.72954315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899072329 meters Centerline goodness : 0.726861 with order 1 Centerline is valid? [False, False] Translation: X:-134.90, Y:18.11, Z:77.31 [[ 8.94934744e-01 -3.27013359e-01 3.03568884e-01 -1.34898572e+02] [ 3.55956354e-01 9.33475175e-01 -4.38083645e-02 1.81123794e+01] [-2.69048096e-01 1.47262900e-01 9.51801849e-01 7.73111835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959072329 meters Centerline goodness : 0.728619 with order 1 Centerline is valid? [False, False] Translation: X:-134.94, Y:18.13, Z:77.33 [[ 8.95090475e-01 -3.21785039e-01 3.08654223e-01 -1.34943464e+02] [ 3.51987724e-01 9.34867804e-01 -4.61175822e-02 1.81272895e+01] [-2.73710948e-01 1.49921906e-01 9.50055651e-01 7.73269481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019072329 meters Centerline goodness : 0.729709 with order 1 Centerline is valid? [False, False] Translation: X:-134.98, Y:18.14, Z:77.34 [[ 8.94095591e-01 -3.25378984e-01 3.07768730e-01 -1.34981745e+02] [ 3.55623972e-01 9.33485537e-01 -4.62205815e-02 1.81390626e+01] [-2.72258452e-01 1.50775556e-01 9.50337870e-01 7.73427544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079072329 meters Centerline goodness : 0.729752 with order 1 Centerline is valid? [False, False] Translation: X:-135.02, Y:18.15, Z:77.36 [[ 8.93493944e-01 -3.30028213e-01 3.04548765e-01 -1.35021058e+02] [ 3.59071643e-01 9.32312334e-01 -4.31424019e-02 1.81527604e+01] [-2.69696360e-01 1.47902300e-01 9.51519197e-01 7.73550347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139072329 meters Centerline goodness : 0.730571 with order 1 Centerline is valid? [False, False] Translation: X:-135.06, Y:18.17, Z:77.37 [[ 8.93691180e-01 -3.30533892e-01 3.03419546e-01 -1.35059949e+02] [ 3.58811558e-01 9.32509024e-01 -4.10022607e-02 1.81665663e+01] [-2.69388828e-01 1.45513799e-01 9.51974471e-01 7.73704274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199072329 meters Centerline goodness : 0.731192 with order 1 Centerline is valid? [False, False] Translation: X:-135.10, Y:18.18, Z:77.39 [[ 8.92315308e-01 -3.33951233e-01 3.03726794e-01 -1.35103505e+02] [ 3.62012439e-01 9.31334354e-01 -3.95387715e-02 1.81830233e+01] [-2.69667176e-01 1.45233929e-01 9.51938401e-01 7.73880568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259072329 meters Centerline goodness : 0.729949 with order 1 Centerline is valid? [False, False] Translation: X:-135.14, Y:18.19, Z:77.40 [[ 8.91127998e-01 -3.37686643e-01 3.03081875e-01 -1.35140978e+02] [ 3.65920597e-01 9.29788670e-01 -3.99392874e-02 1.81941064e+01] [-2.68315130e-01 1.46494918e-01 9.52127213e-01 7.74004910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319072329 meters Centerline goodness : 0.729857 with order 1 Centerline is valid? [False, False] Translation: X:-135.20, Y:18.21, Z:77.42 [[ 8.91533469e-01 -3.36552420e-01 3.03151023e-01 -1.35196753e+02] [ 3.67353175e-01 9.28777508e-01 -4.92339860e-02 1.82130797e+01] [-2.64990034e-01 1.55257237e-01 9.51669833e-01 7.74210484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379072329 meters Centerline goodness : 0.730201 with order 1 Centerline is valid? [False, False] Translation: X:-135.23, Y:18.23, Z:77.43 [[ 8.91446656e-01 -3.38128672e-01 3.01648573e-01 -1.35234690e+02] [ 3.68336130e-01 9.28464287e-01 -4.77761737e-02 1.82259998e+01] [-2.63915433e-01 1.53697978e-01 9.52221390e-01 7.74349065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43907232899994 meters Centerline goodness : 0.729597 with order 1 Centerline is valid? [False, False] Translation: X:-135.28, Y:18.24, Z:77.45 [[ 8.90317033e-01 -3.41561730e-01 3.01116530e-01 -1.35275089e+02] [ 3.71843447e-01 9.27061133e-01 -4.78550597e-02 1.82406683e+01] [-2.62807975e-01 1.54574383e-01 9.52385809e-01 7.74502002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49907232899994 meters Centerline goodness : 0.728181 with order 1 Centerline is valid? [False, False] Translation: X:-135.32, Y:18.26, Z:77.46 [[ 8.88953967e-01 -3.45719783e-01 3.00397531e-01 -1.35315466e+02] [ 3.75825638e-01 9.25495934e-01 -4.70357997e-02 1.82552497e+01] [-2.61755487e-01 1.54709754e-01 9.52653639e-01 7.74646535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55907232899995 meters Centerline goodness : 0.727922 with order 1 Centerline is valid? [False, False] Translation: X:-135.35, Y:18.27, Z:77.48 [[ 8.89601453e-01 -3.45903030e-01 2.98262214e-01 -1.35352560e+02] [ 3.75030964e-01 9.25931825e-01 -4.47440757e-02 1.82697949e+01] [-2.60693365e-01 1.51661961e-01 9.53434643e-01 7.74789411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61907232899995 meters Centerline goodness : 0.727520 with order 1 Centerline is valid? [False, False] Translation: X:-135.39, Y:18.28, Z:77.50 [[ 8.89213825e-01 -3.44779106e-01 3.00709397e-01 -1.35393552e+02] [ 3.74501913e-01 9.26104433e-01 -4.55949174e-02 1.82840069e+01] [-2.62768131e-01 1.53159875e-01 9.52625300e-01 7.74952590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67907232899995 meters Centerline goodness : 0.729761 with order 1 Centerline is valid? [False, False] Translation: X:-135.44, Y:18.30, Z:77.51 [[ 8.88991529e-01 -3.46040509e-01 2.99916701e-01 -1.35437028e+02] [ 3.74733694e-01 9.26173883e-01 -4.21496971e-02 1.83018905e+01] [-2.63189513e-01 1.49859617e-01 9.53033774e-01 7.75122610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73907232899995 meters Centerline goodness : 0.726452 with order 1 Centerline is valid? [False, False] Translation: X:-135.47, Y:18.31, Z:77.53 [[ 8.88742233e-01 -3.48180710e-01 2.98173501e-01 -1.35473470e+02] [ 3.76636735e-01 9.25408382e-01 -4.20011371e-02 1.83143987e+01] [-2.61308272e-01 1.49631278e-01 9.53587158e-01 7.75255911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79907232899996 meters Centerline goodness : 0.724783 with order 1 Centerline is valid? [False, False] Translation: X:-135.52, Y:18.34, Z:77.54 [[ 8.93391347e-01 -3.40388646e-01 2.93236202e-01 -1.35520035e+02] [ 3.69265806e-01 9.28099372e-01 -4.76898389e-02 1.83352640e+01] [-2.55919255e-01 1.50887792e-01 9.54849836e-01 7.75438799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85907232899996 meters Centerline goodness : 0.723156 with order 1 Centerline is valid? [False, False] Translation: X:-135.56, Y:18.35, Z:77.56 [[ 8.92810625e-01 -3.42423068e-01 2.92635661e-01 -1.35561399e+02] [ 3.70930161e-01 9.27501882e-01 -4.63796842e-02 1.83516831e+01] [-2.55538652e-01 1.49955668e-01 9.55098579e-01 7.75601551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91907232899996 meters Centerline goodness : 0.723350 with order 1 Centerline is valid? [False, False] Translation: X:-135.61, Y:18.37, Z:77.57 [[ 8.93919838e-01 -3.36394396e-01 2.96219739e-01 -1.35606465e+02] [ 3.65434806e-01 9.29646319e-01 -4.70650977e-02 1.83694857e+01] [-2.59547155e-01 1.50321427e-01 9.53959508e-01 7.75744772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97907232899996 meters Centerline goodness : 0.722668 with order 1 Centerline is valid? [False, False] Translation: X:-135.64, Y:18.38, Z:77.59 [[ 8.93673026e-01 -3.38243349e-01 2.94855828e-01 -1.35642616e+02] [ 3.67193593e-01 9.28941805e-01 -4.72862375e-02 1.83830060e+01] [-2.57909650e-01 1.50527606e-01 9.54371024e-01 7.75880954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03907232899996 meters Centerline goodness : 0.719181 with order 1 Centerline is valid? [False, False] Translation: X:-135.68, Y:18.40, Z:77.60 [[ 8.95029233e-01 -3.38204807e-01 2.90757943e-01 -1.35677176e+02] [ 3.65422162e-01 9.29834383e-01 -4.32973882e-02 1.83955255e+01] [-2.55713347e-01 1.45001824e-01 9.55816486e-01 7.75990001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09907232899997 meters Centerline goodness : 0.720633 with order 1 Centerline is valid? [False, False] Translation: X:-135.73, Y:18.41, Z:77.61 [[ 8.95097203e-01 -3.34688478e-01 2.94592292e-01 -1.35725075e+02] [ 3.62762473e-01 9.30807505e-01 -4.47300478e-02 1.84126451e+01] [-2.59238085e-01 1.46904769e-01 9.54575615e-01 7.76131875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15907232899997 meters Centerline goodness : 0.722785 with order 1 Centerline is valid? [False, False] Translation: X:-135.76, Y:18.43, Z:77.63 [[ 8.95121262e-01 -3.35026378e-01 2.94134751e-01 -1.35762476e+02] [ 3.63122412e-01 9.30652593e-01 -4.50318242e-02 1.84272040e+01] [-2.58650420e-01 1.47115864e-01 9.54702510e-01 7.76282272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21907232899997 meters Centerline goodness : 0.720905 with order 1 Centerline is valid? [False, False] Translation: X:-135.80, Y:18.44, Z:77.64 [[ 8.95564357e-01 -3.35322241e-01 2.92443973e-01 -1.35801875e+02] [ 3.62259309e-01 9.31144359e-01 -4.16938403e-02 1.84423314e+01] [-2.58326684e-01 1.43280069e-01 9.55373302e-01 7.76429351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279072329 meters Centerline goodness : 0.720130 with order 1 Centerline is valid? [False, False] Translation: X:-135.84, Y:18.46, Z:77.66 [[ 8.93892430e-01 -3.39180508e-01 2.93109035e-01 -1.35844071e+02] [ 3.66360980e-01 9.29540578e-01 -4.16406868e-02 1.84563638e+01] [-2.58333032e-01 1.44606008e-01 9.55171789e-01 7.76585534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339072329 meters Centerline goodness : 0.724186 with order 1 Centerline is valid? [False, False] Translation: X:-135.89, Y:18.47, Z:77.67 [[ 8.92055210e-01 -3.43130816e-01 2.94106690e-01 -1.35886588e+02] [ 3.70757872e-01 9.27773808e-01 -4.21231727e-02 1.84692868e+01] [-2.58410726e-01 1.46618566e-01 9.54843910e-01 7.76749191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399072329 meters Centerline goodness : 0.725275 with order 1 Centerline is valid? [False, False] Translation: X:-135.93, Y:18.48, Z:77.69 [[ 8.90511257e-01 -3.46397459e-01 2.94955083e-01 -1.35930058e+02] [ 3.74053974e-01 9.26489279e-01 -4.12460869e-02 1.84818945e+01] [-2.58985183e-01 1.47059226e-01 9.54620479e-01 7.76906760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459072329 meters Centerline goodness : 0.726836 with order 1 Centerline is valid? [False, False] Translation: X:-135.97, Y:18.50, Z:77.71 [[ 8.88850251e-01 -3.50700775e-01 2.94879972e-01 -1.35971579e+02] [ 3.78374583e-01 9.24756798e-01 -4.07128966e-02 1.84968694e+01] [-2.58414214e-01 1.47762755e-01 9.54666571e-01 7.77058221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519072329 meters Centerline goodness : 0.728320 with order 1 Centerline is valid? [False, False] Translation: X:-136.01, Y:18.51, Z:77.72 [[ 8.88032601e-01 -3.53398318e-01 2.94121962e-01 -1.36011694e+02] [ 3.80770070e-01 9.23819552e-01 -3.96432807e-02 1.85111953e+01] [-2.57705751e-01 1.47197366e-01 9.54945381e-01 7.77208150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579072329 meters Centerline goodness : 0.730386 with order 1 Centerline is valid? [False, False] Translation: X:-136.06, Y:18.52, Z:77.74 [[ 8.85454721e-01 -3.58646787e-01 2.95537508e-01 -1.36057628e+02] [ 3.86118639e-01 9.21650218e-01 -3.83832225e-02 1.85247819e+01] [-2.58616189e-01 1.48099146e-01 9.54559747e-01 7.77360592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639072329 meters Centerline goodness : 0.725792 with order 1 Centerline is valid? [False, False] Translation: X:-136.11, Y:18.54, Z:77.75 [[ 8.87094661e-01 -3.56515869e-01 2.93188501e-01 -1.36111451e+02] [ 3.84967857e-01 9.21891306e-01 -4.37740578e-02 1.85449685e+01] [-2.54681784e-01 1.51699882e-01 9.55052006e-01 7.77519524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699072329 meters Centerline goodness : 0.728342 with order 1 Centerline is valid? [False, False] Translation: X:-136.15, Y:18.56, Z:77.77 [[ 8.86532590e-01 -3.58048749e-01 2.93020581e-01 -1.36152005e+02] [ 3.86419908e-01 9.21303697e-01 -4.33491901e-02 1.85598926e+01] [-2.54439821e-01 1.51659455e-01 9.55122917e-01 7.77683283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759072329 meters Centerline goodness : 0.730022 with order 1 Centerline is valid? [False, False] Translation: X:-136.19, Y:18.57, Z:77.78 [[ 8.85517381e-01 -3.60067712e-01 2.93615755e-01 -1.36192434e+02] [ 3.88690915e-01 9.20334726e-01 -4.36275704e-02 1.85727603e+01] [-2.54515896e-01 1.52758748e-01 9.54927444e-01 7.77845262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819072329 meters Centerline goodness : 0.728888 with order 1 Centerline is valid? [False, False] Translation: X:-136.23, Y:18.59, Z:77.80 [[ 8.86614864e-01 -3.59710908e-01 2.90726926e-01 -1.36234548e+02] [ 3.86127938e-01 9.21696585e-01 -3.71566985e-02 1.85895187e+01] [-2.54596345e-01 1.45201470e-01 9.56084324e-01 7.77993231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879072329 meters Centerline goodness : 0.727937 with order 1 Centerline is valid? [False, False] Translation: X:-136.29, Y:18.61, Z:77.82 [[ 8.86039297e-01 -3.56657425e-01 2.96192244e-01 -1.36285802e+02] [ 3.84730245e-01 9.22139767e-01 -4.05078822e-02 1.86103519e+01] [-2.58683210e-01 1.49845690e-01 9.54268969e-01 7.78158459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93907232899994 meters Centerline goodness : 0.729371 with order 1 Centerline is valid? [False, False] Translation: X:-136.33, Y:18.63, Z:77.83 [[ 8.87653362e-01 -3.48961094e-01 3.00495695e-01 -1.36332549e+02] [ 3.77934349e-01 9.24862099e-01 -4.23759995e-02 1.86314964e+01] [-2.63129505e-01 1.51182843e-01 9.52841336e-01 7.78309498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99907232899994 meters Centerline goodness : 0.727143 with order 1 Centerline is valid? [False, False] Translation: X:-136.37, Y:18.65, Z:77.84 [[ 8.90217488e-01 -3.40970738e-01 3.02079096e-01 -1.36374012e+02] [ 3.69954158e-01 9.28068743e-01 -4.26887440e-02 1.86490105e+01] [-2.65794555e-01 1.49757684e-01 9.52326567e-01 7.78443620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05907232899995 meters Centerline goodness : 0.727014 with order 1 Centerline is valid? [False, False] Translation: X:-136.42, Y:18.67, Z:77.86 [[ 8.93141310e-01 -3.31426202e-01 3.04064587e-01 -1.36416332e+02] [ 3.60257304e-01 9.31886384e-01 -4.24551769e-02 1.86676896e+01] [-2.69282890e-01 1.47459961e-01 9.51704936e-01 7.78590858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11907232899995 meters Centerline goodness : 0.728536 with order 1 Centerline is valid? [False, False] Translation: X:-136.46, Y:18.68, Z:77.87 [[ 8.94868558e-01 -3.23059651e-01 3.07965463e-01 -1.36456827e+02] [ 3.53098200e-01 9.34467269e-01 -4.57447639e-02 1.86823597e+01] [-2.73005358e-01 1.49677602e-01 9.50297159e-01 7.78747031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17907232899995 meters Centerline goodness : 0.730892 with order 1 Centerline is valid? [False, False] Translation: X:-136.50, Y:18.70, Z:77.89 [[ 8.96951508e-01 -3.19802833e-01 3.05293532e-01 -1.36504118e+02] [ 3.52309610e-01 9.34175785e-01 -5.65114265e-02 1.87005203e+01] [-2.67125310e-01 1.58245854e-01 9.50579990e-01 7.78933176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23907232899995 meters Centerline goodness : 0.733012 with order 1 Centerline is valid? [False, False] Translation: X:-136.54, Y:18.71, Z:77.91 [[ 8.96484703e-01 -3.22968223e-01 3.03326068e-01 -1.36543626e+02] [ 3.54302007e-01 9.33624350e-01 -5.30628066e-02 1.87124896e+01] [-2.66055002e-01 1.55039029e-01 9.51408238e-01 7.79079020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29907232899996 meters Centerline goodness : 0.732334 with order 1 Centerline is valid? [False, False] Translation: X:-136.59, Y:18.72, Z:77.92 [[ 8.93573021e-01 -3.30564047e-01 3.03734532e-01 -1.36586802e+02] [ 3.62082883e-01 9.30674857e-01 -5.23478443e-02 1.87237208e+01] [-2.65373777e-01 1.56753696e-01 9.51317527e-01 7.79219000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35907232899996 meters Centerline goodness : 0.732932 with order 1 Centerline is valid? [False, False] Translation: X:-136.62, Y:18.74, Z:77.94 [[ 8.94067365e-01 -3.32188894e-01 3.00489742e-01 -1.36621755e+02] [ 3.62622519e-01 9.30584032e-01 -5.01823441e-02 1.87366982e+01] [-2.62960938e-01 1.53830743e-01 9.52463987e-01 7.79352653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41907232899996 meters Centerline goodness : 0.732682 with order 1 Centerline is valid? [False, False] Translation: X:-136.66, Y:18.75, Z:77.95 [[ 8.93791029e-01 -3.35222960e-01 2.97931476e-01 -1.36660512e+02] [ 3.64436648e-01 9.30049221e-01 -4.68441737e-02 1.87492651e+01] [-2.61387694e-01 1.50446050e-01 9.53437182e-01 7.79479810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47907232899996 meters Centerline goodness : 0.731249 with order 1 Centerline is valid? [False, False] Translation: X:-136.70, Y:18.76, Z:77.96 [[ 8.91260623e-01 -3.41555203e-01 2.98319536e-01 -1.36701783e+02] [ 3.71185560e-01 9.27358614e-01 -4.71940724e-02 1.87603251e+01] [-2.60529810e-01 1.52794122e-01 9.53298576e-01 7.79616656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53907232899996 meters Centerline goodness : 0.733324 with order 1 Centerline is valid? [False, False] Translation: X:-136.75, Y:18.77, Z:77.98 [[ 8.88549450e-01 -3.46790286e-01 3.00360405e-01 -1.36746775e+02] [ 3.77179219e-01 9.24899202e-01 -4.79301807e-02 1.87730760e+01] [-2.61181377e-01 1.55878039e-01 9.52620767e-01 7.79790444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59907232899997 meters Centerline goodness : 0.736062 with order 1 Centerline is valid? [False, False] Translation: X:-136.79, Y:18.78, Z:77.99 [[ 8.85450044e-01 -3.53265137e-01 3.01963512e-01 -1.36790114e+02] [ 3.84136394e-01 9.22042592e-01 -4.77146549e-02 1.87849402e+01] [-2.61567296e-01 1.58244118e-01 9.52124650e-01 7.79934968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65907232899997 meters Centerline goodness : 0.733082 with order 1 Centerline is valid? [False, False] Translation: X:-136.84, Y:18.80, Z:78.01 [[ 8.83707683e-01 -3.60339636e-01 2.98690604e-01 -1.36839268e+02] [ 3.89518061e-01 9.20037784e-01 -4.24989016e-02 1.87995963e+01] [-2.59492603e-01 1.53901991e-01 9.53403255e-01 7.80103144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71907232899997 meters Centerline goodness : 0.734105 with order 1 Centerline is valid? [False, False] Translation: X:-136.89, Y:18.82, Z:78.03 [[ 8.83916060e-01 -3.59431886e-01 2.99167376e-01 -1.36893776e+02] [ 3.91292665e-01 9.18782019e-01 -5.22460607e-02 1.88180133e+01] [-2.56090706e-01 1.63243132e-01 9.52769243e-01 7.80290329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779072329 meters Centerline goodness : 0.734013 with order 1 Centerline is valid? [False, False] Translation: X:-136.94, Y:18.83, Z:78.05 [[ 8.83285703e-01 -3.61217393e-01 2.98878506e-01 -1.36937286e+02] [ 3.92423404e-01 9.18438844e-01 -4.97389307e-02 1.88335953e+01] [-2.56535063e-01 1.61220607e-01 9.52994059e-01 7.80461891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839072329 meters Centerline goodness : 0.733391 with order 1 Centerline is valid? [False, False] Translation: X:-136.98, Y:18.85, Z:78.06 [[ 8.82555370e-01 -3.63570844e-01 2.98181588e-01 -1.36981062e+02] [ 3.94267525e-01 9.17743894e-01 -4.79506449e-02 1.88505729e+01] [-2.56220875e-01 1.59882416e-01 9.53303979e-01 7.80639596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899072329 meters Centerline goodness : 0.734800 with order 1 Centerline is valid? [False, False] Translation: X:-137.03, Y:18.86, Z:78.08 [[ 8.82842413e-01 -3.60040326e-01 3.01596148e-01 -1.37025476e+02] [ 3.91857452e-01 9.18644639e-01 -5.03960786e-02 1.88648287e+01] [-2.58915064e-01 1.62674494e-01 9.52102935e-01 7.80776662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959072329 meters Centerline goodness : 0.734042 with order 1 Centerline is valid? [False, False] Translation: X:-137.07, Y:18.88, Z:78.09 [[ 8.82891852e-01 -3.61373286e-01 2.99852174e-01 -1.37067064e+02] [ 3.92176104e-01 9.18658212e-01 -4.75919487e-02 1.88828017e+01] [-2.58263203e-01 1.59613401e-01 9.52797817e-01 7.80937878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019072329 meters Centerline goodness : 0.736079 with order 1 Centerline is valid? [False, False] Translation: X:-137.11, Y:18.90, Z:78.11 [[ 8.82787637e-01 -3.61448389e-01 3.00068409e-01 -1.37112605e+02] [ 3.91262019e-01 9.19236122e-01 -4.38062030e-02 1.89026638e+01] [-2.60000039e-01 1.56076946e-01 9.52911311e-01 7.81129447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079072329 meters Centerline goodness : 0.736854 with order 1 Centerline is valid? [False, False] Translation: X:-137.15, Y:18.92, Z:78.13 [[ 8.81960417e-01 -3.63534410e-01 2.99980925e-01 -1.37152534e+02] [ 3.93194853e-01 9.18449917e-01 -4.29832232e-02 1.89170156e+01] [-2.59891575e-01 1.55860457e-01 9.52976331e-01 7.81285922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139072329 meters Centerline goodness : 0.735495 with order 1 Centerline is valid? [False, False] Translation: X:-137.20, Y:18.94, Z:78.14 [[ 8.85558746e-01 -3.53776205e-01 3.01045021e-01 -1.37195464e+02] [ 3.82722833e-01 9.22943333e-01 -4.12169651e-02 1.89363127e+01] [-2.63265913e-01 1.51716847e-01 9.52718771e-01 7.81419453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199072329 meters Centerline goodness : 0.734172 with order 1 Centerline is valid? [False, False] Translation: X:-137.23, Y:18.95, Z:78.15 [[ 8.88707234e-01 -3.45555773e-01 3.01314884e-01 -1.37231262e+02] [ 3.74483682e-01 9.26270796e-01 -4.22419745e-02 1.89513880e+01] [-2.64502220e-01 1.50378256e-01 9.52588555e-01 7.81541805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259072329 meters Centerline goodness : 0.738057 with order 1 Centerline is valid? [False, False] Translation: X:-137.27, Y:18.97, Z:78.17 [[ 8.92025164e-01 -3.34281234e-01 3.04215652e-01 -1.37274610e+02] [ 3.63655644e-01 9.30500615e-01 -4.38540611e-02 1.89743690e+01] [-2.68413262e-01 1.49748665e-01 9.51593221e-01 7.81716346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319072329 meters Centerline goodness : 0.736916 with order 1 Centerline is valid? [False, False] Translation: X:-137.32, Y:19.00, Z:78.19 [[ 8.95470127e-01 -3.22476066e-01 3.06826399e-01 -1.37315497e+02] [ 3.51860938e-01 9.35007910e-01 -4.42050832e-02 1.89956803e+01] [-2.72630028e-01 1.47544556e-01 9.50738382e-01 7.81850051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379072329 meters Centerline goodness : 0.738590 with order 1 Centerline is valid? [False, False] Translation: X:-137.37, Y:19.02, Z:78.21 [[ 8.98190502e-01 -3.15705787e-01 3.05914495e-01 -1.37370912e+02] [ 3.46632562e-01 9.36604795e-01 -5.11597900e-02 1.90203991e+01] [-2.70369541e-01 1.51991163e-01 9.50683437e-01 7.82088457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43907232899994 meters Centerline goodness : 0.739289 with order 1 Centerline is valid? [False, False] Translation: X:-137.41, Y:19.03, Z:78.22 [[ 8.99928473e-01 -3.10789615e-01 3.05840739e-01 -1.37406262e+02] [ 3.41161835e-01 9.38674014e-01 -4.99969823e-02 1.90342577e+01] [-2.71546212e-01 1.49334896e-01 9.50769028e-01 7.82243712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49907232899994 meters Centerline goodness : 0.739350 with order 1 Centerline is valid? [False, False] Translation: X:-137.45, Y:19.05, Z:78.24 [[ 8.99468474e-01 -3.14264283e-01 3.03635347e-01 -1.37445134e+02] [ 3.43941155e-01 9.37748528e-01 -4.82926559e-02 1.90470471e+01] [-2.69556943e-01 1.47870414e-01 9.51563658e-01 7.82401286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55907232899995 meters Centerline goodness : 0.737644 with order 1 Centerline is valid? [False, False] Translation: X:-137.48, Y:19.06, Z:78.26 [[ 8.98656060e-01 -3.18382796e-01 3.01744396e-01 -1.37483002e+02] [ 3.47672069e-01 9.36418057e-01 -4.73851805e-02 1.90592986e+01] [-2.67472275e-01 1.47491078e-01 9.52210567e-01 7.82550528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61907232899995 meters Centerline goodness : 0.737138 with order 1 Centerline is valid? [False, False] Translation: X:-137.53, Y:19.07, Z:78.27 [[ 8.95719097e-01 -3.25456702e-01 3.02927770e-01 -1.37527374e+02] [ 3.55204270e-01 9.33592808e-01 -4.72693943e-02 1.90699979e+01] [-2.67427046e-01 1.49941337e-01 9.51840517e-01 7.82710556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67907232899995 meters Centerline goodness : 0.734991 with order 1 Centerline is valid? [False, False] Translation: X:-137.57, Y:19.08, Z:78.28 [[ 8.93136666e-01 -3.33587326e-01 3.01705805e-01 -1.37569683e+02] [ 3.62504609e-01 9.30952579e-01 -4.37915891e-02 1.90798597e+01] [-2.66265478e-01 1.48481619e-01 9.52394826e-01 7.82819658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73907232899995 meters Centerline goodness : 0.731175 with order 1 Centerline is valid? [False, False] Translation: X:-137.61, Y:19.09, Z:78.30 [[ 8.91673207e-01 -3.39547423e-01 2.99376752e-01 -1.37613117e+02] [ 3.67137877e-01 9.29328820e-01 -3.94680031e-02 1.90923194e+01] [-2.64818185e-01 1.45105106e-01 9.53318329e-01 7.82950871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79907232899996 meters Centerline goodness : 0.731366 with order 1 Centerline is valid? [False, False] Translation: X:-137.67, Y:19.11, Z:78.31 [[ 8.92189606e-01 -3.37988735e-01 2.99601940e-01 -1.37665555e+02] [ 3.68277623e-01 9.28405625e-01 -4.93415503e-02 1.91107669e+01] [-2.61475238e-01 1.54358709e-01 9.52787536e-01 7.83128605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85907232899996 meters Centerline goodness : 0.734293 with order 1 Centerline is valid? [False, False] Translation: X:-137.71, Y:19.12, Z:78.33 [[ 8.91704554e-01 -3.33612197e-01 3.05885421e-01 -1.37712459e+02] [ 3.65492109e-01 9.29368820e-01 -5.18566850e-02 1.91248262e+01] [-2.66980350e-01 1.58039550e-01 9.50655034e-01 7.83284036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91907232899996 meters Centerline goodness : 0.735656 with order 1 Centerline is valid? [False, False] Translation: X:-137.75, Y:19.14, Z:78.35 [[ 8.92133433e-01 -3.33912292e-01 3.04303333e-01 -1.37752420e+02] [ 3.64422291e-01 9.30001355e-01 -4.78943993e-02 1.91410663e+01] [-2.67009983e-01 1.53623113e-01 9.51370384e-01 7.83459267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97907232899996 meters Centerline goodness : 0.733904 with order 1 Centerline is valid? [False, False] Translation: X:-137.81, Y:19.16, Z:78.36 [[ 8.93648522e-01 -3.32615567e-01 3.01262682e-01 -1.37805268e+02] [ 3.64016951e-01 9.29874513e-01 -5.31511996e-02 1.91609875e+01] [-2.62457573e-01 1.57163214e-01 9.52058689e-01 7.83621628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03907232899996 meters Centerline goodness : 0.734319 with order 1 Centerline is valid? [False, False] Translation: X:-137.85, Y:19.18, Z:78.38 [[ 8.92403544e-01 -3.36743717e-01 3.00365751e-01 -1.37849048e+02] [ 3.67514320e-01 9.28628950e-01 -5.08084457e-02 1.91762781e+01] [-2.61818907e-01 1.55730352e-01 9.52469904e-01 7.83788054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09907232899997 meters Centerline goodness : 0.734937 with order 1 Centerline is valid? [False, False] Translation: X:-137.89, Y:19.19, Z:78.39 [[ 8.91163147e-01 -3.41391245e-01 2.98798030e-01 -1.37891107e+02] [ 3.71405840e-01 9.27211854e-01 -4.83309347e-02 1.91890685e+01] [-2.60549317e-01 1.54046081e-01 9.53091736e-01 7.83929155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15907232899997 meters Centerline goodness : 0.735647 with order 1 Centerline is valid? [False, False] Translation: X:-137.93, Y:19.20, Z:78.41 [[ 8.90731388e-01 -3.43118377e-01 2.98106312e-01 -1.37931989e+02] [ 3.72611375e-01 9.26817232e-01 -4.65894969e-02 1.92045603e+01] [-2.60304354e-01 1.52576530e-01 9.53395010e-01 7.84089637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21907232899997 meters Centerline goodness : 0.736844 with order 1 Centerline is valid? [False, False] Translation: X:-137.98, Y:19.22, Z:78.42 [[ 8.90268937e-01 -3.39514064e-01 3.03564524e-01 -1.37979758e+02] [ 3.70551955e-01 9.27497764e-01 -4.93877216e-02 1.92211819e+01] [-2.64787591e-01 1.56454782e-01 9.51530048e-01 7.84248507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279072329 meters Centerline goodness : 0.736974 with order 1 Centerline is valid? [False, False] Translation: X:-138.02, Y:19.24, Z:78.44 [[ 8.90882014e-01 -3.35753657e-01 3.05939077e-01 -1.38022410e+02] [ 3.67332471e-01 9.28721574e-01 -5.04290842e-02 1.92358790e+01] [-2.67200472e-01 1.57307721e-01 9.50714567e-01 7.84377138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339072329 meters Centerline goodness : 0.734378 with order 1 Centerline is valid? [False, False] Translation: X:-138.08, Y:19.26, Z:78.46 [[ 8.92278858e-01 -3.33400314e-01 3.04438286e-01 -1.38076419e+02] [ 3.66568675e-01 9.28617596e-01 -5.74174834e-02 1.92558716e+01] [-2.63563743e-01 1.62829946e-01 9.50799959e-01 7.84564812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399072329 meters Centerline goodness : 0.735429 with order 1 Centerline is valid? [False, False] Translation: X:-138.12, Y:19.27, Z:78.47 [[ 8.90394773e-01 -3.37741401e-01 3.05168633e-01 -1.38120598e+02] [ 3.70878772e-01 9.26979492e-01 -5.61957079e-02 1.92708829e+01] [-2.63905447e-01 1.63216932e-01 9.50638810e-01 7.84740715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459072329 meters Centerline goodness : 0.737369 with order 1 Centerline is valid? [False, False] Translation: X:-138.16, Y:19.29, Z:78.49 [[ 8.90646727e-01 -3.38849001e-01 3.03199211e-01 -1.38162318e+02] [ 3.70327424e-01 9.27483666e-01 -5.12995876e-02 1.92884027e+01] [-2.63829502e-01 1.57972793e-01 9.51545370e-01 7.84905632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519072329 meters Centerline goodness : 0.736959 with order 1 Centerline is valid? [False, False] Translation: X:-138.20, Y:19.30, Z:78.51 [[ 8.89961446e-01 -3.40638116e-01 3.03206693e-01 -1.38203844e+02] [ 3.71757150e-01 9.26996960e-01 -4.97318582e-02 1.93015999e+01] [-2.64131116e-01 1.56978692e-01 9.51626210e-01 7.85064908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579072329 meters Centerline goodness : 0.738163 with order 1 Centerline is valid? [False, False] Translation: X:-138.25, Y:19.32, Z:78.52 [[ 8.88190760e-01 -3.45067999e-01 3.03389601e-01 -1.38248376e+02] [ 3.75991182e-01 9.25366347e-01 -4.82468077e-02 1.93155255e+01] [-2.64098097e-01 1.56924183e-01 9.51644364e-01 7.85231616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639072329 meters Centerline goodness : 0.739492 with order 1 Centerline is valid? [False, False] Translation: X:-138.29, Y:19.33, Z:78.54 [[ 8.88225754e-01 -3.46420549e-01 3.01741301e-01 -1.38288711e+02] [ 3.76521313e-01 9.25260842e-01 -4.60876880e-02 1.93309302e+01] [-2.63223688e-01 1.54548302e-01 9.52275229e-01 7.85387298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699072329 meters Centerline goodness : 0.739013 with order 1 Centerline is valid? [False, False] Translation: X:-138.34, Y:19.35, Z:78.56 [[ 8.89260609e-01 -3.44193381e-01 3.01241572e-01 -1.38341850e+02] [ 3.76471956e-01 9.24813923e-01 -5.46632726e-02 1.93509483e+01] [-2.59777664e-01 1.62018899e-01 9.51979749e-01 7.85574771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759072329 meters Centerline goodness : 0.740377 with order 1 Centerline is valid? [False, False] Translation: X:-138.39, Y:19.36, Z:78.57 [[ 8.87046264e-01 -3.48409730e-01 3.02918448e-01 -1.38388518e+02] [ 3.80630206e-01 9.23221928e-01 -5.27438986e-02 1.93646540e+01] [-2.61284466e-01 1.62086190e-01 9.51555829e-01 7.85746985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819072329 meters Centerline goodness : 0.740318 with order 1 Centerline is valid? [False, False] Translation: X:-138.44, Y:19.38, Z:78.59 [[ 8.84403182e-01 -3.53731049e-01 3.04475545e-01 -1.38436385e+02] [ 3.85963660e-01 9.21103863e-01 -5.09875223e-02 1.93782261e+01] [-2.62417731e-01 1.62610023e-01 9.51154517e-01 7.85914486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879072329 meters Centerline goodness : 0.740561 with order 1 Centerline is valid? [False, False] Translation: X:-138.48, Y:19.39, Z:78.61 [[ 8.82538466e-01 -3.58965630e-01 3.03759005e-01 -1.38480155e+02] [ 3.90476656e-01 9.19358554e-01 -4.80398791e-02 1.93916008e+01] [-2.62018775e-01 1.61007842e-01 9.51536986e-01 7.86055707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93907232899994 meters Centerline goodness : 0.739604 with order 1 Centerline is valid? [False, False] Translation: X:-138.52, Y:19.40, Z:78.62 [[ 8.80125898e-01 -3.64331102e-01 3.04370253e-01 -1.38521171e+02] [ 3.96572030e-01 9.16668786e-01 -4.94869796e-02 1.94028984e+01] [-2.60977065e-01 1.64259502e-01 9.51267464e-01 7.86203195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99907232899994 meters Centerline goodness : 0.742845 with order 1 Centerline is valid? [False, False] Translation: X:-138.57, Y:19.42, Z:78.64 [[ 8.77093835e-01 -3.69644142e-01 3.06707698e-01 -1.38567192e+02] [ 4.02689657e-01 9.13966571e-01 -5.00614316e-02 1.94164262e+01] [-2.61815668e-01 1.67416591e-01 9.50486318e-01 7.86379273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05907232899995 meters Centerline goodness : 0.744169 with order 1 Centerline is valid? [False, False] Translation: X:-138.61, Y:19.43, Z:78.66 [[ 8.74004384e-01 -3.75290270e-01 3.08664136e-01 -1.38613238e+02] [ 4.09141324e-01 9.11055685e-01 -5.08027173e-02 1.94302731e+01] [-2.62144450e-01 1.70689051e-01 9.49813421e-01 7.86565992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11907232899995 meters Centerline goodness : 0.742579 with order 1 Centerline is valid? [False, False] Translation: X:-138.66, Y:19.44, Z:78.67 [[ 8.68363158e-01 -3.86727819e-01 3.10462591e-01 -1.38663787e+02] [ 4.21284234e-01 9.05529497e-01 -5.03579518e-02 1.94405398e+01] [-2.61658213e-01 1.74521985e-01 9.49250787e-01 7.86705647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17907232899995 meters Centerline goodness : 0.739329 with order 1 Centerline is valid? [False, False] Translation: X:-138.72, Y:19.46, Z:78.69 [[ 8.66205968e-01 -3.95808051e-01 3.04997061e-01 -1.38721950e+02] [ 4.30700174e-01 9.00871617e-01 -5.41081342e-02 1.94581916e+01] [-2.53346760e-01 1.78231076e-01 9.50814968e-01 7.86896894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23907232899995 meters Centerline goodness : 0.740728 with order 1 Centerline is valid? [False, False] Translation: X:-138.77, Y:19.47, Z:78.71 [[ 8.63538033e-01 -4.00813986e-01 3.06023224e-01 -1.38768839e+02] [ 4.35717882e-01 8.98542390e-01 -5.26450448e-02 1.94738702e+01] [-2.53873969e-01 1.78800790e-01 9.50567349e-01 7.87066983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29907232899996 meters Centerline goodness : 0.738558 with order 1 Centerline is valid? [False, False] Translation: X:-138.81, Y:19.49, Z:78.72 [[ 8.61360836e-01 -4.04974527e-01 3.06680849e-01 -1.38814863e+02] [ 4.39801881e-01 8.96631760e-01 -5.12424977e-02 1.94875084e+01] [-2.54227883e-01 1.79017095e-01 9.50432040e-01 7.87237371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35907232899996 meters Centerline goodness : 0.737666 with order 1 Centerline is valid? [False, False] Translation: X:-138.87, Y:19.51, Z:78.74 [[ 8.62413938e-01 -4.01715364e-01 3.08004816e-01 -1.38870104e+02] [ 4.37690393e-01 8.97439002e-01 -5.50486875e-02 1.95086735e+01] [-2.54301631e-01 1.82285504e-01 9.49790859e-01 7.87396459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41907232899996 meters Centerline goodness : 0.739018 with order 1 Centerline is valid? [False, False] Translation: X:-138.91, Y:19.53, Z:78.76 [[ 8.64043244e-01 -3.96001946e-01 3.10824276e-01 -1.38913409e+02] [ 4.32862753e-01 8.99649375e-01 -5.71037571e-02 1.95261035e+01] [-2.57019667e-01 1.83884367e-01 9.48750457e-01 7.87557276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47907232899996 meters Centerline goodness : 0.741355 with order 1 Centerline is valid? [False, False] Translation: X:-138.97, Y:19.55, Z:78.77 [[ 8.64516673e-01 -3.91157475e-01 3.15605374e-01 -1.38966268e+02] [ 4.29229301e-01 9.01284894e-01 -5.87175172e-02 1.95462135e+01] [-2.61482560e-01 1.86229346e-01 9.47072068e-01 7.87736496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53907232899996 meters Centerline goodness : 0.738814 with order 1 Centerline is valid? [False, False] Translation: X:-139.01, Y:19.57, Z:78.79 [[ 8.64856402e-01 -3.91515424e-01 3.14227746e-01 -1.39012210e+02] [ 4.28132226e-01 9.02076930e-01 -5.44059672e-02 1.95654253e+01] [-2.62156825e-01 1.81584373e-01 9.47787378e-01 7.87942360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59907232899997 meters Centerline goodness : 0.740349 with order 1 Centerline is valid? [False, False] Translation: X:-139.06, Y:19.58, Z:78.81 [[ 8.64262550e-01 -3.93508990e-01 3.13370259e-01 -1.39056813e+02] [ 4.29292814e-01 9.01684510e-01 -5.16984002e-02 1.95824379e+01] [-2.62217324e-01 1.79208592e-01 9.48222735e-01 7.88125457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65907232899997 meters Centerline goodness : 0.741509 with order 1 Centerline is valid? [False, False] Translation: X:-139.10, Y:19.60, Z:78.83 [[ 8.63919612e-01 -3.94682982e-01 3.12839012e-01 -1.39104980e+02] [ 4.29215822e-01 9.01958731e-01 -4.73732651e-02 1.96041807e+01] [-2.63470457e-01 1.75202147e-01 9.48624017e-01 7.88328607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71907232899997 meters Centerline goodness : 0.740384 with order 1 Centerline is valid? [False, False] Translation: X:-139.15, Y:19.62, Z:78.85 [[ 8.61962157e-01 -3.99079957e-01 3.12660245e-01 -1.39151214e+02] [ 4.33431946e-01 9.00003994e-01 -4.61471518e-02 1.96222140e+01] [-2.62979066e-01 1.75294037e-01 9.48743385e-01 7.88500596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779072329 meters Centerline goodness : 0.740530 with order 1 Centerline is valid? [False, False] Translation: X:-139.20, Y:19.65, Z:78.87 [[ 8.65012802e-01 -3.93088315e-01 3.11824356e-01 -1.39204783e+02] [ 4.29275287e-01 9.01537470e-01 -5.43407646e-02 1.96459002e+01] [-2.59760621e-01 1.80863947e-01 9.48584552e-01 7.88716669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839072329 meters Centerline goodness : 0.744808 with order 1 Centerline is valid? [False, False] Translation: X:-139.26, Y:19.67, Z:78.89 [[ 8.64797269e-01 -3.89403498e-01 3.17002524e-01 -1.39260574e+02] [ 4.26691915e-01 9.02714094e-01 -5.51477545e-02 1.96690507e+01] [-2.64687918e-01 1.82954042e-01 9.46820007e-01 7.88934817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899072329 meters Centerline goodness : 0.740831 with order 1 Centerline is valid? [False, False] Translation: X:-139.31, Y:19.69, Z:78.91 [[ 8.68931704e-01 -3.83594827e-01 3.12750225e-01 -1.39313934e+02] [ 4.20914105e-01 9.05163575e-01 -5.92471055e-02 1.96937807e+01] [-2.60363228e-01 1.83122669e-01 9.47985800e-01 7.89124102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959072329 meters Centerline goodness : 0.740766 with order 1 Centerline is valid? [False, False] Translation: X:-139.36, Y:19.71, Z:78.93 [[ 8.73234194e-01 -3.71942972e-01 3.14834032e-01 -1.39360300e+02] [ 4.08915884e-01 9.10709434e-01 -5.82762889e-02 1.97147347e+01] [-2.65046867e-01 1.79629484e-01 9.47356008e-01 7.89313125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019072329 meters Centerline goodness : 0.741873 with order 1 Centerline is valid? [False, False] Translation: X:-139.40, Y:19.73, Z:78.95 [[ 8.74877404e-01 -3.65309936e-01 3.18022292e-01 -1.39398546e+02] [ 4.03855047e-01 9.12677521e-01 -6.26166432e-02 1.97296163e+01] [-2.67377315e-01 1.83216794e-01 9.46013202e-01 7.89456187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079072329 meters Centerline goodness : 0.738201 with order 1 Centerline is valid? [False, False] Translation: X:-139.44, Y:19.75, Z:78.96 [[ 8.75938726e-01 -3.65541520e-01 3.14818591e-01 -1.39440218e+02] [ 4.02083828e-01 9.13780766e-01 -5.77347913e-02 1.97462003e+01] [-2.66570710e-01 1.77155604e-01 9.47394294e-01 7.89631667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139072329 meters Centerline goodness : 0.741074 with order 1 Centerline is valid? [False, False] Translation: X:-139.49, Y:19.76, Z:78.98 [[ 8.74635188e-01 -3.67770599e-01 3.15845015e-01 -1.39488475e+02] [ 4.04003509e-01 9.13067024e-01 -5.55857405e-02 1.97636407e+01] [-2.67944867e-01 1.76219739e-01 9.47181161e-01 7.89848671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199072329 meters Centerline goodness : 0.743666 with order 1 Centerline is valid? [False, False] Translation: X:-139.53, Y:19.78, Z:79.00 [[ 8.72131719e-01 -3.72437989e-01 3.17295146e-01 -1.39534580e+02] [ 4.09210086e-01 9.10734730e-01 -5.57615991e-02 1.97781445e+01] [-2.68203971e-01 1.78471833e-01 9.46686028e-01 7.90048686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259072329 meters Centerline goodness : 0.744387 with order 1 Centerline is valid? [False, False] Translation: X:-139.58, Y:19.79, Z:79.02 [[ 8.67854440e-01 -3.80436605e-01 3.19525681e-01 -1.39582648e+02] [ 4.17754527e-01 9.06901723e-01 -5.48672905e-02 1.97904114e+01] [-2.68904865e-01 1.81100121e-01 9.45987801e-01 7.90209506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319072329 meters Centerline goodness : 0.742166 with order 1 Centerline is valid? [False, False] Translation: X:-139.64, Y:19.81, Z:79.04 [[ 8.66532110e-01 -3.86712517e-01 3.15555908e-01 -1.39642910e+02] [ 4.24752396e-01 9.03363867e-01 -5.93222140e-02 1.98116180e+01] [-2.62121163e-01 1.85437731e-01 9.47050867e-01 7.90428534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379072329 meters Centerline goodness : 0.743283 with order 1 Centerline is valid? [False, False] Translation: X:-139.69, Y:19.82, Z:79.06 [[ 8.62622634e-01 -3.93339401e-01 3.18066513e-01 -1.39693458e+02] [ 4.31885300e-01 9.00044844e-01 -5.82611969e-02 1.98247041e+01] [-2.63357701e-01 1.87625679e-01 9.46276559e-01 7.90612713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43907232899994 meters Centerline goodness : 0.743186 with order 1 Centerline is valid? [False, False] Translation: X:-139.74, Y:19.84, Z:79.08 [[ 8.58987983e-01 -4.00268342e-01 3.19256794e-01 -1.39744944e+02] [ 4.38922959e-01 8.96735335e-01 -5.66778273e-02 1.98405627e+01] [-2.63602508e-01 1.88814709e-01 9.45971841e-01 7.90805790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49907232899994 meters Centerline goodness : 0.744046 with order 1 Centerline is valid? [False, False] Translation: X:-139.80, Y:19.86, Z:79.10 [[ 8.59030416e-01 -3.99798777e-01 3.19730640e-01 -1.39802336e+02] [ 4.40982533e-01 8.95120863e-01 -6.55213491e-02 1.98604968e+01] [-2.60002211e-01 1.97280459e-01 9.45240324e-01 7.91015215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55907232899995 meters Centerline goodness : 0.746448 with order 1 Centerline is valid? [False, False] Translation: X:-139.85, Y:19.88, Z:79.12 [[ 8.61626367e-01 -3.91121398e-01 3.23456421e-01 -1.39853158e+02] [ 4.32122549e-01 8.99589567e-01 -6.33144089e-02 1.98797158e+01] [-2.66214401e-01 1.94326177e-01 9.44122465e-01 7.91218249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61907232899995 meters Centerline goodness : 0.745217 with order 1 Centerline is valid? [False, False] Translation: X:-139.91, Y:19.90, Z:79.14 [[ 8.64295904e-01 -3.87125166e-01 3.21133456e-01 -1.39906898e+02] [ 4.28950506e-01 9.00714407e-01 -6.86660019e-02 1.99016490e+01] [-2.62667194e-01 1.97098103e-01 9.44541308e-01 7.91408674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67907232899995 meters Centerline goodness : 0.743889 with order 1 Centerline is valid? [False, False] Translation: X:-139.96, Y:19.92, Z:79.16 [[ 8.67724564e-01 -3.82240589e-01 3.17720340e-01 -1.39960733e+02] [ 4.24620875e-01 9.02333155e-01 -7.41079611e-02 1.99217810e+01] [-2.58362526e-01 1.99215987e-01 9.45283976e-01 7.91607428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73907232899995 meters Centerline goodness : 0.742643 with order 1 Centerline is valid? [False, False] Translation: X:-140.01, Y:19.94, Z:79.18 [[ 8.68327704e-01 -3.81519271e-01 3.16938549e-01 -1.40005244e+02] [ 4.22446249e-01 9.03717310e-01 -6.95283426e-02 1.99394264e+01] [-2.59896450e-01 1.94262887e-01 9.45894162e-01 7.91799999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79907232899996 meters Centerline goodness : 0.746777 with order 1 Centerline is valid? [False, False] Translation: X:-140.05, Y:19.96, Z:79.20 [[ 8.69975847e-01 -3.79226647e-01 3.15165314e-01 -1.40047322e+02] [ 4.17965637e-01 9.06256278e-01 -6.32794221e-02 1.99623031e+01] [-2.61623302e-01 1.86779840e-01 9.46924780e-01 7.91989492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85907232899996 meters Centerline goodness : 0.748687 with order 1 Centerline is valid? [False, False] Translation: X:-140.09, Y:19.98, Z:79.22 [[ 8.69862140e-01 -3.78581473e-01 3.16252946e-01 -1.40094434e+02] [ 4.16711002e-01 9.07031430e-01 -6.03815051e-02 1.99826940e+01] [-2.63992043e-01 1.84309667e-01 9.46751365e-01 7.92213782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91907232899996 meters Centerline goodness : 0.751372 with order 1 Centerline is valid? [False, False] Translation: X:-140.14, Y:20.00, Z:79.24 [[ 8.70916512e-01 -3.73115353e-01 3.19827082e-01 -1.40139977e+02] [ 4.12043194e-01 9.09088335e-01 -6.14719894e-02 2.00002719e+01] [-2.67814926e-01 1.85319543e-01 9.45479684e-01 7.92377077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97907232899996 meters Centerline goodness : 0.749812 with order 1 Centerline is valid? [False, False] Translation: X:-140.19, Y:20.02, Z:79.26 [[ 8.74676292e-01 -3.67073027e-01 3.16541905e-01 -1.40192121e+02] [ 4.06212990e-01 9.11425194e-01 -6.55371903e-02 2.00219264e+01] [-2.64447332e-01 1.85907260e-01 9.46311840e-01 7.92561008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03907232899996 meters Centerline goodness : 0.750668 with order 1 Centerline is valid? [False, False] Translation: X:-140.24, Y:20.04, Z:79.28 [[ 8.74139991e-01 -3.65209503e-01 3.20158233e-01 -1.40240314e+02] [ 4.04961651e-01 9.11994945e-01 -6.53550392e-02 2.00385119e+01] [-2.68114409e-01 1.86781260e-01 9.45107097e-01 7.92765493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09907232899997 meters Centerline goodness : 0.751377 with order 1 Centerline is valid? [False, False] Translation: X:-140.28, Y:20.06, Z:79.29 [[ 8.76124307e-01 -3.60185124e-01 3.20426084e-01 -1.40281332e+02] [ 3.99340132e-01 9.14577828e-01 -6.38345899e-02 2.00582954e+01] [-2.70062322e-01 1.83886031e-01 9.45120241e-01 7.92943209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15907232899997 meters Centerline goodness : 0.751601 with order 1 Centerline is valid? [False, False] Translation: X:-140.32, Y:20.08, Z:79.31 [[ 8.77233465e-01 -3.59527070e-01 3.18122199e-01 -1.40320523e+02] [ 3.96977979e-01 9.15892175e-01 -5.95819390e-02 2.00767668e+01] [-2.69944313e-01 1.78554778e-01 9.46175596e-01 7.93118572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21907232899997 meters Centerline goodness : 0.752781 with order 1 Centerline is valid? [False, False] Translation: X:-140.36, Y:20.10, Z:79.33 [[ 8.78821783e-01 -3.54653784e-01 3.19206777e-01 -1.40361196e+02] [ 3.91617574e-01 9.18304604e-01 -5.78993122e-02 2.00954574e+01] [-2.72594843e-01 1.75890161e-01 9.45914744e-01 7.93295833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279072329 meters Centerline goodness : 0.752107 with order 1 Centerline is valid? [False, False] Translation: X:-140.41, Y:20.12, Z:79.35 [[ 8.83886834e-01 -3.46199834e-01 3.14467391e-01 -1.40407519e+02] [ 3.83300343e-01 9.21479932e-01 -6.28934129e-02 2.01204520e+01] [-2.68001701e-01 1.76126118e-01 9.47182495e-01 7.93484107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339072329 meters Centerline goodness : 0.752465 with order 1 Centerline is valid? [False, False] Translation: X:-140.44, Y:20.14, Z:79.37 [[ 8.86612177e-01 -3.41409822e-01 3.12022726e-01 -1.40444516e+02] [ 3.76634222e-01 9.24504928e-01 -5.86284998e-02 2.01405746e+01] [-2.68450202e-01 1.69499178e-01 9.48263949e-01 7.93659171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399072329 meters Centerline goodness : 0.755984 with order 1 Centerline is valid? [False, False] Translation: X:-140.49, Y:20.16, Z:79.39 [[ 8.88213483e-01 -3.35372560e-01 3.14009640e-01 -1.40485165e+02] [ 3.70201941e-01 9.27208847e-01 -5.68707067e-02 2.01618641e+01] [-2.72079642e-01 1.66760307e-01 9.47714972e-01 7.93870913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459072329 meters Centerline goodness : 0.755394 with order 1 Centerline is valid? [False, False] Translation: X:-140.52, Y:20.18, Z:79.41 [[ 8.89084547e-01 -3.34459422e-01 3.12514902e-01 -1.40523836e+02] [ 3.68549524e-01 9.27956931e-01 -5.53821505e-02 2.01791652e+01] [-2.71477287e-01 1.64416632e-01 9.48297028e-01 7.94062548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519072329 meters Centerline goodness : 0.754587 with order 1 Centerline is valid? [False, False] Translation: X:-140.56, Y:20.19, Z:79.42 [[ 8.89266552e-01 -3.37104422e-01 3.09136876e-01 -1.40559574e+02] [ 3.70232129e-01 9.27384125e-01 -5.37294660e-02 2.01917220e+01] [-2.68576190e-01 1.62232221e-01 9.49498571e-01 7.94204238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579072329 meters Centerline goodness : 0.753147 with order 1 Centerline is valid? [False, False] Translation: X:-140.60, Y:20.21, Z:79.44 [[ 8.89036260e-01 -3.40867474e-01 3.05653222e-01 -1.40598324e+02] [ 3.72964162e-01 9.26405167e-01 -5.16836505e-02 2.02060654e+01] [-2.65541449e-01 1.59946337e-01 9.50739138e-01 7.94353110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639072329 meters Centerline goodness : 0.752574 with order 1 Centerline is valid? [False, False] Translation: X:-140.64, Y:20.22, Z:79.45 [[ 8.88823778e-01 -3.42740806e-01 3.04172701e-01 -1.40638634e+02] [ 3.74194011e-01 9.26000516e-01 -5.00188560e-02 2.02245512e+01] [-2.64520575e-01 1.58277551e-01 9.51302834e-01 7.94518002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699072329 meters Centerline goodness : 0.753850 with order 1 Centerline is valid? [False, False] Translation: X:-140.68, Y:20.24, Z:79.47 [[ 8.88180177e-01 -3.44639410e-01 3.03907304e-01 -1.40678108e+02] [ 3.75974180e-01 9.25308542e-01 -4.94724030e-02 2.02392388e+01] [-2.64157885e-01 1.58201707e-01 9.51416224e-01 7.94679735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759072329 meters Centerline goodness : 0.755034 with order 1 Centerline is valid? [False, False] Translation: X:-140.73, Y:20.26, Z:79.49 [[ 8.88090172e-01 -3.45142675e-01 3.03599044e-01 -1.40726315e+02] [ 3.74732740e-01 9.26120118e-01 -4.33232215e-02 2.02625006e+01] [-2.66216490e-01 1.52243429e-01 9.51814435e-01 7.94879946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819072329 meters Centerline goodness : 0.753659 with order 1 Centerline is valid? [False, False] Translation: X:-140.78, Y:20.28, Z:79.51 [[ 8.90214250e-01 -3.41543241e-01 3.01441212e-01 -1.40777487e+02] [ 3.73229806e-01 9.26237433e-01 -5.27610565e-02 2.02832647e+01] [-2.61185952e-01 1.59475489e-01 9.52023879e-01 7.95074550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879072329 meters Centerline goodness : 0.753492 with order 1 Centerline is valid? [False, False] Translation: X:-140.82, Y:20.30, Z:79.52 [[ 8.90492635e-01 -3.41594848e-01 3.00559190e-01 -1.40817519e+02] [ 3.72414709e-01 9.26710453e-01 -5.01499855e-02 2.02989582e+01] [-2.61400367e-01 1.56590856e-01 9.52443779e-01 7.95231732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93907232899994 meters Centerline goodness : 0.754189 with order 1 Centerline is valid? [False, False] Translation: X:-140.86, Y:20.31, Z:79.54 [[ 8.89074902e-01 -3.45506969e-01 3.00284455e-01 -1.40860137e+02] [ 3.76024497e-01 9.25332342e-01 -4.86377831e-02 2.03114137e+01] [-2.61058225e-01 1.56156943e-01 9.52608845e-01 7.95390291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99907232899994 meters Centerline goodness : 0.753620 with order 1 Centerline is valid? [False, False] Translation: X:-140.90, Y:20.32, Z:79.56 [[ 8.86998834e-01 -3.51110038e-01 2.99924675e-01 -1.40904784e+02] [ 3.81583634e-01 9.23094053e-01 -4.78675221e-02 2.03239115e+01] [-2.60051917e-01 1.56904784e-01 9.52761192e-01 7.95553504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05907232899995 meters Centerline goodness : 0.753634 with order 1 Centerline is valid? [False, False] Translation: X:-140.94, Y:20.34, Z:79.57 [[ 8.85663801e-01 -3.55395122e-01 2.98820916e-01 -1.40943026e+02] [ 3.85777980e-01 9.21363296e-01 -4.75922893e-02 2.03363226e+01] [-2.58408556e-01 1.57429297e-01 9.53121731e-01 7.95683742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11907232899995 meters Centerline goodness : 0.754330 with order 1 Centerline is valid? [False, False] Translation: X:-140.99, Y:20.35, Z:79.59 [[ 8.83122166e-01 -3.61350758e-01 2.99200384e-01 -1.40987019e+02] [ 3.92258944e-01 9.18580347e-01 -4.84052303e-02 2.03482411e+01] [-2.57348326e-01 1.60111758e-01 9.52961733e-01 7.95850570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17907232899995 meters Centerline goodness : 0.756038 with order 1 Centerline is valid? [False, False] Translation: X:-141.04, Y:20.36, Z:79.61 [[ 8.79543813e-01 -3.66711759e-01 3.03191635e-01 -1.41035826e+02] [ 3.99056340e-01 9.15546561e-01 -5.02845157e-02 2.03625672e+01] [-2.59146135e-01 1.65217979e-01 9.51601965e-01 7.96055018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23907232899995 meters Centerline goodness : 0.757415 with order 1 Centerline is valid? [False, False] Translation: X:-141.08, Y:20.38, Z:79.62 [[ 8.77632098e-01 -3.71260330e-01 3.03195759e-01 -1.41077864e+02] [ 4.03420008e-01 9.13706426e-01 -4.89169057e-02 2.03753567e+01] [-2.58871007e-01 1.65246282e-01 9.51671933e-01 7.96195739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29907232899996 meters Centerline goodness : 0.756731 with order 1 Centerline is valid? [False, False] Translation: X:-141.12, Y:20.39, Z:79.63 [[ 8.73920974e-01 -3.78676526e-01 3.04739593e-01 -1.41123416e+02] [ 4.11269211e-01 9.10230761e-01 -4.83487122e-02 2.03858616e+01] [-2.59074829e-01 1.67582966e-01 9.51207749e-01 7.96329065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35907232899996 meters Centerline goodness : 0.760802 with order 1 Centerline is valid? [False, False] Translation: X:-141.16, Y:20.40, Z:79.65 [[ 8.71961681e-01 -3.83496441e-01 3.04324344e-01 -1.41163338e+02] [ 4.16302212e-01 9.07922177e-01 -4.86804753e-02 2.03987583e+01] [-2.57634032e-01 1.69138407e-01 9.51323764e-01 7.96466677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41907232899996 meters Centerline goodness : 0.760688 with order 1 Centerline is valid? [False, False] Translation: X:-141.22, Y:20.42, Z:79.66 [[ 8.72284357e-01 -3.83459581e-01 3.03444807e-01 -1.41220202e+02] [ 4.17743895e-01 9.06910884e-01 -5.47967746e-02 2.04190569e+01] [-2.54185050e-01 1.74560585e-01 9.51272076e-01 7.96635303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47907232899996 meters Centerline goodness : 0.760167 with order 1 Centerline is valid? [False, False] Translation: X:-141.26, Y:20.44, Z:79.68 [[ 8.73086740e-01 -3.83102528e-01 3.01582487e-01 -1.41261843e+02] [ 4.15995080e-01 9.07938298e-01 -5.09523329e-02 2.04352310e+01] [-2.54298323e-01 1.69942637e-01 9.52077656e-01 7.96804803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53907232899996 meters Centerline goodness : 0.759381 with order 1 Centerline is valid? [False, False] Translation: X:-141.31, Y:20.45, Z:79.70 [[ 8.74069504e-01 -3.77547314e-01 3.05713148e-01 -1.41306967e+02] [ 4.12114882e-01 9.09462918e-01 -5.51228134e-02 2.04521388e+01] [-2.57223301e-01 1.74170108e-01 9.50526668e-01 7.96965298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59907232899997 meters Centerline goodness : 0.761497 with order 1 Centerline is