+ python -m lidar_slam --result /working/result.json --no-model /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add Lidar SLAM 0.0.16 ===================================================== The recording path: /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add 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 0.001652532 Adjusted end_distance from 9.223372036854776e+18 to 148.251652532 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001652532 meters Centerline goodness : 0.126316 with order 1 Centerline is valid? [0, False] SLAMing on 0.061652531999999996 meters Centerline goodness : 0.122058 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.01 [[ 0.99999331 0.00337197 -0.0014183 -0.04923913] [-0.00336826 0.99999094 0.00260452 -0.05996827] [ 0.00142707 -0.00259972 0.9999956 0.00589881] [ 0. 0. 0. 1. ]] SLAMing on 0.121652532 meters Centerline goodness : 0.124711 with order 1 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.10, Z:0.01 [[ 9.99939081e-01 1.10088345e-02 8.00295108e-04 -8.40703098e-02] [-1.10118336e-02 9.99931975e-01 3.84503246e-03 -9.54486326e-02] [-7.57911342e-04 -3.85361094e-03 9.99992288e-01 5.57524478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.181652532 meters Centerline goodness : 0.118872 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.15, Z:0.01 [[ 9.99635720e-01 2.65262813e-02 -4.97838223e-03 -1.36287235e-01] [-2.65311071e-02 9.99647578e-01 -9.05814766e-04 -1.54981251e-01] [ 4.95259984e-03 1.03756679e-03 9.99987198e-01 9.95924966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.241652532 meters Centerline goodness : 0.111351 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.22, Z:0.01 [[ 0.9990894 0.04042737 -0.01363777 -0.18897646] [-0.04046043 0.99917881 -0.00215717 -0.2174116 ] [ 0.01353936 0.002707 0.99990467 0.01226313] [ 0. 0. 0. 1. ]] SLAMing on 0.301652532 meters Centerline goodness : 0.104426 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.25, Z:0.01 [[ 9.98808215e-01 4.72937589e-02 -1.20602472e-02 -2.23642256e-01] [-4.72946125e-02 9.98880961e-01 2.14577384e-04 -2.53866971e-01] [ 1.20568995e-02 3.56063064e-04 9.99927250e-01 1.24463213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36165253199999997 meters Centerline goodness : 0.102697 with order 1 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.31, Z:0.01 [[ 0.99843137 0.05553196 -0.00714211 -0.27653345] [-0.05554467 0.99845493 -0.00159463 -0.31079837] [ 0.00704252 0.00198883 0.99997322 0.01470002] [ 0. 0. 0. 1. ]] SLAMing on 0.42165253199999997 meters Centerline goodness : 0.472016 with order 1 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.37, Z:0.02 [[ 0.99620912 0.08689307 -0.00412106 -0.33127042] [-0.08692784 0.99617228 -0.00918351 -0.36649085] [ 0.0033073 0.00950693 0.99994934 0.02178039] [ 0. 0. 0. 1. ]] SLAMing on 0.48165253199999997 meters Centerline goodness : 0.479589 with order 1 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:0.02 [[ 0.99453866 0.1043414 -0.00239154 -0.36857393] [-0.10434429 0.99454061 -0.00111918 -0.39915952] [ 0.00226171 0.00136261 0.99999651 0.0199726 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5416525320000001 meters Centerline goodness : 0.486090 with order 1 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.44, Z:0.02 [[ 0.99254741 0.12159341 -0.00804252 -0.40299863] [-0.12161345 0.99257542 -0.0020506 -0.44120769] [ 0.00773347 0.00301339 0.99996556 0.02179191] [ 0. 0. 0. 1. ]] SLAMing on 0.601652532 meters Centerline goodness : 0.504697 with order 1 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.50, Z:0.03 [[ 0.99109392 0.13289646 -0.00844852 -0.45645092] [-0.13296415 0.99108833 -0.0080285 -0.50384668] [ 0.00730627 0.00908034 0.99993208 0.02572221] [ 0. 0. 0. 1. ]] SLAMing on 0.661652532 meters Centerline goodness : 0.514272 with order 1 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.54, Z:0.03 [[ 0.98891815 0.14831414 -0.00661918 -0.48831609] [-0.14840254 0.98879989 -0.01585744 -0.53971455] [ 0.00419316 0.01666401 0.99985235 0.02615553] [ 0. 0. 0. 1. ]] SLAMing on 0.721652532 meters Centerline goodness : 0.521373 with order 1 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.59, Z:0.03 [[ 0.98637285 0.16443608 -0.00542034 -0.53649949] [-0.16447108 0.98635842 -0.00680683 -0.59390981] [ 0.00422711 0.00760557 0.99996214 0.03170885] [ 0. 0. 0. 1. ]] SLAMing on 0.7816525320000001 meters Centerline goodness : 0.537147 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.63, Z:0.03 [[ 9.83801484e-01 1.79247255e-01 -2.24973896e-03 -5.65453498e-01] [-1.79261108e-01 9.83744125e-01 -1.06279141e-02 -6.29001554e-01] [ 3.08143060e-04 1.08590484e-02 9.99940991e-01 3.35995089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841652532 meters Centerline goodness : 0.546485 with order 1 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.69, Z:0.04 [[ 0.98046105 0.1966517 -0.00492284 -0.61424195] [-0.19668924 0.98042552 -0.00889668 -0.68873292] [ 0.00307693 0.00969112 0.99994831 0.03981066] [ 0. 0. 0. 1. ]] SLAMing on 0.901652532 meters Centerline goodness : 0.551558 with order 1 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.73, Z:0.04 [[ 0.97837031 0.2067845 -0.0056308 -0.64544269] [-0.20679766 0.97838196 -0.00185986 -0.72632192] [ 0.00512448 0.00298407 0.99998242 0.04083983] [ 0. 0. 0. 1. ]] SLAMing on 0.961652532 meters Centerline goodness : 0.564106 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.78, Z:0.04 [[ 0.97512964 0.2212921 -0.01232858 -0.6900488 ] [-0.22137348 0.97517265 -0.00566485 -0.78225026] [ 0.0107689 0.00825318 0.99990795 0.04406428] [ 0. 0. 0. 1. ]] SLAMing on 1.021652532 meters Centerline goodness : 0.569805 with order 1 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.80, Z:0.04 [[ 0.97506176 0.22174383 -0.00917773 -0.70739687] [-0.22182762 0.9750404 -0.00941912 -0.7963279 ] [ 0.00686002 0.0112201 0.99991352 0.04345759] [ 0. 0. 0. 1. ]] SLAMing on 1.081652532 meters Centerline goodness : 0.582950 with order 1 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.85, Z:0.05 [[ 0.97352897 0.22835249 -0.00982268 -0.75230991] [-0.22839779 0.97356067 -0.00375216 -0.85061814] [ 0.00870616 0.00589631 0.99994472 0.04949674] [ 0. 0. 0. 1. ]] SLAMing on 1.141652532 meters Centerline goodness : 0.588640 with order 1 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.89, Z:0.05 [[ 0.97424804 0.22506988 -0.01357584 -0.77628993] [-0.22499241 0.97433532 0.00700651 -0.88692541] [ 0.01480437 -0.00377162 0.9998833 0.0495842 ] [ 0. 0. 0. 1. ]] SLAMing on 1.201652532 meters Centerline goodness : 0.603092 with order 1 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.92, Z:0.05 [[ 9.75439256e-01 2.19927624e-01 -1.22514390e-02 -7.96863969e-01] [-2.19914750e-01 9.75516130e-01 2.40494853e-03 -9.16902255e-01] [ 1.24803910e-02 3.48390937e-04 9.99922056e-01 5.25668827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.261652532 meters Centerline goodness : 0.613317 with order 3 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.96, Z:0.06 [[ 9.76349107e-01 2.15521597e-01 -1.71132344e-02 -8.22222111e-01] [-2.15537701e-01 9.76495086e-01 9.19641152e-04 -9.56472784e-01] [ 1.69091918e-02 2.79065638e-03 9.99853135e-01 5.61587211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3216525319999999 meters Centerline goodness : 0.619796 with order 3 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.98, Z:0.06 [[ 9.76392120e-01 2.15486211e-01 -1.49706970e-02 -8.43087929e-01] [-2.15508163e-01 9.76502027e-01 1.50259749e-04 -9.84356833e-01] [ 1.46512949e-02 3.07959499e-03 9.99887922e-01 5.96126498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.381652532 meters Centerline goodness : 0.627488 with order 3 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.02, Z:0.06 [[ 9.75824846e-01 2.17561150e-01 -2.08090079e-02 -8.65806983e-01] [-2.17516281e-01 9.76046670e-01 4.42330360e-03 -1.02007290e+00] [ 2.12729019e-02 2.09928469e-04 9.99773684e-01 6.32292522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441652532 meters Centerline goodness : 0.639577 with order 3 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.05, Z:0.07 [[ 0.97750409 0.21006051 -0.01898232 -0.88623524] [-0.21011842 0.97767534 -0.00108679 -1.04964595] [ 0.01833026 0.00505087 0.99981923 0.06759835] [ 0. 0. 0. 1. ]] SLAMing on 1.501652532 meters Centerline goodness : 0.651538 with order 3 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.08, Z:0.07 [[ 9.79395230e-01 2.00456677e-01 -2.45378028e-02 -9.08345952e-01] [-2.00415394e-01 9.79702201e-01 4.15548051e-03 -1.08245091e+00] [ 2.48727332e-02 8.47895618e-04 9.99690266e-01 6.79960325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.561652532 meters Centerline goodness : 0.660515 with order 3 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.12, Z:0.07 [[ 0.98108468 0.19116745 -0.03046086 -0.9293583 ] [-0.1909554 0.98155027 0.00975185 -1.11622042] [ 0.0317631 -0.00375073 0.99948839 0.06807297] [ 0. 0. 0. 1. ]] SLAMing on 1.621652532 meters Centerline goodness : 0.678061 with order 3 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.16, Z:0.08 [[ 0.98238358 0.18530083 -0.02420937 -0.96097716] [-0.18511343 0.98266844 0.00978512 -1.16021748] [ 0.02560297 -0.00513126 0.99965902 0.07638707] [ 0. 0. 0. 1. ]] SLAMing on 1.681652532 meters Centerline goodness : 0.691191 with order 3 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.21, Z:0.08 [[ 0.98540585 0.16786824 -0.02820571 -0.99136583] [-0.16758497 0.98578288 0.01214061 -1.21030294] [ 0.02984272 -0.00723657 0.99952841 0.08104838] [ 0. 0. 0. 1. ]] SLAMing on 1.741652532 meters Centerline goodness : 0.699984 with order 3 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.23, Z:0.09 [[ 9.86911943e-01 1.58672007e-01 -2.87751857e-02 -1.00150723e+00] [-1.58597271e-01 9.87331319e-01 4.87577284e-03 -1.22697492e+00] [ 2.91842907e-02 -2.48292527e-04 9.99574017e-01 8.59508088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8016525319999999 meters Centerline goodness : 0.697000 with order 3 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.27, Z:0.09 [[ 0.98854681 0.14718819 -0.03332921 -1.02788323] [-0.14699221 0.98910308 0.00826955 -1.26681774] [ 0.0341832 -0.0032757 0.99941022 0.08577855] [ 0. 0. 0. 1. ]] SLAMing on 1.861652532 meters Centerline goodness : 0.719457 with order 3 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.28, Z:0.09 [[ 9.89453779e-01 1.41168443e-01 -3.24451813e-02 -1.04077436e+00] [-1.41123716e-01 9.89985143e-01 3.67598104e-03 -1.28394887e+00] [ 3.26391800e-02 9.41571208e-04 9.99466757e-01 9.11036921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921652532 meters Centerline goodness : 0.722390 with order 3 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.30, Z:0.10 [[ 0.99078807 0.13150334 -0.03233989 -1.05356382] [-0.13170303 0.99128068 -0.00411457 -1.30404883] [ 0.03151683 0.00833593 0.99946846 0.09677363] [ 0. 0. 0. 1. ]] SLAMing on 1.981652532 meters Centerline goodness : 0.722892 with order 3 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.34, Z:0.10 [[ 0.99161993 0.1265002 -0.02622233 -1.07984922] [-0.12667544 0.99193097 -0.00512636 -1.33819975] [ 0.02536225 0.00840513 0.99964299 0.10362521] [ 0. 0. 0. 1. ]] SLAMing on 2.041652532 meters Centerline goodness : 0.726528 with order 3 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.35, Z:0.10 [[ 9.92194118e-01 1.21806159e-01 -2.67224995e-02 -1.09187854e+00] [-1.21790848e-01 9.92553335e-01 2.20590379e-03 -1.35147796e+00] [ 2.67921987e-02 1.06587110e-03 9.99640456e-01 9.77602373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101652532 meters Centerline goodness : 0.729199 with order 3 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.35, Z:0.10 [[ 9.92137012e-01 1.22387706e-01 -2.61801083e-02 -1.09370616e+00] [-1.22361742e-01 9.92482170e-01 2.59750138e-03 -1.35316564e+00] [ 2.63011929e-02 6.26366399e-04 9.99653868e-01 9.73914156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161652532 meters Centerline goodness : 0.717576 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.38, Z:0.10 [[ 9.90522600e-01 1.35150227e-01 -2.44825601e-02 -1.11878323e+00] [-1.35168405e-01 9.90822213e-01 9.18476451e-04 -1.38111296e+00] [ 2.43819967e-02 2.39949692e-03 9.99699835e-01 1.00895244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.221652532 meters Centerline goodness : 0.709508 with order 1 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.40, Z:0.10 [[ 0.9894059 0.14153275 -0.03231798 -1.13184303] [-0.14153441 0.98993078 0.00224781 -1.395777 ] [ 0.03231071 0.00235011 0.99947511 0.0973987 ] [ 0. 0. 0. 1. ]] SLAMing on 2.281652532 meters Centerline goodness : 0.712107 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.43, Z:0.10 [[ 9.87090756e-01 1.57114054e-01 -3.10968323e-02 -1.15753608e+00] [-1.57080831e-01 9.87579463e-01 3.52373551e-03 -1.42587798e+00] [ 3.12642213e-02 1.40646951e-03 9.99510165e-01 1.02860154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.341652532 meters Centerline goodness : 0.717324 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.44, Z:0.10 [[ 0.9856226 0.1671908 -0.0243994 -1.17491765] [-0.16703748 0.98591639 0.00820673 -1.43711375] [ 0.02542786 -0.00401312 0.9996686 0.09938842] [ 0. 0. 0. 1. ]] SLAMing on 2.401652532 meters Centerline goodness : 0.711722 with order 1 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.45, Z:0.10 [[ 9.83067552e-01 1.81212213e-01 -2.72088566e-02 -1.18730370e+00] [-1.81259067e-01 9.83435092e-01 7.54959232e-04 -1.45205810e+00] [ 2.68949522e-02 4.18967604e-03 9.99629485e-01 9.70535091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461652532 meters Centerline goodness : 0.705839 with order 1 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.48, Z:0.10 [[ 0.98100594 0.19185643 -0.02860874 -1.20359972] [-0.19200998 0.98138927 -0.00269444 -1.48003236] [ 0.02755936 0.00813642 0.99958705 0.10310007] [ 0. 0. 0. 1. ]] SLAMing on 2.521652532 meters Centerline goodness : 0.709070 with order 1 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.49, Z:0.10 [[ 9.80450900e-01 1.94854466e-01 -2.73453836e-02 -1.20763599e+00] [-1.94927881e-01 9.80817578e-01 -1.94258285e-05 -1.48546984e+00] [ 2.68170477e-02 5.34942377e-03 9.99626045e-01 1.03542970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581652532 meters Centerline goodness : 0.711009 with order 1 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.50, Z:0.10 [[ 0.98110488 0.19130036 -0.02893759 -1.2188604 ] [-0.19114769 0.98152886 0.00797902 -1.49855642] [ 0.02992947 -0.0022969 0.99954937 0.09874793] [ 0. 0. 0. 1. ]] SLAMing on 2.6416525319999997 meters Centerline goodness : 0.712841 with order 1 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.51, Z:0.10 [[ 0.98108538 0.1915608 -0.02785574 -1.22420867] [-0.19138052 0.98147443 0.00902492 -1.5064036 ] [ 0.02906852 -0.00352317 0.99957121 0.09989436] [ 0. 0. 0. 1. ]] SLAMing on 2.7016525319999998 meters Centerline goodness : 0.716237 with order 1 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.51, Z:0.10 [[ 0.98132198 0.19037027 -0.02768252 -1.22827798] [-0.19020321 0.98170732 0.00857207 -1.51352069] [ 0.028808 -0.00314666 0.99958001 0.10153898] [ 0. 0. 0. 1. ]] SLAMing on 2.761652532 meters Centerline goodness : 0.715773 with order 1 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.52, Z:0.10 [[ 0.98297369 0.18110948 -0.03101749 -1.24224022] [-0.18080096 0.98344025 0.01250154 -1.52468166] [ 0.032768 -0.0066807 0.99944066 0.1004671 ] [ 0. 0. 0. 1. ]] SLAMing on 2.821652532 meters Centerline goodness : 0.712844 with order 1 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.54, Z:0.09 [[ 0.98424454 0.17423904 -0.03005739 -1.25460175] [-0.17384119 0.98465332 0.01539764 -1.53669473] [ 0.03227898 -0.00992983 0.99942957 0.09457038] [ 0. 0. 0. 1. ]] SLAMing on 2.881652532 meters Centerline goodness : 0.718833 with order 1 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.55, Z:0.10 [[ 0.98451302 0.17262143 -0.03059347 -1.25848453] [-0.17222454 0.98494067 0.01518503 -1.54541508] [ 0.03275402 -0.00968091 0.99941656 0.09816141] [ 0. 0. 0. 1. ]] SLAMing on 2.941652532 meters Centerline goodness : 0.719699 with order 1 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.55, Z:0.10 [[ 0.98446801 0.17288141 -0.03057361 -1.2591094 ] [-0.17246623 0.98488947 0.01575203 -1.54763725] [ 0.03283486 -0.01023445 0.99940839 0.09852825] [ 0. 0. 0. 1. ]] SLAMing on 3.001652532 meters Centerline goodness : 0.722511 with order 1 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.56, Z:0.10 [[ 0.98467701 0.17161691 -0.03096476 -1.26190999] [-0.17119822 0.98511118 0.01572037 -1.55661257] [ 0.03320162 -0.01017837 0.99939684 0.10066079] [ 0. 0. 0. 1. ]] SLAMing on 3.061652532 meters Centerline goodness : 0.720981 with order 1 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.57, Z:0.10 [[ 0.98528875 0.16783102 -0.0322307 -1.26472913] [-0.167455 0.98577959 0.01405082 -1.57050905] [ 0.03413053 -0.00844692 0.99938169 0.10367214] [ 0. 0. 0. 1. ]] SLAMing on 3.121652532 meters Centerline goodness : 0.726383 with order 1 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.58, Z:0.11 [[ 0.9860081 0.1634244 -0.03287086 -1.27023701] [-0.16312533 0.98653714 0.01160128 -1.58282142] [ 0.03432426 -0.00607689 0.99939227 0.10794802] [ 0. 0. 0. 1. ]] SLAMing on 3.1816525319999998 meters Centerline goodness : 0.733228 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.59, Z:0.11 [[ 0.98900112 0.1450904 -0.02873262 -1.27725628] [-0.14476208 0.98937836 0.01320592 -1.58770037] [ 0.03034348 -0.00890128 0.9994999 0.10938278] [ 0. 0. 0. 1. ]] SLAMing on 3.241652532 meters Centerline goodness : 0.730385 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.59, Z:0.11 [[ 0.9901 0.13714005 -0.02990994 -1.27802603] [-0.13700936 0.99054917 0.00638559 -1.59331235] [ 0.03050298 -0.00222443 0.9995322 0.11001685] [ 0. 0. 0. 1. ]] SLAMing on 3.301652532 meters Centerline goodness : 0.728363 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.60, Z:0.11 [[ 0.98999918 0.13785055 -0.02998082 -1.27830412] [-0.13769073 0.99044806 0.00734136 -1.59552939] [ 0.03070645 -0.00313986 0.99952351 0.11021905] [ 0. 0. 0. 1. ]] SLAMing on 3.361652532 meters Centerline goodness : 0.738722 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.61, Z:0.11 [[ 0.99023847 0.13569104 -0.03187032 -1.28870876] [-0.13511795 0.99063751 0.01950554 -1.61141509] [ 0.03421866 -0.01500888 0.99930166 0.10763427] [ 0. 0. 0. 1. ]] SLAMing on 3.421652532 meters Centerline goodness : 0.730044 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.60, Z:0.10 [[ 0.99065295 0.13255677 -0.03217825 -1.2844802 ] [-0.13214127 0.99112156 0.01472236 -1.60227399] [ 0.03384411 -0.01033268 0.99937371 0.10310916] [ 0. 0. 0. 1. ]] SLAMing on 3.481652532 meters Centerline goodness : 0.726651 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.60, Z:0.10 [[ 0.98993088 0.13812996 -0.03093472 -1.28525875] [-0.13757871 0.99030277 0.01930103 -1.60141376] [ 0.03330079 -0.01485073 0.99933504 0.10195543] [ 0. 0. 0. 1. ]] SLAMing on 3.541652532 meters Centerline goodness : 0.733298 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.59, Z:0.10 [[ 0.99108709 0.13129188 -0.02255717 -1.28619125] [-0.13064899 0.99103484 0.0279425 -1.59360021] [ 0.02602356 -0.02474638 0.99935499 0.09831403] [ 0. 0. 0. 1. ]] SLAMing on 3.6016525319999997 meters Centerline goodness : 0.733938 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.59, Z:0.10 [[ 0.9912282 0.13019597 -0.02270827 -1.28449623] [-0.12958089 0.99120837 0.02673496 -1.59143924] [ 0.02598942 -0.02355789 0.9993846 0.09671975] [ 0. 0. 0. 1. ]] SLAMing on 3.6616525319999997 meters Centerline goodness : 0.729576 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.59, Z:0.10 [[ 0.99178301 0.12578805 -0.02332009 -1.28497022] [-0.12527432 0.99187097 0.02232318 -1.59096255] [ 0.0259385 -0.01921834 0.99947879 0.09730828] [ 0. 0. 0. 1. ]] SLAMing on 3.721652532 meters Centerline goodness : 0.737576 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.60, Z:0.10 [[ 0.99126976 0.12990227 -0.02257589 -1.28937085] [-0.12927753 0.99123454 0.02722876 -1.59810137] [ 0.02591508 -0.0240725 0.99937427 0.1008235 ] [ 0. 0. 0. 1. ]] SLAMing on 3.781652532 meters Centerline goodness : 0.737180 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.59, Z:0.10 [[ 0.99072511 0.13430574 -0.02063288 -1.2912491 ] [-0.13365168 0.99056343 0.03035339 -1.59430009] [ 0.02451481 -0.02731424 0.99932625 0.09870385] [ 0. 0. 0. 1. ]] SLAMing on 3.841652532 meters Centerline goodness : 0.734092 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.59, Z:0.09 [[ 0.98993352 0.14058793 -0.0163296 -1.29718403] [-0.14004934 0.98967657 0.03043782 -1.59207883] [ 0.02044021 -0.02784447 0.99940326 0.09109381] [ 0. 0. 0. 1. ]] SLAMing on 3.901652532 meters Centerline goodness : 0.734788 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.59, Z:0.09 [[ 0.98942482 0.14426846 -0.01500457 -1.29823067] [-0.14371551 0.98906771 0.03302914 -1.58713306] [ 0.0196056 -0.03052346 0.99934175 0.08987904] [ 0. 0. 0. 1. ]] SLAMing on 3.961652532 meters Centerline goodness : 0.736496 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.59, Z:0.09 [[ 0.98873702 0.14906434 -0.01337659 -1.30014374] [-0.14847785 0.98820672 0.0374407 -1.5873004 ] [ 0.01879991 -0.03503288 0.99920932 0.08894468] [ 0. 0. 0. 1. ]] SLAMing on 4.021652531999999 meters Centerline goodness : 0.741622 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.57, Z:0.09 [[ 0.9896162 0.14368246 -0.00388864 -1.29322925] [-0.14344794 0.988987 0.03643353 -1.57328255] [ 0.00908067 -0.03549739 0.99932851 0.09132983] [ 0. 0. 0. 1. ]] SLAMing on 4.081652532 meters Centerline goodness : 0.747562 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.56, Z:0.10 [[ 9.90443836e-01 1.37809084e-01 5.44643179e-03 -1.28729865e+00] [-1.37915662e-01 9.89814829e-01 3.52969468e-02 -1.56408687e+00] [-5.26719047e-04 -3.57107916e-02 9.99362027e-01 9.51924280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141652531999999 meters Centerline goodness : 0.742022 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.56, Z:0.09 [[ 9.90317978e-01 1.38675726e-01 6.27255825e-03 -1.28553572e+00] [-1.38810522e-01 9.89710125e-01 3.47204028e-02 -1.55572682e+00] [-1.39313735e-03 -3.52549362e-02 9.99377380e-01 9.15323588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201652532 meters Centerline goodness : 0.736405 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.55, Z:0.09 [[ 0.9904375 0.13779736 0.00674132 -1.28561684] [-0.13794571 0.98989104 0.03296527 -1.55060849] [-0.00213064 -0.03357998 0.99943376 0.0900105 ] [ 0. 0. 0. 1. ]] SLAMing on 4.261652531999999 meters Centerline goodness : 0.740131 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.55, Z:0.09 [[ 0.99024431 0.13914856 0.00734116 -1.28902131] [-0.13932074 0.9896395 0.03468985 -1.55403821] [-0.00243806 -0.0353742 0.99937116 0.09244497] [ 0. 0. 0. 1. ]] SLAMing on 4.321652532 meters Centerline goodness : 0.748431 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.54, Z:0.09 [[ 0.99015642 0.13883206 0.01777411 -1.28291387] [-0.13943545 0.98946111 0.03904439 -1.54341433] [-0.01216618 -0.0411384 0.99907938 0.09498659] [ 0. 0. 0. 1. ]] SLAMing on 4.3816525319999995 meters Centerline goodness : 0.748522 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.54, Z:0.09 [[ 0.99029444 0.13791512 0.01721445 -1.28143236] [-0.13848601 0.9896282 0.03817909 -1.54199953] [-0.01177044 -0.0401925 0.99912263 0.09488526] [ 0. 0. 0. 1. ]] SLAMing on 4.441652531999999 meters Centerline goodness : 0.744642 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.54, Z:0.09 [[ 0.99076829 0.13447983 0.017128 -1.28209122] [-0.13500307 0.99025009 0.03433563 -1.54227531] [-0.01234356 -0.03633099 0.99926358 0.09413183] [ 0. 0. 0. 1. ]] SLAMing on 4.501652532 meters Centerline goodness : 0.743698 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.54, Z:0.09 [[ 0.99066152 0.13521325 0.01752503 -1.28321666] [-0.1357558 0.99013275 0.03474916 -1.54251724] [-0.01265356 -0.03680378 0.9992424 0.09418149] [ 0. 0. 0. 1. ]] SLAMing on 4.561652531999999 meters Centerline goodness : 0.744439 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.54, Z:0.09 [[ 0.99003973 0.13952903 0.018788 -1.28457148] [-0.14017125 0.98936457 0.03885576 -1.54217909] [-0.01316668 -0.04110229 0.99906819 0.09364341] [ 0. 0. 0. 1. ]] SLAMing on 4.621652532 meters Centerline goodness : 0.739727 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.54, Z:0.09 [[ 0.99005575 0.13938012 0.01904701 -1.28468917] [-0.14002356 0.98941296 0.03814959 -1.53999148] [-0.01352806 -0.04043725 0.9990905 0.09273823] [ 0. 0. 0. 1. ]] SLAMing on 4.681652531999999 meters Centerline goodness : 0.742813 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.54, Z:0.09 [[ 0.98999869 0.13969245 0.01971351 -1.2867657 ] [-0.14036719 0.98935193 0.03846831 -1.54102292] [-0.01412987 -0.0408507 0.99906535 0.093207 ] [ 0. 0. 0. 1. ]] SLAMing on 4.741652532 meters Centerline goodness : 0.738778 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.54, Z:0.09 [[ 0.99004007 0.13941608 0.01959139 -1.28621626] [-0.14008236 0.98940237 0.03820832 -1.54056486] [-0.01405691 -0.04057217 0.99907773 0.09278464] [ 0. 0. 0. 1. ]] SLAMing on 4.801652531999999 meters Centerline goodness : 0.736402 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.54, Z:0.09 [[ 0.99060109 0.13546461 0.01894258 -1.28693123] [-0.1360577 0.9900954 0.03463247 -1.54294526] [-0.01406349 -0.03688425 0.99922058 0.09387134] [ 0. 0. 0. 1. ]] SLAMing on 4.861652531999999 meters Centerline goodness : 0.736195 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.55, Z:0.10 [[ 0.99069843 0.13478238 0.01871728 -1.28848725] [-0.13536953 0.99018463 0.03477784 -1.54807544] [-0.01384612 -0.0369881 0.99921978 0.09566313] [ 0. 0. 0. 1. ]] SLAMing on 4.9216525319999995 meters Centerline goodness : 0.738101 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.53, Z:0.10 [[ 0.99167396 0.12563907 0.02824133 -1.28348076] [-0.12650553 0.99147109 0.0313279 -1.53268298] [-0.02406445 -0.03463975 0.9991101 0.09581681] [ 0. 0. 0. 1. ]] SLAMing on 4.981652531999999 meters Centerline goodness : 0.740450 with order 1 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.53, Z:0.10 [[ 0.99114576 0.12966063 0.02860435 -1.28349954] [-0.13063821 0.99079577 0.03545976 -1.53220873] [-0.02374334 -0.03888261 0.99896166 0.09636262] [ 0. 0. 0. 1. ]] SLAMing on 5.041652532 meters Centerline goodness : 0.740212 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.54, Z:0.09 [[ 0.99141354 0.12720831 0.03028606 -1.29252754] [-0.12840681 0.99084842 0.04160638 -1.53996995] [-0.02471622 -0.04513806 0.99867495 0.08979162] [ 0. 0. 0. 1. ]] SLAMing on 5.101652531999999 meters Centerline goodness : 0.742444 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.54, Z:0.09 [[ 0.991361 0.12755425 0.03054961 -1.29316821] [-0.12877666 0.99077978 0.04209505 -1.54163707] [-0.02489853 -0.04566547 0.99864645 0.08960644] [ 0. 0. 0. 1. ]] SLAMing on 5.161652532 meters Centerline goodness : 0.731953 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.53, Z:0.08 [[ 0.99264153 0.11518808 0.03734292 -1.29192572] [-0.11685511 0.99208119 0.04604116 -1.53299216] [-0.03174382 -0.05006607 0.99824131 0.08475299] [ 0. 0. 0. 1. ]] SLAMing on 5.221652531999999 meters Centerline goodness : 0.733433 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.54, Z:0.09 [[ 0.99300815 0.11212332 0.03692125 -1.29254957] [-0.11369434 0.99255771 0.04362105 -1.53829803] [-0.03175553 -0.0475138 0.99836568 0.0855479 ] [ 0. 0. 0. 1. ]] SLAMing on 5.281652531999999 meters Centerline goodness : 0.737480 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.54, Z:0.08 [[ 0.99421516 0.09804502 0.04385636 -1.29619569] [-0.10010401 0.99384198 0.04751109 -1.53547105] [-0.03892807 -0.05162644 0.99790747 0.08415237] [ 0. 0. 0. 1. ]] SLAMing on 5.3416525319999995 meters Centerline goodness : 0.740158 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.54, Z:0.09 [[ 0.99449773 0.0952633 0.04357945 -1.29781887] [-0.09722945 0.99422282 0.04546898 -1.54099422] [-0.03899616 -0.04945601 0.99801473 0.0863291 ] [ 0. 0. 0. 1. ]] SLAMing on 5.401652531999999 meters Centerline goodness : 0.739256 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.54, Z:0.09 [[ 0.99484605 0.09176299 0.04313805 -1.2985432 ] [-0.09358497 0.99471217 0.04230306 -1.54409762] [-0.03902809 -0.0461221 0.99817311 0.08760191] [ 0. 0. 0. 1. ]] SLAMing on 5.461652532 meters Centerline goodness : 0.740801 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.55, Z:0.09 [[ 0.99499302 0.08996284 0.04353829 -1.30166628] [-0.0917456 0.99494456 0.04084209 -1.54923185] [-0.03964392 -0.04463204 0.99821658 0.08951928] [ 0. 0. 0. 1. ]] SLAMing on 5.521652531999999 meters Centerline goodness : 0.736873 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.55, Z:0.09 [[ 0.99525732 0.08648448 0.04453438 -1.30442035] [-0.08812565 0.99544744 0.03630787 -1.54742782] [-0.04119157 -0.0400603 0.99834785 0.08871439] [ 0. 0. 0. 1. ]] SLAMing on 5.581652532 meters Centerline goodness : 0.740652 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.55, Z:0.09 [[ 0.99501543 0.08856922 0.04582351 -1.30736161] [-0.09034638 0.99517436 0.03828228 -1.55052649] [-0.04221175 -0.04223144 0.99821575 0.08883558] [ 0. 0. 0. 1. ]] SLAMing on 5.641652531999999 meters Centerline goodness : 0.738004 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.55, Z:0.09 [[ 0.9949065 0.08922553 0.04690275 -1.30952753] [-0.09105183 0.99510715 0.03835794 -1.54982031] [-0.04325076 -0.04243315 0.99816271 0.08810327] [ 0. 0. 0. 1. ]] SLAMing on 5.701652532 meters Centerline goodness : 0.737628 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.56, Z:0.09 [[ 0.99464129 0.09202308 0.04712168 -1.31158402] [-0.09400676 0.99469508 0.04176638 -1.55509538] [-0.04302823 -0.04597233 0.99801559 0.0903348 ] [ 0. 0. 0. 1. ]] SLAMing on 5.761652531999999 meters Centerline goodness : 0.744133 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.56, Z:0.09 [[ 0.99485031 0.0899524 0.04670565 -1.31247823] [-0.09189287 0.99491595 0.04120633 -1.56459642] [-0.04276158 -0.04528605 0.99805843 0.09244377] [ 0. 0. 0. 1. ]] SLAMing on 5.821652531999999 meters Centerline goodness : 0.740060 with order 1 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.57, Z:0.09 [[ 0.9960514 0.07645198 0.04512984 -1.31938373] [-0.07824609 0.99615428 0.03942331 -1.57415628] [-0.04194229 -0.04279888 0.99820294 0.08541793] [ 0. 0. 0. 1. ]] SLAMing on 5.8816525319999995 meters Centerline goodness : 0.733560 with order 1 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.57, Z:0.08 [[ 0.99606656 0.07605862 0.04545876 -1.31917113] [-0.07781147 0.9962391 0.03811866 -1.5702032 ] [-0.04238854 -0.04150593 0.99823868 0.08369401] [ 0. 0. 0. 1. ]] SLAMing on 5.941652531999999 meters Centerline goodness : 0.736856 with order 1 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.57, Z:0.08 [[ 0.99553004 0.08187555 0.04707804 -1.32248855] [-0.0839492 0.99550264 0.04389779 -1.57236327] [-0.04327216 -0.04765373 0.99792617 0.08395278] [ 0. 0. 0. 1. ]] SLAMing on 6.001652532 meters Centerline goodness : 0.739402 with order 1 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.57, Z:0.08 [[ 0.9951816 0.08548472 0.04802023 -1.32375234] [-0.08774779 0.99502484 0.04717942 -1.56956534] [-0.0437482 -0.05116576 0.99773151 0.0836982 ] [ 0. 0. 0. 1. ]] SLAMing on 6.061652531999999 meters Centerline goodness : 0.736498 with order 1 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.57, Z:0.08 [[ 0.99527543 0.08456857 0.0476967 -1.3219644 ] [-0.08675339 0.9951782 0.04576252 -1.56646936] [-0.04359664 -0.04968416 0.99781302 0.0820917 ] [ 0. 0. 0. 1. ]] SLAMing on 6.121652532 meters Centerline goodness : 0.741768 with order 1 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.57, Z:0.08 [[ 0.99481874 0.08940611 0.04839642 -1.32262562] [-0.09184414 0.99447975 0.05074133 -1.56785434] [-0.04359268 -0.05492335 0.99753852 0.08167516] [ 0. 0. 0. 1. ]] SLAMing on 6.181652531999999 meters Centerline goodness : 0.738604 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.57, Z:0.08 [[ 0.9941096 0.09593696 0.05042024 -1.32607028] [-0.09876406 0.99348066 0.05693711 -1.56954078] [-0.04462916 -0.06158143 0.99710379 0.08138062] [ 0. 0. 0. 1. ]] SLAMing on 6.241652532 meters Centerline goodness : 0.738531 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.57, Z:0.08 [[ 0.99387097 0.09790454 0.05133418 -1.32872226] [-0.10088663 0.99313914 0.05913144 -1.57421063] [-0.04519275 -0.06394796 0.99692942 0.08229518] [ 0. 0. 0. 1. ]] SLAMing on 6.301652531999999 meters Centerline goodness : 0.735605 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.57, Z:0.08 [[ 0.99374964 0.09875998 0.05203951 -1.32928505] [-0.10177631 0.99306179 0.05890547 -1.57269723] [-0.04586095 -0.06383368 0.99690623 0.08038553] [ 0. 0. 0. 1. ]] SLAMing on 6.361652531999999 meters Centerline goodness : 0.732828 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.57, Z:0.08 [[ 0.99358176 0.09972165 0.0533936 -1.33162057] [-0.10282943 0.99294664 0.05901769 -1.57196231] [-0.04713165 -0.06412934 0.99682799 0.07876302] [ 0. 0. 0. 1. ]] SLAMing on 6.4216525319999995 meters Centerline goodness : 0.731130 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.57, Z:0.08 [[ 0.99388842 0.09636656 0.05384512 -1.33365791] [-0.09934006 0.99350004 0.05558077 -1.57391229] [-0.048139 -0.06059006 0.99700124 0.0789176 ] [ 0. 0. 0. 1. ]] SLAMing on 6.481652531999999 meters Centerline goodness : 0.723748 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:-1.57, Z:0.08 [[ 0.99484031 0.08679533 0.05252936 -1.33288929] [-0.08924649 0.9949344 0.04626656 -1.57409751] [-0.04824755 -0.0507159 0.99754703 0.07989601] [ 0. 0. 0. 1. ]] SLAMing on 6.541652532 meters Centerline goodness : 0.725586 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.58, Z:0.08 [[ 0.99534298 0.08084576 0.05250064 -1.33670714] [-0.0830134 0.99572482 0.04050762 -1.57804731] [-0.04900132 -0.04467723 0.99779899 0.0831157 ] [ 0. 0. 0. 1. ]] SLAMing on 6.601652531999999 meters Centerline goodness : 0.733552 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.58, Z:0.09 [[ 0.99483245 0.08631669 0.05345869 -1.33991694] [-0.0888305 0.99495704 0.04657926 -1.58155817] [-0.04916853 -0.05108732 0.9974831 0.08558361] [ 0. 0. 0. 1. ]] SLAMing on 6.661652532 meters Centerline goodness : 0.734894 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.58, Z:0.08 [[ 0.99413709 0.09298976 0.05517568 -1.34223129] [-0.09591586 0.993978 0.0529895 -1.5846738 ] [-0.04991593 -0.05797105 0.99706958 0.08459282] [ 0. 0. 0. 1. ]] SLAMing on 6.721652531999999 meters Centerline goodness : 0.730390 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.59, Z:0.08 [[ 0.99397064 0.09431911 0.05591311 -1.34283944] [-0.09733853 0.99378594 0.05398804 -1.58620979] [-0.05047356 -0.05910503 0.99697493 0.082832 ] [ 0. 0. 0. 1. ]] SLAMing on 6.781652531999999 meters Centerline goodness : 0.728476 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.58, Z:0.08 [[ 0.99399124 0.0938774 0.05628893 -1.34315277] [-0.09686627 0.99388782 0.05295219 -1.58325337] [-0.05097387 -0.05808651 0.99700934 0.08182711] [ 0. 0. 0. 1. ]] SLAMing on 6.8416525319999995 meters Centerline goodness : 0.730046 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.59, Z:0.08 [[ 0.99382888 0.09531099 0.05674477 -1.34445702] [-0.09842842 0.99362648 0.05493868 -1.58857582] [-0.05114685 -0.06018494 0.99687601 0.08228455] [ 0. 0. 0. 1. ]] SLAMing on 6.901652531999999 meters Centerline goodness : 0.732581 with order 1 Centerline is valid? [False, False] Translation: X:-1.34, Y:-1.59, Z:0.08 [[ 0.99375779 0.09592159 0.05696049 -1.34412459] [-0.09907184 0.99354106 0.05532562 -1.5892167 ] [-0.05128566 -0.06062345 0.9968423 0.08100135] [ 0. 0. 0. 1. ]] SLAMing on 6.961652532 meters Centerline goodness : 0.730793 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.59, Z:0.08 [[ 0.99362363 0.09691492 0.05761575 -1.34602342] [-0.10016459 0.99336683 0.05647479 -1.59198863] [-0.05176032 -0.06188575 0.9967402 0.08134331] [ 0. 0. 0. 1. ]] SLAMing on 7.021652531999999 meters Centerline goodness : 0.735244 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.59, Z:0.08 [[ 0.99363506 0.09684047 0.0575438 -1.34661833] [-0.10012141 0.99333177 0.05716379 -1.59481189] [-0.05162431 -0.06256131 0.99670508 0.08284977] [ 0. 0. 0. 1. ]] SLAMing on 7.081652532 meters Centerline goodness : 0.731297 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.60, Z:0.08 [[ 0.99388392 0.09402573 0.05791293 -1.348117 ] [-0.09717592 0.99378945 0.05421601 -1.5978 ] [-0.05245556 -0.05951217 0.99684839 0.08243507] [ 0. 0. 0. 1. ]] SLAMing on 7.141652531999999 meters Centerline goodness : 0.729033 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.60, Z:0.08 [[ 0.99404808 0.09208457 0.0582138 -1.35058259] [-0.09516009 0.99407823 0.05246927 -1.60211595] [-0.05303746 -0.05769661 0.99692433 0.08387812] [ 0. 0. 0. 1. ]] SLAMing on 7.201652531999999 meters Centerline goodness : 0.732048 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.61, Z:0.09 [[ 0.99408251 0.09152486 0.05850781 -1.35340844] [-0.09464403 0.99410107 0.05296758 -1.60901024] [-0.05331482 -0.05819156 0.99688077 0.08640738] [ 0. 0. 0. 1. ]] SLAMing on 7.261652531999999 meters Centerline goodness : 0.728039 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.61, Z:0.09 [[ 0.99500068 0.08240252 0.05642223 -1.35099865] [-0.0849755 0.99537407 0.04482888 -1.61233148] [-0.05246722 -0.04939928 0.99740007 0.08810523] [ 0. 0. 0. 1. ]] SLAMing on 7.321652531999999 meters Centerline goodness : 0.732084 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.62, Z:0.09 [[ 0.99508224 0.08157007 0.05619311 -1.3523796 ] [-0.08412368 0.99545304 0.04468163 -1.61686947] [-0.05229292 -0.04918907 0.99741961 0.09010087] [ 0. 0. 0. 1. ]] SLAMing on 7.3816525319999995 meters Centerline goodness : 0.733727 with order 1 Centerline is valid? [False, False] Translation: X:-1.35, Y:-1.62, Z:0.09 [[ 0.9950366 0.08207782 0.05626189 -1.35337996] [-0.08468628 0.99536095 0.04565969 -1.61966296] [-0.05225324 -0.05019767 0.99737144 0.09146218] [ 0. 