valid? [False, False] Translation: X:-141.35, Y:20.47, Z:79.72 [[ 8.73413651e-01 -3.79626671e-01 3.05011778e-01 -1.41353776e+02] [ 4.13121482e-01 9.09227692e-01 -5.13385443e-02 2.04703759e+01] [-2.57835674e-01 1.70846703e-01 9.50963811e-01 7.97156202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65907232899997 meters Centerline goodness : 0.760124 with order 1 Centerline is valid? [False, False] Translation: X:-141.40, Y:20.49, Z:79.73 [[ 8.72748251e-01 -3.81787435e-01 3.04218417e-01 -1.41395170e+02] [ 4.14799549e-01 9.08550376e-01 -4.97749721e-02 2.04855861e+01] [-2.57394298e-01 1.69630682e-01 9.51301008e-01 7.97316041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71907232899997 meters Centerline goodness : 0.760244 with order 1 Centerline is valid? [False, False] Translation: X:-141.44, Y:20.50, Z:79.75 [[ 8.71939278e-01 -3.83928676e-01 3.03843161e-01 -1.41440459e+02] [ 4.16304909e-01 9.07990982e-01 -4.73560992e-02 2.05028583e+01] [-2.57705486e-01 1.67783043e-01 9.51544394e-01 7.97501499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779072329 meters Centerline goodness : 0.761089 with order 1 Centerline is valid? [False, False] Translation: X:-141.48, Y:20.52, Z:79.76 [[ 8.72878874e-01 -3.79665063e-01 3.06491289e-01 -1.41484235e+02] [ 4.12854201e-01 9.09467417e-01 -4.91978268e-02 2.05200453e+01] [-2.60065145e-01 1.69479960e-01 9.50601212e-01 7.97641913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839072329 meters Centerline goodness : 0.759684 with order 1 Centerline is valid? [False, False] Translation: X:-141.53, Y:20.54, Z:79.78 [[ 8.73942851e-01 -3.75010053e-01 3.09178512e-01 -1.41533587e+02] [ 4.08657639e-01 9.11330150e-01 -4.97623647e-02 2.05407587e+01] [-2.63102313e-01 1.69837624e-01 9.49701192e-01 7.97817556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899072329 meters Centerline goodness : 0.758464 with order 1 Centerline is valid? [False, False] Translation: X:-141.58, Y:20.56, Z:79.80 [[ 8.77247308e-01 -3.65827861e-01 3.10816887e-01 -1.41576156e+02] [ 3.99652713e-01 9.15262140e-01 -5.07239996e-02 2.05600409e+01] [-2.65922677e-01 1.68716304e-01 9.49115345e-01 7.97977779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959072329 meters Centerline goodness : 0.758891 with order 1 Centerline is valid? [False, False] Translation: X:-141.62, Y:20.58, Z:79.81 [[ 8.79636531e-01 -3.57844461e-01 3.13347915e-01 -1.41615611e+02] [ 3.92630383e-01 9.18127577e-01 -5.36948209e-02 2.05780339e+01] [-2.68478968e-01 1.70261838e-01 9.48119165e-01 7.98124007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019072329 meters Centerline goodness : 0.758715 with order 1 Centerline is valid? [False, False] Translation: X:-141.66, Y:20.60, Z:79.83 [[ 8.81615474e-01 -3.50142714e-01 3.16471539e-01 -1.41659146e+02] [ 3.85755402e-01 9.20916599e-01 -5.57260036e-02 2.05972481e+01] [-2.71931839e-01 1.71209513e-01 9.46963768e-01 7.98282980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079072329 meters Centerline goodness : 0.757963 with order 1 Centerline is valid? [False, False] Translation: X:-141.70, Y:20.61, Z:79.84 [[ 8.81353029e-01 -3.52100221e-01 3.15027416e-01 -1.41699189e+02] [ 3.86979483e-01 9.20516958e-01 -5.38090159e-02 2.06140313e+01] [-2.71041912e-01 1.69333886e-01 9.47555970e-01 7.98448747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139072329 meters Centerline goodness : 0.757212 with order 1 Centerline is valid? [False, False] Translation: X:-141.74, Y:20.63, Z:79.86 [[ 8.80798479e-01 -3.54362642e-01 3.14040058e-01 -1.41740965e+02] [ 3.88551879e-01 9.19976223e-01 -5.16835316e-02 2.06294877e+01] [-2.70594673e-01 1.67543630e-01 9.48001928e-01 7.98620828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199072329 meters Centerline goodness : 0.758154 with order 1 Centerline is valid? [False, False] Translation: X:-141.78, Y:20.65, Z:79.88 [[ 8.79365270e-01 -3.58115676e-01 3.13799114e-01 -1.41784746e+02] [ 3.91932646e-01 9.18637034e-01 -4.99479900e-02 2.06459770e+01] [-2.70380329e-01 1.66910645e-01 9.48174728e-01 7.98787451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259072329 meters Centerline goodness : 0.756865 with order 1 Centerline is valid? [False, False] Translation: X:-141.83, Y:20.66, Z:79.90 [[ 8.77985937e-01 -3.61090674e-01 3.14251841e-01 -1.41828085e+02] [ 3.94950710e-01 9.17376438e-01 -4.93397069e-02 2.06602477e+01] [-2.70471126e-01 1.67433557e-01 9.48056630e-01 7.98967579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319072329 meters Centerline goodness : 0.758781 with order 1 Centerline is valid? [False, False] Translation: X:-141.87, Y:20.68, Z:79.91 [[ 8.76841540e-01 -3.63599394e-01 3.14554279e-01 -1.41870507e+02] [ 3.97490608e-01 9.16304598e-01 -4.88579610e-02 2.06756055e+01] [-2.70462807e-01 1.67873061e-01 9.47981279e-01 7.99148092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379072329 meters Centerline goodness : 0.755362 with order 1 Centerline is valid? [False, False] Translation: X:-141.92, Y:20.70, Z:79.93 [[ 8.78010471e-01 -3.62450677e-01 3.12613372e-01 -1.41921529e+02] [ 3.98639590e-01 9.15241639e-01 -5.84740903e-02 2.06952798e+01] [-2.64922801e-01 1.75960930e-01 9.48078932e-01 7.99315138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43907232899994 meters Centerline goodness : 0.752614 with order 1 Centerline is valid? [False, False] Translation: X:-141.97, Y:20.72, Z:79.95 [[ 8.80703319e-01 -3.54278305e-01 3.14401886e-01 -1.41968342e+02] [ 3.90347382e-01 9.18834521e-01 -5.80693016e-02 2.07166094e+01] [-2.68310613e-01 1.73867780e-01 9.47512222e-01 7.99471670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49907232899994 meters Centerline goodness : 0.751966 with order 1 Centerline is valid? [False, False] Translation: X:-142.01, Y:20.73, Z:79.96 [[ 8.82923183e-01 -3.46352076e-01 3.16996675e-01 -1.42008755e+02] [ 3.83103765e-01 9.21759047e-01 -5.99313403e-02 2.07346531e+01] [-2.71437208e-01 1.74357389e-01 9.46531216e-01 7.99622364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55907232899995 meters Centerline goodness : 0.751830 with order 1 Centerline is valid? [False, False] Translation: X:-142.05, Y:20.76, Z:79.98 [[ 8.84414400e-01 -3.44218143e-01 3.15158753e-01 -1.42050616e+02] [ 3.79449461e-01 9.23505710e-01 -5.61721559e-02 2.07581877e+01] [-2.71715433e-01 1.69266283e-01 9.47375136e-01 7.99823457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61907232899995 meters Centerline goodness : 0.753457 with order 1 Centerline is valid? [False, False] Translation: X:-142.09, Y:20.78, Z:80.00 [[ 8.82819527e-01 -3.48117502e-01 3.15347248e-01 -1.42094579e+02] [ 3.83287074e-01 9.21976392e-01 -5.52317966e-02 2.07757656e+01] [-2.71515563e-01 1.69628232e-01 9.47367702e-01 8.00010011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67907232899995 meters Centerline goodness : 0.752965 with order 1 Centerline is valid? [False, False] Translation: X:-142.14, Y:20.79, Z:80.02 [[ 8.83819505e-01 -3.42788204e-01 3.18369800e-01 -1.42137305e+02] [ 3.78767450e-01 9.23741246e-01 -5.68975358e-02 2.07905405e+01] [-2.74587512e-01 1.70875269e-01 9.46257545e-01 8.00156650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73907232899995 meters Centerline goodness : 0.753451 with order 1 Centerline is valid? [False, False] Translation: X:-142.18, Y:20.81, Z:80.03 [[ 8.82700670e-01 -3.46879425e-01 3.17039731e-01 -1.42180114e+02] [ 3.82121568e-01 9.22499038e-01 -5.45768473e-02 2.08075626e+01] [-2.73537261e-01 1.69322739e-01 9.46840629e-01 8.00320719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79907232899996 meters Centerline goodness : 0.752165 with order 1 Centerline is valid? [False, False] Translation: X:-142.22, Y:20.83, Z:80.05 [[ 8.85555403e-01 -3.37995806e-01 3.18669834e-01 -1.42223313e+02] [ 3.72651466e-01 9.26461295e-01 -5.29183675e-02 2.08275081e+01] [-2.77349081e-01 1.65614927e-01 9.46387438e-01 8.00472479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85907232899996 meters Centerline goodness : 0.752548 with order 1 Centerline is valid? [False, False] Translation: X:-142.26, Y:20.86, Z:80.06 [[ 8.91264830e-01 -3.22247574e-01 3.19066615e-01 -1.42260593e+02] [ 3.56028627e-01 9.33016257e-01 -5.21946447e-02 2.08550552e+01] [-2.80874741e-01 1.60116100e-01 9.46293937e-01 8.00628497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91907232899996 meters Centerline goodness : 0.753771 with order 1 Centerline is valid? [False, False] Translation: X:-142.30, Y:20.88, Z:80.08 [[ 8.95337322e-01 -3.09585778e-01 3.20199509e-01 -1.42298521e+02] [ 3.43134756e-01 9.37803785e-01 -5.27503609e-02 2.08775075e+01] [-2.83953550e-01 1.57100947e-01 9.45880370e-01 8.00783887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97907232899996 meters Centerline goodness : 0.756964 with order 1 Centerline is valid? [False, False] Translation: X:-142.34, Y:20.90, Z:80.10 [[ 8.97282893e-01 -2.99718705e-01 3.24117428e-01 -1.42339735e+02] [ 3.34198448e-01 9.40888998e-01 -5.51297674e-02 2.08988316e+01] [-2.88435099e-01 1.57786538e-01 9.44409128e-01 8.00983141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03907232899996 meters Centerline goodness : 0.758043 with order 1 Centerline is valid? [False, False] Translation: X:-142.37, Y:20.91, Z:80.11 [[ 8.97777922e-01 -3.02158212e-01 3.20460947e-01 -1.42372920e+02] [ 3.36444568e-01 9.40023530e-01 -5.62211276e-02 2.09138286e+01] [-2.84253155e-01 1.58291432e-01 9.45591860e-01 8.01148324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09907232899997 meters Centerline goodness : 0.756055 with order 1 Centerline is valid? [False, False] Translation: X:-142.40, Y:20.93, Z:80.13 [[ 9.00809131e-01 -3.01231587e-01 3.12733818e-01 -1.42400650e+02] [ 3.32873208e-01 9.41541869e-01 -5.19070001e-02 2.09280161e+01] [-2.78815956e-01 1.50859009e-01 9.48421437e-01 8.01282563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15907232899997 meters Centerline goodness : 0.755250 with order 1 Centerline is valid? [False, False] Translation: X:-142.44, Y:20.94, Z:80.14 [[ 9.00816439e-01 -3.05155536e-01 3.08884836e-01 -1.42436793e+02] [ 3.35972747e-01 9.40508243e-01 -5.06612010e-02 2.09429229e+01] [-2.75049189e-01 1.49413330e-01 9.49749230e-01 8.01421548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21907232899997 meters Centerline goodness : 0.753854 with order 1 Centerline is valid? [False, False] Translation: X:-142.47, Y:20.96, Z:80.16 [[ 9.03168718e-01 -3.05146192e-01 3.01947129e-01 -1.42465819e+02] [ 3.34146854e-01 9.41286547e-01 -4.82236094e-02 2.09592171e+01] [-2.69503520e-01 1.44448739e-01 9.52104204e-01 8.01551864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279072329 meters Centerline goodness : 0.754427 with order 1 Centerline is valid? [False, False] Translation: X:-142.50, Y:20.97, Z:80.17 [[ 9.02529135e-01 -3.08801796e-01 3.00137655e-01 -1.42502643e+02] [ 3.37694140e-01 9.40015194e-01 -4.83125640e-02 2.09725879e+01] [-2.67214949e-01 1.44958224e-01 9.52671656e-01 8.01698013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339072329 meters Centerline goodness : 0.756627 with order 1 Centerline is valid? [False, False] Translation: X:-142.55, Y:20.98, Z:80.19 [[ 8.97894607e-01 -3.19053543e-01 3.03298717e-01 -1.42549263e+02] [ 3.49660297e-01 9.35483720e-01 -5.10674754e-02 2.09823462e+01] [-2.67437753e-01 1.51904730e-01 9.51526143e-01 8.01860653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399072329 meters Centerline goodness : 0.757499 with order 1 Centerline is valid? [False, False] Translation: X:-142.60, Y:20.99, Z:80.20 [[ 8.90592083e-01 -3.33736089e-01 3.08975670e-01 -1.42604074e+02] [ 3.66586685e-01 9.28852339e-01 -5.33623010e-02 2.09942594e+01] [-2.69183848e-01 1.60790409e-01 9.49571746e-01 8.02027698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459072329 meters Centerline goodness : 0.757872 with order 1 Centerline is valid? [False, False] Translation: X:-142.65, Y:21.01, Z:80.22 [[ 8.86718108e-01 -3.42769010e-01 3.10226374e-01 -1.42651290e+02] [ 3.75306479e-01 9.25545751e-01 -5.01009941e-02 2.10053916e+01] [-2.69955635e-01 1.60855427e-01 9.49341607e-01 8.02167052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519072329 meters Centerline goodness : 0.759491 with order 1 Centerline is valid? [False, False] Translation: X:-142.70, Y:21.02, Z:80.23 [[ 8.82766394e-01 -3.50917465e-01 3.12378658e-01 -1.42699134e+02] [ 3.83858351e-01 9.22095878e-01 -4.89076448e-02 2.10171346e+01] [-2.70880527e-01 1.63083182e-01 9.48697853e-01 8.02327659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579072329 meters Centerline goodness : 0.759474 with order 1 Centerline is valid? [False, False] Translation: X:-142.76, Y:21.04, Z:80.25 [[ 8.81488669e-01 -3.54786940e-01 3.11615074e-01 -1.42758569e+02] [ 3.89821985e-01 9.19173737e-01 -5.62001882e-02 2.10385058e+01] [-2.66489299e-01 1.71014236e-01 9.48544983e-01 8.02527347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639072329 meters Centerline goodness : 0.757762 with order 1 Centerline is valid? [False, False] Translation: X:-142.81, Y:21.06, Z:80.27 [[ 8.83425186e-01 -3.51950141e-01 3.09339681e-01 -1.42811153e+02] [ 3.88447308e-01 9.19285187e-01 -6.34305427e-02 2.10592430e+01] [-2.62046998e-01 1.76198305e-01 9.48833773e-01 8.02702494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699072329 meters Centerline goodness : 0.758347 with order 1 Centerline is valid? [False, False] Translation: X:-142.85, Y:21.07, Z:80.29 [[ 8.83445141e-01 -3.53487725e-01 3.07524164e-01 -1.42849877e+02] [ 3.89065122e-01 9.19179779e-01 -6.11299015e-02 2.10741121e+01] [-2.61061323e-01 1.73651841e-01 9.49574654e-01 8.02865721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759072329 meters Centerline goodness : 0.759853 with order 1 Centerline is valid? [False, False] Translation: X:-142.89, Y:21.09, Z:80.30 [[ 8.82145163e-01 -3.57246683e-01 3.06911582e-01 -1.42888606e+02] [ 3.93041698e-01 9.17441602e-01 -6.17991135e-02 2.10867846e+01] [-2.59495925e-01 1.75144839e-01 9.49729514e-01 8.03026483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819072329 meters Centerline goodness : 0.757680 with order 1 Centerline is valid? [False, False] Translation: X:-142.93, Y:21.10, Z:80.32 [[ 8.81539955e-01 -3.60350348e-01 3.05016286e-01 -1.42933081e+02] [ 3.94847731e-01 9.16920077e-01 -5.79037353e-02 2.11029156e+01] [-2.58809925e-01 1.71479445e-01 9.50585200e-01 8.03197239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879072329 meters Centerline goodness : 0.754895 with order 1 Centerline is valid? [False, False] Translation: X:-142.98, Y:21.12, Z:80.34 [[ 8.79590472e-01 -3.64847750e-01 3.05297758e-01 -1.42975961e+02] [ 3.99344807e-01 9.15024457e-01 -5.70435657e-02 2.11154380e+01] [-2.58542699e-01 1.72094051e-01 9.50546848e-01 8.03357682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93907232899994 meters Centerline goodness : 0.757445 with order 1 Centerline is valid? [False, False] Translation: X:-143.02, Y:21.14, Z:80.36 [[ 8.80046956e-01 -3.63711092e-01 3.05338496e-01 -1.43024556e+02] [ 3.96543304e-01 9.16592908e-01 -5.10964718e-02 2.11390082e+01] [-2.61286747e-01 1.66047231e-01 9.50871996e-01 8.03554402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99907232899994 meters Centerline goodness : 0.756907 with order 1 Centerline is valid? [False, False] Translation: X:-143.07, Y:21.16, Z:80.37 [[ 8.79409870e-01 -3.65346230e-01 3.05221907e-01 -1.43068934e+02] [ 3.97513164e-01 9.16313472e-01 -4.85067660e-02 2.11572305e+01] [-2.61957181e-01 1.63987055e-01 9.51045047e-01 8.03729337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05907232899995 meters Centerline goodness : 0.755765 with order 1 Centerline is valid? [False, False] Translation: X:-143.12, Y:21.18, Z:80.39 [[ 8.83307806e-01 -3.58166796e-01 3.02463001e-01 -1.43115140e+02] [ 3.91081265e-01 9.18762458e-01 -5.41386163e-02 2.11792175e+01] [-2.58500995e-01 1.66108675e-01 9.51622374e-01 8.03897546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11907232899995 meters Centerline goodness : 0.755477 with order 1 Centerline is valid? [False, False] Translation: X:-143.16, Y:21.20, Z:80.41 [[ 8.81329973e-01 -3.61137095e-01 3.04692430e-01 -1.43161918e+02] [ 3.94846186e-01 9.17092488e-01 -5.51167691e-02 2.11986214e+01] [-2.59526429e-01 1.68882705e-01 9.50854702e-01 8.04098596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17907232899995 meters Centerline goodness : 0.755166 with order 1 Centerline is valid? [False, False] Translation: X:-143.20, Y:21.21, Z:80.42 [[ 8.80817465e-01 -3.63592880e-01 3.03250409e-01 -1.43200959e+02] [ 3.96777185e-01 9.16337001e-01 -5.37993187e-02 2.12115876e+01] [-2.58318521e-01 1.67710223e-01 9.51390994e-01 8.04244700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23907232899995 meters Centerline goodness : 0.753280 with order 1 Centerline is valid? [False, False] Translation: X:-143.25, Y:21.23, Z:80.44 [[ 8.82884347e-01 -3.60523051e-01 3.00895927e-01 -1.43252586e+02] [ 3.95078756e-01 9.16621763e-01 -6.09698344e-02 2.12299419e+01] [-2.53826725e-01 1.72706901e-01 9.51706005e-01 8.04413562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29907232899996 meters Centerline goodness : 0.754290 with order 1 Centerline is valid? [False, False] Translation: X:-143.30, Y:21.25, Z:80.46 [[ 8.83044709e-01 -3.59998979e-01 3.01052782e-01 -1.43297304e+02] [ 3.93670093e-01 9.17443561e-01 -5.76295878e-02 2.12476449e+01] [-2.55452343e-01 1.69404979e-01 9.51864514e-01 8.04613845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35907232899996 meters Centerline goodness : 0.754543 with order 1 Centerline is valid? [False, False] Translation: X:-143.34, Y:21.26, Z:80.48 [[ 8.82052237e-01 -3.62606296e-01 3.00833053e-01 -1.43340584e+02] [ 3.95872812e-01 9.16602778e-01 -5.58933306e-02 2.12630146e+01] [-2.55477138e-01 1.68392464e-01 9.52037504e-01 8.04779918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41907232899996 meters Centerline goodness : 0.755071 with order 1 Centerline is valid? [False, False] Translation: X:-143.38, Y:21.28, Z:80.49 [[ 8.80253831e-01 -3.66337457e-01 3.01579276e-01 -1.43384270e+02] [ 3.99680293e-01 9.14995917e-01 -5.51192769e-02 2.12769397e+01] [-2.55751550e-01 1.69054248e-01 9.51846524e-01 8.04944012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47907232899996 meters Centerline goodness : 0.753561 with order 1 Centerline is valid? [False, False] Translation: X:-143.43, Y:21.29, Z:80.51 [[ 8.79845285e-01 -3.68027749e-01 3.00712239e-01 -1.43426578e+02] [ 4.00688259e-01 9.14684741e-01 -5.29220566e-02 2.12912775e+01] [-2.55580111e-01 1.67055086e-01 9.52245454e-01 8.05107302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53907232899996 meters Centerline goodness : 0.752813 with order 1 Centerline is valid? [False, False] Translation: X:-143.47, Y:21.31, Z:80.53 [[ 8.79058664e-01 -3.70781221e-01 2.99628357e-01 -1.43468752e+02] [ 4.02921715e-01 9.13795070e-01 -5.13094727e-02 2.13078633e+01] [-2.54774326e-01 1.65830808e-01 9.52675278e-01 8.05265714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59907232899997 meters Centerline goodness : 0.752966 with order 1 Centerline is valid? [False, False] Translation: X:-143.52, Y:21.33, Z:80.54 [[ 8.80108769e-01 -3.65832512e-01 3.02613825e-01 -1.43515436e+02] [ 3.98681232e-01 9.15576516e-01 -5.26585079e-02 2.13252280e+01] [-2.57801918e-01 1.66991667e-01 9.51657477e-01 8.05422301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65907232899997 meters Centerline goodness : 0.752433 with order 1 Centerline is valid? [False, False] Translation: X:-143.55, Y:21.34, Z:80.56 [[ 8.82525435e-01 -3.58269341e-01 3.04617687e-01 -1.43548707e+02] [ 3.91947122e-01 9.18313445e-01 -5.54785624e-02 2.13358447e+01] [-2.59858249e-01 1.68355268e-01 9.50857610e-01 8.05550641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71907232899997 meters Centerline goodness : 0.750951 with order 1 Centerline is valid? [False, False] Translation: X:-143.59, Y:21.36, Z:80.57 [[ 8.81969147e-01 -3.60757155e-01 3.03289793e-01 -1.43590183e+02] [ 3.93981284e-01 9.17510712e-01 -5.43400519e-02 2.13550077e+01] [-2.58668071e-01 1.67416751e-01 9.51347707e-01 8.05709756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779072329 meters Centerline goodness : 0.751950 with order 1 Centerline is valid? [False, False] Translation: X:-143.63, Y:21.38, Z:80.58 [[ 8.85663122e-01 -3.49993858e-01 3.05131338e-01 -1.43632778e+02] [ 3.83106502e-01 9.22106170e-01 -5.43104000e-02 2.13769276e+01] [-2.62355183e-01 1.64998518e-01 9.50760352e-01 8.05849532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839072329 meters Centerline goodness : 0.752924 with order 1 Centerline is valid? [False, False] Translation: X:-143.68, Y:21.40, Z:80.60 [[ 8.87321323e-01 -3.42270631e-01 3.09049648e-01 -1.43675864e+02] [ 3.76394220e-01 9.24732708e-01 -5.65403320e-02 2.13967575e+01] [-2.66436223e-01 1.66493943e-01 9.49363737e-01 8.06009519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899072329 meters Centerline goodness : 0.750795 with order 1 Centerline is valid? [False, False] Translation: X:-143.71, Y:21.42, Z:80.62 [[ 8.88985858e-01 -3.41635567e-01 3.04941441e-01 -1.43713061e+02] [ 3.73664516e-01 9.26117927e-01 -5.17727181e-02 2.14171597e+01] [-2.64724334e-01 1.59971010e-01 9.50962829e-01 8.06160679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959072329 meters Centerline goodness : 0.751762 with order 1 Centerline is valid? [False, False] Translation: X:-143.76, Y:21.44, Z:80.63 [[ 8.92884745e-01 -3.32914808e-01 3.03190638e-01 -1.43756510e+02] [ 3.65718445e-01 9.28980247e-01 -5.69712195e-02 2.14361483e+01] [-2.62691551e-01 1.61751141e-01 9.51225377e-01 8.06330259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019072329 meters Centerline goodness : 0.750455 with order 1 Centerline is valid? [False, False] Translation: X:-143.80, Y:21.46, Z:80.65 [[ 8.96510912e-01 -3.21227597e-01 3.05091815e-01 -1.43796068e+02] [ 3.53820773e-01 9.33590995e-01 -5.67337141e-02 2.14572791e+01] [-2.66606537e-01 1.58810216e-01 9.50631511e-01 8.06477002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079072329 meters Centerline goodness : 0.752706 with order 1 Centerline is valid? [False, False] Translation: X:-143.83, Y:21.47, Z:80.66 [[ 8.97823527e-01 -3.21300130e-01 3.01129773e-01 -1.43830940e+02] [ 3.52581750e-01 9.34195019e-01 -5.44589437e-02 2.14746844e+01] [-2.63816268e-01 1.55067383e-01 9.52026829e-01 8.06629165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139072329 meters Centerline goodness : 0.751837 with order 1 Centerline is valid? [False, False] Translation: X:-143.87, Y:21.49, Z:80.68 [[ 8.97906343e-01 -3.23530688e-01 2.98482986e-01 -1.43867651e+02] [ 3.54160694e-01 9.33659376e-01 -5.33888839e-02 2.14878736e+01] [-2.61408496e-01 1.53649159e-01 9.52920529e-01 8.06778970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199072329 meters Centerline goodness : 0.752632 with order 1 Centerline is valid? [False, False] Translation: X:-143.90, Y:21.51, Z:80.69 [[ 8.99187531e-01 -3.22004392e-01 2.96268383e-01 -1.43904561e+02] [ 3.51443655e-01 9.34840668e-01 -5.05992281e-02 2.15055630e+01] [-2.60670560e-01 1.49619838e-01 9.53763473e-01 8.06935657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259072329 meters Centerline goodness : 0.753951 with order 1 Centerline is valid? [False, False] Translation: X:-143.94, Y:21.52, Z:80.71 [[ 8.98980871e-01 -3.24333142e-01 2.94349123e-01 -1.43942566e+02] [ 3.53040285e-01 9.34338996e-01 -4.87154865e-02 2.15208553e+01] [-2.59221817e-01 1.47711389e-01 9.54455549e-01 8.07081844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319072329 meters Centerline goodness : 0.754754 with order 1 Centerline is valid? [False, False] Translation: X:-143.99, Y:21.53, Z:80.73 [[ 8.96726843e-01 -3.30123368e-01 2.94787264e-01 -1.43986610e+02] [ 3.59387722e-01 9.31865535e-01 -4.96698142e-02 2.15316302e+01] [-2.58304925e-01 1.50483179e-01 9.54271124e-01 8.07257601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379072329 meters Centerline goodness : 0.753306 with order 1 Centerline is valid? [False, False] Translation: X:-144.03, Y:21.54, Z:80.74 [[ 8.94254533e-01 -3.37301062e-01 2.94171418e-01 -1.44026120e+02] [ 3.67097422e-01 9.28784094e-01 -5.09861646e-02 2.15440544e+01] [-2.56024046e-01 1.53584178e-01 9.54391737e-01 8.07380554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43907232899994 meters Centerline goodness : 0.753977 with order 1 Centerline is valid? [False, False] Translation: X:-144.07, Y:21.56, Z:80.75 [[ 8.95704854e-01 -3.31497870e-01 2.96347729e-01 -1.44070095e+02] [ 3.61197614e-01 9.31140969e-01 -5.01276247e-02 2.15641282e+01] [-2.59324311e-01 1.51939650e-01 9.53763726e-01 8.07523552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49907232899994 meters Centerline goodness : 0.755636 with order 1 Centerline is valid? [False, False] Translation: X:-144.11, Y:21.58, Z:80.77 [[ 8.96273616e-01 -3.26910231e-01 2.99705365e-01 -1.44114014e+02] [ 3.57397171e-01 9.32524294e-01 -5.16304503e-02 2.15823988e+01] [-2.62604011e-01 1.53388860e-01 9.52633713e-01 8.07657460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55907232899995 meters Centerline goodness : 0.755693 with order 1 Centerline is valid? [False, False] Translation: X:-144.15, Y:21.60, Z:80.78 [[ 8.97543991e-01 -3.27120906e-01 2.95646237e-01 -1.44147789e+02] [ 3.56303897e-01 9.33069222e-01 -4.92885440e-02 2.16001767e+01] [-2.59735091e-01 1.49578543e-01 9.54025127e-01 8.07787336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61907232899995 meters Centerline goodness : 0.755693 with order 1 Centerline is valid? [False, False] Translation: X:-144.18, Y:21.61, Z:80.79 [[ 8.98042494e-01 -3.28157311e-01 2.92971769e-01 -1.44181279e+02] [ 3.57042174e-01 9.32768102e-01 -4.96442807e-02 2.16146179e+01] [-2.56983587e-01 1.49185951e-01 9.54831392e-01 8.07920728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67907232899995 meters Centerline goodness : 0.752783 with order 1 Centerline is valid? [False, False] Translation: X:-144.22, Y:21.63, Z:80.80 [[ 8.99646206e-01 -3.22244936e-01 2.94609751e-01 -1.44223280e+02] [ 3.51553149e-01 9.34773585e-01 -5.10757093e-02 2.16315708e+01] [-2.58934524e-01 1.49521054e-01 9.54251731e-01 8.08046229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73907232899995 meters Centerline goodness : 0.755747 with order 1 Centerline is valid? [False, False] Translation: X:-144.26, Y:21.65, Z:80.82 [[ 9.00078080e-01 -3.16736140e-01 2.99228452e-01 -1.44263513e+02] [ 3.47877991e-01 9.35879061e-01 -5.57788968e-02 2.16468300e+01] [-2.62374451e-01 1.54300355e-01 9.52549761e-01 8.08200251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79907232899996 meters Centerline goodness : 0.758177 with order 1 Centerline is valid? [False, False] Translation: X:-144.31, Y:21.67, Z:80.84 [[ 9.00318610e-01 -3.16377512e-01 2.98884042e-01 -1.44306628e+02] [ 3.46390838e-01 9.36650754e-01 -5.19495198e-02 2.16652145e+01] [-2.63514304e-01 1.50301813e-01 9.52874376e-01 8.08378532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85907232899996 meters Centerline goodness : 0.754779 with order 1 Centerline is valid? [False, False] Translation: X:-144.34, Y:21.68, Z:80.85 [[ 9.02524093e-01 -3.15545460e-01 2.93055155e-01 -1.44336312e+02] [ 3.43931893e-01 9.37685703e-01 -4.95618434e-02 2.16811473e+01] [-2.59154614e-01 1.45521772e-01 9.54810086e-01 8.08497196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91907232899996 meters Centerline goodness : 0.757307 with order 1 Centerline is valid? [False, False] Translation: X:-144.38, Y:21.69, Z:80.86 [[ 9.02775810e-01 -3.11811113e-01 2.96259458e-01 -1.44376386e+02] [ 3.41390662e-01 9.38449079e-01 -5.25903217e-02 2.16947146e+01] [-2.61626169e-01 1.48617483e-01 9.53658530e-01 8.08636550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97907232899996 meters Centerline goodness : 0.756092 with order 1 Centerline is valid? [False, False] Translation: X:-144.41, Y:21.71, Z:80.88 [[ 9.03282682e-01 -3.12139231e-01 2.94362865e-01 -1.44411366e+02] [ 3.41681546e-01 9.38289941e-01 -5.35323058e-02 2.17097223e+01] [-2.59488182e-01 1.48933164e-01 9.54193270e-01 8.08790680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03907232899996 meters Centerline goodness : 0.757405 with order 1 Centerline is valid? [False, False] Translation: X:-144.44, Y:21.73, Z:80.89 [[ 9.05371706e-01 -3.11146166e-01 2.88946598e-01 -1.44442254e+02] [ 3.39372476e-01 9.39213615e-01 -5.20010333e-02 2.17252979e+01] [-2.55202657e-01 1.45140786e-01 9.55931878e-01 8.08941278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09907232899997 meters Centerline goodness : 0.756545 with order 1 Centerline is valid? [False, False] Translation: X:-144.48, Y:21.74, Z:80.91 [[ 9.06050301e-01 -3.11591178e-01 2.86328116e-01 -1.44477580e+02] [ 3.39439560e-01 9.39185906e-01 -5.20636012e-02 2.17412000e+01] [-2.52692772e-01 1.44363331e-01 9.56716045e-01 8.09107425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15907232899997 meters Centerline goodness : 0.756869 with order 1 Centerline is valid? [False, False] Translation: X:-144.51, Y:21.75, Z:80.92 [[ 9.05869493e-01 -3.15155394e-01 2.82979752e-01 -1.44511517e+02] [ 3.42314401e-01 9.38204144e-01 -5.09297064e-02 2.17526750e+01] [-2.49442004e-01 1.43003711e-01 9.57772742e-01 8.09217249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21907232899997 meters Centerline goodness : 0.753775 with order 1 Centerline is valid? [False, False] Translation: X:-144.55, Y:21.76, Z:80.93 [[ 9.04301580e-01 -3.21572679e-01 2.80766209e-01 -1.44546589e+02] [ 3.48772865e-01 9.35788830e-01 -5.15437099e-02 2.17623110e+01] [-2.46162834e-01 1.44534694e-01 9.58391142e-01 8.09316707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279072329 meters Centerline goodness : 0.753013 with order 1 Centerline is valid? [False, False] Translation: X:-144.58, Y:21.77, Z:80.94 [[ 9.03402646e-01 -3.25122884e-01 2.79568900e-01 -1.44584109e+02] [ 3.52023645e-01 9.34621185e-01 -5.06220755e-02 2.17737574e+01] [-2.44832622e-01 1.44146980e-01 9.58790194e-01 8.09429827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339072329 meters Centerline goodness : 0.755077 with order 1 Centerline is valid? [False, False] Translation: X:-144.63, Y:21.79, Z:80.96 [[ 9.01400634e-01 -3.28814124e-01 2.81705819e-01 -1.44630596e+02] [ 3.55988550e-01 9.33157902e-01 -4.98846862e-02 2.17904329e+01] [-2.46473222e-01 1.45250134e-01 9.58203188e-01 8.09604646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399072329 meters Centerline goodness : 0.757088 with order 1 Centerline is valid? [False, False] Translation: X:-144.67, Y:21.80, Z:80.97 [[ 9.00482788e-01 -3.32718946e-01 2.80051514e-01 -1.44666648e+02] [ 3.59745674e-01 9.31721033e-01 -4.97892240e-02 2.18049234e+01] [-2.44364068e-01 1.45581660e-01 9.58692955e-01 8.09722100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459072329 meters Centerline goodness : 0.755183 with order 1 Centerline is valid? [False, False] Translation: X:-144.70, Y:21.82, Z:80.98 [[ 8.99456619e-01 -3.36449690e-01 2.78889577e-01 -1.44703846e+02] [ 3.63411861e-01 9.30299378e-01 -4.97482426e-02 2.18164649e+01] [-2.42713019e-01 1.46098166e-01 9.59033741e-01 8.09842477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519072329 meters Centerline goodness : 0.756051 with order 1 Centerline is valid? [False, False] Translation: X:-144.74, Y:21.83, Z:81.00 [[ 8.97850082e-01 -3.40229810e-01 2.79479706e-01 -1.44744271e+02] [ 3.67760368e-01 9.28514777e-01 -5.11138015e-02 2.18297447e+01] [-2.42110598e-01 1.48674090e-01 9.58790109e-01 8.09984396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579072329 meters Centerline goodness : 0.756655 with order 1 Centerline is valid? [False, False] Translation: X:-144.78, Y:21.85, Z:81.01 [[ 8.98071701e-01 -3.40794607e-01 2.78075988e-01 -1.44783308e+02] [ 3.67728932e-01 9.28611514e-01 -4.95589410e-02 2.18452370e+01] [-2.41335145e-01 1.46764069e-01 9.59279759e-01 8.10134806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639072329 meters Centerline goodness : 0.755514 with order 1 Centerline is valid? [False, False] Translation: X:-144.82, Y:21.86, Z:81.03 [[ 8.97322169e-01 -3.43103045e-01 2.77656670e-01 -1.44824239e+02] [ 3.69891278e-01 9.27785736e-01 -4.89292495e-02 2.18601086e+01] [-2.40818124e-01 1.46608081e-01 9.59433532e-01 8.10287064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699072329 meters Centerline goodness : 0.757125 with order 1 Centerline is valid? [False, False] Translation: X:-144.86, Y:21.87, Z:81.04 [[ 8.96984286e-01 -3.44982053e-01 2.76417391e-01 -1.44861576e+02] [ 3.71568210e-01 9.27130133e-01 -4.86495782e-02 2.18737969e+01] [-2.39491661e-01 1.46345823e-01 9.59805524e-01 8.10423369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759072329 meters Centerline goodness : 0.755481 with order 1 Centerline is valid? [False, False] Translation: X:-144.90, Y:21.89, Z:81.05 [[ 8.95104899e-01 -3.49679902e-01 2.76606555e-01 -1.44902382e+02] [ 3.76608328e-01 9.25061388e-01 -4.92706452e-02 2.18854692e+01] [-2.38649090e-01 1.48274728e-01 9.59719343e-01 8.10547704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819072329 meters Centerline goodness : 0.754828 with order 1 Centerline is valid? [False, False] Translation: X:-144.94, Y:21.90, Z:81.07 [[ 8.93772599e-01 -3.53296917e-01 2.76318347e-01 -1.44943847e+02] [ 3.79942541e-01 9.23772698e-01 -4.78295632e-02 2.19015986e+01] [-2.38357308e-01 1.47733848e-01 9.59875254e-01 8.10682350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879072329 meters Centerline goodness : 0.756440 with order 1 Centerline is valid? [False, False] Translation: X:-144.98, Y:21.92, Z:81.08 [[ 8.93454493e-01 -3.54458361e-01 2.75859274e-01 -1.44983960e+02] [ 3.80812861e-01 9.23467378e-01 -4.67927988e-02 2.19166752e+01] [-2.38160942e-01 1.46857996e-01 9.60058381e-01 8.10838603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93907232899994 meters Centerline goodness : 0.759194 with order 1 Centerline is valid? [False, False] Translation: X:-145.03, Y:21.93, Z:81.10 [[ 8.91684198e-01 -3.57744886e-01 2.77340742e-01 -1.45029929e+02] [ 3.84188395e-01 9.22120023e-01 -4.57595921e-02 2.19341781e+01] [-2.39371191e-01 1.47354200e-01 9.59681287e-01 8.11005924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99907232899994 meters Centerline goodness : 0.757077 with order 1 Centerline is valid? [False, False] Translation: X:-145.07, Y:21.95, Z:81.11 [[ 8.92102812e-01 -3.58958099e-01 2.74411471e-01 -1.45066345e+02] [ 3.84535459e-01 9.22062888e-01 -4.39603421e-02 2.19484184e+01] [-2.37244713e-01 1.44738086e-01 9.60607013e-01 8.11125106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05907232899995 meters Centerline goodness : 0.754966 with order 1 Centerline is valid? [False, False] Translation: X:-145.11, Y:21.96, Z:81.12 [[ 8.92658460e-01 -3.55113515e-01 2.77588300e-01 -1.45108469e+02] [ 3.81779890e-01 9.23064885e-01 -4.68543995e-02 2.19620833e+01] [-2.39593382e-01 1.47802607e-01 9.59556877e-01 8.11241159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11907232899995 meters Centerline goodness : 0.756335 with order 1 Centerline is valid? [False, False] Translation: X:-145.15, Y:21.98, Z:81.14 [[ 8.92866103e-01 -3.52216011e-01 2.80595802e-01 -1.45151816e+02] [ 3.79795229e-01 9.23773993e-01 -4.89611566e-02 2.19769957e+01] [-2.41962201e-01 1.50284704e-01 9.58576445e-01 8.11361166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17907232899995 meters Centerline goodness : 0.754241 with order 1 Centerline is valid? [False, False] Translation: X:-145.19, Y:21.99, Z:81.15 [[ 8.94236647e-01 -3.52136986e-01 2.76297599e-01 -1.45185621e+02] [ 3.78341535e-01 9.24511103e-01 -4.62266497e-02 2.19902975e+01] [-2.39162085e-01 1.45872422e-01 9.59959756e-01 8.11477128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23907232899995 meters Centerline goodness : 0.757063 with order 1 Centerline is valid? [False, False] Translation: X:-145.23, Y:22.01, Z:81.16 [[ 8.93367212e-01 -3.50087252e-01 2.81662815e-01 -1.45234009e+02] [ 3.77905917e-01 9.24519020e-01 -4.95146379e-02 2.20079805e+01] [-2.43068186e-01 1.50676798e-01 9.58235023e-01 8.11619422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29907232899996 meters Centerline goodness : 0.755849 with order 1 Centerline is valid? [False, False] Translation: X:-145.28, Y:22.02, Z:81.18 [[ 8.93504512e-01 -3.46099268e-01 2.86120575e-01 -1.45277639e+02] [ 3.75416898e-01 9.25336686e-01 -5.30487622e-02 2.20236949e+01] [-2.46397727e-01 1.54813807e-01 9.56724017e-01 8.11750095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35907232899996 meters Centerline goodness : 0.757141 with order 1 Centerline is valid? [False, False] Translation: X:-145.32, Y:22.04, Z:81.19 [[ 8.93139302e-01 -3.48115904e-01 2.84811350e-01 -1.45318886e+02] [ 3.76655841e-01 9.24970729e-01 -5.05917831e-02 2.20412887e+01] [-2.45830357e-01 1.52461368e-01 9.57247599e-01 8.11899879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41907232899996 meters Centerline goodness : 0.756055 with order 1 Centerline is valid? [False, False] Translation: X:-145.36, Y:22.05, Z:81.20 [[ 8.91325110e-01 -3.52515334e-01 2.85083298e-01 -1.45361776e+02] [ 3.81058268e-01 9.23207948e-01 -4.98164728e-02 2.20536056e+01] [-2.45630096e-01 1.53036021e-01 9.57207309e-01 8.12047914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47907232899996 meters Centerline goodness : 0.755651 with order 1 Centerline is valid? [False, False] Translation: X:-145.40, Y:22.07, Z:81.22 [[ 8.90573979e-01 -3.54588564e-01 2.84859507e-01 -1.45399605e+02] [ 3.83324755e-01 9.22235985e-01 -5.04273780e-02 2.20661051e+01] [-2.44826717e-01 1.54103011e-01 9.57241945e-01 8.12186783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53907232899996 meters Centerline goodness : 0.755193 with order 1 Centerline is valid? [False, False] Translation: X:-145.44, Y:22.08, Z:81.23 [[ 8.89859316e-01 -3.56782953e-01 2.84352461e-01 -1.45441210e+02] [ 3.85075066e-01 9.21598689e-01 -4.87139555e-02 2.20799379e+01] [-2.44678547e-01 1.52845610e-01 9.57481398e-01 8.12332453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59907232899997 meters Centerline goodness : 0.753978 with order 1 Centerline is valid? [False, False] Translation: X:-145.48, Y:22.10, Z:81.25 [[ 8.90125511e-01 -3.57603841e-01 2.82481979e-01 -1.45481594e+02] [ 3.84743568e-01 9.21912214e-01 -4.52797599e-02 2.20973128e+01] [-2.44231371e-01 1.48987794e-01 9.58203358e-01 8.12476508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65907232899997 meters Centerline goodness : 0.752841 with order 1 Centerline is valid? [False, False] Translation: X:-145.52, Y:22.11, Z:81.26 [[ 8.88761596e-01 -3.61037570e-01 2.82408745e-01 -1.45522601e+02] [ 3.88441406e-01 9.20330351e-01 -4.58837448e-02 2.21119010e+01] [-2.43343584e-01 1.50478960e-01 9.58196213e-01 8.12627299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71907232899997 meters Centerline goodness : 0.755179 with order 1 Centerline is valid? [False, False] Translation: X:-145.57, Y:22.13, Z:81.28 [[ 8.87732560e-01 -3.62376024e-01 2.83926962e-01 -1.45566550e+02] [ 3.90088370e-01 9.19630970e-01 -4.59341140e-02 2.21252159e+01] [-2.44462605e-01 1.51533814e-01 9.57745028e-01 8.12797265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779072329 meters Centerline goodness : 0.754789 with order 1 Centerline is valid? [False, False] Translation: X:-145.61, Y:22.14, Z:81.29 [[ 8.85411046e-01 -3.67666199e-01 2.84374480e-01 -1.45608541e+02] [ 3.95953533e-01 9.17058929e-01 -4.71563442e-02 2.21390491e+01] [-2.43450362e-01 1.54351828e-01 9.57552836e-01 8.12939162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839072329 meters Centerline goodness : 0.753680 with order 1 Centerline is valid? [False, False] Translation: X:-145.65, Y:22.15, Z:81.31 [[ 8.84492005e-01 -3.70878546e-01 2.83060059e-01 -1.45645773e+02] [ 3.98965423e-01 9.15771924e-01 -4.67800604e-02 2.21524625e+01] [-2.41868735e-01 1.54307766e-01 9.57960661e-01 8.13061228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899072329 meters Centerline goodness : 0.750711 with order 1 Centerline is valid? [False, False] Translation: X:-145.70, Y:22.17, Z:81.32 [[ 8.85910507e-01 -3.68943496e-01 2.81146350e-01 -1.45700942e+02] [ 3.98333182e-01 9.15676439e-01 -5.35475001e-02 2.21739804e+01] [-2.37683087e-01 1.59428213e-01 9.58169815e-01 8.13223109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959072329 meters Centerline goodness : 0.749346 with order 1 Centerline is valid? [False, False] Translation: X:-145.74, Y:22.19, Z:81.34 [[ 8.85707156e-01 -3.70761471e-01 2.79389988e-01 -1.45739808e+02] [ 3.99548650e-01 9.15231436e-01 -5.20796931e-02 2.21868224e+01] [-2.36397356e-01 1.57757249e-01 9.58764278e-01 8.13351533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019072329 meters Centerline goodness : 0.751208 with order 1 Centerline is valid? [False, False] Translation: X:-145.79, Y:22.21, Z:81.35 [[ 8.86473573e-01 -3.64741477e-01 2.84830228e-01 -1.45790189e+02] [ 3.94662854e-01 9.17255061e-01 -5.37064629e-02 2.22068212e+01] [-2.41672994e-01 1.60021271e-01 9.57072284e-01 8.13505361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079072329 meters Centerline goodness : 0.752353 with order 1 Centerline is valid? [False, False] Translation: X:-145.83, Y:22.22, Z:81.36 [[ 8.88472275e-01 -3.57421336e-01 2.87866297e-01 -1.45831740e+02] [ 3.88099344e-01 9.19937889e-01 -5.56163661e-02 2.22241647e+01] [-2.44940638e-01 1.61134320e-01 9.56054295e-01 8.13641523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139072329 meters Centerline goodness : 0.752393 with order 1 Centerline is valid? [False, False] Translation: X:-145.87, Y:22.25, Z:81.38 [[ 8.88923046e-01 -3.57444420e-01 2.86442500e-01 -1.45874103e+02] [ 3.87121682e-01 9.20523338e-01 -5.26648591e-02 2.22454690e+01] [-2.44852246e-01 1.57703109e-01 9.56648894e-01 8.13810551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199072329 meters Centerline goodness : 0.752349 with order 1 Centerline is valid? [False, False] Translation: X:-145.92, Y:22.27, Z:81.40 [[ 8.91528758e-01 -3.53597774e-01 2.83099079e-01 -1.45918648e+02] [ 3.80276399e-01 9.23842002e-01 -4.36556361e-02 2.22725114e+01] [-2.46102284e-01 1.46576153e-01 9.58096601e-01 8.13986710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259072329 meters Centerline goodness : 0.755642 with order 1 Centerline is valid? [False, False] Translation: X:-145.97, Y:22.30, Z:81.41 [[ 8.93198182e-01 -3.45632057e-01 2.87637773e-01 -1.45965003e+02] [ 3.73422092e-01 9.26506813e-01 -4.62716612e-02 2.22954979e+01] [-2.50505387e-01 1.48740062e-01 9.56620847e-01 8.14131700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319072329 meters Centerline goodness : 0.753522 with order 1 Centerline is valid? [False, False] Translation: X:-146.01, Y:22.31, Z:81.43 [[ 8.92547630e-01 -3.44326224e-01 2.91201272e-01 -1.46008593e+02] [ 3.73370499e-01 9.26386810e-01 -4.90096811e-02 2.23087862e+01] [-2.52889699e-01 1.52469439e-01 9.55405605e-01 8.14272098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379072329 meters Centerline goodness : 0.752618 with order 1 Centerline is valid? [False, False] Translation: X:-146.04, Y:22.32, Z:81.44 [[ 8.94213676e-01 -3.44005702e-01 2.86429708e-01 -1.46041940e+02] [ 3.71296576e-01 9.27406932e-01 -4.53346946e-02 2.23233439e+01] [-2.50041504e-01 1.46889274e-01 9.57028102e-01 8.14384844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43907232899994 meters Centerline goodness : 0.752408 with order 1 Centerline is valid? [False, False] Translation: X:-146.08, Y:22.33, Z:81.45 [[ 8.96049916e-01 -3.37303801e-01 2.88653243e-01 -1.46077298e+02] [ 3.65077148e-01 9.29801467e-01 -4.67750783e-02 2.23325052e+01] [-2.52612797e-01 1.47293507e-01 9.56290436e-01 8.14513780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49907232899994 meters Centerline goodness : 0.754008 with order 1 Centerline is valid? [False, False] Translation: X:-146.11, Y:22.35, Z:81.46 [[ 8.97255633e-01 -3.30708320e-01 2.92513821e-01 -1.46113400e+02] [ 3.60343856e-01 9.31348940e-01 -5.23589309e-02 2.23469785e+01] [-2.55116903e-01 1.52384904e-01 9.54826794e-01 8.14649628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55907232899995 meters Centerline goodness : 0.752279 with order 1 Centerline is valid? [False, False] Translation: X:-146.16, Y:22.37, Z:81.48 [[ 9.00190053e-01 -3.26849815e-01 2.87796919e-01 -1.46158382e+02] [ 3.57689887e-01 9.31880332e-01 -6.04730713e-02 2.23655438e+01] [-2.48426676e-01 1.57379305e-01 9.55780279e-01 8.14792771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61907232899995 meters Centerline goodness : 0.752656 with order 1 Centerline is valid? [False, False] Translation: X:-146.20, Y:22.38, Z:81.50 [[ 9.00165298e-01 -3.28171673e-01 2.86366530e-01 -1.46197192e+02] [ 3.58266697e-01 9.31793790e-01 -5.83550084e-02 2.23796486e+01] [-2.47684094e-01 1.55124744e-01 9.56341416e-01 8.14952196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67907232899995 meters Centerline goodness : 0.755233 with order 1 Centerline is valid? [False, False] Translation: X:-146.24, Y:22.40, Z:81.51 [[ 9.00160769e-01 -3.27046252e-01 2.87665324e-01 -1.46236050e+02] [ 3.57015571e-01 9.32346170e-01 -5.71882990e-02 2.23955663e+01] [-2.49500444e-01 1.54179663e-01 9.56022050e-01 8.15103897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73907232899995 meters Centerline goodness : 0.755042 with order 1 Centerline is valid? [False, False] Translation: X:-146.28, Y:22.41, Z:81.53 [[ 8.98262203e-01 -3.31182464e-01 2.88865351e-01 -1.46280036e+02] [ 3.61358575e-01 9.30704999e-01 -5.66408364e-02 2.24118350e+01] [-2.50089975e-01 1.55262294e-01 9.55692746e-01 8.15275974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79907232899996 meters Centerline goodness : 0.751943 with order 1 Centerline is valid? [False, False] Translation: X:-146.31, Y:22.42, Z:81.54 [[ 8.99757909e-01 -3.31989809e-01 2.83228657e-01 -1.46312805e+02] [ 3.60103347e-01 9.31453186e-01 -5.21588100e-02 2.24236413e+01] [-2.46498042e-01 1.48921889e-01 9.57633012e-01 8.15380470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85907232899996 meters Centerline goodness : 0.749393 with order 1 Centerline is valid? [False, False] Translation: X:-146.35, Y:22.44, Z:81.55 [[ 9.00723567e-01 -3.28224842e-01 2.84544387e-01 -1.46352818e+02] [ 3.56895531e-01 9.32581737e-01 -5.40081727e-02 2.24383341e+01] [-2.47634075e-01 1.50199054e-01 9.57140329e-01 8.15485800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91907232899996 meters Centerline goodness : 0.751606 with order 1 Centerline is valid? [False, False] Translation: X:-146.39, Y:22.45, Z:81.56 [[ 9.00607352e-01 -3.26455451e-01 2.86937685e-01 -1.46393434e+02] [ 3.55723240e-01 9.32968999e-01 -5.50438296e-02 2.24518411e+01] [-2.49734607e-01 1.51643281e-01 9.56366531e-01 8.15617409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97907232899996 meters Centerline goodness : 0.753693 with order 1 Centerline is valid? [False, False] Translation: X:-146.44, Y:22.47, Z:81.58 [[ 8.97258537e-01 -3.33267736e-01 2.89585451e-01 -1.46438721e+02] [ 3.63269569e-01 9.30045909e-01 -5.52252461e-02 2.24651064e+01] [-2.50922971e-01 1.54748906e-01 9.55557658e-01 8.15768909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03907232899996 meters Centerline goodness : 0.754701 with order 1 Centerline is valid? [False, False] Translation: X:-146.48, Y:22.48, Z:81.59 [[ 8.95933936e-01 -3.37500394e-01 2.88783423e-01 -1.46475949e+02] [ 3.67630430e-01 9.28305786e-01 -5.56438093e-02 2.24772630e+01] [-2.49299515e-01 1.56018751e-01 9.55776073e-01 8.15906602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09907232899997 meters Centerline goodness : 0.755909 with order 1 Centerline is valid? [False, False] Translation: X:-146.52, Y:22.49, Z:81.60 [[ 8.94424958e-01 -3.42282321e-01 2.87831214e-01 -1.46515654e+02] [ 3.71800679e-01 9.26784275e-01 -5.32462533e-02 2.24900488e+01] [-2.48532192e-01 1.54640618e-01 9.56199785e-01 8.16024421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15907232899997 meters Centerline goodness : 0.752795 with order 1 Centerline is valid? [False, False] Translation: X:-146.55, Y:22.50, Z:81.61 [[ 8.93186759e-01 -3.46057743e-01 2.87161022e-01 -1.46554777e+02] [ 3.75325639e-01 9.25422678e-01 -5.21874713e-02 2.25023917e+01] [-2.47685444e-01 1.54392053e-01 9.56459625e-01 8.16145478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21907232899997 meters Centerline goodness : 0.756257 with order 1 Centerline is valid? [False, False] Translation: X:-146.60, Y:22.52, Z:81.63 [[ 8.91196130e-01 -3.49213632e-01 2.89515624e-01 -1.46601024e+02] [ 3.78909582e-01 9.23979007e-01 -5.18683171e-02 2.25196939e+01] [-2.49393236e-01 1.55925088e-01 9.55766907e-01 8.16333115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279072329 meters Centerline goodness : 0.757737 with order 1 Centerline is valid? [False, False] Translation: X:-146.64, Y:22.54, Z:81.65 [[ 8.88733326e-01 -3.54561830e-01 2.90583866e-01 -1.46644617e+02] [ 3.84431499e-01 9.21739153e-01 -5.10818592e-02 2.25363012e+01] [-2.49730849e-01 1.57107742e-01 9.55485039e-01 8.16470349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339072329 meters Centerline goodness : 0.755846 with order 1 Centerline is valid? [False, False] Translation: X:-146.68, Y:22.55, Z:81.66 [[ 8.86750040e-01 -3.59939153e-01 2.90031330e-01 -1.46684277e+02] [ 3.90044023e-01 9.19350085e-01 -5.15856773e-02 2.25501527e+01] [-2.48072623e-01 1.58868588e-01 9.55625840e-01 8.16594162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399072329 meters Centerline goodness : 0.755344 with order 1 Centerline is valid? [False, False] Translation: X:-146.73, Y:22.56, Z:81.67 [[ 8.87857479e-01 -3.55123666e-01 2.92568417e-01 -1.46725364e+02] [ 3.85916400e-01 9.20997309e-01 -5.32211271e-02 2.25645355e+01] [-2.50554643e-01 1.60159726e-01 9.54762396e-01 8.16711789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459072329 meters Centerline goodness : 0.759120 with order 1 Centerline is valid? [False, False] Translation: X:-146.77, Y:22.58, Z:81.69 [[ 8.89223111e-01 -3.47703796e-01 2.97295020e-01 -1.46769262e+02] [ 3.79958313e-01 9.23266736e-01 -5.66587510e-02 2.25832850e+01] [-2.54782140e-01 1.63341985e-01 9.53103067e-01 8.16869117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519072329 meters Centerline goodness : 0.760313 with order 1 Centerline is valid? [False, False] Translation: X:-146.81, Y:22.60, Z:81.70 [[ 8.89372637e-01 -3.49050865e-01 2.95262267e-01 -1.46805725e+02] [ 3.80946882e-01 9.22870540e-01 -5.64751225e-02 2.25973929e+01] [-2.52776157e-01 1.62706669e-01 9.53745644e-01 8.17014036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579072329 meters Centerline goodness : 0.759100 with order 1 Centerline is valid? [False, False] Translation: X:-146.84, Y:22.61, Z:81.72 [[ 8.90996327e-01 -3.48423819e-01 2.91077975e-01 -1.46840027e+02] [ 3.78811924e-01 9.23919693e-01 -5.36090190e-02 2.26137942e+01] [-2.50254014e-01 1.58029247e-01 9.55196150e-01 8.17150169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639072329 meters Centerline goodness : 0.758303 with order 1 Centerline is valid? [False, False] Translation: X:-146.88, Y:22.63, Z:81.73 [[ 8.90650020e-01 -3.46430065e-01 2.94497457e-01 -1.46883175e+02] [ 3.77970745e-01 9.24121456e-01 -5.60147305e-02 2.26278792e+01] [-2.52746232e-01 1.61200944e-01 9.54009223e-01 8.17274843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699072329 meters Centerline goodness : 0.761344 with order 1 Centerline is valid? [False, False] Translation: X:-146.93, Y:22.65, Z:81.74 [[ 8.92391268e-01 -3.39367533e-01 2.97434872e-01 -1.46925175e+02] [ 3.71334606e-01 9.26766974e-01 -5.66885068e-02 2.26483221e+01] [-2.56414578e-01 1.61036190e-01 9.53057664e-01 8.17403018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759072329 meters Centerline goodness : 0.762019 with order 1 Centerline is valid? [False, False] Translation: X:-146.96, Y:22.66, Z:81.76 [[ 8.93220103e-01 -3.39157403e-01 2.95178088e-01 -1.46962048e+02] [ 3.70286251e-01 9.27284638e-01 -5.50571810e-02 2.26644962e+01] [-2.55041056e-01 1.58478568e-01 9.53854603e-01 8.17552164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819072329 meters Centerline goodness : 0.761576 with order 1 Centerline is valid? [False, False] Translation: X:-147.00, Y:22.68, Z:81.77 [[ 8.95027438e-01 -3.32218812e-01 2.97584519e-01 -1.47001531e+02] [ 3.63936894e-01 9.29696676e-01 -5.66924007e-02 2.26813378e+01] [-2.57829056e-01 1.59043240e-01 9.53010716e-01 8.17673617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879072329 meters Centerline goodness : 0.762851 with order 1 Centerline is valid? [False, False] Translation: X:-147.04, Y:22.70, Z:81.78 [[ 8.97893656e-01 -3.22399626e-01 2.99742328e-01 -1.47039285e+02] [ 3.54608705e-01 9.33181121e-01 -5.85291477e-02 2.27006420e+01] [-2.60844107e-01 1.58844189e-01 9.52223123e-01 8.17804022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93907232899994 meters Centerline goodness : 0.764655 with order 1 Centerline is valid? [False, False] Translation: X:-147.08, Y:22.72, Z:81.80 [[ 9.00095175e-01 -3.13789274e-01 3.02266385e-01 -1.47077014e+02] [ 3.46567947e-01 9.36088323e-01 -6.02437537e-02 2.27178604e+01] [-2.64044190e-01 1.58980952e-01 9.51317887e-01 8.17951202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99907232899994 meters Centerline goodness : 0.766782 with order 1 Centerline is valid? [False, False] Translation: X:-147.11, Y:22.74, Z:81.81 [[ 9.02308254e-01 -3.09631294e-01 2.99947124e-01 -1.47111616e+02] [ 3.41304635e-01 9.38143725e-01 -5.82880499e-02 2.27389035e+01] [-2.63345708e-01 1.54967132e-01 9.52173422e-01 8.18129151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05907232899995 meters Centerline goodness : 0.766354 with order 1 Centerline is valid? [False, False] Translation: X:-147.15, Y:22.76, Z:81.83 [[ 9.03089135e-01 -3.11105401e-01 2.96046354e-01 -1.47145285e+02] [ 3.41907834e-01 9.37985464e-01 -5.72913858e-02 2.27556273e+01] [-2.59863517e-01 1.52959796e-01 9.53453855e-01 8.18271128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11907232899995 meters Centerline goodness : 0.768304 with order 1 Centerline is valid? [False, False] Translation: X:-147.18, Y:22.77, Z:81.84 [[ 9.03864385e-01 -3.12348865e-01 2.92348011e-01 -1.47177834e+02] [ 3.42479979e-01 9.37800558e-01 -5.68997077e-02 2.27715629e+01] [-2.56391569e-01 1.51552960e-01 9.54617758e-01 8.18410765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17907232899995 meters Centerline goodness : 0.768397 with order 1 Centerline is valid? [False, False] Translation: X:-147.22, Y:22.79, Z:81.86 [[ 9.03374807e-01 -3.12850530e-01 2.93323208e-01 -1.47216720e+02] [ 3.43385070e-01 9.37418784e-01 -5.77296918e-02 2.27858872e+01] [-2.56905920e-01 1.52874360e-01 9.54268714e-01 8.18575566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23907232899995 meters Centerline goodness : 0.767807 with order 1 Centerline is valid? [False, False] Translation: X:-147.25, Y:22.80, Z:81.87 [[ 9.03413905e-01 -3.15633313e-01 2.90204975e-01 -1.47250445e+02] [ 3.45595008e-01 9.36643039e-01 -5.71306192e-02 2.27996601e+01] [-2.53786144e-01 1.51905987e-01 9.55257643e-01 8.18699994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29907232899996 meters Centerline goodness : 0.767998 with order 1 Centerline is valid? [False, False] Translation: X:-147.28, Y:22.81, Z:81.88 [[ 9.03946814e-01 -3.17355128e-01 2.86645915e-01 -1.47283579e+02] [ 3.46380340e-01 9.36448078e-01 -5.55486872e-02 2.28139433e+01] [-2.50800355e-01 1.49501568e-01 9.56424834e-01 8.18825726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35907232899996 meters Centerline goodness : 0.770863 with order 1 Centerline is valid? [False, False] Translation: X:-147.32, Y:22.83, Z:81.90 [[ 9.02880070e-01 -3.21539161e-01 2.85342158e-01 -1.47319299e+02] [ 3.50796630e-01 9.34734718e-01 -5.66809653e-02 2.28261948e+01] [-2.48494071e-01 1.51273181e-01 9.56748202e-01 8.18960477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41907232899996 meters Centerline goodness : 0.771083 with order 1 Centerline is valid? [False, False] Translation: X:-147.36, Y:22.84, Z:81.91 [[ 9.00830928e-01 -3.27265052e-01 2.85309000e-01 -1.47358576e+02] [ 3.56706055e-01 9.32498576e-01 -5.66321111e-02 2.28380838e+01] [-2.47516526e-01 1.52787405e-01 9.56760983e-01 8.19083990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47907232899996 meters Centerline goodness : 0.772787 with order 1 Centerline is valid? [False, False] Translation: X:-147.41, Y:22.85, Z:81.92 [[ 8.97178485e-01 -3.34610609e-01 2.88281990e-01 -1.47405102e+02] [ 3.64889136e-01 9.29308323e-01 -5.69382037e-02 2.28514399e+01] [-2.48850726e-01 1.56274698e-01 9.55851210e-01 8.19240476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53907232899996 meters Centerline goodness : 0.773144 with order 1 Centerline is valid? [False, False] Translation: X:-147.45, Y:22.86, Z:81.94 [[ 8.94375206e-01 -3.40892418e-01 2.89629679e-01 -1.47447514e+02] [ 3.71662309e-01 9.26611884e-01 -5.70749124e-02 2.28647889e+01] [-2.48917897e-01 1.58690822e-01 9.55435557e-01 8.19383765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59907232899997 meters Centerline goodness : 0.772015 with order 1 Centerline is valid? [False, False] Translation: X:-147.49, Y:22.87, Z:81.95 [[ 8.91716231e-01 -3.48461261e-01 2.88819862e-01 -1.47486203e+02] [ 3.79009123e-01 9.23714566e-01 -5.57089254e-02 2.28746424e+01] [-2.47374711e-01 1.59141915e-01 9.55761269e-01 8.19471226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65907232899997 meters Centerline goodness : 0.772030 with order 1 Centerline is valid? [False, False] Translation: X:-147.53, Y:22.89, Z:81.96 [[ 8.89965610e-01 -3.52899662e-01 2.88830474e-01 -1.47526554e+02] [ 3.83579368e-01 9.21832909e-01 -5.55963654e-02 2.28885402e+01] [-2.46633497e-01 1.60268264e-01 9.55764616e-01 8.19600693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71907232899997 meters Centerline goodness : 0.774461 with order 1 Centerline is valid? [False, False] Translation: X:-147.57, Y:22.90, Z:81.97 [[ 8.86309021e-01 -3.60219712e-01 2.91029342e-01 -1.47568977e+02] [ 3.92276149e-01 9.17991032e-01 -5.84113776e-02 2.29016531e+01] [-2.46121397e-01 1.65934401e-01 9.54929334e-01 8.19743502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779072329 meters Centerline goodness : 0.774592 with order 1 Centerline is valid? [False, False] Translation: X:-147.61, Y:22.92, Z:81.99 [[ 8.84450383e-01 -3.64139065e-01 2.91805177e-01 -1.47613485e+02] [ 3.95878447e-01 9.16587905e-01 -5.60969545e-02 2.29202850e+01] [-2.47038003e-01 1.65134353e-01 9.54831331e-01 8.19888869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839072329 meters Centerline goodness : 0.775047 with order 1 Centerline is valid? [False, False] Translation: X:-147.66, Y:22.94, Z:82.01 [[ 8.83083508e-01 -3.67249698e-01 2.92046534e-01 -1.47656795e+02] [ 3.98819816e-01 9.15388214e-01 -5.48376876e-02 2.29375398e+01] [-2.47196831e-01 1.64900202e-01 9.54830692e-01 8.20052211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899072329 meters Centerline goodness : 0.774765 with order 1 Centerline is valid? [False, False] Translation: X:-147.70, Y:22.96, Z:82.02 [[ 8.83996481e-01 -3.62837923e-01 2.94786132e-01 -1.47701144e+02] [ 3.95232387e-01 9.16827502e-01 -5.67335142e-02 2.29550190e+01] [-2.49682962e-01 1.66661253e-01 9.53877584e-01 8.20173798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959072329 meters Centerline goodness : 0.773531 with order 1 Centerline is valid? [False, False] Translation: X:-147.74, Y:22.97, Z:82.03 [[ 8.85271122e-01 -3.57840426e-01 2.97061056e-01 -1.47742656e+02] [ 3.90812655e-01 9.18636796e-01 -5.80681147e-02 2.29707407e+01] [-2.52112098e-01 1.67501245e-01 9.53091194e-01 8.20290266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019072329 meters Centerline goodness : 0.772779 with order 1 Centerline is valid? [False, False] Translation: X:-147.79, Y:22.99, Z:82.05 [[ 8.85391189e-01 -3.58538123e-01 2.95859523e-01 -1.47785284e+02] [ 3.90449067e-01 9.18993546e-01 -5.47758021e-02 2.29889913e+01] [-2.52253779e-01 1.64016087e-01 9.53659664e-01 8.20460265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079072329 meters Centerline goodness : 0.772849 with order 1 Centerline is valid? [False, False] Translation: X:-147.82, Y:23.00, Z:82.06 [[ 8.85032822e-01 -3.60432091e-01 2.94627922e-01 -1.47822915e+02] [ 3.92232165e-01 9.18225419e-01 -5.49181883e-02 2.30031860e+01] [-2.50740570e-01 1.64166947e-01 9.54032694e-01 8.20603366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139072329 meters Centerline goodness : 0.772146 with order 1 Centerline is valid? [False, False] Translation: X:-147.86, Y:23.02, Z:82.08 [[ 8.83469753e-01 -3.64245103e-01 2.94629768e-01 -1.47864452e+02] [ 3.96196093e-01 9.16520267e-01 -5.49477601e-02 2.30167212e+01] [-2.50019701e-01 1.65275847e-01 9.54030421e-01 8.20758813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199072329 meters Centerline goodness : 0.774293 with order 1 Centerline is valid? [False, False] Translation: X:-147.91, Y:23.03, Z:82.09 [[ 8.82107168e-01 -3.67132256e-01 2.95128534e-01 -1.47906674e+02] [ 3.99208703e-01 9.15228673e-01 -5.46707248e-02 2.30336051e+01] [-2.50038710e-01 1.66043317e-01 9.53892164e-01 8.20923171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259072329 meters Centerline goodness : 0.777664 with order 1 Centerline is valid? [False, False] Translation: X:-147.95, Y:23.05, Z:82.11 [[ 8.80715195e-01 -3.70201717e-01 2.95451239e-01 -1.47950952e+02] [ 4.02046736e-01 9.14076654e-01 -5.31252551e-02 2.30519404e+01] [-2.50398019e-01 1.65573426e-01 9.53879590e-01 8.21096667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319072329 meters Centerline goodness : 0.776611 with order 1 Centerline is valid? [False, False] Translation: X:-147.99, Y:23.07, Z:82.12 [[ 8.79322182e-01 -3.74211568e-01 2.94547455e-01 -1.47990029e+02] [ 4.05951469e-01 9.12369947e-01 -5.27682111e-02 2.30671440e+01] [-2.48989771e-01 1.65972230e-01 9.54178868e-01 8.21227983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379072329 meters Centerline goodness : 0.774810 with order 1 Centerline is valid? [False, False] Translation: X:-148.03, Y:23.08, Z:82.14 [[ 8.78229700e-01 -3.77375472e-01 2.93769209e-01 -1.48029282e+02] [ 4.09123296e-01 9.10945315e-01 -5.28844103e-02 2.30801476e+01] [-2.47650405e-01 1.66632487e-01 9.54412328e-01 8.21375313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43907232899994 meters Centerline goodness : 0.775962 with order 1 Centerline is valid? [False, False] Translation: X:-148.07, Y:23.09, Z:82.15 [[ 8.76070726e-01 -3.81805480e-01 2.94490507e-01 -1.48071486e+02] [ 4.14232209e-01 9.08546416e-01 -5.43607032e-02 2.30934000e+01] [-2.46803080e-01 1.69611274e-01 9.54107046e-01 8.21536848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49907232899994 meters Centerline goodness : 0.770754 with order 1 Centerline is valid? [False, False] Translation: X:-148.12, Y:23.11, Z:82.16 [[ 8.78174382e-01 -3.77867250e-01 2.93302056e-01 -1.48117849e+02] [ 4.11143230e-01 9.09654551e-01 -5.90748959e-02 2.31116232e+01] [-2.44481081e-01 1.72467215e-01 9.54192884e-01 8.21639697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55907232899995 meters Centerline goodness : 0.769780 with order 1 Centerline is valid? [False, False] Translation: X:-148.16, Y:23.13, Z:82.18 [[ 8.81055625e-01 -3.69696306e-01 2.95068850e-01 -1.48157363e+02] [ 4.03147162e-01 9.13191076e-01 -5.96189925e-02 2.31279766e+01] [-2.47413319e-01 1.71483818e-01 9.53614151e-01 8.21766908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61907232899995 meters Centerline goodness : 0.774788 with order 1 Centerline is valid? [False, False] Translation: X:-148.20, Y:23.15, Z:82.20 [[ 8.83264182e-01 -3.60549456e-01 2.99747352e-01 -1.48202477e+02] [ 3.95562808e-01 9.16240563e-01 -6.35082288e-02 2.31489522e+01] [-2.51742825e-01 1.74663448e-01 9.51902427e-01 8.21951436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67907232899995 meters Centerline goodness : 0.773571 with order 1 Centerline is valid? [False, False] Translation: X:-148.24, Y:23.17, Z:82.21 [[ 8.84447300e-01 -3.55577861e-01 3.02187622e-01 -1.48244667e+02] [ 3.91349471e-01 9.17921804e-01 -6.53081401e-02 2.31684345e+01] [-2.54162478e-01 1.76022574e-01 9.51008669e-01 8.22093088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73907232899995 meters Centerline goodness : 0.770276 with order 1 Centerline is valid? [False, False] Translation: X:-148.28, Y:23.19, Z:82.22 [[ 8.89534037e-01 -3.43159843e-01 3.01613194e-01 -1.48282437e+02] [ 3.77608557e-01 9.23849892e-01 -6.25552213e-02 2.31887523e+01] [-2.57178877e-01 1.69536721e-01 9.51376017e-01 8.22222389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79907232899996 meters Centerline goodness : 0.771108 with order 1 Centerline is valid? [False, False] Translation: X:-148.32, Y:23.21, Z:82.24 [[ 8.94948788e-01 -3.28716149e-01 3.01682549e-01 -1.48317642e+02] [ 3.62469627e-01 9.29930084e-01 -6.20145822e-02 2.32134378e+01] [-2.60158483e-01 1.64850636e-01 9.51389422e-01 8.22361417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85907232899996 meters Centerline goodness : 0.775087 with order 1 Centerline is valid? [False, False] Translation: X:-148.36, Y:23.24, Z:82.25 [[ 8.97807108e-01 -3.18020577e-01 3.04639638e-01 -1.48357183e+02] [ 3.52304263e-01 9.33725982e-01 -6.35412936e-02 2.32369519e+01] [-2.64242506e-01 1.64373668e-01 9.50345829e-01 8.22501899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91907232899996 meters Centerline goodness : 0.773267 with order 1 Centerline is valid? [False, False] Translation: X:-148.39, Y:23.26, Z:82.26 [[ 9.00891637e-01 -3.16016864e-01 2.97535879e-01 -1.48385450e+02] [ 3.48014376e-01 9.35563485e-01 -6.00579732e-02 2.32558133e+01] [-2.59384371e-01 1.57652489e-01 9.52819731e-01 8.22636334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97907232899996 meters Centerline goodness : 0.771365 with order 1 Centerline is valid? [False, False] Translation: X:-148.42, Y:23.27, Z:82.28 [[ 9.02324500e-01 -3.15194806e-01 2.94045456e-01 -1.48418153e+02] [ 3.46420421e-01 9.36189207e-01 -5.95202464e-02 2.32704965e+01] [-2.56521710e-01 1.55569928e-01 9.53936376e-01 8.22784269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03907232899996 meters Centerline goodness : 0.774517 with order 1 Centerline is valid? [False, False] Translation: X:-148.46, Y:23.29, Z:82.29 [[ 9.01560928e-01 -3.17788052e-01 2.93596060e-01 -1.48456015e+02] [ 3.49516796e-01 9.34921183e-01 -6.13220265e-02 2.32858472e+01] [-2.55001769e-01 1.57902298e-01 9.53960671e-01 8.22948009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09907232899997 meters Centerline goodness : 0.774159 with order 1 Centerline is valid? [False, False] Translation: X:-148.50, Y:23.30, Z:82.31 [[ 8.99233970e-01 -3.22701109e-01 2.95368009e-01 -1.48498990e+02] [ 3.55073387e-01 9.32786974e-01 -6.18979030e-02 2.32972783e+01] [-2.55540910e-01 1.60538017e-01 9.53376310e-01 8.23123533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15907232899997 meters Centerline goodness : 0.772623 with order 1 Centerline is valid? [False, False] Translation: X:-148.53, Y:23.31, Z:82.32 [[ 8.99006825e-01 -3.26372708e-01 2.92006137e-01 -1.48532881e+02] [ 3.57954753e-01 9.31769470e-01 -6.06139334e-02 2.33075100e+01] [-2.52299670e-01 1.59017325e-01 9.54493775e-01 8.23237318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21907232899997 meters Centerline goodness : 0.767295 with order 1 Centerline is valid? [False, False] Translation: X:-148.57, Y:23.32, Z:82.33 [[ 8.98045562e-01 -3.31594755e-01 2.89065888e-01 -1.48567626e+02] [ 3.62455452e-01 9.30127042e-01 -5.90739400e-02 2.33192382e+01] [-2.49279391e-01 1.57824597e-01 9.55484789e-01 8.23320384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279072329 meters Centerline goodness : 0.768639 with order 1 Centerline is valid? [False, False] Translation: X:-148.61, Y:23.33, Z:82.34 [[ 8.98643711e-01 -3.26633551e-01 2.92831015e-01 -1.48607885e+02] [ 3.58524701e-01 9.31511599e-01 -6.12060382e-02 2.33346620e+01] [-2.52783542e-01 1.59989573e-01 9.54203237e-01 8.23444851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339072329 meters Centerline goodness : 0.771488 with order 1 Centerline is valid? [False, False] Translation: X:-148.65, Y:23.36, Z:82.36 [[ 8.98523769e-01 -3.26450538e-01 2.93402596e-01 -1.48651730e+02] [ 3.57465883e-01 9.32150228e-01 -5.75681662e-02 2.33559132e+01] [-2.54702138e-01 1.56607784e-01 9.54254066e-01 8.23635924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399072329 meters Centerline goodness : 0.771889 with order 1 Centerline is valid? [False, False] Translation: X:-148.69, Y:23.37, Z:82.38 [[ 8.98636895e-01 -3.28505706e-01 2.90750290e-01 -1.48686166e+02] [ 3.58925336e-01 9.31640652e-01 -5.67300515e-02 2.33694319e+01] [-2.52238644e-01 1.55337363e-01 9.55115684e-01 8.23759049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459072329 meters Centerline goodness : 0.768901 with order 1 Centerline is valid? [False, False] Translation: X:-148.72, Y:23.38, Z:82.39 [[ 8.98884856e-01 -3.30019396e-01 2.88258935e-01 -1.48719816e+02] [ 3.60008784e-01 9.31237927e-01 -5.64765352e-02 2.33825081e+01] [-2.49799301e-01 1.54541651e-01 9.55885551e-01 8.23876188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519072329 meters Centerline goodness : 0.768778 with order 1 Centerline is valid? [False, False] Translation: X:-148.76, Y:23.39, Z:82.40 [[ 8.97497602e-01 -3.34163685e-01 2.87806681e-01 -1.48758227e+02] [ 3.64495818e-01 9.29427120e-01 -5.75154520e-02 2.33946478e+01] [-2.48275759e-01 1.56524312e-01 9.55959877e-01 8.24015294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579072329 meters Centerline goodness : 0.769031 with order 1 Centerline is valid? [False, False] Translation: X:-148.80, Y:23.41, Z:82.42 [[ 8.97232028e-01 -3.35498547e-01 2.87080847e-01 -1.48796577e+02] [ 3.65502927e-01 9.29091276e-01 -5.65421223e-02 2.34114138e+01] [-2.47754511e-01 1.55660293e-01 9.56236151e-01 8.24173190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639072329 meters Centerline goodness : 0.768308 with order 1 Centerline is valid? [False, False] Translation: X:-148.83, Y:23.43, Z:82.43 [[ 8.97291980e-01 -3.37279259e-01 2.84797831e-01 -1.48832850e+02] [ 3.66674908e-01 9.28696848e-01 -5.54227138e-02 2.34274516e+01] [-2.45797916e-01 1.54158575e-01 9.56984074e-01 8.24309921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699072329 meters Centerline goodness : 0.766651 with order 1 Centerline is valid? [False, False] Translation: X:-148.87, Y:23.44, Z:82.44 [[ 8.96506364e-01 -3.40400397e-01 2.83555829e-01 -1.48871887e+02] [ 3.69439173e-01 9.27660577e-01 -5.44109459e-02 2.34416419e+01] [-2.44522057e-01 1.53536390e-01 9.57410853e-01 8.24439409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759072329 meters Centerline goodness : 0.768245 with order 1 Centerline is valid? [False, False] Translation: X:-148.91, Y:23.46, Z:82.46 [[ 8.96466739e-01 -3.41811644e-01 2.81979052e-01 -1.48908798e+02] [ 3.70828964e-01 9.27061303e-01 -5.51653878e-02 2.34604437e+01] [-2.42555695e-01 1.54019935e-01 9.57833281e-01 8.24574787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819072329 meters Centerline goodness : 0.769910 with order 1 Centerline is valid? [False, False] Translation: X:-148.95, Y:23.48, Z:82.47 [[ 8.96710701e-01 -3.38584604e-01 2.85079609e-01 -1.48949364e+02] [ 3.68445223e-01 9.27908169e-01 -5.68730756e-02 2.34781141e+01] [-2.45271351e-01 1.56034916e-01 9.56815065e-01 8.24709042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87907232899994 meters Centerline goodness : 0.770627 with order 1 Centerline is valid? [False, False] Translation: X:-148.99, Y:23.50, Z:82.49 [[ 8.97347058e-01 -3.34569467e-01 2.87804673e-01 -1.48991741e+02] [ 3.64834979e-01 9.29313223e-01 -5.72046496e-02 2.34986804e+01] [-2.48321759e-01 1.56333636e-01 9.55979131e-01 8.24875262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93907232899994 meters Centerline goodness : 0.768959 with order 1 Centerline is valid? [False, False] Translation: X:-149.03, Y:23.51, Z:82.50 [[ 8.98608226e-01 -3.33909225e-01 2.84618843e-01 -1.49026731e+02] [ 3.63047537e-01 9.30146138e-01 -5.49968053e-02 2.35148669e+01] [-2.46373177e-01 1.52750751e-01 9.57061892e-01 8.25010153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99907232899994 meters Centerline goodness : 0.766139 with order 1 Centerline is valid? [False, False] Translation: X:-149.06, Y:23.53, Z:82.51 [[ 9.03348073e-01 -3.21167985e-01 2.84276952e-01 -1.49058731e+02] [ 3.49768185e-01 9.35228305e-01 -5.48656019e-02 2.35334857e+01] [-2.48242777e-01 1.48993769e-01 9.57171030e-01 8.25113261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05907232899995 meters Centerline goodness : 0.769490 with order 1 Centerline is valid? [False, False] Translation: X:-149.10, Y:23.56, Z:82.53 [[ 9.07074051e-01 -3.07828138e-01 2.87155887e-01 -1.49095484e+02] [ 3.37293104e-01 9.39598369e-01 -5.82088217e-02 2.35579611e+01] [-2.51892889e-01 1.49655412e-01 9.56113607e-01 8.25269020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11907232899995 meters Centerline goodness : 0.770616 with order 1 Centerline is valid? [False, False] Translation: X:-149.13, Y:23.57, Z:82.54 [[ 9.09216695e-01 -2.99631630e-01 2.89043054e-01 -1.49128548e+02] [ 3.29883849e-01 9.42039818e-01 -6.11361418e-02 2.35742311e+01] [-2.53971745e-01 1.50936636e-01 9.55361965e-01 8.25390956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17907232899995 meters Centerline goodness : 0.767849 with order 1 Centerline is valid? [False, False] Translation: X:-149.15, Y:23.59, Z:82.55 [[ 9.11961283e-01 -2.98525252e-01 2.81441453e-01 -1.49154003e+02] [ 3.26804487e-01 9.43285370e-01 -5.84083689e-02 2.35878205e+01] [-2.48043232e-01 1.45242501e-01 9.57799129e-01 8.25500686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23907232899995 meters Centerline goodness : 0.767660 with order 1 Centerline is valid? [False, False] Translation: X:-149.18, Y:23.60, Z:82.56 [[ 9.13285546e-01 -2.99844544e-01 2.75685982e-01 -1.49182034e+02] [ 3.27122581e-01 9.43211504e-01 -5.78175989e-02 2.36008775e+01] [-2.42693899e-01 1.42987088e-01 9.59507355e-01 8.25613951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29907232899996 meters Centerline goodness : 0.766541 with order 1 Centerline is valid? [False, False] Translation: X:-149.21, Y:23.62, Z:82.57 [[ 9.14599404e-01 -2.99917486e-01 2.71214732e-01 -1.49213570e+02] [ 3.26286740e-01 9.43556669e-01 -5.69014584e-02 2.36168687e+01] [-2.38840727e-01 1.40535811e-01 9.60835466e-01 8.25744687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35907232899996 meters Centerline goodness : 0.764559 with order 1 Centerline is valid? [False, False] Translation: X:-149.24, Y:23.63, Z:82.58 [[ 9.15968665e-01 -3.00899774e-01 2.65444403e-01 -1.49241739e+02] [ 3.26112238e-01 9.43696381e-01 -5.55693167e-02 2.36297087e+01] [-2.33778128e-01 1.37464421e-01 9.62523413e-01 8.25840673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41907232899996 meters Centerline goodness : 0.765879 with order 1 Centerline is valid? [False, False] Translation: X:-149.28, Y:23.65, Z:82.60 [[ 9.16373155e-01 -2.98751216e-01 2.66473173e-01 -1.49278307e+02] [ 3.24369271e-01 9.44218909e-01 -5.68790665e-02 2.36451590e+01] [-2.34616318e-01 1.38558159e-01 9.62162575e-01 8.25978470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47907232899996 meters Centerline goodness : 0.768534 with order 1 Centerline is valid? [False, False] Translation: X:-149.31, Y:23.66, Z:82.61 [[ 9.17413977e-01 -2.98080813e-01 2.63627434e-01 -1.49312898e+02] [ 3.22757775e-01 9.44893614e-01 -5.48039957e-02 2.36631772e+01] [-2.32763860e-01 1.35365756e-01 9.63066507e-01 8.26123336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53907232899996 meters Centerline goodness : 0.765037 with order 1 Centerline is valid? [False, False] Translation: X:-149.34, Y:23.68, Z:82.62 [[ 9.18934599e-01 -2.96161679e-01 2.60475455e-01 -1.49344236e+02] [ 3.20376353e-01 9.45692111e-01 -5.50038503e-02 2.36771095e+01] [-2.30039550e-01 1.33995117e-01 9.63912400e-01 8.26239885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59907232899997 meters Centerline goodness : 0.764034 with order 1 Centerline is valid? [False, False] Translation: X:-149.37, Y:23.69, Z:82.63 [[ 9.20866148e-01 -2.95750663e-01 2.54041499e-01 -1.49370553e+02] [ 3.18996820e-01 9.46169816e-01 -5.48060978e-02 2.36916294e+01] [-2.24157458e-01 1.31507511e-01 9.65639275e-01 8.26345999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65907232899997 meters Centerline goodness : 0.763232 with order 1 Centerline is valid? [False, False] Translation: X:-149.40, Y:23.71, Z:82.65 [[ 9.23315619e-01 -2.92962328e-01 2.48317021e-01 -1.49400610e+02] [ 3.14680196e-01 9.47778205e-01 -5.18926578e-02 2.37097263e+01] [-2.20146866e-01 1.26053750e-01 9.67287863e-01 8.26471216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71907232899997 meters Centerline goodness : 0.764634 with order 1 Centerline is valid? [False, False] Translation: X:-149.44, Y:23.73, Z:82.66 [[ 9.23658485e-01 -2.90046878e-01 2.50455211e-01 -1.49438222e+02] [ 3.12011813e-01 9.48650718e-01 -5.20619232e-02 2.37256198e+01] [-2.22494117e-01 1.26232422e-01 9.66727337e-01 8.26594596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779072329 meters Centerline goodness : 0.764994 with order 1 Centerline is valid? [False, False] Translation: X:-149.47, Y:23.74, Z:82.67 [[ 9.24286517e-01 -2.90902725e-01 2.47123530e-01 -1.49470199e+02] [ 3.12448476e-01 9.48506294e-01 -5.20745556e-02 2.37408985e+01] [-2.19249593e-01 1.25345180e-01 9.67583692e-01 8.26714119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839072329 meters Centerline goodness : 0.763904 with order 1 Centerline is valid? [False, False] Translation: X:-149.50, Y:23.76, Z:82.68 [[ 9.25818081e-01 -2.91437700e-01 2.40676022e-01 -1.49497216e+02] [ 3.11655957e-01 9.48887004e-01 -4.98399205e-02 2.37554615e+01] [-2.13849117e-01 1.21150815e-01 9.69325041e-01 8.26793876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899072329 meters Centerline goodness : 0.765188 with order 1 Centerline is valid? [False, False] Translation: X:-149.54, Y:23.77, Z:82.69 [[ 9.26315515e-01 -2.87789115e-01 2.43139860e-01 -1.49535017e+02] [ 3.08232366e-01 9.50004313e-01 -4.98458909e-02 2.37712775e+01] [-2.16638811e-01 1.21116596e-01 9.68709655e-01 8.26919939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959072329 meters Centerline goodness : 0.764324 with order 1 Centerline is valid? [False, False] Translation: X:-149.56, Y:23.79, Z:82.70 [[ 9.28825888e-01 -2.82896832e-01 2.39273592e-01 -1.49563659e+02] [ 3.02527231e-01 9.51883417e-01 -4.89411314e-02 2.37873125e+01] [-2.13915273e-01 1.17844567e-01 9.69717956e-01 8.27012237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019072329 meters Centerline goodness : 0.760640 with order 1 Centerline is valid? [False, False] Translation: X:-149.59, Y:23.80, Z:82.71 [[ 9.31057791e-01 -2.81642512e-01 2.31967425e-01 -1.49587687e+02] [ 2.99993419e-01 9.52768073e-01 -4.72963700e-02 2.38010716e+01] [-2.07690488e-01 1.13624355e-01 9.71573037e-01 8.27089018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079072329 meters Centerline goodness : 0.763272 with order 1 Centerline is valid? [False, False] Translation: X:-149.62, Y:23.82, Z:82.72 [[ 9.31634147e-01 -2.76309470e-01 2.36031550e-01 -1.49624238e+02] [ 2.95886156e-01 9.53846414e-01 -5.12679357e-02 2.38157317e+01] [-2.10972031e-01 1.17601428e-01 9.70392037e-01 8.27206436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139072329 meters Centerline goodness : 0.765683 with order 1 Centerline is valid? [False, False] Translation: X:-149.67, Y:23.83, Z:82.73 [[ 9.30393669e-01 -2.79323427e-01 2.37373218e-01 -1.49668016e+02] [ 2.99023145e-01 9.52896202e-01 -5.07344858e-02 2.38327153e+01] [-2.12020708e-01 1.18183131e-01 9.70092762e-01 8.27349084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199072329 meters Centerline goodness : 0.762572 with order 1 Centerline is valid? [False, False] Translation: X:-149.70, Y:23.84, Z:82.74 [[ 9.29748336e-01 -2.83777779e-01 2.34602225e-01 -1.49700441e+02] [ 3.03478071e-01 9.51426541e-01 -5.18516871e-02 2.38441420e+01] [-2.08492427e-01 1.19405651e-01 9.70707576e-01 8.27440884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259072329 meters Centerline goodness : 0.763122 with order 1 Centerline is valid? [False, False] Translation: X:-149.74, Y:23.86, Z:82.76 [[ 9.29220555e-01 -2.85760539e-01 2.34286307e-01 -1.49738713e+02] [ 3.05192622e-01 9.50946901e-01 -5.05712801e-02 2.38570082e+01] [-2.08342562e-01 1.18494325e-01 9.70851416e-01 8.27559075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319072329 meters Centerline goodness : 0.763648 with order 1 Centerline is valid? [False, False] Translation: X:-149.78, Y:23.87, Z:82.77 [[ 9.29242990e-01 -2.87327081e-01 2.32272716e-01 -1.49776293e+02] [ 3.06220622e-01 9.50696156e-01 -4.90484411e-02 2.38748052e+01] [-2.06727833e-01 1.16704616e-01 9.71413216e-01 8.27683143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37907232899994 meters Centerline goodness : 0.761609 with order 1 Centerline is valid? [False, False] Translation: X:-149.81, Y:23.89, Z:82.78 [[ 9.31531053e-01 -2.80282739e-01 2.31714230e-01 -1.49808745e+02] [ 2.98761574e-01 9.53110532e-01 -4.81854420e-02 2.38891300e+01] [-2.07343725e-01 1.14113543e-01 9.71589769e-01 8.27764575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43907232899994 meters Centerline goodness : 0.762305 with order 1 Centerline is valid? [False, False] Translation: X:-149.85, Y:23.90, Z:82.79 [[ 9.31762364e-01 -2.76542970e-01 2.35250679e-01 -1.49846319e+02] [ 2.95984304e-01 9.53826885e-01 -5.10643189e-02 2.39021935e+01] [-2.10266944e-01 1.17210319e-01 9.70592372e-01 8.27875320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49907232899994 meters Centerline goodness : 0.762647 with order 1 Centerline is valid? [False, False] Translation: X:-149.88, Y:23.92, Z:82.80 [[ 9.30926330e-01 -2.78441751e-01 2.36318344e-01 -1.49884833e+02] [ 2.98066059e-01 9.53177081e-01 -5.10889121e-02 2.39152555e+01] [-2.11027943e-01 1.17998491e-01 9.70331677e-01 8.27988658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55907232899995 meters Centerline goodness : 0.760718 with order 1 Centerline is valid? [False, False] Translation: X:-149.92, Y:23.93, Z:82.81 [[ 9.29154465e-01 -2.85618312e-01 2.34721452e-01 -1.49920533e+02] [ 3.05457052e-01 9.50772503e-01 -5.22267802e-02 2.39262335e+01] [-2.08249777e-01 1.20224069e-01 9.70658644e-01 8.28071367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61907232899995 meters Centerline goodness : 0.762488 with order 1 Centerline is valid? [False, False] Translation: X:-149.96, Y:23.94, Z:82.82 [[ 9.26906772e-01 -2.89642062e-01 2.38644739e-01 -1.49964768e+02] [ 3.10559377e-01 9.48993953e-01 -5.44366662e-02 2.39375755e+01] [-2.10705266e-01 1.24571076e-01 9.69579980e-01 8.28202540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67907232899995 meters Centerline goodness : 0.761949 with order 1 Centerline is valid? [False, False] Translation: X:-150.00, Y:23.95, Z:82.83 [[ 9.26347737e-01 -2.92721178e-01 2.37053119e-01 -1.50000463e+02] [ 3.13248739e-01 9.48176338e-01 -5.32621810e-02 2.39496753e+01] [-2.09177190e-01 1.23595891e-01 9.70035545e-01 8.28302869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73907232899995 meters Centerline goodness : 0.760196 with order 1 Centerline is valid? [False, False] Translation: X:-150.04, Y:23.96, Z:82.84 [[ 9.23904577e-01 -3.01660438e-01 2.35374833e-01 -1.50038162e+02] [ 3.21902359e-01 9.45345104e-01 -5.19760116e-02 2.39603097e+01] [-2.06831339e-01 1.23788589e-01 9.70513875e-01 8.28356670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79907232899996 meters Centerline goodness : 0.760999 with order 1 Centerline is valid? [False, False] Translation: X:-150.08, Y:23.97, Z:82.85 [[ 9.21034176e-01 -3.08228340e-01 2.38099426e-01 -1.50082418e+02] [ 3.29328015e-01 9.42694156e-01 -5.35797270e-02 2.39726939e+01] [-2.07940147e-01 1.27761571e-01 9.69761763e-01 8.28473166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85907232899996 meters Centerline goodness : 0.760754 with order 1 Centerline is valid? [False, False] Translation: X:-150.12, Y:23.98, Z:82.86 [[ 9.19848822e-01 -3.11576345e-01 2.38323994e-01 -1.50120684e+02] [ 3.33027815e-01 9.41328246e-01 -5.47138719e-02 2.39829080e+01] [-2.07293559e-01 1.29697010e-01 9.69643267e-01 8.28579147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91907232899996 meters Centerline goodness : 0.760555 with order 1 Centerline is valid? [False, False] Translation: X:-150.16, Y:24.00, Z:82.87 [[ 9.19448540e-01 -3.14159772e-01 2.36469914e-01 -1.50156187e+02] [ 3.35186657e-01 9.40624444e-01 -5.36242494e-02 2.39959440e+01] [-2.05582799e-01 1.28566298e-01 9.70157935e-01 8.28676822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97907232899996 meters Centerline goodness : 0.759534 with order 1 Centerline is valid? [False, False] Translation: X:-150.19, Y:24.01, Z:82.88 [[ 9.19051321e-01 -3.16323571e-01 2.35125643e-01 -1.50194534e+02] [ 3.36780524e-01 9.40171079e-01 -5.15482367e-02 2.40112873e+01] [-2.04752407e-01 1.26561212e-01 9.70597090e-01 8.28790670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03907232899996 meters Centerline goodness : 0.761398 with order 1 Centerline is valid? [False, False] Translation: X:-150.23, Y:24.03, Z:82.89 [[ 9.18985796e-01 -3.17257412e-01 2.34121424e-01 -1.50232139e+02] [ 3.37415282e-01 9.39991773e-01 -5.06595840e-02 2.40266598e+01] [-2.04000084e-01 1.25551584e-01 9.70886587e-01 8.28911146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09907232899997 meters Centerline goodness : 0.762815 with order 1 Centerline is valid? [False, False] Translation: X:-150.27, Y:24.04, Z:82.90 [[ 9.18961135e-01 -3.15348660e-01 2.36781872e-01 -1.50271367e+02] [ 3.36182537e-01 9.40338759e-01 -5.23862653e-02 2.40417307e+01] [-2.06135233e-01 1.27742872e-01 9.70149486e-01 8.29023136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15907232899997 meters Centerline goodness : 0.763554 with order 1 Centerline is valid? [False, False] Translation: X:-150.31, Y:24.06, Z:82.91 [[ 9.17825805e-01 -3.18752893e-01 2.36627102e-01 -1.50312572e+02] [ 3.39017663e-01 9.39480418e-01 -4.94324532e-02 2.40567498e+01] [-2.06549791e-01 1.25591148e-01 9.70342232e-01 8.29121964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21907232899997 meters Centerline goodness : 0.763994 with order 1 Centerline is valid? [False, False] Translation: X:-150.35, Y:24.07, Z:82.92 [[ 9.17950040e-01 -3.20403307e-01 2.33900502e-01 -1.50347875e+02] [ 3.39973068e-01 9.39226899e-01 -4.76565327e-02 2.40717368e+01] [-2.04416333e-01 1.23266188e-01 9.71091865e-01 8.29210786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279072329 meters Centerline goodness : 0.764508 with order 1 Centerline is valid? [False, False] Translation: X:-150.38, Y:24.08, Z:82.93 [[ 9.18802885e-01 -3.15516073e-01 2.37172652e-01 -1.50380849e+02] [ 3.36635975e-01 9.40115792e-01 -5.34651120e-02 2.40838324e+01] [-2.06100653e-01 1.28964746e-01 9.69995162e-01 8.29310660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339072329 meters Centerline goodness : 0.764211 with order 1 Centerline is valid? [False, False] Translation: X:-150.42, Y:24.10, Z:82.94 [[ 9.19772695e-01 -3.10313692e-01 2.40257367e-01 -1.50420270e+02] [ 3.31959006e-01 9.41716848e-01 -5.45215219e-02 2.40983257e+01] [-2.09335636e-01 1.29903004e-01 9.69176868e-01 8.29406414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399072329 meters Centerline goodness : 0.765394 with order 1 Centerline is valid? [False, False] Translation: X:-150.46, Y:24.12, Z:82.95 [[ 9.19692591e-01 -3.11106327e-01 2.39537870e-01 -1.50459595e+02] [ 3.31929713e-01 9.41920017e-01 -5.10817791e-02 2.41176577e+01] [-2.09733650e-01 1.26489270e-01 9.69542294e-01 8.29530548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459072329 meters Centerline goodness : 0.766631 with order 1 Centerline is valid? [False, False] Translation: X:-150.50, Y:24.13, Z:82.96 [[ 9.20462642e-01 -3.06010476e-01 2.43117491e-01 -1.50499278e+02] [ 3.27428726e-01 9.43434138e-01 -5.21771607e-02 2.41332862e+01] [-2.13398583e-01 1.27630777e-01 9.68592499e-01 8.29624602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519072329 meters Centerline goodness : 0.766791 with order 1 Centerline is valid? [False, False] Translation: X:-150.54, Y:24.15, Z:82.98 [[ 9.18910791e-01 -3.09032421e-01 2.45156931e-01 -1.50539506e+02] [ 3.31130655e-01 9.42058410e-01 -5.36511090e-02 2.41475747e+01] [-2.14372217e-01 1.30479558e-01 9.67997747e-01 8.29751463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579072329 meters Centerline goodness : 0.764865 with order 1 Centerline is valid? [False, False] Translation: X:-150.58, Y:24.16, Z:82.99 [[ 9.15712720e-01 -3.16576217e-01 2.47486793e-01 -1.50584465e+02] [ 3.39169884e-01 9.39199522e-01 -5.35541529e-02 2.41596172e+01] [-2.15485506e-01 1.32980286e-01 9.67410068e-01 8.29874199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639072329 meters Centerline goodness : 0.764308 with order 1 Centerline is valid? [False, False] Translation: X:-150.62, Y:24.17, Z:83.00 [[ 9.14556774e-01 -3.21104527e-01 2.45922326e-01 -1.50620053e+02] [ 3.43698375e-01 9.37524212e-01 -5.40349815e-02 2.41681301e+01] [-2.13207258e-01 1.33941162e-01 9.67782223e-01 8.29963920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699072329 meters Centerline goodness : 0.763364 with order 1 Centerline is valid? [False, False] Translation: X:-150.65, Y:24.18, Z:83.01 [[ 9.15146570e-01 -3.22024490e-01 2.42501513e-01 -1.50654696e+02] [ 3.43908016e-01 9.37513051e-01 -5.28824697e-02 2.41837410e+01] [-2.10318883e-01 1.31793425e-01 9.68708656e-01 8.30079052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759072329 meters Centerline goodness : 0.764745 with order 1 Centerline is valid? [False, False] Translation: X:-150.69, Y:24.20, Z:83.02 [[ 9.15814752e-01 -3.18197470e-01 2.45017776e-01 -1.50694299e+02] [ 3.40578403e-01 9.38665345e-01 -5.39788924e-02 2.41993572e+01] [-2.12813748e-01 1.32882429e-01 9.68014756e-01 8.30182264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819072329 meters Centerline goodness : 0.763608 with order 1 Centerline is valid? [False, False] Translation: X:-150.74, Y:24.22, Z:83.03 [[ 9.15046489e-01 -3.20504041e-01 2.44881771e-01 -1.50735873e+02] [ 3.42774911e-01 9.37904131e-01 -5.33029247e-02 2.42171736e+01] [-2.12591822e-01 1.32713981e-01 9.68086626e-01 8.30329540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87907232899994 meters Centerline goodness : 0.764943 with order 1 Centerline is valid? [False, False] Translation: X:-150.78, Y:24.23, Z:83.04 [[ 9.16840951e-01 -3.13197702e-01 2.47608302e-01 -1.50775932e+02] [ 3.35573772e-01 9.40527846e-01 -5.28924761e-02 2.42345905e+01] [-2.16316701e-01 1.31584840e-01 9.67415379e-01 8.30422464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93907232899994 meters Centerline goodness : 0.764489 with order 1 Centerline is valid? [False, False] Translation: X:-150.81, Y:24.25, Z:83.05 [[ 9.16543504e-01 -3.14093574e-01 2.47574700e-01 -1.50813666e+02] [ 3.36502096e-01 9.40192580e-01 -5.29551810e-02 2.42501721e+01] [-2.16135014e-01 1.31845133e-01 9.67420548e-01 8.30545879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99907232899994 meters Centerline goodness : 0.764636 with order 1 Centerline is valid? [False, False] Translation: X:-150.85, Y:24.27, Z:83.07 [[ 9.16440946e-01 -3.14781367e-01 2.47080317e-01 -1.50852256e+02] [ 3.37069242e-01 9.40006854e-01 -5.26444745e-02 2.42654242e+01] [-2.15685692e-01 1.31528727e-01 9.67563887e-01 8.30669102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05907232899995 meters Centerline goodness : 0.763958 with order 1 Centerline is valid? [False, False] Translation: X:-150.89, Y:24.28, Z:83.08 [[ 9.16893844e-01 -3.10744883e-01 2.50486121e-01 -1.50891879e+02] [ 3.33847422e-01 9.41044159e-01 -5.46057751e-02 2.42808505e+01] [-2.18750035e-01 1.33691844e-01 9.66578974e-01 8.30762909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11907232899995 meters Centerline goodness : 0.763682 with order 1 Centerline is valid? [False, False] Translation: X:-150.93, Y:24.30, Z:83.09 [[ 9.19067847e-01 -3.02622605e-01 2.52455643e-01 -1.50927868e+02] [ 3.25802472e-01 9.43855717e-01 -5.46729751e-02 2.42951961e+01] [-2.21736423e-01 1.32498846e-01 9.66062635e-01 8.30861214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17907232899995 meters Centerline goodness : 0.762756 with order 1 Centerline is valid? [False, False] Translation: X:-150.96, Y:24.31, Z:83.10 [[ 9.21342471e-01 -3.00383359e-01 2.46774977e-01 -1.50957813e+02] [ 3.22108125e-01 9.45274862e-01 -5.19787585e-02 2.43127725e+01] [-2.17656629e-01 1.27378463e-01 9.67677797e-01 8.30970492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23907232899995 meters Centerline goodness : 0.762663 with order 1 Centerline is valid? [False, False] Translation: X:-150.99, Y:24.33, Z:83.11 [[ 9.22288583e-01 -3.01525448e-01 2.41797797e-01 -1.50987618e+02] [ 3.22616167e-01 9.45100449e-01 -5.19995252e-02 2.43289771e+01] [-2.12844026e-01 1.25966447e-01 9.68932338e-01 8.31062561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29907232899996 meters Centerline goodness : 0.763096 with order 1 Centerline is valid? [False, False] Translation: X:-151.03, Y:24.35, Z:83.12 [[ 9.22959925e-01 -2.96481564e-01 2.45445836e-01 -1.51025688e+02] [ 3.18522183e-01 9.46339337e-01 -5.46395252e-02 2.43457911e+01] [-2.16075438e-01 1.28610036e-01 9.67869239e-01 8.31167434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35907232899996 meters Centerline goodness : 0.764428 with order 1 Centerline is valid? [False, False] Translation: X:-151.06, Y:24.36, Z:83.13 [[ 9.24738926e-01 -2.88576692e-01 2.48156021e-01 -1.51059486e+02] [ 3.11453276e-01 9.48514124e-01 -5.76004562e-02 2.43630072e+01] [-2.18757342e-01 1.30554390e-01 9.67006089e-01 8.31271914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41907232899996 meters Centerline goodness : 0.765291 with order 1 Centerline is valid? [False, False] Translation: X:-151.09, Y:24.38, Z:83.14 [[ 9.28198128e-01 -2.77038298e-01 2.48390856e-01 -1.51090198e+02] [ 2.99576503e-01 9.52351065e-01 -5.72832327e-02 2.43813930e+01] [-2.20685647e-01 1.27582253e-01 9.66964639e-01 8.31372570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47907232899996 meters Centerline goodness : 0.764347 with order 1 Centerline is valid? [False, False] Translation: X:-151.11, Y:24.40, Z:83.15 [[ 9.31920393e-01 -2.65936204e-01 2.46581257e-01 -1.51112394e+02] [ 2.88458009e-01 9.55639749e-01 -5.95369383e-02 2.43959528e+01] [-2.19809823e-01 1.26612025e-01 9.67291599e-01 8.31453929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53907232899996 meters Centerline goodness : 0.764198 with order 1 Centerline is valid? [False, False] Translation: X:-151.15, Y:24.41, Z:83.16 [[ 9.33570047e-01 -2.58735061e-01 2.47998258e-01 -1.51145988e+02] [ 2.81512088e-01 9.57640302e-01 -6.06299893e-02 2.44114414e+01] [-2.21806023e-01 1.26416849e-01 9.66861349e-01 8.31561425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59907232899997 meters Centerline goodness : 0.767062 with order 1 Centerline is valid? [False, False] Translation: X:-151.18, Y:24.43, Z:83.17 [[ 9.35206293e-01 -2.51443045e-01 2.49330272e-01 -1.51175135e+02] [ 2.75174029e-01 9.59207632e-01 -6.48071976e-02 2.44262023e+01] [-2.22864180e-01 1.29217314e-01 9.66247609e-01 8.31674445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65907232899997 meters Centerline goodness : 0.765928 with order 1 Centerline is valid? [False, False] Translation: X:-151.20, Y:24.44, Z:83.18 [[ 9.37269328e-01 -2.50920673e-01 2.42002114e-01 -1.51198419e+02] [ 2.73681862e-01 9.59623020e-01 -6.49761277e-02 2.44415310e+01] [-2.15926945e-01 1.27131721e-01 9.68097660e-01 8.31781783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71907232899997 meters Centerline goodness : 0.766514 with order 1 Centerline is valid? [False, False] Translation: X:-151.23, Y:24.45, Z:83.19 [[ 9.34503199e-01 -2.58018864e-01 2.45214267e-01 -1.51225575e+02] [ 2.80306298e-01 9.58021677e-01 -6.01900826e-02 2.44479348e+01] [-2.19390407e-01 1.24982928e-01 9.67598634e-01 8.31859526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779072329 meters Centerline goodness : 0.766290 with order 1 Centerline is valid? [False, False] Translation: X:-151.26, Y:24.46, Z:83.20 [[ 9.33923498e-01 -2.61498762e-01 2.43732020e-01 -1.51261557e+02] [ 2.83740685e-01 9.56992125e-01 -6.04755862e-02 2.44627869e+01] [-2.17435333e-01 1.25636261e-01 9.67955271e-01 8.31986679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839072329 meters Centerline goodness : 0.766385 with order 1 Centerline is valid? [False, False] Translation: X:-151.30, Y:24.48, Z:83.21 [[ 9.32069769e-01 -2.67762792e-01 2.44026703e-01 -1.51300629e+02] [ 2.90128654e-01 9.55094654e-01 -6.01628279e-02 2.44769145e+01] [-2.16959233e-01 1.26875092e-01 9.67900513e-01 8.32089513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899072329 meters Centerline goodness : 0.764829 with order 1 Centerline is valid? [False, False] Translation: X:-151.34, Y:24.49, Z:83.22 [[ 9.30437551e-01 -2.75016841e-01 2.42181134e-01 -1.51335319e+02] [ 2.97519721e-01 9.52758063e-01 -6.11071887e-02 2.44867382e+01] [-2.13934522e-01 1.28910086e-01 9.68304812e-01 8.32165433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959072329 meters Centerline goodness : 0.765803 with order 1 Centerline is valid? [False, False] Translation: X:-151.38, Y:24.50, Z:83.23 [[ 9.30256621e-01 -2.75772304e-01 2.42017055e-01 -1.51376052e+02] [ 2.97831642e-01 9.52786037e-01 -5.91192040e-02 2.45041800e+01] [-2.14287032e-01 1.27076368e-01 9.68469238e-01 8.32298235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019072329 meters Centerline goodness : 0.765109 with order 1 Centerline is valid? [False, False] Translation: X:-151.40, Y:24.52, Z:83.24 [[ 9.31870385e-01 -2.76033832e-01 2.35420708e-01 -1.51400834e+02] [ 2.97234913e-01 9.52968407e-01 -5.91829499e-02 2.45178871e+01] [-2.08012000e-01 1.25126092e-01 9.70089928e-01 8.32393118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079072329 meters Centerline goodness : 0.762189 with order 1 Centerline is valid? [False, False] Translation: X:-151.43, Y:24.53, Z:83.25 [[ 9.33265870e-01 -2.76624624e-01 2.29114890e-01 -1.51428008e+02] [ 2.96874580e-01 9.53122181e-01 -5.85114676e-02 2.45322435e+01] [-2.02188771e-01 1.22625143e-01 9.71639221e-01 8.32489634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139072329 meters Centerline goodness : 0.763798 with order 1 Centerline is valid? [False, False] Translation: X:-151.46, Y:24.55, Z:83.26 [[ 9.33303102e-01 -2.78161125e-01 2.27094054e-01 -1.51464127e+02] [ 2.97785973e-01 9.52954269e-01 -5.65833438e-02 2.45483884e+01] [-2.00670962e-01 1.20434834e-01 9.72227656e-01 8.32601692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199072329 meters Centerline goodness : 0.764010 with order 1 Centerline is valid? [False, False] Translation: X:-151.51, Y:24.57, Z:83.27 [[ 9.31817471e-01 -2.82611132e-01 2.27699688e-01 -1.51507745e+02] [ 3.02043005e-01 9.51716568e-01 -5.48233178e-02 2.45656392e+01] [-2.01211886e-01 1.19860423e-01 9.72186842e-01 8.32732171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259072329 meters Centerline goodness : 0.765154 with order 1 Centerline is valid? [False, False] Translation: X:-151.54, Y:24.58, Z:83.28 [[ 9.32293140e-01 -2.84532810e-01 2.23317222e-01 -1.51537615e+02] [ 3.03197201e-01 9.51422220e-01 -5.35463974e-02 2.45750766e+01] [-1.97233260e-01 1.17630096e-01 9.73273960e-01 8.32801165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319072329 meters Centerline goodness : 0.765566 with order 1 Centerline is valid? [False, False] Translation: X:-151.57, Y:24.59, Z:83.29 [[ 9.32402240e-01 -2.81994041e-01 2.26065086e-01 -1.51574482e+02] [ 3.01353917e-01 9.51893683e-01 -5.55358667e-02 2.45893377e+01] [-1.99529144e-01 1.19907366e-01 9.72527812e-01 8.32898412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37907232899994 meters Centerline goodness : 0.766555 with order 1 Centerline is valid? [False, False] Translation: X:-151.61, Y:24.60, Z:83.30 [[ 9.33686817e-01 -2.75747002e-01 2.28456822e-01 -1.51609306e+02] [ 2.95662339e-01 9.53566614e-01 -5.73976869e-02 2.46045752e+01] [-2.02021558e-01 1.21137542e-01 9.71860580e-01 8.32998226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43907232899994 meters Centerline goodness : 0.768725 with order 1 Centerline is valid? [False, False] Translation: X:-151.63, Y:24.62, Z:83.31 [[ 9.35150750e-01 -2.76379111e-01 2.21602484e-01 -1.51634584e+02] [ 2.95168548e-01 9.53800889e-01 -5.60302714e-02 2.46203656e+01] [-1.95879050e-01 1.17806834e-01 9.73526039e-01 8.33078067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49907232899994 meters Centerline goodness : 0.768904 with order 1 Centerline is valid? [False, False] Translation: X:-151.67, Y:24.63, Z:83.32 [[ 9.34314035e-01 -2.79241114e-01 2.21543867e-01 -1.51673248e+02] [ 2.97781185e-01 9.53074771e-01 -5.45421542e-02 2.46317629e+01] [-1.95917459e-01 1.16931096e-01 9.73623884e-01 8.33179319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55907232899995 meters Centerline goodness : 0.769801 with order 1 Centerline is valid? [False, False] Translation: X:-151.71, Y:24.65, Z:83.33 [[ 9.33080474e-01 -2.82961201e-01 2.22022044e-01 -1.51712828e+02] [ 3.01655266e-01 9.51849879e-01 -5.46434635e-02 2.46458619e+01] [-1.95869676e-01 1.17960868e-01 9.73509273e-01 8.33290233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61907232899995 meters Centerline goodness : 0.772511 with order 1 Centerline is valid? [False, False] Translation: X:-151.76, Y:24.66, Z:83.34 [[ 9.29638194e-01 -2.92392414e-01 2.24230919e-01 -1.51755176e+02] [ 3.12019847e-01 9.48367111e-01 -5.69511905e-02 2.46586323e+01] [-1.96001133e-01 1.22908499e-01 9.72870524e-01 8.33390409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67907232899995 meters Centerline goodness : 0.770583 with order 1 Centerline is valid? [False, False] Translation: X:-151.79, Y:24.67, Z:83.35 [[ 9.28803872e-01 -2.97110667e-01 2.21469229e-01 -1.51787124e+02] [ 3.16662131e-01 9.46770027e-01 -5.78930953e-02 2.46690231e+01] [-1.92479772e-01 1.23902249e-01 9.73447364e-01 8.33462629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73907232899995 meters Centerline goodness : 0.770960 with order 1 Centerline is valid? [False, False] Translation: X:-151.83, Y:24.68, Z:83.36 [[ 9.27426020e-01 -3.00803881e-01 2.22256616e-01 -1.51827683e+02] [ 3.20555875e-01 9.45450648e-01 -5.80258788e-02 2.46830338e+01] [-1.92678252e-01 1.25060374e-01 9.73259983e-01 8.33570251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79907232899996 meters Centerline goodness : 0.771942 with order 1 Centerline is valid? [False, False] Translation: X:-151.86, Y:24.70, Z:83.37 [[ 9.26695836e-01 -3.03924213e-01 2.21054065e-01 -1.51863778e+02] [ 3.23731910e-01 9.44319563e-01 -5.88065758e-02 2.46952970e+01] [-1.90872935e-01 1.26058063e-01 9.73486973e-01 8.33669692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85907232899996 meters Centerline goodness : 0.770332 with order 1 Centerline is valid? [False, False] Translation: X:-151.90, Y:24.71, Z:83.38 [[ 9.25569187e-01 -3.07667204e-01 2.20595944e-01 -1.51902351e+02] [ 3.27247751e-01 9.43181965e-01 -5.75907106e-02 2.47098050e+01] [-1.90343344e-01 1.25493714e-01 9.73663566e-01 8.33769069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91907232899996 meters Centerline goodness : 0.771857 with order 1 Centerline is valid? [False, False] Translation: X:-151.94, Y:24.73, Z:83.39 [[ 9.24714155e-01 -3.10699505e-01 2.19930781e-01 -1.51941779e+02] [ 3.29895787e-01 9.42368451e-01 -5.57716077e-02 2.47260085e+01] [-1.89927619e-01 1.24127033e-01 9.73919904e-01 8.33876981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97907232899996 meters Centerline goodness : 0.770468 with order 1 Centerline is valid? [False, False] Translation: X:-151.98, Y:24.74, Z:83.40 [[ 9.23107096e-01 -3.15250823e-01 2.20204923e-01 -1.51979353e+02] [ 3.34970094e-01 9.40452276e-01 -5.78321146e-02 2.47366744e+01] [-1.88860599e-01 1.27147299e-01 9.73737767e-01 8.33971588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03907232899996 meters Centerline goodness : 0.771426 with order 1 Centerline is valid? [False, False] Translation: X:-152.02, Y:24.75, Z:83.41 [[ 9.21998410e-01 -3.16239232e-01 2.23409221e-01 -1.52022362e+02] [ 3.36713930e-01 9.39731784e-01 -5.93961624e-02 2.47520921e+01] [-1.91161349e-01 1.29988164e-01 9.72913365e-01 8.34097838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09907232899997 meters Centerline goodness : 0.766967 with order 1 Centerline is valid? [False, False] Translation: X:-152.05, Y:24.77, Z:83.42 [[ 9.25277557e-01 -3.12764274e-01 2.14569223e-01 -1.52047415e+02] [ 3.30816046e-01 9.42195433e-01 -5.31837332e-02 2.47678263e+01] [-1.85532170e-01 1.20192657e-01 9.75259729e-01 8.34160553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15907232899997 meters Centerline goodness : 0.768204 with order 1 Centerline is valid? [False, False] Translation: X:-152.08, Y:24.78, Z:83.42 [[ 9.27594107e-01 -3.05119021e-01 2.15572622e-01 -1.52078664e+02] [ 3.23725364e-01 9.44483053e-01 -5.61573873e-02 2.47844297e+01] [-1.86470001e-01 1.21877587e-01 9.74871680e-01 8.34224917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21907232899997 meters Centerline goodness : 0.771739 with order 1 Centerline is valid? [False, False] Translation: X:-152.12, Y:24.80, Z:83.43 [[ 9.28696576e-01 -2.98385928e-01 2.20201063e-01 -1.52116191e+02] [ 3.18581073e-01 9.45872438e-01 -6.18985492e-02 2.48021475e+01] [-1.89812461e-01 1.27636862e-01 9.73488604e-01 8.34347015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279072329 meters Centerline goodness : 0.769576 with order 1 Centerline is valid? [False, False] Translation: X:-152.15, Y:24.82, Z:83.45 [[ 9.29238039e-01 -2.96635254e-01 2.20282077e-01 -1.52154412e+02] [ 3.16547312e-01 9.46641501e-01 -6.05612649e-02 2.48197737e+01] [-1.90563550e-01 1.26005530e-01 9.73554385e-01 8.34461156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339072329 meters Centerline goodness : 0.769981 with order 1 Centerline is valid? [False, False] Translation: X:-152.19, Y:24.84, Z:83.46 [[ 9.28748074e-01 -2.98399781e-01 2.19964967e-01 -1.52193509e+02] [ 3.18022676e-01 9.46237593e-01 -5.91269491e-02 2.48363437e+01] [-1.90495652e-01 1.24867888e-01 9.73714238e-01 8.34578282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399072329 meters Centerline goodness : 0.769592 with order 1 Centerline is valid? [False, False] Translation: X:-152.23, Y:24.85, Z:83.47 [[ 9.28846194e-01 -2.99155814e-01 2.18518986e-01 -1.52230250e+02] [ 3.18349145e-01 9.46208934e-01 -5.78141425e-02 2.48497590e+01] [-1.89469180e-01 1.23265779e-01 9.74118565e-01 8.34674198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459072329 meters Centerline goodness : 0.768311 with order 1 Centerline is valid? [False, False] Translation: X:-152.26, Y:24.87, Z:83.48 [[ 9.30166451e-01 -2.98384398e-01 2.13909152e-01 -1.52262698e+02] [ 3.16504608e-01 9.46974887e-01 -5.53479630e-02 2.48687776e+01] [-1.86051626e-01 1.19186050e-01 9.75284306e-01 8.34773279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519072329 meters Centerline goodness : 0.769460 with order 1 Centerline is valid? [False, False] Translation: X:-152.29, Y:24.88, Z:83.49 [[ 9.31149243e-01 -2.92995090e-01 2.17059819e-01 -1.52294076e+02] [ 3.12485255e-01 9.47967992e-01 -6.09069039e-02 2.48830919e+01] [-1.87920337e-01 1.24541410e-01 9.74256324e-01 8.34850532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579072329 meters Centerline goodness : 0.772793 with order 1 Centerline is valid? [False, False] Translation: X:-152.33, Y:24.90, Z:83.50 [[ 9.31858761e-01 -2.87620278e-01 2.21164703e-01 -1.52333766e+02] [ 3.08189874e-01 9.49158106e-01 -6.41707999e-02 2.49007395e+01] [-1.91463448e-01 1.27958844e-01 9.73122953e-01 8.34952987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639072329 meters Centerline goodness : 0.773585 with order 1 Centerline is valid? [False, False] Translation: X:-152.37, Y:24.92, Z:83.51 [[ 9.33107100e-01 -2.84657593e-01 2.19729822e-01 -1.52369872e+02] [ 3.04377619e-01 9.50590226e-01 -6.10940805e-02 2.49168356e+01] [-1.91482127e-01 1.23888160e-01 9.73645890e-01 8.35054300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699072329 meters Centerline goodness : 0.772841 with order 1 Centerline is valid? [False, False] Translation: X:-152.41, Y:24.93, Z:83.52 [[ 9.32058256e-01 -2.88576664e-01 2.19068291e-01 -1.52408814e+02] [ 3.08316807e-01 9.49309002e-01 -6.12630907e-02 2.49312829e+01] [-1.90284403e-01 1.24643206e-01 9.73784328e-01 8.35165159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759072329 meters Centerline goodness : 0.771949 with order 1 Centerline is valid? [False, False] Translation: X:-152.45, Y:24.94, Z:83.53 [[ 9.31178599e-01 -2.90779419e-01 2.19894852e-01 -1.52446798e+02] [ 3.11001971e-01 9.48321113e-01 -6.29669888e-02 2.49439411e+01] [-1.90221427e-01 1.27021245e-01 9.73489297e-01 8.35265608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819072329 meters Centerline goodness : 0.771607 with order 1 Centerline is valid? [False, False] Translation: X:-152.48, Y:24.96, Z:83.54 [[ 9.30431341e-01 -2.94208383e-01 2.18492444e-01 -1.52483550e+02] [ 3.14048259e-01 9.47404485e-01 -6.16314251e-02 2.49573539e+01] [-1.88868239e-01 1.25960981e-01 9.73890456e-01 8.35358549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87907232899994 meters Centerline goodness : 0.770572 with order 1 Centerline is valid? [False, False] Translation: X:-152.52, Y:24.97, Z:83.54 [[ 9.30924765e-01 -2.95866780e-01 2.14107286e-01 -1.52515702e+02] [ 3.14573595e-01 9.47426719e-01 -5.85326082e-02 2.49726681e+01] [-1.85533109e-01 1.21841953e-01 9.75054872e-01 8.35424161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93907232899994 meters Centerline goodness : 0.773134 with order 1 Centerline is valid? [False, False] Translation: X:-152.55, Y:24.99, Z:83.55 [[ 9.31101376e-01 -2.96297969e-01 2.12738668e-01 -1.52553743e+02] [ 3.14524164e-01 9.47544394e-01 -5.68697827e-02 2.49900646e+01] [-1.84728931e-01 1.19862985e-01 9.75452760e-01 8.35541898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99907232899994 meters Centerline goodness : 0.771036 with order 1 Centerline is valid? [False, False] Translation: X:-152.60, Y:25.01, Z:83.57 [[ 9.30258243e-01 -2.98870426e-01 2.12828732e-01 -1.52595733e+02] [ 3.16992474e-01 9.46772165e-01 -5.60199804e-02 2.50083266e+01] [-1.84757604e-01 1.19578155e-01 9.75482287e-01 8.35670833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05907232899995 