0. 0. 1. ]] SLAMing on 7.441652531999999 meters Centerline goodness : 0.730922 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.62, Z:0.09 [[ 0.99479665 0.08379453 0.05794916 -1.3556733 ] [-0.08651686 0.9951795 0.04618001 -1.61887301] [-0.05380019 -0.0509533 0.99725087 0.08884977] [ 0. 0. 0. 1. ]] SLAMing on 7.501652532 meters Centerline goodness : 0.728979 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.62, Z:0.09 [[ 0.99486581 0.08289232 0.05805933 -1.35652367] [-0.08555581 0.99531682 0.04499586 -1.61629892] [-0.05405762 -0.04973215 0.99729859 0.08963527] [ 0. 0. 0. 1. ]] SLAMing on 7.561652531999999 meters Centerline goodness : 0.735220 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.62, Z:0.09 [[ 0.99475317 0.08415537 0.05817223 -1.35799921] [-0.08695342 0.99508571 0.04736587 -1.62243177] [-0.05390026 -0.05217562 0.99718226 0.09181925] [ 0. 0. 0. 1. ]] SLAMing on 7.621652532 meters Centerline goodness : 0.738559 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.62, Z:0.09 [[ 0.9947416 0.08429949 0.05816138 -1.35838594] [-0.087123 0.99504786 0.04784699 -1.62447723] [-0.05383988 -0.05266258 0.99715993 0.09245814] [ 0. 0. 0. 1. ]] SLAMing on 7.681652531999999 meters Centerline goodness : 0.740175 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.63, Z:0.09 [[ 0.99497521 0.08158637 0.05803443 -1.35922873] [-0.08425521 0.99542177 0.04512825 -1.62787641] [-0.05408688 -0.0497912 0.99729406 0.09306191] [ 0. 0. 0. 1. ]] SLAMing on 7.741652531999999 meters Centerline goodness : 0.739865 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.63, Z:0.09 [[ 0.99513508 0.07913865 0.05867922 -1.36138702] [-0.08167779 0.99576446 0.04221222 -1.62988694] [-0.05509006 -0.04679965 0.99738402 0.09287295] [ 0. 0. 0. 1. ]] SLAMing on 7.801652531999999 meters Centerline goodness : 0.737144 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.63, Z:0.09 [[ 0.99504109 0.07953742 0.05972457 -1.36285309] [-0.08212183 0.99573105 0.04213878 -1.62917236] [-0.056118 -0.04683451 0.99732507 0.09121865] [ 0. 0. 0. 1. ]] SLAMing on 7.861652531999999 meters Centerline goodness : 0.736414 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.63, Z:0.09 [[ 0.99511762 0.07863967 0.05963828 -1.36195342] [-0.08114118 0.99586929 0.04074877 -1.62576899] [-0.05618746 -0.04538894 0.997388 0.09014822] [ 0. 0. 0. 1. ]] SLAMing on 7.9216525319999995 meters Centerline goodness : 0.740500 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.63, Z:0.09 [[ 0.99473225 0.08305366 0.060082 -1.3634098 ] [-0.0858694 0.99524831 0.04590467 -1.62845431] [-0.05598396 -0.05082206 0.99713736 0.09189275] [ 0. 0. 0. 1. ]] SLAMing on 7.981652531999999 meters Centerline goodness : 0.739663 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.63, Z:0.09 [[ 0.99506889 0.07931115 0.05956205 -1.36233186] [-0.08189337 0.99574565 0.04223838 -1.63056583] [-0.05595868 -0.04690783 0.99733058 0.09105122] [ 0. 0. 0. 1. ]] SLAMing on 8.041652531999999 meters Centerline goodness : 0.737162 with order 1 Centerline is valid? [False, False] Translation: X:-1.36, Y:-1.63, Z:0.09 [[ 0.99525471 0.07660515 0.05999757 -1.36492144] [-0.0790551 0.99608413 0.03958141 -1.63450883] [-0.05673048 -0.0441367 0.99741346 0.09200045] [ 0. 0. 0. 1. ]] SLAMing on 8.101652532 meters Centerline goodness : 0.739141 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.64, Z:0.09 [[ 0.99539819 0.0742843 0.06053326 -1.36734706] [-0.0766287 0.99635907 0.03737169 -1.63812016] [-0.05753673 -0.0418383 0.99746633 0.09281532] [ 0. 0. 0. 1. ]] SLAMing on 8.161652532 meters Centerline goodness : 0.739298 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.64, Z:0.09 [[ 0.99544901 0.07371357 0.06039525 -1.36692729] [-0.07601454 0.99643006 0.03672773 -1.63688924] [-0.05747231 -0.0411515 0.99749862 0.09278923] [ 0. 0. 0. 1. ]] SLAMing on 8.221652531999998 meters Centerline goodness : 0.742043 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.64, Z:0.09 [[ 0.99537924 0.07458842 0.06047097 -1.36787166] [-0.07698654 0.99629449 0.03834528 -1.64169335] [-0.05738679 -0.04282354 0.99743316 0.09406948] [ 0. 0. 0. 1. ]] SLAMing on 8.281652531999999 meters Centerline goodness : 0.744661 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.64, Z:0.09 [[ 0.99520531 0.07597456 0.06159751 -1.37032721] [-0.07848676 0.99613459 0.03944235 -1.64314109] [-0.05836279 -0.04408783 0.99732144 0.09377922] [ 0. 0. 0. 1. ]] SLAMing on 8.341652532 meters Centerline goodness : 0.744104 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.64, Z:0.09 [[ 0.99482228 0.07983695 0.06288633 -1.37092847] [-0.0825503 0.99571005 0.04179639 -1.63707925] [-0.05927966 -0.04677127 0.99714511 0.09080603] [ 0. 0. 0. 1. ]] SLAMing on 8.401652532 meters Centerline goodness : 0.744280 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.63, Z:0.09 [[ 0.99450726 0.0832165 0.06348481 -1.37072215] [-0.08613614 0.99527896 0.04472536 -1.63321243] [-0.0594632 -0.04994804 0.9969801 0.08949089] [ 0. 0. 0. 1. ]] SLAMing on 8.461652531999999 meters Centerline goodness : 0.743170 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.63, Z:0.09 [[ 0.99412982 0.08713932 0.06412991 -1.37040411] [-0.09031162 0.99473929 0.04834834 -1.63118875] [-0.05957949 -0.05385621 0.99676968 0.08785667] [ 0. 0. 0. 1. ]] SLAMing on 8.521652532 meters Centerline goodness : 0.741311 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.63, Z:0.09 [[ 0.99391532 0.08849507 0.06558165 -1.37317556] [-0.09177448 0.99458337 0.04879924 -1.63063385] [-0.06090793 -0.05452103 0.99665324 0.08678168] [ 0. 0. 0. 1. ]] SLAMing on 8.581652532 meters Centerline goodness : 0.736133 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.63, Z:0.08 [[ 0.99358987 0.09157081 0.06628692 -1.37206088] [-0.09502091 0.99417266 0.05090922 -1.62551223] [-0.06123884 -0.05688153 0.99650103 0.08361385] [ 0. 0. 0. 1. ]] SLAMing on 8.641652532 meters Centerline goodness : 0.731928 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.62, Z:0.08 [[ 0.99358579 0.09147901 0.06647457 -1.37202139] [-0.09491522 0.99420306 0.05051114 -1.62431218] [-0.06146851 -0.0564966 0.99650878 0.08276198] [ 0. 0. 0. 1. ]] SLAMing on 8.701652531999999 meters Centerline goodness : 0.733101 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.62, Z:0.08 [[ 0.99354207 0.09161387 0.06694061 -1.37228776] [-0.09505336 0.9942088 0.05013701 -1.6228801 ] [-0.0619597 -0.05617616 0.99649648 0.0813508 ] [ 0. 0. 0. 1. ]] SLAMing on 8.761652532 meters Centerline goodness : 0.732152 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.63, Z:0.08 [[ 0.99340005 0.0924395 0.06790637 -1.37439214] [-0.09599838 0.99406608 0.05115611 -1.62559982] [-0.06277457 -0.05733738 0.99637933 0.08135025] [ 0. 0. 0. 1. ]] SLAMing on 8.821652532 meters Centerline goodness : 0.728520 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-1.62, Z:0.08 [[ 0.99338229 0.09238817 0.06823528 -1.37480565] [-0.09594656 0.99408679 0.05084993 -1.62455357] [-0.06313386 -0.05706036 0.99637254 0.08076252] [ 0. 0. 0. 1. ]] SLAMing on 8.881652531999999 meters Centerline goodness : 0.732191 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.63, Z:0.08 [[ 0.99353803 0.09024379 0.06883492 -1.37802524] [-0.09370462 0.9944024 0.04881913 -1.62826721] [-0.06404398 -0.05495381 0.99643286 0.08251412] [ 0. 0. 0. 1. ]] SLAMing on 8.941652531999999 meters Centerline goodness : 0.736573 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.63, Z:0.08 [[ 0.99380085 0.08714166 0.06903765 -1.38009949] [-0.0904121 0.99485305 0.04575005 -1.63131447] [-0.06469558 -0.05170828 0.99656447 0.08355384] [ 0. 0. 0. 1. ]] SLAMing on 9.001652532 meters Centerline goodness : 0.729642 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.64, Z:0.08 [[ 0.99406066 0.08434798 0.06876639 -1.38016893] [-0.08744707 0.99522455 0.04337164 -1.63645995] [-0.06477969 -0.04912746 0.99668956 0.08366386] [ 0. 0. 0. 1. ]] SLAMing on 9.061652532 meters Centerline goodness : 0.729785 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.64, Z:0.08 [[ 0.99416468 0.08392434 0.06777382 -1.37827009] [-0.08698603 0.99525676 0.04355919 -1.63815348] [-0.06379668 -0.04920038 0.99674937 0.0844467 ] [ 0. 0. 0. 1. ]] SLAMing on 9.121652531999999 meters Centerline goodness : 0.738368 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.64, Z:0.09 [[ 0.99403656 0.08469044 0.06869382 -1.38205096] [-0.08791894 0.99509172 0.04541726 -1.64376389] [-0.06451024 -0.05118591 0.99660345 0.08709062] [ 0. 0. 0. 1. ]] SLAMing on 9.181652532 meters Centerline goodness : 0.734419 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-1.64, Z:0.09 [[ 0.99438361 0.08057769 0.06861837 -1.3820026 ] [-0.08350157 0.99566954 0.04086141 -1.64307379] [-0.0650287 -0.04636166 0.99680583 0.08602612] [ 0. 0. 0. 1. ]] SLAMing on 9.241652532 meters Centerline goodness : 0.730727 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.65, Z:0.09 [[ 0.99554805 0.06997505 0.06314731 -1.38716642] [-0.07292485 0.99629068 0.04568209 -1.65459655] [-0.05971647 -0.05008373 0.99695816 0.08563299] [ 0. 0. 0. 1. ]] SLAMing on 9.301652531999999 meters Centerline goodness : 0.737495 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.66, Z:0.09 [[ 0.99576814 0.06696584 0.0629395 -1.38817091] [-0.06976713 0.99661813 0.04341493 -1.66022567] [-0.05981933 -0.04762231 0.9970726 0.08725207] [ 0. 0. 0. 1. ]] SLAMing on 9.361652531999999 meters Centerline goodness : 0.741269 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.66, Z:0.09 [[ 0.99603911 0.06336757 0.06237497 -1.38895166] [-0.06595149 0.99700967 0.04027554 -1.66325529] [-0.05963628 -0.04422974 0.99723981 0.08957995] [ 0. 0. 0. 1. ]] SLAMing on 9.421652532 meters Centerline goodness : 0.746797 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.67, Z:0.09 [[ 0.99614534 0.06193484 0.06211719 -1.39192561] [-0.06450971 0.99710144 0.04033869 -1.6716747 ] [-0.05943877 -0.04419036 0.99725335 0.09418076] [ 0. 0. 0. 1. ]] SLAMing on 9.481652532 meters Centerline goodness : 0.745008 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.67, Z:0.09 [[ 0.99642349 0.05764325 0.06178582 -1.39092407] [-0.05991795 0.99756769 0.03561663 -1.67049921] [-0.05958248 -0.03919132 0.99745374 0.09298945] [ 0. 0. 0. 1. ]] SLAMing on 9.541652531999999 meters Centerline goodness : 0.741604 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.67, Z:0.09 [[ 0.99666748 0.05408319 0.06106502 -1.39094536] [-0.05614007 0.9978943 0.03248475 -1.67421458] [-0.05917955 -0.03580469 0.99760503 0.09477568] [ 0. 0. 0. 1. ]] SLAMing on 9.601652532 meters Centerline goodness : 0.744435 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.67, Z:0.09 [[ 0.99664286 0.05416139 0.06139673 -1.39129044] [-0.05621538 0.99789817 0.03223478 -1.67296117] [-0.05952181 -0.035578 0.99759278 0.09405619] [ 0. 0. 0. 1. ]] SLAMing on 9.661652532 meters Centerline goodness : 0.749777 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.67, Z:0.10 [[ 0.99659829 0.05422622 0.0620593 -1.39351587] [-0.05630856 0.99789045 0.03231081 -1.67322895] [-0.06017629 -0.03569537 0.99754932 0.0951026 ] [ 0. 0. 0. 1. ]] SLAMing on 9.721652531999998 meters Centerline goodness : 0.751162 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.67, Z:0.09 [[ 0.99669625 0.05346223 0.06114229 -1.39075105] [-0.05548999 0.99794757 0.03196099 -1.67362371] [-0.05930809 -0.03524818 0.99761722 0.09445224] [ 0. 0. 0. 1. ]] SLAMing on 9.781652531999999 meters Centerline goodness : 0.752737 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.09 [[ 0.99664065 0.05428285 0.06132529 -1.39148017] [-0.05638371 0.99786161 0.03306174 -1.6765749 ] [-0.05939947 -0.03640842 0.99757011 0.09484819] [ 0. 0. 0. 1. ]] SLAMing on 9.841652532 meters Centerline goodness : 0.753977 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.10 [[ 0.99668761 0.05373824 0.06104105 -1.39079534] [-0.05580482 0.99790707 0.03266974 -1.67612972] [-0.05915768 -0.03596791 0.99760046 0.09502559] [ 0. 0. 0. 1. ]] SLAMing on 9.901652532 meters Centerline goodness : 0.754978 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.10 [[ 0.99690742 0.04988402 0.06072214 -1.39083758] [-0.05170559 0.99824685 0.0288054 -1.67739357] [-0.05917876 -0.03185599 0.99773898 0.0954692 ] [ 0. 0. 0. 1. ]] SLAMing on 9.961652531999999 meters Centerline goodness : 0.751225 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.09 [[ 0.99697673 0.04932663 0.06003566 -1.38872641] [-0.05109242 0.99829456 0.02824062 -1.67617552] [-0.05854026 -0.03122261 0.99779667 0.09491109] [ 0. 0. 0. 1. ]] SLAMing on 10.021652532 meters Centerline goodness : 0.753862 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.10 [[ 0.99729306 0.04432196 0.05866951 -1.38716217] [-0.04581719 0.99865205 0.02439002 -1.67827366] [-0.05750941 -0.02701207 0.99797947 0.09722885] [ 0. 0. 0. 1. ]] SLAMing on 10.081652532 meters Centerline goodness : 0.757077 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.10 [[ 0.99750724 0.0399342 0.05817699 -1.38747104] [-0.04118593 0.99894163 0.02047777 -1.68006787] [-0.05729765 -0.0228228 0.99809624 0.0990091 ] [ 0. 0. 0. 1. ]] SLAMing on 10.141652531999998 meters Centerline goodness : 0.756588 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.10 [[ 0.99735542 0.04344763 0.05826211 -1.38615771] [-0.04489199 0.99871033 0.02371474 -1.67704746] [-0.05715662 -0.02626752 0.99801961 0.09738913] [ 0. 0. 0. 1. ]] SLAMing on 10.201652531999999 meters Centerline goodness : 0.761416 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.68, Z:0.10 [[ 0.99710115 0.04775898 0.05923151 -1.38832104] [-0.04946683 0.99839131 0.02770957 -1.67544313] [-0.05781284 -0.03055924 0.99785961 0.09783468] [ 0. 0. 0. 1. ]] SLAMing on 10.261652532 meters Centerline goodness : 0.762802 with order 1 Centerline is valid? [False, False] Translation: X:-1.39, Y:-1.69, Z:0.10 [[ 0.99673542 0.06183459 0.05191332 -1.39228925] [-0.06330941 0.99762155 0.02726106 -1.68844298] [-0.05010418 -0.03045866 0.99827944 0.10237401] [ 0. 0. 0. 1. ]] SLAMing on 10.321652532 meters Centerline goodness : 0.758644 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.70, Z:0.10 [[ 0.99650113 0.07160203 0.04311213 -1.39661577] [-0.07293609 0.99687903 0.03020793 -1.69767691] [-0.04081463 -0.03324667 0.99861345 0.09761968] [ 0. 0. 0. 1. ]] SLAMing on 10.381652531999999 meters Centerline goodness : 0.759605 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.70, Z:0.10 [[ 0.9961287 0.07619452 0.04384069 -1.39742722] [-0.07773869 0.99637093 0.03466501 -1.69752995] [-0.0410403 -0.03793893 0.99843694 0.09719287] [ 0. 0. 0. 1. ]] SLAMing on 10.441652531999999 meters Centerline goodness : 0.766520 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.70, Z:0.10 [[ 0.99548568 0.08327581 0.04553452 -1.40030154] [-0.08518406 0.99549193 0.04170715 -1.70130997] [-0.04185606 -0.04539768 0.99809174 0.09691069] [ 0. 0. 0. 1. ]] SLAMing on 10.501652532 meters Centerline goodness : 0.765943 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.70, Z:0.09 [[ 0.99708009 0.05704524 0.05076541 -1.40292016] [-0.05884508 0.99766404 0.03469452 -1.70308641] [-0.04866766 -0.03758051 0.99810779 0.09405693] [ 0. 0. 0. 1. ]] SLAMing on 10.561652531999998 meters Centerline goodness : 0.764402 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.70, Z:0.09 [[ 0.99737715 0.05230205 0.05003318 -1.40225088] [-0.05384232 0.99810025 0.02994834 -1.70321843] [-0.04837177 -0.03256369 0.99829844 0.09496994] [ 0. 0. 0. 1. ]] SLAMing on 10.621652531999999 meters Centerline goodness : 0.761710 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.70, Z:0.09 [[ 0.99704378 0.05699539 0.05152895 -1.40437393] [-0.05876526 0.99770925 0.03350958 -1.6997988 ] [-0.04950101 -0.03643863 0.99810915 0.09320911] [ 0. 0. 0. 1. ]] SLAMing on 10.681652532 meters Centerline goodness : 0.768112 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-1.70, Z:0.09 [[ 0.99671981 0.06165169 0.05242789 -1.40596212] [-0.06372001 0.99721567 0.03873835 -1.70182002] [-0.04989363 -0.04195198 0.99787307 0.09353135] [ 0. 0. 0. 1. ]] SLAMing on 10.741652532 meters Centerline goodness : 0.768522 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-1.71, Z:0.10 [[ 0.99688691 0.05887652 0.05244082 -1.40756697] [-0.06082941 0.99748222 0.03645551 -1.70707722] [-0.05016241 -0.03953196 0.99795839 0.09508541] [ 0. 0. 0. 1. ]] SLAMing on 10.801652531999999 meters Centerline goodness : 0.768720 with order 1 Centerline is valid? [False, False] Translation: X:-1.40, Y:-1.71, Z:0.10 [[ 0.99720486 0.05470882 0.05088621 -1.4049839 ] [-0.05641756 0.99786928 0.03277125 -1.70993631] [-0.04898491 -0.03555053 0.99816664 0.09605242] [ 0. 0. 0. 1. ]] SLAMing on 10.861652531999999 meters Centerline goodness : 0.773073 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-1.71, Z:0.10 [[ 0.99712856 0.05541313 0.05161407 -1.40758011] [-0.05718197 0.99780332 0.03344772 -1.71117099] [-0.04964725 -0.03630307 0.99810683 0.09724438] [ 0. 0. 0. 1. ]] SLAMing on 10.921652532 meters Centerline goodness : 0.765026 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-1.72, Z:0.09 [[ 0.99704235 0.06379962 0.04285052 -1.41350312] [-0.0653401 0.99722903 0.0355659 -1.72060651] [-0.04046269 -0.03826056 0.99844825 0.09334702] [ 0. 0. 0. 1. ]] SLAMing on 10.981652532 meters Centerline goodness : 0.762447 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.72, Z:0.09 [[ 0.99667614 0.06840708 0.04423962 -1.41549713] [-0.07016117 0.99675758 0.03939206 -1.71833428] [-0.04140148 -0.04236503 0.99824402 0.09204085] [ 0. 0. 0. 1. ]] SLAMing on 11.041652531999999 meters Centerline goodness : 0.765854 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.72, Z:0.09 [[ 0.99621197 0.07429426 0.04518924 -1.41695325] [-0.07632541 0.99606622 0.04501695 -1.72041616] [-0.04166697 -0.04829551 0.99796363 0.09182766] [ 0. 0. 0. 1. ]] SLAMing on 11.101652532 meters Centerline goodness : 0.771272 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.72, Z:0.09 [[ 0.99583881 0.07877763 0.0458164 -1.41815075] [-0.08104445 0.99545946 0.04992264 -1.72242111] [-0.04167558 -0.05342807 0.99770165 0.09240278] [ 0. 0. 0. 1. ]] SLAMing on 11.161652532 meters Centerline goodness : 0.766198 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.72, Z:0.09 [[ 0.99540782 0.08203123 0.04933709 -1.42378669] [-0.0844865 0.99517301 0.04992704 -1.7224915 ] [-0.04500336 -0.05386608 0.99753353 0.08732576] [ 0. 0. 0. 1. ]] SLAMing on 11.221652531999998 meters Centerline goodness : 0.762050 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.72, Z:0.09 [[ 0.99566415 0.0787203 0.0495581 -1.42541999] [-0.08102837 0.99563 0.04642531 -1.72452716] [-0.04568692 -0.05023963 0.99769168 0.08764371] [ 0. 0. 0. 1. ]] SLAMing on 11.281652531999999 meters Centerline goodness : 0.763747 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.73, Z:0.09 [[ 0.99564644 0.07933737 0.04892595 -1.42428638] [-0.08168056 0.99550631 0.04791116 -1.72943573] [-0.04490495 -0.05169888 0.99765263 0.0882188 ] [ 0. 0. 0. 1. ]] SLAMing on 11.341652532 meters Centerline goodness : 0.764740 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.73, Z:0.09 [[ 0.99560261 0.07958626 0.04941133 -1.42548823] [-0.08196566 0.99547111 0.04815503 -1.7302176 ] [-0.04535507 -0.05199331 0.99761697 0.08826892] [ 0. 0. 0. 1. ]] SLAMing on 11.401652532 meters Centerline goodness : 0.763330 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.73, Z:0.09 [[ 0.99551051 0.08029202 0.05012008 -1.42744211] [-0.08273759 0.99537632 0.0487901 -1.73183741] [-0.04597089 -0.05271788 0.99755075 0.08851029] [ 0. 0. 0. 1. ]] SLAMing on 11.461652531999999 meters Centerline goodness : 0.758613 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.73, Z:0.09 [[ 0.99541926 0.08088227 0.05097605 -1.42833127] [-0.08337861 0.99531701 0.04890859 -1.73166242] [-0.04678149 -0.05293486 0.99750158 0.0867648 ] [ 0. 0. 0. 1. ]] SLAMing on 11.521652532 meters Centerline goodness : 0.750879 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.73, Z:0.08 [[ 0.99535768 0.08068938 0.05246242 -1.43014423] [-0.0831872 0.9954103 0.0473098 -1.72657059] [-0.04840424 -0.05145437 0.99750162 0.08399377] [ 0. 0. 0. 1. ]] SLAMing on 11.581652532 meters Centerline goodness : 0.759161 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.73, Z:0.09 [[ 0.99512788 0.08318334 0.05292483 -1.43357825] [-0.08588362 0.99500038 0.05097293 -1.7336699 ] [-0.04842013 -0.05526996 0.99729671 0.08769256] [ 0. 0. 0. 1. ]] SLAMing on 11.641652531999998 meters Centerline goodness : 0.764152 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.74, Z:0.09 [[ 0.99536133 0.08087172 0.05211123 -1.43429859] [-0.08349107 0.99524249 0.05021587 -1.74253694] [-0.04780227 -0.05433376 0.99737796 0.09109267] [ 0. 0. 0. 1. ]] SLAMing on 11.701652531999999 meters Centerline goodness : 0.756325 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.74, Z:0.09 [[ 0.99569331 0.07676278 0.05198377 -1.43384588] [-0.07913758 0.99583491 0.04527766 -1.74005292] [-0.04829162 -0.04919653 0.99762098 0.08961592] [ 0. 0. 0. 1. ]] SLAMing on 11.761652532 meters Centerline goodness : 0.748850 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.73, Z:0.09 [[ 0.99544331 0.07956454 0.05255565 -1.43318138] [-0.08205868 0.99551218 0.04713667 -1.7338147 ] [-0.04856938 -0.05123453 0.99750491 0.08736742] [ 0. 0. 0. 1. ]] SLAMing on 11.821652532 meters Centerline goodness : 0.754243 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.74, Z:0.09 [[ 0.99555906 0.07776313 0.05305704 -1.43661019] [-0.08022646 0.99571499 0.0459932 -1.74000601] [-0.04925311 -0.05004553 0.99753174 0.08981306] [ 0. 0. 0. 1. ]] SLAMing on 11.881652531999999 meters Centerline goodness : 0.754561 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.74, Z:0.09 [[ 0.99564704 0.07734264 0.0520104 -1.43366804] [-0.07976081 0.99574536 0.04614524 -1.74174261] [-0.04822012 -0.05009277 0.99757984 0.08923784] [ 0. 0. 0. 1. ]] SLAMing on 11.941652531999999 meters Centerline goodness : 0.749874 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.74, Z:0.09 [[ 0.99588328 0.07405456 0.05227256 -1.43542378] [-0.07632375 0.9961625 0.0428364 -1.74406317] [-0.04889973 -0.0466497 0.9977137 0.08971952] [ 0. 0. 0. 1. ]] SLAMing on 12.001652532 meters Centerline goodness : 0.756320 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99620373 0.07006459 0.05166315 -1.436807 ] [-0.07218485 0.99657341 0.04038291 -1.74862233] [-0.04865671 -0.0439589 0.99784775 0.09353705] [ 0. 0. 0. 1. ]] SLAMing on 12.061652531999998 meters Centerline goodness : 0.759342 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.76, Z:0.10 [[ 0.99676131 0.06234004 0.05079967 -1.43738656] [-0.0641148 0.99736015 0.03408851 -1.75530626] [-0.04854049 -0.03723511 0.99812693 0.0963155 ] [ 0. 0. 0. 1. ]] SLAMing on 12.121652531999999 meters Centerline goodness : 0.758044 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.76, Z:0.10 [[ 0.99733399 0.05359147 0.04952633 -1.43787027] [-0.05492041 0.99815548 0.02587261 -1.75763789] [-0.04804842 -0.02852364 0.99843766 0.099975 ] [ 0. 0. 0. 1. ]] SLAMing on 12.181652532 meters Centerline goodness : 0.752150 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.75, Z:0.10 [[ 0.99722239 0.0558894 0.0492329 -1.43443486] [-0.057291 0.99797782 0.02753215 -1.75245137] [-0.04759458 -0.03027628 0.99840778 0.09670709] [ 0. 0. 0. 1. ]] SLAMing on 12.241652532 meters Centerline goodness : 0.756886 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.76, Z:0.10 [[ 0.99717641 0.0566943 0.04924384 -1.43510212] [-0.05817999 0.99787667 0.02927862 -1.75744787] [-0.04747935 -0.03206095 0.99835755 0.09794231] [ 0. 0. 0. 1. ]] SLAMing on 12.301652531999999 meters Centerline goodness : 0.761132 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99748107 0.05215078 0.04808127 -1.43402965] [-0.0534107 0.99825203 0.02530172 -1.75964891] [-0.04667772 -0.02780605 0.99852292 0.09990793] [ 0. 0. 0. 1. ]] SLAMing on 12.361652531999999 meters Centerline goodness : 0.758234 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99735401 0.05491019 0.0476429 -1.43055236] [-0.05628201 0.99802373 0.02794586 -1.75744863] [-0.04601423 -0.03055335 0.99847343 0.09714642] [ 0. 0. 0. 1. ]] SLAMing on 12.421652532 meters Centerline goodness : 0.756683 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99837572 0.03891739 0.04160949 -1.42931199] [-0.04015303 0.99876431 0.02928444 -1.75562461] [-0.0404184 -0.03090762 0.9987047 0.09692954] [ 0. 0. 0. 1. ]] SLAMing on 12.481652532 meters Centerline goodness : 0.758082 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99838465 0.0388785 0.04143132 -1.42894352] [-0.04011486 0.99876129 0.02943954 -1.75640211] [-0.04023543 -0.031054 0.99870754 0.09698948] [ 0. 0. 0. 1. ]] SLAMing on 12.541652531999999 meters Centerline goodness : 0.756102 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.09 [[ 0.99843651 0.03830521 0.0407093 -1.42555666] [-0.03950334 0.99879718 0.02904616 -1.75666103] [-0.03954772 -0.0306089 0.99874875 0.09468969] [ 0. 0. 0. 1. ]] SLAMing on 12.601652532 meters Centerline goodness : 0.759230 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.9984351 0.03834087 0.04071043 -1.42685968] [-0.03955278 0.99878508 0.02939298 -1.75780241] [-0.03953401 -0.03095719 0.99873856 0.09661519] [ 0. 0. 0. 1. ]] SLAMing on 12.661652532 meters Centerline goodness : 0.779406 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.77, Z:0.10 [[ 0.99809023 0.04606188 0.04116063 -1.42956182] [-0.0476845 0.99808706 0.03934983 -1.77069655] [-0.03926937 -0.04123741 0.99837738 0.1000178 ] [ 0. 0. 0. 1. ]] SLAMing on 12.721652531999998 meters Centerline goodness : 0.768718 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.76, Z:0.10 [[ 0.99900429 0.02652149 0.03587523 -1.41659376] [-0.02742681 0.99931157 0.0249831 -1.76189492] [-0.03518795 -0.02594216 0.99904395 0.10373717] [ 0. 0. 0. 1. ]] SLAMing on 12.781652531999999 meters Centerline goodness : 0.760101 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-1.76, Z:0.11 [[ 0.99888395 0.03764256 0.02852896 -1.41320156] [-0.03815659 0.99911513 0.01769264 -1.76463056] [-0.02783772 -0.01876146 0.99943638 0.10583438] [ 0. 0. 0. 1. ]] SLAMing on 12.841652532 meters Centerline goodness : 0.755304 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.76, Z:0.10 [[ 0.99868763 0.04148754 0.0300301 -1.41539403] [-0.04210316 0.99890972 0.02016655 -1.75822515] [-0.0291607 -0.02140444 0.99934554 0.10414349] [ 0. 0. 0. 1. ]] SLAMing on 12.901652532 meters Centerline goodness : 0.759187 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.76, Z:0.11 [[ 0.99880839 0.038206 0.03036601 -1.41810212] [-0.03874231 0.99909992 0.01727357 -1.76141323] [-0.02967872 -0.01842944 0.99938958 0.10630708] [ 0. 0. 0. 1. ]] SLAMing on 12.961652531999999 meters Centerline goodness : 0.756344 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.76, Z:0.10 [[ 0.99886157 0.03719902 0.02986298 -1.41572484] [-0.03769459 0.99915787 0.01620706 -1.75947527] [-0.02923494 -0.01731428 0.9994226 0.10482873] [ 0. 0. 0. 1. ]] SLAMing on 13.021652532 meters Centerline goodness : 0.755487 with order 1 Centerline is valid? [False, False] Translation: X:-1.41, Y:-1.76, Z:0.10 [[ 0.99885478 0.03755019 0.02964992 -1.41483508] [-0.03805763 0.99913533 0.01673942 -1.76108554] [-0.02899571 -0.01784866 0.99942017 0.10428816] [ 0. 0. 0. 1. ]] SLAMing on 13.081652532 meters Centerline goodness : 0.752270 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.76, Z:0.10 [[ 0.99861367 0.04230307 0.03132401 -1.41657821] [-0.04293201 0.99888404 0.01968551 -1.75576075] [-0.03045629 -0.02100303 0.99931541 0.10126939] [ 0. 0. 0. 1. ]] SLAMing on 13.141652531999998 meters Centerline goodness : 0.750911 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.75, Z:0.10 [[ 0.99833225 0.04725802 0.03315724 -1.41916418] [-0.04804127 0.99857503 0.02323689 -1.75274563] [-0.03201187 -0.02479105 0.99917999 0.09884257] [ 0. 0. 0. 1. ]] SLAMing on 13.201652531999999 meters Centerline goodness : 0.757076 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.75, Z:0.10 [[ 0.99784714 0.05582827 0.0344135 -1.42113916] [-0.05691295 0.99788559 0.03138888 -1.75079568] [-0.03258834 -0.03327988 0.99891464 0.09860486] [ 0. 0. 0. 1. ]] SLAMing on 13.261652532 meters Centerline goodness : 0.767030 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.76, Z:0.10 [[ 0.99745997 0.06188336 0.03527117 -1.42318399] [-0.0632101 0.99728298 0.03783042 -1.75557364] [-0.03283427 -0.03996383 0.99866151 0.09945159] [ 0. 0. 0. 1. ]] SLAMing on 13.321652532 meters Centerline goodness : 0.766262 with order 1 Centerline is valid? [False, False] Translation: X:-1.42, Y:-1.75, Z:0.10 [[ 0.99740932 0.06223114 0.03608233 -1.42443955] [-0.06358308 0.99726738 0.03761592 -1.75456638] [-0.03364284 -0.03981269 0.99864063 0.09829445] [ 0. 0. 0. 1. ]] SLAMing on 13.381652531999999 meters Centerline goodness : 0.756037 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.75, Z:0.09 [[ 0.9976161 0.05787188 0.03758949 -1.42620053] [-0.05904247 0.99777974 0.03081529 -1.74559777] [-0.03572269 -0.03296121 0.99881803 0.09455517] [ 0. 0. 0. 1. ]] SLAMing on 13.441652531999999 meters Centerline goodness : 0.759618 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.74, Z:0.09 [[ 0.99736428 0.06172659 0.03813546 -1.42707206] [-0.0630536 0.99740904 0.03463297 -1.74443078] [-0.03589887 -0.03694626 0.99867224 0.0947226 ] [ 0. 0. 0. 1. ]] SLAMing on 13.501652532 meters Centerline goodness : 0.764323 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.75, Z:0.10 [[ 0.99721268 0.06375172 0.0387633 -1.42966407] [-0.06519238 0.99718237 0.03711176 -1.74941889] [-0.03628814 -0.03953539 0.99855902 0.09641662] [ 0. 0. 0. 1. ]] SLAMing on 13.561652531999998 meters Centerline goodness : 0.771463 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.996969 0.06728438 0.03905933 -1.43126515] [-0.06889957 0.99675616 0.04159336 -1.7573355 ] [-0.03613404 -0.04415846 0.99837085 0.09798123] [ 0. 0. 0. 1. ]] SLAMing on 13.621652531999999 meters Centerline goodness : 0.767198 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99698943 0.0671326 0.03879807 -1.43020627] [-0.06872367 0.99678286 0.04124298 -1.75653375] [-0.0359045 -0.04378516 0.99839558 0.09718421] [ 0. 0. 0. 1. ]] SLAMing on 13.681652532 meters Centerline goodness : 0.763979 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99731553 0.06268522 0.0378456 -1.42899391] [-0.0640963 0.99724642 0.03729939 -1.75867143] [-0.03540327 -0.03962503 0.99858723 0.09802229] [ 0. 0. 0. 1. ]] SLAMing on 13.741652532 meters Centerline goodness : 0.764575 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.9974445 0.06025055 0.03839707 -1.43146209] [-0.06160417 0.9974832 0.03510261 -1.76336845] [-0.03618548 -0.03737833 0.99864582 0.09887556] [ 0. 0. 0. 1. ]] SLAMing on 13.801652531999999 meters Centerline goodness : 0.758473 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99744314 0.05955058 0.03950847 -1.43236196] [-0.06087892 0.997589 0.03331583 -1.75816201] [-0.03742924 -0.03563588 0.99866368 0.09629349] [ 0. 0. 0. 1. ]] SLAMing on 13.861652531999999 meters Centerline goodness : 0.749003 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.75, Z:0.09 [[ 0.99758689 0.05722327 0.03931774 -1.43099295] [-0.05841929 0.99784203 0.02997462 -1.75179725] [-0.03751764 -0.03219921 0.99877707 0.09460434] [ 0. 0. 0. 1. ]] SLAMing on 13.921652532 meters Centerline goodness : 0.758058 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99722176 0.06304061 0.03968168 -1.4325693 ] [-0.06450811 0.99723636 0.03685586 -1.75860504] [-0.0372486 -0.03931325 0.99853243 0.09642779] [ 0. 0. 0. 1. ]] SLAMing on 13.981652531999998 meters Centerline goodness : 0.763747 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.10 [[ 0.99690804 0.06732826 0.0405126 -1.43390648] [-0.06898721 0.99677274 0.0410471 -1.75807135] [-0.03761823 -0.04371503 0.99833555 0.09634174] [ 0. 0. 0. 1. ]] SLAMing on 14.041652531999999 meters Centerline goodness : 0.760028 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.75, Z:0.09 [[ 0.99663308 0.0708952 0.04118703 -1.43315339] [-0.07268891 0.99639159 0.04381931 -1.75416701] [-0.03793183 -0.04666561 0.99819011 0.09365196] [ 0. 0. 0. 1. ]] SLAMing on 14.101652532 meters Centerline goodness : 0.756880 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.09 [[ 0.99649058 0.07242841 0.04196012 -1.43355422] [-0.07428967 0.99623709 0.04463972 -1.75513592] [-0.03856904 -0.04760027 0.99812156 0.09135284] [ 0. 0. 0. 1. ]] SLAMing on 14.161652532 meters Centerline goodness : 0.757064 with order 1 Centerline is valid? [False, False] Translation: X:-1.43, Y:-1.76, Z:0.09 [[ 0.99642322 0.07305007 0.04247894 -1.43484135] [-0.07494996 0.9961715 0.0449983 -1.7555083 ] [-0.03902918 -0.04802115 0.99808351 0.09124376] [ 0. 0. 0. 1. ]] SLAMing on 14.221652531999998 meters Centerline goodness : 0.756933 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99609247 0.07693746 0.0433637 -1.43567894] [-0.07902164 0.99568785 0.04859304 -1.7534331 ] [-0.03943808 -0.05182984 0.9978769 0.09044437] [ 0. 0. 0. 1. ]] SLAMing on 14.281652531999999 meters Centerline goodness : 0.757896 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99611391 0.07648425 0.04367189 -1.43650043] [-0.07856113 0.99575286 0.04800413 -1.75207082] [-0.03981485 -0.05124849 0.99789196 0.0905508 ] [ 0. 0. 0. 1. ]] SLAMing on 14.341652532 meters Centerline goodness : 0.757145 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99610727 0.07643494 0.04390896 -1.43715967] [-0.07851881 0.99576244 0.04787446 -1.75189963] [-0.04006361 -0.05113578 0.99788779 0.0905523 ] [ 0. 0. 0. 1. ]] SLAMing on 14.401652531999998 meters Centerline goodness : 0.753981 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99573848 0.08055849 0.04489108 -1.43818661] [-0.08283707 0.99523428 0.05144659 -1.74939914] [-0.04053269 -0.054946 0.9976663 0.08953955] [ 0. 0. 0. 1. ]] SLAMing on 14.461652531999999 meters Centerline goodness : 0.758582 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99536927 0.08467569 0.04549779 -1.43919835] [-0.08715999 0.99463503 0.05571626 -1.74933485] [-0.04053588 -0.05942384 0.99740947 0.09009573] [ 0. 0. 0. 1. ]] SLAMing on 14.521652532 meters Centerline goodness : 0.756125 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99537836 0.08458154 0.0454739 -1.43871056] [-0.08705557 0.99465643 0.05549693 -1.74902125] [-0.04053689 -0.0591992 0.99742279 0.08931474] [ 0. 0. 0. 1. ]] SLAMing on 14.581652532 meters Centerline goodness : 0.753601 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.75, Z:0.09 [[ 0.99538631 0.08457518 0.04531141 -1.43818896] [-0.08703647 0.99466239 0.05542005 -1.7487956 ] [-0.04038239 -0.05910811 0.99743446 0.08903391] [ 0. 0. 0. 1. ]] SLAMing on 14.641652531999998 meters Centerline goodness : 0.752882 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.76, Z:0.09 [[ 0.99546244 0.08371615 0.04523425 -1.44008834] [-0.08617417 0.99473654 0.0554367 -1.75595652] [-0.04035522 -0.05908318 0.99743703 0.09136467] [ 0. 0. 0. 1. ]] SLAMing on 14.701652531999999 meters Centerline goodness : 0.753828 with order 1 Centerline is valid? [False, False] Translation: X:-1.44, Y:-1.76, Z:0.09 [[ 0.99570871 0.08042849 0.0457758 -1.44250406] [-0.08278535 0.9952016 0.05215709 -1.7584036 ] [-0.04136123 -0.05572284 0.9975892 0.09188439] [ 0. 0. 0. 1. ]] SLAMing on 14.761652532 meters Centerline goodness : 0.746805 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-1.76, Z:0.09 [[ 0.99626956 0.07305483 0.0459343 -1.44582778] [-0.07511478 0.99616609 0.04484285 -1.76076007] [-0.04248221 -0.04812592 0.99793745 0.09416733] [ 0. 0. 0. 1. ]] SLAMing on 14.821652532 meters Centerline goodness : 0.750152 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-1.77, Z:0.10 [[ 0.99637788 0.07155788 0.04594108 -1.44895319] [-0.07360517 0.99629259 0.04453495 -1.76888119] [-0.04258393 -0.04775514 0.99795093 0.09799416] [ 0. 0. 0. 1. ]] SLAMing on 14.881652531999999 meters Centerline goodness : 0.753260 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-1.77, Z:0.10 [[ 0.99623278 0.07261529 0.04740533 -1.45245491] [-0.0747659 0.99617219 0.04528828 -1.7700326 ] [-0.04393525 -0.04866197 0.99784854 0.09789007] [ 0. 0. 0. 1. ]] SLAMing on 14.941652531999999 meters Centerline goodness : 0.748698 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-1.77, Z:0.10 [[ 0.99586758 0.0772059 0.04782263 -1.4517824 ] [-0.07957618 0.99558313 0.04981821 -1.77021136] [-0.04376514 -0.05341788 0.99761272 0.09645164] [ 0. 0. 0. 1. ]] SLAMing on 15.001652532 meters Centerline goodness : 0.753319 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-1.77, Z:0.10 [[ 0.99578466 0.07820513 0.04792561 -1.45289073] [-0.08064937 0.9954171 0.05138554 -1.77482477] [-0.04368736 -0.05503411 0.99752828 0.09772689] [ 0. 0. 0. 1. ]] SLAMing on 15.061652531999998 meters Centerline goodness : 0.750242 with order 1 Centerline is valid? [False, False] Translation: X:-1.45, Y:-1.77, Z:0.10 [[ 0.99576213 0.07813972 0.04849706 -1.45288385] [-0.08058674 0.99545542 0.05073738 -1.77308109] [-0.04431205 -0.05443058 0.99753384 0.0955687 ] [ 0. 0. 0. 1. ]] SLAMing on 15.121652531999999 meters Centerline goodness : 0.751468 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.78, Z:0.10 [[ 0.9955096 0.0811407 0.04875263 -1.45514572] [-0.08376666 0.99499516 0.05447727 -1.77947405] [-0.04408831 -0.05831649 0.99732412 0.09811806] [ 0. 0. 0. 1. ]] SLAMing on 15.181652532 meters Centerline goodness : 0.754034 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.78, Z:0.10 [[ 0.99538952 0.08225747 0.04932964 -1.45730055] [-0.08498127 0.99481183 0.05592507 -1.7832567 ] [-0.04447345 -0.05985932 0.99721561 0.09922454] [ 0. 0. 0. 1. ]] SLAMing on 15.241652532 meters Centerline goodness : 0.750091 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.78, Z:0.10 [[ 0.99540092 0.08184664 0.04978095 -1.45822096] [-0.08455753 0.99489766 0.05503338 -1.78054732] [-0.04502265 -0.05898963 0.99724279 0.09878154] [ 0. 0. 0. 1. ]] SLAMing on 15.301652531999999 meters Centerline goodness : 0.752158 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.78, Z:0.10 [[ 0.99540494 0.08186155 0.04967594 -1.45857351] [-0.08459571 0.99485796 0.05568843 -1.78358899] [-0.04486176 -0.05963491 0.99721166 0.09969187] [ 0. 0. 0. 1. ]] SLAMing on 15.361652531999999 meters Centerline goodness : 0.750131 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.10 [[ 0.99550302 0.08012424 0.05053565 -1.46114959] [-0.08281964 0.99511615 0.05371001 -1.78692914] [-0.04598536 -0.05765382 0.99727698 0.09964497] [ 0. 0. 0. 1. ]] SLAMing on 15.421652532 meters Centerline goodness : 0.746248 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.78, Z:0.10 [[ 0.99551054 0.07942365 0.05148436 -1.46218851] [-0.08208269 0.99527994 0.05177129 -1.78097399] [-0.04712949 -0.05576484 0.99733099 0.09770083] [ 0. 0. 0. 1. ]] SLAMing on 15.481652531999998 meters Centerline goodness : 0.745150 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.78, Z:0.10 [[ 0.99594464 0.07471146 0.05012459 -1.46014609] [-0.07709864 0.99589076 0.04751204 -1.78233108] [-0.04636892 -0.0511839 0.99761222 0.0985188 ] [ 0. 0. 0. 1. ]] SLAMing on 15.541652531999999 meters Centerline goodness : 0.746119 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.10 [[ 0.99630356 0.07041402 0.04920455 -1.45984056] [-0.07259401 0.99638977 0.04401753 -1.78582857] [-0.04592746 -0.04742678 0.9978183 0.10045741] [ 0. 0. 0. 1. ]] SLAMing on 15.601652532 meters Centerline goodness : 0.751793 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.10 [[ 0.99676994 0.06482745 0.04740338 -1.45727974] [-0.06683518 0.99687665 0.04207133 -1.79058095] [-0.04452795 -0.04510365 0.99798944 0.10468272] [ 0. 0. 0. 1. ]] SLAMing on 15.661652532 meters Centerline goodness : 0.753557 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.11 [[ 0.99689344 0.06251356 0.04791154 -1.46007767] [-0.06443718 0.99713119 0.03971454 -1.79369887] [-0.04529139 -0.04267844 0.99806174 0.10606628] [ 0. 0. 0. 1. ]] SLAMing on 15.721652531999998 meters Centerline goodness : 0.750288 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.10 [[ 0.99689089 0.06242183 0.04808404 -1.45984073] [-0.0643265 0.99716116 0.03913732 -1.79175744] [-0.04550452 -0.04210871 0.99807625 0.10493687] [ 0. 0. 0. 1. ]] SLAMing on 15.781652531999999 meters Centerline goodness : 0.750790 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.10 [[ 0.99681047 0.0629182 0.04909364 -1.4619719 ] [-0.06486772 0.99712437 0.03918136 -1.79110276] [-0.04648725 -0.04224098 0.99802537 0.10430522] [ 0. 0. 0. 1. ]] SLAMing on 15.841652532 meters Centerline goodness : 0.749258 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.10 [[ 0.99675856 0.06338136 0.04954973 -1.46290344] [-0.06535492 0.99708873 0.0392784 -1.79078116] [-0.04691596 -0.0423894 0.99799901 0.1039841 ] [ 0. 0. 0. 1. ]] SLAMing on 15.901652531999998 meters Centerline goodness : 0.753014 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.79, Z:0.10 [[ 0.9964675 0.06766188 0.04974325 -1.46310656] [-0.06985653 0.99659547 0.04378968 -1.79142333] [-0.046611 -0.04710989 0.99780162 0.10430408] [ 0. 0. 0. 1. ]] SLAMing on 15.961652531999999 meters Centerline goodness : 0.754890 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.79, Z:0.10 [[ 0.9956399 0.07734834 0.0521385 -1.46663335] [-0.08009716 0.99538387 0.05287158 -1.79078725] [-0.04780829 -0.0568172 0.99723928 0.10292587] [ 0. 0. 0. 1. ]] SLAMing on 16.021652532 meters Centerline goodness : 0.751383 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.78, Z:0.10 [[ 0.99535233 0.08021682 0.05328233 -1.46673428] [-0.08309886 0.99506219 0.05427534 -1.78337721] [-0.04866543 -0.05845079 0.9971034 0.0996487 ] [ 0. 0. 0. 1. ]] SLAMing on 16.081652532 meters Centerline goodness : 0.748601 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.78, Z:0.10 [[ 0.99425507 0.08886558 0.05966373 -1.46922655] [-0.09167309 0.99472196 0.04608985 -1.78096474] [-0.05525302 -0.05129462 0.99715393 0.10119968] [ 0. 0. 0. 1. ]] SLAMing on 16.141652532000002 meters Centerline goodness : 0.748890 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.78, Z:0.10 [[ 0.99410559 0.08992021 0.06056766 -1.47157448] [-0.09283026 0.99456845 0.04707585 -1.78314436] [-0.05600562 -0.05242088 0.99705337 0.10137972] [ 0. 0. 0. 1. ]] SLAMing on 16.201652532 meters Centerline goodness : 0.748430 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.78, Z:0.10 [[ 0.99407996 0.08961851 0.06142932 -1.47269831] [-0.09252068 0.99464088 0.04614601 -1.7803598 ] [-0.05696458 -0.0515563 0.99704412 0.09995153] [ 0. 0. 0. 1. ]] SLAMing on 16.261652532 meters Centerline goodness : 0.746606 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.78, Z:0.10 [[ 0.99411261 0.08933876 0.06130823 -1.4724019 ] [-0.09222183 0.99467892 0.04592369 -1.78029886] [-0.05687924 -0.05130728 0.99706184 0.09993941] [ 0. 0. 0. 1. ]] SLAMing on 16.321652532 meters Centerline goodness : 0.749818 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.79, Z:0.10 [[ 0.99438239 0.08646615 0.06105131 -1.47429412] [-0.08922066 0.99504266 0.04392926 -1.78633969] [-0.05695027 -0.04912952 0.99716747 0.10266676] [ 0. 0. 0. 1. ]] SLAMing on 16.381652532 meters Centerline goodness : 0.750965 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.79, Z:0.10 [[ 0.99472464 0.08287311 0.06045609 -1.47495796] [-0.08543474 0.99549608 0.0410908 -1.79122657] [-0.05677848 -0.04603908 0.99732472 0.10467791] [ 0. 0. 0. 1. ]] SLAMing on 16.441652532 meters Centerline goodness : 0.752067 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.80, Z:0.11 [[ 0.99507097 0.07913859 0.05975657 -1.47520739] [-0.0815174 0.99592898 0.03847566 -1.79695033] [-0.05646839 -0.04315721 0.99747119 0.10658936] [ 0. 0. 0. 1. ]] SLAMing on 16.501652532 meters Centerline goodness : 0.748423 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.80, Z:0.11 [[ 0.99534488 0.07529148 0.06016444 -1.47703901] [-0.07744285 0.99640793 0.03426139 -1.79700203] [-0.05736873 -0.0387612 0.99760032 0.10656131] [ 0. 0. 0. 1. ]] SLAMing on 16.561652532 meters Centerline goodness : 0.749990 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99644249 0.0651277 0.05348595 -1.47354672] [-0.06743166 0.99681987 0.04246324 -1.80124073] [-0.05055032 -0.04591882 0.99766534 0.10683782] [ 0. 0. 0. 1. ]] SLAMing on 16.621652532000002 meters Centerline goodness : 0.749661 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99652684 0.06438731 0.05280661 -1.47220496] [-0.06664665 0.99688378 0.04220133 -1.80182562] [-0.04992482 -0.04557415 0.99771264 0.1074049 ] [ 0. 0. 0. 1. ]] SLAMing on 16.681652532 meters Centerline goodness : 0.740085 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.10 [[ 0.99682168 0.05970855 0.05273921 -1.47107188] [-0.06166621 0.9974363 0.03630583 -1.79637777] [-0.05043624 -0.03944267 0.99794813 0.10495712] [ 0. 0. 0. 1. ]] SLAMing on 16.741652532 meters Centerline goodness : 0.741669 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99686576 0.05921401 0.05246293 -1.4709982 ] [-0.06116341 0.99746511 0.03636474 -1.79815451] [-0.05017664 -0.03945957 0.99796054 0.10588292] [ 0. 0. 0. 1. ]] SLAMing on 16.801652532000002 meters Centerline goodness : 0.745021 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99690416 0.05898097 0.05199368 -1.47029166] [-0.06092964 0.9974662 0.03672542 -1.80051445] [-0.04969584 -0.03977968 0.99797189 0.10663719] [ 0. 0. 0. 1. ]] SLAMing on 16.861652532 meters Centerline goodness : 0.742470 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99678742 0.05980815 0.05327114 -1.47334492] [-0.06181756 0.99740491 0.03690585 -1.79935808] [-0.05092563 -0.04008038 0.99789786 0.10655056] [ 0. 0. 0. 1. ]] SLAMing on 16.921652532 meters Centerline goodness : 0.741212 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99695522 0.05672715 0.05350066 -1.47439791] [-0.05858816 0.9977071 0.03388167 -1.8024883 ] [-0.05145598 -0.03691301 0.99799284 0.10648808] [ 0. 0. 0. 1. ]] SLAMing on 16.981652532000002 meters Centerline goodness : 0.745930 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.81, Z:0.11 [[ 0.99705452 0.05541429 0.05302399 -1.47662079] [-0.05725068 0.99778873 0.0337639 -1.81019519] [-0.05103574 -0.03670011 0.99802227 0.11066025] [ 0. 0. 0. 1. ]] SLAMing on 17.041652532 meters Centerline goodness : 0.749995 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.81, Z:0.11 [[ 0.99697484 0.0563309 0.05355373 -1.47901305] [-0.05826973 0.99767453 0.03535786 -1.81460988] [-0.05143745 -0.03837146 0.99793879 0.11244937] [ 0. 0. 0. 1. ]] SLAMing on 17.101652532 meters Centerline goodness : 0.746427 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.81, Z:0.11 [[ 0.99705915 0.0551996 0.05316063 -1.47743926] [-0.05707384 0.99777689 0.0344072 -1.81356959] [-0.05114318 -0.03734009 0.99799303 0.11173563] [ 0. 0. 0. 1. ]] SLAMing on 17.161652532 meters Centerline goodness : 0.730902 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99742143 0.04852077 0.05287936 -1.47434608] [-0.04994205 0.99841635 0.0258956 -1.80422406] [-0.05153914 -0.02846973 0.99826509 0.10750195] [ 0. 0. 0. 1. ]] SLAMing on 17.221652532 meters Centerline goodness : 0.732042 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.81, Z:0.11 [[ 0.99763996 0.04428321 0.05247389 -1.47515749] [-0.04548646 0.99872351 0.02196194 -1.80556601] [-0.05143437 -0.02429696 0.99838077 0.10951105] [ 0. 0. 0. 1. ]] SLAMing on 17.281652532000003 meters Centerline goodness : 0.735893 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.81, Z:0.11 [[ 0.99769209 0.04391666 0.05178633 -1.47489067] [-0.04513133 0.99872711 0.02252367 -1.80813037] [-0.05073125 -0.02480888 0.99840416 0.11177219] [ 0. 0. 0. 1. ]] SLAMing on 17.341652532 meters Centerline goodness : 0.737653 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.81, Z:0.11 [[ 0.99774678 0.04368449 0.05092178 -1.47401465] [-0.04492834 0.99871276 0.0235429 -1.81220905] [-0.04982778 -0.02577768 0.99842511 0.11393429] [ 0. 0. 0. 1. ]] SLAMing on 17.401652532 meters Centerline goodness : 0.739801 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.81, Z:0.11 [[ 0.99776153 0.04351866 0.05077456 -1.47352017] [-0.04474758 0.99872604 0.02332277 -1.8117007 ] [-0.0496949 -0.0255426 0.99843778 0.11375388] [ 0. 0. 0. 1. ]] SLAMing on 17.461652532000002 meters Centerline goodness : 0.734808 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.81, Z:0.11 [[ 0.99794158 0.03918976 0.05076177 -1.47358436] [-0.04017254 0.99902172 0.01848697 -1.81005561] [-0.04998761 -0.02048815 0.99853967 0.11331571] [ 0. 0. 0. 1. ]] SLAMing on 17.521652532 meters Centerline goodness : 0.727854 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.80, Z:0.11 [[ 0.99789046 0.04062031 0.05064205 -1.47058446] [-0.0416241 0.99895407 0.01892627 -1.80304235] [-0.04982029 -0.02099428 0.99853752 0.11012309] [ 0. 0. 0. 1. ]] SLAMing on 17.581652532 meters Centerline goodness : 0.725654 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.80, Z:0.11 [[ 0.99839591 0.04307471 0.03674487 -1.46477375] [-0.04393114 0.99877373 0.0228273 -1.80386345] [-0.03571653 -0.02440493 0.99906393 0.10992051] [ 0. 0. 0. 1. ]] SLAMing on 17.641652532000002 meters Centerline goodness : 0.729074 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.81, Z:0.11 [[ 0.99829481 0.04478873 0.03743588 -1.46800302] [-0.04574284 0.99863961 0.02503054 -1.8087428 ] [-0.03626387 -0.02670028 0.9989855 0.112023 ] [ 0. 0. 0. 1. ]] SLAMing on 17.701652532 meters Centerline goodness : 0.737855 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.12 [[ 0.9982699 0.04558116 0.03714239 -1.46927942] [-0.04660391 0.99854437 0.02715166 -1.81506668] [-0.03585072 -0.02883567 0.99894105 0.11512245] [ 0. 0. 0. 1. ]] SLAMing on 17.761652532 meters Centerline goodness : 0.732656 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.81, Z:0.11 [[ 0.99823215 0.04599708 0.03764106 -1.4692844 ] [-0.04703601 0.99852288 0.02719698 -1.81485386] [-0.03633447 -0.02891939 0.99892116 0.11334247] [ 0. 0. 0. 1. ]] SLAMing on 17.821652532 meters Centerline goodness : 0.724157 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.11 [[ 0.9979907 0.05630973 0.02904768 -1.46851749] [-0.05695077 0.99814039 0.02173426 -1.81750118] [-0.02776981 -0.02334487 0.99934171 0.11473847] [ 0. 0. 0. 1. ]] SLAMing on 17.881652532 meters Centerline goodness : 0.729737 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.12 [[ 0.99795839 0.05661587 0.02955823 -1.47108859] [-0.05728522 0.99810851 0.02231154 -1.81943266] [-0.02823914 -0.02395924 0.99931402 0.11660367] [ 0. 0. 0. 1. ]] SLAMing on 17.941652532 meters Centerline goodness : 0.729344 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.12 [[ 0.99803766 0.05536962 0.02924103 -1.46903943] [-0.05599218 0.99821205 0.02091852 -1.81715044] [-0.02803049 -0.02251474 0.99935348 0.11501283] [ 0. 0. 0. 1. ]] SLAMing on 18.001652532 meters Centerline goodness : 0.724637 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.11 [[ 0.99805699 0.05491355 0.0294405 -1.46801453] [-0.05551605 0.99825639 0.02005354 -1.81523239] [-0.02828796 -0.02164899 0.99936535 0.11286254] [ 0. 0. 0. 1. ]] SLAMing on 18.061652532 meters Centerline goodness : 0.730821 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.12 [[ 0.99809555 0.05468269 0.02854952 -1.46824224] [-0.05529111 0.99824994 0.02097484 -1.81900473] [-0.0273526 -0.02251343 0.99937229 0.11635953] [ 0. 0. 0. 1. ]] SLAMing on 18.121652532000002 meters Centerline goodness : 0.735457 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.12 [[ 0.99798341 0.05594286 0.02999177 -1.47104347] [-0.05660993 0.99815673 0.02187383 -1.82013437] [-0.0287128 -0.02352755 0.99931078 0.1153787 ] [ 0. 0. 0. 1. ]] SLAMing on 18.181652532 meters Centerline goodness : 0.730998 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.11 [[ 0.99800465 0.05530719 0.0304603 -1.4711288 ] [-0.05594641 0.99822231 0.02054819 -1.81652916] [-0.02926969 -0.02221133 0.99932474 0.11372445] [ 0. 0. 0. 1. ]] SLAMing on 18.241652532 meters Centerline goodness : 0.733320 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.11 [[ 0.99797354 0.05569716 0.0307674 -1.4722421 ] [-0.05635694 0.99818961 0.02100955 -1.8177919 ] [-0.02954153 -0.02270094 0.99930574 0.11409654] [ 0. 0. 0. 1. ]] SLAMing on 18.301652532000002 meters Centerline goodness : 0.737047 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.12 [[ 0.99803434 0.05478706 0.03042751 -1.47277215] [-0.05544197 0.99823866 0.0211133 -1.8211266 ] [-0.02921718 -0.02275876 0.99931396 0.115983 ] [ 0. 0. 0. 1. ]] SLAMing on 18.361652532 meters Centerline goodness : 0.745747 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.83, Z:0.12 [[ 0.99799382 0.05573416 0.03003392 -1.47316126] [-0.05643995 0.9981367 0.02318735 -1.82769761] [-0.02868563 -0.02483594 0.9992799 0.11789926] [ 0. 0. 0. 1. ]] SLAMing on 18.421652532 meters Centerline goodness : 0.747242 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.83, Z:0.12 [[ 0.99796771 0.05583573 0.03070544 -1.47462122] [-0.05655472 0.99813298 0.0230677 -1.82728184] [-0.02936011 -0.02475736 0.99926226 0.11751915] [ 0. 0. 0. 1. ]] SLAMing on 18.481652532000002 meters Centerline goodness : 0.737854 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-1.82, Z:0.11 [[ 0.99815131 0.05241424 0.03076872 -1.47167914] [-0.05297935 0.99843611 0.01784715 -1.81805779] [-0.02978516 -0.01944426 0.99936718 0.11299042] [ 0. 0. 0. 1. ]] SLAMing on 18.541652532 meters Centerline goodness : 0.739863 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.83, Z:0.11 [[ 0.99846465 0.04672666 0.02974817 -1.48003226] [-0.04744437 0.99858803 0.02389522 -1.82519408] [-0.02858962 -0.02526991 0.99927177 0.10668295] [ 0. 0. 0. 1. ]] SLAMing on 18.601652532 meters Centerline goodness : 0.746663 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.83, Z:0.11 [[ 0.9984451 0.04680055 0.03028337 -1.48078808] [-0.04753716 0.9985792 0.024079 -1.82620786] [-0.02911343 -0.02548115 0.99925128 0.10607238] [ 0. 0. 0. 1. ]] SLAMing on 18.661652532 meters Centerline goodness : 0.746008 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.83, Z:0.10 [[ 0.99840206 0.0473232 0.0308844 -1.4814698 ] [-0.04808518 0.99854483 0.02441382 -1.82700828] [-0.02968412 -0.02585989 0.99922476 0.10472054] [ 0. 0. 0. 1. ]] SLAMing on 18.721652532 meters Centerline goodness : 0.746156 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.83, Z:0.10 [[ 0.99837721 0.04750337 0.03140647 -1.48214805] [-0.04827343 0.99854016 0.02423292 -1.82619709] [-0.03020948 -0.02570969 0.99921289 0.10378894] [ 0. 0. 0. 1. ]] SLAMing on 18.781652532 meters Centerline goodness : 0.747383 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.83, Z:0.11 [[ 0.99819925 0.0507208 0.03202581 -1.48481095] [-0.05160965 0.99828682 0.02756571 -1.83001344] [-0.03057279 -0.02916891 0.99910684 0.10519221] [ 0. 0. 0. 1. ]] SLAMing on 18.841652532 meters Centerline goodness : 0.746343 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.83, Z:0.10 [[ 0.99754798 0.05850847 0.03840284 -1.49933256] [-0.05962135 0.99781406 0.02850271 -1.83253943] [-0.03665124 -0.03072245 0.99885575 0.09959092] [ 0. 0. 0. 1. ]] SLAMing on 18.901652532 meters Centerline goodness : 0.747726 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.83, Z:0.10 [[ 0.99717406 0.06358773 0.04000615 -1.50130474] [-0.06492357 0.99734354 0.03302727 -1.83213355] [-0.03779974 -0.03553128 0.99865345 0.09744019] [ 0. 0. 0. 1. ]] SLAMing on 18.961652532000002 meters Centerline goodness : 0.746149 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.83, Z:0.10 [[ 0.99709576 0.06431456 0.04078822 -1.50243696] [-0.06569195 0.99728153 0.03337835 -1.83218701] [-0.03853062 -0.03596087 0.99861014 0.09624204] [ 0. 0. 0. 1. ]] SLAMing on 19.021652532 meters Centerline goodness : 0.744846 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.83, Z:0.10 [[ 0.99699508 0.06555036 0.04127915 -1.50387814] [-0.06699034 0.99715618 0.03452319 -1.83445595] [-0.03889875 -0.03718476 0.99855104 0.09642958] [ 0. 0. 0. 1. ]] SLAMing on 19.081652532 meters Centerline goodness : 0.747392 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.84, Z:0.10 [[ 0.99693946 0.0660639 0.04180036 -1.50541804] [-0.06755978 0.99708537 0.03544628 -1.83735075] [-0.03933681 -0.03816182 0.99849702 0.0970779 ] [ 0. 0. 0. 1. ]] SLAMing on 19.141652532000002 meters Centerline goodness : 0.751162 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.84, Z:0.10 [[ 0.99743765 0.05854482 0.04111746 -1.50609283] [-0.05975212 0.99779847 0.02877306 -1.84312588] [-0.03934243 -0.03115619 0.99873994 0.09889093] [ 0. 0. 0. 1. ]] SLAMing on 19.201652532 meters Centerline goodness : 0.747514 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.84, Z:0.10 [[ 0.99763407 0.05486812 0.04142165 -1.50717874] [-0.05592014 0.99813015 0.02468068 -1.84309119] [-0.03999001 -0.02693859 0.99883688 0.09837443] [ 0. 0. 0. 1. ]] SLAMing on 19.261652532 meters Centerline goodness : 0.753337 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.85, Z:0.10 [[ 0.99772877 0.05396319 0.04031464 -1.50627957] [-0.05501081 0.99816404 0.02534464 -1.8465691 ] [-0.03887295 -0.02750481 0.99886555 0.10133756] [ 0. 0. 0. 1. ]] SLAMing on 19.321652532 meters Centerline goodness : 0.756463 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.85, Z:0.10 [[ 0.99795838 0.04980223 0.0399852 -1.50627289] [-0.05069808 0.99847799 0.02171171 -1.84945837] [-0.03884305 -0.02369455 0.99896436 0.10198235] [ 0. 0. 0. 1. ]] SLAMing on 19.381652532 meters Centerline goodness : 0.754476 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.85, Z:0.10 [[ 0.99877874 0.03655584 0.03323715 -1.50245916] [-0.03742964 0.99895943 0.02605899 -1.85135905] [-0.03224995 -0.02727122 0.99910771 0.10083791] [ 0. 0. 0. 1. ]] SLAMing on 19.441652532 meters Centerline goodness : 0.752449 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.85, Z:0.10 [[ 0.99897724 0.03146468 0.03247216 -1.50153318] [-0.03216581 0.99925556 0.0212999 -1.85147678] [-0.03177779 -0.02232261 0.99924565 0.10192842] [ 0. 0. 0. 1. ]] SLAMing on 19.501652532 meters Centerline goodness : 0.755351 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.86, Z:0.10 [[ 0.99908847 0.02845865 0.03181713 -1.50220228] [-0.02908807 0.99938668 0.01949754 -1.85824024] [-0.03124275 -0.02040527 0.99930352 0.10483809] [ 0. 0. 0. 1. ]] SLAMing on 19.561652532 meters Centerline goodness : 0.754836 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.86, Z:0.10 [[ 0.99909826 0.02812827 0.0318035 -1.50160424] [-0.02874089 0.99940683 0.0189723 -1.85673688] [-0.03125098 -0.01986925 0.99931406 0.10407031] [ 0. 0. 0. 1. ]] SLAMing on 19.621652532000002 meters Centerline goodness : 0.754706 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.86, Z:0.10 [[ 0.99910607 0.02819639 0.03149654 -1.5003544 ] [-0.02881013 0.99940039 0.01920515 -1.85772436] [-0.03093614 -0.0200954 0.99931933 0.10346281] [ 0. 0. 0. 1. ]] SLAMing on 19.681652532 meters Centerline goodness : 0.754401 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.86, Z:0.10 [[ 0.99927502 0.02288551 0.03042523 -1.49827949] [-0.02333278 0.99962364 0.01442767 -1.85830987] [-0.0300836 -0.01512712 0.99943291 0.10415425] [ 0. 0. 0. 1. ]] SLAMing on 19.741652532 meters Centerline goodness : 0.752132 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.86, Z:0.10 [[ 0.99938164 0.01827538 0.0300392 -1.49779164] [-0.01858641 0.99977616 0.01010787 -1.85917391] [-0.02984775 -0.01065994 0.99949761 0.10469338] [ 0. 0. 0. 1. ]] SLAMing on 19.801652532000002 meters Centerline goodness : 0.758597 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.86, Z:0.11 [[ 0.9994207 0.0182879 0.02870235 -1.49626457] [-0.01863226 0.99975705 0.01177637 -1.86486158] [-0.02848001 -0.01230433 0.99951863 0.10744811] [ 0. 0. 0. 1. ]] SLAMing on 19.861652532 meters Centerline goodness : 0.762109 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.87, Z:0.11 [[ 0.99944205 0.01790834 0.02819368 -1.49590901] [-0.01825812 0.99975889 0.01219833 -1.86740497] [-0.02796843 -0.01270629 0.99952805 0.10898521] [ 0. 0. 0. 1. ]] SLAMing on 19.921652532 meters Centerline goodness : 0.761564 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.87, Z:0.11 [[ 0.99956986 0.00969063 0.02768012 -1.49606921] [-0.00983235 0.99993922 0.00498825 -1.8718064 ] [-0.0276301 -0.00525826 0.99960439 0.11075013] [ 0. 0. 0. 1. ]] SLAMing on 19.981652532000002 meters Centerline goodness : 0.757535 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.87, Z:0.11 [[ 9.99641338e-01 4.58589807e-03 2.63849531e-02 -1.49314600e+00] [-4.59721356e-03 9.99989365e-01 3.68217860e-04 -1.87257862e+00] [-2.63829838e-02 -4.89383058e-04 9.99651789e-01 1.11334771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041652532 meters Centerline goodness : 0.761544 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.88, Z:0.12 [[ 9.99669743e-01 2.32988056e-03 2.55925167e-02 -1.49447422e+00] [-2.32647875e-03 9.99997281e-01 -1.62696389e-04 -1.88167028e+00] [-2.55928262e-02 1.03102211e-04 9.99672445e-01 1.15543582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101652532 meters Centerline goodness : 0.763589 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 0.99992606 0.00361763 0.01160985 -1.48878371] [-0.00366711 0.99998428 0.00424274 -1.88700558] [-0.01159432 -0.004285 0.9999236 0.11568144] [ 0. 0. 0. 1. ]] SLAMing on 20.161652532 meters Centerline goodness : 0.752616 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.88, Z:0.11 [[ 0.99992645 -0.00223787 0.0119204 -1.48848729] [ 0.00226864 0.99999413 -0.00256813 -1.88000329] [-0.01191458 0.00259498 0.99992565 0.114147 ] [ 0. 0. 0. 1. ]] SLAMing on 20.221652532 meters Centerline goodness : 0.747554 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.88, Z:0.12 [[ 0.99991757 -0.00884076 0.00931056 -1.48329559] [ 0.00891158 0.99993147 -0.00759261 -1.8804427 ] [-0.00924279 0.00767496 0.99992783 0.11625314] [ 0. 0. 0. 1. ]] SLAMing on 20.281652532 meters Centerline goodness : 0.758005 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 0.99989911 -0.01101892 0.00896451 -1.48602804] [ 0.01108497 0.99991154 -0.00735136 -1.89157014] [-0.00888271 0.00744999 0.9999328 0.12133379] [ 0. 0. 0. 1. ]] SLAMing on 20.341652532 meters Centerline goodness : 0.757142 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 0.99993146 -0.00730418 0.00914983 -1.48543849] [ 0.00734177 0.99996472 -0.00408117 -1.88885154] [-0.0091197 0.00414807 0.99994981 0.11975313] [ 0. 0. 0. 1. ]] SLAMing on 20.401652532 meters Centerline goodness : 0.754140 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 9.99950612e-01 -2.34921294e-03 9.65681659e-03 -1.48664250e+00] [ 2.34529283e-03 9.99997163e-01 4.17246903e-04 -1.88838145e+00] [-9.65776939e-03 -3.94578234e-04 9.99953285e-01 1.19233564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461652532000002 meters Centerline goodness : 0.765521 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.90, Z:0.12 [[ 9.99961484e-01 -1.41016852e-03 8.66269575e-03 -1.48631869e+00] [ 1.38199746e-03 9.99993741e-01 3.25712296e-03 -1.89676836e+00] [-8.66723462e-03 -3.24502568e-03 9.99957174e-01 1.22596891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521652532 meters Centerline goodness : 0.749812 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.89, Z:0.12 [[ 0.99993806 -0.00659115 0.00896859 -1.48325739] [ 0.00662288 0.9999719 -0.00351356 -1.88822518] [-0.00894518 0.00357274 0.99995361 0.11747514] [ 0. 0. 0. 1. ]] SLAMing on 20.581652532 meters Centerline goodness : 0.748177 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.89, Z:0.12 [[ 0.99993866 -0.00638231 0.00905234 -1.48421137] [ 0.00641256 0.99997394 -0.00331656 -1.88857654] [-0.00903093 0.00337441 0.99995353 0.11830776] [ 0. 0. 0. 1. ]] SLAMing on 20.641652532000002 meters Centerline goodness : 0.758600 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 9.99953206e-01 -1.19404941e-03 9.59996079e-03 -1.48655659e+00] [ 1.17359448e-03 9.99997030e-01 2.13608147e-03 -1.89132273e+00] [-9.60248286e-03 -2.12471505e-03 9.99951638e-01 1.19349816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701652532 meters Centerline goodness : 0.755052 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 0.99994259 0.00246567 0.01042817 -1.48805092] [-0.00251656 0.99998498 0.00486934 -1.88632565] [-0.010416 -0.0048953 0.99993377 0.11834668] [ 0. 0. 0. 1. ]] SLAMing on 20.761652532 meters Centerline goodness : 0.755978 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.88, Z:0.12 [[ 0.9999289 0.00251781 0.01165552 -1.49044576] [-0.00256584 0.99998827 0.00410735 -1.88318437] [-0.01164504 -0.00413696 0.99992364 0.11735857] [ 0. 0. 0. 1. ]] SLAMing on 20.821652532 meters Centerline goodness : 0.761214 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.89, Z:0.11 [[ 0.99979912 0.01158502 0.01635579 -1.50005941] [-0.01174628 0.99988301 0.00979779 -1.88728159] [-0.01624037 -0.00998794 0.99981823 0.11337359] [ 0. 0. 0. 1. ]] SLAMing on 20.881652532 meters Centerline goodness : 0.762184 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.88, Z:0.11 [[ 0.99963286 0.02015865 0.01810471 -1.50209821] [-0.02045321 0.99965899 0.01623463 -1.88041192] [-0.01777127 -0.01659897 0.99970428 0.11035787] [ 0. 0. 0. 1. ]] SLAMing on 20.941652532 meters Centerline goodness : 0.757721 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.88, Z:0.11 [[ 0.9989692 0.04367816 0.01235923 -1.50227269] [-0.0439256 0.9988242 0.02051239 -1.88099485] [-0.01144876 -0.02103413 0.9997132 0.11290778] [ 0. 0. 0. 1. ]] SLAMing on 21.001652532 meters Centerline goodness : 0.757045 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.88, Z:0.11 [[ 0.99867475 0.04957633 0.01381784 -1.5041408 ] [-0.04991737 0.9984268 0.02553786 -1.88103648] [-0.01253003 -0.02619377 0.99957835 0.11103804] [ 0. 0. 0. 1. ]] SLAMing on 21.061652532 meters Centerline goodness : 0.751859 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.88, Z:0.11 [[ 0.99862483 0.05035966 0.0145724 -1.50456379] [-0.05072291 0.99838112 0.02573585 -1.8809682 ] [-0.01325276 -0.02643961 0.99956256 0.10896338] [ 0. 0. 0. 1. ]] SLAMing on 21.121652532 meters Centerline goodness : 0.750602 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.88, Z:0.11 [[ 0.99881957 0.04618332 0.01505217 -1.50618786] [-0.04650005 0.99868862 0.02141907 -1.88090924] [-0.01404323 -0.02209371 0.99965727 0.1088674 ] [ 0. 0. 0. 1. ]] SLAMing on 21.181652532 meters Centerline goodness : 0.749045 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.89, Z:0.11 [[ 0.9990879 0.04072657 0.01283404 -1.50204179] [-0.04095087 0.99900388 0.01772777 -1.88569385] [-0.01209926 -0.01823716 0.99976048 0.11038182] [ 0. 0. 0. 1. ]] SLAMing on 21.241652532 meters Centerline goodness : 0.742643 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.89, Z:0.11 [[ 0.99941982 0.03215179 0.0112377 -1.50038919] [-0.03226908 0.99942494 0.01041654 -1.8903246 ] [-0.01089632 -0.01077313 0.9998826 0.11269894] [ 0. 0. 0. 1. ]] SLAMing on 21.301652532000002 meters Centerline goodness : 0.747231 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.89, Z:0.11 [[ 0.99947411 0.03095023 0.00967445 -1.49789904] [-0.0310534 0.99946044 0.01070139 -1.89311409] [-0.00933802 -0.01099619 0.99989594 0.11499091] [ 0. 0. 0. 1. ]] SLAMing on 21.361652532 meters Centerline goodness : 0.750603 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 0.99968148 0.02459854 0.00564426 -1.48876754] [-0.02464403 0.99966318 0.00813671 -1.88611185] [-0.0054422 -0.00827322 0.99995097 0.11862866] [ 0. 0. 0. 1. ]] SLAMing on 21.421652532 meters Centerline goodness : 0.745750 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 0.99976786 0.02062457 0.006233 -1.48984376] [-0.02064862 0.9997795 0.00381849 -1.88520748] [-0.00615287 -0.00394631 0.99997328 0.11755684] [ 0. 0. 0. 1. ]] SLAMing on 21.481652532000002 meters Centerline goodness : 0.745972 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 9.99834334e-01 1.70665483e-02 6.32754282e-03 -1.49116622e+00] [-1.70722896e-02 9.99853893e-01 8.54445865e-04 -1.88887359e+00] [-6.31203588e-03 -9.62329956e-04 9.99979616e-01 1.18829932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541652532 meters Centerline goodness : 0.751177 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.89, Z:0.12 [[ 9.99892325e-01 1.34741199e-02 5.81261369e-03 -1.49188457e+00] [-1.34630014e-02 9.99907473e-01 -1.94772002e-03 -1.89292366e+00] [-5.83831968e-03 1.86925507e-03 9.99981210e-01 1.21211206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601652532 meters Centerline goodness : 0.760885 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.90, Z:0.12 [[ 9.99878872e-01 1.44406919e-02 5.80586157e-03 -1.49441376e+00] [-1.44433889e-02 9.99895599e-01 4.22856536e-04 -1.90025542e+00] [-5.79914909e-03 -5.06661633e-04 9.99983056e-01 1.24664755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661652532 meters Centerline goodness : 0.764605 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.91, Z:0.13 [[ 0.99994659 0.0095305 0.00399777 -1.49222898] [-0.00952045 0.99995149 -0.00252681 -1.90517314] [-0.00402166 0.00248861 0.99998882 0.12800563] [ 0. 0. 0. 1. ]] SLAMing on 21.721652532 meters Centerline goodness : 0.759316 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.90, Z:0.13 [[ 0.99999041 0.0034694 0.00267345 -1.48938001] [-0.00344776 0.99996161 -0.00805576 -1.90378232] [-0.0027013 0.00804647 0.99996398 0.12870149] [ 0. 0. 0. 1. ]] SLAMing on 21.781652532 meters Centerline goodness : 0.758168 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.91, Z:0.13 [[ 9.99996808e-01 -4.71372384e-04 2.48216007e-03 -1.48923372e+00] [ 5.00319332e-04 9.99931728e-01 -1.16743205e-02 -1.90583283e+00] [-2.47648766e-03 1.16755251e-02 9.99928772e-01 1.28984622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841652532 meters Centerline goodness : 0.758651 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.90, Z:0.13 [[ 0.99999299 0.00266467 0.00263051 -1.48984247] [-0.00264134 0.99995752 -0.00883099 -1.90233763] [-0.00265393 0.00882398 0.99995755 0.12930465] [ 0. 0. 0. 1. ]] SLAMing on 21.901652532 meters Centerline goodness : 0.759402 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.90, Z:0.13 [[ 0.99998678 0.00375165 0.00351666 -1.49231544] [-0.00372331 0.99996083 -0.00802928 -1.90309673] [-0.00354665 0.00801608 0.99996158 0.12945023] [ 0. 0. 0. 1. ]] SLAMing on 21.961652532000002 meters Centerline goodness : 0.758398 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.90, Z:0.13 [[ 0.99999271 0.00248228 0.00289991 -1.49042908] [-0.00245458 0.9999517 -0.0095173 -1.89993968] [-0.00292339 0.00951011 0.9999505 0.12895625] [ 0. 0. 0. 1. ]] SLAMing on 22.021652532 meters Centerline goodness : 0.757720 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.90, Z:0.13 [[ 0.99998897 0.00319037 0.00344799 -1.49182426] [-0.00315991 0.99995624 -0.00880527 -1.90149261] [-0.00347593 0.00879428 0.99995529 0.12871088] [ 0. 0. 0. 1. ]] SLAMing on 22.081652532 meters Centerline goodness : 0.766812 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.91, Z:0.13 [[ 0.99995057 0.00902241 0.00417773 -1.49537953] [-0.00901159 0.99995601 -0.00260159 -1.90601891] [-0.00420102 0.00256382 0.99998789 0.13088795] [ 0. 0. 0. 1. ]] SLAMing on 22.141652532000002 meters Centerline goodness : 0.774455 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.91, Z:0.13 [[ 0.9998791 0.01463896 0.00524316 -1.49836113] [-0.01465457 0.99988826 0.00295212 -1.90864094] [-0.00519936 -0.0030286 0.9999819 0.13138425] [ 0. 0. 0. 1. ]] SLAMing on 22.201652532 meters Centerline goodness : 0.767840 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.91, Z:0.12 [[ 0.99967411 0.02353242 0.00989459 -1.50872841] [-0.02357343 0.99971391 0.0040484 -1.90974579] [-0.00979649 -0.00428033 0.99994285 0.12407095] [ 0. 0. 0. 1. ]] SLAMing on 22.261652532 meters Centerline goodness : 0.764952 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.91, Z:0.12 [[ 0.99966145 0.02387865 0.01033467 -1.50913358] [-0.02392227 0.99970534 0.00411846 -1.90948998] [-0.01023328 -0.00436429 0.99993811 0.1230504 ] [ 0. 0. 0. 1. ]] SLAMing on 22.321652532 meters Centerline goodness : 0.757805 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.91, Z:0.12 [[ 0.99996145 0.00785666 0.00392065 -1.50309049] [-0.00787688 0.99995562 0.00516811 -1.91351325] [-0.00387987 -0.00519879 0.99997896 0.11929054] [ 0. 0. 0. 1. ]] SLAMing on 22.381652532 meters Centerline goodness : 0.756553 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.91, Z:0.12 [[ 0.99999256 -0.00301882 0.00240098 -1.50038747] [ 0.00303001 0.9999845 -0.00467173 -1.91300991] [-0.00238684 0.00467897 0.99998621 0.12091255] [ 0. 0. 0. 1. ]] SLAMing on 22.441652532 meters Centerline goodness : 0.767396 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.92, Z:0.13 [[ 9.99972433e-01 -7.21952874e-03 -1.73545589e-03 -1.49264950e+00] [ 7.21844211e-03 9.99973747e-01 -6.31582828e-04 -1.91560360e+00] [ 1.73997006e-03 6.19038129e-04 9.99998295e-01 1.29952389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501652532 meters Centerline goodness : 0.777585 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.92, Z:0.14 [[ 9.99867310e-01 -1.49219622e-02 -6.53435903e-03 -1.48475119e+00] [ 1.49128438e-02 9.99887758e-01 -1.44196196e-03 -1.91717476e+00] [ 6.55514250e-03 1.34432475e-03 9.99977611e-01 1.39120244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561652532 meters Centerline goodness : 0.764246 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.91, Z:0.14 [[ 0.9997727 -0.02032693 -0.0064309 -1.4828882 ] [ 0.02027745 0.99976499 -0.00766793 -1.91173252] [ 0.00658525 0.00753578 0.99994992 0.13649867] [ 0. 0. 0. 1. ]] SLAMing on 22.621652532 meters Centerline goodness : 0.767053 with order 1 Centerline is valid? [False, False] Translation: X:-1.48, Y:-1.91, Z:0.14 [[ 0.99976388 -0.02042119 -0.00742716 -1.48176641] [ 0.02036719 0.9997661 -0.00727488 -1.91346144] [ 0.00757398 0.00712189 0.99994596 0.13832023] [ 0. 0. 0. 1. ]] SLAMing on 22.681652532 meters Centerline goodness : 0.767622 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:-1.91, Z:0.14 [[ 9.99891540e-01 -1.37316711e-02 -5.32449819e-03 -1.48572677e+00] [ 1.37219540e-02 9.99904125e-01 -1.85724285e-03 -1.91322105e+00] [ 5.34949075e-03 1.78397890e-03 9.99984100e-01 1.36023931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741652532 meters Centerline goodness : 0.761422 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.91, Z:0.13 [[ 9.99996538e-01 -2.58410498e-03 -4.96886614e-04 -1.49839647e+00] [ 2.58429716e-03 9.99996586e-01 3.86512282e-04 -1.91188146e+00] [ 4.95886130e-04 -3.87795046e-04 9.99999802e-01 1.29010909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801652532000002 meters Centerline goodness : 0.763492 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.92, Z:0.12 [[ 0.99995952 0.00736943 0.00516151 -1.51080928] [-0.00739324 0.99996205 0.00460842 -1.91518772] [-0.00512735 -0.0046464 0.99997606 0.12382122] [ 0. 0. 0. 1. ]] SLAMing on 22.861652532 meters Centerline goodness : 0.766676 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.93, Z:0.12 [[ 0.99923114 0.03903624 0.00364794 -1.52212927] [-0.0390757 0.99917057 0.01145685 -1.92569276] [-0.00319769 -0.01159058 0.99992771 0.12036992] [ 0. 0. 0. 1. ]] SLAMing on 22.921652532 meters Centerline goodness : 0.768368 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.93, Z:0.11 [[ 0.99844524 0.05500954 0.00900244 -1.53511011] [-0.05517832 0.99828181 0.0197175 -1.93154794] [-0.00790232 -0.02018358 0.99976506 0.11459544] [ 0. 0. 0. 1. ]] SLAMing on 22.981652532000002 meters Centerline goodness : 0.764297 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.94, Z:0.11 [[ 0.9974654 0.06999592 0.01278062 -1.54733543] [-0.07030408 0.99719943 0.02550736 -1.94183304] [-0.01095942 -0.02634124 0.99959293 0.11092496] [ 0. 0. 0. 1. ]] SLAMing on 23.041652532 meters Centerline goodness : 0.767085 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.94, Z:0.11 [[ 0.99738335 0.07101136 0.01355891 -1.5498594 ] [-0.07134684 0.99710975 0.02611081 -1.94254799] [-0.01166556 -0.02700988 0.9995671 0.11147246] [ 0. 