meters Centerline goodness : 0.770553 with order 1 Centerline is valid? [False, False] Translation: X:-152.63, Y:25.02, Z:83.58 [[ 9.30233805e-01 -2.97808416e-01 2.14418321e-01 -1.52633105e+02] [ 3.16372424e-01 9.46897250e-01 -5.73941331e-02 2.50225164e+01] [-1.85939663e-01 1.21226007e-01 9.75054202e-01 8.35757706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11907232899995 meters Centerline goodness : 0.771144 with order 1 Centerline is valid? [False, False] Translation: X:-152.67, Y:25.04, Z:83.59 [[ 9.29365581e-01 -2.98102792e-01 2.17748347e-01 -1.52672693e+02] [ 3.17692563e-01 9.46263135e-01 -6.04773851e-02 2.50360180e+01] [-1.88018757e-01 1.25382631e-01 9.74129428e-01 8.35860609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17907232899995 meters Centerline goodness : 0.771709 with order 1 Centerline is valid? [False, False] Translation: X:-152.71, Y:25.05, Z:83.60 [[ 9.29446473e-01 -2.98526655e-01 2.16820411e-01 -1.52709217e+02] [ 3.17871133e-01 9.46246656e-01 -5.97930542e-02 2.50501222e+01] [-1.87315768e-01 1.24495393e-01 9.74378623e-01 8.35961637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23907232899995 meters Centerline goodness : 0.772316 with order 1 Centerline is valid? [False, False] Translation: X:-152.75, Y:25.07, Z:83.61 [[ 9.28009036e-01 -3.02880087e-01 2.16939811e-01 -1.52749060e+02] [ 3.22291352e-01 9.44759300e-01 -5.96502225e-02 2.50663390e+01] [-1.86889039e-01 1.25273770e-01 9.74360801e-01 8.36067776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29907232899996 meters Centerline goodness : 0.769380 with order 1 Centerline is valid? [False, False] Translation: X:-152.78, Y:25.08, Z:83.61 [[ 9.28049503e-01 -3.05197421e-01 2.13491578e-01 -1.52781889e+02] [ 3.23931889e-01 9.44286922e-01 -5.82266336e-02 2.50811890e+01] [-1.83826686e-01 1.23193929e-01 9.75208186e-01 8.36138340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35907232899996 meters Centerline goodness : 0.770763 with order 1 Centerline is valid? [False, False] Translation: X:-152.82, Y:25.10, Z:83.62 [[ 9.28488956e-01 -3.05351247e-01 2.11350124e-01 -1.52819795e+02] [ 3.23397406e-01 9.44605025e-01 -5.59952241e-02 2.50977491e+01] [-1.82544177e-01 1.20341029e-01 9.75805134e-01 8.36249234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41907232899996 meters Centerline goodness : 0.770458 with order 1 Centerline is valid? [False, False] Translation: X:-152.86, Y:25.11, Z:83.64 [[ 9.27596674e-01 -3.07555753e-01 2.12070436e-01 -1.52858963e+02] [ 3.26041342e-01 9.43595866e-01 -5.76531449e-02 2.51146283e+01] [-1.82377230e-01 1.22622595e-01 9.75552277e-01 8.36371414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47907232899996 meters Centerline goodness : 0.772191 with order 1 Centerline is valid? [False, False] Translation: X:-152.90, Y:25.13, Z:83.65 [[ 9.26114453e-01 -3.10709562e-01 2.13942957e-01 -1.52900398e+02] [ 3.29975125e-01 9.42066232e-01 -6.02298179e-02 2.51300874e+01] [-1.82834455e-01 1.26375559e-01 9.74987580e-01 8.36499703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53907232899996 meters Centerline goodness : 0.771839 with order 1 Centerline is valid? [False, False] Translation: X:-152.94, Y:25.14, Z:83.66 [[ 9.24258138e-01 -3.16057457e-01 2.14136820e-01 -1.52940815e+02] [ 3.35285764e-01 9.40241924e-01 -5.94018559e-02 2.51437674e+01] [-1.82566016e-01 1.26699676e-01 9.74995816e-01 8.36587153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59907232899997 meters Centerline goodness : 0.768735 with order 1 Centerline is valid? [False, False] Translation: X:-152.98, Y:25.16, Z:83.67 [[ 9.22701802e-01 -3.20948975e-01 2.13572331e-01 -1.52979503e+02] [ 3.40071386e-01 9.38560608e-01 -5.87829643e-02 2.51570316e+01] [-1.81584245e-01 1.26868986e-01 9.75157127e-01 8.36674532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65907232899997 meters Centerline goodness : 0.769078 with order 1 Centerline is valid? [False, False] Translation: X:-153.02, Y:25.17, Z:83.68 [[ 9.22074381e-01 -3.23197517e-01 2.12890114e-01 -1.53016721e+02] [ 3.42322490e-01 9.37723423e-01 -5.90770302e-02 2.51711744e+01] [-1.80538497e-01 1.27350490e-01 9.75288523e-01 8.36772174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71907232899997 meters Centerline goodness : 0.767112 with order 1 Centerline is valid? [False, False] Translation: X:-153.05, Y:25.19, Z:83.69 [[ 9.21192655e-01 -3.26495228e-01 2.11671817e-01 -1.53054268e+02] [ 3.45416443e-01 9.36621474e-01 -5.85465211e-02 2.51854687e+01] [-1.79141209e-01 1.27047551e-01 9.75585643e-01 8.36863489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779072329 meters Centerline goodness : 0.765803 with order 1 Centerline is valid? [False, False] Translation: X:-153.10, Y:25.20, Z:83.70 [[ 9.19021035e-01 -3.31970215e-01 2.12593777e-01 -1.53095286e+02] [ 3.51258012e-01 9.34394238e-01 -5.93735447e-02 2.51994164e+01] [-1.78936152e-01 1.29240804e-01 9.75335157e-01 8.36969607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839072329 meters Centerline goodness : 0.767755 with order 1 Centerline is valid? [False, False] Translation: X:-153.13, Y:25.21, Z:83.71 [[ 9.18659596e-01 -3.33762492e-01 2.11346032e-01 -1.53132631e+02] [ 3.52846988e-01 9.33818017e-01 -5.90162147e-02 2.52148177e+01] [-1.77661333e-01 1.28788623e-01 9.75627973e-01 8.37073333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899072329 meters Centerline goodness : 0.766603 with order 1 Centerline is valid? [False, False] Translation: X:-153.17, Y:25.23, Z:83.72 [[ 9.17856030e-01 -3.36547202e-01 2.10419317e-01 -1.53173329e+02] [ 3.55290202e-01 9.32981845e-01 -5.75651781e-02 2.52321380e+01] [-1.76944003e-01 1.27596467e-01 9.75914936e-01 8.37182323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959072329 meters Centerline goodness : 0.765582 with order 1 Centerline is valid? [False, False] Translation: X:-153.21, Y:25.25, Z:83.73 [[ 9.18851878e-01 -3.31328352e-01 2.14319272e-01 -1.53211301e+02] [ 3.51424628e-01 9.34124437e-01 -6.25481267e-02 2.52479058e+01] [-1.79476901e-01 1.32789534e-01 9.74758935e-01 8.37277834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019072329 meters Centerline goodness : 0.766930 with order 1 Centerline is valid? [False, False] Translation: X:-153.25, Y:25.26, Z:83.74 [[ 9.19976230e-01 -3.26128165e-01 2.17449203e-01 -1.53250094e+02] [ 3.47149061e-01 9.35510207e-01 -6.56367437e-02 2.52634564e+01] [-1.82019958e-01 1.35871531e-01 9.73862240e-01 8.37366507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079072329 meters Centerline goodness : 0.763505 with order 1 Centerline is valid? [False, False] Translation: X:-153.26, Y:25.27, Z:83.74 [[ 9.24866963e-01 -3.11499350e-01 2.18149618e-01 -1.53264953e+02] [ 3.31775345e-01 9.41284474e-01 -6.25192661e-02 2.52725951e+01] [-1.85866138e-01 1.30198669e-01 9.73910717e-01 8.37352717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139072329 meters Centerline goodness : 0.762869 with order 1 Centerline is valid? [False, False] Translation: X:-153.30, Y:25.29, Z:83.74 [[ 9.28187900e-01 -3.00575996e-01 2.19365660e-01 -1.53298267e+02] [ 3.21173957e-01 9.44831409e-01 -6.43498114e-02 2.52938475e+01] [-1.87921556e-01 1.30183253e-01 9.73518263e-01 8.37433384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199072329 meters Centerline goodness : 0.762067 with order 1 Centerline is valid? [False, False] Translation: X:-153.32, Y:25.31, Z:83.75 [[ 9.33665623e-01 -2.84081288e-01 2.18097058e-01 -1.53324220e+02] [ 3.04043320e-01 9.50541168e-01 -6.34755742e-02 2.53148700e+01] [-1.89278010e-01 1.25575915e-01 9.73860629e-01 8.37516897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259072329 meters Centerline goodness : 0.765098 with order 1 Centerline is valid? [False, False] Translation: X:-153.36, Y:25.34, Z:83.77 [[ 9.37555910e-01 -2.69204089e-01 2.20268186e-01 -1.53359725e+02] [ 2.89572940e-01 9.54913197e-01 -6.54850979e-02 2.53398896e+01] [-1.92708142e-01 1.25179647e-01 9.73238731e-01 8.37654271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319072329 meters Centerline goodness : 0.766694 with order 1 Centerline is valid? [False, False] Translation: X:-153.39, Y:25.36, Z:83.78 [[ 9.39362446e-01 -2.60909486e-01 2.22540863e-01 -1.53393507e+02] [ 2.81840355e-01 9.57078305e-01 -6.75805618e-02 2.53580951e+01] [-1.95356623e-01 1.26203638e-01 9.72578239e-01 8.37752215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37907232899994 meters Centerline goodness : 0.765739 with order 1 Centerline is valid? [False, False] Translation: X:-153.42, Y:25.38, Z:83.79 [[ 9.42060122e-01 -2.58039043e-01 2.14332869e-01 -1.53417951e+02] [ 2.77183913e-01 9.58673169e-01 -6.41469700e-02 2.53763076e+01] [-1.88922748e-01 1.19839926e-01 9.74652034e-01 8.37853653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43907232899994 meters Centerline goodness : 0.765367 with order 1 Centerline is valid? [False, False] Translation: X:-153.45, Y:25.39, Z:83.80 [[ 9.43128278e-01 -2.53076914e-01 2.15548433e-01 -1.53453489e+02] [ 2.72349683e-01 9.60035633e-01 -6.44766138e-02 2.53929772e+01] [-1.90616634e-01 1.19514265e-01 9.74362171e-01 8.37961904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49907232899994 meters Centerline goodness : 0.766760 with order 1 Centerline is valid? [False, False] Translation: X:-153.48, Y:25.41, Z:83.81 [[ 9.44748556e-01 -2.52400104e-01 2.09151509e-01 -1.53480916e+02] [ 2.70710430e-01 9.60555393e-01 -6.36333265e-02 2.54091770e+01] [-1.84840552e-01 1.16736988e-01 9.75810661e-01 8.38064968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55907232899995 meters Centerline goodness : 0.765230 with order 1 Centerline is valid? [False, False] Translation: X:-153.51, Y:25.42, Z:83.81 [[ 9.45117216e-01 -2.55120892e-01 2.04124417e-01 -1.53509903e+02] [ 2.72820390e-01 9.59974948e-01 -6.33808684e-02 2.54232756e+01] [-1.79784543e-01 1.15591653e-01 9.76891032e-01 8.38139631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61907232899995 meters Centerline goodness : 0.763626 with order 1 Centerline is valid? [False, False] Translation: X:-153.54, Y:25.44, Z:83.82 [[ 9.45203076e-01 -2.57169906e-01 2.01133748e-01 -1.53542674e+02] [ 2.74474721e-01 9.59527940e-01 -6.30060378e-02 2.54375443e+01] [-1.76790194e-01 1.14759630e-01 9.77535398e-01 8.38224406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67907232899995 meters Centerline goodness : 0.765149 with order 1 Centerline is valid? [False, False] Translation: X:-153.56, Y:25.44, Z:83.83 [[ 9.43809797e-01 -2.59395651e-01 2.04785161e-01 -1.53557996e+02] [ 2.76630328e-01 9.59097321e-01 -6.00665571e-02 2.54409497e+01] [-1.80827896e-01 1.13341192e-01 9.76962152e-01 8.38255451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73907232899995 meters Centerline goodness : 0.766325 with order 1 Centerline is valid? [False, False] Translation: X:-153.60, Y:25.46, Z:83.84 [[ 9.44310675e-01 -2.54859925e-01 2.08143622e-01 -1.53596475e+02] [ 2.72372699e-01 9.60329360e-01 -5.98383859e-02 2.54550453e+01] [-1.84636025e-01 1.13198667e-01 9.76266152e-01 8.38366982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79907232899996 meters Centerline goodness : 0.768553 with order 1 Centerline is valid? [False, False] Translation: X:-153.63, Y:25.47, Z:83.85 [[ 9.43867785e-01 -2.57473435e-01 2.06932441e-01 -1.53632040e+02] [ 2.74792939e-01 9.59670845e-01 -5.93355662e-02 2.54674726e+01] [-1.83309699e-01 1.12868503e-01 9.76554277e-01 8.38462672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85907232899996 meters Centerline goodness : 0.767890 with order 1 Centerline is valid? [False, False] Translation: X:-153.67, Y:25.48, Z:83.85 [[ 9.42707819e-01 -2.62447831e-01 2.05968695e-01 -1.53666755e+02] [ 2.80061994e-01 9.58036336e-01 -6.10873097e-02 2.54777525e+01] [-1.81293262e-01 1.15271488e-01 9.76650007e-01 8.38546788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91907232899996 meters Centerline goodness : 0.767469 with order 1 Centerline is valid? [False, False] Translation: X:-153.70, Y:25.49, Z:83.86 [[ 9.41922877e-01 -2.66746753e-01 2.04028093e-01 -1.53700455e+02] [ 2.84510716e-01 9.56613516e-01 -6.28031292e-02 2.54902611e+01] [-1.78423501e-01 1.17203883e-01 9.76948465e-01 8.38637984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97907232899996 meters Centerline goodness : 0.764920 with order 1 Centerline is valid? [False, False] Translation: X:-153.74, Y:25.50, Z:83.87 [[ 9.39966051e-01 -2.73950714e-01 2.03506339e-01 -1.53738197e+02] [ 2.91799607e-01 9.54401856e-01 -6.30086230e-02 2.55009900e+01] [-1.76965570e-01 1.18609036e-01 9.77044054e-01 8.38704760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03907232899996 meters Centerline goodness : 0.765976 with order 1 Centerline is valid? [False, False] Translation: X:-153.76, Y:25.51, Z:83.87 [[ 9.37815101e-01 -2.78410432e-01 2.07341429e-01 -1.53762653e+02] [ 2.95345263e-01 9.53798338e-01 -5.51353410e-02 2.55060251e+01] [-1.82411657e-01 1.12944064e-01 9.76713687e-01 8.38719149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09907232899997 meters Centerline goodness : 0.766646 with order 1 Centerline is valid? [False, False] Translation: X:-153.80, Y:25.52, Z:83.88 [[ 9.35609442e-01 -2.84571789e-01 2.08935083e-01 -1.53802991e+02] [ 3.02308018e-01 9.51453671e-01 -5.78426685e-02 2.55189036e+01] [-1.82331660e-01 1.17280898e-01 9.76217372e-01 8.38829764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15907232899997 meters Centerline goodness : 0.766449 with order 1 Centerline is valid? [False, False] Translation: X:-153.84, Y:25.53, Z:83.89 [[ 9.34144461e-01 -2.88857714e-01 2.09607603e-01 -1.53842913e+02] [ 3.06831491e-01 9.49977644e-01 -5.82830359e-02 2.55343830e+01] [-1.82287033e-01 1.18758989e-01 9.76046997e-01 8.38944774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21907232899997 meters Centerline goodness : 0.768888 with order 1 Centerline is valid? [False, False] Translation: X:-153.88, Y:25.55, Z:83.90 [[ 9.33228370e-01 -2.92413000e-01 2.08756908e-01 -1.53879495e+02] [ 3.10278282e-01 9.48878236e-01 -5.79437726e-02 2.55455134e+01] [-1.81141374e-01 1.18847507e-01 9.76249493e-01 8.39036436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279072329 meters Centerline goodness : 0.767362 with order 1 Centerline is valid? [False, False] Translation: X:-153.91, Y:25.56, Z:83.91 [[ 9.32832754e-01 -2.96508874e-01 2.04708428e-01 -1.53908783e+02] [ 3.14220856e-01 9.47484157e-01 -5.94897136e-02 2.55555702e+01] [-1.76318764e-01 1.19817611e-01 9.77013528e-01 8.39095829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339072329 meters Centerline goodness : 0.767735 with order 1 Centerline is valid? [False, False] Translation: X:-153.94, Y:25.57, Z:83.92 [[ 9.34247818e-01 -2.91560145e-01 2.05362352e-01 -1.53944054e+02] [ 3.09271483e-01 9.49112483e-01 -5.94696926e-02 2.55717264e+01] [-1.77572980e-01 1.19072150e-01 9.76877505e-01 8.39162157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399072329 meters Centerline goodness : 0.767472 with order 1 Centerline is valid? [False, False] Translation: X:-153.97, Y:25.58, Z:83.92 [[ 9.35773461e-01 -2.85256946e-01 2.07259508e-01 -1.53972488e+02] [ 3.03934616e-01 9.50540414e-01 -6.40052289e-02 2.55846795e+01] [-1.78750602e-01 1.22887734e-01 9.76189954e-01 8.39221365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459072329 meters Centerline goodness : 0.770762 with order 1 Centerline is valid? [False, False] Translation: X:-153.98, Y:25.59, Z:83.93 [[ 9.37030655e-01 -2.81499882e-01 2.06715667e-01 -1.53977797e+02] [ 2.99335042e-01 9.52252296e-01 -6.01173665e-02 2.55901323e+01] [-1.79922437e-01 1.18209058e-01 9.76552372e-01 8.39271375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519072329 meters Centerline goodness : 0.771389 with order 1 Centerline is valid? [False, False] Translation: X:-154.01, Y:25.60, Z:83.93 [[ 9.37818533e-01 -2.76349791e-01 2.10064732e-01 -1.54009330e+02] [ 2.95531604e-01 9.53080952e-01 -6.55573779e-02 2.56043006e+01] [-1.82091927e-01 1.23561691e-01 9.75487078e-01 8.39348652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579072329 meters Centerline goodness : 0.771419 with order 1 Centerline is valid? [False, False] Translation: X:-154.02, Y:25.61, Z:83.94 [[ 9.37152547e-01 -2.76446824e-01 2.12890247e-01 -1.54023414e+02] [ 2.95077238e-01 9.53541429e-01 -6.07302877e-02 2.56073448e+01] [-1.86210975e-01 1.19732610e-01 9.75186944e-01 8.39382102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639072329 meters Centerline goodness : 0.770250 with order 1 Centerline is valid? [False, False] Translation: X:-154.06, Y:25.62, Z:83.95 [[ 9.36558364e-01 -2.78353344e-01 2.13020764e-01 -1.54059980e+02] [ 2.97004903e-01 9.52952283e-01 -6.05808131e-02 2.56223621e+01] [-1.86135752e-01 1.20005679e-01 9.75167739e-01 8.39480475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699072329 meters Centerline goodness : 0.771405 with order 1 Centerline is valid? [False, False] Translation: X:-154.09, Y:25.63, Z:83.95 [[ 9.36381256e-01 -2.82439286e-01 2.08370327e-01 -1.54088527e+02] [ 3.00635727e-01 9.51793962e-01 -6.08803219e-02 2.56343919e+01] [-1.81130625e-01 1.19650757e-01 9.76153366e-01 8.39537275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759072329 meters Centerline goodness : 0.770418 with order 1 Centerline is valid? [False, False] Translation: X:-154.12, Y:25.65, Z:83.96 [[ 9.36197669e-01 -2.84324759e-01 2.06623708e-01 -1.54123326e+02] [ 3.02235376e-01 9.51321611e-01 -6.03404454e-02 2.56486165e+01] [-1.79409316e-01 1.18939578e-01 9.76558075e-01 8.39631390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819072329 meters Centerline goodness : 0.770454 with order 1 Centerline is valid? [False, False] Translation: X:-154.16, Y:25.66, Z:83.97 [[ 9.35899350e-01 -2.86684881e-01 2.04705116e-01 -1.54158076e+02] [ 3.04524995e-01 9.50545728e-01 -6.10519923e-02 2.56617489e+01] [-1.77078890e-01 1.19476344e-01 9.76917842e-01 8.39720754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87907232899994 meters Centerline goodness : 0.769529 with order 1 Centerline is valid? [False, False] Translation: X:-154.18, Y:25.67, Z:83.97 [[ 9.34085043e-01 -2.89793120e-01 2.08578716e-01 -1.54179473e+02] [ 3.06928955e-01 9.50177487e-01 -5.43816153e-02 2.56659320e+01] [-1.82427382e-01 1.14815901e-01 9.76492478e-01 8.39742627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93907232899994 meters Centerline goodness : 0.769016 with order 1 Centerline is valid? [False, False] Translation: X:-154.21, Y:25.68, Z:83.98 [[ 9.34821436e-01 -2.85403443e-01 2.11314359e-01 -1.54211860e+02] [ 3.03789466e-01 9.50869258e-01 -5.96625067e-02 2.56802268e+01] [-1.83904442e-01 1.19968866e-01 9.75595524e-01 8.39819157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99907232899994 meters Centerline goodness : 0.768926 with order 1 Centerline is valid? [False, False] Translation: X:-154.23, Y:25.68, Z:83.99 [[ 9.32834016e-01 -2.88781259e-01 2.15467130e-01 -1.54227014e+02] [ 3.07598882e-01 9.49693071e-01 -5.88727378e-02 2.56840043e+01] [-1.87626297e-01 1.21195941e-01 9.74734793e-01 8.39860626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05907232899995 meters Centerline goodness : 0.767345 with order 1 Centerline is valid? [False, False] Translation: X:-154.26, Y:25.69, Z:83.99 [[ 9.31377973e-01 -2.94390300e-01 2.14171481e-01 -1.54260239e+02] [ 3.13464388e-01 9.47667018e-01 -6.05582416e-02 2.56948124e+01] [-1.85135490e-01 1.23537745e-01 9.74917061e-01 8.39936897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11907232899995 meters Centerline goodness : 0.765454 with order 1 Centerline is valid? [False, False] Translation: X:-154.30, Y:25.71, Z:84.00 [[ 9.29002771e-01 -3.01516095e-01 2.14573756e-01 -1.54297564e+02] [ 3.21234291e-01 9.44899709e-01 -6.30322965e-02 2.57058604e+01] [-1.83745428e-01 1.27485626e-01 9.74671756e-01 8.40016520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17907232899995 meters Centerline goodness : 0.763089 with order 1 Centerline is valid? [False, False] Translation: X:-154.33, Y:25.72, Z:84.01 [[ 9.29306018e-01 -2.99669423e-01 2.15843837e-01 -1.54330716e+02] [ 3.20252671e-01 9.44968786e-01 -6.68746568e-02 2.57178602e+01] [-1.83925399e-01 1.31271586e-01 9.74135113e-01 8.40081103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23907232899995 meters Centerline goodness : 0.762016 with order 1 Centerline is valid? [False, False] Translation: X:-154.37, Y:25.74, Z:84.02 [[ 9.28779110e-01 -3.02301715e-01 2.14436561e-01 -1.54368150e+02] [ 3.22390954e-01 9.44370099e-01 -6.50322083e-02 2.57353470e+01] [-1.82848128e-01 1.29532964e-01 9.74570558e-01 8.40176903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29907232899996 meters Centerline goodness : 0.761211 with order 1 Centerline is valid? [False, False] Translation: X:-154.40, Y:25.75, Z:84.03 [[ 9.28061677e-01 -3.05809351e-01 2.12560966e-01 -1.54403133e+02] [ 3.25674898e-01 9.43253186e-01 -6.48790189e-02 2.57500457e+01] [-1.80658198e-01 1.29437502e-01 9.74991563e-01 8.40255267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35907232899996 meters Centerline goodness : 0.760491 with order 1 Centerline is valid? [False, False] Translation: X:-154.44, Y:25.77, Z:84.03 [[ 9.28719647e-01 -3.01667622e-01 2.15584004e-01 -1.54440629e+02] [ 3.22293031e-01 9.44258178e-01 -6.71095748e-02 2.57658335e+01] [-1.83322173e-01 1.31807203e-01 9.74176494e-01 8.40338212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41907232899996 meters Centerline goodness : 0.761091 with order 1 Centerline is valid? [False, False] Translation: X:-154.48, Y:25.78, Z:84.04 [[ 9.28610245e-01 -2.99438206e-01 2.19134146e-01 -1.54476789e+02] [ 3.21517096e-01 9.44135937e-01 -7.23470029e-02 2.57802025e+01] [-1.85228966e-01 1.37637542e-01 9.73008806e-01 8.40434275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47907232899996 meters Centerline goodness : 0.761193 with order 1 Centerline is valid? [False, False] Translation: X:-154.49, Y:25.78, Z:84.05 [[ 9.26423650e-01 -3.02986176e-01 2.23469457e-01 -1.54491256e+02] [ 3.25703881e-01 9.42719900e-01 -7.20844819e-02 2.57839181e+01] [-1.88828503e-01 1.39565638e-01 9.72041784e-01 8.40466104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53907232899996 meters Centerline goodness : 0.757432 with order 1 Centerline is valid? [False, False] Translation: X:-154.52, Y:25.80, Z:84.05 [[ 9.27883605e-01 -3.03463242e-01 2.16661202e-01 -1.54517019e+02] [ 3.24736784e-01 9.43240230e-01 -6.95980602e-02 2.57967160e+01] [-1.83243109e-01 1.34936761e-01 9.73762822e-01 8.40522234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59907232899997 meters Centerline goodness : 0.756753 with order 1 Centerline is valid? [False, False] Translation: X:-154.53, Y:25.80, Z:84.05 [[ 9.29917991e-01 -2.94582336e-01 2.20167611e-01 -1.54530327e+02] [ 3.16525556e-01 9.45900849e-01 -7.12962617e-02 2.58019531e+01] [-1.87254110e-01 1.35988352e-01 9.72853055e-01 8.40477314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65907232899997 meters Centerline goodness : 0.757271 with order 1 Centerline is valid? [False, False] Translation: X:-154.56, Y:25.82, Z:84.06 [[ 9.32091004e-01 -2.85911653e-01 2.22398036e-01 -1.54560963e+02] [ 3.08833406e-01 9.48117706e-01 -7.54635198e-02 2.58189626e+01] [-1.89283616e-01 1.39022811e-01 9.72031054e-01 8.40572010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71907232899997 meters Centerline goodness : 0.757747 with order 1 Centerline is valid? [False, False] Translation: X:-154.57, Y:25.82, Z:84.06 [[ 9.32389628e-01 -2.84608864e-01 2.22816910e-01 -1.54565592e+02] [ 3.07284513e-01 9.48735448e-01 -7.40086309e-02 2.58222186e+01] [-1.90330789e-01 1.37473066e-01 9.72046988e-01 8.40608192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779072329 meters Centerline goodness : 0.759223 with order 1 Centerline is valid? [False, False] Translation: X:-154.58, Y:25.83, Z:84.06 [[ 9.34567661e-01 -2.74668400e-01 2.26142781e-01 -1.54581313e+02] [ 2.97269443e-01 9.52063536e-01 -7.21519363e-02 2.58330068e+01] [-1.95484439e-01 1.34656205e-01 9.71418314e-01 8.40630427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839072329 meters Centerline goodness : 0.759433 with order 1 Centerline is valid? [False, False] Translation: X:-154.58, Y:25.84, Z:84.07 [[ 9.36637545e-01 -2.69095769e-01 2.24271213e-01 -1.54583361e+02] [ 2.90110729e-01 9.54708752e-01 -6.60830021e-02 2.58384382e+01] [-1.96331034e-01 1.26959306e-01 9.72283631e-01 8.40655982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899072329 meters Centerline goodness : 0.761828 with order 1 Centerline is valid? [False, False] Translation: X:-154.61, Y:25.86, Z:84.08 [[ 9.37497658e-01 -2.69453942e-01 2.20210612e-01 -1.54613604e+02] [ 2.90089697e-01 9.54661757e-01 -6.68498086e-02 2.58567640e+01] [-1.92213706e-01 1.26552369e-01 9.73158974e-01 8.40767747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959072329 meters Centerline goodness : 0.760043 with order 1 Centerline is valid? [False, False] Translation: X:-154.64, Y:25.87, Z:84.09 [[ 9.38781796e-01 -2.63732724e-01 2.21661432e-01 -1.54644180e+02] [ 2.85433564e-01 9.55707511e-01 -7.17693124e-02 2.58713358e+01] [-1.92915580e-01 1.30645337e-01 9.72478984e-01 8.40854637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019072329 meters Centerline goodness : 0.760838 with order 1 Centerline is valid? [False, False] Translation: X:-154.66, Y:25.89, Z:84.09 [[ 9.42823554e-01 -2.57887289e-01 2.11134774e-01 -1.54662551e+02] [ 2.77172420e-01 9.58481866e-01 -6.69922584e-02 2.58891569e+01] [-1.85092400e-01 1.21682615e-01 9.75158523e-01 8.40947934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079072329 meters Centerline goodness : 0.760099 with order 1 Centerline is valid? [False, False] Translation: X:-154.68, Y:25.90, Z:84.10 [[ 9.44822610e-01 -2.57059308e-01 2.03053557e-01 -1.54683691e+02] [ 2.74964595e-01 9.59251375e-01 -6.50482155e-02 2.59040821e+01] [-1.78058154e-01 1.17291564e-01 9.77004597e-01 8.41011124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139072329 meters Centerline goodness : 0.760122 with order 1 Centerline is valid? [False, False] Translation: X:-154.71, Y:25.92, Z:84.11 [[ 9.46821487e-01 -2.48256193e-01 2.04689847e-01 -1.54712988e+02] [ 2.66677131e-01 9.61419001e-01 -6.75041598e-02 2.59201807e+01] [-1.80034383e-01 1.18500490e-01 9.76496418e-01 8.41071210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199072329 meters Centerline goodness : 0.761128 with order 1 Centerline is valid? [False, False] Translation: X:-154.75, Y:25.94, Z:84.12 [[ 9.47649813e-01 -2.44352955e-01 2.05551613e-01 -1.54749182e+02] [ 2.62623571e-01 9.62607428e-01 -6.64514761e-02 2.59394753e+01] [-1.81627895e-01 1.16955428e-01 9.76387595e-01 8.41185221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259072329 meters Centerline goodness : 0.763410 with order 1 Centerline is valid? [False, False] Translation: X:-154.75, Y:25.95, Z:84.12 [[ 9.48983908e-01 -2.39702756e-01 2.04871008e-01 -1.54753748e+02] [ 2.56948953e-01 9.64447398e-01 -6.17936230e-02 2.59467011e+01] [-1.82775209e-01 1.11282545e-01 9.76836434e-01 8.41229931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319072329 meters Centerline goodness : 0.763964 with order 1 Centerline is valid? [False, False] Translation: X:-154.79, Y:25.96, Z:84.13 [[ 9.49451518e-01 -2.34915228e-01 2.08222599e-01 -1.54787103e+02] [ 2.53512489e-01 9.64990320e-01 -6.72688582e-02 2.59636835e+01] [-1.85130313e-01 1.16655549e-01 9.75765469e-01 8.41325086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37907232899994 meters Centerline goodness : 0.766718 with order 1 Centerline is valid? [False, False] Translation: X:-154.81, Y:25.98, Z:84.14 [[ 9.52207754e-01 -2.31069470e-01 1.99768101e-01 -1.54808921e+02] [ 2.48177405e-01 9.66533013e-01 -6.49762333e-02 2.59830430e+01] [-1.78068441e-01 1.11448802e-01 9.77686450e-01 8.41428654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43907232899994 meters Centerline goodness : 0.766502 with order 1 Centerline is valid? [False, False] Translation: X:-154.83, Y:26.00, Z:84.15 [[ 9.55267462e-01 -2.26207610e-01 1.90510348e-01 -1.54828529e+02] [ 2.41545913e-01 9.68454290e-01 -6.12524234e-02 2.60008196e+01] [-1.70644800e-01 1.04529443e-01 9.79772396e-01 8.41517610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49907232899994 meters Centerline goodness : 0.766518 with order 1 Centerline is valid? [False, False] Translation: X:-154.85, Y:26.01, Z:84.16 [[ 9.56601102e-01 -2.25934001e-01 1.84033038e-01 -1.54850828e+02] [ 2.41088989e-01 9.68368699e-01 -6.43285454e-02 2.60144376e+01] [-1.63677828e-01 1.05905096e-01 9.80812765e-01 8.41606767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55907232899995 meters Centerline goodness : 0.766865 with order 1 Centerline is valid? [False, False] Translation: X:-154.85, Y:26.01, Z:84.16 [[ 9.56090223e-01 -2.27206765e-01 1.85117724e-01 -1.54854536e+02] [ 2.42712727e-01 9.67876390e-01 -6.56187940e-02 2.60140405e+01] [-1.64262041e-01 1.07667915e-01 9.80523127e-01 8.41639285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61907232899995 meters Centerline goodness : 0.765621 with order 1 Centerline is valid? [False, False] Translation: X:-154.87, Y:26.02, Z:84.17 [[ 9.55173695e-01 -2.28665819e-01 1.88029666e-01 -1.54871831e+02] [ 2.43345509e-01 9.68156793e-01 -5.87825465e-02 2.60169716e+01] [-1.68600639e-01 1.01903717e-01 9.80402701e-01 8.41661372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67907232899995 meters Centerline goodness : 0.766514 with order 1 Centerline is valid? [False, False] Translation: X:-154.89, Y:26.03, Z:84.17 [[ 9.55801194e-01 -2.31333262e-01 1.81463496e-01 -1.54894443e+02] [ 2.45675196e-01 9.67450418e-01 -6.06909121e-02 2.60300507e+01] [-1.61517109e-01 1.02589526e-01 9.81523109e-01 8.41733807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73907232899995 meters Centerline goodness : 0.762836 with order 1 Centerline is valid? [False, False] Translation: X:-154.92, Y:26.03, Z:84.17 [[ 9.53101968e-01 -2.38920855e-01 1.85777998e-01 -1.54917788e+02] [ 2.53072015e-01 9.65810429e-01 -5.62562987e-02 2.60321567e+01] [-1.65985525e-01 1.00633201e-01 9.80980002e-01 8.41743895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79907232899996 meters Centerline goodness : 0.760962 with order 1 Centerline is valid? [False, False] Translation: X:-154.95, Y:26.04, Z:84.18 [[ 9.51967022e-01 -2.45254024e-01 1.83328262e-01 -1.54947986e+02] [ 2.59439709e-01 9.64045874e-01 -5.75029557e-02 2.60437329e+01] [-1.62634024e-01 1.02303549e-01 9.81368513e-01 8.41792613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85907232899996 meters Centerline goodness : 0.762368 with order 1 Centerline is valid? [False, False] Translation: X:-154.97, Y:26.05, Z:84.18 [[ 9.49997789e-01 -2.49630196e-01 1.87587225e-01 -1.54965241e+02] [ 2.63806834e-01 9.63037933e-01 -5.44416653e-02 2.60451086e+01] [-1.67063329e-01 1.01206253e-01 9.80738058e-01 8.41806856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91907232899996 meters Centerline goodness : 0.762862 with order 1 Centerline is valid? [False, False] Translation: X:-155.00, Y:26.06, Z:84.19 [[ 9.49707301e-01 -2.51843820e-01 1.86093342e-01 -1.55000054e+02] [ 2.66098300e-01 9.62338017e-01 -5.56528059e-02 2.60612221e+01] [-1.65068883e-01 1.02372998e-01 9.80954654e-01 8.41899772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97907232899996 meters Centerline goodness : 0.762590 with order 1 Centerline is valid? [False, False] Translation: X:-155.02, Y:26.07, Z:84.19 [[ 9.51130246e-01 -2.43146879e-01 1.90344030e-01 -1.55015606e+02] [ 2.58258776e-01 9.64290699e-01 -5.87013885e-02 2.60682480e+01] [-1.69273918e-01 1.04990682e-01 9.79960865e-01 8.41890616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03907232899996 meters Centerline goodness : 0.761266 with order 1 Centerline is valid? [False, False] Translation: X:-155.03, Y:26.08, Z:84.19 [[ 9.52632034e-01 -2.33960500e-01 1.94305667e-01 -1.55030877e+02] [ 2.49864317e-01 9.66326917e-01 -6.14826285e-02 2.60761381e+01] [-1.73378290e-01 1.07120374e-01 9.79012356e-01 8.41882487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09907232899997 meters Centerline goodness : 0.759395 with order 1 Centerline is valid? [False, False] Translation: X:-155.05, Y:26.09, Z:84.20 [[ 9.55249492e-01 -2.31085063e-01 1.84656714e-01 -1.55046449e+02] [ 2.45789567e-01 9.67411492e-01 -6.08481166e-02 2.60893228e+01] [-1.64577937e-01 1.03511826e-01 9.80917634e-01 8.41950165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15907232899997 meters Centerline goodness : 0.758044 with order 1 Centerline is valid? [False, False] Translation: X:-155.07, Y:26.11, Z:84.20 [[ 9.57501203e-01 -2.28123491e-01 1.76496797e-01 -1.55068292e+02] [ 2.41730865e-01 9.68511918e-01 -5.95890352e-02 2.61065673e+01] [-1.57345593e-01 9.97212963e-02 9.82495815e-01 8.42042257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21907232899997 meters Centerline goodness : 0.758603 with order 1 Centerline is valid? [False, False] Translation: X:-155.09, Y:26.12, Z:84.21 [[ 9.59673720e-01 -2.18361656e-01 1.77043887e-01 -1.55093151e+02] [ 2.32079990e-01 9.70805179e-01 -6.06315244e-02 2.61203517e+01] [-1.58635522e-01 9.92748242e-02 9.82333589e-01 8.42084506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279072329 meters Centerline goodness : 0.758851 with order 1 Centerline is valid? [False, False] Translation: X:-155.11, Y:26.14, Z:84.22 [[ 9.61299841e-01 -2.16882204e-01 1.69896219e-01 -1.55114853e+02] [ 2.30053065e-01 9.71209207e-01 -6.18729564e-02 2.61375566e+01] [-1.51585629e-01 9.85636091e-02 9.83517672e-01 8.42171148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339072329 meters Centerline goodness : 0.759303 with order 1 Centerline is valid? [False, False] Translation: X:-155.12, Y:26.14, Z:84.22 [[ 9.62049237e-01 -2.13873402e-01 1.69468091e-01 -1.55116434e+02] [ 2.26466997e-01 9.72253614e-01 -5.86140667e-02 2.61396914e+01] [-1.52229974e-01 9.47685478e-02 9.83791115e-01 8.42181227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399072329 meters Centerline goodness : 0.760911 with order 1 Centerline is valid? [False, False] Translation: X:-155.14, Y:26.16, Z:84.23 [[ 9.63115335e-01 -2.14250824e-01 1.62804901e-01 -1.55141106e+02] [ 2.26249905e-01 9.72285954e-01 -5.89152202e-02 2.61559335e+01] [-1.45670284e-01 9.35767455e-02 9.84897741e-01 8.42266424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459072329 meters Centerline goodness : 0.761506 with order 1 Centerline is valid? [False, False] Translation: X:-155.15, Y:26.16, Z:84.23 [[ 9.62595460e-01 -2.15600152e-01 1.64093131e-01 -1.55145093e+02] [ 2.27909245e-01 9.71827176e-01 -6.00775769e-02 2.61562562e+01] [-1.46517429e-01 9.52287443e-02 9.84613695e-01 8.42290339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519072329 meters Centerline goodness : 0.761585 with order 1 Centerline is valid? [False, False] Translation: X:-155.16, Y:26.16, Z:84.23 [[ 9.61174193e-01 -2.18992888e-01 1.67887717e-01 -1.55160022e+02] [ 2.31225849e-01 9.71234024e-01 -5.69128916e-02 2.61573374e+01] [-1.50594745e-01 9.35231827e-02 9.84161896e-01 8.42299807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579072329 meters Centerline goodness : 0.761334 with order 1 Centerline is valid? [False, False] Translation: X:-155.19, Y:26.17, Z:84.24 [[ 9.61420518e-01 -2.22340604e-01 1.61972973e-01 -1.55185089e+02] [ 2.34231761e-01 9.70436811e-01 -5.82054785e-02 2.61697653e+01] [-1.44243094e-01 9.38991560e-02 9.85077093e-01 8.42362094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639072329 meters Centerline goodness : 0.760454 with order 1 Centerline is valid? [False, False] Translation: X:-155.21, Y:26.18, Z:84.24 [[ 9.60853671e-01 -2.22855951e-01 1.64606950e-01 -1.55207654e+02] [ 2.33439261e-01 9.71197077e-01 -4.77739443e-02 2.61753296e+01] [-1.49219080e-01 8.43294944e-02 9.85201605e-01 8.42389098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699072329 meters Centerline goodness : 0.760604 with order 1 Centerline is valid? [False, False] Translation: X:-155.24, Y:26.19, Z:84.25 [[ 9.61001066e-01 -2.23081136e-01 1.63437323e-01 -1.55241230e+02] [ 2.33746645e-01 9.71063137e-01 -4.89784535e-02 2.61927863e+01] [-1.47781790e-01 8.52712719e-02 9.85337177e-01 8.42467220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759072329 meters Centerline goodness : 0.760592 with order 1 Centerline is valid? [False, False] Translation: X:-155.27, Y:26.21, Z:84.25 [[ 9.61003950e-01 -2.24901017e-01 1.60906621e-01 -1.55273417e+02] [ 2.35518440e-01 9.70581553e-01 -5.00251171e-02 2.62077902e+01] [-1.44922298e-01 8.59708115e-02 9.85701043e-01 8.42539954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819072329 meters Centerline goodness : 0.762296 with order 1 Centerline is valid? [False, False] Translation: X:-155.30, Y:26.21, Z:84.26 [[ 9.59280044e-01 -2.29178388e-01 1.65103189e-01 -1.55297209e+02] [ 2.39141656e-01 9.70033815e-01 -4.29612065e-02 2.62128661e+01] [-1.50309897e-01 8.06948783e-02 9.85340181e-01 8.42555569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87907232899994 meters Centerline goodness : 0.764171 with order 1 Centerline is valid? [False, False] Translation: X:-155.31, Y:26.22, Z:84.25 [[ 9.58862083e-01 -2.26343269e-01 1.71324929e-01 -1.55312085e+02] [ 2.38178798e-01 9.69842497e-01 -5.17338432e-02 2.62161228e+01] [-1.54448589e-01 9.04115863e-02 9.83855365e-01 8.42533157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93907232899994 meters Centerline goodness : 0.763651 with order 1 Centerline is valid? [False, False] Translation: X:-155.34, Y:26.22, Z:84.26 [[ 9.54788603e-01 -2.38485859e-01 1.77491463e-01 -1.55338436e+02] [ 2.51194613e-01 9.66505147e-01 -5.26219319e-02 2.62158323e+01] [-1.58996826e-01 9.48277201e-02 9.82714462e-01 8.42574410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99907232899994 meters Centerline goodness : 0.763751 with order 1 Centerline is valid? [False, False] Translation: X:-155.36, Y:26.22, Z:84.26 [[ 9.50824012e-01 -2.50301095e-01 1.82436457e-01 -1.55363280e+02] [ 2.63530883e-01 9.63253930e-01 -5.18974056e-02 2.62168292e+01] [-1.62742657e-01 9.74229401e-02 9.81847034e-01 8.42591046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05907232899995 meters Centerline goodness : 0.760633 with order 1 Centerline is valid? [False, False] Translation: X:-155.39, Y:26.22, Z:84.26 [[ 9.47613292e-01 -2.63817046e-01 1.80082245e-01 -1.55393077e+02] [ 2.76998982e-01 9.59461737e-01 -5.20071054e-02 2.62213970e+01] [-1.59061662e-01 9.91652228e-02 9.82275749e-01 8.42582539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11907232899995 meters Centerline goodness : 0.760462 with order 1 Centerline is valid? [False, False] Translation: X:-155.42, Y:26.23, Z:84.26 [[ 9.47215224e-01 -2.68281499e-01 1.75523094e-01 -1.55419822e+02] [ 2.81212504e-01 9.58179518e-01 -5.30239516e-02 2.62326468e+01] [-1.53957288e-01 9.95843830e-02 9.83046339e-01 8.42615238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17907232899995 meters Centerline goodness : 0.762186 with order 1 Centerline is valid? [False, False] Translation: X:-155.45, Y:26.24, Z:84.27 [[ 9.47154326e-01 -2.66552548e-01 1.78461263e-01 -1.55450685e+02] [ 2.80804732e-01 9.57914486e-01 -5.95696177e-02 2.62431205e+01] [-1.55072195e-01 1.06534388e-01 9.82142066e-01 8.42661376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23907232899995 meters Centerline goodness : 0.764587 with order 1 Centerline is valid? [False, False] Translation: X:-155.49, Y:26.26, Z:84.28 [[ 9.46211714e-01 -2.69522455e-01 1.79000107e-01 -1.55487728e+02] [ 2.84348163e-01 9.56674058e-01 -6.26168452e-02 2.62593335e+01] [-1.54368112e-01 1.10147144e-01 9.81854415e-01 8.42765560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29907232899996 meters Centerline goodness : 0.763953 with order 1 Centerline is valid? [False, False] Translation: X:-155.52, Y:26.27, Z:84.28 [[ 9.43632524e-01 -2.75242025e-01 1.83846370e-01 -1.55515399e+02] [ 2.89823218e-01 9.55364804e-01 -5.72764703e-02 2.62653795e+01] [-1.59875459e-01 1.07330887e-01 9.81284830e-01 8.42819850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35907232899996 meters Centerline goodness : 0.766398 with order 1 Centerline is valid? [False, False] Translation: X:-155.54, Y:26.27, Z:84.28 [[ 9.40136567e-01 -2.83351789e-01 1.89354162e-01 -1.55541045e+02] [ 2.98106954e-01 9.53003542e-01 -5.40045706e-02 2.62684665e+01] [-1.65152896e-01 1.07219464e-01 9.80422617e-01 8.42848757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41907232899996 meters Centerline goodness : 0.767398 with order 1 Centerline is valid? [False, False] Translation: X:-155.57, Y:26.28, Z:84.29 [[ 9.39464205e-01 -2.87277610e-01 1.86758086e-01 -1.55573399e+02] [ 3.02111346e-01 9.51632110e-01 -5.59022485e-02 2.62844456e+01] [-1.61665527e-01 1.08939898e-01 9.80814129e-01 8.42930392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47907232899996 meters Centerline goodness : 0.765919 with order 1 Centerline is valid? [False, False] Translation: X:-155.60, Y:26.30, Z:84.30 [[ 9.40751684e-01 -2.87239137e-01 1.80221941e-01 -1.55599674e+02] [ 3.01137973e-01 9.52016282e-01 -5.45977925e-02 2.62986741e+01] [-1.55891599e-01 1.05634635e-01 9.82109532e-01 8.42996519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53907232899996 meters Centerline goodness : 0.762053 with order 1 Centerline is valid? [False, False] Translation: X:-155.61, Y:26.31, Z:84.29 [[ 9.44105838e-01 -2.74778574e-01 1.82101349e-01 -1.55612001e+02] [ 2.88377953e-01 9.56079691e-01 -5.24383538e-02 2.63059338e+01] [-1.59694465e-01 1.02021370e-01 9.81880501e-01 8.42942425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59907232899997 meters Centerline goodness : 0.761590 with order 1 Centerline is valid? [False, False] Translation: X:-155.63, Y:26.32, Z:84.29 [[ 9.46612451e-01 -2.63599720e-01 1.85580323e-01 -1.55628476e+02] [ 2.77303431e-01 9.59387450e-01 -5.17545024e-02 2.63155609e+01] [-1.64400960e-01 1.00453517e-01 9.81265212e-01 8.42920255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65907232899997 meters Centerline goodness : 0.763747 with order 1 Centerline is valid? [False, False] Translation: X:-155.65, Y:26.33, Z:84.30 [[ 9.49937928e-01 -2.50491522e-01 1.86740273e-01 -1.55652367e+02] [ 2.64793794e-01 9.62698645e-01 -5.56378072e-02 2.63345409e+01] [-1.65837808e-01 1.02300129e-01 9.80832557e-01 8.42984252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71907232899997 meters Centerline goodness : 0.764636 with order 1 Centerline is valid? [False, False] Translation: X:-155.67, Y:26.35, Z:84.30 [[ 9.52110096e-01 -2.39224164e-01 1.90415766e-01 -1.55669410e+02] [ 2.53704837e-01 9.65697596e-01 -5.53354203e-02 2.63459215e+01] [-1.70646478e-01 1.00994813e-01 9.80142759e-01 8.42977278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779072329 meters Centerline goodness : 0.765097 with order 1 Centerline is valid? [False, False] Translation: X:-155.69, Y:26.36, Z:84.30 [[ 9.53417132e-01 -2.30397259e-01 1.94712290e-01 -1.55685613e+02] [ 2.45768149e-01 9.67559985e-01 -5.85294129e-02 2.63557746e+01] [-1.74910805e-01 1.03657024e-01 9.79112574e-01 8.42970289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839072329 meters Centerline goodness : 0.764631 with order 1 Centerline is valid? [False, False] Translation: X:-155.71, Y:26.37, Z:84.31 [[ 9.55584502e-01 -2.28300341e-01 1.86379221e-01 -1.55705173e+02] [ 2.42789665e-01 9.68300620e-01 -5.87119025e-02 2.63719634e+01] [-1.67067168e-01 1.01355133e-01 9.80722029e-01 8.43058655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899072329 meters Centerline goodness : 0.761731 with order 1 Centerline is valid? [False, False] Translation: X:-155.72, Y:26.39, Z:84.31 [[ 9.58171292e-01 -2.24841432e-01 1.77070908e-01 -1.55722702e+02] [ 2.38044242e-01 9.69583053e-01 -5.69529871e-02 2.63878557e+01] [-1.58879561e-01 9.67214274e-02 9.82548854e-01 8.43132356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959072329 meters Centerline goodness : 0.763752 with order 1 Centerline is valid? [False, False] Translation: X:-155.74, Y:26.40, Z:84.31 [[ 9.59623269e-01 -2.15177916e-01 1.81167452e-01 -1.55738170e+02] [ 2.29084455e-01 9.71589504e-01 -5.94487002e-02 2.63981341e+01] [-1.63228348e-01 9.85510032e-02 9.81653812e-01 8.43131872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019072329 meters Centerline goodness : 0.764449 with order 1 Centerline is valid? [False, False] Translation: X:-155.76, Y:26.42, Z:84.32 [[ 9.61788354e-01 -2.05143630e-01 1.81326370e-01 -1.55761843e+02] [ 2.19547355e-01 9.73560292e-01 -6.30818179e-02 2.64163711e+01] [-1.63591321e-01 1.00481083e-01 9.81397693e-01 8.43195589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079072329 meters Centerline goodness : 0.766068 with order 1 Centerline is valid? [False, False] Translation: X:-155.76, Y:26.42, Z:84.32 [[ 9.63124514e-01 -1.99570771e-01 1.80451318e-01 -1.55764862e+02] [ 2.12808698e-01 9.75427024e-01 -5.70489078e-02 2.64208526e+01] [-1.64631798e-01 9.33468117e-02 9.81928075e-01 8.43222987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139072329 meters Centerline goodness : 0.765819 with order 1 Centerline is valid? [False, False] Translation: X:-155.79, Y:26.44, Z:84.33 [[ 9.65196822e-01 -1.89495296e-01 1.80240471e-01 -1.55791635e+02] [ 2.02918725e-01 9.77414165e-01 -5.90384735e-02 2.64390233e+01] [-1.64982076e-01 9.35579135e-02 9.81849190e-01 8.43301938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199072329 meters Centerline goodness : 0.767261 with order 1 Centerline is valid? [False, False] Translation: X:-155.82, Y:26.46, Z:84.34 [[ 9.66854375e-01 -1.79768781e-01 1.81316857e-01 -1.55818169e+02] [ 1.94001228e-01 9.78915656e-01 -6.39348320e-02 2.64593898e+01] [-1.66000423e-01 9.69913650e-02 9.81344249e-01 8.43389896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259072329 meters Centerline goodness : 0.768197 with order 1 Centerline is valid? [False, False] Translation: X:-155.82, Y:26.46, Z:84.34 [[ 9.67369816e-01 -1.77243603e-01 1.81053431e-01 -1.55820576e+02] [ 1.91023746e-01 9.79650301e-01 -6.16053302e-02 2.64632218e+01] [-1.66449897e-01 9.41806414e-02 9.81541868e-01 8.43419338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319072329 meters Centerline goodness : 0.768224 with order 1 Centerline is valid? [False, False] Translation: X:-155.83, Y:26.47, Z:84.34 [[ 9.67387960e-01 -1.74896170e-01 1.83226267e-01 -1.55830542e+02] [ 1.87759055e-01 9.80660318e-01 -5.52438043e-02 2.64665741e+01] [-1.70020799e-01 8.78445818e-02 9.81517324e-01 8.43428813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37907232899994 meters Centerline goodness : 0.767245 with order 1 Centerline is valid? [False, False] Translation: X:-155.84, Y:26.47, Z:84.35 [[ 9.66687680e-01 -1.76005091e-01 1.85841698e-01 -1.55839604e+02] [ 1.88874447e-01 9.80524309e-01 -5.38379216e-02 2.64684866e+01] [-1.72746554e-01 8.71452034e-02 9.81103634e-01 8.43450678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43907232899994 meters Centerline goodness : 0.767061 with order 1 Centerline is valid? [False, False] Translation: X:-155.84, Y:26.47, Z:84.35 [[ 9.66393903e-01 -1.76749979e-01 1.86660842e-01 -1.55842428e+02] [ 1.89841425e-01 9.80294543e-01 -5.46153945e-02 2.64683702e+01] [-1.73329335e-01 8.82159446e-02 9.80905137e-01 8.43472235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49907232899994 meters Centerline goodness : 0.766312 with order 1 Centerline is valid? [False, False] Translation: X:-155.86, Y:26.48, Z:84.36 [[ 9.66995026e-01 -1.81118633e-01 1.79211218e-01 -1.55856223e+02] [ 1.93388146e-01 9.79668244e-01 -5.33962248e-02 2.64759298e+01] [-1.65896488e-01 8.62912091e-02 9.82360516e-01 8.43554590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55907232899995 meters Centerline goodness : 0.763410 with order 1 Centerline is valid? [False, False] Translation: X:-155.87, Y:26.49, Z:84.36 [[ 9.68093944e-01 -1.83485530e-01 1.70666858e-01 -1.55871716e+02] [ 1.95328228e-01 9.79179979e-01 -5.52580486e-02 2.64860026e+01] [-1.56974518e-01 8.68310372e-02 9.83778111e-01 8.43608136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61907232899995 meters Centerline goodness : 0.762977 with order 1 Centerline is valid? [False, False] Translation: X:-155.88, Y:26.49, Z:84.36 [[ 9.67648343e-01 -1.83695330e-01 1.72952911e-01 -1.55879938e+02] [ 1.95342957e-01 9.79313914e-01 -5.27767666e-02 2.64872420e+01] [-1.59680347e-01 8.48544838e-02 9.83515075e-01 8.43622822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67907232899995 meters Centerline goodness : 0.763689 with order 1 Centerline is valid? [False, False] Translation: X:-155.90, Y:26.49, Z:84.36 [[ 9.65760283e-01 -1.89382867e-01 1.77316682e-01 -1.55899490e+02] [ 2.00915302e-01 9.78364793e-01 -4.93494981e-02 2.64895179e+01] [-1.64134450e-01 8.32854199e-02 9.82915775e-01 8.43639728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73907232899995 meters Centerline goodness : 0.763017 with order 1 Centerline is valid? [False, False] Translation: X:-155.91, Y:26.49, Z:84.37 [[ 9.64238865e-01 -1.93073250e-01 1.81565777e-01 -1.55914972e+02] [ 2.04681765e-01 9.77682473e-01 -4.73535253e-02 2.64939575e+01] [-1.68370979e-01 8.28233131e-02 9.82238012e-01 8.43656389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79907232899996 meters Centerline goodness : 0.759893 with order 1 Centerline is valid? [False, False] Translation: X:-155.93, Y:26.50, Z:84.37 [[ 9.65220963e-01 -1.96404317e-01 1.72550970e-01 -1.55927848e+02] [ 2.07440659e-01 9.77056271e-01 -4.82640218e-02 2.65030389e+01] [-1.59112745e-01 8.23795325e-02 9.83817436e-01 8.43691396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85907232899996 meters Centerline goodness : 0.758497 with order 1 Centerline is valid? [False, False] Translation: X:-155.95, Y:26.52, Z:84.38 [[ 9.65675161e-01 -1.99640850e-01 1.66177659e-01 -1.55950063e+02] [ 2.10628379e-01 9.76225828e-01 -5.11743856e-02 2.65168209e+01] [-1.52010425e-01 8.44195640e-02 9.84767063e-01 8.43757363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91907232899996 meters Centerline goodness : 0.760708 with order 1 Centerline is valid? [False, False] Translation: X:-155.97, Y:26.53, Z:84.38 [[ 9.66684627e-01 -1.94861523e-01 1.65981379e-01 -1.55974736e+02] [ 2.06959235e-01 9.76578436e-01 -5.88424429e-02 2.65319840e+01] [-1.50627708e-01 9.12334642e-02 9.84371753e-01 8.43827077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97907232899996 meters Centerline goodness : 0.761171 with order 1 Centerline is valid? [False, False] Translation: X:-155.98, Y:26.53, Z:84.39 [[ 9.67108524e-01 -1.92537216e-01 1.66224317e-01 -1.55978226e+02] [ 2.04233915e-01 9.77305160e-01 -5.62417393e-02 2.65342355e+01] [-1.51623255e-01 8.83405084e-02 9.84482780e-01 8.43850153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03907232899996 meters Centerline goodness : 0.760975 with order 1 Centerline is valid? [False, False] Translation: X:-156.00, Y:26.54, Z:84.39 [[ 9.65464787e-01 -1.96377070e-01 1.71212707e-01 -1.55999941e+02] [ 2.07835548e-01 9.76801229e-01 -5.16114684e-02 2.65432103e+01] [-1.57105473e-01 8.54131420e-02 9.83881327e-01 8.43869495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09907232899997 meters Centerline goodness : 0.759291 with order 1 Centerline is valid? [False, False] Translation: X:-156.02, Y:26.55, Z:84.39 [[ 9.66353122e-01 -1.99120878e-01 1.62826653e-01 -1.56015729e+02] [ 2.10160459e-01 9.76203511e-01 -5.34722957e-02 2.65530053e+01] [-1.48304500e-01 8.58928441e-02 9.85204646e-01 8.43920225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15907232899997 meters Centerline goodness : 0.755689 with order 1 Centerline is valid? [False, False] Translation: X:-156.03, Y:26.56, Z:84.40 [[ 9.66851416e-01 -2.02966275e-01 1.54929115e-01 -1.56032317e+02] [ 2.13753635e-01 9.75263985e-01 -5.62986929e-02 2.65626764e+01] [-1.39670050e-01 8.75491326e-02 9.86320144e-01 8.43968172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21907232899997 meters Centerline goodness : 0.757376 with order 1 Centerline is valid? [False, False] Translation: X:-156.04, Y:26.56, Z:84.40 [[ 9.66569562e-01 -2.03686873e-01 1.55739972e-01 -1.56035262e+02] [ 2.14599543e-01 9.75059372e-01 -5.66238161e-02 2.65607949e+01] [-1.40322191e-01 8.81525840e-02 9.86173821e-01 8.43990621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279072329 meters Centerline goodness : 0.753789 with order 1 Centerline is valid? [False, False] Translation: X:-156.05, Y:26.56, Z:84.40 [[ 9.64977911e-01 -2.08177143e-01 1.59624271e-01 -1.56052617e+02] [ 2.18681099e-01 9.74455407e-01 -5.11393842e-02 2.65637077e+01] [-1.44900683e-01 8.42551871e-02 9.85852350e-01 8.43963291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339072329 meters Centerline goodness : 0.753765 with order 1 Centerline is valid? [False, False] Translation: X:-156.08, Y:26.58, Z:84.40 [[ 9.65053144e-01 -2.12202541e-01 1.53761215e-01 -1.56075635e+02] [ 2.22517393e-01 9.73481156e-01 -5.31078996e-02 2.65754700e+01] [-1.38414014e-01 8.54664902e-02 9.86679806e-01 8.44002666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399072329 meters Centerline goodness : 0.752565 with order 1 Centerline is valid? [False, False] Translation: X:-156.08, Y:26.58, Z:84.40 [[ 9.64647566e-01 -2.13208954e-01 1.54909703e-01 -1.56079007e+02] [ 2.23746034e-01 9.73155612e-01 -5.39060971e-02 2.65756732e+01] [-1.39257984e-01 8.66608170e-02 9.86456850e-01 8.44019634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459072329 meters Centerline goodness : 0.754832 with order 1 Centerline is valid? [False, False] Translation: X:-156.08, Y:26.58, Z:84.40 [[ 9.64055438e-01 -2.14838524e-01 1.56337843e-01 -1.56083216e+02] [ 2.25684685e-01 9.72641895e-01 -5.50832676e-02 2.65751263e+01] [-1.40226728e-01 8.83863807e-02 9.86166473e-01 8.44043786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519072329 meters Centerline goodness : 0.755186 with order 1 Centerline is valid? [False, False] Translation: X:-156.11, Y:26.58, Z:84.41 [[ 9.62474902e-01 -2.18501399e-01 1.60932289e-01 -1.56105468e+02] [ 2.28750889e-01 9.72303152e-01 -4.79542700e-02 2.65778509e+01] [-1.45996896e-01 8.29681854e-02 9.85799770e-01 8.44054056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579072329 meters Centerline goodness : 0.754188 with order 1 Centerline is valid? [False, False] Translation: X:-156.13, Y:26.59, Z:84.41 [[ 9.62336319e-01 -2.23013408e-01 1.55479354e-01 -1.56130104e+02] [ 2.33190088e-01 9.71125139e-01 -5.03820174e-02 2.65920790e+01] [-1.39754044e-01 8.47406894e-02 9.86553507e-01 8.44106494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639072329 meters Centerline goodness : 0.751880 with order 1 Centerline is valid? [False, False] Translation: X:-156.16, Y:26.60, Z:84.41 [[ 9.63059309e-01 -2.21489535e-01 1.53163811e-01 -1.56155148e+02] [ 2.32229901e-01 9.71048691e-01 -5.59795760e-02 2.66033476e+01] [-1.36330628e-01 8.94808684e-02 9.86613974e-01 8.44138802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699072329 meters Centerline goodness : 0.750282 with order 1 Centerline is valid? [False, False] Translation: X:-156.17, Y:26.61, Z:84.41 [[ 9.62187182e-01 -2.22873604e-01 1.56598796e-01 -1.56172041e+02] [ 2.33054907e-01 9.71190523e-01 -4.97431195e-02 2.66072408e+01] [-1.41000838e-01 8.43583099e-02 9.86408860e-01 8.44147175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759072329 meters Centerline goodness : 0.747485 with order 1 Centerline is valid? [False, False] Translation: X:-156.18, Y:26.61, Z:84.41 [[ 9.62254670e-01 -2.19047959e-01 1.61505236e-01 -1.56183990e+02] [ 2.30778828e-01 9.71298216e-01 -5.76273152e-02 2.66104637e+01] [-1.44246602e-01 9.27241422e-02 9.85187876e-01 8.44098275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819072329 meters Centerline goodness : 0.746748 with order 1 Centerline is valid? [False, False] Translation: X:-156.20, Y:26.61, Z:84.41 [[ 9.61174340e-01 -2.20983037e-01 1.65258538e-01 -1.56203131e+02] [ 2.31924318e-01 9.71453538e-01 -4.98912165e-02 2.66146680e+01] [-1.49515879e-01 8.62816308e-02 9.84987554e-01 8.44096667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87907232899994 meters Centerline goodness : 0.749754 with order 1 Centerline is valid? [False, False] Translation: X:-156.22, Y:26.62, Z:84.41 [[ 9.61122788e-01 -2.16411305e-01 1.71490915e-01 -1.56220602e+02] [ 2.28791454e-01 9.71873905e-01 -5.58174152e-02 2.66217772e+01] [-1.54588026e-01 9.28830455e-02 9.83603214e-01 8.44080950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93907232899994 meters Centerline goodness : 0.751217 with order 1 Centerline is valid? [False, False] Translation: X:-156.24, Y:26.64, Z:84.42 [[ 9.62660210e-01 -2.15531124e-01 1.63803705e-01 -1.56241389e+02] [ 2.27224353e-01 9.72223064e-01 -5.61373994e-02 2.66390232e+01] [-1.47154383e-01 9.12614317e-02 9.84894379e-01 8.44163289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99907232899994 meters Centerline goodness : 0.753758 with order 1 Centerline is valid? [False, False] Translation: X:-156.25, Y:26.64, Z:84.42 [[ 9.62995758e-01 -2.13766148e-01 1.64143853e-01 -1.56245602e+02] [ 2.25198887e-01 9.72798097e-01 -5.43076727e-02 2.66417400e+01] [-1.48069686e-01 8.92630714e-02 9.84940339e-01 8.44196852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05907232899995 meters Centerline goodness : 0.752917 with order 1 Centerline is valid? [False, False] Translation: X:-156.25, Y:26.64, Z:84.42 [[ 9.63267493e-01 -2.12359185e-01 1.64375528e-01 -1.56249847e+02] [ 2.23610589e-01 9.73233231e-01 -5.30601854e-02 2.66449888e+01] [-1.48707908e-01 8.78672603e-02 9.84969696e-01 8.44237528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11907232899995 meters Centerline goodness : 0.752454 with order 1 Centerline is valid? [False, False] Translation: X:-156.27, Y:26.66, Z:84.43 [[ 9.65104235e-01 -2.11022909e-01 1.55058528e-01 -1.56265955e+02] [ 2.21075407e-01 9.73946586e-01 -5.05342712e-02 2.66583582e+01] [-1.40354835e-01 8.30504663e-02 9.86611950e-01 8.44279976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17907232899995 meters Centerline goodness : 0.754070 with order 1 Centerline is valid? [False, False] Translation: X:-156.27, Y:26.66, Z:84.43 [[ 9.65371934e-01 -2.09409846e-01 1.55578102e-01 -1.56269995e+02] [ 2.19190559e-01 9.74479300e-01 -4.84313263e-02 2.66604992e+01] [-1.41465644e-01 8.08554943e-02 9.86635627e-01 8.44302252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23907232899995 meters Centerline goodness : 0.755037 with order 1 Centerline is valid? [False, False] Translation: X:-156.28, Y:26.67, Z:84.43 [[ 9.66046484e-01 -2.03001776e-01 1.59826372e-01 -1.56284238e+02] [ 2.13931396e-01 9.75340700e-01 -5.42574969e-02 2.66661388e+01] [-1.44870797e-01 8.66071430e-02 9.85652908e-01 8.44284401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29907232899996 meters Centerline goodness : 0.756458 with order 1 Centerline is valid? [False, False] Translation: X:-156.29, Y:26.67, Z:84.43 [[ 9.67271346e-01 -1.97556534e-01 1.59240572e-01 -1.56287600e+02] [ 2.07563796e-01 9.77008123e-01 -4.87072726e-02 2.66724579e+01] [-1.45956892e-01 8.01657267e-02 9.86037546e-01 8.44306009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35907232899996 meters Centerline goodness : 0.756255 with order 1 Centerline is valid? [False, False] Translation: X:-156.30, Y:26.68, Z:84.43 [[ 9.68454169e-01 -1.88720153e-01 1.62730532e-01 -1.56302213e+02] [ 1.99531510e-01 9.78471970e-01 -5.27236169e-02 2.66797679e+01] [-1.49277255e-01 8.35302753e-02 9.85260876e-01 8.44292618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41907232899996 meters Centerline goodness : 0.756610 with order 1 Centerline is valid? [False, False] Translation: X:-156.32, Y:26.70, Z:84.44 [[ 9.70921738e-01 -1.77140792e-01 1.61034526e-01 -1.56322074e+02] [ 1.88200981e-01 9.80525831e-01 -5.61202741e-02 2.66982840e+01] [-1.47957323e-01 8.47952500e-02 9.85351915e-01 8.44350933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47907232899996 meters Centerline goodness : 0.757166 with order 1 Centerline is valid? [False, False] Translation: X:-156.33, Y:26.70, Z:84.44 [[ 9.71973215e-01 -1.71646323e-01 1.60641244e-01 -1.56325143e+02] [ 1.81726948e-01 9.82066377e-01 -5.02090458e-02 2.67036829e+01] [-1.49142166e-01 7.79946908e-02 9.85734976e-01 8.44366863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53907232899996 meters Centerline goodness : 0.754674 with order 1 Centerline is valid? [False, False] Translation: X:-156.34, Y:26.72, Z:84.44 [[ 9.74222911e-01 -1.68211925e-01 1.50314563e-01 -1.56336872e+02] [ 1.77607880e-01 9.82761104e-01 -5.13425203e-02 2.67196864e+01] [-1.39086881e-01 7.67161103e-02 9.87304147e-01 8.44444730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59907232899997 meters Centerline goodness : 0.755603 with order 1 Centerline is valid? [False, False] Translation: X:-156.34, Y:26.72, Z:84.45 [[ 9.75559681e-01 -1.61575995e-01 1.48917786e-01 -1.56337458e+02] [ 1.69870123e-01 9.84452806e-01 -4.46857355e-02 2.67247346e+01] [-1.39382390e-01 6.88902845e-02 9.87839399e-01 8.44457374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65907232899997 meters Centerline goodness : 0.756815 with order 1 Centerline is valid? [False, False] Translation: X:-156.35, Y:26.74, Z:84.45 [[ 9.77201482e-01 -1.60260857e-01 1.39261344e-01 -1.56349466e+02] [ 1.68489825e-01 9.84465566e-01 -4.93834875e-02 2.67410983e+01] [-1.29183758e-01 7.17217366e-02 9.89023533e-01 8.44546569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71907232899997 meters Centerline goodness : 0.756397 with order 1 Centerline is valid? [False, False] Translation: X:-156.35, Y:26.75, Z:84.46 [[ 9.78037417e-01 -1.55284534e-01 1.39030660e-01 -1.56353285e+02] [ 1.62751073e-01 9.85686417e-01 -4.39815446e-02 2.67456786e+01] [-1.30210979e-01 6.56429853e-02 9.89310922e-01 8.44577378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779072329 meters Centerline goodness : 0.753721 with order 1 Centerline is valid? [False, False] Translation: X:-156.37, Y:26.76, Z:84.46 [[ 9.79775050e-01 -1.49736455e-01 1.32739769e-01 -1.56369034e+02] [ 1.57511612e-01 9.86245939e-01 -5.00903149e-02 2.67594827e+01] [-1.23413712e-01 6.99852958e-02 9.89884394e-01 8.44627382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839072329 meters Centerline goodness : 0.754394 with order 1 Centerline is valid? [False, False] Translation: X:-156.37, Y:26.76, Z:84.46 [[ 9.80685231e-01 -1.43902111e-01 1.32471358e-01 -1.56371974e+02] [ 1.50805003e-01 9.87602098e-01 -4.35883862e-02 2.67627681e+01] [-1.24556530e-01 6.27238301e-02 9.90227950e-01 8.44642541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899072329 meters Centerline goodness : 0.754710 with order 1 Centerline is valid? [False, False] Translation: X:-156.39, Y:26.78, Z:84.47 [[ 9.81580957e-01 -1.44892710e-01 1.24518782e-01 -1.56390289e+02] [ 1.51502221e-01 9.87417848e-01 -4.53108138e-02 2.67770876e+01] [-1.16386861e-01 6.33411041e-02 9.91182124e-01 8.44706147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959072329 meters Centerline goodness : 0.756099 with order 1 Centerline is valid? [False, False] Translation: X:-156.39, Y:26.78, Z:84.47 [[ 9.80898352e-01 -1.48662573e-01 1.25450639e-01 -1.56391290e+02] [ 1.55841359e-01 9.86544015e-01 -4.94406468e-02 2.67767113e+01] [-1.16412603e-01 6.80466471e-02 9.90867176e-01 8.44710778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019072329 meters Centerline goodness : 0.755187 with order 1 Centerline is valid? [False, False] Translation: X:-156.41, Y:26.78, Z:84.47 [[ 9.79479357e-01 -1.54337178e-01 1.29615684e-01 -1.56409996e+02] [ 1.61305307e-01 9.85876270e-01 -4.50397421e-02 2.67775184e+01] [-1.20833720e-01 6.50231953e-02 9.90540860e-01 8.44702016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079072329 meters Centerline goodness : 0.753522 with order 1 Centerline is valid? [False, False] Translation: X:-156.43, Y:26.78, Z:84.47 [[ 9.78062477e-01 -1.59581054e-01 1.33894280e-01 -1.56428085e+02] [ 1.66428483e-01 9.85178244e-01 -4.15377872e-02 2.67790365e+01] [-1.25281088e-01 6.29103730e-02 9.90124706e-01 8.44704307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139072329 meters Centerline goodness : 0.752405 with order 1 Centerline is valid? [False, False] Translation: X:-156.44, Y:26.78, Z:84.47 [[ 9.77319972e-01 -1.69807492e-01 1.26534925e-01 -1.56440015e+02] [ 1.76753447e-01 9.83190351e-01 -4.57706570e-02 2.67808159e+01] [-1.16635717e-01 6.70980615e-02 9.90905626e-01 8.44746904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199072329 meters Centerline goodness : 0.750058 with order 1 Centerline is valid? [False, False] Translation: X:-156.46, Y:26.78, Z:84.47 [[ 9.74671334e-01 -1.81338724e-01 1.30889486e-01 -1.56462759e+02] [ 1.88507184e-01 9.81061895e-01 -4.45263911e-02 2.67807169e+01] [-1.20336329e-01 6.80722056e-02 9.90396558e-01 8.44737387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259072329 meters Centerline goodness : 0.749990 with order 1 Centerline is valid? [False, False] Translation: X:-156.48, Y:26.78, Z:84.47 [[ 9.72687160e-01 -1.88268992e-01 1.35773617e-01 -1.56478816e+02] [ 1.95582546e-01 9.79762253e-01 -4.25839705e-02 2.67792917e+01] [-1.25008624e-01 6.79758310e-02 9.89824293e-01 8.44711714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319072329 meters Centerline goodness : 0.749780 with order 1 Centerline is valid? [False, False] Translation: X:-156.50, Y:26.78, Z:84.47 [[ 9.69419874e-01 -2.00499742e-01 1.41509583e-01 -1.56504110e+02] [ 2.08286616e-01 9.77148631e-01 -4.23938535e-02 2.67796632e+01] [-1.29775938e-01 7.05719962e-02 9.89028715e-01 8.44720589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37907232899994 meters Centerline goodness : 0.748803 with order 1 Centerline is valid? [False, False] Translation: X:-156.52, Y:26.78, Z:84.47 [[ 9.67210142e-01 -2.06834463e-01 1.47390796e-01 -1.56524430e+02] [ 2.14504529e-01 9.75982646e-01 -3.80221126e-02 2.67814074e+01] [-1.35986576e-01 6.83913661e-02 9.88347243e-01 8.44692259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43907232899994 meters Centerline goodness : 0.748893 with order 1 Centerline is valid? [False, False] Translation: X:-156.54, Y:26.78, Z:84.47 [[ 9.65450490e-01 -2.11808927e-01 1.51797001e-01 -1.56536666e+02] [ 2.19639571e-01 9.74893245e-01 -3.66281223e-02 2.67815423e+01] [-1.40227707e-01 6.87032667e-02 9.87732783e-01 8.44664000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49907232899994 meters Centerline goodness : 0.750825 with order 1 Centerline is valid? [False, False] Translation: X:-156.57, Y:26.79, Z:84.47 [[ 9.62687998e-01 -2.24448214e-01 1.51178099e-01 -1.56566258e+02] [ 2.33487037e-01 9.71330689e-01 -4.47269171e-02 2.67911189e+01] [-1.36805050e-01 7.83561927e-02 9.87494144e-01 8.44689012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55907232899995 meters Centerline goodness : 0.749875 with order 1 Centerline is valid? [False, False] Translation: X:-156.58, Y:26.79, Z:84.47 [[ 9.60093844e-01 -2.31886467e-01 1.56360089e-01 -1.56583147e+02] [ 2.41260108e-01 9.69478851e-01 -4.36384905e-02 2.67906942e+01] [-1.41468624e-01 7.96204981e-02 9.86735631e-01 8.44677819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61907232899995 meters Centerline goodness : 0.749865 with order 1 Centerline is valid? [False, False] Translation: X:-156.61, Y:26.80, Z:84.47 [[ 9.57651138e-01 -2.43342181e-01 1.53911924e-01 -1.56609077e+02] [ 2.53462882e-01 9.66069491e-01 -4.96619153e-02 2.67983021e+01] [-1.36604775e-01 8.65697497e-02 9.86835758e-01 8.44679172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.67907232899995 meters Centerline goodness : 0.744949 with order 1 Centerline is valid? [False, False] Translation: X:-156.63, Y:26.80, Z:84.47 [[ 9.57640580e-01 -2.47531306e-01 1.47148807e-01 -1.56627127e+02] [ 2.57511665e-01 9.64828200e-01 -5.28610196e-02 2.68039022e+01] [-1.28888562e-01 8.85143918e-02 9.87700836e-01 8.44703038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.73907232899995 meters Centerline goodness : 0.746851 with order 1 Centerline is valid? [False, False] Translation: X:-156.65, Y:26.81, Z:84.47 [[ 9.54591498e-01 -2.55210932e-01 1.53695973e-01 -1.56651588e+02] [ 2.65549908e-01 9.62766223e-01 -5.06403585e-02 2.68111409e+01] [-1.35049318e-01 8.91548072e-02 9.86819691e-01 8.44703926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.79907232899996 meters Centerline goodness : 0.745077 with order 1 Centerline is valid? [False, False] Translation: X:-156.66, Y:26.81, Z:84.46 [[ 9.55358217e-01 -2.49641038e-01 1.58019078e-01 -1.56663877e+02] [ 2.61072097e-01 9.63697312e-01 -5.59361335e-02 2.68146859e+01] [-1.38318606e-01 9.46934169e-02 9.85850455e-01 8.44648305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.85907232899996 meters Centerline goodness : 0.745285 with order 1 Centerline is valid? [False, False] Translation: X:-156.68, Y:26.82, Z:84.46 [[ 9.56301771e-01 -2.42981971e-01 1.62624365e-01 -1.56679449e+02] [ 2.55161564e-01 9.65131427e-01 -5.84286303e-02 2.68244047e+01] [-1.42756781e-01 9.73708899e-02 9.84956553e-01 8.44633521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91907232899996 meters Centerline goodness : 0.747089 with order 1 Centerline is valid? [False, False] Translation: X:-156.68, Y:26.83, Z:84.47 [[ 9.56832616e-01 -2.41006163e-01 1.62441911e-01 -1.56682489e+02] [ 2.52991179e-01 9.65767962e-01 -5.73385325e-02 2.68315089e+01] [-1.43062254e-01 9.59597486e-02 9.85050719e-01 8.44659843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97907232899996 meters Centerline goodness : 0.748759 with order 1 Centerline is valid? [False, False] Translation: X:-156.70, Y:26.84, Z:84.47 [[ 9.59005812e-01 -2.29913214e-01 1.65673677e-01 -1.56699310e+02] [ 2.42113257e-01 9.68550081e-01 -5.73751860e-02 2.68445179e+01] [-1.47271940e-01 9.51349303e-02 9.84510193e-01 8.44654642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03907232899996 meters Centerline goodness : 0.746361 with order 1 Centerline is valid? [False, False] Translation: X:-156.71, Y:26.86, Z:84.47 [[ 9.62657702e-01 -2.13604912e-01 1.66322250e-01 -1.56713428e+02] [ 2.25308459e-01 9.72746090e-01 -5.47826870e-02 2.68591465e+01] [-1.50087467e-01 9.02107853e-02 9.84548509e-01 8.44662808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09907232899997 meters Centerline goodness : 0.745516 with order 1 Centerline is valid? [False, False] Translation: X:-156.73, Y:26.88, Z:84.47 [[ 9.65615309e-01 -1.98700636e-01 1.67645854e-01 -1.56727338e+02] [ 2.10723074e-01 9.75877650e-01 -5.70841262e-02 2.68765585e+01] [-1.52259190e-01 9.04481558e-02 9.84193208e-01 8.44704705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15907232899997 meters Centerline goodness : 0.749342 with order 1 Centerline is valid? [False, False] Translation: X:-156.74, Y:26.90, Z:84.48 [[ 9.69559550e-01 -1.79750611e-01 1.66264838e-01 -1.56739436e+02] [ 1.91540075e-01 9.79787783e-01 -5.76914295e-02 2.68952619e+01] [-1.52534188e-01 8.77816560e-02 9.84392047e-01 8.44755049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21907232899997 meters Centerline goodness : 0.747679 with order 1 Centerline is valid? [False, False] Translation: X:-156.75, Y:26.91, Z:84.48 [[ 9.72709311e-01 -1.72532765e-01 1.55142006e-01 -1.56748565e+02] [ 1.83364339e-01 9.81312089e-01 -5.83446861e-02 2.69138975e+01] [-1.42176356e-01 8.51999307e-02 9.86167762e-01 8.44839989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279072329 meters Centerline goodness : 0.745711 with order 1 Centerline is valid? [False, False] Translation: X:-156.75, Y:26.92, Z:84.49 [[ 9.75534075e-01 -1.58900834e-01 1.51933520e-01 -1.56748960e+02] [ 1.67548725e-01 9.84797594e-01 -4.58380177e-02 2.69247796e+01] [-1.42340065e-01 7.01728156e-02 9.87327241e-01 8.44880625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339072329 meters Centerline goodness : 0.748656 with order 1 Centerline is valid? [False, False] Translation: X:-156.76, Y:26.94, Z:84.50 [[ 9.77775168e-01 -1.54877719e-01 1.41310343e-01 -1.56756942e+02] [ 1.63220588e-01 9.85350847e-01 -4.94241716e-02 2.69418804e+01] [-1.31585563e-01 7.13904850e-02 9.88730822e-01 8.44958772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399072329 meters Centerline goodness : 0.748359 with order 1 Centerline is valid? [False, False] Translation: X:-156.77, Y:26.96, Z:84.50 [[ 9.80820765e-01 -1.34378972e-01 1.41183987e-01 -1.56767894e+02] [ 1.42413585e-01 9.88623652e-01 -4.83905573e-02 2.69620702e+01] [-1.33075155e-01 6.75689812e-02 9.88799998e-01 8.44985274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459072329 meters Centerline goodness : 0.750068 with order 1 Centerline is valid? [False, False] Translation: X:-156.76, Y:26.97, Z:84.51 [[ 9.84041587e-01 -1.15428455e-01 1.35419450e-01 -1.56757290e+02] [ 1.21569288e-01 9.91856755e-01 -3.79616229e-02 2.69740863e+01] [-1.29934845e-01 5.38186617e-02 9.90060851e-01 8.45053014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519072329 meters Centerline goodness : 0.750482 with order 1 Centerline is valid? [False, False] Translation: X:-156.75, Y:26.99, Z:84.51 [[ 9.86025489e-01 -1.02323286e-01 1.31467408e-01 -1.56751517e+02] [ 1.07315486e-01 9.93727545e-01 -3.14476132e-02 2.69868170e+01] [-1.27424961e-01 4.51166369e-02 9.90821562e-01 8.45123787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579072329 meters Centerline goodness : 0.750541 with order 1 Centerline is valid? [False, False] Translation: X:-156.76, Y:27.01, Z:84.51 [[ 9.88299721e-01 -7.78001714e-02 1.31189917e-01 -1.56758637e+02] [ 8.21893007e-02 9.96212799e-01 -2.83721229e-02 2.70106586e+01] [-1.28485718e-01 3.88225687e-02 9.90951174e-01 8.45145109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639072329 meters Centerline goodness : 0.752730 with order 1 Centerline is valid? [False, False] Translation: X:-156.76, Y:27.03, Z:84.52 [[ 9.89958827e-01 -5.35988964e-02 1.30800147e-01 -1.56763752e+02] [ 5.80271099e-02 9.97855722e-01 -3.02788970e-02 2.70348504e+01] [-1.28896759e-01 3.75648159e-02 9.90946270e-01 8.45201012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699072329 meters Centerline goodness : 0.755502 with order 1 Centerline is valid? [False, False] Translation: X:-156.75, Y:27.05, Z:84.53 [[ 9.91276061e-01 -3.50860482e-02 1.27046216e-01 -1.56754799e+02] [ 3.79839726e-02 9.99068893e-01 -2.04588802e-02 2.70510260e+01] [-1.26210101e-01 2.51061182e-02 9.91685784e-01 8.45271863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759072329 meters Centerline goodness : 0.755270 with order 1 Centerline is valid? [False, False] Translation: X:-156.74, Y:27.06, Z:84.53 [[ 9.92059409e-01 -2.36813306e-02 1.23520537e-01 -1.56744777e+02] [ 2.58723032e-02 9.99534570e-01 -1.61637346e-02 2.70608599e+01] [-1.23080268e-01 1.92311458e-02 9.92210366e-01 8.45314897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819072329 meters Centerline goodness : 0.754862 with order 1 Centerline is valid? [False, False] Translation: X:-156.73, Y:27.07, Z:84.54 [[ 9.92724236e-01 -8.89180234e-03 1.20081334e-01 -1.56734886e+02] [ 1.00996594e-02 9.99904307e-01 -9.45380265e-03 2.70740063e+01] [-1.19985781e-01 1.05977996e-02 9.92719043e-01 8.45369814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87907232899994 meters Centerline goodness : 0.758391 with order 1 Centerline is valid? [False, False] Translation: X:-156.73, Y:27.08, Z:84.54 [[ 9.93086584e-01 1.04951864e-03 1.17379453e-01 -1.56727798e+02] [-4.07795098e-04 9.99984841e-01 -5.49096861e-03 2.70829773e+01] [-1.17383436e-01 5.40514049e-03 9.93071958e-01 8.45421898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93907232899994 meters Centerline goodness : 0.758208 with order 1 Centerline is valid? [False, False] Translation: X:-156.72, Y:27.10, Z:84.55 [[ 9.93245881e-01 1.45758913e-02 1.15109354e-01 -1.56721012e+02] [-1.48905768e-02 9.99887372e-01 1.87434285e-03 2.70954656e+01] [-1.15069069e-01 -3.57572799e-03 9.93351058e-01 8.45473686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99907232899994 meters Centerline goodness : 0.761170 with order 1 Centerline is valid? [False, False] Translation: X:-156.73, Y:27.12, Z:84.56 [[ 9.93736701e-01 2.69567620e-02 1.08446771e-01 -1.56728127e+02] [-2.66290796e-02 9.99635394e-01 -4.46891727e-03 2.71154746e+01] [-1.08527698e-01 1.55308940e-03 9.94092212e-01 8.45558731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.05907232899995 meters Centerline goodness : 0.762333 with order 1 Centerline is valid? [False, False] Translation: X:-156.74, Y:27.13, Z:84.56 [[ 9.94258263e-01 3.38725687e-02 1.01504459e-01 -1.56741084e+02] [-3.31113129e-02 9.99409550e-01 -9.17567836e-03 2.71316154e+01] [-1.01755330e-01 5.76204812e-03 9.94792768e-01 8.45615135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.11907232899995 meters Centerline goodness : 0.761522 with order 1 Centerline is valid? [False, False] Translation: X:-156.76, Y:27.14, Z:84.57 [[ 9.94767268e-01 3.67845449e-02 9.53151626e-02 -1.56757057e+02] [-3.53389199e-02 9.99233978e-01 -1.68112427e-02 2.71449890e+01] [-9.58605430e-02 1.33549391e-02 9.95305180e-01 8.45672859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.17907232899995 meters Centerline goodness : 0.761210 with order 1 Centerline is valid? [False, False] Translation: X:-156.77, Y:27.15, Z:84.57 [[ 9.94504221e-01 3.66996917e-02 9.80534957e-02 -1.56765378e+02] [-3.55244456e-02 9.99274824e-01 -1.37054459e-02 2.71451598e+01] [-9.84853754e-02 1.01468277e-02 9.95086766e-01 8.45671977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.23907232899995 meters Centerline goodness : 0.760782 with order 1 Centerline is valid? [False, False] Translation: X:-156.77, Y:27.14, Z:84.57 [[ 9.95235774e-01 2.43877242e-02 9.43980607e-02 -1.56768628e+02] [-2.38485041e-02 9.99692210e-01 -6.83629980e-03 2.71400648e+01] [-9.45357277e-02 4.55247758e-03 9.95511060e-01 8.45711465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.29907232899996 meters Centerline goodness : 0.759914 with order 1 Centerline is valid? [False, False] Translation: X:-156.77, Y:27.13, Z:84.57 [[ 9.95470855e-01 1.46967618e-02 9.39243453e-02 -1.56767126e+02] [-1.32210375e-02 9.99779490e-01 -1.63148699e-02 2.71324566e+01] [-9.41434098e-02 1.49992002e-02 9.95445650e-01 8.45691241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.35907232899996 meters Centerline goodness : 0.761937 with order 1 Centerline is valid? [False, False] Translation: X:-156.77, Y:27.13, Z:84.57 [[ 9.95311372e-01 8.56469051e-03 9.63427118e-02 -1.56774450e+02] [-6.76924067e-03 9.99797564e-01 -1.89475099e-02 2.71255697e+01] [-9.64854881e-02 1.82065051e-02 9.95167862e-01 8.45677143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41907232899996 meters Centerline goodness : 0.763039 with order 1 Centerline is valid? [False, False] Translation: X:-156.78, Y:27.11, Z:84.57 [[ 9.95502513e-01 -9.77394386e-03 9.42295907e-02 -1.56778483e+02] [ 1.13265434e-02 9.99808539e-01 -1.59560273e-02 2.71144904e+01] [-9.40555961e-02 1.69515609e-02 9.95422619e-01 8.45712957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47907232899996 meters Centerline goodness : 0.761598 with order 1 Centerline is valid? [False, False] Translation: X:-156.78, Y:27.10, Z:84.57 [[ 9.95337927e-01 -2.87374583e-02 9.20682861e-02 -1.56781461e+02] [ 3.00570837e-02 9.99463922e-01 -1.29784383e-02 2.71009526e+01] [-9.16459630e-02 1.56852360e-02 9.95668113e-01 8.45725657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53907232899996 meters Centerline goodness : 0.760447 with order 1 Centerline is valid? [False, False] Translation: X:-156.79, Y:27.09, Z:84.58 [[ 9.95158374e-01 -4.30611043e-02 8.83490404e-02 -1.56785792e+02] [ 4.39104822e-02 9.99005856e-01 -7.69208936e-03 2.70939534e+01] [-8.79299789e-02 1.15342961e-02 9.96059877e-01 8.45771968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59907232899997 meters Centerline goodness : 0.761070 with order 1 Centerline is valid? [False, False] Translation: X:-156.79, Y:27.09, Z:84.58 [[ 9.94711093e-01 -6.32551430e-02 8.09236012e-02 -1.56789477e+02] [ 6.42862221e-02 9.97879398e-01 -1.01974479e-02 2.70859776e+01] [-8.01069535e-02 1.53457871e-02 9.96668141e-01 8.45838405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65907232899997 meters Centerline goodness : 0.761591 with order 1 Centerline is valid? [False, False] Translation: X:-156.80, Y:27.08, Z:84.58 [[ 9.93717729e-01 -7.27846995e-02 8.50144834e-02 -1.56802435e+02] [ 7.40442725e-02 9.97185686e-01 -1.17538292e-02 2.70802011e+01] [-8.39197270e-02 1.79748240e-02 9.96310386e-01 8.45806291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71907232899997 meters Centerline goodness : 0.760086 with order 1 Centerline is valid? [False, False] Translation: X:-156.82, Y:27.08, Z:84.58 [[ 9.92433973e-01 -8.45050039e-02 8.90714009e-02 -1.56818551e+02] [ 8.61161601e-02 9.96181082e-01 -1.43965036e-02 2.70765166e+01] [-8.75146679e-02 2.19580663e-02 9.95921195e-01 8.45790394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779072329 meters Centerline goodness : 0.760697 with order 1 Centerline is valid? [False, False] Translation: X:-156.84, Y:27.07, Z:84.58 [[ 9.90671177e-01 -9.83130152e-02 9.43672079e-02 -1.56839792e+02] [ 1.00318966e-01 9.94814460e-01 -1.67420335e-02 2.70729828e+01] [-9.22319032e-02 2.60526707e-02 9.95396672e-01 8.45775122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839072329 meters Centerline goodness : 0.758956 with order 1 Centerline is valid? [False, False] Translation: X:-156.85, Y:27.07, Z:84.58 [[ 9.90155265e-01 -1.10501326e-01 8.59186161e-02 -1.56847799e+02] [ 1.12737236e-01 9.93389873e-01 -2.16073043e-02 2.70712038e+01] [-8.29630473e-02 3.10808134e-02 9.96067827e-01 8.45793452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899072329 meters Centerline goodness : 0.756278 with order 1 Centerline is valid? [False, False] Translation: X:-156.86, Y:27.07, Z:84.58 [[ 9.89078555e-01 -1.16721455e-01 8.99984150e-02 -1.56859755e+02] [ 1.19014962e-01 9.92680094e-01 -2.05345965e-02 2.70685013e+01] [-8.69428071e-02 3.10214869e-02 9.95730192e-01 8.45756292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959072329 meters Centerline goodness : 0.757707 with order 1 Centerline is valid? [False, False] Translation: X:-156.87, Y:27.06, Z:84.57 [[ 9.87373305e-01 -1.26724326e-01 9.50521032e-02 -1.56872881e+02] [ 1.29444310e-01 9.91320087e-01 -2.29924976e-02 2.70642700e+01] [-9.13133505e-02 3.50061322e-02 9.95206734e-01 8.45721494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019072329 meters Centerline goodness : 0.757078 with order 1 Centerline is valid? [False, False] Translation: X:-156.88, Y:27.06, Z:84.57 [[ 9.85764422e-01 -1.35564334e-01 9.94525794e-02 -1.56884784e+02] [ 1.38510664e-01 9.90086529e-01 -2.33122499e-02 2.70562653e+01] [-9.53063495e-02 3.67556294e-02 9.94769181e-01 8.45678691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079072329 meters Centerline goodness : 0.756191 with order 1 Centerline is valid? [False, False] Translation: X:-156.90, Y:27.06, Z:84.57 [[ 9.85183945e-01 -1.44905807e-01 9.17327778e-02 -1.56898248e+02] [ 1.48226211e-01 9.88484711e-01 -3.04461362e-02 2.70600807e+01] [-8.62646264e-02 4.35922466e-02 9.95318105e-01 8.45694783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139072329 meters Centerline goodness : 0.755028 with order 1 Centerline is valid? [False, False] Translation: X:-156.90, Y:27.06, Z:84.57 [[ 9.84824180e-01 -1.46377214e-01 9.32472341e-02 -1.56901841e+02] [ 1.49766256e-01 9.88253674e-01 -3.04095973e-02 2.70574641e+01] [-8.77006496e-02 4.39133959e-02 9.95178481e-01 8.45693098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199072329 meters Centerline goodness : 0.754313 with order 1 Centerline is valid? [False, False] Translation: X:-156.92, Y:27.06, Z:84.57 [[ 9.83218318e-01 -1.53843474e-01 9.80506240e-02 -1.56916624e+02] [ 1.57398672e-01 9.87092273e-01 -2.95719929e-02 2.70564546e+01] [-9.22355552e-02 4.45087630e-02 9.94741963e-01 8.45660397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259072329 meters Centerline goodness : 0.755485 with order 1 Centerline is valid? [False, False] Translation: X:-156.93, Y:27.06, Z:84.56 [[ 9.83137539e-01 -1.50897837e-01 1.03297735e-01 -1.56928778e+02] [ 1.55456833e-01 9.87128351e-01 -3.75604993e-02 2.70598062e+01] [-9.63003248e-02 5.29854756e-02 9.93941038e-01 8.45611888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319072329 meters Centerline goodness : 0.753471 with order 1 Centerline is valid? [False, False] Translation: X:-156.93, Y:27.06, Z:84.56 [[ 9.82876965e-01 -1.51752392e-01 1.04518339e-01 -1.56931537e+02] [ 1.56333898e-01 9.87007760e-01 -3.70862993e-02 2.70565678e+01] [-9.75324768e-02 5.27910286e-02 9.93831235e-01 8.45608162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37907232899994 meters Centerline goodness : 0.754642 with order 1 Centerline is valid? [False, False] Translation: X:-156.94, Y:27.06, Z:84.56 [[ 9.83065853e-01 -1.49993369e-01 1.05278292e-01 -1.56935589e+02] [ 1.54366232e-01 9.87405938e-01 -3.46493879e-02 2.70583511e+01] [-9.87552326e-02 5.03140433e-02 9.93838971e-01 8.45625434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43907232899994 meters Centerline goodness : 0.752154 with order 1 Centerline is valid? [False, False] Translation: X:-156.94, Y:27.05, Z:84.56 [[ 9.82769118e-01 -1.51168356e-01 1.06362536e-01 -1.56937873e+02] [ 1.55579517e-01 9.87223247e-01 -3.44278181e-02 2.70548473e+01] [-9.97991715e-02 5.03824285e-02 9.93731219e-01 8.45619050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49907232899994 meters Centerline goodness : 0.751757 with order 1 Centerline is valid? [False, False] Translation: X:-156.95, Y:27.06, Z:84.56 [[ 9.83093468e-01 -1.45506666e-01 1.11153245e-01 -1.56950935e+02] [ 1.50741193e-01 9.87755833e-01 -4.01933709e-02 2.70594955e+01] [-1.03943863e-01 5.62692130e-02 9.92990156e-01 8.45569809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.55907232899995 meters Centerline goodness : 0.752561 with order 1 Centerline is valid? [False, False] Translation: X:-156.95, Y:27.06, Z:84.56 [[ 9.83269461e-01 -1.43588182e-01 1.12087468e-01 -1.56954469e+02] [ 1.48528882e-01 9.88215443e-01 -3.70055225e-02 2.70597174e+01] [-1.05453011e-01 5.30346264e-02 9.93009059e-01 8.45569928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.61907232899995 meters Centerline goodness : 0.750628 with order 1 Centerline is valid? [False, False] Translation: X:-156.96, Y:27.06, Z:84.56 [[ 9.82871514e-01 -1.45224218e-01 1.13461506e-01 -1.56957562e+02] [ 1.50286289e-01 9.87936048e-01 -3.73683782e-02 2.70575463e+01] [-1.06665918e-01 5.37800231e-02 9.92839408e-01 8.45567607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.67907232899995 meters Centerline goodness : 0.752656 with order 1 Centerline is valid? [False, False] Translation: X:-156.96, Y:27.06, Z:84.56 [[ 9.82687232e-01 -1.45979521e-01 1.14086738e-01 -1.56960353e+02] [ 1.51189100e-01 9.87759397e-01 -3.83826781e-02 2.70586116e+01] [-1.07087163e-01 5.49668390e-02 9.92729060e-01 8.45591467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.73907232899995 meters Centerline goodness : 0.754026 with order 1 Centerline is valid? [False, False] Translation: X:-156.96, Y:27.06, Z:84.56 [[ 9.82630279e-01 -1.46177163e-01 1.14323982e-01 -1.56961529e+02] [ 1.51429419e-01 9.87712321e-01 -3.86458465e-02 2.70588365e+01] [-1.07270065e-01 5.52865930e-02 9.92691556e-01 8.45602230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.79907232899996 meters Centerline goodness : 0.753693 with order 1 Centerline is valid? [False, False] Translation: X:-156.96, Y:27.06, Z:84.56 [[ 9.82704728e-01 -1.45830356e-01 1.14126793e-01 -1.56960548e+02] [ 1.51000066e-01 9.87803115e-01 -3.79998298e-02 2.70575268e+01] [-1.07193273e-01 5.45757657e-02 9.92739184e-01 8.45592176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.85907232899996 meters Centerline goodness : 0.753817 with order 1 Centerline is valid? [False, False] Translation: X:-156.98, Y:27.07, Z:84.56 [[ 9.83278346e-01 -1.48125504e-01 1.05936443e-01 -1.56977417e+02] [ 1.53106930e-01 9.87379272e-01 -4.05023704e-02 2.70712450e+01] [-9.86000134e-02 5.60447073e-02 9.93547698e-01 8.45642619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91907232899996 meters Centerline goodness : 0.753252 with order 1 Centerline is valid? [False, False] Translation: X:-156.98, Y:27.07, Z:84.56 [[ 9.83766510e-01 -1.44785956e-01 1.06021134e-01 -1.56979115e+02] [ 1.49338167e-01 9.88119831e-01 -3.62947739e-02 2.70706126e+01] [-9.95066110e-02 5.15385848e-02 9.93701267e-01 8.45642784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97907232899996 meters Centerline goodness : 0.754535 with order 1 Centerline is valid? [False, False] Translation: X:-156.98, Y:27.07, Z:84.56 [[ 9.84178841e-01 -1.41907606e-01 1.06086000e-01 -1.56980829e+02] [ 1.46160271e-01 9.88696608e-01 -3.34094737e-02 2.70741159e+01] [-1.00145810e-01 4.83864556e-02 9.93795536e-01 8.45647996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03907232899996 meters Centerline goodness : 0.753905 with order 1 Centerline is valid? [False, False] Translation: X:-156.99, Y:27.08, Z:84.56 [[ 9.85060222e-01 -1.32972965e-01 1.09428285e-01 -1.56993931e+02] [ 1.37731126e-01 9.89774439e-01 -3.71038546e-02 2.70796824e+01] [-1.03375510e-01 5.16212121e-02 9.93301945e-01 8.45614646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09907232899997 meters Centerline goodness : 0.754475 with order 1 Centerline is valid? [False, False] Translation: X:-156.99, Y:27.08, Z:84.56 [[ 9.86751545e-01 -1.21675227e-01 1.07315086e-01 -1.56993706e+02] [ 1.25120595e-01 9.91802022e-01 -2.59535198e-02 2.70841107e+01] [-1.03277419e-01 3.90370032e-02 9.93886255e-01 8.45632739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15907232899997 meters Centerline goodness : 0.754602 with order 1 Centerline is valid? [False, False] Translation: X:-157.01, Y:27.10, Z:84.56 [[ 9.87380962e-01 -1.12840756e-01 1.11111653e-01 -1.57007115e+02] [ 1.16907287e-01 9.92666072e-01 -3.07694052e-02 2.70959100e+01] [-1.06824725e-01 4.33708869e-02 9.93331488e-01 8.45614556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21907232899997 meters Centerline goodness : 0.754373 with order 1 Centerline is valid? [False, False] Translation: X:-157.01, Y:27.10, Z:84.56 [[ 9.87845603e-01 -1.09268303e-01 1.10550906e-01 -1.57007263e+02] [ 1.12909760e-01 9.93232480e-01 -2.72144478e-02 2.70976034e+01] [-1.06829074e-01 3.93659488e-02 9.93497796e-01 8.45621068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279072329 meters Centerline goodness : 0.754578 with order 1 Centerline is valid? [False, False] Translation: X:-157.01, Y:27.10, Z:84.56 [[ 9.88267819e-01 -1.05999645e-01 1.09958142e-01 -1.57007545e+02] [ 1.09308284e-01 9.93706052e-01 -2.44945076e-02 2.71019592e+01] [-1.06669662e-01 3.62264694e-02 9.93634352e-01 8.45633442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339072329 meters Centerline goodness : 0.754003 with order 1 Centerline is valid? [False, False] Translation: X:-157.01, Y:27.10, Z:84.56 [[ 9.88318847e-01 -1.05879307e-01 1.09614910e-01 -1.57007346e+02] [ 1.09213466e-01 9.93707483e-01 -2.48567199e-02 2.71030665e+01] [-1.06293345e-01 3.65377891e-02 9.93663280e-01 8.45644925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399072329 meters Centerline goodness : 0.755505 with order 1 Centerline is valid? [False, False] Translation: X:-157.02, Y:27.12, Z:84.57 [[ 9.89473434e-01 -1.01180771e-01 1.03463888e-01 -1.57023364e+02] [ 1.04948802e-01 9.93974371e-01 -3.16338268e-02 2.71206002e+01] [-9.96397175e-02 4.21592423e-02 9.94130034e-01 8.45702556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459072329 meters Centerline goodness : 0.752961 with order 1 Centerline is valid? [False, False] Translation: X:-157.02, Y:27.12, Z:84.57 [[ 9.90047132e-01 -9.67224817e-02 1.02232273e-01 -1.57020659e+02] [ 9.99871930e-02 9.94614257e-01 -2.72954348e-02 2.71219334e+01] [-9.90415938e-02 3.72456849e-02 9.94386002e-01 8.45688676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519072329 meters Centerline goodness : 0.754193 with order 1 Centerline is valid? [False, False] Translation: X:-157.02, Y:27.12, Z:84.57 [[ 9.90361806e-01 -9.35585786e-02 1.02128771e-01 -1.57021895e+02] [ 9.64892141e-02 9.95041446e-01 -2.41319749e-02 2.71241725e+01] [-9.93646067e-02 3.37537111e-02 9.94478437e-01 8.45698039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579072329 meters Centerline goodness : 0.753054 with order 1 Centerline is valid? [False, False] Translation: X:-157.02, Y:27.13, Z:84.57 [[ 9.90890322e-01 -8.92477563e-02 1.00852404e-01 -1.57020036e+02] [ 9.17703962e-02 9.95566107e-01 -2.06475620e-02 2.71272550e+01] [-9.85624870e-02 2.97147345e-02 9.94687122e-01 8.45704521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639072329 meters Centerline goodness : 0.753674 with order 1 Centerline is valid? [False, False] Translation: X:-157.02, Y:27.13, Z:84.57 [[ 9.90951708e-01 -8.91344667e-02 1.00348187e-01 -1.57019275e+02] [ 9.17151550e-02 9.95555406e-01 -2.13953968e-02 2.71306849e+01] [-9.79951126e-02 3.04052546e-02 9.94722312e-01 8.45714557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699072329 meters Centerline goodness : 0.754193 with order 1 Centerline is valid? [False, False] Translation: X:-157.03, Y:27.14, Z:84.58 [[ 9.91602205e-01 -9.10310340e-02 9.18608598e-02 -1.57034066e+02] [ 9.37639777e-02 9.95258074e-01 -2.58782197e-02 2.71430512e+01] [-8.90695413e-02 3.42741393e-02 9.95435533e-01 8.45764391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759072329 meters Centerline goodness : 0.755230 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.16, Z:84.58 [[ 9.92192244e-01 -9.32852562e-02 8.27792930e-02 -1.57047778e+02] [ 9.60101795e-02 9.94941241e-01 -2.95630328e-02 2.71555429e+01] [-7.96027374e-02 3.72798667e-02 9.96129317e-01 8.45810368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819072329 meters Centerline goodness : 0.756199 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.15, Z:84.58 [[ 9.92133943e-01 -9.34481953e-02 8.32927060e-02 -1.57048751e+02] [ 9.61730326e-02 9.94932806e-01 -2.93165508e-02 2.71547295e+01] [-8.01310669e-02 3.70964573e-02 9.96093803e-01 8.45805256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87907232899994 meters Centerline goodness : 0.754971 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.15, Z:84.58 [[ 9.92109025e-01 -9.33768146e-02 8.36687074e-02 -1.57049980e+02] [ 9.60676878e-02 9.94960231e-01 -2.87252329e-02 2.71522028e+01] [-8.05647656e-02 3.65364221e-02 9.96079519e-01 8.45808312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93907232899994 meters Centerline goodness : 0.753742 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.15, Z:84.58 [[ 9.92021032e-01 -9.38316219e-02 8.42015426e-02 -1.57051304e+02] [ 9.65620277e-02 9.94905755e-01 -2.89536454e-02 2.71524622e+01] [-8.10558318e-02 3.68532969e-02 9.96028005e-01 8.45809201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99907232899994 meters Centerline goodness : 0.756140 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.15, Z:84.58 [[ 9.92413844e-01 -8.99608002e-02 8.37962836e-02 -1.57051319e+02] [ 9.23401415e-02 9.95414702e-01 -2.49573305e-02 2.71534336e+01] [-8.11668713e-02 3.25057610e-02 9.96170324e-01 8.45809083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.05907232899995 meters Centerline goodness : 0.753731 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.16, Z:84.58 [[ 9.92758851e-01 -8.64559092e-02 8.33980737e-02 -1.57051579e+02] [ 8.85525692e-02 9.95833555e-01 -2.17709038e-02 2.71567679e+01] [-8.11683770e-02 2.89983711e-02 9.96278470e-01 8.45816362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.11907232899995 meters Centerline goodness : 0.753178 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.16, Z:84.58 [[ 9.92754951e-01 -8.65989374e-02 8.32960461e-02 -1.57051603e+02] [ 8.87364688e-02 9.95805376e-01 -2.23045562e-02 2.71587051e+01] [-8.10150996e-02 2.95343556e-02 9.96275201e-01 8.45821713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.17907232899995 meters Centerline goodness : 0.752458 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.16, Z:84.58 [[ 9.93025692e-01 -8.32657530e-02 8.34672951e-02 -1.57053121e+02] [ 8.51004755e-02 9.96197556e-01 -1.86638243e-02 2.71596481e+01] [-8.15958580e-02 2.56367635e-02 9.96335723e-01 8.45825786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.23907232899995 meters Centerline goodness : 0.753144 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.16, Z:84.58 [[ 9.93132264e-01 -8.26710287e-02 8.27877257e-02 -1.57051244e+02] [ 8.44796902e-02 9.96251928e-01 -1.85816718e-02 2.71612101e+01] [-8.09412654e-02 2.54479392e-02 9.96393955e-01 8.45822340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.29907232899996 meters Centerline goodness : 0.753096 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.16, Z:84.58 [[ 9.93181488e-01 -8.24945684e-02 8.23721873e-02 -1.57050801e+02] [ 8.43247872e-02 9.96257410e-01 -1.89869018e-02 2.71630823e+01] [-8.04975857e-02 2.58034566e-02 9.96420755e-01 8.45833254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.35907232899996 meters Centerline goodness : 0.754628 with order 1 Centerline is valid? [False, False] Translation: X:-157.05, Y:27.17, Z:84.58 [[ 9.93438124e-01 -7.92364799e-02 8.24759051e-02 -1.57052267e+02] [ 8.08078705e-02 9.96603075e-01 -1.58870609e-02 2.71660796e+01] [-8.09369059e-02 2.24475142e-02 9.96466420e-01 8.45841226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41907232899996 meters Centerline goodness : 0.752077 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.18, Z:84.59 [[ 9.94163760e-01 -7.69613712e-02 7.56000329e-02 -1.57066632e+02] [ 7.89784071e-02 9.96585964e-01 -2.40588232e-02 2.71783758e+01] [-7.34903317e-02 2.98891803e-02 9.96847936e-01 8.45878805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47907232899996 meters Centerline goodness : 0.753687 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.18, Z:84.59 [[ 9.94208982e-01 -7.67620164e-02 7.52070017e-02 -1.57065324e+02] [ 7.87867098e-02 9.96594534e-01 -2.43308279e-02 2.71802131e+01] [-7.30832034e-02 3.01152398e-02 9.96871064e-01 8.45873560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53907232899996 meters Centerline goodness : 0.752868 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.18, Z:84.59 [[ 9.94453662e-01 -7.34468218e-02 7.52826520e-02 -1.57066678e+02] [ 7.52347582e-02 9.96940644e-01 -2.11915881e-02 2.71833329e+01] [-7.34958808e-02 2.67379245e-02 9.96937029e-01 8.45881951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59907232899997 meters Centerline goodness : 0.754450 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.18, Z:84.59 [[ 9.94468815e-01 -7.33764581e-02 7.51509862e-02 -1.57066676e+02] [ 7.51695417e-02 9.96942996e-01 -2.13120175e-02 2.71841207e+01] [-7.33574490e-02 2.68432020e-02 9.96944395e-01 8.45887882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65907232899997 meters Centerline goodness : 0.752505 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.18, Z:84.59 [[ 9.94399919e-01 -7.36700737e-02 7.57728323e-02 -1.57068148e+02] [ 7.54684635e-02 9.96923925e-01 -2.11470907e-02 2.71830508e+01] [-7.39818416e-02 2.67471245e-02 9.96900837e-01 8.45886628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71907232899997 meters Centerline goodness : 0.753870 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.18, Z:84.59 [[ 9.94222039e-01 -7.48912846e-02 7.69014487e-02 -1.57071618e+02] [ 7.67542966e-02 9.96816929e-01 -2.15589301e-02 2.71815291e+01] [-7.50420900e-02 2.73368801e-02 9.96805588e-01 8.45895495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779072329 meters Centerline goodness : 0.754210 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.18, Z:84.59 [[ 9.93841045e-01 -7.89387116e-02 7.77731106e-02 -1.57072941e+02] [ 8.11222182e-02 9.96382423e-01 -2.53229598e-02 2.71796343e+01] [-7.54927986e-02 3.14761241e-02 9.96649432e-01 8.45894776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839072329 meters Centerline goodness : 0.751719 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.17, Z:84.59 [[ 9.93013803e-01 -8.98880582e-02 7.64442489e-02 -1.57072726e+02] [ 9.14422474e-02 9.95664019e-01 -1.70726853e-02 2.71724049e+01] [-7.45781575e-02 2.39436461e-02 9.96927681e-01 8.45899668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899072329 meters Centerline goodness : 0.752561 with order 1 Centerline is valid? [False, False] Translation: X:-157.07, Y:27.17, Z:84.59 [[ 9.92598246e-01 -9.35447824e-02 7.74473775e-02 -1.57073471e+02] [ 9.53394517e-02 9.95247865e-01 -1.98008958e-02 2.71678150e+01] [-7.52270667e-02 2.70381249e-02 9.96799793e-01 8.45884784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959072329 meters Centerline goodness : 0.751232 with order 1 Centerline is valid? [False, False] Translation: X:-157.08, Y:27.17, Z:84.59 [[ 9.92312637e-01 -9.54764254e-02 7.87393319e-02 -1.57077106e+02] [ 9.73726675e-02 9.95034847e-01 -2.05965455e-02 2.71667308e+01] [-7.63818945e-02 2.81052712e-02 9.96682447e-01 8.45891064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019072329 meters Centerline goodness : 0.750340 with order 1 Centerline is valid? [False, False] Translation: X:-157.08, Y:27.16, Z:84.59 [[ 9.91893650e-01 -9.91367721e-02 7.94914242e-02 -1.57077022e+02] [ 1.01286242e-01 9.94580436e-01 -2.34702851e-02 2.71633639e+01] [-7.67338470e-02 3.13314144e-02 9.96559210e-01 8.45873630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079072329 meters Centerline goodness : 0.751231 with order 1 Centerline is valid? [False, False] Translation: X:-157.08, Y:27.16, Z:84.59 [[ 9.91752536e-01 -9.98588542e-02 8.03437364e-02 -1.57079571e+02] [ 1.02043503e-01 9.94501123e-01 -2.35508122e-02 2.71618126e+01] [-7.75501789e-02 3.15551341e-02 9.96488958e-01 8.45881422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139072329 meters Centerline goodness : 0.752469 with order 1 Centerline is valid? [False, False] Translation: X:-157.08, Y:27.16, Z:84.59 [[ 9.91542019e-01 -1.01045339e-01 8.14509859e-02 -1.57082812e+02] [ 1.03342713e-01 9.94344251e-01 -2.44906908e-02 2.71625118e+01] [-7.85156494e-02 3.27009149e-02 9.96376406e-01 8.45891889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199072329 meters Centerline goodness : 0.752192 with order 1 Centerline is valid? [False, False] Translation: X:-157.08, Y:27.16, Z:84.59 [[ 9.91477479e-01 -1.01330483e-01 8.18812612e-02 -1.57084205e+02] [ 1.03630942e-01 9.94317942e-01 -2.43404679e-02 2.71611874e+01] [-7.89495757e-02 3.26184580e-02 9.96344820e-01 8.45896883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259072329 meters Centerline goodness : 0.749848 with order 1 Centerline is valid? [False, False] Translation: X:-157.09, Y:27.16, Z:84.59 [[ 9.91409628e-01 -1.01617014e-01 8.23464147e-02 -1.57085234e+02] [ 1.03925604e-01 9.94289634e-01 -2.42402919e-02 2.71603540e+01] [-7.94129605e-02 3.25899597e-02 9.96308926e-01 8.45895098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319072329 meters Centerline goodness : 0.750801 with order 1 Centerline is valid? [False, False] Translation: X:-157.09, Y:27.16, Z:84.59 [[ 9.91770584e-01 -9.80515548e-02 8.23225497e-02 -1.57086335e+02] [ 1.00018295e-01 9.94782418e-01 -2.01067671e-02 2.71598229e+01] [-7.99215253e-02 2.81750612e-02 9.96402888e-01 8.45896562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37907232899994 meters Centerline goodness : 0.751809 with order 1 Centerline is valid? [False, False] Translation: X:-157.09, Y:27.16, Z:84.59 [[ 9.91712387e-01 -9.84067086e-02 8.25994043e-02 -1.57086738e+02] [ 1.00420425e-01 9.94732237e-01 -2.05794901e-02 2.71614063e+01] [-8.01391303e-02 2.87036025e-02 9.96370324e-01 8.45893026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43907232899994 meters Centerline goodness : 0.750399 with order 1 Centerline is valid? [False, False] Translation: X:-157.09, Y:27.16, Z:84.59 [[ 9.91722274e-01 -9.84029260e-02 8.24851188e-02 -1.57086707e+02] [ 1.00428538e-01 9.94727481e-01 -2.07688810e-02 2.71621766e+01] [-8.00064958e-02 2.88808219e-02 9.96375862e-01 8.45897195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49907232899994 meters Centerline goodness : 0.752602 with order 1 Centerline is valid? [False, False] Translation: X:-157.09, Y:27.16, Z:84.59 [[ 9.91964062e-01 -9.56312427e-02 8.28369787e-02 -1.57089326e+02] [ 9.74149152e-02 9.95085457e-01 -1.77557913e-02 2.71642800e+01] [-8.07318644e-02 2.56826641e-02 9.96404921e-01 8.45910810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.55907232899995 meters Centerline goodness : 0.751223 with order 1 Centerline is valid? [False, False] Translation: X:-157.10, Y:27.18, Z:84.59 [[ 9.92818730e-01 -9.29579642e-02 7.52979818e-02 -1.57099220e+02] [ 9.52266068e-02 9.95086315e-01 -2.71130879e-02 2.71757276e+01] [-7.24076137e-02 3.40887528e-02 9.96792403e-01 8.45936291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.61907232899995 meters Centerline goodness : 0.751527 with order 1 Centerline is valid? [False, False] Translation: X:-157.10, Y:27.17, Z:84.59 [[ 9.92668950e-01 -9.37312426e-02 7.63073328e-02 -1.57101351e+02] [ 9.60435636e-02 9.95005124e-01 -2.72109740e-02 2.71748057e+01] [-7.33756687e-02 3.43403171e-02 9.96712975e-01 8.45931429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.67907232899995 meters Centerline goodness : 0.751203 with order 1 Centerline is valid? [False, False] Translation: X:-157.10, Y:27.17, Z:84.59 [[ 9.92644484e-01 -9.36795180e-02 7.66881793e-02 -1.57102136e+02] [ 9.59632815e-02 9.95028077e-01 -2.66491054e-02 2.71727352e+01] [-7.38104162e-02 3.38123368e-02 9.96698926e-01 8.45927706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.73907232899995 meters Centerline goodness : 0.752237 with order 1 Centerline is valid? [False, False] Translation: X:-157.10, Y:27.18, Z:84.59 [[ 9.93022162e-01 -9.00949201e-02 7.60913337e-02 -1.57101350e+02] [ 9.21301371e-02 9.95465671e-01 -2.36671876e-02 2.71776861e+01] [-7.36140171e-02 3.05123468e-02 9.96819930e-01 8.45926278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.79907232899996 meters Centerline goodness : 0.751433 with order 1 Centerline is valid? [False, False] Translation: X:-157.10, Y:27.19, Z:84.60 [[ 9.93790293e-01 -8.25354691e-02 7.46240560e-02 -1.57100998e+02] [ 8.40837780e-02 9.96298893e-01 -1.78447272e-02 2.71853094e+01] [-7.28750415e-02 2.40085892e-02 9.97052063e-01 8.45957703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.85907232899996 meters Centerline goodness : 0.751823 with order 1 Centerline is valid? [False, False] Translation: X:-157.10, Y:27.19, Z:84.60 [[ 9.94242149e-01 -7.82045046e-02 7.32571103e-02 -1.57099135e+02] [ 7.95155245e-02 9.96718503e-01 -1.51495081e-02 2.71909699e+01] [-7.18319575e-02 2.08873570e-02 9.97198019e-01 8.45973765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91907232899996 meters Centerline goodness : 0.751596 with order 1 Centerline is valid? [False, False] Translation: X:-157.10, Y:27.20, Z:84.60 [[ 9.94553684e-01 -7.47652078e-02 7.26163376e-02 -1.57098846e+02] [ 7.58670502e-02 9.97039189e-01 -1.25317829e-02 2.71959799e+01] [-7.14643931e-02 1.79727182e-02 9.97281215e-01 8.45984268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97907232899996 meters Centerline goodness : 0.751837 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95372841e-01 -7.03457189e-02 6.54552280e-02 -1.57110701e+02] [ 7.18098859e-02 9.97211963e-01 -2.02889474e-02 2.72097395e+01] [-6.38454958e-02 2.48953997e-02 9.97649223e-01 8.46021769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03907232899996 meters Centerline goodness : 0.749685 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95752722e-01 -6.55780448e-02 6.46222665e-02 -1.57108293e+02] [ 6.66960539e-02 9.97656092e-01 -1.52956770e-02 2.72096201e+01] [-6.34677373e-02 1.95407622e-02 9.97792566e-01 8.46004588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09907232899997 meters Centerline goodness : 0.752182 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95776470e-01 -6.53673499e-02 6.44696086e-02 -1.57107863e+02] [ 6.64767998e-02 9.97671970e-01 -1.52143061e-02 2.72100394e+01] [-6.33250026e-02 1.94357813e-02 9.97803685e-01 8.46003877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15907232899997 meters Centerline goodness : 0.748918 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95728988e-01 -6.55103174e-02 6.50552115e-02 -1.57109392e+02] [ 6.66169153e-02 9.97666067e-01 -1.49868544e-02 2.72086628e+01] [-6.39215834e-02 1.92566229e-02 9.97769118e-01 8.46004557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21907232899997 meters Centerline goodness : 0.749023 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95707811e-01 -6.55225950e-02 6.53662312e-02 -1.57110269e+02] [ 6.66114102e-02 9.97671924e-01 -1.46168442e-02 2.72072637e+01] [-6.42563200e-02 1.89082428e-02 9.97754280e-01 8.46005815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279072329 meters Centerline goodness : 0.749890 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95689526e-01 -6.55408164e-02 6.56259810e-02 -1.57110979e+02] [ 6.66211099e-02 9.97674311e-01 -1.44082024e-02 2.72064708e+01] [-6.45290301e-02 1.87181719e-02 9.97740264e-01 8.46006849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339072329 meters Centerline goodness : 0.750231 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95675284e-01 -6.55659631e-02 6.58166673e-02 -1.57111627e+02] [ 6.66456509e-02 9.97673614e-01 -1.43428102e-02 2.72061324e+01] [-6.47231522e-02 1.86671762e-02 9.97728646e-01 8.46009685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399072329 meters Centerline goodness : 0.749098 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.21, Z:84.60 [[ 9.95400924e-01 -6.93266286e-02 6.61121741e-02 -1.57110929e+02] [ 7.06678185e-02 9.97334481e-01 -1.81657112e-02 2.72059150e+01] [-6.46765833e-02 2.27541689e-02 9.97646825e-01 8.45998870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459072329 meters Centerline goodness : 0.748336 with order 1 Centerline is valid? [False, False] Translation: X:-157.11, Y:27.20, Z:84.60 [[ 9.95303657e-01 -6.98514946e-02 6.70179001e-02 -1.57112405e+02] [ 7.11582322e-02 9.97314820e-01 -1.73105683e-02 2.72024850e+01] [-6.56287759e-02 2.19981473e-02 9.97601596e-01 8.45982916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519072329 meters Centerline goodness : 0.749517 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.20, Z:84.60 [[ 9.95144110e-01 -7.10459469e-02 6.81224883e-02 -1.57115577e+02] [ 7.24188853e-02 9.97213707e-01 -1.78976882e-02 2.72018867e+01] [-6.66611209e-02 2.27441336e-02 9.97516416e-01 8.45989815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579072329 meters Centerline goodness : 0.750556 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.20, Z:84.60 [[ 9.95133390e-01 -7.10058136e-02 6.83206439e-02 -1.57116163e+02] [ 7.23610976e-02 9.97223764e-01 -1.75680387e-02 2.72006906e+01] [-6.68835367e-02 2.24262987e-02 9.97508724e-01 8.45990930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639072329 meters Centerline goodness : 0.751227 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.20, Z:84.60 [[ 9.95101534e-01 -7.09763014e-02 6.88135346e-02 -1.57117037e+02] [ 7.22990635e-02 9.97239415e-01 -1.69231769e-02 2.71987654e+01] [-6.74224245e-02 2.18154334e-02 9.97485992e-01 8.45984491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699072329 meters Centerline goodness : 0.748569 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.20, Z:84.60 [[ 9.94816010e-01 -7.44518669e-02 6.92677895e-02 -1.57117140e+02] [ 7.60016969e-02 9.96906864e-01 -2.00111428e-02 2.71953645e+01] [-6.75636679e-02 2.51718748e-02 9.97397377e-01 8.45978173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759072329 meters Centerline goodness : 0.747337 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.19, Z:84.60 [[ 9.94727637e-01 -7.47544389e-02 7.02047215e-02 -1.57118697e+02] [ 7.62767170e-02 9.96900748e-01 -1.92551487e-02 2.71924258e+01] [-6.85477315e-02 2.45086143e-02 9.97346748e-01 8.45964078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819072329 meters Centerline goodness : 0.748596 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.19, Z:84.60 [[ 9.94683792e-01 -7.48711599e-02 7.06998046e-02 -1.57119617e+02] [ 7.63719021e-02 9.96902823e-01 -1.87641615e-02 2.71908316e+01] [-6.90759403e-02 2.40638859e-02 9.97321134e-01 8.45958581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87907232899994 meters Centerline goodness : 0.749246 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.19, Z:84.60 [[ 9.94616077e-01 -7.54671072e-02 7.10181284e-02 -1.57121255e+02] [ 7.70415946e-02 9.96833342e-01 -1.96946885e-02 2.71933303e+01] [-6.93069371e-02 2.50600037e-02 9.97280575e-01 8.45974844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93907232899994 meters Centerline goodness : 0.749076 with order 1 Centerline is valid? [False, False] Translation: X:-157.12, Y:27.19, Z:84.60 [[ 9.94144115e-01 -8.01939421e-02 7.24321016e-02 -1.57123560e+02] [ 8.20270973e-02 9.96371684e-01 -2.26941226e-02 2.71879852e+01] [-7.03493639e-02 2.85026234e-02 9.97115122e-01 8.45962929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99907232899994 meters Centerline goodness : 0.748400 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.19, Z:84.59 [[ 9.93439617e-01 -8.49874783e-02 7.65170330e-02 -1.57135004e+02] [ 8.68493798e-02 9.95992918e-01 -2.13375770e-02 2.71865235e+01] [-7.43969961e-02 2.78430512e-02 9.96839933e-01 8.45930217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.05907232899995 meters Centerline goodness : 0.747942 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.18, Z:84.59 [[ 9.93221063e-01 -8.63321301e-02 7.78375388e-02 -1.57138074e+02] [ 8.82241741e-02 9.95875036e-01 -2.11992164e-02 2.71839877e+01] [-7.56862882e-02 2.79226609e-02 9.96740644e-01 8.45924798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.11907232899995 meters Centerline goodness : 0.747301 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.18, Z:84.59 [[ 9.92873992e-01 -8.97754806e-02 7.83683574e-02 -1.57137930e+02] [ 9.19070143e-02 9.95477790e-01 -2.40222866e-02 2.71803339e+01] [-7.58573469e-02 3.10537053e-02 9.96635004e-01 8.45914353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.17907232899995 meters Centerline goodness : 0.747206 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.18, Z:84.59 [[ 9.93095174e-01 -8.67906784e-02 7.89262540e-02 -1.57140225e+02] [ 8.86458842e-02 9.95856178e-01 -2.03071398e-02 2.71804991e+01] [-7.68367272e-02 2.71634101e-02 9.96673601e-01 8.45915277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.23907232899995 meters Centerline goodness : 0.746250 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.18, Z:84.59 [[ 9.93002643e-01 -8.71202855e-02 7.97233188e-02 -1.57141600e+02] [ 8.89614044e-02 9.95837572e-01 -1.98342992e-02 2.71785937e+01] [-7.76635064e-02 2.67878099e-02 9.96619683e-01 8.45904472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.29907232899996 meters Centerline goodness : 0.745467 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.17, Z:84.59 [[ 9.92655213e-01 -9.04416707e-02 8.03488180e-02 -1.57141816e+02] [ 9.25132194e-02 9.95458630e-01 -2.24370181e-02 2.71737972e+01] [-7.79546829e-02 2.97055508e-02 9.96514249e-01 8.45894825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.35907232899996 meters Centerline goodness : 0.746671 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.17, Z:84.59 [[ 9.92619118e-01 -9.05694998e-02 8.06501824e-02 -1.57143018e+02] [ 9.26552417e-02 9.95444037e-01 -2.24983479e-02 2.71735150e+01] [-7.82450791e-02 2.98049524e-02 9.96488521e-01 8.45902744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41907232899996 meters Centerline goodness : 0.746862 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.18, Z:84.59 [[ 9.92971156e-01 -8.71742966e-02 8.00557597e-02 -1.57142913e+02] [ 8.90168921e-02 9.95834554e-01 -1.97366115e-02 2.71781880e+01] [-7.80017665e-02 2.67242008e-02 9.96594974e-01 8.45912380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47907232899996 meters Centerline goodness : 0.746431 with order 1 Centerline is valid? [False, False] Translation: X:-157.14, Y:27.18, Z:84.59 [[ 9.93360676e-01 -8.33002136e-02 7.93450819e-02 -1.57142266e+02] [ 8.48287501e-02 9.96265678e-01 -1.60867033e-02 2.71804225e+01] [-7.77087560e-02 2.27106426e-02 9.96717400e-01 8.45915927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53907232899996 meters Centerline goodness : 0.743224 with order 1 Centerline is valid? [False, False] Translation: X:-157.15, Y:27.20, Z:84.59 [[ 9.94280064e-01 -7.79630709e-02 7.29994088e-02 -1.57154903e+02] [ 7.98735559e-02 9.96525025e-01 -2.36239322e-02 2.71965096e+01] [-7.09039433e-02 2.93195271e-02 9.97052153e-01 8.45948649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59907232899997 meters Centerline goodness : 0.742432 with order 1 Centerline is valid? [False, False] Translation: X:-157.15, Y:27.20, Z:84.59 [[ 9.94325888e-01 -7.76406969e-02 7.27182992e-02 -1.57153927e+02] [ 7.95370478e-02 9.96553654e-01 -2.35515064e-02 2.71973539e+01] [-7.06391313e-02 2.92016713e-02 9.97074408e-01 8.45944418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65907232899997 meters Centerline goodness : 0.742999 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.20, Z:84.60 [[ 9.94432673e-01 -7.55660973e-02 7.34399382e-02 -1.57157606e+02] [ 7.73108637e-02 9.96781431e-01 -2.12087073e-02 2.71999595e+01] [-7.16009075e-02 2.67683365e-02 9.97074103e-01 8.45963833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71907232899997 meters Centerline goodness : 0.741684 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.20, Z:84.60 [[ 9.94415443e-01 -7.54695452e-02 7.37717696e-02 -1.57158082e+02] [ 7.71805121e-02 9.96803889e-01 -2.06197703e-02 2.71981356e+01] [-7.19798221e-02 2.61983610e-02 9.97061960e-01 8.45956990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779072329 meters Centerline goodness : 0.741247 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.20, Z:84.59 [[ 9.94576875e-01 -7.40221203e-02 7.30586478e-02 -1.57155188e+02] [ 7.55987299e-02 9.96956290e-01 -1.90522288e-02 2.71964651e+01] [-7.14259921e-02 2.44720472e-02 9.97145650e-01 8.45936983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839072329 meters Centerline goodness : 0.741381 with order 1 Centerline is valid? [False, False] Translation: X:-157.15, Y:27.20, Z:84.59 [[ 9.94667715e-01 -7.31903804e-02 7.26588285e-02 -1.57153169e+02] [ 7.46936658e-02 9.97040628e-01 -1.81890491e-02 2.71957586e+01] [-7.11125406e-02 2.35192142e-02 9.97190981e-01 8.45919215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899072329 meters Centerline goodness : 0.743356 with order 1 Centerline is valid? [False, False] Translation: X:-157.15, Y:27.20, Z:84.59 [[ 9.94738902e-01 -7.26027232e-02 7.22728214e-02 -1.57152199e+02] [ 7.40667455e-02 9.97094707e-01 -1.77837540e-02 2.71955073e+01] [-7.07716988e-02 2.30432046e-02 9.97226342e-01 8.45918016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959072329 meters Centerline goodness : 0.744884 with order 1 Centerline is valid? [False, False] Translation: X:-157.15, Y:27.20, Z:84.59 [[ 9.94687751e-01 -7.29263445e-02 7.26500201e-02 -1.57153531e+02] [ 7.44317099e-02 9.97059471e-01 -1.82299700e-02 2.71964666e+01] [-7.11069456e-02 2.35405931e-02 9.97190876e-01 8.45925281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019072329 meters Centerline goodness : 0.746548 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.20, Z:84.59 [[ 9.94842220e-01 -7.04159083e-02 7.30106653e-02 -1.57156381e+02] [ 7.17653326e-02 9.97292824e-01 -1.60237242e-02 2.72009209e+01] [-7.16846875e-02 2.11807120e-02 9.97202428e-01 8.45947025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079072329 meters Centerline goodness : 0.745555 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.20, Z:84.59 [[ 9.95176011e-01 -6.62196104e-02 7.23855687e-02 -1.57155642e+02] [ 6.72423445e-02 9.97667105e-01 -1.17819232e-02 2.72013134e+01] [-7.14365065e-02 1.65924627e-02 9.97307132e-01 8.45946795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139072329 meters Centerline goodness : 0.748069 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.21, Z:84.60 [[ 9.95447538e-01 -6.25772342e-02 7.18908185e-02 -1.57155453e+02] [ 6.33674795e-02 9.97951794e-01 -8.76243035e-03 2.72052095e+01] [-7.11952426e-02 1.32780797e-02 9.97374017e-01 8.45953768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199072329 meters Centerline goodness : 0.750645 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.22, Z:84.60 [[ 9.95979171e-01 -6.16202863e-02 6.50263953e-02 -1.57167879e+02] [ 6.30266073e-02 9.97815419e-01 -1.97999018e-02 2.72188130e+01] [-6.36642643e-02 2.38186828e-02 9.97687091e-01 8.45990440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259072329 meters Centerline goodness : 0.751352 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.22, Z:84.60 [[ 9.95899260e-01 -6.20984114e-02 6.57909640e-02 -1.57170157e+02] [ 6.35307575e-02 9.97781347e-01 -1.99054349e-02 2.72178224e+01] [-6.44089008e-02 2.40035576e-02 9.97634864e-01 8.45995796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319072329 meters Centerline goodness : 0.752368 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.22, Z:84.60 [[ 9.96105610e-01 -5.83313796e-02 6.61140201e-02 -1.57171314e+02] [ 5.94509520e-02 9.98117116e-01 -1.50932958e-02 2.72153396e+01] [-6.51091223e-02 1.89650580e-02 9.97697915e-01 8.45988388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37907232899994 meters Centerline goodness : 0.750216 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.22, Z:84.60 [[ 9.96184465e-01 -5.77619701e-02 6.54222167e-02 -1.57169150e+02] [ 5.88455285e-02 9.98158023e-01 -1.47568754e-02 2.72155781e+01] [-6.44493243e-02 1.85503749e-02 9.97748550e-01 8.45979931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43907232899994 meters Centerline goodness : 0.753423 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.22, Z:84.60 [[ 9.96291442e-01 -5.67136231e-02 6.47064752e-02 -1.57166303e+02] [ 5.77594988e-02 9.98226562e-01 -1.44073585e-02 2.72176513e+01] [-6.37746287e-02 1.80913416e-02 9.97800331e-01 8.45965472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49907232899994 meters Centerline goodness : 0.757053 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.22, Z:84.60 [[ 9.96376281e-01 -5.60352242e-02 6.39871946e-02 -1.57164535e+02] [ 5.70771887e-02 9.98263413e-01 -1.45723350e-02 2.72200782e+01] [-6.30595112e-02 1.81717381e-02 9.97844320e-01 8.45968065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.55907232899995 meters Centerline goodness : 0.758127 with order 1 Centerline is valid? [False, False] Translation: X:-157.16, Y:27.22, Z:84.60 [[ 9.96161710e-01 -5.95312226e-02 6.41707114e-02 -1.57164242e+02] [ 6.08033661e-02 9.97986448e-01 -1.80554610e-02 2.72185591e+01] [-6.29666367e-02 2.18879541e-02 9.97775586e-01 8.45965365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.61907232899995 meters Centerline goodness : 0.760050 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.22, Z:84.60 [[ 9.95788085e-01 -6.41481457e-02 6.55065206e-02 -1.57166807e+02] [ 6.56825934e-02 9.97607976e-01 -2.15435379e-02 2.72150405e+01] [-6.39678494e-02 2.57554365e-02 9.97619553e-01 8.45961062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.67907232899995 meters Centerline goodness : 0.759856 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.21, Z:84.59 [[ 9.95469729e-01 -6.80148797e-02 6.64379042e-02 -1.57167412e+02] [ 6.97677372e-02 9.97264153e-01 -2.44268548e-02 2.72113829e+01] [-6.45947507e-02 2.89514167e-02 9.97491521e-01 8.45942681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.73907232899995 meters Centerline goodness : 0.760878 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.21, Z:84.59 [[ 9.95350493e-01 -6.89028097e-02 6.73037832e-02 -1.57169841e+02] [ 7.07104390e-02 9.97187237e-01 -2.48525086e-02 2.72117280e+01] [-6.54020660e-02 2.94960368e-02 9.97422956e-01 8.45948563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.79907232899996 meters Centerline goodness : 0.760535 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.21, Z:84.60 [[ 9.95033343e-01 -7.28321583e-02 6.78536882e-02 -1.57171110e+02] [ 7.49230096e-02 9.96773542e-01 -2.87931923e-02 2.72102719e+01] [-6.55376908e-02 3.37339889e-02 9.97279715e-01 8.45957940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.85907232899996 meters Centerline goodness : 0.760612 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.21, Z:84.60 [[ 9.94889437e-01 -7.37994042e-02 6.89104989e-02 -1.57173815e+02] [ 7.59173296e-02 9.96702854e-01 -2.86352960e-02 2.72071794e+01] [-6.65700231e-02 3.37204546e-02 9.97211794e-01 8.45956660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91907232899996 meters Centerline goodness : 0.757845 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.20, Z:84.59 [[ 9.94848434e-01 -7.37766761e-02 6.95240684e-02 -1.57174550e+02] [ 7.58299545e-02 9.96745094e-01 -2.73685303e-02 2.72029869e+01] [-6.72786149e-02 3.24995464e-02 9.97204777e-01 8.45939539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97907232899996 meters Centerline goodness : 0.760408 with order 1 Centerline is valid? [False, False] Translation: X:-157.18, Y:27.20, Z:84.59 [[ 9.94782939e-01 -7.41900895e-02 7.00195341e-02 -1.57176140e+02] [ 7.62981454e-02 9.96693934e-01 -2.79247944e-02 2.72043611e+01] [-6.77163020e-02 3.31214697e-02 9.97154687e-01 8.45947550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03907232899996 meters Centerline goodness : 0.762349 with order 1 Centerline is valid? [False, False] Translation: X:-157.18, Y:27.21, Z:84.60 [[ 9.94470803e-01 -7.73974934e-02 7.09749895e-02 -1.57182025e+02] [ 7.98016513e-02 9.96307106e-01 -3.16835498e-02 2.72061932e+01] [-6.82606590e-02 3.71722866e-02 9.96974776e-01 8.46006667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09907232899997 meters Centerline goodness : 0.761826 with order 1 Centerline is valid? [False, False] Translation: X:-157.17, Y:27.20, Z:84.61 [[ 9.94201636e-01 -8.34083184e-02 6.78686924e-02 -1.57172836e+02] [ 8.52872487e-02 9.96035899e-01 -2.52700141e-02 2.72023040e+01] [-6.54919247e-02 3.09118234e-02 9.97374186e-01 8.46063372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15907232899997 meters Centerline goodness : 0.760977 with order 1 Centerline is valid? [False, False] Translation: X:-157.18, Y:27.20, Z:84.60 [[ 9.93491386e-01 -8.82994356e-02 7.19588438e-02 -1.57182795e+02] [ 9.02038892e-02 9.95642375e-01 -2.36541769e-02 2.72009701e+01] [-6.95566237e-02 2.99911885e-02 9.97127076e-01 8.46011179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21907232899997 meters Centerline goodness : 0.759426 with order 1 Centerline is valid? [False, False] Translation: X:-157.18, Y:27.20, Z:84.60 [[ 9.93386321e-01 -8.88353180e-02 7.27454715e-02 -1.57184299e+02] [ 9.07120218e-02 9.95613665e-01 -2.29076119e-02 2.71971688e+01] [-7.03913805e-02 2.93549971e-02 9.97087427e-01 8.46000434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279072329 meters Centerline goodness : 0.761207 with order 1 Centerline is valid? [False, False] Translation: X:-157.18, Y:27.20, Z:84.60 [[ 9.93408924e-01 -8.87555485e-02 7.25338762e-02 -1.57183241e+02] [ 9.06421998e-02 9.95614646e-01 -2.31401675e-02 2.71986386e+01] [-7.01619712e-02 2.95622790e-02 9.97097472e-01 8.45992298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339072329 meters Centerline goodness : 0.761927 with order 1 Centerline is valid? [False, False] Translation: X:-157.18, Y:27.20, Z:84.60 [[ 9.93717288e-01 -8.51554571e-02 7.26257450e-02 -1.57184014e+02] [ 8.67460260e-02 9.96048693e-01 -1.90296706e-02 2.71983785e+01] [-7.07182980e-02 2.52101074e-02 9.97177704e-01 8.45985749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399072329 meters Centerline goodness : 0.758685 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.20, Z:84.60 [[ 9.93976065e-01 -8.18983841e-02 7.28301977e-02 -1.57185645e+02] [ 8.32342606e-02 9.96409530e-01 -1.54953922e-02 2.71993190e+01] [-7.12996555e-02 2.14640166e-02 9.97223974e-01 8.45990315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459072329 meters Centerline goodness : 0.760199 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.20, Z:84.60 [[ 9.94294385e-01 -7.83006171e-02 7.24409380e-02 -1.57185394e+02] [ 7.93951717e-02 9.96766701e-01 -1.23511044e-02 2.72027169e+01] [-7.12396158e-02 1.80320945e-02 9.97296225e-01 8.45990139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519072329 meters Centerline goodness : 0.761284 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.22, Z:84.61 [[ 9.95089008e-01 -7.71619922e-02 6.19991420e-02 -1.57192203e+02] [ 7.84425596e-02 9.96747161e-01 -1.84894834e-02 2.72176576e+01] [-6.03707835e-02 2.32620530e-02 9.97904928e-01 8.46055262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579072329 meters Centerline goodness : 0.762652 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.22, Z:84.61 [[ 9.95102502e-01 -7.70214389e-02 6.19573090e-02 -1.57192931e+02] [ 7.82977637e-02 9.96759475e-01 -1.84393343e-02 2.72174929e+01] [-6.03363108e-02 2.32001464e-02 9.97908454e-01 8.46068903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639072329 meters Centerline goodness : 0.763799 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.22, Z:84.61 [[ 9.95202217e-01 -7.62433602e-02 6.13147463e-02 -1.57191425e+02] [ 7.74707147e-02 9.96834069e-01 -1.78920735e-02 2.72171184e+01] [-5.97564763e-02 2.25563284e-02 9.97958103e-01 8.46068815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699072329 meters Centerline goodness : 0.762671 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.22, Z:84.61 [[ 9.95565609e-01 -7.19708118e-02 6.05749106e-02 -1.57189784e+02] [ 7.29437521e-02 9.97237736e-01 -1.40038433e-02 2.72194979e+01] [-5.93997187e-02 1.83603061e-02 9.98065415e-01 8.46060080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759072329 meters Centerline goodness : 0.763728 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.22, Z:84.61 [[ 9.95616523e-01 -7.16527912e-02 6.01133681e-02 -1.57188524e+02] [ 7.26336164e-02 9.97256310e-01 -1.42901727e-02 2.72216043e+01] [-5.89245050e-02 1.85937833e-02 9.98089262e-01 8.46059524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819072329 meters Centerline goodness : 0.763681 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.22, Z:84.61 [[ 9.95707572e-01 -7.08884349e-02 5.95084951e-02 -1.57186581e+02] [ 7.18256647e-02 9.97322305e-01 -1.37583871e-02 2.72216083e+01] [-5.83738390e-02 1.79735674e-02 9.98132980e-01 8.46052372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87907232899994 meters Centerline goodness : 0.764569 with order 1 Centerline is valid? [False, False] Translation: X:-157.19, Y:27.22, Z:84.61 [[ 9.95720745e-01 -7.08339712e-02 5.93527298e-02 -1.57186122e+02] [ 7.17763851e-02 9.97323932e-01 -1.38969337e-02 2.72227045e+01] [-5.82095229e-02 1.80975896e-02 9.98140335e-01 8.46051283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93907232899994 meters Centerline goodness : 0.763667 with order 1 Centerline is valid? [False, False] Translation: X:-157.20, Y:27.23, Z:84.60 [[ 9.96085194e-01 -6.27287215e-02 6.22847853e-02 -1.57197204e+02] [ 6.40216986e-02 9.97767941e-01 -1.89831070e-02 2.72293978e+01] [-6.09549759e-02 2.28963696e-02 9.97877872e-01 8.46009858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99907232899994 meters Centerline goodness : 0.764532 with order 1 Centerline is valid? [False, False] Translation: X:-157.20, Y:27.23, Z:84.60 [[ 9.96008405e-01 -6.34133257e-02 6.28172502e-02 -1.57199204e+02] [ 6.47706298e-02 9.97703533e-01 -1.98097277e-02 2.72307936e+01] [-6.14167918e-02 2.37993682e-02 9.97828426e-01 8.46021981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.05907232899995 meters Centerline goodness : 0.763895 with order 1 Centerline is valid? [False, False] Translation: X:-157.20, Y:27.23, Z:84.60 [[ 9.96073089e-01 -6.29466751e-02 6.22584809e-02 -1.57197521e+02] [ 6.42780479e-02 9.97739215e-01 -1.96160820e-02 2.72317323e+01] [-6.08829608e-02 2.35409050e-02 9.97867271e-01 8.46018049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.11907232899995 meters Centerline goodness : 0.763075 with order 1 Centerline is valid? [False, False] Translation: X:-157.20, Y:27.23, Z:84.60 [[ 9.96099805e-01 -6.28011906e-02 6.19773183e-02 -1.57196764e+02] [ 6.41411659e-02 9.97742979e-01 -1.98710752e-02 2.72335765e+01] [-6.05895069e-02 2.37688716e-02 9.97879728e-01 8.46018944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.17907232899995 meters Centerline goodness : 0.762554 with order 1 Centerline is valid? [False, False] Translation: X:-157.20, Y:27.23, Z:84.60 [[ 9.96072934e-01 -6.27045602e-02 6.25047921e-02 -1.57197326e+02] [ 6.39966910e-02 9.97771360e-01 -1.88874708e-02 2.72300039e+01] [-6.11811609e-02 2.28133983e-02 9.97865930e-01 8.46003565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.23907232899995 meters Centerline goodness : 0.764107 with order 1 Centerline is valid? [False, False] Translation: X:-157.20, Y:27.23, Z:84.60 [[ 9.95918926e-01 -6.40798961e-02 6.35551650e-02 -1.57199675e+02] [ 6.53957022e-02 9.97681508e-01 -1.88417445e-02 2.72269531e+01] [-6.22004358e-02 2.29210846e-02 9.97800446e-01 8.45996393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.29907232899996 meters Centerline goodness : 0.764438 with order 1 Centerline is valid? [False, False] Translation: X:-157.20, Y:27.23, Z:84.60 [[ 9.95711656e-01 -6.59324266e-02 6.48938544e-02 -1.57203692e+02] [ 6.73450574e-02 9.97532768e-01 -1.98247237e-02 2.72261250e+01] [-6.34266541e-02 2.41099888e-02 9.97695228e-01 8.46006637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.35907232899996 meters Centerline goodness : 0.764100 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.23, Z:84.60 [[ 9.95639610e-01 -6.63995670e-02 6.55199535e-02 -1.57205287e+02] [ 6.78377546e-02 9.97496427e-01 -1.99729181e-02 2.72259320e+01] [-6.40297264e-02 2.43305549e-02 9.97651351e-01 8.46007691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41907232899996 meters Centerline goodness : 0.765112 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.23, Z:84.60 [[ 9.95495938e-01 -6.75374607e-02 6.65321690e-02 -1.57207588e+02] [ 6.90357449e-02 9.97403918e-01 -2.04814560e-02 2.72262304e+01] [-6.49761805e-02 2.49823041e-02 9.97574048e-01 8.46005666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47907232899996 meters Centerline goodness : 0.767242 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.23, Z:84.60 [[ 9.95288348e-01 -6.93362040e-02 6.77760657e-02 -1.57211246e+02] [ 7.09447841e-02 9.97245930e-01 -2.16192807e-02 2.72258702e+01] [-6.60904068e-02 2.63257765e-02 9.97466296e-01 8.46014519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53907232899996 meters Centerline goodness : 0.765928 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.22, Z:84.60 [[ 9.94919646e-01 -7.33168770e-02 6.89893725e-02 -1.57213113e+02] [ 7.51529531e-02 9.96873391e-01 -2.44023924e-02 2.72204588e+01] [-6.69845625e-02 2.94631747e-02 9.97318901e-01 8.46005032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59907232899997 meters Centerline goodness : 0.764149 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.22, Z:84.60 [[ 9.94809529e-01 -7.40326248e-02 6.98081069e-02 -1.57214476e+02] [ 7.58363471e-02 9.96842172e-01 -2.35485288e-02 2.72165266e+01] [-6.78443055e-02 2.87202926e-02 9.97282455e-01 8.45989439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65907232899997 meters Centerline goodness : 0.765271 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.22, Z:84.60 [[ 9.95090423e-01 -7.03893008e-02 6.95729514e-02 -1.57214558e+02] [ 7.19425088e-02 9.97206752e-01 -2.00741172e-02 2.72194238e+01] [-6.79656137e-02 2.49808145e-02 9.97374871e-01 8.45989215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71907232899997 meters Centerline goodness : 0.766301 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.22, Z:84.60 [[ 9.95457172e-01 -6.61553004e-02 6.84725914e-02 -1.57213510e+02] [ 6.74520837e-02 9.97581051e-01 -1.68006845e-02 2.72230425e+01] [-6.71955054e-02 2.13429808e-02 9.97511524e-01 8.46007063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779072329 meters Centerline goodness : 0.767117 with order 1 Centerline is valid? [False, False] Translation: X:-157.21, Y:27.23, Z:84.60 [[ 9.95704055e-01 -6.27873866e-02 6.80527692e-02 -1.57213703e+02] [ 6.39019052e-02 9.97853382e-01 -1.43238856e-02 2.72282361e+01] [-6.70073266e-02 1.86110526e-02 9.97578893e-01 8.46018229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839072329 meters Centerline goodness : 0.768931 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.24, Z:84.60 [[ 9.96503382e-01 -5.71946833e-02 6.09079485e-02 -1.57223212e+02] [ 5.86428491e-02 9.98030842e-01 -2.22588279e-02 2.72411387e+01] [-5.95149245e-02 2.57528129e-02 9.97895168e-01 8.46044710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899072329 meters Centerline goodness : 0.769587 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.24, Z:84.61 [[ 9.96524997e-01 -5.70958245e-02 6.06465012e-02 -1.57223164e+02] [ 5.85540391e-02 9.98029646e-01 -2.25443852e-02 2.72424353e+01] [-5.92398158e-02 2.60171410e-02 9.97904681e-01 8.46054827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959072329 meters Centerline goodness : 0.766427 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.24, Z:84.60 [[ 9.96456190e-01 -5.75636399e-02 6.13309719e-02 -1.57224280e+02] [ 5.90082718e-02 9.98014859e-01 -2.20082889e-02 2.72401735e+01] [-5.99423440e-02 2.55493304e-02 9.97874815e-01 8.46042467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019072329 meters Centerline goodness : 0.764029 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.23, Z:84.60 [[ 9.96250002e-01 -6.05346547e-02 6.18181882e-02 -1.57223711e+02] [ 6.21057077e-02 9.97785405e-01 -2.38152640e-02 2.72336116e+01] [-6.02396372e-02 2.75652191e-02 9.97803260e-01 8.46018993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079072329 meters Centerline goodness : 0.765004 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.23, Z:84.60 [[ 9.95944184e-01 -6.45186078e-02 6.27099058e-02 -1.57224457e+02] [ 6.63090626e-02 9.97436456e-01 -2.69002749e-02 2.72301792e+01] [-6.08135779e-02 3.09494074e-02 9.97669205e-01 8.46003585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139072329 meters Centerline goodness : 0.762825 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.23, Z:84.60 [[ 9.95835239e-01 -6.52500023e-02 6.36758515e-02 -1.57226852e+02] [ 6.70522222e-02 9.97395182e-01 -2.65866530e-02 2.72276561e+01] [-6.17752083e-02 3.07455333e-02 9.97616427e-01 8.46000738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199072329 meters Centerline goodness : 0.765270 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.23, Z:84.60 [[ 9.95489660e-01 -6.96907232e-02 6.43703326e-02 -1.57228707e+02] [ 7.18142456e-02 9.96927295e-01 -3.12838964e-02 2.72282767e+01] [-6.19923442e-02 3.57655023e-02 9.97435601e-01 8.46014901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259072329 meters Centerline goodness : 0.765778 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.23, Z:84.60 [[ 9.95388449e-01 -7.02400228e-02 6.53312677e-02 -1.57230509e+02] [ 7.23724031e-02 9.96900025e-01 -3.08638363e-02 2.72265242e+01] [-6.29608658e-02 3.54496870e-02 9.97386209e-01 8.46004145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319072329 meters Centerline goodness : 0.766762 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.22, Z:84.61 [[ 9.95082145e-01 -7.68291027e-02 6.25205072e-02 -1.57221370e+02] [ 7.85039429e-02 9.96605664e-01 -2.47847162e-02 2.72211682e+01] [-6.04041040e-02 2.95709349e-02 9.97735889e-01 8.46056486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37907232899994 meters Centerline goodness : 0.766929 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.22, Z:84.60 [[ 9.94771522e-01 -8.02984974e-02 6.31012636e-02 -1.57221792e+02] [ 8.21761323e-02 9.96231624e-01 -2.77422933e-02 2.72173656e+01] [-6.06358099e-02 3.27826611e-02 9.97621469e-01 8.46049733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43907232899994 meters Centerline goodness : 0.768840 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.22, Z:84.61 [[ 9.94652866e-01 -8.10386329e-02 6.40188678e-02 -1.57224286e+02] [ 8.29588868e-02 9.96161647e-01 -2.79248380e-02 2.72163521e+01] [-6.15101501e-02 3.30864542e-02 9.97557912e-01 8.46052724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49907232899994 meters Centerline goodness : 0.767606 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.22, Z:84.60 [[ 9.94778523e-01 -7.87903581e-02 6.48673221e-02 -1.57226887e+02] [ 8.05371170e-02 9.96443918e-01 -2.47647220e-02 2.72172984e+01] [-6.26854273e-02 2.98596407e-02 9.97586557e-01 8.46049482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.55907232899995 meters Centerline goodness : 0.766755 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.21, Z:84.60 [[ 9.94748294e-01 -7.86738798e-02 6.54694713e-02 -1.57227752e+02] [ 8.03827105e-02 9.96477843e-01 -2.38857299e-02 2.72147641e+01] [-6.33596945e-02 2.90229026e-02 9.97568654e-01 8.46038351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.61907232899995 meters Centerline goodness : 0.770266 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.22, Z:84.60 [[ 9.94618677e-01 -7.95161057e-02 6.64144235e-02 -1.57229762e+02] [ 8.12975502e-02 9.96387196e-01 -2.45614159e-02 2.72159539e+01] [-6.42214531e-02 2.98285729e-02 9.97489780e-01 8.46034893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.67907232899995 meters Centerline goodness : 0.771450 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.22, Z:84.60 [[ 9.94805799e-01 -7.67724601e-02 6.68386989e-02 -1.57232458e+02] [ 7.83870790e-02 9.96682967e-01 -2.18753128e-02 2.72190712e+01] [-6.49375711e-02 2.70009784e-02 9.97523964e-01 8.46049592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.73907232899995 meters Centerline goodness : 0.773145 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.22, Z:84.61 [[ 9.95068645e-01 -7.33629952e-02 6.67552376e-02 -1.57233924e+02] [ 7.47633151e-02 9.97025526e-01 -1.87229021e-02 2.72215107e+01] [-6.51831077e-02 2.36214157e-02 9.97593700e-01 8.46065115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.79907232899996 meters Centerline goodness : 0.774482 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.22, Z:84.61 [[ 9.95254805e-01 -7.03975750e-02 6.71718290e-02 -1.57236396e+02] [ 7.16016941e-02 9.97309938e-01 -1.56870654e-02 2.72235089e+01] [-6.58868013e-02 2.04222439e-02 9.97618094e-01 8.46076265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.85907232899996 meters Centerline goodness : 0.773588 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.23, Z:84.61 [[ 9.95509382e-01 -6.68618452e-02 6.70116662e-02 -1.57237155e+02] [ 6.78286663e-02 9.97621712e-01 -1.22552570e-02 2.72253801e+01] [-6.60328841e-02 1.67455353e-02 9.97676924e-01 8.46083383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91907232899996 meters Centerline goodness : 0.773117 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.23, Z:84.61 [[ 9.96643828e-01 -6.13308248e-02 5.42181727e-02 -1.57227882e+02] [ 6.20494096e-02 9.98004856e-01 -1.16695198e-02 2.72317810e+01] [-5.33942984e-02 1.49945605e-02 9.98460922e-01 8.46107061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97907232899996 meters Centerline goodness : 0.775022 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.24, Z:84.61 [[ 9.96975550e-01 -5.34446879e-02 5.64217824e-02 -1.57238357e+02] [ 5.45525779e-02 9.98343545e-01 -1.82806550e-02 2.72406802e+01] [-5.53513183e-02 2.13033198e-02 9.98239651e-01 8.46072019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03907232899996 meters Centerline goodness : 0.774806 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.24, Z:84.61 [[ 9.97013380e-01 -5.31097141e-02 5.60685107e-02 -1.57237313e+02] [ 5.42154001e-02 9.98359981e-01 -1.83858323e-02 2.72419320e+01] [-5.50000910e-02 2.13706976e-02 9.98257624e-01 8.46070459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09907232899997 meters Centerline goodness : 0.773985 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.24, Z:84.61 [[ 9.97067943e-01 -5.25970018e-02 5.55794176e-02 -1.57236067e+02] [ 5.36775287e-02 9.98393732e-01 -1.81294850e-02 2.72424162e+01] [-5.45365856e-02 2.10596941e-02 9.98289662e-01 8.46070791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15907232899997 meters Centerline goodness : 0.776222 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.24, Z:84.61 [[ 9.96952975e-01 -5.37036380e-02 5.65745880e-02 -1.57238519e+02] [ 5.48574151e-02 9.98312626e-01 -1.90411165e-02 2.72437444e+01] [-5.54565483e-02 2.20866334e-02 9.98216786e-01 8.46072719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21907232899997 meters Centerline goodness : 0.775052 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.24, Z:84.61 [[ 9.97173841e-01 -4.95709419e-02 5.64539854e-02 -1.57238172e+02] [ 5.04649163e-02 9.98620270e-01 -1.45206224e-02 2.72432068e+01] [-5.56562932e-02 1.73285305e-02 9.98299604e-01 8.46062549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279072329 meters Centerline goodness : 0.776843 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.61 [[ 9.97227307e-01 -4.90735771e-02 5.59417716e-02 -1.57236770e+02] [ 4.99958796e-02 9.98633639e-01 -1.52074465e-02 2.72472541e+01] [-5.51190512e-02 1.79621390e-02 9.98318212e-01 8.46065509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339072329 meters Centerline goodness : 0.777015 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.61 [[ 9.97376675e-01 -4.57462233e-02 5.60985787e-02 -1.57238193e+02] [ 4.64950126e-02 9.98845049e-01 -1.21153234e-02 2.72500199e+01] [-5.54795574e-02 1.46918451e-02 9.98351726e-01 8.46074662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399072329 meters Centerline goodness : 0.776676 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.61 [[ 9.97595067e-01 -4.16521845e-02 5.54001640e-02 -1.57236948e+02] [ 4.21911054e-02 9.99072601e-01 -8.59351948e-03 2.72530627e+01] [-5.49908471e-02 1.09102468e-02 9.98427250e-01 8.46076651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459072329 meters Centerline goodness : 0.777340 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.25, Z:84.61 [[ 9.97710458e-01 -4.01870066e-02 5.43952778e-02 -1.57233601e+02] [ 4.06693863e-02 9.99142291e-01 -7.78990605e-03 2.72539905e+01] [-5.40355695e-02 9.98429330e-03 9.98489094e-01 8.46066490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519072329 meters Centerline goodness : 0.777941 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97686780e-01 -4.05002428e-02 5.45968766e-02 -1.57234290e+02] [ 4.10157081e-02 9.99123580e-01 -8.35363080e-03 2.72555404e+01] [-5.42107027e-02 1.05736366e-02 9.98473534e-01 8.46070308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579072329 meters Centerline goodness : 0.780452 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97687773e-01 -4.05567626e-02 5.45367390e-02 -1.57234829e+02] [ 4.10941057e-02 9.99116814e-01 -8.76736315e-03 2.72566069e+01] [-5.41329971e-02 1.09882295e-02 9.98473273e-01 8.46081746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639072329 meters Centerline goodness : 0.781131 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97693308e-01 -4.05186854e-02 5.44637500e-02 -1.57234735e+02] [ 4.10674734e-02 9.99115889e-01 -8.99462487e-03 2.72578372e+01] [-5.40511476e-02 1.12105656e-02 9.98475236e-01 8.46084374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699072329 meters Centerline goodness : 0.780692 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97610009e-01 -4.30972903e-02 5.40082653e-02 -1.57232930e+02] [ 4.37871368e-02 9.98972898e-01 -1.16549001e-02 2.72552046e+01] [-5.34504986e-02 1.39919123e-02 9.98472469e-01 8.46079642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759072329 meters Centerline goodness : 0.783263 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.25, Z:84.61 [[ 9.97576298e-01 -4.33210280e-02 5.44501385e-02 -1.57234071e+02] [ 4.40220801e-02 9.98961554e-01 -1.17417935e-02 2.72548778e+01] [-5.38849284e-02 1.41103433e-02 9.98447451e-01 8.46079996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819072329 meters Centerline goodness : 0.784715 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97710098e-01 -4.13937762e-02 5.34893983e-02 -1.57230685e+02] [ 4.20203842e-02 9.99060064e-01 -1.06430985e-02 2.72559000e+01] [-5.29985636e-02 1.28663720e-02 9.98511697e-01 8.46068433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87907232899994 meters Centerline goodness : 0.784399 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97898044e-01 -3.73245501e-02 5.29751954e-02 -1.57229531e+02] [ 3.77416501e-02 9.99263744e-01 -6.89472063e-03 2.72579340e+01] [-5.26788497e-02 8.87959953e-03 9.98572026e-01 8.46064285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93907232899994 meters Centerline goodness : 0.784096 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97986094e-01 -3.61356773e-02 5.21341456e-02 -1.57226777e+02] [ 3.65153291e-02 9.99312932e-01 -6.34787343e-03 2.72588732e+01] [-5.18689411e-02 8.23878489e-03 9.98619915e-01 8.46056522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99907232899994 meters Centerline goodness : 0.783707 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.98016088e-01 -3.58464096e-02 5.17583216e-02 -1.57225858e+02] [ 3.62240117e-02 9.99323357e-01 -6.37563248e-03 2.72597568e+01] [-5.14947561e-02 8.23787784e-03 9.98639288e-01 8.46056872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.05907232899995 meters Centerline goodness : 0.786420 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.26, Z:84.61 [[ 9.97910416e-01 -3.90507695e-02 5.14765859e-02 -1.57224540e+02] [ 3.96202345e-02 9.99163879e-01 -1.00885930e-02 2.72603234e+01] [-5.10395779e-02 1.21070265e-02 9.98623243e-01 8.46055341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.11907232899995 meters Centerline goodness : 0.784237 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97877110e-01 -3.91953665e-02 5.20095796e-02 -1.57225881e+02] [ 3.97611119e-02 9.99160292e-01 -9.88759303e-03 2.72590739e+01] [-5.15783589e-02 1.19345615e-02 9.98597636e-01 8.46054574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.17907232899995 meters Centerline goodness : 0.785512 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.60 [[ 9.97819610e-01 -3.97019006e-02 5.27236635e-02 -1.57227373e+02] [ 4.02731325e-02 9.99140489e-01 -9.81617935e-03 2.72579782e+01] [-5.22886260e-02 1.19181233e-02 9.98560893e-01 8.46049144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.23907232899995 meters Centerline goodness : 0.782715 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.60 [[ 9.97826776e-01 -3.95986788e-02 5.26656350e-02 -1.57226842e+02] [ 4.01529087e-02 9.99148317e-01 -9.50703746e-03 2.72573846e+01] [-5.22443145e-02 1.16010550e-02 9.98566947e-01 8.46042377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.29907232899996 meters Centerline goodness : 0.784949 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.60 [[ 9.97851359e-01 -3.93798054e-02 5.23631162e-02 -1.57226119e+02] [ 3.99336990e-02 9.99156466e-01 -9.57369794e-03 2.72583066e+01] [-5.19419358e-02 1.16441804e-02 9.98582219e-01 8.46043430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.35907232899996 meters Centerline goodness : 0.786180 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97794589e-01 -4.02041565e-02 5.28165139e-02 -1.57228096e+02] [ 4.08291862e-02 9.99107680e-01 -1.08083529e-02 2.72610359e+01] [-5.23348440e-02 1.29409713e-02 9.98545740e-01 8.46057841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41907232899996 meters Centerline goodness : 0.784805 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97801602e-01 -4.00107634e-02 5.28308859e-02 -1.57228450e+02] [ 4.06174452e-02 9.99120021e-01 -1.04597354e-02 2.72597608e+01] [-5.23658939e-02 1.25825963e-02 9.98548693e-01 8.46061327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47907232899996 meters Centerline goodness : 0.781869 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97867611e-01 -3.93399552e-02 5.20826081e-02 -1.57226690e+02] [ 3.99196988e-02 9.99151462e-01 -1.01377557e-02 2.72600911e+01] [-5.16395952e-02 1.21952600e-02 9.98591322e-01 8.46063251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53907232899996 meters Centerline goodness : 0.782329 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.26, Z:84.61 [[ 9.97951488e-01 -3.82231266e-02 5.13012786e-02 -1.57223830e+02] [ 3.87626495e-02 9.99202685e-01 -9.56297817e-03 2.72619081e+01] [-5.08948484e-02 1.15319618e-02 9.98637436e-01 8.46052194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59907232899997 meters Centerline goodness : 0.780760 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.26, Z:84.60 [[ 9.98091238e-01 -3.45857548e-02 5.11635321e-02 -1.57223548e+02] [ 3.49391268e-02 9.99371261e-01 -6.02825792e-03 2.72642595e+01] [-5.09228718e-02 7.80436054e-03 9.98672095e-01 8.46048395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65907232899997 meters Centerline goodness : 0.779241 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.27, Z:84.61 [[ 9.98110619e-01 -3.44411377e-02 5.08822144e-02 -1.57223262e+02] [ 3.48068420e-02 9.99374084e-01 -6.31847795e-03 2.72652138e+01] [-5.06327509e-02 8.07758914e-03 9.98684674e-01 8.46054679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71907232899997 meters Centerline goodness : 0.779928 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.27, Z:84.61 [[ 9.97998109e-01 -3.80674535e-02 5.05039005e-02 -1.57222485e+02] [ 3.86448435e-02 9.99197784e-01 -1.05054383e-02 2.72658828e+01] [-5.00634702e-02 1.24361229e-02 9.98668610e-01 8.46062425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779072329 meters Centerline goodness : 0.780052 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.27, Z:84.61 [[ 9.98089659e-01 -3.68977979e-02 4.95538533e-02 -1.57220565e+02] [ 3.74437361e-02 9.99247351e-01 -1.01340049e-02 2.72664346e+01] [-4.91426341e-02 1.19701269e-02 9.98720040e-01 8.46070763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839072329 meters Centerline goodness : 0.777063 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.27, Z:84.61 [[ 9.98022799e-01 -3.76690515e-02 5.03143598e-02 -1.57222873e+02] [ 3.82428227e-02 9.99213416e-01 -1.04897956e-02 2.72659483e+01] [-4.98796426e-02 1.23932183e-02 9.98678341e-01 8.46075619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899072329 meters Centerline goodness : 0.774484 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.26, Z:84.61 [[ 9.97861447e-01 -4.12525074e-02 5.07026896e-02 -1.57222562e+02] [ 4.19887743e-02 9.99026298e-01 -1.35424650e-02 2.72631758e+01] [-5.00946597e-02 1.56424475e-02 9.98621970e-01 8.46060220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959072329 meters Centerline goodness : 0.775188 with order 1 Centerline is valid? [False, False] Translation: X:-157.22, Y:27.26, Z:84.61 [[ 9.97657893e-01 -4.52919453e-02 5.12578621e-02 -1.57222915e+02] [ 4.62309899e-02 9.98781228e-01 -1.72845138e-02 2.72623631e+01] [-5.04125412e-02 1.96137333e-02 9.98535867e-01 8.46051303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019072329 meters Centerline goodness : 0.775011 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.61 [[ 9.97544954e-01 -4.66039422e-02 5.22698600e-02 -1.57225704e+02] [ 4.75658504e-02 9.98718078e-01 -1.73115905e-02 2.72593600e+01] [-5.13960657e-02 1.97553501e-02 9.98482935e-01 8.46051316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079072329 meters Centerline goodness : 0.775923 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.26, Z:84.60 [[ 9.97463210e-01 -4.72953980e-02 5.32004616e-02 -1.57228012e+02] [ 4.82692622e-02 9.98686748e-01 -1.71713923e-02 2.72576266e+01] [-5.23184682e-02 1.96957791e-02 9.98436204e-01 8.46049011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139072329 meters Centerline goodness : 0.776713 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.25, Z:84.60 [[ 9.97261272e-01 -5.09481847e-02 5.36119261e-02 -1.57228401e+02] [ 5.20987751e-02 9.98435865e-01 -2.02864544e-02 2.72544013e+01] [-5.24945118e-02 2.30240110e-02 9.98355759e-01 8.46043916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199072329 meters Centerline goodness : 0.772303 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.25, Z:84.60 [[ 9.97218390e-01 -5.10319633e-02 5.43251434e-02 -1.57229863e+02] [ 5.21270715e-02 9.98460931e-01 -1.89351136e-02 2.72489939e+01] [-5.32752372e-02 2.17142541e-02 9.98343749e-01 8.46033400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259072329 meters Centerline goodness : 0.774901 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.25, Z:84.60 [[ 9.96872747e-01 -5.59868446e-02 5.57691686e-02 -1.57232736e+02] [ 5.73412979e-02 9.98089919e-01 -2.29889019e-02 2.72464275e+01] [-5.43755688e-02 2.61148863e-02 9.98178997e-01 8.46028759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319072329 meters Centerline goodness : 0.774790 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.25, Z:84.60 [[ 9.96840907e-01 -5.61414126e-02 5.61813856e-02 -1.57233879e+02] [ 5.75010534e-02 9.98083159e-01 -2.28830916e-02 2.72459400e+01] [-5.47890058e-02 2.60412906e-02 9.98158312e-01 8.46030225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37907232899994 meters Centerline goodness : 0.775889 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.25, Z:84.60 [[ 9.96844209e-01 -5.60696796e-02 5.61944315e-02 -1.57233587e+02] [ 5.74257117e-02 9.98089106e-01 -2.28127897e-02 2.72466199e+01] [-5.48079441e-02 2.59678025e-02 9.98159187e-01 8.46025627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43907232899994 meters Centerline goodness : 0.773517 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.24, Z:84.60 [[ 9.96795939e-01 -5.63512634e-02 5.67661144e-02 -1.57234560e+02] [ 5.76951017e-02 9.98084757e-01 -2.23179991e-02 2.72445732e+01] [-5.53997460e-02 2.55216176e-02 9.98138024e-01 8.46015389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49907232899994 meters Centerline goodness : 0.772402 with order 1 Centerline is valid? [False, False] Translation: X:-157.23, Y:27.24, Z:84.60 [[ 9.96816264e-01 -5.60157233e-02 5.67412947e-02 -1.57234182e+02] [ 5.73431039e-02 9.98111204e-01 -2.20406948e-02 2.72446584e+01] [-5.53994965e-02 2.52242450e-02 9.98145597e-01 8.46010386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.55907232899995 meters Centerline goodness : 0.774353 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.24, Z:84.60 [[ 9.96772114e-01 -5.63235363e-02 5.72102411e-02 -1.57235432e+02] [ 5.76745754e-02 9.98087595e-01 -2.22440182e-02 2.72449858e+01] [-5.58479702e-02 2.54717934e-02 9.98114318e-01 8.46011976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.61907232899995 meters Centerline goodness : 0.775381 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.60 [[ 9.96747427e-01 -5.64386970e-02 5.75259946e-02 -1.57236393e+02] [ 5.78004243e-02 9.98079338e-01 -2.22877822e-02 2.72450168e+01] [-5.61576132e-02 2.55403165e-02 9.98095193e-01 8.46014475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.67907232899995 meters Centerline goodness : 0.772543 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.24, Z:84.60 [[ 9.96714424e-01 -5.66835211e-02 5.78561538e-02 -1.57236582e+02] [ 5.80477361e-02 9.98067468e-01 -2.21763365e-02 2.72447965e+01] [-5.64873120e-02 2.54618932e-02 9.98078592e-01 8.46004405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.73907232899995 meters Centerline goodness : 0.772242 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.60 [[ 9.96905039e-01 -5.30577385e-02 5.80105185e-02 -1.57237392e+02] [ 5.41953228e-02 9.98364208e-01 -1.82146851e-02 2.72450273e+01] [-5.69491953e-02 2.13022101e-02 9.98149791e-01 8.46001960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.79907232899996 meters Centerline goodness : 0.772565 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.60 [[ 9.97080319e-01 -4.96023858e-02 5.80554977e-02 -1.57238227e+02] [ 5.05446550e-02 9.98611017e-01 -1.48752802e-02 2.72477536e+01] [-5.72370103e-02 1.77662442e-02 9.98202527e-01 8.46006062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.85907232899996 meters Centerline goodness : 0.776371 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.60 [[ 9.97203725e-01 -4.67287248e-02 5.83194365e-02 -1.57240661e+02] [ 4.75293080e-02 9.98792675e-01 -1.24160139e-02 2.72514855e+01] [-5.76688415e-02 1.51531777e-02 9.98220760e-01 8.46027544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91907232899996 meters Centerline goodness : 0.775232 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.60 [[ 9.97236503e-01 -4.64766950e-02 5.79592353e-02 -1.57239995e+02] [ 4.72731677e-02 9.98804450e-01 -1.24466565e-02 2.72522405e+01] [-5.73114627e-02 1.51521768e-02 9.98241357e-01 8.46031311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97907232899996 meters Centerline goodness : 0.775474 with order 1 Centerline is valid? [False, False] Translation: X:-157.24, Y:27.25, Z:84.60 [[ 9.97321253e-01 -4.53591910e-02 5.73834630e-02 -1.57237328e+02] [ 4.60834483e-02 9.98872987e-01 -1.13609699e-02 2.72514868e+01] [-5.68034667e-02 1.39749646e-02 9.98287567e-01 8.46012640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03907232899996 meters Centerline goodness : 0.770992 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.97845615e-01 -4.58007943e-02 4.69725025e-02 -1.57246428e+02] [ 4.66023333e-02 9.98783562e-01 -1.61126917e-02 2.72656484e+01] [-4.61773893e-02 1.82670070e-02 9.98766221e-01 8.46060328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09907232899997 meters Centerline goodness : 0.771322 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.97875825e-01 -4.54483789e-02 4.66720678e-02 -1.57245704e+02] [ 4.62417178e-02 9.98801156e-01 -1.60609764e-02 2.72664714e+01] [-4.58861699e-02 1.81850567e-02 9.98781139e-01 8.46061339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15907232899997 meters Centerline goodness : 0.771739 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.98034901e-01 -4.15987702e-02 4.68602091e-02 -1.57247023e+02] [ 4.22033564e-02 9.99037132e-01 -1.19868556e-02 2.72663033e+01] [-4.63164504e-02 1.39409584e-02 9.98829533e-01 8.46065907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21907232899997 meters Centerline goodness : 0.772836 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.98217715e-01 -3.75239416e-02 4.64041680e-02 -1.57246987e+02] [ 3.79539626e-02 9.99244011e-01 -8.42044968e-03 2.72688829e+01] [-4.60531185e-02 1.01666641e-02 9.98887256e-01 8.46078041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279072329 meters Centerline goodness : 0.771987 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.98237066e-01 -3.72896005e-02 4.61762459e-02 -1.57246329e+02] [ 3.77131244e-02 9.99253849e-01 -8.33462830e-03 2.72693179e+01] [-4.58309965e-02 1.00613854e-02 9.98898538e-01 8.46076826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339072329 meters Centerline goodness : 0.772111 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.98246325e-01 -3.70009201e-02 4.62082871e-02 -1.57246035e+02] [ 3.74025677e-02 9.99269386e-01 -7.85766163e-03 2.72684390e+01] [-4.58837860e-02 9.57219044e-03 9.98900922e-01 8.46070402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399072329 meters Centerline goodness : 0.769611 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.98208839e-01 -3.73861563e-02 4.67053390e-02 -1.57247062e+02] [ 3.77880244e-02 9.99255717e-01 -7.75092292e-03 2.72673614e+01] [-4.63807998e-02 9.50194226e-03 9.98878639e-01 8.46065368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459072329 meters Centerline goodness : 0.770567 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.27, Z:84.61 [[ 9.98221311e-01 -3.69467730e-02 4.67883540e-02 -1.57246991e+02] [ 3.73116758e-02 9.99279512e-01 -6.94952252e-03 2.72651672e+01] [-4.64978811e-02 8.68291338e-03 9.98880651e-01 8.46059481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519072329 meters Centerline goodness : 0.770612 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.26, Z:84.61 [[ 9.98039871e-01 -4.08280219e-02 4.74287789e-02 -1.57248224e+02] [ 4.13656073e-02 9.99089861e-01 -1.04085059e-02 2.72625794e+01] [-4.69606534e-02 1.23500241e-02 9.98820391e-01 8.46058654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579072329 meters Centerline goodness : 0.771649 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.26, Z:84.61 [[ 9.97908829e-01 -4.29664614e-02 4.82892477e-02 -1.57251746e+02] [ 4.35926655e-02 9.98977439e-01 -1.19898383e-02 2.72616151e+01] [-4.77247081e-02 1.40698226e-02 9.98761429e-01 8.46076316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639072329 meters Centerline goodness : 0.772160 with order 1 Centerline is valid? [False, False] Translation: X:-157.25, Y:27.26, Z:84.61 [[ 9.97815152e-01 -4.39816269e-02 4.93004917e-02 -1.57254361e+02] [ 4.46194680e-02 9.98933031e-01 -1.19122833e-02 2.72589525e+01] [-4.87239680e-02 1.40860185e-02 9.98712951e-01 8.46074396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699072329 meters Centerline goodness : 0.772825 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.26, Z:84.61 [[ 9.97694736e-01 -4.52897287e-02 5.05376470e-02 -1.57257281e+02] [ 4.59605719e-02 9.98868859e-01 -1.21913270e-02 2.72577825e+01] [-4.99283399e-02 1.44859619e-02 9.98647745e-01 8.46070761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759072329 meters Centerline goodness : 0.770423 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.61 [[ 9.97513675e-01 -4.86081927e-02 5.10265816e-02 -1.57257345e+02] [ 4.94049291e-02 9.98674007e-01 -1.44699852e-02 2.72520136e+01] [-5.02555608e-02 1.69549728e-02 9.98592463e-01 8.46056553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819072329 meters Centerline goodness : 0.769856 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.61 [[ 9.97514584e-01 -4.84756222e-02 5.11348116e-02 -1.57257496e+02] [ 4.92557630e-02 9.98686560e-01 -1.41076020e-02 2.72512214e+01] [-5.03837743e-02 1.65912229e-02 9.98592112e-01 8.46054548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87907232899994 