0. 0. 1. ]] SLAMing on 23.101652532 meters Centerline goodness : 0.760762 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.94, Z:0.11 [[ 0.9973609 0.07120913 0.01415975 -1.55033345] [-0.07155829 0.99709992 0.02590664 -1.94154811] [-0.01227389 -0.02685151 0.99956408 0.10998938] [ 0. 0. 0. 1. ]] SLAMing on 23.161652532 meters Centerline goodness : 0.765357 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.95, Z:0.11 [[ 0.99810407 0.05769913 0.021426 -1.55055837] [-0.05833567 0.99783472 0.030378 -1.94540366] [-0.01962682 -0.0315703 0.99930881 0.10710898] [ 0. 0. 0. 1. ]] SLAMing on 23.221652532 meters Centerline goodness : 0.761397 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.95, Z:0.11 [[ 0.99873727 0.04612397 0.01991101 -1.54996129] [-0.04653085 0.99870691 0.02047916 -1.95409929] [-0.01894068 -0.02137978 0.99959199 0.10944628] [ 0. 0. 0. 1. ]] SLAMing on 23.281652532 meters Centerline goodness : 0.763359 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.96, Z:0.11 [[ 0.99949266 0.01982826 0.02492514 -1.55487032] [-0.02022676 0.99966995 0.01583862 -1.96358295] [-0.02460286 -0.01633474 0.99956384 0.11125048] [ 0. 0. 0. 1. ]] SLAMing on 23.341652532 meters Centerline goodness : 0.764247 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.96, Z:0.12 [[ 0.99977657 0.00661826 0.02007491 -1.54219604] [-0.00682052 0.9999265 0.01002364 -1.95550488] [-0.02000709 -0.01015832 0.99974823 0.11677552] [ 0. 0. 0. 1. ]] SLAMing on 23.401652532 meters Centerline goodness : 0.767523 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.96, Z:0.12 [[ 0.99989102 -0.0023848 0.01456889 -1.53094767] [ 0.00227606 0.99996946 0.00747614 -1.95611007] [-0.01458628 -0.00744216 0.99986592 0.12372239] [ 0. 0. 0. 1. ]] SLAMing on 23.461652532000002 meters Centerline goodness : 0.767304 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.96, Z:0.13 [[ 9.99779301e-01 -1.86978841e-02 9.57805260e-03 -1.51614809e+00] [ 1.87013307e-02 9.99825078e-01 -2.70391729e-04 -1.95509820e+00] [-9.57132143e-03 4.49454383e-04 9.99954093e-01 1.29082993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521652532 meters Centerline goodness : 0.772338 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.96, Z:0.14 [[ 9.99669522e-01 -2.53182648e-02 4.45335253e-03 -1.50650205e+00] [ 2.53223160e-02 9.99678973e-01 -8.55665183e-04 -1.95952894e+00] [-4.43025893e-03 9.68151604e-04 9.99989718e-01 1.36452435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581652532 meters Centerline goodness : 0.780221 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.96, Z:0.15 [[ 9.99491268e-01 -3.18930677e-02 1.95263425e-04 -1.50012407e+00] [ 3.18931664e-02 9.99491146e-01 -5.25219761e-04 -1.95998561e+00] [-1.78413195e-04 5.31180133e-04 9.99999843e-01 1.45994791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641652532000002 meters Centerline goodness : 0.773417 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.97, Z:0.15 [[ 9.99425493e-01 -3.13901442e-02 -1.27805476e-02 -1.50145035e+00] [ 3.13765950e-02 9.99506840e-01 -1.25933257e-03 -1.96715764e+00] [ 1.28137754e-02 8.57599011e-04 9.99917532e-01 1.47784153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701652532 meters Centerline goodness : 0.756482 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.96, Z:0.15 [[ 0.99957739 -0.02122677 -0.0198611 -1.49974475] [ 0.02101413 0.99972025 -0.01085451 -1.95861901] [ 0.02008595 0.01043256 0.99974383 0.14930133] [ 0. 0. 0. 1. ]] SLAMing on 23.761652532 meters Centerline goodness : 0.766422 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.96, Z:0.15 [[ 9.99758307e-01 -1.09675765e-02 -1.90535815e-02 -1.50344788e+00] [ 1.09520894e-02 9.99939604e-01 -9.16978013e-04 -1.96135327e+00] [ 1.90624878e-02 7.08079858e-04 9.99818044e-01 1.50530110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821652532 meters Centerline goodness : 0.783059 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.97, Z:0.15 [[ 0.99982587 0.01595982 -0.00967033 -1.51943585] [-0.01589227 0.99984905 0.00702219 -1.96948018] [ 0.00978094 -0.00686728 0.99992858 0.15486968] [ 0. 0. 0. 1. ]] SLAMing on 23.881652532 meters Centerline goodness : 0.783592 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.97, Z:0.15 [[ 0.99973891 0.02131414 -0.00823523 -1.52161785] [-0.02121942 0.99970958 0.0114234 -1.96871899] [ 0.00847632 -0.01124567 0.99990084 0.15301708] [ 0. 0. 0. 1. ]] SLAMing on 23.941652532 meters Centerline goodness : 0.779758 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.15 [[ 0.99944205 0.03314265 -0.00414237 -1.53268475] [-0.03307349 0.99932836 0.015779 -1.97650712] [ 0.00466255 -0.0156332 0.99986692 0.14804131] [ 0. 0. 0. 1. ]] SLAMing on 24.001652532 meters Centerline goodness : 0.776033 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.15 [[ 0.99947176 0.0321414 -0.00480958 -1.52976201] [-0.03206667 0.99937493 0.01488228 -1.97594964] [ 0.00528491 -0.01472019 0.99987769 0.14657832] [ 0. 0. 0. 1. ]] SLAMing on 24.061652532 meters Centerline goodness : 0.767427 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.97, Z:0.14 [[ 0.99960903 0.02767061 -0.00401502 -1.53020973] [-0.0276309 0.99957181 0.00962987 -1.97310944] [ 0.00427976 -0.00951517 0.99994557 0.14404285] [ 0. 0. 0. 1. ]] SLAMing on 24.121652532 meters Centerline goodness : 0.761801 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 0.99969974 0.02417544 -0.00399805 -1.53045142] [-0.02414918 0.99968729 0.00649102 -1.97649437] [ 0.00415372 -0.00639252 0.99997094 0.14384274] [ 0. 0. 0. 1. ]] SLAMing on 24.181652532 meters Centerline goodness : 0.774761 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 0.99990518 0.01330006 0.00357023 -1.53489209] [-0.01335104 0.99980343 0.01465775 -1.98208103] [-0.00337458 -0.01470403 0.9998862 0.14424715] [ 0. 0. 0. 1. ]] SLAMing on 24.241652532 meters Centerline goodness : 0.764923 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 9.99993859e-01 1.53766248e-03 3.14920602e-03 -1.53257758e+00] [-1.54580815e-03 9.99995462e-01 2.58577925e-03 -1.97567207e+00] [-3.14521568e-03 -2.59063144e-03 9.99991698e-01 1.42701889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301652532000002 meters Centerline goodness : 0.754372 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.97, Z:0.14 [[ 9.99996527e-01 6.33193973e-04 2.55835831e-03 -1.52958439e+00] [-6.37180466e-04 9.99998584e-01 1.55770848e-03 -1.97421795e+00] [-2.55736836e-03 -1.55933320e-03 9.99995514e-01 1.40648279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361652532 meters Centerline goodness : 0.765042 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 9.99997056e-01 1.33900786e-03 2.02381686e-03 -1.53066122e+00] [-1.34583364e-03 9.99993399e-01 3.37513630e-03 -1.97938277e+00] [-2.01928417e-03 -3.37785008e-03 9.99992256e-01 1.43983456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421652532 meters Centerline goodness : 0.770261 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 9.99981974e-01 5.68787376e-03 1.92361155e-03 -1.53086090e+00] [-5.70296718e-03 9.99952262e-01 7.93410989e-03 -1.98032621e+00] [-1.87839150e-03 -7.94493716e-03 9.99966674e-01 1.44674698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481652532000002 meters Centerline goodness : 0.771106 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.98, Z:0.14 [[ 0.99985369 0.01532133 0.00760596 -1.54275469] [-0.01540841 0.99981484 0.01152645 -1.98353909] [-0.00742795 -0.01164196 0.99990464 0.13810976] [ 0. 0. 0. 1. ]] SLAMing on 24.541652532 meters Centerline goodness : 0.766320 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.14 [[ 0.99979076 0.01785802 0.00997638 -1.54742649] [-0.01797678 0.99976706 0.01194396 -1.98250545] [-0.00976076 -0.0121208 0.9998789 0.13582703] [ 0. 0. 0. 1. ]] SLAMing on 24.601652532 meters Centerline goodness : 0.765267 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.14 [[ 0.99976886 0.01845206 0.01103407 -1.54997256] [-0.01858369 0.99975591 0.01194842 -1.98159328] [-0.0108109 -0.01215071 0.99986773 0.13558145] [ 0. 0. 0. 1. ]] SLAMing on 24.661652532 meters Centerline goodness : 0.763618 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.13 [[ 0.99968663 0.02238147 0.01121205 -1.54924365] [-0.02255544 0.99962327 0.01563849 -1.9800205 ] [-0.01085782 -0.01588648 0.99981485 0.13423157] [ 0. 0. 0. 1. ]] SLAMing on 24.721652532 meters Centerline goodness : 0.765200 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.13 [[ 0.99971248 0.02132501 0.01096382 -1.54876715] [-0.02148534 0.9996608 0.01471958 -1.97866604] [-0.01064621 -0.01495091 0.99983155 0.13468038] [ 0. 0. 0. 1. ]] SLAMing on 24.781652532 meters Centerline goodness : 0.762532 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.13 [[ 0.99978882 0.01750388 0.01076721 -1.54852073] [-0.01762405 0.99978231 0.01116841 -1.98096529] [-0.01056938 -0.01135581 0.99987966 0.13465421] [ 0. 0. 0. 1. ]] SLAMing on 24.841652532 meters Centerline goodness : 0.758951 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.13 [[ 0.99979718 0.01713567 0.01058126 -1.54813533] [-0.0172485 0.99979434 0.01066614 -1.97970352] [-0.01039631 -0.01084649 0.99988713 0.13475725] [ 0. 0. 0. 1. ]] SLAMing on 24.901652532 meters Centerline goodness : 0.768834 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.14 [[ 0.99977954 0.01796603 0.01086673 -1.55037005] [-0.01810006 0.99975973 0.01236373 -1.98485517] [-0.01064199 -0.01255769 0.99986452 0.13692689] [ 0. 0. 0. 1. ]] SLAMing on 24.961652532000002 meters Centerline goodness : 0.776570 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.99, Z:0.14 [[ 0.99975685 0.01893624 0.01129827 -1.55112982] [-0.01909032 0.99972404 0.01368923 -1.98869389] [-0.01103593 -0.01390159 0.99984246 0.1365022 ] [ 0. 0. 0. 1. ]] SLAMing on 25.021652532 meters Centerline goodness : 0.772803 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.99, Z:0.13 [[ 0.99975912 0.01852818 0.01176513 -1.55095438] [-0.01867537 0.99974713 0.01252644 -1.98505353] [-0.01153006 -0.01274314 0.99985232 0.13454752] [ 0. 0. 0. 1. ]] SLAMing on 25.081652532 meters Centerline goodness : 0.767032 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.98, Z:0.13 [[ 0.99979377 0.01556018 0.01305014 -1.55411554] [-0.01567653 0.99983785 0.00886136 -1.98476341] [-0.01291014 -0.00906412 0.99987558 0.13401842] [ 0. 0. 0. 1. ]] SLAMing on 25.141652532000002 meters Centerline goodness : 0.772748 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.99, Z:0.14 [[ 0.99982313 0.01448343 0.01199752 -1.55192076] [-0.01458793 0.99985601 0.00866941 -1.98628152] [-0.01187023 -0.00884289 0.99989044 0.13509076] [ 0. 0. 0. 1. ]] SLAMing on 25.201652532 meters Centerline goodness : 0.780300 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.99, Z:0.14 [[ 0.99995251 0.0063672 0.00737759 -1.54175154] [-0.00642018 0.99995362 0.00717911 -1.98691606] [-0.00733154 -0.00722614 0.99994701 0.14141076] [ 0. 0. 0. 1. ]] SLAMing on 25.261652532 meters Centerline goodness : 0.774527 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.99, Z:0.14 [[ 9.99982513e-01 1.45827724e-04 5.91203701e-03 -1.53796888e+00] [-1.55024764e-04 9.99998779e-01 1.55521802e-03 -1.98598364e+00] [-5.91180299e-03 -1.55610733e-03 9.99981314e-01 1.41531195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321652532 meters Centerline goodness : 0.770219 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.99, Z:0.14 [[ 0.99997526 -0.00511182 0.00483275 -1.5352651 ] [ 0.00512801 0.99998126 -0.00334491 -1.98544411] [-0.00481556 0.00336961 0.99998273 0.14179393] [ 0. 0. 0. 1. ]] SLAMing on 25.381652532 meters Centerline goodness : 0.773563 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 0.99996753 -0.00711928 0.00377519 -1.53404152] [ 0.00713528 0.99996555 -0.00424217 -1.98473424] [-0.00374485 0.00426897 0.99998388 0.143937 ] [ 0. 0. 0. 1. ]] SLAMing on 25.441652532 meters Centerline goodness : 0.773198 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 0.99995665 -0.00897936 0.0024644 -1.53095555] [ 0.00899304 0.9999439 -0.00559737 -1.98343522] [-0.002414 0.00561929 0.9999813 0.14441167] [ 0. 0. 0. 1. ]] SLAMing on 25.501652532 meters Centerline goodness : 0.780285 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.99, Z:0.15 [[ 9.99912988e-01 -1.31296527e-02 1.27634950e-03 -1.53042983e+00] [ 1.31394824e-02 9.99881470e-01 -8.02498012e-03 -1.98925935e+00] [-1.17083301e-03 8.04105242e-03 9.99966985e-01 1.48046826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561652532 meters Centerline goodness : 0.777771 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.99, Z:0.15 [[ 9.99844293e-01 -1.75426082e-02 1.90976162e-03 -1.53171485e+00] [ 1.75653267e-02 9.99766175e-01 -1.26117074e-02 -1.98833449e+00] [-1.68807283e-03 1.26432892e-02 9.99918646e-01 1.47909073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621652532 meters Centerline goodness : 0.773245 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.99, Z:0.15 [[ 9.99899029e-01 -1.41624906e-02 1.16412723e-03 -1.52883999e+00] [ 1.41727893e-02 9.99855620e-01 -9.37399777e-03 -1.98679871e+00] [-1.03120000e-03 9.38955020e-03 9.99955385e-01 1.46354552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681652532 meters Centerline goodness : 0.775706 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.15 [[ 9.99948573e-01 -9.97881259e-03 1.80954401e-03 -1.53028634e+00] [ 9.98935969e-03 9.99932602e-01 -5.91636437e-03 -1.98349340e+00] [-1.75038376e-03 5.93413629e-03 9.99980861e-01 1.45741796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741652532 meters Centerline goodness : 0.775184 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.15 [[ 0.99997932 -0.00610371 0.00202427 -1.53073648] [ 0.00610862 0.99997839 -0.00243101 -1.9809545 ] [-0.00200939 0.00244332 0.999995 0.1454154 ] [ 0. 0. 0. 1. ]] SLAMing on 25.801652532000002 meters Centerline goodness : 0.777538 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 9.99995642e-01 -2.32744694e-03 1.81639326e-03 -1.52978606e+00] [ 2.32534251e-03 9.99996624e-01 1.15983098e-03 -1.97948812e+00] [-1.81908657e-03 -1.15560218e-03 9.99997678e-01 1.44873472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861652532 meters Centerline goodness : 0.781186 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.15 [[ 0.99999368 0.00239732 0.00262387 -1.53215765] [-0.00241178 0.99998185 0.00552142 -1.97908377] [-0.00261059 -0.00552771 0.99998131 0.14515539] [ 0. 0. 0. 1. ]] SLAMing on 25.921652532 meters Centerline goodness : 0.777554 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 9.99992165e-01 -1.66698092e-03 3.59049048e-03 -1.53378119e+00] [ 1.66372691e-03 9.99998203e-01 9.09081285e-04 -1.97771554e+00] [-3.59199945e-03 -9.03100567e-04 9.99993141e-01 1.44116482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981652532000002 meters Centerline goodness : 0.772625 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.14 [[ 9.99990106e-01 1.12925783e-03 4.30271658e-03 -1.53433868e+00] [-1.14380653e-03 9.99993633e-01 3.38032212e-03 -1.98094000e+00] [-4.29887192e-03 -3.38521015e-03 9.99985030e-01 1.42373107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041652532 meters Centerline goodness : 0.775362 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.15 [[ 9.99978156e-01 -6.60026481e-03 -3.53315620e-04 -1.52514064e+00] [ 6.60089208e-03 9.99976585e-01 1.80466345e-03 -1.98049416e+00] [ 3.41396091e-04 -1.80695622e-03 9.99998309e-01 1.49364078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101652532 meters Centerline goodness : 0.768352 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 9.99850713e-01 -1.71875773e-02 -1.77152583e-03 -1.52191164e+00] [ 1.71732983e-02 9.99822237e-01 -7.78283144e-03 -1.97991291e+00] [ 1.90497893e-03 7.75124662e-03 9.99968144e-01 1.50498076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161652532 meters Centerline goodness : 0.770393 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 0.9997703 -0.02131932 -0.00219755 -1.52226194] [ 0.02129312 0.99970914 -0.01132424 -1.98233667] [ 0.00243833 0.01127484 0.99993346 0.1526921 ] [ 0. 0. 0. 1. ]] SLAMing on 26.221652532 meters Centerline goodness : 0.774636 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 0.99981336 -0.01896869 -0.00366656 -1.51971836] [ 0.01893835 0.99978751 -0.00814145 -1.98261959] [ 0.00382021 0.00807049 0.99996014 0.15402394] [ 0. 0. 0. 1. ]] SLAMing on 26.281652532 meters Centerline goodness : 0.769279 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 0.99981058 -0.01917106 -0.00335842 -1.51935529] [ 0.01914077 0.9997778 -0.00883054 -1.98039437] [ 0.00352697 0.00876458 0.99995537 0.1523667 ] [ 0. 0. 0. 1. ]] SLAMing on 26.341652532 meters Centerline goodness : 0.774761 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 9.99932240e-01 -1.11550806e-02 -3.32868265e-03 -1.52040086e+00] [ 1.11510441e-02 9.99937070e-01 -1.22875607e-03 -1.97766334e+00] [ 3.34218005e-03 1.19155453e-03 9.99993705e-01 1.53062725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401652532 meters Centerline goodness : 0.780875 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 0.99997761 -0.00619109 -0.00253912 -1.52255701] [ 0.00620054 0.99997383 0.00372781 -1.97929956] [ 0.00251597 -0.00374347 0.99998983 0.15303261] [ 0. 0. 0. 1. ]] SLAMing on 26.461652532 meters Centerline goodness : 0.773798 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 9.99958009e-01 -8.73968504e-03 -2.75647046e-03 -1.52028133e+00] [ 8.74164688e-03 9.99961546e-01 7.00480660e-04 -1.97864992e+00] [ 2.75024248e-03 -7.24547337e-04 9.99995956e-01 1.50994043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521652532 meters Centerline goodness : 0.773735 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.15 [[ 9.99946311e-01 -9.56260451e-03 -3.99148704e-03 -1.51744542e+00] [ 9.56480952e-03 9.99954114e-01 5.33704233e-04 -1.97974118e+00] [ 3.98620029e-03 -5.71853393e-04 9.99991892e-01 1.51543443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581652532 meters Centerline goodness : 0.772492 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.98, Z:0.15 [[ 0.99987877 -0.0146863 -0.00517339 -1.51499748] [ 0.01466594 0.99988464 -0.00395125 -1.98025248] [ 0.00523082 0.0038749 0.99997881 0.15262774] [ 0. 0. 0. 1. ]] SLAMing on 26.641652532000002 meters Centerline goodness : 0.764660 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.98, Z:0.15 [[ 0.99985483 -0.01610229 -0.00557065 -1.51333071] [ 0.01607051 0.99985459 -0.0057047 -1.97587254] [ 0.0056617 0.00561435 0.99996821 0.15169308] [ 0. 0. 0. 1. ]] SLAMing on 26.701652532 meters Centerline goodness : 0.766219 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.98, Z:0.15 [[ 0.99977569 -0.02012833 -0.00658895 -1.5115053 ] [ 0.02007264 0.99976313 -0.00841218 -1.98118735] [ 0.00675671 0.00827803 0.99994291 0.15316047] [ 0. 0. 0. 1. ]] SLAMing on 26.761652532 meters Centerline goodness : 0.766293 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.98, Z:0.16 [[ 0.99963972 -0.02555594 -0.00820522 -1.508974 ] [ 0.02545257 0.99959832 -0.01246433 -1.98415736] [ 0.00852046 0.01225099 0.99988865 0.15586736] [ 0. 0. 0. 1. ]] SLAMing on 26.821652532 meters Centerline goodness : 0.778513 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99968872 -0.02347743 -0.00844282 -1.51127783] [ 0.02340038 0.99968466 -0.00911102 -1.99111057] [ 0.00865406 0.00891062 0.99992285 0.15940019] [ 0. 0. 0. 1. ]] SLAMing on 26.881652532 meters Centerline goodness : 0.771229 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.9995692 -0.02817148 -0.0082336 -1.51119584] [ 0.02805434 0.99950818 -0.01401229 -1.98928027] [ 0.0086243 0.01377526 0.99986792 0.15897543] [ 0. 0. 0. 1. ]] SLAMing on 26.941652532 meters Centerline goodness : 0.770542 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99958446 -0.0277046 -0.00795968 -1.51265753] [ 0.02759503 0.99952719 -0.0135612 -1.98998998] [ 0.00833162 0.01333592 0.99987636 0.15974366] [ 0. 0. 0. 1. ]] SLAMing on 27.001652532 meters Centerline goodness : 0.774497 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99968169 -0.02369241 -0.00867078 -1.51158197] [ 0.02361152 0.99967781 -0.00931482 -1.99044466] [ 0.00888868 0.00910712 0.99991902 0.16038601] [ 0. 0. 0. 1. ]] SLAMing on 27.061652532 meters Centerline goodness : 0.776359 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.99, Z:0.16 [[ 0.99980649 -0.01821203 -0.00743664 -1.51528966] [ 0.01817893 0.99982464 -0.00449534 -1.99008673] [ 0.0075172 0.00435928 0.99996224 0.16044451] [ 0. 0. 0. 1. ]] SLAMing on 27.121652532 meters Centerline goodness : 0.777136 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.99, Z:0.16 [[ 9.99869676e-01 -1.43037228e-02 -7.48559224e-03 -1.51515047e+00] [ 1.42975988e-02 9.99897405e-01 -8.70986754e-04 -1.98834150e+00] [ 7.49728261e-03 7.63847249e-04 9.99971603e-01 1.60155322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181652532 meters Centerline goodness : 0.771493 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 9.99867672e-01 -1.43415144e-02 -7.67856907e-03 -1.51423914e+00] [ 1.43330374e-02 9.99896606e-01 -1.15786756e-03 -1.98745505e+00] [ 7.69438073e-03 1.04765713e-03 9.99969849e-01 1.59473905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241652532 meters Centerline goodness : 0.773220 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99991739 -0.01029489 -0.00769586 -1.51409451] [ 0.0103156 0.99994327 0.00265611 -1.98630796] [ 0.00766808 -0.00273528 0.99996686 0.15913867] [ 0. 0. 0. 1. ]] SLAMing on 27.301652532000002 meters Centerline goodness : 0.772235 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.99, Z:0.16 [[ 0.99994995 -0.00772422 -0.006358 -1.51734192] [ 0.00775311 0.99995967 0.0045324 -1.98727618] [ 0.00632273 -0.00458147 0.99996952 0.15877886] [ 0. 0. 0. 1. ]] SLAMing on 27.361652532 meters Centerline goodness : 0.767965 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.99, Z:0.16 [[ 0.99994805 -0.0081039 -0.00618262 -1.5170474 ] [ 0.00812725 0.9999599 0.00376168 -1.98524119] [ 0.00615188 -0.00381173 0.99997381 0.15779899] [ 0. 0. 0. 1. ]] SLAMing on 27.421652532 meters Centerline goodness : 0.766983 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.99, Z:0.16 [[ 0.99995435 -0.00754208 -0.00586566 -1.51764556] [ 0.00756737 0.99996211 0.00430206 -1.98637842] [ 0.00583299 -0.00434625 0.99997354 0.15741371] [ 0. 0. 0. 1. ]] SLAMing on 27.481652532000002 meters Centerline goodness : 0.760546 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.98, Z:0.16 [[ 0.99993642 -0.00904691 -0.00673166 -1.51518846] [ 0.00906641 0.99995478 0.00287167 -1.98438041] [ 0.00670538 -0.00293252 0.99997322 0.15720407] [ 0. 0. 0. 1. ]] SLAMing on 27.541652532 meters Centerline goodness : 0.765654 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99992607 -0.00939343 -0.00772148 -1.51293489] [ 0.00941876 0.99995036 0.00324983 -1.98679905] [ 0.00769057 -0.00332232 0.99996491 0.15781391] [ 0. 0. 0. 1. ]] SLAMing on 27.601652532 meters Centerline goodness : 0.762082 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 9.99874009e-01 -1.34108149e-02 -8.49208711e-03 -1.51111476e+00] [ 1.34119140e-02 9.99910054e-01 7.24827974e-05 -1.99060463e+00] [ 8.49035122e-03 -1.86368807e-04 9.99963939e-01 1.58296783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661652532 meters Centerline goodness : 0.759890 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99982438 -0.01644677 -0.0089836 -1.50813702] [ 0.01641995 0.99986053 -0.00305086 -1.98752755] [ 0.00903252 0.00290281 0.99995499 0.15657414] [ 0. 0. 0. 1. ]] SLAMing on 27.721652532 meters Centerline goodness : 0.757655 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99974779 -0.02069335 -0.00872541 -1.50874627] [ 0.02063097 0.99976138 -0.00717988 -1.98812716] [ 0.0088719 0.00699806 0.99993616 0.15672822] [ 0. 0. 0. 1. ]] SLAMing on 27.781652532 meters Centerline goodness : 0.764956 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99969249 -0.02305829 -0.00912398 -1.51090497] [ 0.02298407 0.99970255 -0.00815738 -1.99441096] [ 0.00930936 0.00794516 0.9999251 0.16077274] [ 0. 0. 0. 1. ]] SLAMing on 27.841652532 meters Centerline goodness : 0.769879 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.00, Z:0.16 [[ 0.99969173 -0.02278397 -0.00986552 -1.51115038] [ 0.02271688 0.9997184 -0.00686 -1.99832562] [ 0.01001904 0.00663377 0.9999278 0.16357168] [ 0. 0. 0. 1. ]] SLAMing on 27.901652532 meters Centerline goodness : 0.773933 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.00, Z:0.17 [[ 0.99964616 -0.02416365 -0.01112048 -1.50930231] [ 0.02408207 0.99968251 -0.00741184 -1.99857785] [ 0.01129605 0.00714141 0.9999107 0.16551171] [ 0. 0. 0. 1. ]] SLAMing on 27.961652532 meters Centerline goodness : 0.774089 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.00, Z:0.17 [[ 0.99961213 -0.02501754 -0.0122354 -1.5065762 ] [ 0.02492185 0.99965809 -0.00791222 -1.99810852] [ 0.01242916 0.00760422 0.99989384 0.16573759] [ 0. 0. 0. 1. ]] SLAMing on 28.021652532 meters Centerline goodness : 0.768762 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.00, Z:0.17 [[ 0.99959851 -0.02556321 -0.01222034 -1.50613856] [ 0.02545596 0.99963675 -0.00885271 -1.99513601] [ 0.0124422 0.00853808 0.99988614 0.16501999] [ 0. 0. 0. 1. ]] SLAMing on 28.081652532 meters Centerline goodness : 0.771599 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.00, Z:0.17 [[ 0.99962931 -0.02451962 -0.01183376 -1.50866604] [ 0.024431 0.99967281 -0.00757682 -1.99784016] [ 0.01201567 0.0072849 0.99990127 0.16673499] [ 0. 0. 0. 1. ]] SLAMing on 28.141652532000002 meters Centerline goodness : 0.771946 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.00, Z:0.17 [[ 0.99969106 -0.02136877 -0.01269473 -1.50643575] [ 0.02131334 0.99976278 -0.00448546 -1.99595845] [ 0.01278757 0.00421351 0.99990936 0.16644891] [ 0. 0. 0. 1. ]] SLAMing on 28.201652532 meters Centerline goodness : 0.765860 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99969928 -0.02134209 -0.01207783 -1.50666404] [ 0.02128146 0.99976038 -0.00512646 -1.99374334] [ 0.01218435 0.00486789 0.99991392 0.16448669] [ 0. 0. 0. 1. ]] SLAMing on 28.261652532 meters Centerline goodness : 0.768197 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.99, Z:0.17 [[ 9.99756641e-01 -1.78507302e-02 -1.29618843e-02 -1.50496147e+00] [ 1.78332848e-02 9.99839908e-01 -1.46024695e-03 -1.99313115e+00] [ 1.29858757e-02 1.22873861e-03 9.99914925e-01 1.65070486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321652532 meters Centerline goodness : 0.767589 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 9.99834928e-01 -1.36797940e-02 -1.19573831e-02 -1.50620200e+00] [ 1.37003451e-02 9.99904803e-01 1.63847496e-03 -1.98951396e+00] [ 1.19338308e-02 -1.80202477e-03 9.99927166e-01 1.62963263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381652532 meters Centerline goodness : 0.765333 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 9.99843612e-01 -1.33629950e-02 -1.15837219e-02 -1.50730510e+00] [ 1.33848741e-02 9.99908774e-01 1.81331107e-03 -1.99000382e+00] [ 1.15584339e-02 -1.96807414e-03 9.99931262e-01 1.63003044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441652532 meters Centerline goodness : 0.772568 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99990464 -0.00850402 -0.01088055 -1.50921075] [ 0.00857496 0.99994217 0.00649052 -1.99093508] [ 0.01082473 -0.0065832 0.99991974 0.16292007] [ 0. 0. 0. 1. ]] SLAMing on 28.501652532 meters Centerline goodness : 0.771843 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99988953 -0.00963012 -0.01132226 -1.50804371] [ 0.00969194 0.99993836 0.00541744 -1.98900901] [ 0.01126939 -0.00552657 0.99992123 0.16312116] [ 0. 0. 0. 1. ]] SLAMing on 28.561652532 meters Centerline goodness : 0.768986 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99989066 -0.00999803 -0.01089518 -1.50797212] [ 0.01004838 0.99993904 0.0045769 -1.98666418] [ 0.01084875 -0.00468588 0.99993017 0.16151955] [ 0. 0. 0. 1. ]] SLAMing on 28.621652532 meters Centerline goodness : 0.772168 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.16 [[ 0.99992127 -0.00717459 -0.01029434 -1.51139996] [ 0.00725141 0.999946 0.00744437 -1.9888579 ] [ 0.01024037 -0.00751843 0.9999193 0.16347053] [ 0. 0. 0. 1. ]] SLAMing on 28.681652532 meters Centerline goodness : 0.770556 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.98, Z:0.17 [[ 9.99962426e-01 -2.12647601e-04 -8.66609779e-03 -1.50526347e+00] [ 2.25937353e-04 9.99998800e-01 1.53258350e-03 -1.97851843e+00] [ 8.66576149e-03 -1.53448391e-03 9.99961274e-01 1.69139134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741652532 meters Centerline goodness : 0.765580 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.98, Z:0.16 [[ 9.99985929e-01 3.64070816e-03 -3.85842481e-03 -1.51429748e+00] [-3.64147757e-03 9.99993351e-01 -1.92403823e-04 -1.97755950e+00] [ 3.85769867e-03 2.06451483e-04 9.99992538e-01 1.62326280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801652532 meters Centerline goodness : 0.765746 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.98, Z:0.16 [[ 0.99989485 0.01435359 0.00206403 -1.52779593] [-0.01436253 0.99988725 0.00438126 -1.98146942] [-0.00200091 -0.00441045 0.99998827 0.1569958 ] [ 0. 0. 0. 1. ]] SLAMing on 28.861652532 meters Centerline goodness : 0.761771 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.98, Z:0.15 [[ 0.99962971 0.02607607 0.00777645 -1.54011896] [-0.02614309 0.99962082 0.00864581 -1.98091257] [-0.00754805 -0.00884591 0.99993239 0.15001316] [ 0. 0. 0. 1. ]] SLAMing on 28.921652532 meters Centerline goodness : 0.761294 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.99, Z:0.15 [[ 0.99884648 0.04672688 0.0110596 -1.55268894] [-0.04694353 0.99869297 0.02021525 -1.98886236] [-0.01010055 -0.02071111 0.99973448 0.14655581] [ 0. 0. 0. 1. ]] SLAMing on 28.981652532000002 meters Centerline goodness : 0.769484 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.00, Z:0.15 [[ 0.9987147 0.04929758 0.01177696 -1.55551506] [-0.04956189 0.99849884 0.02331726 -1.99519203] [-0.0106098 -0.02387098 0.99965875 0.14809818] [ 0. 0. 0. 1. ]] SLAMing on 29.041652532 meters Centerline goodness : 0.768937 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.00, Z:0.15 [[ 0.99883384 0.04667075 0.01236148 -1.55676503] [-0.04692289 0.9986786 0.02095953 -1.99983585] [-0.01136695 -0.02151512 0.9997039 0.14748664] [ 0. 0. 0. 1. ]] SLAMing on 29.101652532 meters Centerline goodness : 0.761132 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.00, Z:0.15 [[ 0.99903729 0.04217182 0.01208436 -1.55625284] [-0.0423676 0.99896696 0.01643145 -1.99960772] [-0.01137893 -0.01692762 0.99979197 0.14715454] [ 0. 0. 0. 1. ]] SLAMing on 29.161652532 meters Centerline goodness : 0.764993 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.00, Z:0.15 [[ 0.99927334 0.03675612 0.01008898 -1.55376909] [-0.03688526 0.99923589 0.01292753 -2.00246811] [-0.00960611 -0.01329027 0.99986554 0.15058239] [ 0. 0. 0. 1. ]] SLAMing on 29.221652532 meters Centerline goodness : 0.762733 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.00, Z:0.15 [[ 0.9993268 0.03540718 0.00960628 -1.55250217] [-0.03551743 0.99930221 0.01155912 -1.99981752] [-0.0091903 -0.01189253 0.99988705 0.15063262] [ 0. 0. 0. 1. ]] SLAMing on 29.281652532 meters Centerline goodness : 0.755397 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.00, Z:0.15 [[ 0.99948579 0.03060857 0.00955406 -1.55243077] [-0.03067152 0.99950829 0.00651384 -1.99781653] [-0.00934998 -0.00680353 0.99993314 0.1503938 ] [ 0. 0. 0. 1. ]] SLAMing on 29.341652532 meters Centerline goodness : 0.760721 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.00, Z:0.15 [[ 0.99950629 0.03022464 0.00858171 -1.5504913 ] [-0.0302839 0.99951779 0.00686115 -2.00014285] [-0.00837019 -0.00711765 0.99993964 0.15124344] [ 0. 0. 0. 1. ]] SLAMing on 29.401652532 meters Centerline goodness : 0.765330 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.00, Z:0.15 [[ 0.99937759 0.03411753 0.00896776 -1.55167841] [-0.03421144 0.99935908 0.01053599 -1.99834439] [-0.00860255 -0.01083623 0.99990428 0.15189597] [ 0. 0. 0. 1. ]] SLAMing on 29.461652532 meters Centerline goodness : 0.764229 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.99, Z:0.15 [[ 0.99923478 0.03791106 0.00962297 -1.55244175] [-0.03804137 0.99918169 0.01374082 -1.99483383] [-0.00909417 -0.01409638 0.99985928 0.15118556] [ 0. 0. 0. 1. ]] SLAMing on 29.521652532 meters Centerline goodness : 0.772713 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.00, Z:0.15 [[ 0.99914672 0.04008107 0.00996694 -1.55596935] [-0.04024257 0.99905256 0.01656831 -2.00035557] [-0.00929342 -0.01695527 0.99981306 0.15469805] [ 0. 0. 0. 1. ]] SLAMing on 29.581652532 meters Centerline goodness : 0.773921 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.00, Z:0.16 [[ 0.99913185 0.04058204 0.00941559 -1.5552411 ] [-0.04074323 0.99901444 0.01761055 -2.00385901] [-0.00869164 -0.01797888 0.99980059 0.15550324] [ 0. 0. 0. 1. ]] SLAMing on 29.641652532000002 meters Centerline goodness : 0.768406 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.01, Z:0.15 [[ 0.99921033 0.03838295 0.01026992 -1.55603262] [-0.03853391 0.99914576 0.01492915 -2.00556395] [-0.00968812 -0.0153131 0.99983581 0.1534181 ] [ 0. 0. 0. 1. ]] SLAMing on 29.701652532 meters Centerline goodness : 0.764129 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.00, Z:0.15 [[ 0.99926748 0.03689576 0.0101586 -1.55421575] [-0.03702533 0.99923137 0.01287636 -2.00088469] [-0.00967571 -0.01324306 0.99986549 0.15147475] [ 0. 0. 0. 1. ]] SLAMing on 29.761652532 meters Centerline goodness : 0.758456 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.00, Z:0.15 [[ 0.99926341 0.03688168 0.01060084 -1.55390758] [-0.03700939 0.99924148 0.01211449 -1.99840963] [-0.010146 -0.0124979 0.99987042 0.14928807] [ 0. 0. 0. 1. ]] SLAMing on 29.821652532 meters Centerline goodness : 0.766856 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.00, Z:0.15 [[ 0.99907108 0.04159897 0.01124777 -1.55587238] [-0.04178615 0.99898274 0.01695269 -1.99991501] [-0.01053112 -0.01740694 0.99979303 0.15031589] [ 0. 0. 0. 1. ]] SLAMing on 29.881652532 meters Centerline goodness : 0.773082 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.00, Z:0.15 [[ 0.99844955 0.05269486 0.01793708 -1.57097076] [-0.05309484 0.99833359 0.0226048 -2.00454249] [-0.01671604 -0.02352212 0.99958356 0.14606681] [ 0. 0. 0. 1. ]] SLAMing on 29.941652532 meters Centerline goodness : 0.768774 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.00, Z:0.14 [[ 0.99823298 0.05641052 0.01867541 -1.57088617] [-0.05687654 0.99805702 0.02544113 -2.00058978] [-0.01720397 -0.02645837 0.99950186 0.14405809] [ 0. 0. 0. 1. ]] SLAMing on 30.001652532 meters Centerline goodness : 0.770827 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.00, Z:0.14 [[ 0.99790829 0.06159271 0.01963096 -1.57259398] [-0.06216883 0.99760776 0.03022913 -2.00098156] [-0.0177221 -0.03138633 0.9993502 0.14379093] [ 0. 0. 0. 1. ]] SLAMing on 30.061652532 meters Centerline goodness : 0.772521 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.00, Z:0.14 [[ 0.99783154 0.06236693 0.02103777 -1.5759302 ] [-0.06299458 0.99754396 0.03062241 -2.00114732] [-0.01907628 -0.03188128 0.9993096 0.1435281 ] [ 0. 0. 0. 1. ]] SLAMing on 30.121652532 meters Centerline goodness : 0.768621 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.00, Z:0.14 [[ 0.99778852 0.06284334 0.02165128 -1.5766513 ] [-0.06348984 0.9975135 0.03059191 -2.00055736] [-0.01967495 -0.0318989 0.99929743 0.14240879] [ 0. 0. 0. 1. ]] SLAMing on 30.181652532 meters Centerline goodness : 0.767106 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.01, Z:0.14 [[ 0.99755753 0.06629622 0.02199515 -1.57737804] [-0.06703058 0.99715346 0.03452348 -2.00684201] [-0.01964376 -0.03591351 0.99916182 0.14258437] [ 0. 0. 0. 1. ]] SLAMing on 30.241652532 meters Centerline goodness : 0.767146 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.01, Z:0.14 [[ 0.9975506 0.06635185 0.022141 -1.5775831 ] [-0.06709445 0.99714386 0.03467657 -2.00772688] [-0.0197769 -0.03607717 0.9991533 0.14232725] [ 0. 0. 0. 1. ]] SLAMing on 30.301652532 meters Centerline goodness : 0.762832 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.00, Z:0.14 [[ 0.9978967 0.06102384 0.02186914 -1.57680151] [-0.06164575 0.99767696 0.02899121 -2.00469736] [-0.02004918 -0.03027837 0.99934041 0.14146521] [ 0. 0. 0. 1. ]] SLAMing on 30.361652532 meters Centerline goodness : 0.750466 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.00, Z:0.14 [[ 0.99825485 0.05541323 0.02041158 -1.57303374] [-0.05588619 0.99816338 0.02337942 -2.0025814 ] [-0.01907857 -0.02447934 0.99951827 0.14039425] [ 0. 0. 0. 1. ]] SLAMing on 30.421652532 meters Centerline goodness : 0.754866 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.01, Z:0.14 [[ 0.99844652 0.05196257 0.02011089 -1.57426905] [-0.05237891 0.99841146 0.02076078 -2.0074282 ] [-0.01900016 -0.02178192 0.99958218 0.14253147] [ 0. 0. 0. 1. ]] SLAMing on 30.481652532000002 meters Centerline goodness : 0.758102 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.01, Z:0.14 [[ 0.99863741 0.04838086 0.01956055 -1.57473416] [-0.04873978 0.99864369 0.01830863 -2.01277663] [-0.01864823 -0.01923706 0.99964103 0.14466089] [ 0. 0. 0. 1. ]] SLAMing on 30.541652532 meters Centerline goodness : 0.751814 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.01, Z:0.14 [[ 0.99876629 0.0454379 0.02003245 -1.57634161] [-0.04574285 0.99884007 0.01503687 -2.01402716] [-0.01932597 -0.01593466 0.99968625 0.14443709] [ 0. 0. 0. 1. ]] SLAMing on 30.601652532 meters Centerline goodness : 0.752405 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.15 [[ 0.99888384 0.0428795 0.01980969 -1.57851658] [-0.04314519 0.9989818 0.01318535 -2.01917928] [-0.01922414 -0.01402533 0.99971682 0.14730575] [ 0. 0. 0. 1. ]] SLAMing on 30.661652532 meters Centerline goodness : 0.757751 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.15 [[ 0.99866408 0.04720609 0.0210153 -1.58042132] [-0.04756743 0.99872268 0.01703962 -2.01736264] [-0.02018408 -0.0180165 0.99963394 0.14631398] [ 0. 