meters Centerline goodness : 0.770654 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.61 [[ 9.97434815e-01 -4.91958709e-02 5.19957298e-02 -1.57259986e+02] [ 5.00116126e-02 9.98643302e-01 -1.45049713e-02 2.72512641e+01] [-5.12116026e-02 1.70681536e-02 9.98541962e-01 8.46060222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93907232899994 meters Centerline goodness : 0.770727 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.61 [[ 9.97361233e-01 -4.98877466e-02 5.27426220e-02 -1.57261895e+02] [ 5.07201303e-02 9.98606734e-01 -1.45622638e-02 2.72499472e+01] [-5.19426590e-02 1.71989500e-02 9.98501956e-01 8.46059818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99907232899994 meters Centerline goodness : 0.768363 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.60 [[ 9.97512747e-01 -4.74800576e-02 5.20957118e-02 -1.57257989e+02] [ 4.81595026e-02 9.98769188e-01 -1.18646839e-02 2.72476739e+01] [-5.14682559e-02 1.43440770e-02 9.98571613e-01 8.46025085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.05907232899995 meters Centerline goodness : 0.768788 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.60 [[ 9.97546720e-01 -4.71206659e-02 5.17704884e-02 -1.57256962e+02] [ 4.77934638e-02 9.98787124e-01 -1.18349025e-02 2.72489994e+01] [-5.11500287e-02 1.42801591e-02 9.98588880e-01 8.46022613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.11907232899995 meters Centerline goodness : 0.770006 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.60 [[ 9.97551887e-01 -4.70942587e-02 5.16949007e-02 -1.57257770e+02] [ 4.77777487e-02 9.98785114e-01 -1.20657710e-02 2.72499358e+01] [-5.10638687e-02 1.45060986e-02 9.98590033e-01 8.46038579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.17907232899995 meters Centerline goodness : 0.771784 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.60 [[ 9.97509100e-01 -4.74989864e-02 5.21482628e-02 -1.57259156e+02] [ 4.82175665e-02 9.98757276e-01 -1.26083406e-02 2.72511524e+01] [-5.14845735e-02 1.50913969e-02 9.98559757e-01 8.46043572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.23907232899995 meters Centerline goodness : 0.770046 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.60 [[ 9.97594395e-01 -4.63392717e-02 5.15567177e-02 -1.57256687e+02] [ 4.69796398e-02 9.98832175e-01 -1.12782544e-02 2.72488293e+01] [-5.09738824e-02 1.36732394e-02 9.98606382e-01 8.46027357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.29907232899996 meters Centerline goodness : 0.771560 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.60 [[ 9.97559695e-01 -4.66862523e-02 5.19138631e-02 -1.57257617e+02] [ 4.73433550e-02 9.98812473e-01 -1.15000431e-02 2.72491930e+01] [-5.13153201e-02 1.39297559e-02 9.98585349e-01 8.46029023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.35907232899996 meters Centerline goodness : 0.770885 with order 1 Centerline is valid? [False, False] Translation: X:-157.26, Y:27.25, Z:84.60 [[ 9.97379217e-01 -5.01934553e-02 5.21086865e-02 -1.57257583e+02] [ 5.10359906e-02 9.98584683e-01 -1.49652730e-02 2.72474706e+01] [-5.12837774e-02 1.75854707e-02 9.98529281e-01 8.46028548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41907232899996 meters Centerline goodness : 0.770935 with order 1 Centerline is valid? [False, False] Translation: X:-157.27, Y:27.25, Z:84.60 [[ 9.96817200e-01 -5.62546283e-02 5.64879369e-02 -1.57271097e+02] [ 5.71483586e-02 9.98262826e-01 -1.43316003e-02 2.72478024e+01] [-5.55835887e-02 1.75141785e-02 9.98300415e-01 8.46003825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47907232899996 meters Centerline goodness : 0.769872 with order 1 Centerline is valid? [False, False] Translation: X:-157.27, Y:27.25, Z:84.60 [[ 9.96693403e-01 -5.73455581e-02 5.75651619e-02 -1.57273373e+02] [ 5.82630800e-02 9.98197579e-01 -1.43876976e-02 2.72460750e+01] [-5.66363347e-02 1.76940469e-02 9.98238071e-01 8.45997174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53907232899996 meters Centerline goodness : 0.770006 with order 1 Centerline is valid? [False, False] Translation: X:-157.28, Y:27.24, Z:84.60 [[ 9.96039294e-01 -6.42885079e-02 6.14224066e-02 -1.57281531e+02] [ 6.54094147e-02 9.97723502e-01 -1.64140753e-02 2.72429843e+01] [-6.02273422e-02 2.03666676e-02 9.97976887e-01 8.45953223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59907232899997 meters Centerline goodness : 0.768260 with order 1 Centerline is valid? [False, False] Translation: X:-157.28, Y:27.24, Z:84.59 [[ 9.95736436e-01 -6.82086251e-02 6.21009868e-02 -1.57282073e+02] [ 6.95549600e-02 9.97382004e-01 -1.97799241e-02 2.72403202e+01] [-6.05892453e-02 2.40150228e-02 9.97873851e-01 8.45945484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65907232899997 meters Centerline goodness : 0.767857 with order 1 Centerline is valid? [False, False] Translation: X:-157.28, Y:27.24, Z:84.59 [[ 9.95576237e-01 -6.94406962e-02 6.32925379e-02 -1.57284796e+02] [ 7.08519518e-02 9.97279649e-01 -2.03298284e-02 2.72405174e+01] [-6.17086426e-02 2.47242940e-02 9.97787930e-01 8.45944268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71907232899997 meters Centerline goodness : 0.767539 with order 1 Centerline is valid? [False, False] Translation: X:-157.29, Y:27.23, Z:84.59 [[ 9.95273135e-01 -7.29183336e-02 6.41428320e-02 -1.57285536e+02] [ 7.45042690e-02 9.96962580e-01 -2.26876078e-02 2.72347103e+01] [-6.22936608e-02 2.73592813e-02 9.97682800e-01 8.45930724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779072329 meters Centerline goodness : 0.768610 with order 1 Centerline is valid? [False, False] Translation: X:-157.29, Y:27.24, Z:84.60 [[ 9.95029724e-01 -7.52036941e-02 6.52706158e-02 -1.57289658e+02] [ 7.69639024e-02 9.96723342e-01 -2.48824556e-02 2.72365681e+01] [-6.31854937e-02 2.97822642e-02 9.97557322e-01 8.45953057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839072329 meters Centerline goodness : 0.765854 with order 1 Centerline is valid? [False, False] Translation: X:-157.29, Y:27.24, Z:84.60 [[ 9.95161318e-01 -7.28074676e-02 6.59774440e-02 -1.57292440e+02] [ 7.43898639e-02 9.96989831e-01 -2.18500464e-02 2.72375992e+01] [-6.41879942e-02 2.66523741e-02 9.97581852e-01 8.45958826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899072329 meters Centerline goodness : 0.765672 with order 1 Centerline is valid? [False, False] Translation: X:-157.30, Y:27.24, Z:84.60 [[ 9.94958586e-01 -7.43825406e-02 6.72655242e-02 -1.57295219e+02] [ 7.60316453e-02 9.96856132e-01 -2.22944309e-02 2.72364997e+01] [-6.53957338e-02 2.72963439e-02 9.97485994e-01 8.45953250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959072329 meters Centerline goodness : 0.763420 with order 1 Centerline is valid? [False, False] Translation: X:-157.30, Y:27.23, Z:84.59 [[ 9.94912953e-01 -7.44648038e-02 6.78469507e-02 -1.57295673e+02] [ 7.60897926e-02 9.96865108e-01 -2.16863926e-02 2.72347751e+01] [-6.60193849e-02 2.67385333e-02 9.97460020e-01 8.45937261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019072329 meters Centerline goodness : 0.763638 with order 1 Centerline is valid? [False, False] Translation: X:-157.30, Y:27.23, Z:84.59 [[ 9.94796738e-01 -7.52179306e-02 6.87147171e-02 -1.57297771e+02] [ 7.68956525e-02 9.96794135e-01 -2.21022846e-02 2.72349516e+01] [-6.68319389e-02 2.72711436e-02 9.97391486e-01 8.45938085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079072329 meters Centerline goodness : 0.766238 with order 1 Centerline is valid? [False, False] Translation: X:-157.30, Y:27.24, Z:84.60 [[ 9.94749188e-01 -7.56027114e-02 6.89803158e-02 -1.57299547e+02] [ 7.73457050e-02 9.96740081e-01 -2.29532806e-02 2.72372687e+01] [-6.70201153e-02 2.81680884e-02 9.97353931e-01 8.45958058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139072329 meters Centerline goodness : 0.766264 with order 1 Centerline is valid? [False, False] Translation: X:-157.30, Y:27.23, Z:84.60 [[ 9.94271266e-01 -8.04963697e-02 7.03205822e-02 -1.57302843e+02] [ 8.25577017e-02 9.96222867e-01 -2.69114149e-02 2.72330603e+01] [-6.78887008e-02 3.25627522e-02 9.97161367e-01 8.45968667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199072329 meters Centerline goodness : 0.768532 with order 1 Centerline is valid? [False, False] Translation: X:-157.30, Y:27.23, Z:84.60 [[ 9.94153449e-01 -8.11609218e-02 7.12167444e-02 -1.57304516e+02] [ 8.32487357e-02 9.96167011e-01 -2.68502143e-02 2.72318089e+01] [-6.87645833e-02 3.26219371e-02 9.97099414e-01 8.45960426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259072329 meters Centerline goodness : 0.766267 with order 1 Centerline is valid? [False, False] Translation: X:-157.31, Y:27.23, Z:84.60 [[ 9.94132224e-01 -8.10847143e-02 7.15988182e-02 -1.57305159e+02] [ 8.31463398e-02 9.96190391e-01 -2.62943224e-02 2.72299912e+01] [-6.91939871e-02 3.20932128e-02 9.97086866e-01 8.45954776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319072329 meters Centerline goodness : 0.766352 with order 1 Centerline is valid? [False, False] Translation: X:-157.30, Y:27.23, Z:84.59 [[ 9.94150080e-01 -8.07950667e-02 7.16782720e-02 -1.57304909e+02] [ 8.28111169e-02 9.96236128e-01 -2.56104676e-02 2.72282092e+01] [-6.93392847e-02 3.13964061e-02 9.97098957e-01 8.45946561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37907232899994 meters Centerline goodness : 0.766695 with order 1 Centerline is valid? [False, False] Translation: X:-157.31, Y:27.23, Z:84.60 [[ 9.94361228e-01 -7.79007756e-02 7.19528872e-02 -1.57307231e+02] [ 7.97204202e-02 9.96557180e-01 -2.27693103e-02 2.72310002e+01] [-6.99314194e-02 2.83770337e-02 9.97148104e-01 8.45962093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43907232899994 meters Centerline goodness : 0.767111 with order 1 Centerline is valid? [False, False] Translation: X:-157.31, Y:27.23, Z:84.60 [[ 9.94632297e-01 -7.45444763e-02 7.17615114e-02 -1.57307875e+02] [ 7.61373957e-02 9.96902307e-01 -1.97202152e-02 2.72345962e+01] [-7.00691832e-02 2.50780975e-02 9.97226854e-01 8.45969456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49907232899994 meters Centerline goodness : 0.766182 with order 1 Centerline is valid? [False, False] Translation: X:-157.31, Y:27.23, Z:84.60 [[ 9.94680752e-01 -7.41648788e-02 7.14826675e-02 -1.57307301e+02] [ 7.57158655e-02 9.96943913e-01 -1.92338879e-02 2.72336033e+01] [-6.98377313e-02 2.45439502e-02 9.97256379e-01 8.45969737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.55907232899995 meters Centerline goodness : 0.766245 with order 1 Centerline is valid? [False, False] Translation: X:-157.31, Y:27.23, Z:84.60 [[ 9.94568733e-01 -7.49646027e-02 7.22034949e-02 -1.57309843e+02] [ 7.65901972e-02 9.96861827e-01 -2.00110067e-02 2.72343215e+01] [-7.04767907e-02 2.54324015e-02 9.97189157e-01 8.45982862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.61907232899995 meters Centerline goodness : 0.766264 with order 1 Centerline is valid? [False, False] Translation: X:-157.31, Y:27.23, Z:84.60 [[ 9.94596617e-01 -7.47671861e-02 7.20238628e-02 -1.57309289e+02] [ 7.63771608e-02 9.96881172e-01 -1.98609962e-02 2.72342431e+01] [-7.03142819e-02 2.52546578e-02 9.97205146e-01 8.45981530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.67907232899995 meters Centerline goodness : 0.765948 with order 1 Centerline is valid? [False, False] Translation: X:-157.32, Y:27.25, Z:84.60 [[ 9.94936194e-01 -7.83746601e-02 6.29236235e-02 -1.57320275e+02] [ 7.98317764e-02 9.96587481e-01 -2.09828771e-02 2.72455761e+01] [-6.10643695e-02 2.58999286e-02 9.97797743e-01 8.45985491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.73907232899995 meters Centerline goodness : 0.765812 with order 1 Centerline is valid? [False, False] Translation: X:-157.32, Y:27.25, Z:84.60 [[ 9.95093307e-01 -7.56732376e-02 6.37406627e-02 -1.57322974e+02] [ 7.69566256e-02 9.96873344e-01 -1.79224628e-02 2.72474910e+01] [-6.21851168e-02 2.27397891e-02 9.97805549e-01 8.45987204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.79907232899996 meters Centerline goodness : 0.766553 with order 1 Centerline is valid? [False, False] Translation: X:-157.32, Y:27.25, Z:84.60 [[ 9.95069089e-01 -7.58388044e-02 6.39217022e-02 -1.57323795e+02] [ 7.71503492e-02 9.96851471e-01 -1.83021406e-02 2.72485843e+01] [-6.23324304e-02 2.31434760e-02 9.97787075e-01 8.45994304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.85907232899996 meters Centerline goodness : 0.766098 with order 1 Centerline is valid? [False, False] Translation: X:-157.32, Y:27.25, Z:84.60 [[ 9.95375894e-01 -7.19320523e-02 6.36601043e-02 -1.57324617e+02] [ 7.29871652e-02 9.97228863e-01 -1.44037811e-02 2.72490852e+01] [-6.24475999e-02 1.89835471e-02 9.97867688e-01 8.46004866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91907232899996 meters Centerline goodness : 0.766569 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.26, Z:84.60 [[ 9.96096581e-01 -6.81251841e-02 5.61298483e-02 -1.57332042e+02] [ 6.95545374e-02 9.97291439e-01 -2.39155117e-02 2.72605587e+01] [-5.43485686e-02 2.77262450e-02 9.98137009e-01 8.46014744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97907232899996 meters Centerline goodness : 0.764898 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.26, Z:84.60 [[ 9.96359334e-01 -6.44627096e-02 5.57909997e-02 -1.57332306e+02] [ 6.56877983e-02 9.97631494e-01 -2.04086978e-02 2.72626745e+01] [-5.43432584e-02 2.39991845e-02 9.98233865e-01 8.46022369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03907232899996 meters Centerline goodness : 0.765949 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.27, Z:84.60 [[ 9.96856413e-01 -5.70717392e-02 5.49555159e-02 -1.57332760e+02] [ 5.79110552e-02 9.98226335e-01 -1.38019567e-02 2.72680311e+01] [-5.40703415e-02 1.69411009e-02 9.98393408e-01 8.46043891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09907232899997 meters Centerline goodness : 0.767249 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.27, Z:84.61 [[ 9.97126004e-01 -5.30921275e-02 5.40458918e-02 -1.57331612e+02] [ 5.37744899e-02 9.98489734e-01 -1.12496619e-02 2.72734519e+01] [-5.33669997e-02 1.41236206e-02 9.98475081e-01 8.46057109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15907232899997 meters Centerline goodness : 0.768207 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.28, Z:84.61 [[ 9.97290372e-01 -4.99002942e-02 5.40543656e-02 -1.57332633e+02] [ 5.04253577e-02 9.98692567e-01 -8.39286144e-03 2.72770115e+01] [-5.35648869e-02 1.10958306e-02 9.98502722e-01 8.46065511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21907232899997 meters Centerline goodness : 0.768237 with order 1 Centerline is valid? [False, False] Translation: X:-157.32, Y:27.28, Z:84.61 [[ 9.97973560e-01 -4.80619079e-02 4.16992334e-02 -1.57322694e+02] [ 4.85166075e-02 9.98772705e-01 -9.96109025e-03 2.72786835e+01] [-4.11693072e-02 1.19640100e-02 9.99080553e-01 8.46103099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279072329 meters Centerline goodness : 0.768040 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.29, Z:84.61 [[ 9.98436790e-01 -3.49619672e-02 4.36077552e-02 -1.57332636e+02] [ 3.54898213e-02 9.99305135e-01 -1.13894863e-02 2.72889249e+01] [-4.31792548e-02 1.29193135e-02 9.98983805e-01 8.46074799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339072329 meters Centerline goodness : 0.767744 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.29, Z:84.61 [[ 9.98494374e-01 -3.41333986e-02 4.29406063e-02 -1.57330745e+02] [ 3.46725631e-02 9.99328181e-01 -1.18743548e-02 2.72928036e+01] [-4.25064459e-02 1.33453373e-02 9.99007059e-01 8.46077636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399072329 meters Centerline goodness : 0.768804 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.29, Z:84.61 [[ 9.98530356e-01 -3.37790219e-02 4.23804944e-02 -1.57329908e+02] [ 3.43174815e-02 9.99338424e-01 -1.20426265e-02 2.72942907e+01] [-4.19456683e-02 1.34793200e-02 9.99028963e-01 8.46087292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459072329 meters Centerline goodness : 0.769839 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.30, Z:84.61 [[ 9.98560597e-01 -3.35361908e-02 4.18575952e-02 -1.57328676e+02] [ 3.40696190e-02 9.99346259e-01 -1.20960660e-02 2.72954334e+01] [-4.14245752e-02 1.35047272e-02 9.99050363e-01 8.46089477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519072329 meters Centerline goodness : 0.769719 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.30, Z:84.61 [[ 9.98720623e-01 -2.91792117e-02 4.13000045e-02 -1.57327589e+02] [ 2.95357412e-02 9.99531318e-01 -8.04885899e-03 2.72966242e+01] [-4.10457886e-02 9.25838772e-03 9.99114371e-01 8.46089622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579072329 meters Centerline goodness : 0.768291 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.30, Z:84.61 [[ 9.98700720e-01 -2.93467293e-02 4.16610254e-02 -1.57328395e+02] [ 2.97013991e-02 9.99527440e-01 -7.91981137e-03 2.72953673e+01] [-4.14089175e-02 9.14691206e-03 9.99100413e-01 8.46086530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639072329 meters Centerline goodness : 0.768419 with order 1 Centerline is valid? [False, False] Translation: X:-157.33, Y:27.30, Z:84.61 [[ 9.98849957e-01 -2.51729596e-02 4.08054652e-02 -1.57326605e+02] [ 2.53745478e-02 9.99668200e-01 -4.42976754e-03 2.72986122e+01] [-4.06804156e-02 5.46009335e-03 9.99157291e-01 8.46089801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699072329 meters Centerline goodness : 0.768643 with order 1 Centerline is valid? [False, False] Translation: X:-157.32, Y:27.30, Z:84.61 [[ 9.99019882e-01 -1.99599753e-02 3.95079109e-02 -1.57323924e+02] [ 2.00256132e-02 9.99798665e-01 -1.26630415e-03 2.73039215e+01] [-3.94746812e-02 2.05623316e-03 9.99218455e-01 8.46103640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759072329 meters Centerline goodness : 0.770206 with order 1 Centerline is valid? [False, False] Translation: X:-157.34, Y:27.32, Z:84.61 [[ 9.99058285e-01 -1.22038946e-02 4.16366311e-02 -1.57337322e+02] [ 1.25876702e-02 9.99880560e-01 -8.96756747e-03 2.73153570e+01] [-4.15222187e-02 9.48323076e-03 9.99092575e-01 8.46103506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819072329 meters Centerline goodness : 0.771915 with order 1 Centerline is valid? [False, False] Translation: X:-157.34, Y:27.32, Z:84.61 [[ 9.99059580e-01 -1.23559096e-02 4.15606526e-02 -1.57337364e+02] [ 1.27518039e-02 9.99875683e-01 -9.27411440e-03 2.73161161e+01] [-4.14408958e-02 9.79536612e-03 9.99092940e-01 8.46107070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87907232899994 meters Centerline goodness : 0.773495 with order 1 Centerline is valid? [False, False] Translation: X:-157.34, Y:27.31, Z:84.61 [[ 9.99048699e-01 -1.23079496e-02 4.18355209e-02 -1.57338233e+02] [ 1.26921607e-02 9.99879569e-01 -8.93066972e-03 2.73146729e+01] [-4.17205644e-02 9.45315712e-03 9.99084597e-01 8.46108568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93907232899994 meters Centerline goodness : 0.772486 with order 1 Centerline is valid? [False, False] Translation: X:-157.35, Y:27.32, Z:84.61 [[ 9.98864639e-01 -1.55197521e-02 4.50396488e-02 -1.57353505e+02] [ 1.57864844e-02 9.99859857e-01 -5.57251170e-03 2.73203151e+01] [-4.49468528e-02 6.27720260e-03 9.98969658e-01 8.46113803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99907232899994 meters Centerline goodness : 0.774334 with order 1 Centerline is valid? [False, False] Translation: X:-157.35, Y:27.32, Z:84.61 [[ 9.98855157e-01 -1.59682742e-02 4.50931212e-02 -1.57353721e+02] [ 1.62681810e-02 9.99847869e-01 -6.29168169e-03 2.73226444e+01] [-4.49857938e-02 7.01806176e-03 9.98962975e-01 8.46116917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.05907232899995 meters Centerline goodness : 0.775397 with order 1 Centerline is valid? [False, False] Translation: X:-157.35, Y:27.32, Z:84.61 [[ 9.98833648e-01 -1.87189024e-02 4.45078132e-02 -1.57351733e+02] [ 1.91350250e-02 9.99776923e-01 -8.94180531e-03 2.73192888e+01] [-4.43305037e-02 9.78303414e-03 9.98969018e-01 8.46109470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.11907232899995 meters Centerline goodness : 0.776552 with order 1 Centerline is valid? [False, False] Translation: X:-157.35, Y:27.32, Z:84.61 [[ 9.98841516e-01 -1.86865110e-02 4.43445717e-02 -1.57352202e+02] [ 1.90974217e-02 9.99778363e-01 -8.86079836e-03 2.73186460e+01] [-4.41691659e-02 9.69740025e-03 9.98976999e-01 8.46122004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.17907232899995 meters Centerline goodness : 0.773279 with order 1 Centerline is valid? [False, False] Translation: X:-157.35, Y:27.32, Z:84.61 [[ 9.98721635e-01 -2.30578920e-02 4.49825506e-02 -1.57353492e+02] [ 2.36609364e-02 9.99636550e-01 -1.29200645e-02 2.73174113e+01] [-4.46682923e-02 1.39678772e-02 9.98904221e-01 8.46120427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.23907232899995 meters Centerline goodness : 0.773289 with order 1 Centerline is valid? [False, False] Translation: X:-157.36, Y:27.32, Z:84.61 [[ 9.98925425e-01 -2.99267087e-02 3.53890800e-02 -1.57362982e+02] [ 3.04297912e-02 9.99442141e-01 -1.37635185e-02 2.73213736e+01] [-3.49574411e-02 1.48256109e-02 9.99278829e-01 8.46146634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.29907232899996 meters Centerline goodness : 0.775294 with order 1 Centerline is valid? [False, False] Translation: X:-157.36, Y:27.32, Z:84.61 [[ 9.98778163e-01 -3.39324961e-02 3.59272327e-02 -1.57363487e+02] [ 3.45683053e-02 9.99253866e-01 -1.72262236e-02 2.73193226e+01] [-3.53158974e-02 1.84471195e-02 9.99205930e-01 8.46138618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.35907232899996 meters Centerline goodness : 0.776049 with order 1 Centerline is valid? [False, False] Translation: X:-157.37, Y:27.32, Z:84.62 [[ 9.98680468e-01 -3.56395393e-02 3.69749338e-02 -1.57367410e+02] [ 3.63331029e-02 9.99172929e-01 -1.82582431e-02 2.73188061e+01] [-3.62936376e-02 1.95775648e-02 9.99149384e-01 8.46155364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41907232899996 meters Centerline goodness : 0.774142 with order 1 Centerline is valid? [False, False] Translation: X:-157.37, Y:27.32, Z:84.61 [[ 9.98453022e-01 -4.04357167e-02 3.81643337e-02 -1.57369678e+02] [ 4.12977029e-02 9.98903007e-01 -2.20744636e-02 2.73161515e+01] [-3.72298709e-02 2.36164142e-02 9.99027628e-01 8.46148925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47907232899996 meters Centerline goodness : 0.775698 with order 1 Centerline is valid? [False, False] Translation: X:-157.37, Y:27.31, Z:84.61 [[ 9.97955765e-01 -5.12116228e-02 3.82316696e-02 -1.57369239e+02] [ 5.17670581e-02 9.98565462e-01 -1.36817540e-02 2.73054499e+01] [-3.74761600e-02 1.56329263e-02 9.99175234e-01 8.46144796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53907232899996 meters Centerline goodness : 0.772793 with order 1 Centerline is valid? [False, False] Translation: X:-157.38, Y:27.30, Z:84.61 [[ 9.97208465e-01 -6.10554864e-02 4.29826141e-02 -1.57381471e+02] [ 6.17502063e-02 9.97978556e-01 -1.50238014e-02 2.73011032e+01] [-4.19784416e-02 1.76360472e-02 9.98962852e-01 8.46083682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59907232899997 meters Centerline goodness : 0.771596 with order 1 Centerline is valid? [False, False] Translation: X:-157.38, Y:27.30, Z:84.61 [[ 9.96970970e-01 -6.44206094e-02 4.35760244e-02 -1.57380724e+02] [ 6.52179683e-02 9.97724010e-01 -1.71294282e-02 2.72957486e+01] [-4.23733576e-02 1.99194825e-02 9.98903255e-01 8.46056658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65907232899997 meters Centerline goodness : 0.771201 with order 1 Centerline is valid? [False, False] Translation: X:-157.38, Y:27.30, Z:84.60 [[ 9.96876665e-01 -6.53001993e-02 4.44162002e-02 -1.57382095e+02] [ 6.61317083e-02 9.97657168e-01 -1.75148899e-02 2.72962099e+01] [-4.31684147e-02 2.03975042e-02 9.98859565e-01 8.46047247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71907232899997 meters Centerline goodness : 0.772840 with order 1 Centerline is valid? [False, False] Translation: X:-157.39, Y:27.30, Z:84.61 [[ 9.96970091e-01 -6.34115828e-02 4.50511736e-02 -1.57385832e+02] [ 6.41687283e-02 9.97817712e-01 -1.55623566e-02 2.72990122e+01] [-4.39660253e-02 1.84060806e-02 9.98863457e-01 8.46069824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779072329 meters Centerline goodness : 0.772867 with order 1 Centerline is valid? [False, False] Translation: X:-157.39, Y:27.30, Z:84.61 [[ 9.97187995e-01 -5.98607387e-02 4.50865143e-02 -1.57387186e+02] [ 6.04578029e-02 9.98098664e-01 -1.19963119e-02 2.73002300e+01] [-4.42826816e-02 1.46884098e-02 9.98911054e-01 8.46079133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839072329 meters Centerline goodness : 0.772994 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.31, Z:84.60 [[ 9.97368598e-01 -5.40631792e-02 4.83016826e-02 -1.57398480e+02] [ 5.50145488e-02 9.98312518e-01 -1.85880642e-02 2.73070578e+01] [-4.72152445e-02 2.11964468e-02 9.98659818e-01 8.46025414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899072329 meters Centerline goodness : 0.771561 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.31, Z:84.60 [[ 9.97552825e-01 -5.03594031e-02 4.85004379e-02 -1.57399310e+02] [ 5.11168925e-02 9.98587324e-01 -1.45058250e-02 2.73069583e+01] [-4.77014178e-02 1.69495184e-02 9.98717822e-01 8.46020908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959072329 meters Centerline goodness : 0.773202 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.31, Z:84.60 [[ 9.97714695e-01 -4.68300907e-02 4.87065751e-02 -1.57399812e+02] [ 4.74159179e-02 9.98815300e-01 -1.09419925e-02 2.73086541e+01] [-4.81364579e-02 1.32264537e-02 9.98753194e-01 8.46013244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019072329 meters Centerline goodness : 0.774390 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.31, Z:84.60 [[ 9.97802719e-01 -4.57333639e-02 4.79394750e-02 -1.57397685e+02] [ 4.63025862e-02 9.98868743e-01 -1.08307125e-02 2.73117206e+01] [-4.73899182e-02 1.30266360e-02 9.98791521e-01 8.46013772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079072329 meters Centerline goodness : 0.773692 with order 1 Centerline is valid? [False, False] Translation: X:-157.39, Y:27.31, Z:84.60 [[ 9.97918431e-01 -4.42785883e-02 4.68850822e-02 -1.57394643e+02] [ 4.47827526e-02 9.98949097e-01 -9.75744162e-03 2.73111066e+01] [-4.64037648e-02 1.18367739e-02 9.98852632e-01 8.46006218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139072329 meters Centerline goodness : 0.777924 with order 1 Centerline is valid? [False, False] Translation: X:-157.39, Y:27.31, Z:84.60 [[ 9.97904937e-01 -4.46479408e-02 4.68219904e-02 -1.57394947e+02] [ 4.52013713e-02 9.98919212e-01 -1.08279420e-02 2.73148254e+01] [-4.62879404e-02 1.29216749e-02 9.98844561e-01 8.46015751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199072329 meters Centerline goodness : 0.777468 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.31, Z:84.60 [[ 9.97878973e-01 -4.47890965e-02 4.72386688e-02 -1.57395975e+02] [ 4.53389236e-02 9.98915080e-01 -1.06322768e-02 2.73136933e+01] [-4.67112086e-02 1.27514759e-02 9.98827044e-01 8.46014504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259072329 meters Centerline goodness : 0.776162 with order 1 Centerline is valid? [False, False] Translation: X:-157.39, Y:27.31, Z:84.60 [[ 9.97751831e-01 -4.75196788e-02 4.72563680e-02 -1.57394277e+02] [ 4.81778861e-02 9.98755625e-01 -1.28877348e-02 2.73098365e+01] [-4.65851423e-02 1.51354729e-02 9.98799651e-01 8.45994131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319072329 meters Centerline goodness : 0.777978 with order 1 Centerline is valid? [False, False] Translation: X:-157.39, Y:27.31, Z:84.60 [[ 9.97596487e-01 -5.04052354e-02 4.75453523e-02 -1.57392779e+02] [ 5.11747951e-02 9.98575413e-01 -1.51090909e-02 2.73056086e+01] [-4.67160425e-02 1.75058997e-02 9.98754802e-01 8.45966455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37907232899994 meters Centerline goodness : 0.778339 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.30, Z:84.60 [[ 9.97441438e-01 -5.22451626e-02 4.87956985e-02 -1.57396773e+02] [ 5.30874343e-02 9.98459638e-01 -1.61268440e-02 2.73044653e+01] [-4.78779858e-02 1.86760209e-02 9.98678579e-01 8.45977634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43907232899994 meters Centerline goodness : 0.779428 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.31, Z:84.60 [[ 9.97049948e-01 -5.79850836e-02 5.02904625e-02 -1.57401134e+02] [ 5.91347061e-02 9.98014561e-01 -2.16800139e-02 2.73054085e+01] [-4.89334965e-02 2.45899684e-02 9.98499297e-01 8.45997511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49907232899994 meters Centerline goodness : 0.779237 with order 1 Centerline is valid? [False, False] Translation: X:-157.41, Y:27.30, Z:84.60 [[ 9.96884687e-01 -5.97696840e-02 5.14636320e-02 -1.57405139e+02] [ 6.10018604e-02 9.97879196e-01 -2.27130546e-02 2.73040376e+01] [-4.99969357e-02 2.57816736e-02 9.98416552e-01 8.46011488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.55907232899995 meters Centerline goodness : 0.777808 with order 1 Centerline is valid? [False, False] Translation: X:-157.40, Y:27.30, Z:84.60 [[ 9.96828131e-01 -5.99957611e-02 5.22894413e-02 -1.57404905e+02] [ 6.11407974e-02 9.97916979e-01 -2.05792626e-02 2.72986603e+01] [-5.09458528e-02 2.37110060e-02 9.98419906e-01 8.45965803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.61907232899995 meters Centerline goodness : 0.777110 with order 1 Centerline is valid? [False, False] Translation: X:-157.41, Y:27.30, Z:84.60 [[ 9.96724962e-01 -6.08677353e-02 5.32397325e-02 -1.57406699e+02] [ 6.20538666e-02 9.97853622e-01 -2.09157274e-02 2.72988598e+01] [-5.18523669e-02 2.41509589e-02 9.98362691e-01 8.45958118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.67907232899995 meters Centerline goodness : 0.778979 with order 1 Centerline is valid? [False, False] Translation: X:-157.41, Y:27.30, Z:84.60 [[ 9.96558879e-01 -6.24084378e-02 5.45489413e-02 -1.57410613e+02] [ 6.36837822e-02 9.97728459e-01 -2.19612704e-02 2.72990624e+01] [-5.30544626e-02 2.53595819e-02 9.98269561e-01 8.45968105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.73907232899995 meters Centerline goodness : 0.776126 with order 1 Centerline is valid? [False, False] Translation: X:-157.41, Y:27.30, Z:84.60 [[ 9.96157975e-01 -6.72383569e-02 5.61096463e-02 -1.57413066e+02] [ 6.87508777e-02 9.97308570e-01 -2.54741501e-02 2.72958753e+01] [-5.42457912e-02 2.92338652e-02 9.98099582e-01 8.45953592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.79907232899996 meters Centerline goodness : 0.775940 with order 1 Centerline is valid? [False, False] Translation: X:-157.42, Y:27.30, Z:84.60 [[ 9.95986566e-01 -6.86304911e-02 5.74509839e-02 -1.57416505e+02] [ 7.02136580e-02 9.97192949e-01 -2.60050959e-02 2.72951488e+01] [-5.55049736e-02 2.99345699e-02 9.98009579e-01 8.45955826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.85907232899996 meters Centerline goodness : 0.775874 with order 1 Centerline is valid? [False, False] Translation: X:-157.42, Y:27.29, Z:84.60 [[ 9.95490957e-01 -7.42487134e-02 5.90329011e-02 -1.57420597e+02] [ 7.61725921e-02 9.96611588e-01 -3.10335147e-02 2.72943420e+01] [-5.65286747e-02 3.53902724e-02 9.97773540e-01 8.45969521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91907232899996 meters Centerline goodness : 0.774102 with order 1 Centerline is valid? [False, False] Translation: X:-157.42, Y:27.29, Z:84.60 [[ 9.95366067e-01 -7.49151087e-02 6.02836637e-02 -1.57423251e+02] [ 7.68477018e-02 9.96579219e-01 -3.04021699e-02 2.72913402e+01] [-5.77998646e-02 3.48939493e-02 9.97718191e-01 8.45960534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97907232899996 meters Centerline goodness : 0.771510 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.29, Z:84.59 [[ 9.94470110e-01 -8.26644540e-02 6.47749106e-02 -1.57433086e+02] [ 8.47644640e-02 9.95938156e-01 -3.03673441e-02 2.72856107e+01] [-6.20015051e-02 3.56900266e-02 9.97437735e-01 8.45890482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03907232899996 meters Centerline goodness : 0.770542 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.28, Z:84.59 [[ 9.94343244e-01 -8.33799967e-02 6.57973309e-02 -1.57435266e+02] [ 8.55086923e-02 9.95878917e-01 -3.02232584e-02 2.72840454e+01] [-6.30061595e-02 3.56785365e-02 9.97375188e-01 8.45884091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09907232899997 meters Centerline goodness : 0.769351 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.28, Z:84.59 [[ 9.94262962e-01 -8.38110698e-02 6.64595116e-02 -1.57436853e+02] [ 8.59766210e-02 9.95832699e-01 -3.04180086e-02 2.72841413e+01] [-6.36331890e-02 3.59574636e-02 9.97325362e-01 8.45883455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15907232899997 meters Centerline goodness : 0.770293 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.29, Z:84.59 [[ 9.94316479e-01 -8.23498131e-02 6.74777562e-02 -1.57439580e+02] [ 8.44553290e-02 9.96006229e-01 -2.89635992e-02 2.72889714e+01] [-6.48231185e-02 3.44978401e-02 9.97300287e-01 8.45881412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21907232899997 meters Centerline goodness : 0.770763 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.29, Z:84.59 [[ 9.94495881e-01 -7.98422531e-02 6.78465703e-02 -1.57442183e+02] [ 8.17915277e-02 9.96298387e-01 -2.64512928e-02 2.72917552e+01] [-6.54834977e-02 3.18549764e-02 9.97345062e-01 8.45896265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279072329 meters Centerline goodness : 0.768758 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.30, Z:84.59 [[ 9.95431377e-01 -6.85086396e-02 6.65051935e-02 -1.57442752e+02] [ 6.96996687e-02 9.97443614e-01 -1.57541393e-02 2.72974432e+01] [-6.52558859e-02 2.03175545e-02 9.97661699e-01 8.45921155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339072329 meters Centerline goodness : 0.767166 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.30, Z:84.59 [[ 9.95808262e-01 -6.40236606e-02 6.53213266e-02 -1.57441560e+02] [ 6.49215704e-02 9.97821601e-01 -1.17150817e-02 2.72989367e+01] [-6.44289882e-02 1.59067383e-02 9.97795511e-01 8.45934787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399072329 meters Centerline goodness : 0.769772 with order 1 Centerline is valid? [False, False] Translation: X:-157.45, Y:27.32, Z:84.59 [[ 9.96704448e-01 -4.83710820e-02 6.51189878e-02 -1.57445436e+02] [ 4.95344929e-02 9.98638241e-01 -1.63706034e-02 2.73207385e+01] [-6.42384477e-02 1.95422892e-02 9.97743214e-01 8.45942900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459072329 meters Centerline goodness : 0.768251 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.32, Z:84.60 [[ 9.97402372e-01 -3.95490207e-02 6.02028499e-02 -1.57433772e+02] [ 4.04983182e-02 9.99072492e-01 -1.46302031e-02 2.73233331e+01] [-5.95684011e-02 1.70303135e-02 9.98078942e-01 8.45997054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519072329 meters Centerline goodness : 0.768839 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.33, Z:84.60 [[ 9.97577877e-01 -3.58779893e-02 5.95915267e-02 -1.57432624e+02] [ 3.66430892e-02 9.99258795e-01 -1.17959511e-02 2.73286874e+01] [-5.91241422e-02 1.39509974e-02 9.98153147e-01 8.45999143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579072329 meters Centerline goodness : 0.770042 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.33, Z:84.60 [[ 9.97622300e-01 -3.55540901e-02 5.90394252e-02 -1.57432081e+02] [ 3.63145963e-02 9.99270048e-01 -1.18584104e-02 2.73290543e+01] [-5.85747143e-02 1.39742075e-02 9.98185215e-01 8.46011495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639072329 meters Centerline goodness : 0.771571 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.33, Z:84.60 [[ 9.97768967e-01 -3.16276414e-02 5.87943861e-02 -1.57432639e+02] [ 3.21665899e-02 9.99448532e-01 -8.24271504e-03 2.73309501e+01] [-5.85012652e-02 1.01155402e-02 9.98236083e-01 8.46023714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699072329 meters Centerline goodness : 0.772496 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.33, Z:84.60 [[ 9.97669086e-01 -3.54656365e-02 5.82973691e-02 -1.57431683e+02] [ 3.62765795e-02 9.99258381e-01 -1.29111740e-02 2.73330863e+01] [-5.77962317e-02 1.49959083e-02 9.98215767e-01 8.46033750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759072329 meters Centerline goodness : 0.773822 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.33, Z:84.60 [[ 9.97588330e-01 -3.81987293e-02 5.79515351e-02 -1.57430815e+02] [ 3.91566312e-02 9.99113102e-01 -1.54844448e-02 2.73294422e+01] [-5.73086519e-02 1.77162884e-02 9.98199305e-01 8.46034646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819072329 meters Centerline goodness : 0.773265 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.33, Z:84.60 [[ 9.97433318e-01 -4.18755833e-02 5.80793599e-02 -1.57430475e+02] [ 4.30631339e-02 9.98884991e-01 -1.93478861e-02 2.73290671e+01] [-5.72043968e-02 2.17993055e-02 9.98124465e-01 8.46030910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87907232899994 meters Centerline goodness : 0.770500 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.33, Z:84.61 [[ 9.97084052e-01 -5.00248233e-02 5.76273378e-02 -1.57433855e+02] [ 5.05813508e-02 9.98685963e-01 -8.23861471e-03 2.73258905e+01] [-5.71394780e-02 1.11294599e-02 9.98304170e-01 8.46053984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93907232899994 meters Centerline goodness : 0.769644 with order 1 Centerline is valid? [False, False] Translation: X:-157.43, Y:27.32, Z:84.60 [[ 9.96827699e-01 -5.39459102e-02 5.85181733e-02 -1.57434857e+02] [ 5.46919051e-02 9.98440225e-01 -1.12211166e-02 2.73217800e+01] [-5.78215647e-02 1.43859902e-02 9.98223277e-01 8.46041723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99907232899994 meters Centerline goodness : 0.770739 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.32, Z:84.60 [[ 9.96364444e-01 -5.97303268e-02 6.07468736e-02 -1.57438647e+02] [ 6.07338155e-02 9.98044158e-01 -1.48075204e-02 2.73183457e+01] [-5.97436043e-02 1.84430762e-02 9.98043363e-01 8.46018979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.05907232899995 meters Centerline goodness : 0.770756 with order 1 Centerline is valid? [False, False] Translation: X:-157.44, Y:27.32, Z:84.60 [[ 9.95835929e-01 -6.57955129e-02 6.31011339e-02 -1.57443473e+02] [ 6.71211847e-02 9.97561577e-01 -1.91218705e-02 2.73159293e+01] [-6.16891334e-02 2.32776685e-02 9.97823933e-01 8.46011417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.11907232899995 meters Centerline goodness : 0.774401 with order 1 Centerline is valid? [False, False] Translation: X:-157.45, Y:27.31, Z:84.60 [[ 9.95308165e-01 -7.14205109e-02 6.52745528e-02 -1.57448019e+02] [ 7.30698104e-02 9.97056111e-01 -2.32360380e-02 2.73133929e+01] [-6.34228621e-02 2.78966175e-02 9.97596772e-01 8.46006583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.17907232899995 meters Centerline goodness : 0.773173 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.31, Z:84.59 [[ 9.94461090e-01 -7.86558559e-02 6.97165509e-02 -1.57458200e+02] [ 8.04328972e-02 9.96493348e-01 -2.30554913e-02 2.73075163e+01] [-6.76586298e-02 2.85352932e-02 9.97300379e-01 8.45947403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.23907232899995 meters Centerline goodness : 0.772226 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.30, Z:84.59 [[ 9.93985646e-01 -8.30563237e-02 7.13735360e-02 -1.57460967e+02] [ 8.51014499e-02 9.96030332e-01 -2.61021398e-02 2.73024850e+01] [-6.89222590e-02 3.20191437e-02 9.97108067e-01 8.45937571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.29907232899996 meters Centerline goodness : 0.769942 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.30, Z:84.59 [[ 9.93865578e-01 -8.35429256e-02 7.24692543e-02 -1.57462719e+02] [ 8.55832733e-02 9.96004222e-01 -2.55165140e-02 2.73003069e+01] [-7.00479590e-02 3.15621409e-02 9.97044189e-01 8.45920561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.35907232899996 meters Centerline goodness : 0.768513 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.30, Z:84.59 [[ 9.93582046e-01 -8.53375297e-02 7.42443531e-02 -1.57465666e+02] [ 8.74465515e-02 9.95839460e-01 -2.56294792e-02 2.72987023e+01] [-7.17483000e-02 3.19574031e-02 9.96910681e-01 8.45899178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41907232899996 meters Centerline goodness : 0.773924 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.30, Z:84.59 [[ 9.92955283e-01 -9.10020089e-02 7.58843841e-02 -1.57470312e+02] [ 9.36065364e-02 9.95110978e-01 -3.14953711e-02 2.73005481e+01] [-7.26472416e-02 3.83767695e-02 9.96619086e-01 8.45924709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47907232899996 meters Centerline goodness : 0.775298 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.30, Z:84.59 [[ 9.92485039e-01 -9.50243323e-02 7.70961960e-02 -1.57472634e+02] [ 9.79428750e-02 9.94576621e-01 -3.49934105e-02 2.72973703e+01] [-7.33528486e-02 4.22814595e-02 9.96409373e-01 8.45927754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53907232899996 meters Centerline goodness : 0.773312 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.30, Z:84.59 [[ 9.92614400e-01 -9.30409920e-02 7.78461760e-02 -1.57474832e+02] [ 9.57600948e-02 9.94891567e-01 -3.19495555e-02 2.72972140e+01] [-7.44758857e-02 3.91681460e-02 9.96453310e-01 8.45922285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59907232899997 meters Centerline goodness : 0.773859 with order 1 Centerline is valid? [False, False] Translation: X:-157.48, Y:27.30, Z:84.59 [[ 9.92593255e-01 -9.31572141e-02 7.79766878e-02 -1.57476289e+02] [ 9.58976453e-02 9.94871466e-01 -3.21621990e-02 2.72972511e+01] [-7.45806408e-02 3.94017625e-02 9.96436264e-01 8.45938902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65907232899997 meters Centerline goodness : 0.773579 with order 1 Centerline is valid? [False, False] Translation: X:-157.48, Y:27.30, Z:84.59 [[ 9.92600117e-01 -9.30236591e-02 7.80487456e-02 -1.57476015e+02] [ 9.57418018e-02 9.94897135e-01 -3.18307716e-02 2.72966136e+01] [-7.46894585e-02 3.90677552e-02 9.96441265e-01 8.45930325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71907232899997 meters Centerline goodness : 0.770075 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.30, Z:84.59 [[ 9.93064868e-01 -8.85089917e-02 7.73842779e-02 -1.57474091e+02] [ 9.08190129e-02 9.95505311e-01 -2.68529969e-02 2.72960589e+01] [-7.46597279e-02 3.36947316e-02 9.96639649e-01 8.45909016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779072329 meters Centerline goodness : 0.769971 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.30, Z:84.59 [[ 9.93387945e-01 -8.50440365e-02 7.71226427e-02 -1.57474316e+02] [ 8.71028316e-02 9.95916652e-01 -2.37301363e-02 2.72997032e+01] [-7.47896175e-02 3.02908319e-02 9.96739173e-01 8.45910333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839072329 meters Centerline goodness : 0.771922 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.30, Z:84.59 [[ 9.93808916e-01 -8.09242168e-02 7.61256167e-02 -1.57473523e+02] [ 8.26981266e-02 9.96364987e-01 -2.04409413e-02 2.73033448e+01] [-7.41947319e-02 2.66098356e-02 9.96888689e-01 8.45924062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899072329 meters Centerline goodness : 0.773764 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.31, Z:84.60 [[ 9.94160745e-01 -7.71906228e-02 7.54057029e-02 -1.57474186e+02] [ 7.87242818e-02 9.96741438e-01 -1.75782235e-02 2.73071820e+01] [-7.38031147e-02 2.34118395e-02 9.96997987e-01 8.45951247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959072329 meters Centerline goodness : 0.772907 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.31, Z:84.60 [[ 9.94438437e-01 -7.38190970e-02 7.51194735e-02 -1.57474653e+02] [ 7.51070874e-02 9.97070569e-01 -1.44639675e-02 2.73104270e+01] [-7.38316992e-02 2.00255301e-02 9.97069636e-01 8.45958195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019072329 meters Centerline goodness : 0.771326 with order 1 Centerline is valid? [False, False] Translation: X:-157.48, Y:27.33, Z:84.59 [[ 9.95371202e-01 -5.87084224e-02 7.60887123e-02 -1.57482745e+02] [ 5.99520060e-02 9.98100792e-01 -1.41621184e-02 2.73259550e+01] [-7.51127684e-02 1.86582358e-02 9.97000473e-01 8.45936461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079072329 meters Centerline goodness : 0.775281 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.34, Z:84.60 [[ 9.96720650e-01 -3.26981117e-02 7.40187795e-02 -1.57472292e+02] [ 3.38990254e-02 9.99312296e-01 -1.50263703e-02 2.73394741e+01] [-7.34765425e-02 1.74862580e-02 9.97143635e-01 8.45966897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139072329 meters Centerline goodness : 0.778581 with order 1 Centerline is valid? [False, False] Translation: X:-157.45, Y:27.35, Z:84.61 [[ 9.97630725e-01 -8.75353635e-03 6.82371692e-02 -1.57454384e+02] [ 9.12025574e-03 9.99945584e-01 -5.06450277e-03 2.73486454e+01] [-6.81891238e-02 5.67484401e-03 9.97656273e-01 8.46059029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199072329 meters Centerline goodness : 0.778125 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.36, Z:84.60 [[ 9.97545063e-01 1.90583244e-03 7.00015311e-02 -1.57465555e+02] [-1.25437812e-03 9.99955510e-01 -9.34906625e-03 2.73610937e+01] [-7.00162345e-02 9.23830650e-03 9.97503073e-01 8.46037225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259072329 meters Centerline goodness : 0.782079 with order 1 Centerline is valid? [False, False] Translation: X:-157.45, Y:27.37, Z:84.61 [[ 9.97658879e-01 2.05332796e-02 6.52314783e-02 -1.57450363e+02] [-2.04488165e-02 9.99788975e-01 -1.96229292e-03 2.73688049e+01] [-6.52580052e-02 6.23792424e-04 9.97868230e-01 8.46113898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319072329 meters Centerline goodness : 0.781729 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.39, Z:84.61 [[ 9.97385103e-01 3.07691086e-02 6.53928037e-02 -1.57457397e+02] [-3.00898475e-02 9.99482787e-01 -1.13472538e-02 2.73883926e+01] [-6.57081265e-02 9.34992238e-03 9.97795080e-01 8.46124935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37907232899994 meters Centerline goodness : 0.782585 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.40, Z:84.62 [[ 9.97732081e-01 3.69274015e-02 5.62766435e-02 -1.57464894e+02] [-3.59734281e-02 9.99192933e-01 -1.78716294e-02 2.74044322e+01] [-5.68911773e-02 1.58066342e-02 9.98255250e-01 8.46161382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43907232899994 meters Centerline goodness : 0.782787 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.41, Z:84.62 [[ 9.97449305e-01 4.44245593e-02 5.58689771e-02 -1.57463090e+02] [-4.38532415e-02 9.98972809e-01 -1.14113694e-02 2.74104099e+01] [-5.63185341e-02 8.93222669e-03 9.98372895e-01 8.46166894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49907232899994 meters Centerline goodness : 0.782091 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.42, Z:84.62 [[ 9.97094225e-01 5.23587135e-02 5.53323677e-02 -1.57460825e+02] [-5.21733263e-02 9.98626554e-01 -4.79067070e-03 2.74175233e+01] [-5.55072050e-02 1.88987641e-03 9.98456498e-01 8.46178043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.55907232899995 meters Centerline goodness : 0.782709 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.42, Z:84.62 [[ 9.97106871e-01 5.28707349e-02 5.46129414e-02 -1.57459242e+02] [-5.26709565e-02 9.98598940e-01 -5.09196599e-03 2.74196022e+01] [-5.48056413e-02 2.20071842e-03 9.98494616e-01 8.46184863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.61907232899995 meters Centerline goodness : 0.786336 with order 1 Centerline is valid? [False, False] Translation: X:-157.46, Y:27.42, Z:84.62 [[ 9.97130402e-01 5.30915399e-02 5.39652651e-02 -1.57458170e+02] [-5.28583066e-02 9.98585519e-01 -5.74107292e-03 2.74224860e+01] [-5.41937347e-02 2.87208582e-03 9.98526309e-01 8.46197041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.67907232899995 meters Centerline goodness : 0.785662 with order 1 Centerline is valid? [False, False] Translation: X:-157.47, Y:27.43, Z:84.62 [[ 9.97138099e-01 4.97946081e-02 5.68867998e-02 -1.57472704e+02] [-4.96679150e-02 9.98759156e-01 -3.63969212e-03 2.74310173e+01] [-5.69974492e-02 8.03826945e-04 9.98374000e-01 8.46216226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.73907232899995 meters Centerline goodness : 0.785190 with order 1 Centerline is valid? [False, False] Translation: X:-157.48, Y:27.43, Z:84.63 [[ 9.98168736e-01 3.72259107e-02 4.76802384e-02 -1.57477397e+02] [-3.72266994e-02 9.99306466e-01 -8.71761959e-04 2.74312955e+01] [-4.76796227e-02 -9.04812368e-04 9.98862270e-01 8.46292988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.79907232899996 meters Centerline goodness : 0.781700 with order 1 Centerline is valid? [False, False] Translation: X:-157.48, Y:27.43, Z:84.64 [[ 9.98975669e-01 2.48957074e-02 3.77864626e-02 -1.57481192e+02] [-2.49991026e-02 9.99684905e-01 2.26621926e-03 2.74305455e+01] [-3.77181371e-02 -3.20852555e-03 9.99283267e-01 8.46365913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.85907232899996 meters Centerline goodness : 0.780840 with order 1 Centerline is valid? [False, False] Translation: X:-157.48, Y:27.43, Z:84.64 [[ 9.99486530e-01 1.50590025e-02 2.82825491e-02 -1.57484540e+02] [-1.52967946e-02 9.99849288e-01 8.21026405e-03 2.74341264e+01] [-2.81546482e-02 -8.63868067e-03 9.99566250e-01 8.46433687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91907232899996 meters Centerline goodness : 0.779995 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.45, Z:84.65 [[ 9.99745758e-01 1.02574700e-02 2.00799413e-02 -1.57500517e+02] [-1.03207167e-02 9.99942093e-01 3.04864786e-03 2.74495815e+01] [-2.00475071e-02 -3.25511215e-03 9.99793730e-01 8.46464002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97907232899996 meters Centerline goodness : 0.780131 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.45, Z:84.65 [[ 9.99783272e-01 7.24327668e-03 1.95177694e-02 -1.57498830e+02] [-7.24509998e-03 9.99973754e-01 2.27075070e-05 2.74477503e+01] [-1.95170926e-02 -1.64110776e-04 9.99809510e-01 8.46459946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03907232899996 meters Centerline goodness : 0.780150 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.46, Z:84.65 [[ 9.99904466e-01 6.69123856e-03 1.20948448e-02 -1.57512022e+02] [-6.55902358e-03 9.99918663e-01 -1.09383247e-02 2.74613260e+01] [-1.21670520e-02 1.08579493e-02 9.99867025e-01 8.46495080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09907232899997 meters Centerline goodness : 0.783171 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.66 [[ 9.99960080e-01 3.62286520e-03 8.16779673e-03 -1.57502957e+02] [-3.59204811e-03 9.99986387e-01 -3.78451613e-03 2.74557584e+01] [-8.18139633e-03 3.75502593e-03 9.99959481e-01 8.46552258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15907232899997 meters Centerline goodness : 0.780805 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99956346e-01 3.06567466e-03 8.82652851e-03 -1.57504557e+02] [-3.03143240e-03 9.99987838e-01 -3.89024029e-03 2.74551047e+01] [-8.83834737e-03 3.86331344e-03 9.99953478e-01 8.46549705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21907232899997 meters Centerline goodness : 0.782546 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99951871e-01 2.74556853e-03 9.41898198e-03 -1.57506156e+02] [-2.70998127e-03 9.99989150e-01 -3.78893430e-03 2.74538803e+01] [-9.42928257e-03 3.76322668e-03 9.99948462e-01 8.46549888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279072329 meters Centerline goodness : 0.781795 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99951374e-01 -1.19053646e-03 9.78940836e-03 -1.57506710e+02] [ 1.25866264e-03 9.99975015e-01 -6.95595866e-03 2.74506515e+01] [-9.78088245e-03 6.96794198e-03 9.99927888e-01 8.46542108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339072329 meters Centerline goodness : 0.781473 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99939982e-01 -2.24529685e-03 1.07234326e-02 -1.57509343e+02] [ 2.32721875e-03 9.99968159e-01 -7.63316377e-03 2.74509973e+01] [-1.07059525e-02 7.65766141e-03 9.99913368e-01 8.46545202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399072329 meters Centerline goodness : 0.781115 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99927066e-01 -3.25199097e-03 1.16313463e-02 -1.57511723e+02] [ 3.34569643e-03 9.99962034e-01 -8.04592307e-03 2.74505807e+01] [-1.16047394e-02 8.08425120e-03 9.99899982e-01 8.46544885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459072329 meters Centerline goodness : 0.781272 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99924651e-01 -3.14198868e-03 1.18667554e-02 -1.57512008e+02] [ 3.23304263e-03 9.99965423e-01 -7.66165512e-03 2.74494966e+01] [-1.18422722e-02 7.69944355e-03 9.99900235e-01 8.46539378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519072329 meters Centerline goodness : 0.780321 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99926398e-01 -3.00861134e-03 1.17536255e-02 -1.57511666e+02] [ 3.09846622e-03 9.99966059e-01 -7.63415007e-03 2.74500674e+01] [-1.17302584e-02 7.67000639e-03 9.99901781e-01 8.46540008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579072329 meters Centerline goodness : 0.779996 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99919754e-01 -3.19643606e-03 1.22583826e-02 -1.57512577e+02] [ 3.28790346e-03 9.99966852e-01 -7.44874084e-03 2.74491912e+01] [-1.22341668e-02 7.48844749e-03 9.99897119e-01 8.46534039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639072329 meters Centerline goodness : 0.780773 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99917808e-01 -3.11032532e-03 1.24379427e-02 -1.57512975e+02] [ 3.19988573e-03 9.99969052e-01 -7.18717442e-03 2.74484390e+01] [-1.24152033e-02 7.22638369e-03 9.99896816e-01 8.46532916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699072329 meters Centerline goodness : 0.780620 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99920185e-01 -2.84911065e-03 1.23087653e-02 -1.57512049e+02] [ 2.93494244e-03 9.99971466e-01 -6.96079840e-03 2.74485629e+01] [-1.22885820e-02 6.99636835e-03 9.99900016e-01 8.46525058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759072329 meters Centerline goodness : 0.781126 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99928893e-01 -2.11709018e-03 1.17356741e-02 -1.57510470e+02] [ 2.19710024e-03 9.99974405e-01 -6.80898433e-03 2.74502823e+01] [-1.17209585e-02 6.83428462e-03 9.99907952e-01 8.46526944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819072329 meters Centerline goodness : 0.779867 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99936444e-01 -9.13304202e-04 1.12371247e-02 -1.57507836e+02] [ 9.80267650e-04 9.99981788e-01 -5.95506240e-03 2.74511525e+01] [-1.12314813e-02 5.96569931e-03 9.99919129e-01 8.46512317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87907232899994 meters Centerline goodness : 0.780847 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99939286e-01 -6.35199415e-04 1.10009439e-02 -1.57507151e+02] [ 6.98904168e-04 9.99983005e-01 -5.78796830e-03 2.74513979e+01] [-1.09970804e-02 5.79530550e-03 9.99922736e-01 8.46512044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93907232899994 