0. 0. 1. ]] SLAMing on 30.721652532 meters Centerline goodness : 0.759930 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.15 [[ 0.99838653 0.05217162 0.02241553 -1.5831244 ] [-0.05265416 0.99838124 0.02150461 -2.01668083] [-0.02125731 -0.02265018 0.99951743 0.14582318] [ 0. 0. 0. 1. ]] SLAMing on 30.781652532 meters Centerline goodness : 0.759482 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.15 [[ 0.99838061 0.05231893 0.02233587 -1.58288293] [-0.05280359 0.99836933 0.02169005 -2.01736806] [-0.02116465 -0.02283434 0.99951521 0.14581222] [ 0. 0. 0. 1. ]] SLAMing on 30.841652532 meters Centerline goodness : 0.758551 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.15 [[ 0.99840914 0.0520444 0.02169266 -1.58136902] [-0.05251131 0.99838798 0.02154063 -2.01747999] [-0.02053662 -0.02264547 0.99953261 0.14595303] [ 0. 0. 0. 1. ]] SLAMing on 30.901652532 meters Centerline goodness : 0.751952 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.14 [[ 0.99860693 0.04808371 0.02172894 -1.58079019] [-0.04846506 0.99867369 0.01737818 -2.0177972 ] [-0.02086452 -0.01840706 0.99961285 0.14418388] [ 0. 0. 0. 1. ]] SLAMing on 30.961652532 meters Centerline goodness : 0.755462 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.01, Z:0.15 [[ 0.99899413 0.0415549 0.01684964 -1.56887096] [-0.04183161 0.99898981 0.01641602 -2.01200511] [-0.01615046 -0.01710435 0.99972326 0.1487149 ] [ 0. 0. 0. 1. ]] SLAMing on 31.021652532 meters Centerline goodness : 0.751549 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.01, Z:0.15 [[ 0.99923288 0.03589393 0.01566141 -1.56597676] [-0.03606948 0.99928792 0.01107414 -2.0108383 ] [-0.01525277 -0.01163054 0.99981602 0.14850456] [ 0. 0. 0. 1. ]] SLAMing on 31.081652532 meters Centerline goodness : 0.747371 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.02, Z:0.15 [[ 0.99969023 0.02283801 0.00989324 -1.56493009] [-0.02298218 0.99962761 0.01471243 -2.01642234] [-0.00955355 -0.01493524 0.99984282 0.14693616] [ 0. 0. 0. 1. ]] SLAMing on 31.141652532000002 meters Centerline goodness : 0.751317 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.02, Z:0.15 [[ 0.99973979 0.02025843 0.01048588 -1.56778416] [-0.02038894 0.99971407 0.01249298 -2.02034788] [-0.01022979 -0.01270353 0.99986698 0.14848281] [ 0. 0. 0. 1. ]] SLAMing on 31.201652532 meters Centerline goodness : 0.756992 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.02, Z:0.15 [[ 0.99963647 0.0245294 0.01119124 -1.57024368] [-0.02471471 0.99955452 0.01673155 -2.02021194] [-0.01077584 -0.01700205 0.99979739 0.14974814] [ 0. 0. 0. 1. ]] SLAMing on 31.261652532 meters Centerline goodness : 0.758537 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.02, Z:0.15 [[ 0.99950561 0.02916978 0.01173317 -1.57090185] [-0.02941204 0.99934603 0.02103425 -2.01980869] [-0.01111193 -0.02136894 0.9997099 0.14900811] [ 0. 0. 0. 1. ]] SLAMing on 31.321652532 meters Centerline goodness : 0.756291 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.14 [[ 0.99934196 0.03279366 0.01549927 -1.57759572] [-0.03311919 0.9992258 0.02123468 -2.02177672] [-0.01479091 -0.02173403 0.99965437 0.1441625 ] [ 0. 0. 0. 1. ]] SLAMing on 31.381652532 meters Centerline goodness : 0.756493 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.14 [[ 0.99926205 0.03455527 0.01677139 -1.58038096] [-0.03493103 0.99913292 0.02265447 -2.02360837] [-0.01597402 -0.0232236 0.99960267 0.14363671] [ 0. 0. 0. 1. ]] SLAMing on 31.441652532 meters Centerline goodness : 0.756036 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.14 [[ 0.99911462 0.03840286 0.01718115 -1.58028193] [-0.03884203 0.99890698 0.02600276 -2.0210111 ] [-0.01616379 -0.02664708 0.99951421 0.1424456 ] [ 0. 0. 0. 1. ]] SLAMing on 31.501652532 meters Centerline goodness : 0.756866 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.14 [[ 0.99912582 0.03829383 0.01676844 -1.57932849] [-0.03872323 0.99890962 0.02607847 -2.021674 ] [-0.01575151 -0.026705 0.99951925 0.1425851 ] [ 0. 0. 0. 1. ]] SLAMing on 31.561652532 meters Centerline goodness : 0.755394 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.14 [[ 0.99911646 0.03827575 0.01735721 -1.58039615] [-0.03871466 0.9989198 0.02569858 -2.02040849] [-0.01635483 -0.02634785 0.99951904 0.1419413 ] [ 0. 0. 0. 1. ]] SLAMing on 31.621652532 meters Centerline goodness : 0.752937 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.14 [[ 0.99906698 0.03897009 0.01861464 -1.58247156] [-0.03944178 0.99889176 0.02568267 -2.01915582] [-0.01759315 -0.0263929 0.99949682 0.14031091] [ 0. 0. 0. 1. ]] SLAMing on 31.681652532 meters Centerline goodness : 0.754146 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.02, Z:0.14 [[ 0.99899235 0.04025913 0.01983666 -1.586047 ] [-0.04078507 0.99880675 0.02686363 -2.02122599] [-0.01873149 -0.0276456 0.99944227 0.14102774] [ 0. 0. 0. 1. ]] SLAMing on 31.741652532 meters Centerline goodness : 0.751543 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.02, Z:0.14 [[ 0.99898265 0.040442 0.01995277 -1.58548653] [-0.04097399 0.99879492 0.02701566 -2.02181793] [-0.01883615 -0.02780572 0.99943586 0.13982237] [ 0. 0. 0. 1. ]] SLAMing on 31.801652532 meters Centerline goodness : 0.755621 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.02, Z:0.14 [[ 0.99895355 0.04108113 0.02010362 -1.58644568] [-0.04163467 0.99874224 0.02793737 -2.02442447] [-0.01893063 -0.02874515 0.9994075 0.14062882] [ 0. 0. 0. 1. ]] SLAMing on 31.861652532 meters Centerline goodness : 0.755643 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.03, Z:0.14 [[ 0.9989274 0.0416088 0.0203165 -1.58693344] [-0.04218223 0.9986987 0.02866296 -2.02679369] [-0.01909743 -0.02948921 0.99938265 0.14061754] [ 0. 0. 0. 1. ]] SLAMing on 31.921652532 meters Centerline goodness : 0.757006 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.03, Z:0.14 [[ 0.99906934 0.03812972 0.02016365 -1.58845623] [-0.03863919 0.99892751 0.0255117 -2.02995866] [-0.01916927 -0.02626707 0.99947115 0.14263706] [ 0. 0. 0. 1. ]] SLAMing on 31.981652532000002 meters Centerline goodness : 0.767175 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.04, Z:0.14 [[ 0.99899114 0.03985695 0.02069126 -1.58997665] [-0.04042572 0.99879466 0.02783877 -2.03531841] [-0.01955675 -0.02864714 0.99939826 0.14327285] [ 0. 0. 0. 1. ]] SLAMing on 32.041652532 meters Centerline goodness : 0.759716 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.04, Z:0.14 [[ 0.99928786 0.0316965 0.02047194 -1.58994744] [-0.03210385 0.9992867 0.0198855 -2.03752565] [-0.01982704 -0.02052856 0.99959265 0.14298169] [ 0. 0. 0. 1. ]] SLAMing on 32.101652532 meters Centerline goodness : 0.750968 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.03, Z:0.14 [[ 0.99981405 0.01165679 0.01536195 -1.57231599] [-0.01176464 0.99990665 0.00694927 -2.02558768] [-0.01527951 -0.0071287 0.99985785 0.14425236] [ 0. 0. 0. 1. ]] SLAMing on 32.161652532 meters Centerline goodness : 0.755177 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.02, Z:0.15 [[ 9.99945903e-01 1.56263646e-03 1.02834435e-02 -1.56086516e+00] [-1.59883638e-03 9.99992551e-01 3.51293478e-03 -2.02255860e+00] [-1.02778775e-02 -3.52918628e-03 9.99940953e-01 1.50608698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221652532 meters Centerline goodness : 0.766156 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.02, Z:0.16 [[ 9.99943480e-01 -8.83833773e-03 5.90940226e-03 -1.55119240e+00] [ 8.82927773e-03 9.99959808e-01 1.55748531e-03 -2.02059612e+00] [-5.92293034e-03 -1.50522153e-03 9.99981326e-01 1.59252489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281652532 meters Centerline goodness : 0.762170 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.02, Z:0.16 [[ 9.99763904e-01 -2.17103613e-02 8.92804268e-04 -1.54041192e+00] [ 2.17157425e-02 9.99742801e-01 -6.53901211e-03 -2.01867792e+00] [-7.50610324e-04 6.55685618e-03 9.99978222e-01 1.64454046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341652532 meters Centerline goodness : 0.761630 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.02, Z:0.17 [[ 9.99633131e-01 -2.70654014e-02 -1.03365325e-03 -1.53653661e+00] [ 2.70533805e-02 9.99581263e-01 -1.02670975e-02 -2.02206682e+00] [ 1.31110353e-03 1.02353670e-02 9.99946758e-01 1.66482459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401652532 meters Centerline goodness : 0.769273 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.02, Z:0.17 [[ 0.99959914 -0.02821455 -0.00234336 -1.53541725] [ 0.02818999 0.99955332 -0.00992404 -2.0248334 ] [ 0.00262232 0.009854 0.99994801 0.1698197 ] [ 0. 0. 0. 1. ]] SLAMing on 32.461652532 meters Centerline goodness : 0.769954 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.02, Z:0.17 [[ 0.9995701 -0.02913667 -0.00326776 -1.53363703] [ 0.02910142 0.99952278 -0.01035949 -2.02467119] [ 0.00356804 0.01025994 0.999941 0.17076474] [ 0. 0. 0. 1. ]] SLAMing on 32.521652532 meters Centerline goodness : 0.762354 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.02, Z:0.17 [[ 0.99939936 -0.03441709 -0.00404667 -1.53107668] [ 0.03435042 0.99928921 -0.01552811 -2.02303208] [ 0.00457822 0.01537978 0.99987124 0.17051851] [ 0. 0. 0. 1. ]] SLAMing on 32.581652532 meters Centerline goodness : 0.758731 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.02, Z:0.17 [[ 0.9993772 -0.03495154 -0.00485843 -1.53000241] [ 0.03487102 0.99926736 -0.01577228 -2.02297328] [ 0.00540614 0.01559304 0.99986381 0.17180953] [ 0. 0. 0. 1. ]] SLAMing on 32.641652532 meters Centerline goodness : 0.768686 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.02, Z:0.18 [[ 0.99924554 -0.03770781 -0.00929912 -1.5226106 ] [ 0.03758445 0.99920757 -0.01310155 -2.02485365] [ 0.00978578 0.01274217 0.99987093 0.17928125] [ 0. 0. 0. 1. ]] SLAMing on 32.701652532 meters Centerline goodness : 0.763946 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.02, Z:0.18 [[ 0.9990297 -0.04286099 -0.01012866 -1.52029995] [ 0.04267544 0.99892905 -0.01787598 -2.02443171] [ 0.010884 0.01742639 0.99978891 0.17971325] [ 0. 0. 0. 1. ]] SLAMing on 32.761652532 meters Centerline goodness : 0.762224 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.03, Z:0.18 [[ 0.99880277 -0.04758344 -0.01135079 -1.51751254] [ 0.04733181 0.99864795 -0.02149359 -2.0276112 ] [ 0.01235819 0.0209306 0.99970455 0.18106782] [ 0. 0. 0. 1. ]] SLAMing on 32.821652532 meters Centerline goodness : 0.765395 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.03, Z:0.18 [[ 0.99872646 -0.04877209 -0.01291311 -1.51450529] [ 0.04848582 0.99858976 -0.02162452 -2.02968127] [ 0.01394957 0.02097088 0.99968277 0.1826706 ] [ 0. 0. 0. 1. ]] SLAMing on 32.881652532 meters Centerline goodness : 0.765332 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.03, Z:0.18 [[ 0.99889909 -0.04506571 -0.01302613 -1.51467406] [ 0.04482138 0.99882413 -0.01847703 -2.02648749] [ 0.0138435 0.01787284 0.99974443 0.18253974] [ 0. 0. 0. 1. ]] SLAMing on 32.941652532 meters Centerline goodness : 0.768398 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.03, Z:0.18 [[ 0.99908706 -0.04056446 -0.01340037 -1.51420527] [ 0.04037739 0.99908715 -0.01394736 -2.0274232 ] [ 0.0139539 0.01339355 0.99981293 0.18254676] [ 0. 0. 0. 1. ]] SLAMing on 33.001652532 meters Centerline goodness : 0.764400 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.03, Z:0.18 [[ 0.99909418 -0.04056091 -0.01286972 -1.51476174] [ 0.04037434 0.99908028 -0.01443964 -2.02538004] [ 0.01344357 0.01390695 0.99981292 0.18137993] [ 0. 0. 0. 1. ]] SLAMing on 33.061652532000004 meters Centerline goodness : 0.762127 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.02, Z:0.18 [[ 0.99919628 -0.03793222 -0.01295912 -1.51404037] [ 0.03777036 0.99920808 -0.0125147 -2.01990782] [ 0.01342357 0.01201517 0.99983771 0.18024499] [ 0. 0. 0. 1. ]] SLAMing on 33.121652532 meters Centerline goodness : 0.760598 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.02, Z:0.18 [[ 0.99919287 -0.03780452 -0.01358024 -1.51327092] [ 0.03764142 0.9992184 -0.01207131 -2.02148599] [ 0.01402597 0.01155039 0.99983492 0.18124282] [ 0. 0. 0. 1. ]] SLAMing on 33.181652532 meters Centerline goodness : 0.771646 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.03, Z:0.19 [[ 0.99891916 -0.04282946 -0.0180597 -1.50702959] [ 0.04264426 0.99903495 -0.01051825 -2.02788244] [ 0.01849276 0.00973673 0.99978158 0.19105533] [ 0. 0. 0. 1. ]] SLAMing on 33.241652532 meters Centerline goodness : 0.767255 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.03, Z:0.19 [[ 0.9986556 -0.04815045 -0.0191971 -1.50414753] [ 0.04786404 0.99873957 -0.01510963 -2.02862122] [ 0.01990044 0.01417047 0.99970154 0.19194236] [ 0. 0. 0. 1. ]] SLAMing on 33.301652532 meters Centerline goodness : 0.764452 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.03, Z:0.19 [[ 0.99853523 -0.05028557 -0.01996896 -1.50144253] [ 0.04994428 0.99860325 -0.01723733 -2.0254116 ] [ 0.02080786 0.01621474 0.999652 0.19115155] [ 0. 0. 0. 1. ]] SLAMing on 33.361652532 meters Centerline goodness : 0.763899 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.02, Z:0.19 [[ 0.99876967 -0.04577725 -0.01906801 -1.50343616] [ 0.04551934 0.99886886 -0.01374721 -2.02195918] [ 0.01967575 0.01286234 0.99972367 0.18972047] [ 0. 0. 0. 1. ]] SLAMing on 33.421652532 meters Centerline goodness : 0.763897 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.02, Z:0.19 [[ 0.9988791 -0.04300864 -0.01976883 -1.50189584] [ 0.04279359 0.99902143 -0.0111755 -2.01891242] [ 0.02023013 0.01031699 0.99974212 0.18949117] [ 0. 0. 0. 1. ]] SLAMing on 33.481652532 meters Centerline goodness : 0.770487 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.01, Z:0.20 [[ 0.99929669 -0.03263973 -0.01846023 -1.49765932] [ 0.03239452 0.99938493 -0.01343003 -2.01045961] [ 0.01888723 0.01282257 0.99973939 0.1971465 ] [ 0. 0. 0. 1. ]] SLAMing on 33.541652532 meters Centerline goodness : 0.766703 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.00, Z:0.20 [[ 0.99933846 -0.03098529 -0.01904092 -1.49611759] [ 0.03075262 0.99945019 -0.01239307 -2.0043316 ] [ 0.01941445 0.01179931 0.99974189 0.19656153] [ 0. 0. 0. 1. ]] SLAMing on 33.601652532 meters Centerline goodness : 0.762951 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.00, Z:0.20 [[ 0.99942616 -0.02783583 -0.01930056 -1.49529691] [ 0.02764859 0.99956867 -0.00990117 -1.99984052] [ 0.01956784 0.00936186 0.9997647 0.19581342] [ 0. 0. 0. 1. ]] SLAMing on 33.661652532 meters Centerline goodness : 0.765826 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.00, Z:0.19 [[ 0.9995827 -0.02258326 -0.0180117 -1.49711776] [ 0.02248635 0.99973166 -0.00556517 -1.99936765] [ 0.01813255 0.00515783 0.99982229 0.19338864] [ 0. 0. 0. 1. ]] SLAMing on 33.721652532 meters Centerline goodness : 0.769122 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.00, Z:0.19 [[ 9.99656246e-01 -1.88740747e-02 -1.81977752e-02 -1.49798877e+00] [ 1.88366637e-02 9.99820098e-01 -2.22503855e-03 -1.99710165e+00] [ 1.82364969e-02 1.88148831e-03 9.99831931e-01 1.94642199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781652532 meters Centerline goodness : 0.774987 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.00, Z:0.20 [[ 0.99975067 -0.01363938 -0.01767969 -1.50022382] [ 0.01369774 0.99990111 0.00318427 -2.00021289] [ 0.01763451 -0.00342565 0.99983863 0.19552293] [ 0. 0. 0. 1. ]] SLAMing on 33.841652532 meters Centerline goodness : 0.766304 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.00, Z:0.19 [[ 9.99743689e-01 -1.49827882e-02 -1.69726733e-02 -1.49816358e+00] [ 1.49902405e-02 9.99887591e-01 3.11933177e-04 -1.99541428e+00] [ 1.69660918e-02 -5.66277679e-04 9.99855905e-01 1.90663574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901652532 meters Centerline goodness : 0.765660 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.00, Z:0.19 [[ 9.99754765e-01 -1.47686677e-02 -1.65013781e-02 -1.49985772e+00] [ 1.47770826e-02 9.99890738e-01 3.88134107e-04 -1.99529077e+00] [ 1.64938429e-02 -6.31881151e-04 9.99863768e-01 1.91150819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961652532 meters Centerline goodness : 0.765285 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.99, Z:0.19 [[ 9.99747281e-01 -1.53569277e-02 -1.64176389e-02 -1.49938757e+00] [ 1.53543662e-02 9.99882075e-01 -2.82062998e-04 -1.99392145e+00] [ 1.64200345e-02 2.99092743e-05 9.99865182e-01 1.90338780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021652532 meters Centerline goodness : 0.761852 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.99, Z:0.19 [[ 9.99742320e-01 -1.61509764e-02 -1.59511358e-02 -1.50033170e+00] [ 1.61283626e-02 9.99868735e-01 -1.54532698e-03 -1.99044421e+00] [ 1.59740005e-02 1.28766307e-03 9.99871578e-01 1.89916457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081652532 meters Centerline goodness : 0.763165 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.99, Z:0.19 [[ 9.99738079e-01 -1.63046623e-02 -1.60602599e-02 -1.50072024e+00] [ 1.62805423e-02 9.99866132e-01 -1.63145095e-03 -1.99036267e+00] [ 1.60847102e-02 1.36955389e-03 9.99869695e-01 1.90774831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141652532 meters Centerline goodness : 0.768331 with order 1 Centerline is valid? [False, False] Translation: X:-1.50, Y:-1.99, Z:0.19 [[ 0.99980777 -0.01125931 -0.01605128 -1.50221336] [ 0.01131703 0.9999298 0.00350993 -1.99275465] [ 0.01601064 -0.00369091 0.99986501 0.19236861] [ 0. 0. 0. 1. ]] SLAMing on 34.201652532 meters Centerline goodness : 0.770587 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.19 [[ 0.99988363 -0.00564282 -0.0141734 -1.50561711] [ 0.00575594 0.99995181 0.00795281 -1.99209142] [ 0.01412784 -0.00803346 0.99986793 0.19023958] [ 0. 0. 0. 1. ]] SLAMing on 34.261652532 meters Centerline goodness : 0.772158 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.19 [[ 9.99925533e-01 3.81377134e-04 -1.21976896e-02 -1.51006038e+00] [-2.26016005e-04 9.99918871e-01 1.27357741e-02 -1.99153212e+00] [ 1.22015571e-02 -1.27320688e-02 9.99844496e-01 1.89256507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321652532 meters Centerline goodness : 0.772429 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.19 [[ 0.9999273 0.01001663 -0.00671306 -1.51366256] [-0.00998409 0.99993834 0.0048625 -1.98560494] [ 0.00676136 -0.00479512 0.99996564 0.19054345] [ 0. 0. 0. 1. ]] SLAMing on 34.381652532 meters Centerline goodness : 0.773220 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.99, Z:0.19 [[ 0.99992838 0.01008131 -0.00645052 -1.51511624] [-0.01004853 0.99993653 0.00509454 -1.986352 ] [ 0.00650147 -0.00502936 0.99996622 0.19160258] [ 0. 0. 0. 1. ]] SLAMing on 34.441652532 meters Centerline goodness : 0.771820 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.20 [[ 9.99943349e-01 -1.14601913e-03 -1.05823317e-02 -1.50738450e+00] [ 1.12821249e-03 9.99997938e-01 -1.68849294e-03 -1.98884823e+00] [ 1.05842449e-02 1.67645817e-03 9.99942580e-01 1.96680840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501652532 meters Centerline goodness : 0.765908 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.20 [[ 0.99992096 -0.00586653 -0.01111991 -1.50579378] [ 0.00579839 0.99996428 -0.00615016 -1.9889553 ] [ 0.01115559 0.00608519 0.99991926 0.19652277] [ 0. 0. 0. 1. ]] SLAMing on 34.561652532000004 meters Centerline goodness : 0.768227 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.99, Z:0.20 [[ 0.99993734 -0.0045537 -0.01022662 -1.5082736 ] [ 0.00450195 0.99997697 -0.00507829 -1.99059854] [ 0.01024951 0.00503193 0.99993481 0.1965816 ] [ 0. 0. 0. 1. ]] SLAMing on 34.621652532 meters Centerline goodness : 0.762580 with order 1 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.98, Z:0.20 [[ 9.99951089e-01 -1.22155697e-03 -9.81469556e-03 -1.50834044e+00] [ 1.19330477e-03 9.99995130e-01 -2.88390213e-03 -1.98496384e+00] [ 9.81817061e-03 2.87204915e-03 9.99947676e-01 1.95045922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681652532 meters Centerline goodness : 0.760506 with order 1 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.99, Z:0.19 [[ 0.99992242 0.01173105 -0.00418655 -1.5234258 ] [-0.01172124 0.99992852 0.00235931 -1.99123782] [ 0.00421393 -0.00231005 0.99998845 0.18915346] [ 0. 0. 0. 1. ]] SLAMing on 34.741652532 meters Centerline goodness : 0.750914 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.99, Z:0.18 [[ 9.99809153e-01 1.95201996e-02 7.87328881e-04 -1.53315116e+00] [-1.95221096e-02 9.99806310e-01 2.49599337e-03 -1.98854896e+00] [-7.38454094e-04 -2.51088733e-03 9.99996575e-01 1.81056856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801652532 meters Centerline goodness : 0.755053 with order 1 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.99, Z:0.18 [[ 9.99686724e-01 2.49693230e-02 1.72830133e-03 -1.53525355e+00] [-2.49818020e-02 9.99658859e-01 7.62071789e-03 -1.99026329e+00] [-1.53742757e-03 -7.66150658e-03 9.99969468e-01 1.80726541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861652532 meters Centerline goodness : 0.759063 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.01, Z:0.18 [[ 0.99908974 0.04220806 0.00617813 -1.54798044] [-0.0423124 0.99894472 0.01786373 -2.00546647] [-0.00541761 -0.01810888 0.99982134 0.17635928] [ 0. 0. 0. 1. ]] SLAMing on 34.921652532 meters Centerline goodness : 0.763078 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.01, Z:0.18 [[ 0.99876892 0.04889645 0.00835355 -1.55280934] [-0.04907953 0.9985223 0.02333281 -2.00619566] [-0.00720031 -0.02371407 0.99969285 0.17585264] [ 0. 0. 0. 1. ]] SLAMing on 34.981652532 meters Centerline goodness : 0.761416 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.01, Z:0.17 [[ 0.99813886 0.05937542 0.01390571 -1.56405458] [-0.05974505 0.99782441 0.02787443 -2.01273487] [-0.01222041 -0.02865335 0.99951471 0.16974345] [ 0. 0. 0. 1. ]] SLAMing on 35.041652532 meters Centerline goodness : 0.766746 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.17 [[ 0.9971296 0.073059 0.01987307 -1.57929496] [-0.07372006 0.9966695 0.03486046 -2.02343858] [-0.01726001 -0.03622544 0.99919458 0.16538615] [ 0. 0. 0. 1. ]] SLAMing on 35.101652532 meters Centerline goodness : 0.760113 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.16 [[ 0.99705768 0.07370806 0.02105024 -1.58067974] [-0.07440616 0.99662871 0.03456783 -2.02182197] [-0.01843135 -0.03603239 0.99918064 0.16312479] [ 0. 0. 0. 1. ]] SLAMing on 35.161652532 meters Centerline goodness : 0.758848 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.16 [[ 0.9974172 0.06875057 0.02079173 -1.58100068] [-0.06935156 0.99714962 0.02971521 -2.02122539] [-0.01868953 -0.0310804 0.99934214 0.16361195] [ 0. 0. 0. 1. ]] SLAMing on 35.221652532 meters Centerline goodness : 0.757073 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.16 [[ 0.99784595 0.0626206 0.01954777 -1.57877631] [-0.0630841 0.99771791 0.02407004 -2.01999559] [-0.01799588 -0.02525134 0.99951914 0.16388937] [ 0. 0. 0. 1. ]] SLAMing on 35.281652532 meters Centerline goodness : 0.757011 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.02, Z:0.16 [[ 0.99817405 0.05757506 0.01826687 -1.57694669] [-0.05793746 0.99812041 0.01997219 -2.02227222] [-0.01708264 -0.02099406 0.99963365 0.16496285] [ 0. 0. 0. 1. ]] SLAMing on 35.341652532 meters Centerline goodness : 0.757309 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.03, Z:0.17 [[ 0.99836836 0.05411547 0.0182246 -1.57875927] [-0.05442928 0.99836971 0.01718653 -2.027046 ] [-0.01726483 -0.01815044 0.99968619 0.16659649] [ 0. 0. 0. 1. ]] SLAMing on 35.401652532 meters Centerline goodness : 0.761317 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.03, Z:0.16 [[ 0.99900089 0.0376949 0.02400677 -1.5798652 ] [-0.03817384 0.99907465 0.01981429 -2.02683006] [-0.02323766 -0.02071092 0.99951542 0.16384974] [ 0. 0. 0. 1. ]] SLAMing on 35.461652532 meters Centerline goodness : 0.764068 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.03, Z:0.17 [[ 0.99916425 0.03355467 0.02334277 -1.57967712] [-0.03394616 0.99928609 0.01658228 -2.03058646] [-0.02276969 -0.01736082 0.99958999 0.16550163] [ 0. 0. 0. 1. ]] SLAMing on 35.521652532 meters Centerline goodness : 0.766321 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.03, Z:0.17 [[ 0.99933357 0.02897755 0.02219741 -1.57914591] [-0.02927762 0.99948264 0.01331471 -2.03403308] [-0.0218001 -0.01395572 0.99966494 0.16869518] [ 0. 0. 0. 1. ]] SLAMing on 35.581652532 meters Centerline goodness : 0.766436 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99944894 0.02503135 0.02180032 -1.57908562] [-0.02525037 0.99963283 0.00982962 -2.03685208] [-0.02154626 -0.01037467 0.99971402 0.16966539] [ 0. 0. 0. 1. ]] SLAMing on 35.641652532 meters Centerline goodness : 0.768336 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99942503 0.02545617 0.02239629 -1.58090136] [-0.02569034 0.99961759 0.01023105 -2.0376651 ] [-0.02212728 -0.01080054 0.99969682 0.17011767] [ 0. 0. 0. 1. ]] SLAMing on 35.701652532 meters Centerline goodness : 0.767462 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.03, Z:0.17 [[ 0.99934504 0.02817532 0.02270754 -1.5810351 ] [-0.02845972 0.99951926 0.01229998 -2.03216629] [-0.02235007 -0.01293817 0.99966648 0.16953402] [ 0. 0. 0. 1. ]] SLAMing on 35.761652532 meters Centerline goodness : 0.771994 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99940966 0.02577756 0.02271234 -1.58344442] [-0.02602739 0.99960317 0.0107739 -2.0381756 ] [-0.0224256 -0.01135868 0.99968399 0.1725591 ] [ 0. 0. 0. 1. ]] SLAMing on 35.821652532 meters Centerline goodness : 0.774720 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99940339 0.0264258 0.0222385 -1.5832028 ] [-0.02670252 0.99956849 0.01223974 -2.04322714] [-0.02190546 -0.01282626 0.99967777 0.17381751] [ 0. 0. 0. 1. ]] SLAMing on 35.881652532 meters Centerline goodness : 0.776132 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99939794 0.02649895 0.02239568 -1.58410475] [-0.02678192 0.99956401 0.01243076 -2.04389522] [-0.02205652 -0.01302308 0.9996719 0.17465461] [ 0. 0. 0. 1. ]] SLAMing on 35.941652532 meters Centerline goodness : 0.768289 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99953136 0.02141284 0.02187571 -1.58195112] [-0.02157012 0.99974298 0.00697938 -2.04117121] [-0.02172064 -0.00744797 0.99973634 0.17322498] [ 0. 0. 0. 1. ]] SLAMing on 36.001652532 meters Centerline goodness : 0.762671 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99959156 0.01802388 0.02217768 -1.58317188] [-0.01811112 0.99982899 0.00373946 -2.0437531 ] [-0.02210649 -0.0041396 0.99974705 0.17347376] [ 0. 0. 0. 1. ]] SLAMing on 36.061652532 meters Centerline goodness : 0.765506 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99962137 0.01706423 0.0215855 -1.58258258] [-0.01714236 0.99984714 0.00344013 -2.04386396] [-0.02152349 -0.00380885 0.99976109 0.1749244 ] [ 0. 0. 0. 1. ]] SLAMing on 36.121652532 meters Centerline goodness : 0.765177 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 9.99706218e-01 1.25253091e-02 2.07507495e-02 -1.58129244e+00] [-1.25215746e-02 9.99921554e-01 -3.09898234e-04 -2.04631446e+00] [-2.07530033e-02 4.99751336e-05 9.99784632e-01 1.75992802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181652532 meters Centerline goodness : 0.761289 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99977781 0.00778357 0.01958926 -1.57937921] [-0.00769879 0.99996069 -0.00439963 -2.04801111] [-0.01962273 0.00424784 0.99979843 0.17724598] [ 0. 0. 0. 1. ]] SLAMing on 36.241652532 meters Centerline goodness : 0.762705 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99981026 0.00706221 0.01815397 -1.57750174] [-0.00699289 0.99996802 -0.00387933 -2.05055171] [-0.01818079 0.00375165 0.99982768 0.17965142] [ 0. 0. 0. 1. ]] SLAMing on 36.301652532 meters Centerline goodness : 0.767457 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99981491 0.00685075 0.01797834 -1.577987 ] [-0.00678433 0.99996994 -0.00375334 -2.05116259] [-0.01800351 0.00363067 0.99983133 0.18103298] [ 0. 0. 0. 1. ]] SLAMing on 36.361652532 meters Centerline goodness : 0.767338 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99983348 0.00632427 0.01711756 -1.57617761] [-0.00626097 0.99997337 -0.00374902 -2.05212116] [-0.01714081 0.00364122 0.99984646 0.18164719] [ 0. 0. 0. 1. ]] SLAMing on 36.421652532 meters Centerline goodness : 0.765574 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.18 [[ 0.99984947 0.00563471 0.01641024 -1.57480943] [-0.00556679 0.99997576 -0.00418186 -2.0514095 ] [-0.01643341 0.00408988 0.9998566 0.18230686] [ 0. 0. 0. 1. ]] SLAMing on 36.481652532 meters Centerline goodness : 0.765016 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.18 [[ 0.99985314 0.00550063 0.01623058 -1.5748714 ] [-0.00543305 0.9999764 -0.00420519 -2.05133284] [-0.01625333 0.00411639 0.99985943 0.18299827] [ 0. 0. 0. 1. ]] SLAMing on 36.541652532 meters Centerline goodness : 0.763026 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.18 [[ 0.999851 0.00673986 0.01589167 -1.57222863] [-0.00668624 0.99997178 -0.00342521 -2.04801397] [-0.01591431 0.00331844 0.99986785 0.18095028] [ 0. 0. 0. 1. ]] SLAMing on 36.601652532 meters Centerline goodness : 0.764197 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99983045 0.00767796 0.01673698 -1.57533743] [-0.00763268 0.99996704 -0.00276781 -2.0480222 ] [-0.01675768 0.00263959 0.9998561 0.18200626] [ 0. 0. 0. 1. ]] SLAMing on 36.661652532 meters Centerline goodness : 0.759840 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 0.99981475 0.00741552 0.0177617 -1.57673027] [-0.00734424 0.99996473 -0.00407499 -2.04325922] [-0.01779129 0.00394379 0.99983394 0.18023081] [ 0. 0. 0. 1. ]] SLAMing on 36.721652532 meters Centerline goodness : 0.763161 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 9.99772366e-01 1.18728516e-02 1.77271407e-02 -1.57670865e+00] [-1.18850624e-02 9.99929200e-01 5.83619341e-04 -2.04451047e+00] [-1.77189564e-02 -7.94174662e-04 9.99842692e-01 1.80554359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781652532 meters Centerline goodness : 0.767310 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99969659 0.01674016 0.01806894 -1.57774117] [-0.01684371 0.99984249 0.00559409 -2.04651141] [-0.01797244 -0.00589674 0.99982109 0.18090543] [ 0. 0. 0. 1. ]] SLAMing on 36.841652532 meters Centerline goodness : 0.767832 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 0.99952235 0.02324047 0.0203703 -1.58088244] [-0.02344417 0.99967693 0.00981881 -2.04477679] [-0.02013553 -0.01029169 0.99974429 0.17729488] [ 0. 0. 0. 1. ]] SLAMing on 36.901652532 meters Centerline goodness : 0.761564 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.99951956 0.0226713 0.02113459 -1.58084728] [-0.02284583 0.99970656 0.0080534 -2.03973637] [-0.02094581 -0.00853237 0.9997442 0.17460368] [ 0. 0. 0. 1. ]] SLAMing on 36.961652532 meters Centerline goodness : 0.760736 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.17 [[ 0.9995353 0.02191941 0.02118311 -1.58064651] [-0.02207583 0.99973053 0.00717856 -2.03774041] [-0.02102005 -0.00764286 0.99974984 0.17428678] [ 0. 0. 0. 1. ]] SLAMing on 37.021652532 meters Centerline goodness : 0.762201 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 0.9996421 0.01720444 0.02048598 -1.57975824] [-0.01728088 0.99984434 0.00355982 -2.0405567 ] [-0.02042155 -0.00391256 0.9997838 0.17552347] [ 0. 0. 0. 1. ]] SLAMing on 37.081652532 meters Centerline goodness : 0.761148 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99979437 0.00830381 0.01850027 -1.57728528] [-0.00824271 0.99996033 -0.00337663 -2.04615061] [-0.01852757 0.00322344 0.99982315 0.17878789] [ 0. 0. 0. 1. ]] SLAMing on 37.141652532 meters Centerline goodness : 0.764666 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99982604 0.00735981 0.01713821 -1.57530356] [-0.00730656 0.99996829 -0.00316711 -2.04836271] [-0.01716097 0.00304134 0.99984811 0.18092842] [ 0. 0. 0. 1. ]] SLAMing on 37.201652532 meters Centerline goodness : 0.767523 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.9998329 0.00701514 0.0168807 -1.57537254] [-0.00695961 0.99997018 -0.00334617 -2.0483912 ] [-0.01690367 0.00322813 0.99985191 0.18192196] [ 0. 0. 0. 1. ]] SLAMing on 37.261652532 meters Centerline goodness : 0.765573 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 0.99981395 0.00791816 0.01758887 -1.57706644] [-0.00787156 0.99996533 -0.00271721 -2.0489675 ] [-0.01760977 0.00257825 0.99984161 0.18169185] [ 0. 0. 0. 1. ]] SLAMing on 37.321652532 meters Centerline goodness : 0.762469 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 9.99787283e-01 1.08991173e-02 1.75099557e-02 -1.57599258e+00] [-1.08968100e-02 9.99940602e-01 -2.27176360e-04 -2.04497701e+00] [-1.75113916e-02 3.63253758e-05 9.99846663e-01 1.80573891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381652532 meters Centerline goodness : 0.765227 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.18 [[ 9.99761424e-01 1.19375426e-02 1.82917892e-02 -1.57858103e+00] [-1.19550708e-02 9.99928175e-01 8.49203206e-04 -2.04680100e+00] [-1.82803380e-02 -1.06768024e-03 9.99832331e-01 1.81342986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441652532 meters Centerline goodness : 0.762614 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 0.99969965 0.01563513 0.018872 -1.57983626] [-0.01571378 0.99986842 0.00402619 -2.04345184] [-0.01880656 -0.00432153 0.9998138 0.18127215] [ 0. 0. 0. 1. ]] SLAMing on 37.501652532 meters Centerline goodness : 0.761194 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 0.99965658 0.01677018 0.02013642 -1.58209109] [-0.0168628 0.99984796 0.00443854 -2.0425066 ] [-0.02005893 -0.00477657 0.99978739 0.18002612] [ 0. 0. 0. 1. ]] SLAMing on 37.561652532 meters Centerline goodness : 0.757472 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 0.99967567 0.01577158 0.01999539 -1.58068377] [-0.0158348 0.9998701 0.00300702 -2.03941473] [-0.01994537 -0.00332266 0.99979555 0.17860295] [ 0. 0. 0. 1. ]] SLAMing on 37.621652532 meters Centerline goodness : 0.754993 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 9.99730140e-01 1.33182849e-02 1.90333798e-02 -1.57897434e+00] [-1.33417293e-02 9.99910384e-01 1.10529620e-03 -2.03675977e+00] [-1.90169534e-02 -1.35893612e-03 9.99818238e-01 1.79650758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681652532 meters Centerline goodness : 0.752959 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.18 [[ 9.99777219e-01 9.63881986e-03 1.87777978e-02 -1.57911738e+00] [-9.59897771e-03 9.99951485e-01 -2.21074871e-03 -2.03934732e+00] [-1.87981958e-02 2.03000853e-03 9.99821237e-01 1.80384744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741652532 meters Centerline goodness : 0.759399 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99894113e-01 4.97203358e-03 1.36763384e-02 -1.56968965e+00] [-4.97566838e-03 9.99987594e-01 2.31759507e-04 -2.04102828e+00] [-1.36750164e-02 -2.99783891e-04 9.99906448e-01 1.88884667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801652532 meters Centerline goodness : 0.760871 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99899864e-01 5.25439950e-03 1.31397846e-02 -1.56887912e+00] [-5.26814997e-03 9.99985611e-01 1.01208221e-03 -2.04367407e+00] [-1.31342777e-02 -1.08120322e-03 9.99913157e-01 1.89609324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861652532 meters Centerline goodness : 0.754837 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99917147e-01 1.72110062e-04 1.28712569e-02 -1.56807898e+00] [-1.19040458e-04 9.99991490e-01 -4.12376216e-03 -2.04190765e+00] [-1.28718571e-02 4.12188830e-03 9.99908658e-01 1.89572492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921652532 meters Centerline goodness : 0.759774 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.19 [[ 9.99922344e-01 6.27903987e-04 1.24463370e-02 -1.56856412e+00] [-5.91832056e-04 9.99995615e-01 -2.90166795e-03 -2.04569080e+00] [-1.24481044e-02 2.89407648e-03 9.99918331e-01 1.91605952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981652532 meters Centerline goodness : 0.758520 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99906064e-01 4.56472074e-03 1.29238787e-02 -1.56938403e+00] [-4.57128189e-03 9.99989437e-01 4.78181256e-04 -2.04224112e+00] [-1.29215595e-02 -5.37215030e-04 9.99916369e-01 1.91068148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041652532 meters Centerline goodness : 0.756989 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.19 [[ 9.99910705e-01 1.39318486e-03 1.32906296e-02 -1.57097522e+00] [-1.36125613e-03 9.99996167e-01 -2.41109338e-03 -2.04580661e+00] [-1.32939377e-02 2.39278613e-03 9.99908769e-01 1.91800914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101652532 meters Centerline goodness : 0.760554 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.19 [[ 0.99991862 -0.00266256 0.01247665 -1.57010329] [ 0.00273179 0.99998095 -0.00553517 -2.04974129] [-0.01246167 0.0055688 0.99990684 0.19344783] [ 0. 0. 0. 1. ]] SLAMing on 38.161652532 meters Centerline goodness : 0.753912 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99990872 -0.00589162 0.01215921 -1.56707001] [ 0.00600708 0.99993701 -0.0094812 -2.04302462] [-0.01210258 0.00955338 0.99988112 0.19074213] [ 0. 0. 0. 1. ]] SLAMing on 38.221652532 meters Centerline goodness : 0.753944 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99991159 -0.00642328 0.01164282 -1.56633998] [ 0.00653818 0.99993003 -0.00985835 -2.0422967 ] [-0.01157868 0.0099336 0.99988362 0.19153542] [ 0. 0. 0. 1. ]] SLAMing on 38.281652532 meters Centerline goodness : 0.759472 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99993182 -0.002382 0.01143126 -1.56754978] [ 0.00244208 0.99998326 -0.00524468 -2.04382568] [-0.01141858 0.00527224 0.99992091 0.19388158] [ 0. 0. 0. 1. ]] SLAMing on 38.341652532 meters Centerline goodness : 0.760007 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99910402e-01 2.70037212e-03 1.31108918e-02 -1.57003792e+00] [-2.67715919e-03 9.99994818e-01 -1.78773521e-03 -2.04066883e+00] [-1.31156514e-02 1.75247509e-03 9.99912450e-01 1.91091457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401652532 meters Centerline goodness : 0.761952 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99986515 0.00805535 0.0143108 -1.57305113] [-0.00809951 0.99996261 0.00302992 -2.0405293 ] [-0.01428586 -0.00314542 0.999893 0.19117929] [ 0. 0. 0. 1. ]] SLAMing on 38.461652532 meters Centerline goodness : 0.759877 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 9.99879451e-01 4.54367085e-03 1.48471854e-02 -1.57543239e+00] [-4.53658676e-03 9.99989579e-01 -5.10778621e-04 -2.04206923e+00] [-1.48493515e-02 4.43361503e-04 9.99889644e-01 1.92445810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521652532 meters Centerline goodness : 0.757140 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99884267e-01 4.91687367e-03 1.43971218e-02 -1.57283779e+00] [-4.91889865e-03 9.99987897e-01 1.05244118e-04 -2.04380817e+00] [-1.43964301e-02 -1.76049921e-04 9.99896351e-01 1.90505904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581652532 meters Centerline goodness : 0.751335 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99901802e-01 5.81549815e-04 1.40017313e-02 -1.57178252e+00] [-5.24443751e-04 9.99991532e-01 -4.08182657e-03 -2.04447470e+00] [-1.40039865e-02 4.07408262e-03 9.99893639e-01 1.90377562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641652532 meters Centerline goodness : 0.754010 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.19 [[ 9.99911392e-01 5.73938020e-04 1.32995943e-02 -1.57163631e+00] [-5.31816300e-04 9.99994833e-01 -3.17046348e-03 -2.04783994e+00] [-1.33013452e-02 3.16310961e-03 9.99906530e-01 1.92577136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701652532 meters Centerline goodness : 0.758999 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.19 [[ 9.99920148e-01 2.56309332e-04 1.26345384e-02 -1.57105726e+00] [-2.19262966e-04 9.99995673e-01 -2.93344830e-03 -2.04936113e+00] [-1.26352356e-02 2.93044377e-03 9.99915878e-01 1.94170866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761652532 meters Centerline goodness : 0.755508 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.19 [[ 9.99924219e-01 -1.19883938e-03 1.22523197e-02 -1.56929031e+00] [ 1.25494372e-03 9.99988759e-01 -4.57241674e-03 -2.04610734e+00] [-1.22467004e-02 4.58744621e-03 9.99914483e-01 1.93153281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821652532 meters Centerline goodness : 0.755127 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99932333e-01 1.97520915e-03 1.14641998e-02 -1.56783694e+00] [-1.95907364e-03 9.99997075e-01 -1.41852904e-03 -2.04392894e+00] [-1.14669681e-02 1.39597384e-03 9.99933278e-01 1.93635591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881652532 meters Centerline goodness : 0.765031 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.19 [[ 0.99990735 0.00653635 0.01194057 -1.56993615] [-0.00657921 0.99997204 0.00355344 -2.04630919] [-0.01191701 -0.00363167 0.99992239 0.19499669] [ 0. 0. 0. 1. ]] SLAMing on 38.941652532 meters Centerline goodness : 0.759764 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99987527 0.01000422 0.01222156 -1.56870414] [-0.01008144 0.99992951 0.00627275 -2.04282046] [-0.01215794 -0.00639518 0.99990564 0.19253533] [ 0. 0. 0. 1. ]] SLAMing on 39.001652532 meters Centerline goodness : 0.760513 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.9998533 0.01122925 0.01293352 -1.57073169] [-0.01132331 0.9999098 0.00722273 -2.04431466] [-0.01285124 -0.00736812 0.99989027 0.19279235] [ 0. 0. 0. 1. ]] SLAMing on 39.061652532 meters Centerline goodness : 0.758686 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99984871 0.01101426 0.01346259 -1.5714088 ] [-0.0111032 0.99991691 0.00654939 -2.04235495] [-0.01338934 -0.00669787 0.99988793 0.19190031] [ 0. 0. 0. 1. ]] SLAMing on 39.121652532 meters Centerline goodness : 0.756383 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99983773 0.011321 0.01401224 -1.57189597] [-0.01141428 0.99991311 0.00659481 -2.04219734] [-0.01393636 -0.00675368 0.99988008 0.19059399] [ 0. 0. 0. 1. ]] SLAMing on 39.181652532 meters Centerline goodness : 0.752370 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99980958 0.01214804 0.01527189 -1.57395 ] [-0.01224856 0.99990382 0.00650584 -2.04039125] [-0.01519139 -0.00669166 0.99986221 0.18898206] [ 0. 0. 0. 1. ]] SLAMing on 39.241652532 meters Centerline goodness : 0.751235 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99984629 0.00983379 0.01451533 -1.57295108] [-0.00989627 0.99994205 0.00423858 -2.0365415 ] [-0.0144728 -0.00438157 0.99988566 0.19007072] [ 0. 0. 0. 1. ]] SLAMing on 39.301652532 meters Centerline goodness : 0.755730 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99983305 0.0106318 0.0148605 -1.57408141] [-0.01071287 0.99992811 0.00538683 -2.03956174] [-0.01480216 -0.00554513 0.99987507 0.19043465] [ 0. 0. 0. 1. ]] SLAMing on 39.361652532 meters Centerline goodness : 0.751282 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99985466 0.00840341 0.01483367 -1.571714 ] [-0.00844411 0.99996075 0.00268309 -2.03662861] [-0.01481054 -0.00280796 0.99988638 0.18783964] [ 0. 0. 0. 1. ]] SLAMing on 39.421652532 meters Centerline goodness : 0.753871 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 9.99880998e-01 7.08673447e-03 1.37028789e-02 -1.56952043e+00] [-7.11352075e-03 9.99972880e-01 1.90704054e-03 -2.03637713e+00] [-1.36889926e-02 -2.00428931e-03 9.99904293e-01 1.88834181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481652532 meters Centerline goodness : 0.759315 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99979141 0.0134258 0.01539114 -1.5747185 ] [-0.01354049 0.99988115 0.00737169 -2.03578008] [-0.01529034 -0.00757856 0.99985437 0.18986635] [ 0. 0. 0. 1. ]] SLAMing on 39.541652532 meters Centerline goodness : 0.757843 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.03, Z:0.19 [[ 0.99971196 0.01753595 0.01638546 -1.57592259] [-0.01771033 0.99978741 0.01055863 -2.03233063] [-0.01619682 -0.01084578 0.99981 0.18827579] [ 0. 0. 0. 1. ]] SLAMing on 39.601652532 meters Centerline goodness : 0.763803 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99966891 0.01963562 0.01662893 -1.57784063] [-0.01985875 0.99971351 0.01336108 -2.03874177] [-0.01636182 -0.01368689 0.99977245 0.19010251] [ 0. 0. 0. 1. ]] SLAMing on 39.661652532 meters Centerline goodness : 0.761544 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.9997369 0.0162282 0.01621038 -1.57663012] [-0.01639784 0.99981159 0.01038683 -2.04282947] [-0.01603876 -0.01064992 0.99981465 0.18978329] [ 0. 0. 0. 1. ]] SLAMing on 39.721652532 meters Centerline goodness : 0.757591 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99979422 0.01229947 0.01613175 -1.57735007] [-0.01240891 0.99990055 0.00670168 -2.04457628] [-0.01604772 -0.00690048 0.99984742 0.19076298] [ 0. 0. 0. 1. ]] SLAMing on 39.781652532 meters Centerline goodness : 0.758161 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.20 [[ 0.99991258 0.00502449 0.01223087 -1.57021776] [-0.00506386 0.99998209 0.00319011 -2.04439264] [-0.01221462 -0.00325177 0.99992011 0.19554099] [ 0. 0. 0. 1. ]] SLAMing on 39.841652532 meters Centerline goodness : 0.759121 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 9.99951251e-01 -5.19623380e-04 9.86027465e-03 -1.56676230e+00] [ 5.17496450e-04 9.99999842e-01 2.18257110e-04 -2.04876356e+00] [-9.86038651e-03 -2.13143814e-04 9.99951362e-01 1.99379331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901652532 meters Centerline goodness : 0.760817 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 0.99994857 -0.00457862 0.00904914 -1.56635498] [ 0.00460558 0.99998501 -0.00296052 -2.05247453] [-0.00903545 0.00300204 0.99995467 0.20157467] [ 0. 0. 0. 1. ]] SLAMing on 39.961652532 meters Centerline goodness : 0.754219 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.05, Z:0.20 [[ 0.99992524 -0.00845046 0.00883753 -1.56294232] [ 0.00851935 0.99993339 -0.0077864 -2.04571998] [-0.00877115 0.00786111 0.99993063 0.19811629] [ 0. 0. 0. 1. ]] SLAMing on 40.021652532 meters Centerline goodness : 0.753982 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 0.99992987 -0.00733336 0.00929965 -1.56533586] [ 0.00739265 0.99995247 -0.00635658 -2.04904304] [-0.00925259 0.00642488 0.99993655 0.19945785] [ 0. 0. 0. 1. ]] SLAMing on 40.081652532 meters Centerline goodness : 0.758283 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 0.9999522 -0.00450136 0.00867912 -1.56531677] [ 0.00452344 0.99998658 -0.00252512 -2.05196196] [-0.00866764 0.00256426 0.99995915 0.20135294] [ 0. 0. 0. 1. ]] SLAMing on 40.141652532 meters Centerline goodness : 0.761804 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 9.99955785e-01 1.16708502e-03 9.33093074e-03 -1.56644507e+00] [-1.19280755e-03 9.99995503e-01 2.75160454e-03 -2.05367958e+00] [-9.32767742e-03 -2.76261288e-03 9.99952680e-01 2.00635575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201652532 meters Centerline goodness : 0.762556 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 0.99994196 0.00459318 0.00974562 -1.56657078] [-0.00464746 0.99997377 0.00555441 -2.04983291] [-0.00971985 -0.00559938 0.99993708 0.19951696] [ 0. 0. 0. 1. ]] SLAMing on 40.261652532 meters Centerline goodness : 0.758181 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 0.99991724 0.00628618 0.01122465 -1.56897994] [-0.00635445 0.99996147 0.00605705 -2.04921966] [-0.01118614 -0.00612788 0.99991866 0.19755496] [ 0. 0. 0. 1. ]] SLAMing on 40.321652532 meters Centerline goodness : 0.756022 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.05, Z:0.20 [[ 0.99990587 0.00646374 0.01210231 -1.57067144] [-0.00653233 0.99996278 0.00563643 -2.0472745 ] [-0.01206542 -0.00571495 0.99991088 0.19677628] [ 0. 0. 0. 1. ]] SLAMing on 40.381652532 meters Centerline goodness : 0.751342 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.9998824 0.00873419 0.01260594 -1.57032272] [-0.00881865 0.99993893 0.00666041 -2.03985823] [-0.012547 -0.00677079 0.99989836 0.19460206] [ 0. 0. 0. 1. ]] SLAMing on 40.441652532 meters Centerline goodness : 0.747633 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.19 [[ 0.99986849 0.00915337 0.01338696 -1.57211799] [-0.00924312 0.99993512 0.00665786 -2.03929542] [-0.01332515 -0.00678072 0.99988822 0.19439052] [ 0. 0. 0. 1. ]] SLAMing on 40.501652532 meters Centerline goodness : 0.751903 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.04, Z:0.20 [[ 0.9998517 0.01010011 0.01394838 -1.57452361] [-0.01021088 0.99991672 0.00789309 -2.04236773] [-0.0138675 -0.00803435 0.99987156 0.19578999] [ 0. 0. 0. 1. ]] SLAMing on 40.561652532 meters Centerline goodness : 0.745357 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99976842 0.01515554 0.01527816 -1.57544248] [-0.01532546 0.99982131 0.011067 -2.03976501] [-0.0151077 -0.01129859 0.99982203 0.19216917] [ 0. 0. 0. 1. ]] SLAMing on 40.621652532 meters Centerline goodness : 0.745581 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99963184 0.0207442 0.01748896 -1.57983719] [-0.02100087 0.99967253 0.01462197 -2.03657171] [-0.01717991 -0.01498387 0.99974013 0.19034211] [ 0. 0. 0. 1. ]] SLAMing on 40.681652532 meters Centerline goodness : 0.749569 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.03, Z:0.19 [[ 0.99950843 0.0251848 0.01867125 -1.58155149] [-0.02552884 0.99950432 0.01842242 -2.03475676] [-0.01819803 -0.01889002 0.99965594 0.18903592] [ 0. 0. 0. 1. ]] SLAMing on 40.741652532 meters Centerline goodness : 0.751323 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99947694 0.02609783 0.01909826 -1.58327583] [-0.02646919 0.99946026 0.01945703 -2.0374264 ] [-0.01858017 -0.01995236 0.99962827 0.18983993] [ 0. 0. 0. 1. ]] SLAMing on 40.801652532 meters Centerline goodness : 0.755442 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99944068 0.02712357 0.01956111 -1.5842602 ] [-0.02752907 0.99940526 0.02076705 -2.04104288] [-0.0189862 -0.02129394 0.99959296 0.1897405 ] [ 0. 0. 0. 1. ]] SLAMing on 40.861652532 meters Centerline goodness : 0.754636 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99945429 0.02697927 0.01905884 -1.5822283 ] [-0.02737383 0.9994098 0.0207539 -2.04181913] [-0.01848767 -0.02126429 0.99960294 0.18862535] [ 0. 0. 0. 1. ]] SLAMing on 40.921652532 meters Centerline goodness : 0.747469 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99957217 0.0226657 0.01848647 -1.57952208] [-0.02297068 0.99960071 0.01645524 -2.04296066] [-0.01810612 -0.01687285 0.99969369 0.18648673] [ 0. 0. 0. 1. ]] SLAMing on 40.981652532 meters Centerline goodness : 0.752247 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.05, Z:0.19 [[ 0.99960031 0.02060534 0.01935548 -1.5834518 ] [-0.02089155 0.99967363 0.01470312 -2.04719272] [-0.0190462 -0.01510161 0.99970455 0.18845391] [ 0. 0. 0. 1. ]] SLAMing on 41.041652532 meters Centerline goodness : 0.755459 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99964714 0.01859326 0.01897055 -1.58206771] [-0.01883548 0.99974231 0.0126702 -2.04388978] [-0.01873008 -0.01302305 0.99973976 0.18803851] [ 0. 0. 0. 1. ]] SLAMing on 41.101652532 meters Centerline goodness : 0.749255 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.9996736 0.01734292 0.01875959 -1.58156513] [-0.01755335 0.99978418 0.01111141 -2.04047542] [-0.01856283 -0.01143708 0.99976228 0.18796474] [ 0. 0. 0. 1. ]] SLAMing on 41.161652532 meters Centerline goodness : 0.753785 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.04, Z:0.19 [[ 0.99972095 0.01396285 0.01905403 -1.58426519] [-0.01412107 0.99986671 0.0081947 -2.04323203] [-0.01893707 -0.00846147 0.99978487 0.19052732] [ 0. 0. 0. 1. ]] SLAMing on 41.221652532 meters Centerline goodness : 0.762992 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.05, Z:0.19 [[ 0.99961176 0.0201082 0.01928698 -1.58649153] [-0.02040898 0.99967114 0.01552705 -2.05095033] [-0.01896842 -0.01591465 0.99969341 0.19305077] [ 0. 0. 0. 1. ]] SLAMing on 41.281652532 meters Centerline goodness : 0.762894 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.05, Z:0.19 [[ 0.99950392 0.02417233 0.02018955 -1.58883333] [-0.02455005 0.99952415 0.01867523 -2.04695097] [-0.01972852 -0.01916162 0.99962174 0.19335414] [ 0. 0. 0. 1. ]] SLAMing on 41.341652532 meters Centerline goodness : 0.760874 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.05, Z:0.19 [[ 0.99922083 0.03026689 0.02533094 -1.60008517] [-0.03074915 0.99934898 0.01887065 -2.05159451] [-0.0247433 -0.01963486 0.999501 0.18756683] [ 0. 0. 0. 1. ]] SLAMing on 41.401652532 meters Centerline goodness : 0.755606 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.05, Z:0.18 [[ 0.99906743 0.03463464 0.02578214 -1.59915634] [-0.03521783 0.99912589 0.02252033 -2.05026991] [-0.02497962 -0.02340732 0.99941389 0.18494477] [ 0. 0. 0. 1. ]] SLAMing on 41.461652532 meters Centerline goodness : 0.764112 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.06, Z:0.19 [[ 0.99902759 0.03558144 0.02603519 -1.60002317] [-0.03621175 0.99905223 0.0241526 -2.05530822] [-0.02515113 -0.0250719 0.99936921 0.18547332] [ 0. 0. 0. 1. ]] SLAMing on 41.521652532 meters Centerline goodness : 0.755886 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.05, Z:0.19 [[ 0.99924624 0.02916602 0.02561822 -1.59924691] [-0.02961842 0.99940876 0.01746089 -2.05199961] [-0.02509381 -0.0182065 0.9995193 0.18525582] [ 0. 0. 0. 1. ]] SLAMing on 41.581652532 meters Centerline goodness : 0.755131 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.05, Z:0.19 [[ 0.99929263 0.02657769 0.02660561 -1.60251421] [-0.02697968 0.99952544 0.01486586 -2.05476921] [-0.02619788 -0.01557316 0.99953547 0.18616478] [ 0. 0. 0. 1. ]] SLAMing on 41.641652532 meters Centerline goodness : 0.758860 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.06, Z:0.19 [[ 0.99924315 0.02786593 0.02714068 -1.60477707] [-0.02832098 0.99946222 0.01652845 -2.05834442] [-0.02666551 -0.01728459 0.99949497 0.1875038 ] [ 0. 0. 0. 1. ]] SLAMing on 41.701652532 meters Centerline goodness : 0.762538 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.06, Z:0.19 [[ 0.99931678 0.02473589 0.02746114 -1.60598244] [-0.02512975 0.99958488 0.01409094 -2.06344422] [-0.02710119 -0.0147714 0.99952355 0.1881401 ] [ 0. 0. 0. 1. ]] SLAMing on 41.761652532 meters Centerline goodness : 0.756239 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.06, Z:0.19 [[ 0.99944228 0.02013028 0.02664403 -1.60432556] [-0.02039306 0.99974568 0.00962801 -2.06363504] [-0.02644344 -0.01016599 0.99959862 0.18831236] [ 0. 0. 0. 1. ]] SLAMing on 41.821652532 meters Centerline goodness : 0.755519 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.06, Z:0.19 [[ 0.99944712 0.0199621 0.02658874 -1.60457219] [-0.02022638 0.9997483 0.00970765 -2.06422598] [-0.02638826 -0.01024008 0.99959932 0.18895913] [ 0. 0. 0. 1. ]] SLAMing on 41.881652532 meters Centerline goodness : 0.751174 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.06, Z:0.19 [[ 0.99948058 0.01855828 0.02634681 -1.60377809] [-0.01877662 0.99979118 0.00806435 -2.06111354] [-0.02619165 -0.00855486 0.99962033 0.18855535] [ 0. 0. 0. 1. ]] SLAMing on 41.941652532 meters Centerline goodness : 0.752841 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.06, Z:0.19 [[ 0.99947606 0.01900939 0.02619637 -1.60377038] [-0.01925026 0.99977443 0.00897315 -2.06395128] [-0.02601989 -0.00947273 0.99961654 0.18912777] [ 0. 0. 0. 1. ]] SLAMing on 42.001652532 meters Centerline goodness : 0.753969 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.07, Z:0.19 [[ 0.99948845 0.01891263 0.02579059 -1.60367948] [-0.01915794 0.99977324 0.00929769 -2.06540976] [-0.0256089 -0.00978702 0.99962413 0.19054211] [ 0. 0. 0. 1. ]] SLAMing on 42.061652532 meters Centerline goodness : 0.753032 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.06, Z:0.19 [[ 0.9995066 0.01796637 0.02576358 -1.60303601] [-0.01818287 0.99980111 0.00819347 -2.06279625] [-0.02561125 -0.00865789 0.99963449 0.18985775] [ 0. 0. 0. 1. ]] SLAMing on 42.121652532 meters Centerline goodness : 0.752752 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.07, Z:0.19 [[ 0.99977826 0.00417082 0.02064046 -1.60726681] [-0.00439648 0.99993093 0.01089955 -2.07396165] [-0.02059358 -0.01098788 0.99972755 0.1898174 ] [ 0. 0. 0. 1. ]] SLAMing on 42.181652532 meters Centerline goodness : 0.751158 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.19 [[ 9.99831216e-01 -1.67874117e-03 1.82953821e-02 -1.60223320e+00] [ 1.53782247e-03 9.99969066e-01 7.71376749e-03 -2.07950278e+00] [-1.83077655e-02 -7.68433048e-03 9.99802869e-01 1.91702265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241652531999996 meters Centerline goodness : 0.751558 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.19 [[ 0.99982248 -0.00661027 0.01764417 -1.60204041] [ 0.0065512 0.99997275 0.00340351 -2.08046023] [-0.01766619 -0.00328731 0.99983854 0.19381699] [ 0. 0. 0. 1. ]] SLAMing on 42.301652532 meters Centerline goodness : 0.748948 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.19 [[ 0.99983081 -0.00747517 0.01680713 -1.60021708] [ 0.00742483 0.99996777 0.00305554 -2.08062268] [-0.01682943 -0.00293024 0.99985408 0.19436702] [ 0. 0. 0. 1. ]] SLAMing on 42.361652532 meters Centerline goodness : 0.748594 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 0.9998385 -0.00874479 0.01570043 -1.59802297] [ 0.00871009 0.99995947 0.00227724 -2.08003412] [-0.01571971 -0.00214012 0.99987415 0.19525047] [ 0. 0. 0. 1. ]] SLAMing on 42.421652532 meters Centerline goodness : 0.753928 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 0.99984026 -0.009179 0.01533637 -1.59806464] [ 0.00914551 0.99995564 0.00225256 -2.08059515] [-0.01535637 -0.00211194 0.99987985 0.19663604] [ 0. 0. 0. 1. ]] SLAMing on 42.481652532 meters Centerline goodness : 0.756008 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 0.99983522 -0.00904548 0.01573902 -1.59898199] [ 0.0090093 0.99995661 0.00236792 -2.08069642] [-0.01575975 -0.00222574 0.99987333 0.19657421] [ 0. 0. 0. 1. ]] SLAMing on 42.541652532 meters Centerline goodness : 0.756187 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 0.99984264 -0.00883809 0.01538116 -1.59939214] [ 0.00879243 0.99995674 0.00303348 -2.08259328] [-0.01540731 -0.00289776 0.9998771 0.19841964] [ 0. 0. 0. 1. ]] SLAMing on 42.601652532 meters Centerline goodness : 0.754075 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 9.99794975e-01 -1.36962821e-02 1.49137527e-02 -1.59778378e+00] [ 1.37243161e-02 9.99904235e-01 -1.77901714e-03 -2.08186446e+00] [-1.48879586e-02 1.98333345e-03 9.99887201e-01 1.98099755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661652532 meters Centerline goodness : 0.751940 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 0.99971952 -0.01909865 0.01400456 -1.59654078] [ 0.0191925 0.99979404 -0.00659721 -2.08186065] [-0.01387568 0.00686414 0.99988017 0.19981777] [ 0. 0. 0. 1. ]] SLAMing on 42.721652532 meters Centerline goodness : 0.749883 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 0.99951282 -0.02817513 0.01342703 -1.59589242] [ 0.02837398 0.99948696 -0.01485705 -2.08372 ] [-0.01300154 0.01523079 0.99979947 0.2016887 ] [ 0. 0. 0. 1. ]] SLAMing on 42.781652532 meters Centerline goodness : 0.750988 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.09, Z:0.20 [[ 0.99964331 -0.0233843 0.01290065 -1.59537642] [ 0.02350601 0.99967983 -0.0093646 -2.08721964] [-0.01267754 0.0096645 0.99987293 0.20231106] [ 0. 0. 0. 1. ]] SLAMing on 42.841652532 meters Centerline goodness : 0.752256 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.09, Z:0.20 [[ 0.99961691 -0.02494528 0.0119903 -1.59342527] [ 0.02507042 0.99963156 -0.01040235 -2.08654365] [-0.01172639 0.01069897 0.999874 0.20284521] [ 0. 0. 0. 1. ]] SLAMing on 42.901652532 meters Centerline goodness : 0.748437 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.09, Z:0.20 [[ 9.99704825e-01 -2.42940509e-02 -2.48400433e-04 -1.58412438e+00] [ 2.42901951e-02 9.99651679e-01 -1.03201897e-02 -2.08697522e+00] [ 4.99033124e-04 1.03111098e-02 9.99946715e-01 2.03170368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961652532 meters Centerline goodness : 0.749506 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.09, Z:0.20 [[ 9.99704536e-01 -2.43015062e-02 -5.26178469e-04 -1.58384618e+00] [ 2.42949870e-02 9.99654201e-01 -1.00614057e-02 -2.08805179e+00] [ 7.70503830e-04 1.00456494e-02 9.99949244e-01 2.03628730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021652532 meters Centerline goodness : 0.744682 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.09, Z:0.20 [[ 9.99678670e-01 -2.53139506e-02 -1.32666048e-03 -1.58191103e+00] [ 2.52983510e-02 9.99622801e-01 -1.06887562e-02 -2.08759872e+00] [ 1.59673471e-03 1.06517593e-02 9.99941994e-01 2.03774335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081652532 meters Centerline goodness : 0.743535 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.09, Z:0.20 [[ 9.99689309e-01 -2.49182663e-02 -6.04233081e-04 -1.58429378e+00] [ 2.49104119e-02 9.99632801e-01 -1.06646456e-02 -2.08656647e+00] [ 8.69755687e-04 1.06462805e-02 9.99942948e-01 2.04294486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141652532 meters Centerline goodness : 0.740941 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.09, Z:0.20 [[ 9.99689533e-01 -2.49137803e-02 -3.74915004e-04 -1.58390866e+00] [ 2.49082128e-02 9.99630252e-01 -1.09060044e-02 -2.08565994e+00] [ 6.46486177e-04 1.08932799e-02 9.99940457e-01 2.02981697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201652532 meters Centerline goodness : 0.736558 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.09, Z:0.20 [[ 9.99694504e-01 -2.47060338e-02 -7.14274184e-04 -1.58319047e+00] [ 2.46972338e-02 9.99640407e-01 -1.04452753e-02 -2.08729836e+00] [ 9.72078661e-04 1.04244437e-02 9.99945192e-01 2.03102857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261652532 meters Centerline goodness : 0.735531 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.08, Z:0.20 [[ 9.99803238e-01 -1.98322242e-02 4.09021382e-04 -1.58494822e+00] [ 1.98345258e-02 9.99780701e-01 -6.71873922e-03 -2.08480460e+00] [-2.75684141e-04 6.72552997e-03 9.99977345e-01 2.00957800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321652532 meters Centerline goodness : 0.734111 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.08, Z:0.20 [[ 9.99939669e-01 -1.06408139e-02 2.72589827e-03 -1.58852648e+00] [ 1.06429208e-02 9.99943074e-01 -7.59579071e-04 -2.07832034e+00] [-2.71766056e-03 7.88544765e-04 9.99995996e-01 1.96624364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381652532 meters Centerline goodness : 0.732953 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.08, Z:0.20 [[ 9.99948499e-01 -9.53834233e-03 3.46703369e-03 -1.59128705e+00] [ 9.53750580e-03 9.99954484e-01 2.57733645e-04 -2.07968564e+00] [-3.46933424e-03 -2.24653517e-04 9.99993957e-01 1.97538357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441652532 meters Centerline goodness : 0.730510 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.08, Z:0.20 [[ 9.99939952e-01 -1.05492057e-02 2.96767924e-03 -1.58995706e+00] [ 1.05503883e-02 9.99944270e-01 -3.83092179e-04 -2.07890727e+00] [-2.96347254e-03 4.14379344e-04 9.99995523e-01 1.97472637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501652532 meters Centerline goodness : 0.727047 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.08, Z:0.20 [[ 9.99925954e-01 -1.20271876e-02 1.85278299e-03 -1.58807183e+00] [ 1.20294228e-02 9.99926924e-01 -1.20002890e-03 -2.07833949e+00] [-1.83821462e-03 1.22222795e-03 9.99997564e-01 1.98733071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561652532 meters Centerline goodness : 0.726461 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.08, Z:0.20 [[ 9.99932752e-01 -1.14160938e-02 2.04047286e-03 -1.59015009e+00] [ 1.14166313e-02 9.99934796e-01 -2.51963981e-04 -2.08035652e+00] [-2.03746337e-03 2.75242364e-04 9.99997886e-01 2.00671705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621652532 meters Centerline goodness : 0.723199 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.07, Z:0.20 [[ 9.99964491e-01 -7.75255081e-03 3.30367397e-03 -1.59179190e+00] [ 7.74701079e-03 9.99968569e-01 1.68643703e-03 -2.07318197e+00] [-3.31664432e-03 -1.66078355e-03 9.99993121e-01 1.98172565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681652532 meters Centerline goodness : 0.725478 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 9.99989322e-01 -5.42118831e-04 4.58943486e-03 -1.59608300e+00] [ 5.03663278e-04 9.99964793e-01 8.37616074e-03 -2.07547017e+00] [-4.59381416e-03 -8.37375977e-03 9.99954387e-01 1.99139212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741652531999996 meters Centerline goodness : 0.730678 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.07, Z:0.21 [[ 0.9999266 0.01038289 0.00624475 -1.59205008] [-0.0104247 0.99992321 0.00670039 -2.06688057] [-0.0061747 -0.006765 0.99995805 0.20620707] [ 0. 0. 0. 1. ]] SLAMing on 43.801652532 meters Centerline goodness : 0.734283 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.07, Z:0.20 [[ 0.9995898 0.02583882 0.01235278 -1.60722823] [-0.02602836 0.99954199 0.01543787 -2.07213154] [-0.01194823 -0.01575306 0.99980452 0.20173524] [ 0. 0. 0. 1. ]] SLAMing on 43.861652532 meters Centerline goodness : 0.737443 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.08, Z:0.19 [[ 0.99925366 0.0343408 0.01768711 -1.61812086] [-0.03464918 0.99924745 0.01743455 -2.07626392] [-0.01707508 -0.01803438 0.99969155 0.19460705] [ 0. 0. 0. 1. ]] SLAMing on 43.921652532 meters Centerline goodness : 0.731618 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.07, Z:0.19 [[ 0.99909178 0.03655383 0.02189617 -1.62509284] [-0.03683687 0.99924103 0.01266552 -2.06924451] [-0.02141658 -0.0134606 0.99968002 0.18630222] [ 0. 0. 0. 1. ]] SLAMing on 43.981652532 meters Centerline goodness : 0.730054 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.06, Z:0.18 [[ 0.99898157 0.03925785 0.02224057 -1.62410515] [-0.03959071 0.99910742 0.01472882 -2.06466235] [-0.0216425 -0.01559434 0.99964415 0.1841797 ] [ 0. 0. 0. 1. ]] SLAMing on 44.041652532 meters Centerline goodness : 0.735364 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.07, Z:0.18 [[ 0.99877165 0.04387956 0.02301677 -1.62515932] [-0.04432577 0.99883168 0.01924822 -2.06500005] [-0.02214527 -0.02024482 0.99954977 0.1833883 ] [ 0. 0. 0. 1. ]] SLAMing on 44.101652532 meters Centerline goodness : 0.738033 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.07, Z:0.18 [[ 0.99872948 0.04440511 0.02382465 -1.62751229] [-0.04487531 0.99880074 0.01957795 -2.06551196] [-0.02292672 -0.02062221 0.99952443 0.18372333] [ 0. 0. 0. 1. ]] SLAMing on 44.161652532 meters Centerline goodness : 0.736667 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.06, Z:0.18 [[ 0.99856602 0.04799009 0.02372453 -1.62452195] [-0.0485359 0.99855677 0.02299216 -2.0642272 ] [-0.02258689 -0.02411068 0.9994541 0.1805351 ] [ 0. 0. 0. 1. ]] SLAMing on 44.221652532 meters Centerline goodness : 0.735608 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.06, Z:0.18 [[ 0.99879223 0.04331705 0.0231885 -1.62441282] [-0.04374955 0.99887158 0.01848092 -2.06442489] [-0.02236179 -0.01947309 0.99956028 0.18155977] [ 0. 0. 0. 1. ]] SLAMing on 44.281652532 meters Centerline goodness : 0.737756 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.06, Z:0.18 [[ 0.99880922 0.04280861 0.02340028 -1.62425575] [-0.04322764 0.99890837 0.01770434 -2.06263991] [-0.02261684 -0.01869479 0.9995694 0.18051661] [ 0. 0. 0. 1. ]] SLAMing on 44.341652532 meters Centerline goodness : 0.741914 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.06, Z:0.18 [[ 0.99861153 0.04715522 0.02348198 -1.62486334] [-0.04768067 0.99861271 0.02234316 -2.06394473] [-0.02239581 -0.02343178 0.99947455 0.18161568] [ 0. 0. 0. 1. ]] SLAMing on 44.401652532 meters Centerline goodness : 0.747160 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.07, Z:0.18 [[ 0.99801564 0.05752853 0.02559804 -1.62987886] [-0.05834759 0.99776743 0.03249165 -2.06567405] [-0.0236717 -0.03392076 0.99914415 0.18280603] [ 0. 0. 0. 1. ]] SLAMing on 44.461652532 meters Centerline goodness : 0.751339 with order 1 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.06, Z:0.18 [[ 0.99762616 0.06170288 0.0305746 -1.63887563] [-0.06267432 0.99752399 0.03190338 -2.06469516] [-0.02853037 -0.03374389 0.99902321 0.1770348 ] [ 0. 0. 0. 1. ]] SLAMing on 44.521652532 meters Centerline goodness : 0.747311 with order 1 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.07, Z:0.18 [[ 0.99739737 0.06462244 0.03197537 -1.64148964] [-0.0657079 0.99725445 0.03414724 -2.06672277] [-0.0296809 -0.0361594 0.99890517 0.17603473] [ 0. 0. 0. 1. ]] SLAMing on 44.581652532 meters Centerline goodness : 0.748490 with order 1 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.07, Z:0.18 [[ 0.99750823 0.06278557 0.03217621 -1.64352742] [-0.06384023 0.99741864 0.03287072 -2.07326964] [-0.03002935 -0.03484295 0.99894154 0.17751614] [ 0. 0. 0. 1. ]] SLAMing on 44.641652532 meters Centerline goodness : 0.746696 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.07, Z:0.18 [[ 0.99840344 0.04960427 0.0270182 -1.63299059] [-0.0502998 0.9984034 0.02570185 -2.07090461] [-0.02570014 -0.02701983 0.99930447 0.1829507 ] [ 0. 0. 0. 1. ]] SLAMing on 44.701652532 meters Centerline goodness : 0.742466 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.08, Z:0.18 [[ 0.99894372 0.03822103 0.0255067 -1.63208318] [-0.03863144 0.99912867 0.01579605 -2.079492 ] [-0.02488073 -0.01676473 0.99954985 0.18496908] [ 0. 0. 0. 1. ]] SLAMing on 44.761652532 meters Centerline goodness : 0.747837 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.09, Z:0.19 [[ 0.99956305 0.01454801 0.02573046 -1.62517349] [-0.0150135 0.99972541 0.01799165 -2.08608321] [-0.02546165 -0.01837009 0.999507 0.18886476] [ 0. 0. 0. 1. ]] SLAMing on 44.821652532 meters Centerline goodness : 0.747957 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.08, Z:0.19 [[ 9.99787857e-01 2.29975482e-04 2.05958259e-02 -1.61167898e+00] [-4.65102005e-04 9.99934771e-01 1.14121598e-02 -2.08408668e+00] [-2.05918579e-02 -1.14193179e-02 9.99722749e-01 1.94075593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881652532 meters Centerline goodness : 0.747993 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.09, Z:0.19 [[ 0.99980084 -0.00437847 0.01947047 -1.60942572] [ 0.00422913 0.99996137 0.00770482 -2.08723698] [-0.01950346 -0.00762094 0.99978074 0.19488024] [ 0. 0. 0. 1. ]] SLAMing on 44.941652532 meters Centerline goodness : 0.743922 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.08, Z:0.20 [[ 9.99793093e-01 -1.39943462e-02 1.47624544e-02 -1.60036247e+00] [ 1.39623451e-02 9.99899948e-01 2.26858314e-03 -2.08337896e+00] [-1.47927248e-02 -2.06199527e-03 9.99888456e-01 2.00174070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001652532 meters Centerline goodness : 0.747628 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.09, Z:0.20 [[ 9.99727675e-01 -1.89360126e-02 1.36382684e-02 -1.59919608e+00] [ 1.89482280e-02 9.99820172e-01 -7.67003200e-04 -2.08773885e+00] [-1.36212918e-02 1.02521534e-03 9.99906700e-01 2.02933767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061652532 meters Centerline goodness : 0.749322 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.10, Z:0.21 [[ 0.99957469 -0.02615576 0.01289639 -1.59889479] [ 0.02623884 0.99963575 -0.00631591 -2.09567235] [-0.01272649 0.00665161 0.99989689 0.20566671] [ 0. 0. 0. 1. ]] SLAMing on 45.121652532 meters Centerline goodness : 0.750209 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.10, Z:0.21 [[ 0.99956975 -0.02670047 0.01214101 -1.5975072 ] [ 0.0267821 0.99961943 -0.006611 -2.09547316] [-0.01195987 0.00693331 0.99990444 0.20633672] [ 0. 0. 0. 1. ]] SLAMing on 45.181652532 meters Centerline goodness : 0.752528 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.12, Z:0.21 [[ 9.99798865e-01 -1.93425879e-02 5.30033460e-03 -1.61419879e+00] [ 1.93507939e-02 9.99811629e-01 -1.50131171e-03 -2.12100275e+00] [-5.27029691e-03 1.60357542e-03 9.99984826e-01 2.07944399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241652531999996 meters Centerline goodness : 0.758322 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.12, Z:0.21 [[ 0.99987214 -0.0149352 0.0057128 -1.61547611] [ 0.0149208 0.99988541 0.00255601 -2.11985944] [-0.00575032 -0.00247045 0.99998042 0.20802641] [ 0. 0. 0. 1. ]] SLAMing on 45.301652532 meters Centerline goodness : 0.760127 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.11, Z:0.21 [[ 0.99994622 -0.00830164 0.00621679 -1.6100156 ] [ 0.00832056 0.99996081 -0.00302377 -2.10972898] [-0.00619145 0.00307534 0.9999761 0.21417021] [ 0. 0. 0. 1. ]] SLAMing on 45.361652532 meters Centerline goodness : 0.753249 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 0.99995923 -0.00606824 0.00668703 -1.60977697] [ 0.00608539 0.99997824 -0.00254775 -2.09986966] [-0.00667143 0.00258834 0.9999744 0.21166685] [ 0. 0. 0. 1. ]] SLAMing on 45.421652532 meters Centerline goodness : 0.747882 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 0.99995711 -0.00662689 0.00646968 -1.60863696] [ 0.0066483 0.99997247 -0.00329412 -2.09809689] [-0.00644767 0.00333699 0.99997365 0.21079017] [ 0. 0. 0. 1. ]] SLAMing on 45.481652532 meters Centerline goodness : 0.752090 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 9.99966544e-01 -6.21830211e-03 5.31443686e-03 -1.60717253e+00] [ 6.22696916e-03 9.99979307e-01 -1.61586164e-03 -2.10379954e+00] [-5.30427897e-03 1.64890041e-03 9.99984573e-01 2.12785560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541652532 meters Centerline goodness : 0.762692 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.11, Z:0.22 [[ 9.99973649e-01 -5.26488267e-03 4.99815067e-03 -1.60830768e+00] [ 5.26201762e-03 9.99985984e-01 5.86198483e-04 -2.11025064e+00] [-5.00116688e-03 -5.59882679e-04 9.99987337e-01 2.15455596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601652532 meters Centerline goodness : 0.763652 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.11, Z:0.22 [[ 9.99974633e-01 -5.12793803e-03 4.94339985e-03 -1.60802906e+00] [ 5.12373752e-03 9.99986502e-01 8.62011268e-04 -2.11122929e+00] [-4.94775347e-03 -8.36660718e-04 9.99987410e-01 2.15232368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661652532 meters Centerline goodness : 0.762336 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.11, Z:0.21 [[ 9.99959721e-01 -7.82409139e-03 4.39772198e-03 -1.60493631e+00] [ 7.83204956e-03 9.99967717e-01 -1.79531167e-03 -2.10884759e+00] [-4.38353333e-03 1.82968253e-03 9.99988718e-01 2.13365858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721652532 meters Centerline goodness : 0.763307 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.11, Z:0.21 [[ 0.99995545 -0.00858735 0.00391808 -1.60390077] [ 0.00859674 0.9999602 -0.00238651 -2.10795519] [-0.00389743 0.00242008 0.99998948 0.21347971] [ 0. 0. 0. 