meters Centerline goodness : 0.779525 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99935651e-01 -7.09259825e-04 1.13221611e-02 -1.57507919e+02] [ 7.71578029e-04 9.99984574e-01 -5.50067203e-03 2.74502668e+01] [-1.13180851e-02 5.50905400e-03 9.99920772e-01 8.46510579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99907232899994 meters Centerline goodness : 0.781295 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99935314e-01 -6.05180026e-04 1.13578613e-02 -1.57508038e+02] [ 6.66251199e-04 9.99985338e-01 -5.37398264e-03 2.74501280e+01] [-1.13544426e-02 5.38120221e-03 9.99921057e-01 8.46511538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.05907232899995 meters Centerline goodness : 0.782961 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99942537e-01 1.61315536e-04 1.07189520e-02 -1.57506194e+02] [-1.07193987e-04 9.99987245e-01 -5.04952826e-03 2.74507693e+01] [-1.07196299e-02 5.04808909e-03 9.99929801e-01 8.46510056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.11907232899995 meters Centerline goodness : 0.782025 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99943673e-01 1.33354440e-04 1.06129169e-02 -1.57505655e+02] [-7.71587149e-05 9.99985977e-01 -5.29526440e-03 2.74522518e+01] [-1.06134742e-02 5.29414726e-03 9.99929661e-01 8.46507158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.17907232899995 meters Centerline goodness : 0.785185 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99937075e-01 4.31016402e-03 1.03570655e-02 -1.57505016e+02] [-4.29475346e-03 9.99989638e-01 -1.50970762e-03 2.74540314e+01] [-1.03634652e-02 1.46513158e-03 9.99945224e-01 8.46508518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.23907232899995 meters Centerline goodness : 0.784509 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99942584e-01 4.67722101e-03 9.64113630e-03 -1.57503908e+02] [-4.65937632e-03 9.99987392e-01 -1.87252189e-03 2.74558548e+01] [-9.64977294e-03 1.82749269e-03 9.99951770e-01 8.46520770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.29907232899996 meters Centerline goodness : 0.786550 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99942819e-01 4.66160746e-03 9.62438453e-03 -1.57504133e+02] [-4.64318748e-03 9.99987348e-01 -1.93534553e-03 2.74558670e+01] [-9.63328458e-03 1.89054704e-03 9.99951812e-01 8.46523768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.35907232899996 meters Centerline goodness : 0.784995 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99941880e-01 4.41504236e-03 9.83582427e-03 -1.57504156e+02] [-4.39733356e-03 9.99988673e-01 -1.82133777e-03 2.74553391e+01] [-9.84375415e-03 1.77798051e-03 9.99949968e-01 8.46516091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41907232899996 meters Centerline goodness : 0.786017 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99941500e-01 4.23817561e-03 9.95158305e-03 -1.57504151e+02] [-4.22078599e-03 9.99989530e-01 -1.76777455e-03 2.74551955e+01] [-9.95897099e-03 1.72566763e-03 9.99948919e-01 8.46511932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47907232899996 meters Centerline goodness : 0.786351 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99941001e-01 4.12061143e-03 1.00506653e-02 -1.57504407e+02] [-4.10099598e-03 9.99989647e-01 -1.97148664e-03 2.74556830e+01] [-1.00586850e-02 1.93015259e-03 9.99947547e-01 8.46512125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53907232899996 meters Centerline goodness : 0.786863 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99947074e-01 5.16814595e-03 8.89602934e-03 -1.57501802e+02] [-5.15118492e-03 9.99984873e-01 -1.92844210e-03 2.74574402e+01] [-8.90586124e-03 1.88251494e-03 9.99958570e-01 8.46519443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59907232899997 meters Centerline goodness : 0.787132 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99949434e-01 5.17950500e-03 8.61985181e-03 -1.57501309e+02] [-5.16001665e-03 9.99984084e-01 -2.28157499e-03 2.74591629e+01] [-8.63153205e-03 2.23698104e-03 9.99960245e-01 8.46524365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65907232899997 meters Centerline goodness : 0.786545 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99947097e-01 4.28964527e-03 9.34889792e-03 -1.57503664e+02] [-4.26253442e-03 9.99986658e-01 -2.91789701e-03 2.74595664e+01] [-9.36128994e-03 2.87789264e-03 9.99952041e-01 8.46530064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71907232899997 meters Centerline goodness : 0.786259 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.46, Z:84.65 [[ 9.99959590e-01 1.91503550e-03 8.78355158e-03 -1.57500851e+02] [-1.87292220e-03 9.99986725e-01 -4.80028592e-03 2.74555194e+01] [-8.79262769e-03 4.78364103e-03 9.99949902e-01 8.46510464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779072329 meters Centerline goodness : 0.784895 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.45, Z:84.65 [[ 9.99949613e-01 6.18473561e-04 1.00194355e-02 -1.57503668e+02] [-5.69696192e-04 9.99987977e-01 -4.87039802e-03 2.74538774e+01] [-1.00223272e-02 4.86444458e-03 9.99937943e-01 8.46501224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839072329 meters Centerline goodness : 0.784496 with order 1 Centerline is valid? [False, False] Translation: X:-157.50, Y:27.45, Z:84.65 [[ 9.99945022e-01 6.64585166e-04 1.04647341e-02 -1.57504551e+02] [-6.18022631e-04 9.99989898e-01 -4.45207667e-03 2.74525248e+01] [-1.04675872e-02 4.44536446e-03 9.99935332e-01 8.46496376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899072329 meters Centerline goodness : 0.786322 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99922655e-01 -4.65520659e-03 1.15331617e-02 -1.57507947e+02] [ 4.75784796e-03 9.99949179e-01 -8.88827874e-03 2.74505850e+01] [-1.14911988e-02 8.94246430e-03 9.99893987e-01 8.46501751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959072329 meters Centerline goodness : 0.784613 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.45, Z:84.65 [[ 9.99875857e-01 -9.37086905e-03 1.26671499e-02 -1.57510045e+02] [ 9.52827463e-03 9.99877426e-01 -1.24235793e-02 2.74477665e+01] [-1.25491775e-02 1.25427331e-02 9.99842587e-01 8.46488654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019072329 meters Centerline goodness : 0.784955 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.44, Z:84.65 [[ 9.99694556e-01 -2.09694809e-02 1.30795977e-02 -1.57509900e+02] [ 2.10309342e-02 9.99768341e-01 -4.57867923e-03 2.74386199e+01] [-1.29805551e-02 4.85235685e-03 9.99903975e-01 8.46484398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079072329 meters Centerline goodness : 0.783036 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.44, Z:84.65 [[ 9.99653562e-01 -2.20638068e-02 1.43507695e-02 -1.57512378e+02] [ 2.21261948e-02 9.99746350e-01 -4.20320039e-03 2.74354356e+01] [-1.42543908e-02 4.51927217e-03 9.99888188e-01 8.46469361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139072329 meters Centerline goodness : 0.784270 with order 1 Centerline is valid? [False, False] Translation: X:-157.51, Y:27.43, Z:84.65 [[ 9.99529313e-01 -2.66023499e-02 1.52796611e-02 -1.57513992e+02] [ 2.67243998e-02 9.99612096e-01 -7.83984785e-03 2.74328768e+01] [-1.50651757e-02 8.24449750e-03 9.99852523e-01 8.46459842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199072329 meters Centerline goodness : 0.782064 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.65 [[ 9.99502145e-01 -2.71333784e-02 1.61010028e-02 -1.57516281e+02] [ 2.72608002e-02 9.99598329e-01 -7.74787947e-03 2.74316926e+01] [-1.58843094e-02 8.18294837e-03 9.99840351e-01 8.46461370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259072329 meters Centerline goodness : 0.783788 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.65 [[ 9.99494103e-01 -2.74179088e-02 1.61181917e-02 -1.57516372e+02] [ 2.75559636e-02 9.99584915e-01 -8.40634903e-03 2.74342230e+01] [-1.58810168e-02 8.84624859e-03 9.99834755e-01 8.46462769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319072329 meters Centerline goodness : 0.781783 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.65 [[ 9.99502588e-01 -2.69954663e-02 1.63040295e-02 -1.57516555e+02] [ 2.71208683e-02 9.99603876e-01 -7.51994116e-03 2.74317456e+01] [-1.60945668e-02 7.95838009e-03 9.99838802e-01 8.46456882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37907232899994 meters Centerline goodness : 0.780137 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.65 [[ 9.99487022e-01 -2.71624430e-02 1.69674420e-02 -1.57518050e+02] [ 2.72868440e-02 9.99602118e-01 -7.14373523e-03 2.74298914e+01] [-1.67666496e-02 7.60305859e-03 9.99830522e-01 8.46452327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43907232899994 meters Centerline goodness : 0.782384 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.65 [[ 9.99460735e-01 -2.77863823e-02 1.74973190e-02 -1.57519990e+02] [ 2.79219378e-02 9.99581585e-01 -7.55112497e-03 2.74299959e+01] [-1.72801794e-02 8.03561197e-03 9.99818396e-01 8.46459951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49907232899994 meters Centerline goodness : 0.780350 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.64 [[ 9.99455746e-01 -2.78532163e-02 1.76751308e-02 -1.57519364e+02] [ 2.79875216e-02 9.99580902e-01 -7.39718229e-03 2.74302017e+01] [-1.74616878e-02 7.88783945e-03 9.99816419e-01 8.46445078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.55907232899995 meters Centerline goodness : 0.782013 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.64 [[ 9.99406487e-01 -2.89073937e-02 1.87359638e-02 -1.57521736e+02] [ 2.90601417e-02 9.99546191e-01 -7.93227904e-03 2.74304474e+01] [-1.84981597e-02 8.47204089e-03 9.99793000e-01 8.46440613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.61907232899995 meters Centerline goodness : 0.780519 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.64 [[ 9.99382541e-01 -2.93238571e-02 1.93558378e-02 -1.57523095e+02] [ 2.94807311e-02 9.99534369e-01 -7.86972074e-03 2.74295732e+01] [-1.91160545e-02 8.43548576e-03 9.99781686e-01 8.46436491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.67907232899995 meters Centerline goodness : 0.780001 with order 1 Centerline is valid? [False, False] Translation: X:-157.52, Y:27.43, Z:84.64 [[ 9.99369966e-01 -2.95186688e-02 1.97058348e-02 -1.57524015e+02] [ 2.96815589e-02 9.99527188e-01 -8.02536229e-03 2.74297656e+01] [-1.94596197e-02 8.60520593e-03 9.99773611e-01 8.46436718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.73907232899995 meters Centerline goodness : 0.782694 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99428757e-01 -2.68611090e-02 2.05095433e-02 -1.57526823e+02] [ 2.69760573e-02 9.99621771e-01 -5.34863622e-03 2.74326644e+01] [-2.03581157e-02 5.89884747e-03 9.99775350e-01 8.46444287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.79907232899996 meters Centerline goodness : 0.780451 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99369756e-01 -2.82805628e-02 2.14546224e-02 -1.57529260e+02] [ 2.84153609e-02 9.99578169e-01 -6.00426050e-03 2.74319528e+01] [-2.12757683e-02 6.61011719e-03 9.99751793e-01 8.46443130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.85907232899996 meters Centerline goodness : 0.781582 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99397175e-01 -2.75973418e-02 2.10635595e-02 -1.57527700e+02] [ 2.77178884e-02 9.99600914e-01 -5.45260367e-03 2.74317789e+01] [-2.09046760e-02 6.03315410e-03 9.99763270e-01 8.46435403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91907232899996 meters Centerline goodness : 0.781996 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99406477e-01 -2.74123762e-02 2.08627842e-02 -1.57526872e+02] [ 2.75350878e-02 9.99605054e-01 -5.61743366e-03 2.74333852e+01] [-2.07005573e-02 6.18855818e-03 9.99766567e-01 8.46432385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97907232899996 meters Centerline goodness : 0.782402 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99393231e-01 -2.76940755e-02 2.11236324e-02 -1.57527992e+02] [ 2.78272911e-02 9.99594505e-01 -6.03876622e-03 2.74345587e+01] [-2.09478288e-02 6.62291555e-03 9.99758634e-01 8.46440983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03907232899996 meters Centerline goodness : 0.782633 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99388024e-01 -2.77219675e-02 2.13323775e-02 -1.57528377e+02] [ 2.78552939e-02 9.99594089e-01 -5.97834729e-03 2.74346634e+01] [-2.11579869e-02 6.56890833e-03 9.99754564e-01 8.46439151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09907232899997 meters Centerline goodness : 0.782187 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99256717e-01 -3.16058453e-02 2.20699857e-02 -1.57528707e+02] [ 3.18067195e-02 9.99455204e-01 -8.81067828e-03 2.74305916e+01] [-2.17794931e-02 9.50610330e-03 9.99717604e-01 8.46419967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15907232899997 meters Centerline goodness : 0.783883 with order 1 Centerline is valid? [False, False] Translation: X:-157.53, Y:27.43, Z:84.64 [[ 9.99096599e-01 -3.57511344e-02 2.29748158e-02 -1.57530746e+02] [ 3.60385008e-02 9.99275713e-01 -1.22178685e-02 2.74271649e+01] [-2.25213728e-02 1.30348088e-02 9.99661383e-01 8.46418952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21907232899997 meters Centerline goodness : 0.783016 with order 1 Centerline is valid? [False, False] Translation: X:-157.54, Y:27.42, Z:84.64 [[ 9.98750950e-01 -4.22393420e-02 2.66904010e-02 -1.57538420e+02] [ 4.26127918e-02 9.98999348e-01 -1.35813305e-02 2.74218547e+01] [-2.60900267e-02 1.47017192e-02 9.99551484e-01 8.46370172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279072329 meters Centerline goodness : 0.780067 with order 1 Centerline is valid? [False, False] Translation: X:-157.54, Y:27.42, Z:84.63 [[ 9.98503861e-01 -4.68365353e-02 2.82201869e-02 -1.57540690e+02] [ 4.73060921e-02 9.98748945e-01 -1.62073832e-02 2.74165747e+01] [-2.74257842e-02 1.75181215e-02 9.99470331e-01 8.46348018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339072329 meters Centerline goodness : 0.780721 with order 1 Centerline is valid? [False, False] Translation: X:-157.54, Y:27.41, Z:84.63 [[ 9.98435876e-01 -4.75340300e-02 2.94332707e-02 -1.57543578e+02] [ 4.80155992e-02 9.98720404e-01 -1.58762903e-02 2.74143630e+01] [-2.86409440e-02 1.72647140e-02 9.99440657e-01 8.46344269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399072329 meters Centerline goodness : 0.784066 with order 1 Centerline is valid? [False, False] Translation: X:-157.54, Y:27.41, Z:84.63 [[ 9.98441556e-01 -4.73006671e-02 2.96159945e-02 -1.57543973e+02] [ 4.77698405e-02 9.98740576e-01 -1.53396282e-02 2.74130967e+01] [-2.88531208e-02 1.67304735e-02 9.99443640e-01 8.46342805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459072329 meters Centerline goodness : 0.783737 with order 1 Centerline is valid? [False, False] Translation: X:-157.55, Y:27.41, Z:84.63 [[ 9.98319982e-01 -4.89126423e-02 3.10607007e-02 -1.57547546e+02] [ 4.94248246e-02 9.98650620e-01 -1.59413486e-02 2.74118435e+01] [-3.02390546e-02 1.74497365e-02 9.99390367e-01 8.46341185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519072329 meters Centerline goodness : 0.781890 with order 1 Centerline is valid? [False, False] Translation: X:-157.55, Y:27.41, Z:84.63 [[ 9.98270965e-01 -4.93779774e-02 3.18887928e-02 -1.57549442e+02] [ 4.98909422e-02 9.98634461e-01 -1.54953872e-02 2.74089753e+01] [-3.10801165e-02 1.70595571e-02 9.99371301e-01 8.46335846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579072329 meters Centerline goodness : 0.780473 with order 1 Centerline is valid? [False, False] Translation: X:-157.55, Y:27.41, Z:84.63 [[ 9.98460269e-01 -4.53962833e-02 3.18789595e-02 -1.57549537e+02] [ 4.57796672e-02 9.98886503e-01 -1.14007515e-02 2.74095651e+01] [-3.13259106e-02 1.28426055e-02 9.99426713e-01 8.46330714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639072329 meters Centerline goodness : 0.782553 with order 1 Centerline is valid? [False, False] Translation: X:-157.55, Y:27.41, Z:84.63 [[ 9.98597632e-01 -4.21103473e-02 3.20856395e-02 -1.57550367e+02] [ 4.24002983e-02 9.99065304e-01 -8.41031981e-03 2.74131419e+01] [-3.17014877e-02 9.75896613e-03 9.99449738e-01 8.46331304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699072329 meters Centerline goodness : 0.782726 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.42, Z:84.63 [[ 9.98727369e-01 -3.59586023e-02 3.53641322e-02 -1.57561591e+02] [ 3.64950254e-02 9.99226568e-01 -1.46416680e-02 2.74208179e+01] [-3.48102866e-02 1.59136494e-02 9.99267231e-01 8.46278712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759072329 meters Centerline goodness : 0.783266 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.42, Z:84.63 [[ 9.98879939e-01 -3.18476470e-02 3.49942226e-02 -1.57560913e+02] [ 3.22471048e-02 9.99420376e-01 -1.09103351e-02 2.74228854e+01] [-3.46264706e-02 1.20265772e-02 9.99327959e-01 8.46278878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819072329 meters Centerline goodness : 0.784509 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.43, Z:84.63 [[ 9.99070541e-01 -2.69200146e-02 3.36655050e-02 -1.57558483e+02] [ 2.71779232e-02 9.99604488e-01 -7.22683424e-03 2.74258844e+01] [-3.34576435e-02 8.13507571e-03 9.99407028e-01 8.46292006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87907232899994 meters Centerline goodness : 0.783692 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.43, Z:84.63 [[ 9.99188690e-01 -2.29250126e-02 3.31120251e-02 -1.57557653e+02] [ 2.30747492e-02 9.99725141e-01 -4.14704248e-03 2.74296529e+01] [-3.30078530e-02 4.90772961e-03 9.99443043e-01 8.46299155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93907232899994 meters Centerline goodness : 0.782478 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.43, Z:84.63 [[ 9.99313983e-01 -1.84160500e-02 3.21311806e-02 -1.57555797e+02] [ 1.84446061e-02 9.99829708e-01 -5.92534782e-04 2.74329501e+01] [-3.21147968e-02 1.18477526e-03 9.99483485e-01 8.46306825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99907232899994 meters Centerline goodness : 0.785041 with order 1 Centerline is valid? [False, False] Translation: X:-157.55, Y:27.44, Z:84.64 [[ 9.99511611e-01 -1.38608621e-02 2.80074199e-02 -1.57546268e+02] [ 1.39377543e-02 9.99899608e-01 -2.55206308e-03 2.74360913e+01] [-2.79692344e-02 2.94117722e-03 9.99604457e-01 8.46367583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.05907232899995 meters Centerline goodness : 0.788133 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.64 [[ 9.99689476e-01 -8.30126799e-03 2.34955360e-02 -1.57561742e+02] [ 8.53189675e-03 9.99916237e-01 -9.73268903e-03 2.74553881e+01] [-2.34127743e-02 9.93012829e-03 9.99676565e-01 8.46392764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.11907232899995 meters Centerline goodness : 0.789637 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.64 [[ 9.99688750e-01 -8.62856996e-03 2.34083389e-02 -1.57562488e+02] [ 8.87782359e-03 9.99904777e-01 -1.05651261e-02 2.74578010e+01] [-2.33149480e-02 1.07696528e-02 9.99670159e-01 8.46409707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.17907232899995 meters Centerline goodness : 0.788543 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.46, Z:84.64 [[ 9.99655414e-01 -9.64361593e-03 2.44142028e-02 -1.57565675e+02] [ 9.91580056e-03 9.99889757e-01 -1.10522113e-02 2.74570286e+01] [-2.43049281e-02 1.12904892e-02 9.99640833e-01 8.46416953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.23907232899995 meters Centerline goodness : 0.785085 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.46, Z:84.65 [[ 9.99649988e-01 -2.16346649e-02 1.52263843e-02 -1.57568854e+02] [ 2.17442386e-02 9.99738582e-01 -7.06790547e-03 2.74567587e+01] [-1.50694921e-02 7.39651775e-03 9.99859091e-01 8.46477566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.29907232899996 meters Centerline goodness : 0.784695 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.65 [[ 9.99529218e-01 -2.59826657e-02 1.63169855e-02 -1.57570115e+02] [ 2.61405457e-02 9.99612772e-01 -9.53820579e-03 2.74511340e+01] [-1.60628391e-02 9.96025028e-03 9.99821373e-01 8.46452734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.35907232899996 meters Centerline goodness : 0.784507 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.64 [[ 9.99466657e-01 -2.74137531e-02 1.77450626e-02 -1.57573309e+02] [ 2.75856344e-02 9.99574159e-01 -9.51490729e-03 2.74488621e+01] [-1.74766667e-02 9.99934139e-03 9.99797269e-01 8.46443861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41907232899996 meters Centerline goodness : 0.786274 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.64 [[ 9.99530104e-01 -2.56101506e-02 1.68431436e-02 -1.57570229e+02] [ 2.57564199e-02 9.99631895e-01 -8.52534749e-03 2.74507011e+01] [-1.66186081e-02 8.95516054e-03 9.99821798e-01 8.46438247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47907232899996 meters Centerline goodness : 0.783902 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.64 [[ 9.99614767e-01 -2.17787240e-02 1.72047822e-02 -1.57572004e+02] [ 2.18586717e-02 9.99751067e-01 -4.47250550e-03 2.74499857e+01] [-1.71030938e-02 4.84685623e-03 9.99841984e-01 8.46445099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53907232899996 meters Centerline goodness : 0.783608 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.64 [[ 9.99703321e-01 -1.77575216e-02 1.66715379e-02 -1.57570950e+02] [ 1.77792142e-02 9.99841271e-01 -1.15384812e-03 2.74531859e+01] [-1.66484021e-02 1.44991264e-03 9.99860354e-01 8.46448231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59907232899997 meters Centerline goodness : 0.782071 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.64 [[ 9.99729541e-01 -1.69215624e-02 1.59532171e-02 -1.57568932e+02] [ 1.69339731e-02 9.99856403e-01 -6.43168043e-04 2.74532109e+01] [-1.59400428e-02 9.13145441e-04 9.99872532e-01 8.46446499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65907232899997 meters Centerline goodness : 0.785834 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.64 [[ 9.99764204e-01 -1.56665928e-02 1.50364117e-02 -1.57566236e+02] [ 1.56674034e-02 9.99877257e-01 6.38911508e-05 2.74533575e+01] [-1.50355670e-02 1.71705443e-04 9.99886945e-01 8.46443511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71907232899997 meters Centerline goodness : 0.785610 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.64 [[ 9.99779791e-01 -1.51356502e-02 1.45355312e-02 -1.57564768e+02] [ 1.51359581e-02 9.99885441e-01 8.88309830e-05 2.74551585e+01] [-1.45352105e-02 1.31197770e-04 9.99894350e-01 8.46443028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779072329 meters Centerline goodness : 0.785516 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.64 [[ 9.99837957e-01 -1.10380898e-02 1.42204487e-02 -1.57564189e+02] [ 1.09855567e-02 9.99932561e-01 3.76702938e-03 2.74571138e+01] [-1.42610705e-02 -3.61019941e-03 9.99891788e-01 8.46445456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839072329 meters Centerline goodness : 0.789801 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99851862e-01 -1.07991013e-02 1.34027422e-02 -1.57562923e+02] [ 1.07599463e-02 9.99937639e-01 2.99009542e-03 2.74600717e+01] [-1.34341967e-02 -2.84543969e-03 9.99905708e-01 8.46459477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899072329 meters Centerline goodness : 0.788098 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99850620e-01 -1.09078444e-02 1.34073271e-02 -1.57563893e+02] [ 1.08729965e-02 9.99937324e-01 2.66931718e-03 2.74604532e+01] [-1.34356033e-02 -2.52314062e-03 9.99906555e-01 8.46472692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959072329 meters Centerline goodness : 0.789186 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99894584e-01 -6.35871644e-03 1.30532812e-02 -1.57562994e+02] [ 6.26926617e-03 9.99956665e-01 6.88222307e-03 2.74614083e+01] [-1.30964776e-02 -6.79966308e-03 9.99891118e-01 8.46471351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019072329 meters Centerline goodness : 0.787236 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99904695e-01 -5.85896380e-03 1.25009614e-02 -1.57561063e+02] [ 5.77182000e-03 9.99958872e-01 6.99569570e-03 2.74623426e+01] [-1.25414348e-02 -6.92287567e-03 9.99897388e-01 8.46464507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079072329 meters Centerline goodness : 0.785958 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99905895e-01 -5.87446223e-03 1.23972238e-02 -1.57561413e+02] [ 5.78997570e-03 9.99959845e-01 6.83987897e-03 2.74627576e+01] [-1.24369066e-02 -6.76745569e-03 9.99899757e-01 8.46472244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139072329 meters Centerline goodness : 0.789177 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99887611e-01 -7.22803134e-03 1.31347377e-02 -1.57564886e+02] [ 7.15710588e-03 9.99959597e-01 5.43884517e-03 2.74643744e+01] [-1.31735191e-02 -5.34422719e-03 9.99898944e-01 8.46493473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199072329 meters Centerline goodness : 0.787254 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99857350e-01 -1.05114148e-02 1.32208443e-02 -1.57564032e+02] [ 1.04759495e-02 9.99941347e-01 2.74892900e-03 2.74609168e+01] [-1.32489640e-02 -2.61003597e-03 9.99908822e-01 8.46478611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259072329 meters Centerline goodness : 0.786477 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99862543e-01 -1.02248849e-02 1.30517210e-02 -1.57563611e+02] [ 1.01837059e-02 9.99942968e-01 3.21763356e-03 2.74595508e+01] [-1.30838766e-02 -3.08427638e-03 9.99909646e-01 8.46477692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319072329 meters Centerline goodness : 0.787633 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99856066e-01 -1.07966917e-02 1.30873157e-02 -1.57564010e+02] [ 1.07693433e-02 9.99939680e-01 2.15836658e-03 2.74625434e+01] [-1.31098295e-02 -2.01711412e-03 9.99912028e-01 8.46484116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37907232899994 meters Centerline goodness : 0.786308 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99871490e-01 -1.01521124e-02 1.24071710e-02 -1.57562418e+02] [ 1.01206489e-02 9.99945415e-01 2.59607527e-03 2.74620731e+01] [-1.24328494e-02 -2.47017303e-03 9.99919658e-01 8.46485664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43907232899994 meters Centerline goodness : 0.785270 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99875616e-01 -1.00251008e-02 1.21757858e-02 -1.57562154e+02] [ 9.99562390e-03 9.99946969e-01 2.47939072e-03 2.74627651e+01] [-1.21999962e-02 -2.35737775e-03 9.99922798e-01 8.46490677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49907232899994 meters Centerline goodness : 0.785477 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99874936e-01 -9.97088119e-03 1.22757285e-02 -1.57562743e+02] [ 9.93961288e-03 9.99947206e-01 2.60554779e-03 2.74621516e+01] [-1.23010600e-02 -2.48320594e-03 9.99921256e-01 8.46494364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.55907232899995 meters Centerline goodness : 0.786530 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99846191e-01 -1.30669353e-02 1.16982590e-02 -1.57561122e+02] [ 1.30753657e-02 9.99914306e-01 -6.44454980e-04 2.74612667e+01] [-1.16888354e-02 7.97314870e-04 9.99931365e-01 8.46495532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.61907232899995 meters Centerline goodness : 0.787130 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99833461e-01 -1.34822961e-02 1.22995510e-02 -1.57562637e+02] [ 1.34886868e-02 9.99908928e-01 -4.36780723e-04 2.74599415e+01] [-1.22925420e-02 6.02612773e-04 9.99924262e-01 8.46494436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.67907232899995 meters Centerline goodness : 0.786246 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99813181e-01 -1.42312113e-02 1.30795895e-02 -1.57564296e+02] [ 1.42420769e-02 9.99898304e-01 -7.37957264e-04 2.74597098e+01] [-1.30677573e-02 9.24099919e-04 9.99914186e-01 8.46489265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.73907232899995 meters Centerline goodness : 0.785686 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99766734e-01 -1.72744552e-02 1.29641921e-02 -1.57562267e+02] [ 1.73214947e-02 9.99843758e-01 -3.52493815e-03 2.74579067e+01] [-1.29012752e-02 3.74867508e-03 9.99909748e-01 8.46469413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.79907232899996 meters Centerline goodness : 0.785092 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99764118e-01 -1.71938067e-02 1.32695475e-02 -1.57563449e+02] [ 1.72372017e-02 9.99846426e-01 -3.16284942e-03 2.74564575e+01] [-1.32131282e-02 3.39083322e-03 9.99906953e-01 8.46474191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.85907232899996 meters Centerline goodness : 0.786526 with order 1 Centerline is valid? [False, False] Translation: X:-157.56, Y:27.46, Z:84.65 [[ 9.99680075e-01 -2.14076879e-02 1.34706823e-02 -1.57564534e+02] [ 2.15087863e-02 9.99741232e-01 -7.40548111e-03 2.74562163e+01] [-1.33086623e-02 7.69284993e-03 9.99881843e-01 8.46484793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91907232899996 meters Centerline goodness : 0.785916 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.65 [[ 9.99668161e-01 -2.15455651e-02 1.41193542e-02 -1.57565477e+02] [ 2.16445440e-02 9.99741951e-01 -6.89522878e-03 2.74544050e+01] [-1.39671491e-02 7.19854766e-03 9.99876542e-01 8.46474120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97907232899996 meters Centerline goodness : 0.783493 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.65 [[ 9.99634456e-01 -2.23441242e-02 1.52214922e-02 -1.57567429e+02] [ 2.24490994e-02 9.99725126e-01 -6.76089489e-03 2.74530681e+01] [-1.50662420e-02 7.10013228e-03 9.99861289e-01 8.46461825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03907232899996 meters Centerline goodness : 0.784666 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.65 [[ 9.99574993e-01 -2.38982640e-02 1.66945217e-02 -1.57570996e+02] [ 2.40211613e-02 9.99685521e-01 -7.20018305e-03 2.74520435e+01] [-1.65171997e-02 7.59814471e-03 9.99834711e-01 8.46457797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09907232899997 meters Centerline goodness : 0.783427 with order 1 Centerline is valid? [False, False] Translation: X:-157.57, Y:27.45, Z:84.65 [[ 9.99468947e-01 -2.76090252e-02 1.73079952e-02 -1.57572310e+02] [ 2.77860227e-02 9.99563164e-01 -1.00706227e-02 2.74478823e+01] [-1.70223944e-02 1.05461950e-02 9.99799488e-01 8.46455739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15907232899997 meters Centerline goodness : 0.786072 with order 1 Centerline is valid? [False, False] Translation: X:-157.58, Y:27.45, Z:84.65 [[ 9.99415628e-01 -2.86717450e-02 1.86100438e-02 -1.57575791e+02] [ 2.88662843e-02 9.99530519e-01 -1.02703409e-02 2.74465206e+01] [-1.83068381e-02 1.08015421e-02 9.99774068e-01 8.46457555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21907232899997 meters Centerline goodness : 0.786110 with order 1 Centerline is valid? [False, False] Translation: X:-157.58, Y:27.44, Z:84.64 [[ 9.99373407e-01 -2.93943990e-02 1.97170772e-02 -1.57577926e+02] [ 2.95984369e-02 9.99510462e-01 -1.01374775e-02 2.74449937e+01] [-1.94094399e-02 1.07147201e-02 9.99754204e-01 8.46447140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279072329 meters Centerline goodness : 0.786219 with order 1 Centerline is valid? [False, False] Translation: X:-157.58, Y:27.45, Z:84.65 [[ 9.99331045e-01 -3.01489065e-02 2.07003705e-02 -1.57580593e+02] [ 3.03729285e-02 9.99482489e-01 -1.05943195e-02 2.74451521e+01] [-2.03702506e-02 1.12159632e-02 9.99729591e-01 8.46450608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339072329 meters Centerline goodness : 0.786000 with order 1 Centerline is valid? [False, False] Translation: X:-157.59, Y:27.44, Z:84.65 [[ 9.99260474e-01 -3.15841543e-02 2.19304885e-02 -1.57585042e+02] [ 3.18395289e-02 9.99428038e-01 -1.13947927e-02 2.74441839e+01] [-2.15580502e-02 1.20846224e-02 9.99694560e-01 8.46468709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399072329 meters Centerline goodness : 0.788838 with order 1 Centerline is valid? [False, False] Translation: X:-157.59, Y:27.44, Z:84.65 [[ 9.99114227e-01 -3.54571089e-02 2.26617598e-02 -1.57586375e+02] [ 3.57920061e-02 9.99253376e-01 -1.45472680e-02 2.74407855e+01] [-2.21290359e-02 1.53454923e-02 9.99637345e-01 8.46464558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459072329 meters Centerline goodness : 0.788075 with order 1 Centerline is valid? [False, False] Translation: X:-157.59, Y:27.44, Z:84.65 [[ 9.99070186e-01 -3.59699328e-02 2.37682011e-02 -1.57588864e+02] [ 3.63066263e-02 9.99244173e-01 -1.38892363e-02 2.74375844e+01] [-2.32506416e-02 1.47392651e-02 9.99621009e-01 8.46457364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519072329 meters Centerline goodness : 0.788280 with order 1 Centerline is valid? [False, False] Translation: X:-157.60, Y:27.44, Z:84.64 [[ 9.98614789e-01 -4.39855312e-02 2.88751795e-02 -1.57604257e+02] [ 4.44187830e-02 9.98907211e-01 -1.45380668e-02 2.74397402e+01] [-2.82041605e-02 1.58005288e-02 9.99477298e-01 8.46425676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579072329 meters Centerline goodness : 0.787201 with order 1 Centerline is valid? [False, False] Translation: X:-157.61, Y:27.44, Z:84.64 [[ 9.98519887e-01 -4.52642446e-02 3.01526647e-02 -1.57607971e+02] [ 4.57326536e-02 9.98840638e-01 -1.50300856e-02 2.74386890e+01] [-2.94373814e-02 1.63868008e-02 9.99432296e-01 8.46432634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639072329 meters Centerline goodness : 0.788991 with order 1 Centerline is valid? [False, False] Translation: X:-157.61, Y:27.44, Z:84.64 [[ 9.98441923e-01 -4.61891795e-02 3.13095244e-02 -1.57610254e+02] [ 4.66796889e-02 9.98795463e-01 -1.51204900e-02 2.74378008e+01] [-3.05734079e-02 1.65584500e-02 9.99395359e-01 8.46423531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699072329 meters Centerline goodness : 0.793556 with order 1 Centerline is valid? [False, False] Translation: X:-157.61, Y:27.44, Z:84.64 [[ 9.98350853e-01 -4.71611544e-02 3.27322372e-02 -1.57613332e+02] [ 4.76693259e-02 9.98751706e-01 -1.49219469e-02 2.74356325e+01] [-3.19876415e-02 1.64576621e-02 9.99352759e-01 8.46415329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759072329 meters Centerline goodness : 0.794055 with order 1 Centerline is valid? [False, False] Translation: X:-157.61, Y:27.43, Z:84.64 [[ 9.98328312e-01 -4.71893317e-02 3.33728643e-02 -1.57614743e+02] [ 4.76946746e-02 9.98756544e-01 -1.45114957e-02 2.74344673e+01] [-3.26465788e-02 1.60789449e-02 9.99337615e-01 8.46412684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819072329 meters Centerline goodness : 0.792487 with order 1 Centerline is valid? [False, False] Translation: X:-157.62, Y:27.43, Z:84.64 [[ 9.98272037e-01 -4.77744858e-02 3.42131335e-02 -1.57616869e+02] [ 4.83020635e-02 9.98723667e-01 -1.47630339e-02 2.74343464e+01] [-3.34641698e-02 1.63900888e-02 9.99305516e-01 8.46413747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87907232899994 meters Centerline goodness : 0.795419 with order 3 Centerline is valid? [False, False] Translation: X:-157.62, Y:27.43, Z:84.64 [[ 9.98227538e-01 -4.81703329e-02 3.49485592e-02 -1.57618659e+02] [ 4.87165781e-02 9.98700752e-01 -1.49500331e-02 2.74343981e+01] [-3.41830043e-02 1.66261089e-02 9.99277286e-01 8.46414438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93907232899994 meters Centerline goodness : 0.782136 with order 2 Centerline is valid? [False, False] Translation: X:-157.62, Y:27.44, Z:84.64 [[ 9.98366351e-01 -4.48607169e-02 3.53856743e-02 -1.57620471e+02] [ 4.52823955e-02 9.98911370e-01 -1.12062252e-02 2.74350260e+01] [-3.48444331e-02 1.27902662e-02 9.99310900e-01 8.46417105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99907232899994 meters Centerline goodness : 0.668510 with order 3 Centerline is valid? [False, False] Translation: X:-157.61, Y:27.43, Z:84.64 [[ 9.98708793e-01 -3.97934623e-02 3.15788908e-02 -1.57610171e+02] [ 4.01731375e-02 9.99126773e-01 -1.14808366e-02 2.74332713e+01] [-3.10944531e-02 1.27346356e-02 9.99435323e-01 8.46448219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.05907232899995 meters Centerline goodness : 0.515917 with order 3 Centerline is valid? [False, False] Translation: X:-157.60, Y:27.42, Z:84.65 [[ 9.98514351e-01 -4.16639925e-02 3.51169812e-02 -1.57598098e+02] [ 4.17405252e-02 9.99127434e-01 -1.44874567e-03 2.74227712e+01] [-3.50259788e-02 2.91239458e-03 9.99382159e-01 8.46460248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.11907232899995 meters Centerline goodness : 0.630337 with order 3 Centerline is valid? [False, False] Translation: X:-157.65, Y:27.47, Z:84.65 [[ 9.99032464e-01 -2.96639558e-02 3.24682192e-02 -1.57647861e+02] [ 2.97189451e-02 9.99557559e-01 -1.21225185e-03 2.74707407e+01] [-3.24178937e-02 2.17600018e-03 9.99472033e-01 8.46497102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.17907232899995 meters Centerline goodness : 0.562535 with order 3 Centerline is valid? [False, False] Translation: X:-157.65, Y:27.48, Z:84.65 [[ 9.99244374e-01 -2.18084461e-02 3.21725408e-02 -1.57649657e+02] [ 2.17065958e-02 9.99758217e-01 3.51167209e-03 2.74812092e+01] [-3.22413461e-02 -2.81066224e-03 9.99476161e-01 8.46535391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.23907232899995 meters Centerline goodness : 0.425410 with order 1 Centerline is valid? [False, False] Translation: X:-157.65, Y:27.49, Z:84.66 [[ 9.99426457e-01 -1.19207315e-02 3.16962783e-02 -1.57653300e+02] [ 1.15553970e-02 9.99864965e-01 1.16844076e-02 2.74915510e+01] [-3.18312849e-02 -1.13114430e-02 9.99429247e-01 8.46584074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.29907232899996 meters Centerline goodness : 0.420934 with order 1 Centerline is valid? [False, False] Translation: X:-157.66, Y:27.51, Z:84.66 [[ 9.99588797e-01 7.71582879e-04 2.86642987e-02 -1.57662723e+02] [-1.00014038e-03 9.99967818e-01 7.96011355e-03 2.75076908e+01] [-2.86572344e-02 -7.98550865e-03 9.99557399e-01 8.46589102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.35907232899996 meters Centerline goodness : 0.235226 with order 1 Centerline is valid? [False, False] Translation: X:-157.67, Y:27.52, Z:84.66 [[ 9.99559040e-01 6.77060486e-03 2.89116740e-02 -1.57667176e+02] [-7.12912649e-03 9.99898746e-01 1.23155623e-02 2.75190934e+01] [-2.88253628e-02 -1.25162466e-02 9.99506099e-01 8.46629294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41907232899996 meters Centerline goodness : 0.213420 with order 1 Centerline is valid? [False, False] Translation: X:-157.67, Y:27.53, Z:84.67 [[ 9.99480327e-01 1.29825719e-02 2.95047226e-02 -1.57672072e+02] [-1.35022556e-02 9.99755985e-01 1.74831274e-02 2.75290565e+01] [-2.92705470e-02 -1.78724222e-02 9.99411733e-01 8.46661851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47907232899996 meters Centerline goodness : 0.212770 with order 1 Centerline is valid? [False, False] Translation: X:-157.68, Y:27.54, Z:84.67 [[ 9.99733017e-01 1.51312280e-02 1.74625299e-02 -1.57679311e+02] [-1.54749940e-02 9.99685741e-01 1.97216339e-02 2.75436751e+01] [-1.71586296e-02 -1.99866011e-02 9.99652998e-01 8.46703135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53907232899996 meters Centerline goodness : 0.114186 with order 1 Centerline is valid? [False, False] Translation: X:-157.69, Y:27.57, Z:84.67 [[ 9.99719956e-01 2.25953775e-02 7.03268539e-03 -1.57691109e+02] [-2.27706551e-02 9.99404383e-01 2.59302049e-02 2.75652691e+01] [-6.44259384e-03 -2.60830821e-02 9.99639018e-01 8.46742510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59907232899997 meters Centerline goodness : 0.130362 with order 1 Centerline is valid? [False, False] Translation: X:-157.70, Y:27.57, Z:84.68 [[ 9.99661638e-01 2.50124680e-02 7.14049607e-03 -1.57695455e+02] [-2.51983433e-02 9.99310986e-01 2.72506358e-02 2.75724048e+01] [-6.45397051e-03 -2.74213439e-02 9.99603129e-01 8.46779648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65907232899997 meters Centerline goodness : 0.202351 with order 1 Centerline is valid? [False, False] Translation: X:-157.70, Y:27.58, Z:84.68 [[ 9.99657671e-01 2.52308590e-02 6.92415571e-03 -1.57697658e+02] [-2.54064192e-02 9.99324289e-01 2.65608706e-02 2.75755460e+01] [-6.24932340e-03 -2.67276961e-02 9.99623217e-01 8.46806472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71907232899997 meters Centerline goodness : 0.205010 with order 2 Centerline is valid? [False, False] Translation: X:-157.72, Y:27.60, Z:84.69 [[ 9.99685527e-01 2.34650286e-02 8.84533357e-03 -1.57723497e+02] [-2.37128730e-02 9.99296885e-01 2.90419682e-02 2.75960860e+01] [-8.15764367e-03 -2.92425835e-02 9.99539056e-01 8.46909307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779072329 meters Centerline goodness : 0.108258 with order 1 Centerline is valid? [False, False] Translation: X:-157.76, Y:27.63, Z:84.70 [[ 9.99639015e-01 2.32350664e-02 1.34896892e-02 -1.57759746e+02] [-2.37097196e-02 9.99064604e-01 3.61630538e-02 2.76263041e+01] [-1.26368200e-02 -3.64698362e-02 9.99254853e-01 8.46968096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839072329 meters Centerline goodness : 0.108446 with order 1 Centerline is valid? [False, False] Translation: X:-157.79, Y:27.65, Z:84.70 [[ 9.99582111e-01 2.42192694e-02 1.57807201e-02 -1.57792447e+02] [-2.47193146e-02 9.99172405e-01 3.23026431e-02 2.76497056e+01] [-1.49853136e-02 -3.26792328e-02 9.99353545e-01 8.46973129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899072329 meters Centerline goodness : 0.253373 with order 3 Centerline is valid? [False, False] Translation: X:-157.82, Y:27.68, Z:84.70 [[ 9.99663067e-01 2.48137185e-02 7.61781226e-03 -1.57817909e+02] [-2.50884026e-02 9.98948463e-01 3.83736811e-02 2.76780347e+01] [-6.65760813e-03 -3.85518705e-02 9.99234422e-01 8.47005769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959072329 meters Centerline goodness : 0.252108 with order 1 Centerline is valid? [False, False] Translation: X:-157.85, Y:27.71, Z:84.70 [[ 9.99812419e-01 1.93533607e-02 7.57669997e-04 -1.57854058e+02] [-1.93681238e-02 9.98944665e-01 4.16465107e-02 2.77070301e+01] [ 4.91295402e-05 -4.16533732e-02 9.99132120e-01 8.47039267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019072329 meters Centerline goodness : 0.293762 with order 3 Centerline is valid? [False, False] Translation: X:-157.91, Y:27.74, Z:84.70 [[ 9.99835960e-01 1.62596330e-02 7.97984991e-03 -1.57906286e+02] [-1.65882797e-02 9.98936934e-01 4.30096554e-02 2.77415712e+01] [-7.27204560e-03 -4.31349720e-02 9.99042788e-01 8.47040087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079072329 meters Centerline goodness : 0.279948 with order 1 Centerline is valid? [False, False] Translation: X:-157.94, Y:27.76, Z:84.70 [[ 9.99795141e-01 1.65117791e-02 1.17063103e-02 -1.57940368e+02] [-1.69597728e-02 9.99084962e-01 3.92632838e-02 2.77624996e+01] [-1.10472919e-02 -3.94537767e-02 9.99160326e-01 8.47023023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139072329 meters Centerline goodness : 0.112008 with order 1 Centerline is valid? [False, False] Translation: X:-157.99, Y:27.80, Z:84.70 [[ 9.99700659e-01 1.69004684e-02 1.76908755e-02 -1.57987565e+02] [-1.75921574e-02 9.99056684e-01 3.97021272e-02 2.77965581e+01] [-1.70032029e-02 -4.00014633e-02 9.99054940e-01 8.47024739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199072329 meters Centerline goodness : 0.282216 with order 1 Centerline is valid? [False, False] Translation: X:-158.02, Y:27.83, Z:84.70 [[ 9.99763124e-01 1.80761220e-02 1.21222723e-02 -1.58019693e+02] [-1.86493639e-02 9.98625991e-01 4.89727624e-02 2.78261098e+01] [-1.12203785e-02 -4.91872346e-02 9.98726549e-01 8.47028316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259072329 meters Centerline goodness : 0.318738 with order 3 Centerline is valid? [False, False] Translation: X:-158.06, Y:27.86, Z:84.71 [[ 9.99910949e-01 1.17947726e-02 6.24314263e-03 -1.58057365e+02] [-1.20990731e-02 9.98615959e-01 5.11837660e-02 2.78585791e+01] [-5.63080099e-03 -5.12547442e-02 9.98669738e-01 8.47059223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319072329 meters Centerline goodness : 0.286003 with order 1 Centerline is valid? [False, False] Translation: X:-158.11, Y:27.90, Z:84.71 [[ 9.99944086e-01 9.31185275e-03 5.01134527e-03 -1.58108194e+02] [-9.51246033e-03 9.99088285e-01 4.16186585e-02 2.78975116e+01] [-4.61922953e-03 -4.16640016e-02 9.99121001e-01 8.47080325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37907232899994 meters Centerline goodness : 0.219186 with order 3 Centerline is valid? [False, False] Translation: X:-158.16, Y:27.93, Z:84.71 [[ 9.99997218e-01 -2.06902374e-03 1.13266439e-03 -1.58159388e+02] [ 2.02884823e-03 9.99406409e-01 3.43905936e-02 2.79317698e+01] [-1.20314700e-03 -3.43882000e-02 9.99407827e-01 8.47066989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43907232899994 meters Centerline goodness : 0.313375 with order 2 Centerline is valid? [False, False] Translation: X:-158.21, Y:27.97, Z:84.70 [[ 9.99964251e-01 6.19040433e-04 8.43287555e-03 -1.58211116e+02] [-8.98792582e-04 9.99447968e-01 3.32107057e-02 2.79674356e+01] [-8.40766156e-03 -3.32170979e-02 9.99412795e-01 8.47031677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49907232899994 meters Centerline goodness : 0.136338 with order 1 Centerline is valid? [False, False] Translation: X:-158.25, Y:28.00, Z:84.71 [[ 9.99995754e-01 -2.18610936e-04 2.90595142e-03 -1.58247447e+02] [ 1.03876293e-04 9.99222554e-01 3.94243089e-02 2.80037941e+01] [-2.91231078e-03 -3.94238396e-02 9.99218334e-01 8.47061220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.55907232899995 meters Centerline goodness : 0.155953 with order 1 Centerline is valid? [False, False] Translation: X:-158.28, Y:28.03, Z:84.70 [[ 9.99970560e-01 2.27437939e-03 7.32849673e-03 -1.58280310e+02] [-2.53236822e-03 9.99370414e-01 3.53887301e-02 2.80280425e+01] [-7.24339542e-03 -3.54062467e-02 9.99346752e-01 8.47031264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.61907232899995 meters Centerline goodness : 0.301386 with order 2 Centerline is valid? [False, False] Translation: X:-158.33, Y:28.07, Z:84.70 [[ 9.99872634e-01 5.87778206e-03 1.48380250e-02 -1.58331988e+02] [-6.37075190e-03 9.99421835e-01 3.33977572e-02 2.80684549e+01] [-1.46331414e-02 -3.34880328e-02 9.99331988e-01 8.46993734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.67907232899995 meters Centerline goodness : 0.206115 with order 3 Centerline is valid? [False, False] Translation: X:-158.37, Y:28.11, Z:84.70 [[ 9.99945211e-01 4.83320774e-03 9.28525266e-03 -1.58371836e+02] [-5.18897268e-03 9.99238137e-01 3.86810025e-02 2.81061880e+01] [-9.09122525e-03 -3.87270641e-02 9.99208469e-01 8.47049987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.73907232899995 meters Centerline goodness : 0.203504 with order 3 Centerline is valid? [False, False] Translation: X:-158.41, Y:28.13, Z:84.70 [[ 9.99868866e-01 7.49736510e-03 1.43540735e-02 -1.58405642e+02] [-7.99102658e-03 9.99367594e-01 3.46490473e-02 2.81309675e+01] [-1.40852194e-02 -3.47592074e-02 9.99296455e-01 8.47012824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.79907232899996 meters Centerline goodness : 0.192358 with order 3 Centerline is valid? [False, False] Translation: X:-158.42, Y:28.15, Z:84.70 [[ 9.99971362e-01 6.22203078e-03 4.30823647e-03 -1.58422589e+02] [-6.36851671e-03 9.99371689e-01 3.48664530e-02 2.81501257e+01] [-4.08858941e-03 -3.48928916e-02 9.99382694e-01 8.47038664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.85907232899996 meters Centerline goodness : 0.200972 with order 1 Centerline is valid? [False, False] Translation: X:-158.48, Y:28.19, Z:84.70 [[ 9.99878268e-01 7.59262961e-03 1.36308625e-02 -1.58482602e+02] [-8.03291770e-03 9.99438085e-01 3.25420819e-02 2.81893055e+01] [-1.33761231e-02 -3.26476161e-02 9.99377412e-01 8.46962103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91907232899996 meters Centerline goodness : 0.155161 with order 1 Centerline is valid? [False, False] Translation: X:-158.50, Y:28.21, Z:84.70 [[ 9.99972563e-01 6.01430092e-03 4.32447082e-03 -1.58503144e+02] [-6.15613066e-03 9.99417472e-01 3.35681146e-02 2.82106439e+01] [-4.12006296e-03 -3.35938156e-02 9.99427076e-01 8.46988320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97907232899996 meters Centerline goodness : 0.159911 with order 1 Centerline is valid? [False, False] Translation: X:-158.56, Y:28.25, Z:84.69 [[ 9.99897425e-01 5.84598943e-03 1.30753250e-02 -1.58559633e+02] [-6.19782435e-03 9.99615364e-01 2.70316610e-02 2.82483053e+01] [-1.29122690e-02 -2.71099268e-02 9.99549061e-01 8.46943861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03907232899996 meters Centerline goodness : 0.189663 with order 1 Centerline is valid? [False, False] Translation: X:-158.62, Y:28.28, Z:84.68 [[ 9.99771302e-01 4.19117839e-03 2.09708711e-02 -1.58615875e+02] [-4.77945847e-03 9.99594218e-01 2.80812240e-02 2.82822742e+01] [-2.08446681e-02 -2.81750313e-02 9.99385645e-01 8.46847215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09907232899997 meters Centerline goodness : 0.189262 with order 1 Centerline is valid? [False, False] Translation: X:-158.66, Y:28.32, Z:84.69 [[ 9.99864759e-01 -2.40382578e-03 1.62691537e-02 -1.58658062e+02] [ 1.91164487e-03 9.99542029e-01 3.02006219e-02 2.83190112e+01] [-1.63342999e-02 -3.01654367e-02 9.99411445e-01 8.46876880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15907232899997 meters Centerline goodness : 0.081904 with order 1 Centerline is valid? [False, False] Translation: X:-158.67, Y:28.34, Z:84.69 [[ 9.99963495e-01 5.77544166e-03 6.29711690e-03 -1.58673471e+02] [-6.02840688e-03 9.99144175e-01 4.09215713e-02 2.83411376e+01] [-6.05538752e-03 -4.09580390e-02 9.99142518e-01 8.46886076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21907232899997 meters Centerline goodness : 0.119728 with order 3 Centerline is valid? [False, False] Translation: X:-158.71, Y:28.38, Z:84.68 [[ 9.99765781e-01 1.77618631e-02 1.23652806e-02 -1.58714708e+02] [-1.82772416e-02 9.98912364e-01 4.28955906e-02 2.83764930e+01] [-1.15899261e-02 -4.31115468e-02 9.99003037e-01 8.46812488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279072329 meters Centerline goodness : 0.468966 with order 2 Centerline is valid? [False, False] Translation: X:-158.74, Y:28.41, Z:84.67 [[ 9.99233627e-01 3.55795459e-02 1.63173155e-02 -1.58743664e+02] [-3.63269604e-02 9.98183679e-01 4.80592789e-02 2.84085833e+01] [-1.45777507e-02 -4.86152061e-02 9.98711195e-01 8.46737702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339072329 meters Centerline goodness : 0.470913 with order 2 Centerline is valid? [False, False] Translation: X:-158.77, Y:28.43, Z:84.67 [[ 9.98841310e-01 4.39188645e-02 1.96766677e-02 -1.58765233e+02] [-4.48028878e-02 9.97889644e-01 4.69995765e-02 2.84315012e+01] [-1.75709749e-02 -4.78266901e-02 9.98701091e-01 8.46693356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399072329 meters Centerline goodness : 0.466737 with order 2 Centerline is valid? [False, False] Translation: X:-158.77, Y:28.44, Z:84.67 [[ 9.98672738e-01 4.74101570e-02 2.01256113e-02 -1.58768346e+02] [-4.83665016e-02 9.97575359e-01 5.00408212e-02 2.84374798e+01] [-1.77043708e-02 -5.09478093e-02 9.98544379e-01 8.46717474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459072329 meters Centerline goodness : 0.105221 with order 3 Centerline is valid? [False, False] Translation: X:-158.78, Y:28.45, Z:84.67 [[ 9.98776389e-01 4.85308554e-02 9.51212500e-03 -1.58779261e+02] [-4.89654371e-02 9.97415933e-01 5.25722684e-02 2.84516597e+01] [-6.93616787e-03 -5.29737057e-02 9.98571818e-01 8.46718403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519072329 meters Centerline goodness : 0.110315 with order 2 Centerline is valid? [False, False] Translation: X:-158.79, Y:28.47, Z:84.67 [[ 9.98775719e-01 4.94532933e-02 -1.19790278e-03 -1.58787667e+02] [-4.93074120e-02 9.97193924e-01 5.63298906e-02 2.84664626e+01] [ 3.98023998e-03 -5.62018615e-02 9.98411493e-01 8.46713417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579072329 meters Centerline goodness : 0.105141 with order 3 Centerline is valid? [False, False] Translation: X:-158.79, Y:28.48, Z:84.68 [[ 9.98521721e-01 5.43509790e-02 -5.87148229e-04 -1.58793886e+02] [-5.42206040e-02 9.96767037e-01 5.92924949e-02 2.84776816e+01] [ 3.80785514e-03 -5.91730085e-02 9.98240480e-01 8.46763765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639072329 meters Centerline goodness : 0.104962 with order 2 Centerline is valid? [False, False] Translation: X:-158.80, Y:28.49, Z:84.67 [[ 9.97922983e-01 6.44013383e-02 1.47912368e-03 -1.58802091e+02] [-6.43717164e-02 9.96064837e-01 6.09189872e-02 2.84907154e+01] [ 2.44996121e-03 -6.08876712e-02 9.98141618e-01 8.46699229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699072329 meters Centerline goodness : 0.081943 with order 1 Centerline is valid? [False, False] Translation: X:-158.81, Y:28.51, Z:84.67 [[ 9.96923030e-01 7.83506194e-02 2.37764971e-03 -1.58808980e+02] [-7.83511168e-02 9.95098450e-01 6.03338741e-02 2.85085628e+01] [ 2.36120086e-03 -6.03345201e-02 9.98175421e-01 8.46661760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759072329 meters Centerline goodness : 0.370128 with order 2 Centerline is valid? [False, False] Translation: X:-158.81, Y:28.52, Z:84.66 [[ 9.96062872e-01 8.85922645e-02 3.18827563e-03 -1.58814072e+02] [-8.86301675e-02 9.94446776e-01 5.67477066e-02 2.85242787e+01] [ 1.85683741e-03 -5.68068611e-02 9.98383460e-01 8.46638272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819072329 meters Centerline goodness : 0.206256 with order 2 Centerline is valid? [False, False] Translation: X:-158.82, Y:28.53, Z:84.67 [[ 9.96322356e-01 8.56299158e-02 3.04624969e-03 -1.58819429e+02] [-8.56722661e-02 9.94964752e-01 5.20135103e-02 2.85315513e+01] [ 1.42300144e-03 -5.20832023e-02 9.98641735e-01 8.46696286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87907232899994 meters Centerline goodness : 0.082801 with order 1 Centerline is valid? [False, False] Translation: X:-158.83, Y:28.54, Z:84.67 [[ 9.96980694e-01 7.75905274e-02 3.03418726e-03 -1.58825556e+02] [-7.76489256e-02 9.96018972e-01 4.37818654e-02 2.85361177e+01] [ 3.74949954e-04 -4.38852759e-02 9.99036507e-01 8.46738581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93907232899994 meters Centerline goodness : 0.223255 with order 2 Centerline is valid? [False, False] Translation: X:-158.83, Y:28.54, Z:84.68 [[ 9.97916072e-01 6.40141738e-02 -8.10550171e-03 -1.58833805e+02] [-6.36433684e-02 9.97177880e-01 3.98220803e-02 2.85354077e+01] [ 1.06318046e-02 -3.92232325e-02 9.99173910e-01 8.46769654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99907232899994 meters Centerline goodness : 0.234153 with order 2 Centerline is valid? [False, False] Translation: X:-158.85, Y:28.54, Z:84.68 [[ 9.98384637e-01 5.65674406e-02 -5.31425597e-03 -1.58851441e+02] [-5.63403353e-02 9.97761272e-01 3.60306889e-02 2.85415751e+01] [ 7.34052265e-03 -3.56730793e-02 9.99336554e-01 8.46793596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 35310.00 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%| | 0/15068 [00:00