1. ]] SLAMing on 45.781652532 meters Centerline goodness : 0.762794 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.10, Z:0.21 [[ 9.99975120e-01 -6.23178796e-03 3.30520684e-03 -1.60318402e+00] [ 6.23237576e-03 9.99980565e-01 -1.67571733e-04 -2.10391408e+00] [-3.30409833e-03 1.88166854e-04 9.99994524e-01 2.14136607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841652532 meters Centerline goodness : 0.765050 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.10, Z:0.21 [[ 9.99991669e-01 -2.00901863e-03 3.55339348e-03 -1.60406963e+00] [ 1.99546431e-03 9.99990736e-01 3.81391350e-03 -2.10311192e+00] [-3.56102279e-03 -3.80679106e-03 9.99986414e-01 2.14393847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901652532 meters Centerline goodness : 0.760058 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 9.99988123e-01 -1.83217334e-03 4.51626736e-03 -1.60552675e+00] [ 1.81916345e-03 9.99994189e-01 2.88309850e-03 -2.09953037e+00] [-4.52152345e-03 -2.87484843e-03 9.99985645e-01 2.12786057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961652532 meters Centerline goodness : 0.752895 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.09, Z:0.21 [[ 9.99983710e-01 -2.78388825e-03 4.98294970e-03 -1.60449312e+00] [ 2.78065893e-03 9.99995920e-01 6.54885144e-04 -2.09382372e+00] [-4.98475250e-03 -6.41018592e-04 9.99987371e-01 2.09469717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021652532 meters Centerline goodness : 0.753626 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.09, Z:0.21 [[ 9.99984537e-01 -2.75357085e-03 4.83148314e-03 -1.60481898e+00] [ 2.74919418e-03 9.99995805e-01 9.12272155e-04 -2.09492043e+00] [-4.83397488e-03 -8.98975363e-04 9.99987912e-01 2.10377136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081652532 meters Centerline goodness : 0.763707 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 0.99998377 0.00233442 0.00519785 -1.60822167] [-0.00237288 0.99996976 0.00740618 -2.10232248] [-0.0051804 -0.0074184 0.99995906 0.21394484] [ 0. 0. 0. 1. ]] SLAMing on 46.141652532 meters Centerline goodness : 0.767932 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 0.99995619 0.00717163 0.0060152 -1.60957043] [-0.0072421 0.99990442 0.01177758 -2.10218333] [-0.00593016 -0.01182063 0.99991255 0.21303701] [ 0. 0. 0. 1. ]] SLAMing on 46.201652532 meters Centerline goodness : 0.768147 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99972022 0.02072817 0.01139423 -1.61544151] [-0.02080833 0.99975924 0.00696286 -2.09999756] [-0.01124716 -0.00719801 0.99991084 0.21484429] [ 0. 0. 0. 1. ]] SLAMing on 46.261652532 meters Centerline goodness : 0.767707 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99965318 0.02288883 0.01302409 -1.61778267] [-0.02300187 0.99969846 0.00859705 -2.10219567] [-0.01282339 -0.00889365 0.99987822 0.21275662] [ 0. 0. 0. 1. ]] SLAMing on 46.321652532 meters Centerline goodness : 0.758212 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.09, Z:0.21 [[ 0.99971052 0.01986219 0.01357848 -1.61545305] [-0.01991665 0.99979409 0.0038877 -2.09403076] [-0.01349847 -0.00415701 0.99990025 0.20787542] [ 0. 0. 0. 1. ]] SLAMing on 46.381652532 meters Centerline goodness : 0.761373 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99969395 0.02054821 0.01377608 -1.61610185] [-0.02061935 0.99977468 0.00504206 -2.09764671] [-0.01366937 -0.00532457 0.99989239 0.20812335] [ 0. 0. 0. 1. ]] SLAMing on 46.441652532 meters Centerline goodness : 0.760361 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 9.99791825e-01 1.61186045e-02 1.25098748e-02 -1.61488430e+00] [-1.61430630e-02 9.99867969e-01 1.85661645e-03 -2.10172297e+00] [-1.24782971e-02 -2.05817765e-03 9.99920025e-01 2.10716727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501652532 meters Centerline goodness : 0.759905 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99970577 0.02010311 0.01357324 -1.61585558] [-0.02017179 0.99978432 0.0049417 -2.0981421 ] [-0.01347097 -0.00521404 0.99989567 0.20858777] [ 0. 0. 0. 1. ]] SLAMing on 46.561652532 meters Centerline goodness : 0.753283 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 9.99817696e-01 1.44142777e-02 1.25221339e-02 -1.61323202e+00] [-1.44059418e-02 9.99895944e-01 -7.55644424e-04 -2.09525864e+00] [-1.25317230e-02 5.75113535e-04 9.99921309e-01 2.08372109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621652532 meters Centerline goodness : 0.758741 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.10, Z:0.21 [[ 9.99815383e-01 1.48297128e-02 1.22180066e-02 -1.61379834e+00] [-1.48354011e-02 9.99889879e-01 3.75066101e-04 -2.09887877e+00] [-1.22110990e-02 -5.56255886e-04 9.99925287e-01 2.10209988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681652532 meters Centerline goodness : 0.761936 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99966344 0.02132646 0.01477126 -1.6188508 ] [-0.02140897 0.99975595 0.00545029 -2.09752518] [-0.01465142 -0.00576469 0.99987604 0.20869981] [ 0. 0. 0. 1. ]] SLAMing on 46.741652531999996 meters Centerline goodness : 0.758525 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.9996378 0.02178529 0.01580114 -1.62137815] [-0.02187302 0.99974617 0.00540121 -2.09656102] [-0.01567946 -0.00574488 0.99986057 0.20848221] [ 0. 0. 0. 1. ]] SLAMing on 46.801652532 meters Centerline goodness : 0.759408 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99956536 0.02422182 0.01680472 -1.62464673] [-0.02435185 0.99967474 0.00757678 -2.09939512] [-0.01661573 -0.00798271 0.99983008 0.20945013] [ 0. 0. 0. 1. ]] SLAMing on 46.861652532 meters Centerline goodness : 0.759289 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99957055 0.02425869 0.01643878 -1.6237775 ] [-0.02439281 0.99967037 0.00800833 -2.10152212] [-0.01623909 -0.00840588 0.9998328 0.20965653] [ 0. 0. 0. 1. ]] SLAMing on 46.921652532 meters Centerline goodness : 0.763405 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.11, Z:0.21 [[ 0.99955054 0.02506455 0.0164467 -1.62406805] [-0.02522135 0.99963773 0.00939672 -2.10577593] [-0.01620521 -0.00980731 0.99982059 0.21021556] [ 0. 0. 0. 1. ]] SLAMing on 46.981652532 meters Centerline goodness : 0.756217 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.21 [[ 0.99956581 0.02420031 0.01680883 -1.6229228 ] [-0.02433314 0.99967391 0.00774353 -2.10194673] [-0.01661596 -0.00814918 0.99982874 0.20750728] [ 0. 0. 0. 1. ]] SLAMing on 47.041652532 meters Centerline goodness : 0.747735 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.10, Z:0.20 [[ 0.99950377 0.02560674 0.01834397 -1.62487581] [-0.0257539 0.99963764 0.00783152 -2.10056246] [-0.01813679 -0.00830006 0.99980106 0.20481138] [ 0. 0. 0. 1. ]] SLAMing on 47.101652532 meters Centerline goodness : 0.751091 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.10, Z:0.21 [[ 0.99942067 0.02787199 0.01953149 -1.62799548] [-0.02807289 0.99955497 0.0100882 -2.10466072] [-0.01924162 -0.01063066 0.99975835 0.20519533] [ 0. 0. 0. 1. ]] SLAMing on 47.161652532 meters Centerline goodness : 0.755341 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.12, Z:0.21 [[ 0.99929291 0.0322854 0.01926976 -1.62769122] [-0.03259557 0.99934046 0.01600524 -2.11576085] [-0.01874031 -0.01662204 0.99968621 0.20585603] [ 0. 0. 0. 1. ]] SLAMing on 47.221652532 meters Centerline goodness : 0.754367 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.12, Z:0.21 [[ 0.9994123 0.02841417 0.01917511 -1.62814529] [-0.02865477 0.99951256 0.01239172 -2.11811213] [-0.01881366 -0.01293389 0.99973935 0.20638486] [ 0. 0. 0. 1. ]] SLAMing on 47.281652532 meters Centerline goodness : 0.750925 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.12, Z:0.21 [[ 0.99957676 0.02244429 0.01850835 -1.62627493] [-0.02256464 0.99972541 0.00631949 -2.11554512] [-0.01836143 -0.00673444 0.99980873 0.20603606] [ 0. 0. 0. 1. ]] SLAMing on 47.341652532 meters Centerline goodness : 0.750254 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.12, Z:0.21 [[ 0.99953318 0.02374465 0.01922534 -1.6280546 ] [-0.02389596 0.99968496 0.00767896 -2.11838774] [-0.01903695 -0.00813478 0.99978569 0.20595429] [ 0. 0. 0. 1. ]] SLAMing on 47.401652532 meters Centerline goodness : 0.752629 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.12, Z:0.21 [[ 0.99949869 0.02475388 0.01973854 -1.62961375] [-0.02493603 0.99964821 0.00903594 -2.12188244] [-0.01950792 -0.00952361 0.99976434 0.20644599] [ 0. 0. 0. 1. ]] SLAMing on 47.461652532 meters Centerline goodness : 0.753904 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.13, Z:0.21 [[ 0.99958513 0.0213644 0.01931636 -1.62934243] [-0.02148849 0.99974962 0.00623983 -2.12637733] [-0.01917821 -0.00665232 0.99979395 0.20725285] [ 0. 0. 0. 1. ]] SLAMing on 47.521652532 meters Centerline goodness : 0.751830 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.13, Z:0.21 [[ 9.99726508e-01 1.44501230e-02 1.83875784e-02 -1.63065965e+00] [-1.44723220e-02 9.99894693e-01 1.07478194e-03 -2.13383911e+00] [-1.83701113e-02 -1.34059895e-03 9.99830357e-01 2.11630744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581652532 meters Centerline goodness : 0.749660 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.14, Z:0.21 [[ 0.99979348 0.00974099 0.01783567 -1.63006839] [-0.0096904 0.99994878 -0.00292111 -2.13552963] [-0.01786321 0.00274767 0.99983666 0.21270094] [ 0. 0. 0. 1. ]] SLAMing on 47.641652532 meters Centerline goodness : 0.739644 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.14, Z:0.21 [[ 0.99988789 -0.01004738 0.01110195 -1.6224859 ] [ 0.01009253 0.999941 -0.00401828 -2.14007753] [-0.01106092 0.00412987 0.9999303 0.20982825] [ 0. 0. 0. 1. ]] SLAMing on 47.701652532 meters Centerline goodness : 0.741561 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.14, Z:0.22 [[ 0.9997158 -0.02303479 0.0061422 -1.61121893] [ 0.02308941 0.99969312 -0.00897482 -2.14156883] [-0.00593358 0.00911409 0.99994086 0.21763802] [ 0. 0. 0. 1. ]] SLAMing on 47.761652532 meters Centerline goodness : 0.745922 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.14, Z:0.22 [[ 9.99527149e-01 -3.07205172e-02 1.31478170e-03 -1.60136755e+00] [ 3.07323283e-02 9.99475827e-01 -1.01782137e-02 -2.14310701e+00] [-1.00141254e-03 1.02138072e-02 9.99947336e-01 2.24842465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821652532 meters Centerline goodness : 0.743764 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.14, Z:0.23 [[ 0.99915247 -0.04096588 -0.004018 -1.58922506] [ 0.04090389 0.9990585 -0.01445652 -2.14008394] [ 0.00460644 0.01427991 0.99988743 0.23073696] [ 0. 0. 0. 1. ]] SLAMing on 47.881652532 meters Centerline goodness : 0.741956 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.14, Z:0.23 [[ 0.99912569 -0.04157107 -0.00443777 -1.58843182] [ 0.04150021 0.99902563 -0.01501715 -2.13890676] [ 0.00505772 0.01481985 0.99987739 0.23114024] [ 0. 0. 0. 1. ]] SLAMing on 47.941652532 meters Centerline goodness : 0.748305 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.14, Z:0.23 [[ 0.99916893 -0.04048545 -0.00473122 -1.59002726] [ 0.04042203 0.9991006 -0.01280798 -2.1447921 ] [ 0.0052455 0.01260609 0.99990678 0.23408221] [ 0. 0. 0. 1. ]] SLAMing on 48.001652532 meters Centerline goodness : 0.751975 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.14, Z:0.23 [[ 0.99926079 -0.03797065 -0.00600786 -1.58742335] [ 0.03791147 0.99923425 -0.0096762 -2.1444317 ] [ 0.00637068 0.00944128 0.99993514 0.23448865] [ 0. 0. 0. 1. ]] SLAMing on 48.061652532 meters Centerline goodness : 0.745453 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.15, Z:0.24 [[ 0.99896928 -0.04467949 -0.00800786 -1.58228107] [ 0.04455798 0.99889777 -0.01475888 -2.14531295] [ 0.00865846 0.01438685 0.99985901 0.23563487] [ 0. 0. 0. 1. ]] SLAMing on 48.121652532 meters Centerline goodness : 0.744976 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.15, Z:0.24 [[ 0.99857516 -0.05196554 -0.01213415 -1.57439333] [ 0.05174784 0.99850483 -0.01761419 -2.14659597] [ 0.01303134 0.01696117 0.99977123 0.24150261] [ 0. 0. 0. 1. ]] SLAMing on 48.181652532 meters Centerline goodness : 0.742213 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.14, Z:0.25 [[ 0.9978784 -0.06271755 -0.01747015 -1.56197562] [ 0.06233391 0.99781938 -0.02170178 -2.14407327] [ 0.01879314 0.02056676 0.99961184 0.24797469] [ 0. 0. 0. 1. ]] SLAMing on 48.241652531999996 meters Centerline goodness : 0.739498 with order 1 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.14, Z:0.25 [[ 0.99776486 -0.06409595 -0.01889403 -1.55930925] [ 0.06367192 0.99772283 -0.02224969 -2.14443746] [ 0.02027712 0.02099694 0.99957389 0.24927902] [ 0. 0. 0. 1. ]] SLAMing on 48.301652532 meters Centerline goodness : 0.738937 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.14, Z:0.26 [[ 0.99709105 -0.07259285 -0.02323194 -1.55026732] [ 0.0719998 0.99708064 -0.02542091 -2.14309448] [ 0.0250095 0.02367427 0.99940685 0.25556208] [ 0. 0. 0. 1. ]] SLAMing on 48.361652532 meters Centerline goodness : 0.741753 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.15, Z:0.26 [[ 0.99657388 -0.07934799 -0.02333241 -1.55149093] [ 0.07863674 0.99645282 -0.02996723 -2.15338391] [ 0.02562749 0.02802977 0.99927852 0.25945583] [ 0. 0. 0. 1. ]] SLAMing on 48.421652532 meters Centerline goodness : 0.744654 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.16, Z:0.26 [[ 0.99661158 -0.07881244 -0.02353632 -1.55267044] [ 0.07812433 0.99652608 -0.02885083 -2.1564207 ] [ 0.02572836 0.02691432 0.9993066 0.26149034] [ 0. 0. 0. 1. ]] SLAMing on 48.481652532 meters Centerline goodness : 0.741657 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.15, Z:0.26 [[ 0.99674487 -0.07685023 -0.02436617 -1.5502664 ] [ 0.07618104 0.99672029 -0.02729679 -2.15220739] [ 0.02638402 0.02535169 0.99933036 0.26039477] [ 0. 0. 0. 1. ]] SLAMing on 48.541652532 meters Centerline goodness : 0.742229 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.15, Z:0.27 [[ 0.99774811 -0.05901078 -0.03188149 -1.55265046] [ 0.05812461 0.99791539 -0.02804292 -2.15298218] [ 0.03346986 0.02612667 0.99909818 0.26593114] [ 0. 0. 0. 1. ]] SLAMing on 48.601652532 meters Centerline goodness : 0.737800 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.15, Z:0.26 [[ 0.9984204 -0.04930784 -0.02693393 -1.5664577 ] [ 0.04860878 0.99847889 -0.02602091 -2.15388685] [ 0.02817599 0.02467059 0.99929849 0.25971765] [ 0. 0. 0. 1. ]] SLAMing on 48.661652532 meters Centerline goodness : 0.730992 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.15, Z:0.25 [[ 0.99903244 -0.03763761 -0.0227508 -1.57594338] [ 0.03712856 0.99905945 -0.02239828 -2.14858565] [ 0.02357242 0.0215319 0.99949023 0.25151993] [ 0. 0. 0. 1. ]] SLAMing on 48.721652532 meters Centerline goodness : 0.730794 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.15, Z:0.25 [[ 0.9996663 -0.01751149 -0.01899039 -1.58981067] [ 0.01728255 0.99977678 -0.01215333 -2.14994343] [ 0.01919898 0.01182107 0.9997458 0.24557128] [ 0. 0. 0. 1. ]] SLAMing on 48.781652532 meters Centerline goodness : 0.734762 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.16, Z:0.25 [[ 0.99967259 0.01665408 -0.01942571 -1.61031936] [-0.0167474 0.99984894 -0.0046507 -2.15595848] [ 0.01934532 0.00497451 0.99980049 0.24521794] [ 0. 0. 0. 1. ]] SLAMing on 48.841652532 meters Centerline goodness : 0.732730 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.15, Z:0.24 [[ 0.99921947 0.03687805 -0.01415807 -1.6266558 ] [-0.03681262 0.99931039 0.00485443 -2.15366906] [ 0.01432733 -0.00432945 0.99988799 0.23907694] [ 0. 0. 0. 1. ]] SLAMing on 48.901652532 meters Centerline goodness : 0.728221 with order 1 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.15, Z:0.24 [[ 0.99758475 0.06736231 -0.01694048 -1.63357641] [-0.06729379 0.99772268 0.00458329 -2.15199266] [ 0.01721065 -0.00343223 0.99984599 0.23609493] [ 0. 0. 0. 1. ]] SLAMing on 48.961652532 meters Centerline goodness : 0.737037 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.17, Z:0.24 [[ 0.99456437 0.10297519 -0.01542164 -1.65472105] [-0.10272917 0.99458104 0.01597708 -2.17245948] [ 0.01698332 -0.01430598 0.99975342 0.23531702] [ 0. 0. 0. 1. ]] SLAMing on 49.021652532 meters Centerline goodness : 0.738437 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.18, Z:0.23 [[ 0.99284723 0.11900393 -0.00961516 -1.67144579] [-0.11874225 0.99262765 0.02430293 -2.18481355] [ 0.01243641 -0.02298737 0.9996584 0.2320824 ] [ 0. 0. 0. 1. ]] SLAMing on 49.081652532 meters Centerline goodness : 0.741917 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.19, Z:0.23 [[ 0.99194853 0.12658605 -0.00375403 -1.68564738] [-0.1264466 0.99162991 0.02610309 -2.1942373 ] [ 0.0070269 -0.02541824 0.99965221 0.22767406] [ 0. 0. 0. 1. ]] SLAMing on 49.141652532 meters Centerline goodness : 0.739759 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.20, Z:0.22 [[ 9.91102110e-01 1.33095100e-01 1.51686542e-03 -1.69771307e+00] [-1.33084479e-01 9.90700433e-01 2.83050159e-02 -2.19818004e+00] [ 2.26449970e-03 -2.82550322e-02 9.99598182e-01 2.24567917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201652532 meters Centerline goodness : 0.737689 with order 1 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.21, Z:0.22 [[ 0.99000197 0.1408911 0.00676792 -1.71193443] [-0.14103413 0.98952195 0.03091418 -2.2059686 ] [-0.00234147 -0.03155961 0.99949913 0.22177856] [ 0. 0. 0. 1. ]] SLAMing on 49.261652532 meters Centerline goodness : 0.735746 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.21, Z:0.22 [[ 0.99037903 0.13817984 0.00746325 -1.71556727] [-0.13833632 0.98999064 0.02795712 -2.20862195] [-0.00352544 -0.02872058 0.99958126 0.22218041] [ 0. 0. 0. 1. ]] SLAMing on 49.321652532 meters Centerline goodness : 0.735111 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.22, Z:0.22 [[ 0.99049663 0.1373222 0.0076831 -1.71942951] [-0.13748659 0.99009959 0.02828837 -2.2176988 ] [-0.00372241 -0.02907586 0.99957028 0.22497809] [ 0. 0. 0. 1. ]] SLAMing on 49.381652532 meters Centerline goodness : 0.733405 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.22, Z:0.23 [[ 0.9910041 0.13361516 0.00760719 -1.72122244] [-0.1337648 0.9907033 0.02477816 -2.22017955] [-0.00422573 -0.02557283 0.99966403 0.22555328] [ 0. 0. 0. 1. ]] SLAMing on 49.441652532 meters Centerline goodness : 0.733789 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.24, Z:0.22 [[ 9.91991734e-01 1.26261968e-01 3.21173836e-03 -1.72737385e+00] [-1.26298937e-01 9.91441429e-01 3.30525421e-02 -2.23658162e+00] [ 9.89028535e-04 -3.31934877e-02 9.99448455e-01 2.23916806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501652532 meters Centerline goodness : 0.730222 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.24, Z:0.22 [[ 9.92886465e-01 1.19043927e-01 2.23858883e-03 -1.72758986e+00] [-1.19061234e-01 9.92530794e-01 2.65903418e-02 -2.24233399e+00] [ 9.43550352e-04 -2.66677196e-02 9.99643908e-01 2.24016795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561652532 meters Centerline goodness : 0.727062 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.24, Z:0.22 [[ 0.99495719 0.09998371 0.00796577 -1.72862267] [-0.10015852 0.99463488 0.02587919 -2.24487202] [-0.00533554 -0.02654652 0.99963334 0.21965534] [ 0. 0. 0. 1. ]] SLAMing on 49.621652532 meters Centerline goodness : 0.728584 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.24, Z:0.22 [[ 0.99615702 0.08634 0.01471715 -1.73065066] [-0.086749 0.99578186 0.02988472 -2.24213815] [-0.01207482 -0.03104657 0.999445 0.21661678] [ 0. 0. 0. 1. ]] SLAMing on 49.681652532 meters Centerline goodness : 0.725469 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.24, Z:0.21 [[ 0.99757134 0.0665524 0.0205476 -1.73174349] [-0.06713444 0.99732034 0.02907085 -2.2443054 ] [-0.0185578 -0.0303797 0.99936614 0.21399778] [ 0. 0. 0. 1. ]] SLAMing on 49.741652531999996 meters Centerline goodness : 0.728610 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.21 [[ 0.99819579 0.05296253 0.02828673 -1.7343582 ] [-0.05390685 0.99797595 0.03373514 -2.2473024 ] [-0.02644277 -0.03519912 0.99903043 0.21209186] [ 0. 0. 0. 1. ]] SLAMing on 49.801652532 meters Centerline goodness : 0.724350 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.99886792 0.04106414 0.02401274 -1.72744064] [-0.04168369 0.99879521 0.02589592 -2.24754858] [-0.02292042 -0.02686755 0.9993762 0.21763213] [ 0. 0. 0. 1. ]] SLAMing on 49.861652532 meters Centerline goodness : 0.718610 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.99901618 0.03728373 0.0240123 -1.72829975] [-0.03781952 0.99903663 0.02225984 -2.24913776] [-0.02315924 -0.02314607 0.99946381 0.21811003] [ 0. 0. 0. 1. ]] SLAMing on 49.921652532 meters Centerline goodness : 0.716780 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.9991695 0.03323392 0.02357593 -1.7295067 ] [-0.03369117 0.99924649 0.01927042 -2.25270986] [-0.02291773 -0.02004871 0.99953631 0.22108637] [ 0. 0. 0. 1. ]] SLAMing on 49.981652532 meters Centerline goodness : 0.713946 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.99921622 0.03222325 0.02299164 -1.72673279] [-0.03264573 0.99930048 0.01824275 -2.25154564] [-0.02238771 -0.01897903 0.9995692 0.2193487 ] [ 0. 0. 0. 1. ]] SLAMing on 50.041652532 meters Centerline goodness : 0.715250 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.99922681 0.03206835 0.02274663 -1.72731001] [-0.03249362 0.99929924 0.01857936 -2.25309313] [-0.02213488 -0.01930412 0.99956861 0.22104551] [ 0. 0. 0. 1. ]] SLAMing on 50.101652532 meters Centerline goodness : 0.713589 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.26, Z:0.22 [[ 0.99932164 0.0291191 0.02254622 -1.7283976 ] [-0.02949598 0.99942758 0.01656806 -2.25946738] [-0.02205086 -0.01722185 0.99960851 0.2229462 ] [ 0. 0. 0. 1. ]] SLAMing on 50.161652532 meters Centerline goodness : 0.715673 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.26, Z:0.23 [[ 0.99969204 0.0178265 0.01726391 -1.71536653] [-0.01803399 0.9997661 0.01193852 -2.25733227] [-0.01704705 -0.01224618 0.99977969 0.22764861] [ 0. 0. 0. 1. ]] SLAMing on 50.221652532 meters Centerline goodness : 0.712378 with order 1 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.26, Z:0.23 [[ 0.99972393 0.0168684 0.01635597 -1.71328309] [-0.0170556 0.99978984 0.01137454 -2.25702729] [-0.01616066 -0.01165036 0.99980153 0.22793829] [ 0. 0. 0. 1. ]] SLAMing on 50.281652532 meters Centerline goodness : 0.705720 with order 1 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.25, Z:0.23 [[ 0.99974084 0.0157199 0.01646612 -1.71264153] [-0.01587931 0.99982787 0.00959547 -2.25241632] [-0.01631244 -0.00985446 0.99981838 0.22668289] [ 0. 0. 0. 1. ]] SLAMing on 50.341652532 meters Centerline goodness : 0.705677 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.25, Z:0.23 [[ 0.9997741 0.01239326 0.01726706 -1.71638719] [-0.01250243 0.99990244 0.00622854 -2.25371536] [-0.01718818 -0.00644301 0.99983151 0.22873687] [ 0. 0. 0. 1. ]] SLAMing on 50.401652532 meters Centerline goodness : 0.708735 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.25, Z:0.23 [[ 0.99970971 0.01677925 0.01729038 -1.71588044] [-0.01696667 0.99979826 0.01075032 -2.25485048] [-0.01710651 -0.01104056 0.99979272 0.22807784] [ 0. 0. 0. 1. ]] SLAMing on 50.461652532 meters Centerline goodness : 0.712480 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.25, Z:0.23 [[ 0.99958184 0.02180694 0.01898964 -1.71911156] [-0.02208576 0.99964949 0.01459869 -2.25212985] [-0.01866463 -0.01501198 0.99971309 0.22659676] [ 0. 0. 0. 1. ]] SLAMing on 50.521652532 meters Centerline goodness : 0.709264 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.99943612 0.02450373 0.02295671 -1.7253733 ] [-0.02475762 0.99963469 0.01084152 -2.24541957] [-0.02268267 -0.01140376 0.99967767 0.21848558] [ 0. 0. 0. 1. ]] SLAMing on 50.581652532 meters Centerline goodness : 0.708129 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.99938889 0.02555746 0.02384651 -1.72742284] [-0.02584578 0.99959556 0.01186195 -2.24769443] [-0.0235337 -0.01247103 0.99964526 0.2181117 ] [ 0. 0. 0. 1. ]] SLAMing on 50.641652532 meters Centerline goodness : 0.711839 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.25, Z:0.22 [[ 0.99928825 0.02915107 0.02394177 -1.72688573] [-0.02951832 0.9994497 0.01513182 -2.24553236] [-0.02348749 -0.01582777 0.99959883 0.21733265] [ 0. 0. 0. 1. ]] SLAMing on 50.701652532 meters Centerline goodness : 0.714419 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.24, Z:0.21 [[ 0.9989001 0.03657356 0.0293423 -1.7364228 ] [-0.03707555 0.99917207 0.01675045 -2.24285746] [-0.02870538 -0.01781991 0.99942906 0.21008084] [ 0. 0. 0. 1. ]] SLAMing on 50.761652532 meters Centerline goodness : 0.715108 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.24, Z:0.21 [[ 0.99863092 0.04180011 0.03144892 -1.74043046] [-0.04245468 0.99888925 0.02044187 -2.23973093] [-0.03055952 -0.02174904 0.9992963 0.20861155] [ 0. 0. 0. 1. ]] SLAMing on 50.821652532 meters Centerline goodness : 0.715119 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.24, Z:0.21 [[ 0.99823264 0.04970099 0.03257916 -1.74077304] [-0.05060729 0.99833691 0.02761004 -2.23621445] [-0.03115273 -0.02920999 0.99908773 0.20629521] [ 0. 0. 0. 1. ]] SLAMing on 50.881652532 meters Centerline goodness : 0.718928 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.24, Z:0.21 [[ 0.9979228 0.05492825 0.03365967 -1.74278137] [-0.05603261 0.99789021 0.03279449 -2.2382461 ] [-0.03178731 -0.03461241 0.99889516 0.20585952] [ 0. 0. 0. 1. ]] SLAMing on 50.941652532 meters Centerline goodness : 0.724842 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.24, Z:0.21 [[ 0.99748394 0.0614666 0.03532206 -1.7465228 ] [-0.06284669 0.99724564 0.03938808 -2.24212834] [-0.03280372 -0.04150885 0.99859948 0.20640323] [ 0. 0. 0. 1. ]] SLAMing on 51.001652532 meters Centerline goodness : 0.718466 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.24, Z:0.21 [[ 0.99740903 0.06223495 0.03608381 -1.74800675] [-0.0636629 0.99717452 0.03987492 -2.2429822 ] [-0.03350024 -0.04206881 0.99855293 0.20574178] [ 0. 0. 0. 1. ]] SLAMing on 51.061652532 meters Centerline goodness : 0.726395 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.26, Z:0.21 [[ 0.99768683 0.05804085 0.0353872 -1.75106698] [-0.05936938 0.997523 0.03772465 -2.255404 ] [-0.03310997 -0.03973831 0.9986614 0.21126899] [ 0. 0. 0. 1. ]] SLAMing on 51.121652532 meters Centerline goodness : 0.724911 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.26, Z:0.21 [[ 0.99780054 0.05543744 0.03634232 -1.75428019] [-0.05670279 0.99778568 0.03476378 -2.25719785] [-0.03433463 -0.03674803 0.99873456 0.21171918] [ 0. 0. 0. 1. ]] SLAMing on 51.181652532 meters Centerline goodness : 0.720593 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.25, Z:0.21 [[ 0.9980839 0.0501549 0.03623546 -1.75438211] [-0.05121638 0.99826689 0.02898457 -2.25380039] [-0.03471894 -0.03078488 0.99892286 0.21133204] [ 0. 0. 0. 1. ]] SLAMing on 51.241652531999996 meters Centerline goodness : 0.722325 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.26, Z:0.21 [[ 0.99815584 0.04825948 0.03682302 -1.75830065] [-0.0492831 0.9984085 0.02741605 -2.25771732] [-0.03544133 -0.02918024 0.99894566 0.21403919] [ 0. 0. 0. 1. ]] SLAMing on 51.301652532 meters Centerline goodness : 0.719161 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.26, Z:0.21 [[ 0.99796923 0.05217384 0.03654186 -1.75545484] [-0.05333082 0.99808194 0.03143673 -2.25766782] [-0.03483159 -0.03332169 0.99883754 0.21167051] [ 0. 0. 0. 1. ]] SLAMing on 51.361652532 meters Centerline goodness : 0.720372 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.26, Z:0.21 [[ 0.99822918 0.04748375 0.03583018 -1.75507507] [-0.04846362 0.99846014 0.02699318 -2.25869327] [-0.03449327 -0.02868184 0.99899328 0.21295321] [ 0. 0. 0. 1. ]] SLAMing on 51.421652531999996 meters Centerline goodness : 0.722975 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.26, Z:0.21 [[ 0.99818214 0.04847116 0.03581834 -1.75476454] [-0.04950158 0.99836838 0.02846349 -2.2631342 ] [-0.03438024 -0.03018481 0.99895289 0.21254564] [ 0. 0. 0. 1. ]] SLAMing on 51.481652532 meters Centerline goodness : 0.720828 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.26, Z:0.21 [[ 0.99860416 0.03920194 0.03539675 -1.75461715] [-0.03988145 0.99902944 0.01869906 -2.26068951] [-0.03462936 -0.02008464 0.99919839 0.21253942] [ 0. 0. 0. 1. ]] SLAMing on 51.541652532 meters Centerline goodness : 0.717989 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.26, Z:0.21 [[ 0.99858217 0.03987436 0.03526594 -1.75278709] [-0.04057603 0.99898792 0.01940957 -2.26199153] [-0.0344563 -0.020813 0.99918946 0.21029625] [ 0. 0. 0. 1. ]] SLAMing on 51.601652532 meters Centerline goodness : 0.723301 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.27, Z:0.21 [[ 0.9991908 0.02178979 0.03380762 -1.75086499] [-0.0225449 0.99950115 0.02211741 -2.26714039] [-0.03330882 -0.0228617 0.9991836 0.20974073] [ 0. 0. 0. 1. ]] SLAMing on 51.661652532 meters Centerline goodness : 0.723659 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.22 [[ 0.99951967 0.00815925 0.02989746 -1.73982575] [-0.00867425 0.99981553 0.01713636 -2.26465632] [-0.02975213 -0.01738747 0.99940607 0.21549367] [ 0. 0. 0. 1. ]] SLAMing on 51.721652532 meters Centerline goodness : 0.724485 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.27, Z:0.22 [[ 9.99609572e-01 -2.10389865e-03 2.78617675e-02 -1.73634067e+00] [ 1.86415587e-03 9.99961041e-01 8.62790307e-03 -2.26676156e+00] [-2.78788342e-02 -8.57259581e-03 9.99574550e-01 2.17810189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781652532 meters Centerline goodness : 0.726828 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.27, Z:0.22 [[ 0.99963367 -0.00319452 0.02687591 -1.73542615] [ 0.00296503 0.99995884 0.00857429 -2.26860903] [-0.0269022 -0.00849147 0.999602 0.2200984 ] [ 0. 0. 0. 1. ]] SLAMing on 51.841652532 meters Centerline goodness : 0.734946 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.28, Z:0.22 [[ 9.99638309e-01 -1.54102531e-03 2.68491299e-02 -1.73806737e+00] [ 1.23301730e-03 9.99933290e-01 1.14845872e-02 -2.27515805e+00] [-2.68650368e-02 -1.14473279e-02 9.99573523e-01 2.23869849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901652532 meters Centerline goodness : 0.730675 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.23 [[ 0.99991493 -0.00255681 0.01279063 -1.73241219] [ 0.00242539 0.99994422 0.01027997 -2.27628399] [-0.0128162 -0.01024807 0.99986535 0.22510139] [ 0. 0. 0. 1. ]] SLAMing on 51.961652532 meters Centerline goodness : 0.731550 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.23 [[ 0.99991924 -0.00330836 0.01227071 -1.73101919] [ 0.00318867 0.99994728 0.00976096 -2.27598831] [-0.01230236 -0.00972105 0.99987707 0.22507639] [ 0. 0. 0. 1. ]] SLAMing on 52.021652532 meters Centerline goodness : 0.733236 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.23 [[ 0.99992729 -0.00289111 0.01170689 -1.73120964] [ 0.00276181 0.99993517 0.01104644 -2.27993366] [-0.01173807 -0.0110133 0.99987045 0.22735376] [ 0. 0. 0. 1. ]] SLAMing on 52.081652532 meters Centerline goodness : 0.734068 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.23 [[ 9.99924787e-01 -1.84043885e-03 1.21257510e-02 -1.73277760e+00] [ 1.68939810e-03 9.99921010e-01 1.24546877e-02 -2.28323168e+00] [-1.21477153e-02 -1.24332658e-02 9.99848912e-01 2.28014633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141652532 meters Centerline goodness : 0.738193 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.28, Z:0.23 [[ 9.99913866e-01 -1.94071253e-03 1.29805592e-02 -1.73500393e+00] [ 1.78797989e-03 9.99929162e-01 1.17675337e-02 -2.28031471e+00] [-1.30024771e-02 -1.17433112e-02 9.99846503e-01 2.28054003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201652532 meters Centerline goodness : 0.738132 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.28, Z:0.23 [[ 9.99903645e-01 -1.12379102e-03 1.38360824e-02 -1.73748025e+00] [ 9.53059902e-04 9.99923405e-01 1.23399722e-02 -2.28077724e+00] [-1.38488902e-02 -1.23255966e-02 9.99828129e-01 2.28360664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261652532 meters Centerline goodness : 0.740496 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.28, Z:0.23 [[ 9.99899866e-01 -9.79196032e-04 1.41173456e-02 -1.73781034e+00] [ 8.05021546e-04 9.99923560e-01 1.23380309e-02 -2.28058688e+00] [-1.41283478e-02 -1.23254307e-02 9.99824221e-01 2.27893243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321652532 meters Centerline goodness : 0.740365 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.27, Z:0.23 [[ 9.99918989e-01 2.17488512e-03 1.25413439e-02 -1.73097237e+00] [-2.26269598e-03 9.99972997e-01 6.99177778e-03 -2.27456191e+00] [-1.25257990e-02 -7.01958862e-03 9.99896910e-01 2.34376554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381652532 meters Centerline goodness : 0.743219 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.27, Z:0.23 [[ 0.99990698 0.00256638 0.013396 -1.73300854] [-0.00265812 0.99997311 0.00683483 -2.2730026 ] [-0.0133781 -0.0068698 0.99988691 0.23417888] [ 0. 0. 0. 1. ]] SLAMing on 52.441652532 meters Centerline goodness : 0.742858 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.27, Z:0.23 [[ 0.99989395 0.00321459 0.01420399 -1.7347303 ] [-0.00331816 0.99996804 0.00727433 -2.27361833] [-0.01418015 -0.00732069 0.99987266 0.23353663] [ 0. 0. 0. 1. ]] SLAMing on 52.501652532 meters Centerline goodness : 0.742874 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.27, Z:0.23 [[ 0.99986997 0.00628255 0.01485185 -1.73466353] [-0.00642333 0.99993471 0.00945046 -2.26813242] [-0.01479151 -0.00954463 0.99984504 0.23130966] [ 0. 0. 0. 1. ]] SLAMing on 52.561652532 meters Centerline goodness : 0.744821 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.27, Z:0.23 [[ 0.999847 0.00939057 0.01475777 -1.73405497] [-0.00957194 0.99987893 0.0122676 -2.26533032] [-0.01464078 -0.01240698 0.99981584 0.23094952] [ 0. 0. 0. 1. ]] SLAMing on 52.621652532 meters Centerline goodness : 0.747479 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99951559 0.02352767 0.02037261 -1.73839706] [-0.02368743 0.99969025 0.00763651 -2.26203889] [-0.02018663 -0.00811538 0.99976329 0.23114552] [ 0. 0. 0. 1. ]] SLAMing on 52.681652532 meters Centerline goodness : 0.746948 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.9992272 0.03237285 0.02229353 -1.7416631 ] [-0.03270673 0.99935573 0.014778 -2.2561491 ] [-0.02180076 -0.01549573 0.99964224 0.22964809] [ 0. 0. 0. 1. ]] SLAMing on 52.741652531999996 meters Centerline goodness : 0.746454 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99917523 0.03324491 0.02331616 -1.74372988] [-0.03360485 0.99931932 0.01521893 -2.25639169] [-0.02279434 -0.01598991 0.9996123 0.2290851 ] [ 0. 0. 0. 1. ]] SLAMing on 52.801652532 meters Centerline goodness : 0.743817 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99917753 0.03325712 0.02319954 -1.74215334] [-0.03360772 0.99932418 0.01488947 -2.25583601] [-0.02268868 -0.01565691 0.99961997 0.22725097] [ 0. 0. 0. 1. ]] SLAMing on 52.861652532 meters Centerline goodness : 0.746023 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99904029 0.03711525 0.02325869 -1.741945 ] [-0.03755648 0.99911709 0.01882972 -2.25513735] [-0.02253929 -0.01968516 0.99955214 0.22718777] [ 0. 0. 0. 1. ]] SLAMing on 52.921652531999996 meters Centerline goodness : 0.746090 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99919935 0.03260895 0.02317988 -1.74222845] [-0.03294925 0.99935251 0.01445347 -2.25564654] [-0.02269356 -0.01520566 0.99962683 0.22747771] [ 0. 0. 0. 1. ]] SLAMing on 52.981652532 meters Centerline goodness : 0.747518 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99920985 0.03248075 0.02290583 -1.74265384] [-0.03282454 0.99935161 0.01479567 -2.25729196] [-0.0224104 -0.01553585 0.99962814 0.22908775] [ 0. 0. 0. 1. ]] SLAMing on 53.041652532 meters Centerline goodness : 0.747761 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99918728 0.03265508 0.02363104 -1.74429714] [-0.03300282 0.99935039 0.0144779 -2.25561787] [-0.02314291 -0.01524602 0.99961591 0.22881528] [ 0. 0. 0. 1. ]] SLAMing on 53.101652532 meters Centerline goodness : 0.742800 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.25, Z:0.23 [[ 0.99931628 0.02839539 0.02367874 -1.74405964] [-0.02863158 0.99954301 0.0096958 -2.25392132] [-0.0233926 -0.01036713 0.9996726 0.22788407] [ 0. 0. 0. 1. ]] SLAMing on 53.161652532 meters Centerline goodness : 0.739541 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.25, Z:0.23 [[ 0.9992853 0.02883499 0.02444258 -1.74515601] [-0.02907727 0.99953092 0.00961567 -2.2529817 ] [-0.02415385 -0.01031952 0.99965499 0.22666738] [ 0. 0. 0. 1. ]] SLAMing on 53.221652532 meters Centerline goodness : 0.739157 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.25, Z:0.22 [[ 0.99888234 0.0390705 0.0266001 -1.7484713 ] [-0.03956201 0.99905119 0.01820896 -2.25085509] [-0.02586343 -0.01924096 0.9994803 0.22420258] [ 0. 0. 0. 1. ]] SLAMing on 53.281652532 meters Centerline goodness : 0.734572 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.25, Z:0.22 [[ 0.99879571 0.04002998 0.02836765 -1.75167888] [-0.04054369 0.99901972 0.01777102 -2.24769954] [-0.02762847 -0.01889975 0.99943958 0.22248004] [ 0. 0. 0. 1. ]] SLAMing on 53.341652532 meters Centerline goodness : 0.735705 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.25, Z:0.22 [[ 0.99854572 0.04514179 0.02947313 -1.75375353] [-0.04581484 0.99869485 0.02257434 -2.24827853] [-0.02841562 -0.02389182 0.99931063 0.22209139] [ 0. 0. 0. 1. ]] SLAMing on 53.401652532 meters Centerline goodness : 0.739980 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.25, Z:0.22 [[ 0.99824513 0.05060983 0.03074581 -1.75580488] [-0.05146438 0.99829146 0.02766905 -2.24907682] [-0.02929296 -0.02920281 0.99914419 0.2210352 ] [ 0. 0. 0. 1. ]] SLAMing on 53.461652532 meters Centerline goodness : 0.736668 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.25, Z:0.22 [[ 0.99771077 0.05796 0.03484046 -1.76337248] [-0.05909423 0.99772461 0.03245741 -2.24942602] [-0.03287995 -0.03444198 0.99886569 0.21805326] [ 0. 0. 0. 1. ]] SLAMing on 53.521652532 meters Centerline goodness : 0.731477 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.25, Z:0.21 [[ 0.99699611 0.06646819 0.03975858 -1.77280578] [-0.06791049 0.9970382 0.03609706 -2.25427553] [-0.03724151 -0.03868865 0.99855709 0.21248505] [ 0. 0. 0. 1. ]] SLAMing on 53.581652532 meters Centerline goodness : 0.730716 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.26, Z:0.22 [[ 0.99547606 0.0842972 0.04383379 -1.77866347] [-0.08586698 0.99568274 0.0352526 -2.25780278] [-0.04067285 -0.03885699 0.99841667 0.2152197 ] [ 0. 0. 0. 1. ]] SLAMing on 53.641652532 meters Centerline goodness : 0.730415 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.26, Z:0.22 [[ 0.99384255 0.10373953 0.0389243 -1.77742732] [-0.10512872 0.99382411 0.03551884 -2.26055071] [-0.0349992 -0.03939219 0.99861069 0.21737644] [ 0. 0. 0. 1. ]] SLAMing on 53.701652532 meters Centerline goodness : 0.729566 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.26, Z:0.22 [[ 0.99287617 0.11217318 0.04017586 -1.77793416] [-0.11390245 0.9925303 0.04370158 -2.25915869] [-0.03497361 -0.04796638 0.99823648 0.2166598 ] [ 0. 0. 0. 1. ]] SLAMing on 53.761652532 meters Centerline goodness : 0.724899 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.26, Z:0.21 [[ 0.99234247 0.1163449 0.04147635 -1.77789243] [-0.11823373 0.99189953 0.04643384 -2.25513215] [-0.03573803 -0.05098217 0.99805992 0.21322504] [ 0. 0. 0. 1. ]] SLAMing on 53.821652532 meters Centerline goodness : 0.721551 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.26, Z:0.21 [[ 0.99254018 0.11440841 0.04212734 -1.78032932] [-0.11623915 0.99224961 0.04392231 -2.25710061] [-0.03677575 -0.0484915 0.99814634 0.21283648] [ 0. 0. 0. 1. ]] SLAMing on 53.881652532 meters Centerline goodness : 0.717405 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.26, Z:0.21 [[ 0.9942002 0.09815324 0.04395333 -1.78038501] [-0.1001955 0.99385912 0.04695657 -2.25815722] [-0.03907447 -0.05108816 0.99792945 0.2092955 ] [ 0. 0. 0. 1. ]] SLAMing on 53.941652532 meters Centerline goodness : 0.721962 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.27, Z:0.21 [[ 0.99585989 0.07692087 0.04843813 -1.78409831] [-0.07921912 0.99572671 0.04746204 -2.27245807] [-0.04458032 -0.05110277 0.9976979 0.2121009 ] [ 0. 0. 0. 1. ]] SLAMing on 54.001652532 meters Centerline goodness : 0.719209 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.27, Z:0.22 [[ 0.99696177 0.06481286 0.04320317 -1.77349079] [-0.06660353 0.99692098 0.04138284 -2.2712097 ] [-0.040388 -0.04413459 0.99820887 0.21742789] [ 0. 0. 0. 1. ]] SLAMing on 54.061652532 meters Centerline goodness : 0.718723 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.27, Z:0.22 [[ 0.99825486 0.04493205 0.03831909 -1.75965146] [-0.0460684 0.99850831 0.02930614 -2.26633076] [-0.03694515 -0.0310203 0.99883572 0.22092644] [ 0. 0. 0. 1. ]] SLAMing on 54.121652532 meters Centerline goodness : 0.714366 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.26, Z:0.22 [[ 0.99895061 0.03099816 0.03371633 -1.74593468] [-0.03175712 0.99924876 0.02221249 -2.25835898] [-0.03300245 -0.02325992 0.99918457 0.22377409] [ 0. 0. 0. 1. ]] SLAMing on 54.181652532 meters Centerline goodness : 0.720058 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.26, Z:0.23 [[ 0.99945175 0.0128591 0.03050964 -1.73622894] [-0.01328716 0.99981553 0.01386904 -2.25737335] [-0.03032567 -0.01426683 0.99943825 0.22945145] [ 0. 0. 0. 1. ]] SLAMing on 54.241652531999996 meters Centerline goodness : 0.720456 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.26, Z:0.24 [[ 9.99680557e-01 1.99441242e-03 2.51953731e-02 -1.72372438e+00] [-2.26504791e-03 9.99940000e-01 1.07175073e-02 -2.25647967e+00] [-2.51724863e-02 -1.07711524e-02 9.99625094e-01 2.35966227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301652532 meters Centerline goodness : 0.721268 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.26, Z:0.24 [[ 9.99698446e-01 -1.30784894e-03 2.45215346e-02 -1.72510444e+00] [ 1.08517410e-03 9.99958079e-01 9.09189646e-03 -2.26319645e+00] [-2.45323974e-02 -9.06254463e-03 9.99657957e-01 2.40281505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361652532 meters Centerline goodness : 0.717985 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.26, Z:0.24 [[ 0.99972149 -0.00388886 0.0232771 -1.722246 ] [ 0.00373284 0.9999703 0.00674275 -2.26031967] [-0.02330263 -0.00665399 0.99970631 0.24070639] [ 0. 0. 0. 1. ]] SLAMing on 54.421652531999996 meters Centerline goodness : 0.719166 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.26, Z:0.24 [[ 0.99972355 -0.00313251 0.02330263 -1.72210137] [ 0.00294965 0.99996462 0.00787724 -2.26345889] [-0.02332648 -0.00780633 0.99969742 0.24037213] [ 0. 0. 0. 1. ]] SLAMing on 54.481652532 meters Centerline goodness : 0.722164 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.27, Z:0.24 [[ 0.9997154 -0.00682602 0.0228589 -1.72242018] [ 0.00671965 0.99996625 0.00472678 -2.26663125] [-0.0228904 -0.00457183 0.99972753 0.24235308] [ 0. 0. 0. 1. ]] SLAMing on 54.541652532 meters Centerline goodness : 0.716730 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.26, Z:0.24 [[ 0.9997079 -0.00783898 0.02286195 -1.7207757 ] [ 0.00777059 0.99996507 0.00307894 -2.26262871] [-0.02288529 -0.00290039 0.99973389 0.24011544] [ 0. 0. 0. 1. ]] SLAMing on 54.601652532 meters Centerline goodness : 0.719947 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.29, Z:0.24 [[ 9.99890418e-01 -7.41580064e-04 1.47852024e-02 -1.73417140e+00] [ 6.30736570e-04 9.99971674e-01 7.50017505e-03 -2.28945074e+00] [-1.47903455e-02 -7.49002759e-03 9.99862563e-01 2.42271728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661652532 meters Centerline goodness : 0.721539 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.24 [[ 0.99985822 0.00662407 0.01548071 -1.73440306] [-0.00683674 0.99988243 0.01372524 -2.28290741] [-0.01538798 -0.01382913 0.99978596 0.2402659 ] [ 0. 0. 0. 1. ]] SLAMing on 54.721652532 meters Centerline goodness : 0.720913 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.24 [[ 0.99982647 0.00969514 0.01590702 -1.73390624] [-0.00995066 0.99982145 0.01606402 -2.27839503] [-0.01574843 -0.01621952 0.99974442 0.23823253] [ 0. 0. 0. 1. ]] SLAMing on 54.781652532 meters Centerline goodness : 0.722114 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.24 [[ 0.99982699 0.00969344 0.01587521 -1.73324005] [-0.00994881 0.9998211 0.01608711 -2.27917383] [-0.01571643 -0.01624226 0.99974456 0.23746805] [ 0. 0. 0. 1. ]] SLAMing on 54.841652532 meters Centerline goodness : 0.722887 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.28, Z:0.24 [[ 0.9998102 0.01081884 0.01620213 -1.73405293] [-0.01110305 0.99978425 0.01755502 -2.28291298] [-0.01600871 -0.01773158 0.99971462 0.23745645] [ 0. 0. 0. 1. ]] SLAMing on 54.901652532 meters Centerline goodness : 0.725402 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.29, Z:0.24 [[ 0.9998697 0.00333858 0.01579342 -1.73464502] [-0.00351726 0.99992997 0.01129968 -2.28936939] [-0.01575459 -0.01135376 0.99981142 0.2397612 ] [ 0. 0. 0. 1. ]] SLAMing on 54.961652532 meters Centerline goodness : 0.721270 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.29, Z:0.24 [[ 9.99879065e-01 -1.22129708e-03 1.55036514e-02 -1.73384186e+00] [ 1.11710022e-03 9.99976745e-01 6.72767652e-03 -2.28900526e+00] [-1.55115074e-02 -6.70954378e-03 9.99857177e-01 2.39607696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021652532 meters Centerline goodness : 0.726617 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.30, Z:0.25 [[ 0.99988716 -0.00357522 0.01459052 -1.73563806] [ 0.00347374 0.99996964 0.006975 -2.29754709] [-0.01461502 -0.00692353 0.99986922 0.24539066] [ 0. 0. 0. 1. ]] SLAMing on 55.081652532 meters Centerline goodness : 0.725824 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.30, Z:0.25 [[ 0.99988551 -0.00410715 0.01456346 -1.73527307] [ 0.00401592 0.99997217 0.00628784 -2.29582255] [-0.01458888 -0.00622863 0.99987418 0.24505104] [ 0. 0. 0. 1. ]] SLAMing on 55.141652532 meters Centerline goodness : 0.721826 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.29, Z:0.24 [[ 9.99891274e-01 -2.08286513e-03 1.45980149e-02 -1.73451964e+00] [ 1.97426677e-03 9.99970302e-01 7.44972283e-03 -2.28886824e+00] [-1.46130981e-02 -7.42009247e-03 9.99865691e-01 2.43701628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201652532 meters Centerline goodness : 0.723369 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.29, Z:0.25 [[ 9.99885228e-01 8.02516305e-05 1.51500823e-02 -1.73814243e+00] [-2.33459046e-04 9.99948854e-01 1.01111481e-02 -2.29298307e+00] [-1.51484960e-02 -1.01135245e-02 9.99834106e-01 2.46517679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261652532 meters Centerline goodness : 0.719474 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.29, Z:0.24 [[ 9.99883216e-01 1.91163629e-03 1.51624444e-02 -1.73602640e+00] [-2.08442108e-03 9.99932982e-01 1.13879709e-02 -2.28954163e+00] [-1.51396586e-02 -1.14182459e-02 9.99820191e-01 2.44011571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321652532 meters Centerline goodness : 0.720618 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.29, Z:0.24 [[ 9.99894227e-01 1.62646604e-03 1.44529803e-02 -1.73421713e+00] [-1.79300889e-03 9.99932063e-01 1.15176033e-02 -2.29096028e+00] [-1.44332654e-02 -1.15422994e-02 9.99829214e-01 2.44108085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381652532 meters Centerline goodness : 0.722230 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.29, Z:0.25 [[ 0.99983428 -0.01500199 0.01031259 -1.72356929] [ 0.01496136 0.99988005 0.00400657 -2.2937009 ] [-0.01037146 -0.00385161 0.9999388 0.25203373] [ 0. 0. 0. 1. ]] SLAMing on 55.441652532 meters Centerline goodness : 0.721591 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.30, Z:0.26 [[ 9.99762035e-01 -2.02201010e-02 8.18667574e-03 -1.72029585e+00] [ 2.02050988e-02 9.99794030e-01 1.91110117e-03 -2.30049025e+00] [-8.22363218e-03 -1.74523380e-03 9.99964662e-01 2.55880971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501652532 meters Centerline goodness : 0.719996 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.30, Z:0.26 [[ 0.99955207 -0.02903294 0.00726294 -1.71861283] [ 0.02907576 0.99956003 -0.00586074 -2.30353071] [-0.00708959 0.0060693 0.99995645 0.25756311] [ 0. 0. 0. 1. ]] SLAMing on 55.561652532 meters Centerline goodness : 0.721222 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.31, Z:0.26 [[ 0.99929812 -0.03691178 0.00638624 -1.71685248] [ 0.03698874 0.99923893 -0.01238495 -2.30997438] [-0.00592423 0.01261247 0.99990291 0.25918519] [ 0. 0. 0. 1. ]] SLAMing on 55.621652532 meters Centerline goodness : 0.719144 with order 1 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.31, Z:0.27 [[ 9.99011597e-01 -4.44164513e-02 1.73437519e-03 -1.70769806e+00] [ 4.44360160e-02 9.98919155e-01 -1.36367898e-02 -2.31103115e+00] [-1.12680279e-03 1.37003799e-02 9.99905510e-01 2.66666999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681652532 meters Centerline goodness : 0.717578 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.31, Z:0.27 [[ 9.98721099e-01 -5.05451148e-02 -1.16557379e-03 -1.70260547e+00] [ 5.05200010e-02 9.98594451e-01 -1.60266212e-02 -2.31489857e+00] [ 1.97400293e-03 1.59472399e-02 9.99870886e-01 2.71583020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741652531999996 meters Centerline goodness : 0.718862 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.32, Z:0.27 [[ 9.98515122e-01 -5.44549963e-02 -1.48456306e-03 -1.70277910e+00] [ 5.44166512e-02 9.98334423e-01 -1.91626769e-02 -2.31834348e+00] [ 2.52559391e-03 1.90534377e-02 9.99815277e-01 2.73569157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801652532 meters Centerline goodness : 0.714364 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.32, Z:0.27 [[ 0.99819814 -0.0599559 -0.00239955 -1.69971951] [ 0.05988038 0.99791113 -0.02424307 -2.31741649] [ 0.00384805 0.0240557 0.99970321 0.27369891] [ 0. 0. 0. 1. ]] SLAMing on 55.861652532 meters Centerline goodness : 0.714836 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.32, Z:0.27 [[ 0.99782141 -0.06588946 -0.00331842 -1.69726084] [ 0.06576335 0.99739846 -0.02952111 -2.31708303] [ 0.00525492 0.02923857 0.99955865 0.27468358] [ 0. 0. 0. 1. ]] SLAMing on 55.921652531999996 meters Centerline goodness : 0.714768 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.32, Z:0.28 [[ 0.99803014 -0.06257468 -0.00449988 -1.69576242] [ 0.06244221 0.99773018 -0.02520841 -2.31806717] [ 0.00606708 0.02487777 0.99967209 0.27591008] [ 0. 0. 0. 1. ]] SLAMing on 55.981652532 meters Centerline goodness : 0.704189 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.32, Z:0.27 [[ 0.99670012 -0.08059293 -0.00967772 -1.69351822] [ 0.08030863 0.99640837 -0.02684929 -2.32126968] [ 0.01180682 0.02598349 0.99959265 0.27248846] [ 0. 0. 0. 1. ]] SLAMing on 56.041652532 meters Centerline goodness : 0.702555 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.33, Z:0.27 [[ 0.9962283 -0.08341097 -0.02391185 -1.687759 ] [ 0.08274571 0.99618901 -0.02757906 -2.32581609] [ 0.02612112 0.02549643 0.99933359 0.27465241] [ 0. 0. 0. 1. ]] SLAMing on 56.101652532 meters Centerline goodness : 0.708604 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.33, Z:0.28 [[ 0.99687472 -0.07516139 -0.024322 -1.69086832] [ 0.07471139 0.99702587 -0.01891116 -2.33188483] [ 0.02567106 0.01703493 0.99952529 0.27753278] [ 0. 0. 0. 1. ]] SLAMing on 56.161652532 meters Centerline goodness : 0.711904 with order 1 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.33, Z:0.29 [[ 0.99615412 -0.08273006 -0.02885673 -1.68192691] [ 0.08215683 0.99640821 -0.02051648 -2.33476382] [ 0.03045041 0.0180668 0.99937299 0.28508184] [ 0. 0. 0. 1. ]] SLAMing on 56.221652532 meters Centerline goodness : 0.712647 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.33, Z:0.29 [[ 0.99619193 -0.08198963 -0.02965355 -1.67220386] [ 0.08106458 0.9962217 -0.03115865 -2.32877076] [ 0.0320962 0.02863614 0.99907447 0.2924795 ] [ 0. 0. 0. 1. ]] SLAMing on 56.281652532 meters Centerline goodness : 0.713467 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.33, Z:0.29 [[ 0.99648243 -0.07810411 -0.0303728 -1.67135023] [ 0.07728221 0.99663392 -0.02735478 -2.32838596] [ 0.03240709 0.02491128 0.99916426 0.29272269] [ 0. 0. 0. 1. ]] SLAMing on 56.341652532 meters Centerline goodness : 0.718635 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.32, Z:0.30 [[ 0.99749151 -0.064128 -0.02997142 -1.66569562] [ 0.06332217 0.997625 -0.02710481 -2.31513512] [ 0.03163842 0.02513896 0.99918319 0.29809707] [ 0. 0. 0. 1. ]] SLAMing on 56.401652532 meters Centerline goodness : 0.721763 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.31, Z:0.30 [[ 0.9979539 -0.05737677 -0.02821197 -1.67054086] [ 0.05676406 0.99814387 -0.02206008 -2.3146293 ] [ 0.02942534 0.02041352 0.99935851 0.296672 ] [ 0. 0. 0. 1. ]] SLAMing on 56.461652532 meters Centerline goodness : 0.719723 with order 1 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.31, Z:0.30 [[ 0.99916672 -0.03187867 -0.02548767 -1.68272905] [ 0.03138192 0.99931413 -0.01965815 -2.31424427] [ 0.02609686 0.01884192 0.99948183 0.29660654] [ 0. 0. 0. 1. ]] SLAMing on 56.521652532 meters Centerline goodness : 0.720350 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.31, Z:0.29 [[ 0.99947561 -0.02283917 -0.0229537 -1.68720137] [ 0.02250815 0.99964038 -0.01457732 -2.30573445] [ 0.02327838 0.01405303 0.99963025 0.29225677] [ 0. 0. 0. 1. ]] SLAMing on 56.581652532 meters Centerline goodness : 0.721887 with order 1 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.31, Z:0.29 [[ 0.99964864 0.01137644 -0.02394122 -1.70714871] [-0.01152798 0.99991432 -0.00620125 -2.31432002] [ 0.02386862 0.00647506 0.99969413 0.29238968] [ 0. 0. 0. 1. ]] SLAMing on 56.641652532 meters Centerline goodness : 0.715663 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.32, Z:0.29 [[ 0.9990059 0.03631166 -0.02585885 -1.71955936] [-0.03650153 0.99930972 -0.00690861 -2.31594494] [ 0.02559014 0.00784563 0.99964173 0.28839887] [ 0. 0. 0. 1. ]] SLAMing on 56.701652532 meters Centerline goodness : 0.713458 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.32, Z:0.29 [[ 9.96770079e-01 7.49476216e-02 -2.88489793e-02 -1.73497527e+00] [-7.48795247e-02 9.97186671e-01 3.43511284e-03 -2.31970336e+00] [ 2.90252712e-02 -1.26381984e-03 9.99577879e-01 2.86040008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761652532 meters Centerline goodness : 0.709245 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.33, Z:0.28 [[ 0.99375792 0.1074646 -0.02994238 -1.74671768] [-0.1072662 0.99419685 0.00816025 -2.32653299] [ 0.03064555 -0.00489751 0.99951832 0.28388022] [ 0. 0. 0. 1. ]] SLAMing on 56.821652532 meters Centerline goodness : 0.708988 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.34, Z:0.28 [[ 0.99204692 0.12343707 -0.0246211 -1.76192503] [-0.12308267 0.99227645 0.0154308 -2.33620255] [ 0.02633567 -0.01227764 0.99957776 0.27938889] [ 0. 0. 0. 1. ]] SLAMing on 56.881652532 meters Centerline goodness : 0.706841 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.35, Z:0.28 [[ 0.98840082 0.14966586 -0.02576737 -1.77720113] [-0.14922857 0.98863629 0.0181414 -2.35162092] [ 0.0281897 -0.01408575 0.99950334 0.27666475] [ 0. 0. 0. 1. ]] SLAMing on 56.941652532 meters Centerline goodness : 0.700965 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.35, Z:0.27 [[ 0.98761298 0.1550906 -0.02382259 -1.77887616] [-0.15458073 0.98773648 0.02194168 -2.34941429] [ 0.02693339 -0.01798737 0.99947539 0.27422875] [ 0. 0. 0. 1. ]] SLAMing on 57.001652532 meters Centerline goodness : 0.704315 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.36, Z:0.27 [[ 0.98789714 0.15331376 -0.02354016 -1.78148573] [-0.15284231 0.98803423 0.02067798 -2.35631812] [ 0.0264287 -0.01682979 0.99950902 0.2745714 ] [ 0. 0. 0. 1. ]] SLAMing on 57.061652532 meters Centerline goodness : 0.709093 with order 1 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.37, Z:0.28 [[ 0.98805486 0.15227041 -0.02369206 -1.78513416] [-0.15178196 0.9881863 0.02121506 -2.36736216] [ 0.0266426 -0.01736561 0.99949418 0.27757288] [ 0. 0. 0. 1. ]] SLAMing on 57.121652532 meters Centerline goodness : 0.708510 with order 1 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.37, Z:0.28 [[ 0.98872127 0.1478886 -0.02364766 -1.7892948 ] [-0.14749028 0.98890344 0.01779334 -2.3737061 ] [ 0.02601668 -0.01410485 0.999562 0.27957496] [ 0. 0. 0. 1. ]] SLAMing on 57.181652532 meters Centerline goodness : 0.710297 with order 1 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.37, Z:0.28 [[ 0.99038714 0.13711228 -0.01826285 -1.79201027] [-0.13663555 0.9903007 0.02520398 -2.37344958] [ 0.02154148 -0.02246634 0.9995155 0.27767508] [ 0. 0. 0. 1. ]] SLAMing on 57.241652531999996 meters Centerline goodness : 0.715688 with order 1 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.37, Z:0.27 [[ 0.99237503 0.12271501 -0.01152517 -1.79353885] [-0.12235886 0.99209864 0.02772378 -2.36946715] [ 0.01483623 -0.02610218 0.99954918 0.27440443] [ 0. 0. 0. 1. ]] SLAMing on 57.301652532 meters Centerline goodness : 0.717735 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.38, Z:0.28 [[ 0.9928701 0.11859816 -0.01197642 -1.79646346] [-0.1182696 0.99266221 0.02518014 -2.37958343] [ 0.01487486 -0.02358416 0.99961119 0.27680816] [ 0. 0. 0. 1. ]] SLAMing on 57.361652532 meters Centerline goodness : 0.719151 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.39, Z:0.28 [[ 0.9934763 0.11336881 -0.0123429 -1.80140294] [-0.11308833 0.99335342 0.02144776 -2.38933417] [ 0.01469237 -0.019912 0.99969378 0.2810255 ] [ 0. 0. 0. 1. ]] SLAMing on 57.421652531999996 meters Centerline goodness : 0.722758 with order 1 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.38, Z:0.28 [[ 0.99434996 0.10515824 -0.01448795 -1.79221822] [-0.1047197 0.99409959 0.02828059 -2.37822304] [ 0.0173764 -0.02660363 0.99949503 0.27641125] [ 0. 0. 0. 1. ]] SLAMing on 57.481652532 meters Centerline goodness : 0.723502 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.38, Z:0.28 [[ 0.99465651 0.10226398 -0.01415977 -1.79634549] [-0.1018704 0.99445316 0.02617903 -2.38360616] [ 0.0167584 -0.02459668 0.99955698 0.27902453] [ 0. 0. 0. 1. ]] SLAMing on 57.541652532 meters Centerline goodness : 0.727076 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.38, Z:0.28 [[ 0.99614154 0.08747927 -0.00702956 -1.79838809] [-0.08724467 0.99577417 0.02867348 -2.38297499] [ 0.00950819 -0.02794956 0.99956411 0.2767076 ] [ 0. 0. 0. 1. ]] SLAMing on 57.601652531999996 meters Centerline goodness : 0.731218 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.38, Z:0.28 [[ 9.97136223e-01 7.56200338e-02 9.81746921e-04 -1.80111231e+00] [-7.56103325e-02 9.96572650e-01 3.35563772e-02 -2.38095353e+00] [ 1.55915225e-03 -3.35345094e-02 9.99436344e-01 2.75149431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661652532 meters Centerline goodness : 0.733409 with order 1 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.38, Z:0.27 [[ 0.99750847 0.06904975 0.01445634 -1.80639005] [-0.06941399 0.99723788 0.02642558 -2.38142212] [-0.01259173 -0.02736322 0.99954625 0.27406937] [ 0. 0. 0. 1. ]] SLAMing on 57.721652532 meters Centerline goodness : 0.732445 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.38, Z:0.27 [[ 0.99847299 0.0546811 0.00785316 -1.80222538] [-0.05488817 0.99806674 0.02915592 -2.38419494] [-0.0062437 -0.02954244 0.99954403 0.27192736] [ 0. 0. 0. 1. ]] SLAMing on 57.781652532 meters Centerline goodness : 0.729473 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.39, Z:0.27 [[ 0.99887002 0.04695792 0.00732397 -1.80296613] [-0.04711227 0.99863483 0.02255884 -2.39019396] [-0.00625465 -0.0228784 0.99971869 0.27342853] [ 0. 0. 0. 1. ]] SLAMing on 57.841652532 meters Centerline goodness : 0.728347 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.39, Z:0.27 [[ 0.99952952 0.02702463 0.01450536 -1.80148019] [-0.02730423 0.99943819 0.01943691 -2.38713353] [-0.01397193 -0.01982382 0.99970586 0.2694966 ] [ 0. 0. 0. 1. ]] SLAMing on 57.901652532 meters Centerline goodness : 0.729803 with order 1 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.39, Z:0.27 [[ 0.99972631 0.01883514 0.0138758 -1.80107387] [-0.01900348 0.99974617 0.0121019 -2.39151547] [-0.01364433 -0.01236227 0.99983049 0.27050672] [ 0. 0. 0. 1. ]] SLAMing on 57.961652532 meters Centerline goodness : 0.734029 with order 1 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.39, Z:0.28 [[ 0.99993243 0.0064459 0.00967347 -1.79077942] [-0.00651846 0.99995072 0.00748801 -2.39005103] [-0.00962473 -0.00755056 0.99992517 0.27708806] [ 0. 0. 0. 1. ]] SLAMing on 58.021652532 meters Centerline goodness : 0.734630 with order 1 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.39, Z:0.28 [[ 9.99984272e-01 -2.28579977e-03 5.12166574e-03 -1.78105190e+00] [ 2.26957626e-03 9.99992396e-01 3.17119910e-03 -2.38840236e+00] [-5.12887553e-03 -3.15952521e-03 9.99981856e-01 2.81508032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081652532 meters Centerline goodness : 0.737790 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.39, Z:0.29 [[ 9.99924487e-01 -1.22720240e-02 -6.45548335e-04 -1.76865875e+00] [ 1.22721058e-02 9.99924687e-01 1.23049965e-04 -2.38861806e+00] [ 6.43989645e-04 -1.30962910e-04 9.99999784e-01 2.88551342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141652532 meters Centerline goodness : 0.731017 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.39, Z:0.29 [[ 9.99675099e-01 -2.54411678e-02 -1.56327813e-03 -1.76605121e+00] [ 2.54212043e-02 9.99608556e-01 -1.16831955e-02 -2.39327403e+00] [ 1.85990033e-03 1.16396592e-02 9.99930527e-01 2.89153135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201652532 meters Centerline goodness : 0.731732 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.40, Z:0.29 [[ 9.99562919e-01 -2.95120669e-02 -1.73479280e-03 -1.76608001e+00] [ 2.94820763e-02 9.99447857e-01 -1.53227737e-02 -2.39551050e+00] [ 2.18604167e-03 1.52649311e-02 9.99881094e-01 2.90046034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261652532 meters Centerline goodness : 0.735969 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.40, Z:0.29 [[ 9.99466614e-01 -3.25823855e-02 -2.20818078e-03 -1.76759219e+00] [ 3.25410205e-02 9.99330608e-01 -1.67158077e-02 -2.40266903e+00] [ 2.75134353e-03 1.66350353e-02 9.99857843e-01 2.93808805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321652532 meters Centerline goodness : 0.743930 with order 1 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.41, Z:0.30 [[ 0.99900372 -0.04429113 -0.00546483 -1.75971976] [ 0.04417848 0.99883814 -0.01925182 -2.40535326] [ 0.00631117 0.01899121 0.99979973 0.30298821] [ 0. 0. 0. 1. ]] SLAMing on 58.381652532 meters Centerline goodness : 0.746087 with order 1 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.41, Z:0.31 [[ 0.99857549 -0.05228802 -0.01062807 -1.7501271 ] [ 0.0520637 0.99843562 -0.02038822 -2.4078529 ] [ 0.0116775 0.01980584 0.99973565 0.3118804 ] [ 0. 0. 0. 1. ]] SLAMing on 58.441652532 meters Centerline goodness : 0.744219 with order 1 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.41, Z:0.31 [[ 0.99670961 -0.07932529 -0.01665685 -1.733076 ] [ 0.07892973 0.99661027 -0.02319639 -2.40685047] [ 0.01844045 0.02180535 0.99959216 0.31296927] [ 0. 0. 0. 1. ]] SLAMing on 58.501652532 meters Centerline goodness : 0.739826 with order 1 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.42, Z:0.32 [[ 0.99390952 -0.10835276 -0.0200887 -1.71950762] [ 0.10746704 0.99336716 -0.04089646 -2.42147499] [ 0.0243867 0.03848851 0.99896142 0.32196176] [ 0. 0. 0. 1. ]] SLAMing on 58.561652532 meters Centerline goodness : 0.739169 with order 1 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.42, Z:0.33 [[ 0.99110348 -0.13071846 -0.02503135 -1.6997596 ] [ 0.12928359 0.99023005 -0.05225141 -2.420544 ] [ 0.03161702 0.04855041 0.9983202 0.32873781] [ 0. 0. 0. 1. ]] SLAMing on 58.621652532 meters Centerline goodness : 0.726116 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.43, Z:0.33 [[ 0.98170563 -0.18821806 -0.02877544 -1.6723299 ] [ 0.18616235 0.98053192 -0.06245592 -2.43322078] [ 0.03997057 0.05595643 0.99763281 0.32797527] [ 0. 0. 0. 1. ]] SLAMing on 58.681652532 meters Centerline goodness : 0.720541 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.44, Z:0.33 [[ 0.9734725 -0.2267696 -0.03044413 -1.65048728] [ 0.22418714 0.97194297 -0.07118284 -2.44317986] [ 0.04573206 0.06246936 0.99699857 0.33093793] [ 0. 0. 0. 1. ]] SLAMing on 58.741652531999996 meters Centerline goodness : 0.716264 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-2.47, Z:0.33 [[ 0.95722989 -0.28776358 -0.030051 -1.62395802] [ 0.28525658 0.95601798 -0.06825179 -2.4712717 ] [ 0.04836968 0.0567604 0.99721544 0.33140026] [ 0. 0. 0. 1. ]] SLAMing on 58.801652532 meters Centerline goodness : 0.706507 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.51, Z:0.33 [[ 0.93605943 -0.35038597 -0.03197528 -1.6009975 ] [ 0.34742946 0.93484301 -0.07322097 -2.51401479] [ 0.05554746 0.05743002 0.99680303 0.32967986] [ 0. 0. 0. 1. ]] SLAMing on 58.861652532 meters Centerline goodness : 0.700928 with order 1 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.57, Z:0.33 [[ 0.91799357 -0.39525086 -0.03262771 -1.60249744] [ 0.39217964 0.91693787 -0.07362115 -2.57287702] [ 0.0590164 0.05478782 0.99675241 0.32892322] [ 0. 0. 0. 1. ]] SLAMing on 58.921652531999996 meters Centerline goodness : 0.697658 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.76, Z:0.32 [[ 0.88703937 -0.46107832 -0.02383141 -1.68681451] [ 0.45809936 0.88538861 -0.0789429 -2.75778428] [ 0.05749892 0.0591083 0.99659424 0.32353672] [ 0. 0. 0. 1. ]] SLAMing on 58.981652532 meters Centerline goodness : 0.688799 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.80, Z:0.32 [[ 0.86436625 -0.50205116 -0.02855897 -1.67436734] [ 0.49895481 0.86333127 -0.07551965 -2.80103204] [ 0.06257058 0.051027 0.99673525 0.32137236] [ 0. 0. 0. 1. ]] SLAMing on 59.041652532 meters Centerline goodness : 0.674567 with order 1 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.86, Z:0.32 [[ 0.83102064 -0.55487209 -0.03900843 -1.65893579] [ 0.55183262 0.8312161 -0.06753188 -2.86274352] [ 0.06989599 0.03459426 0.99695426 0.32252535] [ 0. 0. 0. 1. ]] SLAMing on 59.101652531999996 meters Centerline goodness : 0.681349 with order 1 Centerline is valid? [False, False] Translation: X:-1.66, Y:-2.91, Z:0.32 [[ 0.81052816 -0.58407267 -0.0436258 -1.65777047] [ 0.58121218 0.81128649 -0.06329797 -2.91144292] [ 0.07236364 0.02594894 0.9970407 0.32350036] [ 0. 0. 0. 1. ]] SLAMing on 59.161652532 meters Centerline goodness : 0.676691 with order 1 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.95, Z:0.33 [[ 0.78296385 -0.61981717 -0.05286096 -1.63985845] [ 0.61688414 0.78457844 -0.06237491 -2.95120232] [ 0.08013461 0.01622821 0.99665194 0.32683889] [ 0. 0. 0. 1. ]] SLAMing on 59.221652532 meters Centerline goodness : 0.669694 with order 1 Centerline is valid? [False, False] Translation: X:-1.65, Y:-3.00, Z:0.33 [[ 0.77004283 -0.63502143 -0.06149656 -1.64629336] [ 0.63134253 0.77234914 -0.06988141 -2.99626743] [ 0.09187301 0.01498628 0.99565795 0.32995002] [ 0. 0. 0. 1. ]] SLAMing on 59.281652532 meters Centerline goodness : 0.660407 with order 1 Centerline is valid? [False, False] Translation: X:-1.66, Y:-3.06, Z:0.33 [[ 0.75031469 -0.65718458 -0.07166797 -1.65854623] [ 0.65277934 0.7536525 -0.07672709 -3.05661739] [ 0.1044366 0.01078609 0.99447305 0.33138654] [ 0. 0. 0. 1. ]] SLAMing on 59.341652532 meters Centerline goodness : 0.660229 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-3.10, Z:0.33 [[ 0.73885548 -0.66905446 -0.08036615 -1.66819791] [ 0.66399154 0.74317457 -0.08250331 -3.10310435] [ 0.11492528 0.00759558 0.9933451 0.3330716 ] [ 0. 0. 0. 1. ]] SLAMing on 59.401652532 meters Centerline goodness : 0.651927 with order 1 Centerline is valid? [False, False] Translation: X:-1.68, Y:-3.13, Z:0.33 [[ 0.73192519 -0.6767126 -0.07965908 -1.68014274] [ 0.67106689 0.73616681 -0.08790707 -3.13473352] [ 0.11813019 0.01088482 0.99293846 0.33154773] [ 0. 0. 0. 1. ]] SLAMing on 59.461652532 meters Centerline goodness : 0.647140 with order 1 Centerline is valid? [False, False] Translation: X:-1.71, Y:-3.19, Z:0.33 [[ 0.72167083 -0.6877422 -0.07875203 -1.70677142] [ 0.68185256 0.72586132 -0.09056724 -3.19131045] [ 0.11944997 0.01166246 0.99277172 0.32963136] [ 0. 0. 0. 1. ]] SLAMing on 59.521652532 meters Centerline goodness : 0.651173 with order 1 Centerline is valid? [False, False] Translation: X:-1.74, Y:-3.25, Z:0.33 [[ 0.71620284 -0.69355617 -0.07767448 -1.74348643] [ 0.68745767 0.72028553 -0.09268602 -3.25063497] [ 0.12023076 0.01298407 0.99266106 0.32597347] [ 0. 0. 0. 1. ]] SLAMing on 59.581652532 meters Centerline goodness : 0.653764 with order 1 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.31, Z:0.32 [[ 0.71041193 -0.69918248 -0.08036638 -1.77433078] [ 0.69348824 0.71490103 -0.08939005 -3.30506534] [ 0.11995396 0.00777062 0.99274904 0.32411679] [ 0. 0. 0. 1. ]] SLAMing on 59.641652532 meters Centerline goodness : 0.667396 with order 1 Centerline is valid? [False, False] Translation: X:-1.81, Y:-3.36, Z:0.32 [[ 0.70376289 -0.70592542 -0.07991928 -1.8091482 ] [ 0.70037112 0.70825737 -0.08861038 -3.36114585] [ 0.11915574 0.00638754 0.99285503 0.32124929] [ 0. 0. 0. 1. ]] SLAMing on 59.701652532 meters Centerline goodness : 0.664604 with order 1 Centerline is valid? [False, False] Translation: X:-1.86, Y:-3.43, Z:0.32 [[ 0.70444299 -0.70536273 -0.07888909 -1.86135884] [ 0.6993636 0.70877785 -0.09232833 -3.42860826] [ 0.1210398 0.00986788 0.99259861 0.31610853] [ 0. 0. 0. 1. ]] SLAMing on 59.761652532 meters Centerline goodness : 0.665540 with order 1 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.48, Z:0.32 [[ 0.70768355 -0.70180686 -0.0815544 -1.90553451] [ 0.69461823 0.71220827 -0.10131585 -3.48089587] [ 0.12918788 0.01505039 0.99150591 0.31547548] [ 0. 0. 0. 1. ]] SLAMing on 59.821652532 meters Centerline goodness : 0.667735 with order 1 Centerline is valid? [False, False] Translation: X:-1.96, Y:-3.54, Z:0.31 [[ 0.71477003 -0.69475919 -0.08008414 -1.95961842] [ 0.68678665 0.71891849 -0.10714617 -3.53708462] [ 0.13201476 0.02158415 0.99101273 0.313394 ] [ 0. 0. 0. 1. ]] SLAMing on 59.881652532 meters Centerline goodness : 0.666984 with order 1 Centerline is valid? [False, False] Translation: X:-2.03, Y:-3.61, Z:0.31 [[ 0.72136119 -0.68810018 -0.07846137 -2.02557471] [ 0.68047025 0.7252817 -0.10453085 -3.60594778] [ 0.12883429 0.02201387 0.99142176 0.30758538] [ 0. 0. 0. 1. ]] SLAMing on 59.941652532 meters Centerline goodness : 0.675470 with order 1 Centerline is valid? [False, False] Translation: X:-2.07, Y:-3.65, Z:0.31 [[ 0.72584598 -0.68332425 -0.07883894 -2.06615547] [ 0.67544076 0.72972573 -0.10620803 -3.64991454] [ 0.13010532 0.02383964 0.99121354 0.30784922] [ 0. 0. 0. 1. ]] SLAMing on 60.001652532 meters Centerline goodness : 0.673946 with order 1 Centerline is valid? [False, False] Translation: X:-2.12, Y:-3.71, Z:0.31 [[ 0.73547563 -0.67297586 -0.07860715 -2.12037249] [ 0.66502667 0.73920957 -0.10634254 -3.70599043] [ 0.12967312 0.02593649 0.99121752 0.30824474] [ 0. 0. 0. 1. ]] SLAMing on 60.061652532 meters Centerline goodness : 0.676840 with order 1 Centerline is valid? [False, False] Translation: X:-2.16, Y:-3.75, Z:0.31 [[ 0.73903302 -0.66890033 -0.08001589 -2.15775921] [ 0.66048672 0.74282445 -0.10940354 -3.75103439] [ 0.13261782 0.0280034 0.99077158 0.30911571] [ 0. 0. 0. 1. ]] SLAMing on 60.121652532 meters Centerline goodness : 0.682726 with order 1 Centerline is valid? [False, False] Translation: X:-2.20, Y:-3.80, Z:0.31 [[ 0.74406144 -0.66377812 -0.07596832 -2.20179596] [ 0.65554601 0.74728157 -0.10876434 -3.7970162 ] [ 0.12896511 0.03112662 0.9911605 0.30718071] [ 0. 0. 0. 1. ]] SLAMing on 60.181652532 meters Centerline goodness : 0.683116 with order 1 Centerline is valid? [False, False] Translation: X:-2.24, Y:-3.84, Z:0.31 [[ 0.74834971 -0.65855593 -0.0792262 -2.23639202] [ 0.65017983 0.75193387 -0.10891117 -3.8368125 ] [ 0.13129696 0.02999237 0.99088928 0.30770479] [ 0. 0. 0. 1. ]] SLAMing on 60.241652531999996 meters Centerline goodness : 0.695066 with order 1 Centerline is valid? [False, False] Translation: X:-2.28, Y:-3.88, Z:0.31 [[ 0.74964707 -0.6578016 -0.07298169 -2.27562725] [ 0.64983643 0.75246909 -0.10725146 -3.88320308] [ 0.12546665 0.03297459 0.99154969 0.30736943] [ 0. 0. 0. 1. ]] SLAMing on 60.301652532 meters Centerline goodness : 0.703836 with order 1 Centerline is valid? [False, False] Translation: X:-2.31, Y:-3.93, Z:0.31 [[ 0.74539586 -0.66213344 -0.07722908 -2.3104921 ] [ 0.65483243 0.74897465 -0.10115073 -3.93224088] [ 0.1248179 0.02482523 0.99186904 0.30842509] [ 0. 0. 0. 1. ]] SLAMing on 60.361652532 meters Centerline goodness : 0.712902 with order 1 Centerline is valid? [False, False] Translation: X:-2.35, Y:-3.98, Z:0.31 [[ 0.75195851 -0.65465291 -0.07738195 -2.34933442] [ 0.64790825 0.75560018 -0.09634973 -3.98071895] [ 0.12154544 0.0223146 0.99233501 0.30821972] [ 0. 0. 0. 1. ]] SLAMing on 60.421652531999996 meters Centerline goodness : 0.715940 with order 1 Centerline is valid? [False, False] Translation: X:-2.38, Y:-4.02, Z:0.31 [[ 0.75829226 -0.64714 -0.07875698 -2.38173886] [ 0.64093921 0.76214011 -0.09132024 -4.02498148] [ 0.11912083 0.018769 0.99270235 0.30590259] [ 0. 0. 0. 1. ]] SLAMing on 60.481652532 meters Centerline goodness : 0.724279 with order 1 Centerline is valid? [False, False] Translation: X:-2.41, Y:-4.07, Z:0.31 [[ 0.75399556 -0.65306648 -0.07067439 -2.40940762] [ 0.64664236 0.75685713 -0.09497861 -4.07473261] [ 0.11551776 0.0259124 0.99296737 0.3058349 ] [ 0. 0. 0. 1. ]] SLAMing on 60.541652532 meters Centerline goodness : 0.728515 with order 1 Centerline is valid? [False, False] Translation: X:-2.44, Y:-4.12, Z:0.31 [[ 0.74921712 -0.65800523 -0.07551712 -2.43963801] [ 0.65216006 0.75280688 -0.08926962 -4.124181 ] [ 0.11558968 0.01763308 0.99314052 0.30589134] [ 0. 0. 0. 1. ]] SLAMing on 60.601652531999996 meters Centerline goodness : 0.732182 with order 1 Centerline is valid? [False, False] Translation: X:-2.47, Y:-4.18, Z:0.31 [[ 0.74459058 -0.66282071 -0.07907952 -2.47244774] [ 0.65748934 0.74869716 -0.08461878 -4.17790842] [ 0.11529369 0.0110124 0.9932704 0.30551965] [ 0. 0. 0. 1. ]] SLAMing on 60.661652532 meters Centerline goodness : 0.739913 with order 1 Centerline is valid? [False, False] Translation: X:-2.51, Y:-4.23, Z:0.31 [[ 0.74048446 -0.66707691 -0.08179946 -2.50653288] [ 0.66225276 0.74497033 -0.08025269 -4.23328069] [ 0.11447289 0.00525395 0.99341248 0.30621434] [ 0. 0. 0. 1. ]] SLAMing on 60.721652532 meters Centerline goodness : 0.740072 with order 1 Centerline is valid? [False, False] Translation: X:-2.54, Y:-4.28, Z:0.31 [[ 7.37227930e-01 -6.70069138e-01 -8.66159856e-02 -2.54045665e+00] [ 6.65968493e-01 7.42292350e-01 -7.40812675e-02 -4.28354249e+00] [ 1.13933955e-01 -3.06873792e-03 9.93483587e-01 3.06381900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781652532 meters Centerline goodness : 0.743450 with order 1 Centerline is valid? [False, False] Translation: X:-2.57, Y:-4.34, Z:0.31 [[ 0.7318473 -0.67560457 -0.08920755 -2.57374424] [ 0.67191178 0.73722094 -0.0709919 -4.33568765] [ 0.11372813 -0.00798437 0.99347983 0.30601835] [ 0. 0. 0. 1. ]] SLAMing on 60.841652532 meters Centerline goodness : 0.741033 with order 1 Centerline is valid? [False, False] Translation: X:-2.60, Y:-4.38, Z:0.30 [[ 0.72630634 -0.68107499 -0.09282213 -2.60449965] [ 0.67777317 0.73209267 -0.0682925 -4.38311484] [ 0.11446672 -0.01331107 0.9933379 0.30457458] [ 0. 0. 0. 1. ]] SLAMing on 60.901652532 meters Centerline goodness : 0.742178 with order 1 Centerline is valid? [False, False] Translation: X:-2.64, Y:-4.43, Z:0.30 [[ 0.72960269 -0.67699242 -0.09675313 -2.63756658] [ 0.67316534 0.73589275 -0.07287175 -4.42813939] [ 0.12053354 -0.01196343 0.99263716 0.30384672] [ 0. 0. 0. 1. ]] SLAMing on 60.961652532 meters Centerline goodness : 0.747774 with order 1 Centerline is valid? [False, False] Translation: X:-2.66, Y:-4.47, Z:0.30 [[ 0.72924223 -0.67739628 -0.09664396 -2.66431514] [ 0.6732396 0.73555107 -0.07558478 -4.46602484] [ 0.12228742 -0.00994493 0.9924449 0.30314753] [ 0. 0. 0. 1. ]] SLAMing on 61.021652532 meters Centerline goodness : 0.750316 with order 1 Centerline is valid? [False, False] Translation: X:-2.69, Y:-4.51, Z:0.30 [[ 0.72725929 -0.67981874 -0.0945537 -2.69184712] [ 0.67520879 0.73335406 -0.0792774 -4.50757055] [ 0.1232356 -0.00618827 0.99235815 0.30322235] [ 0. 0. 0. 1. ]] SLAMing on 61.081652532 meters Centerline goodness : 0.751481 with order 1 Centerline is valid? [False, False] Translation: X:-2.72, Y:-4.54, Z:0.30 [[ 0.72791707 -0.67881482 -0.09668081 -2.71689441] [ 0.67388986 0.73428815 -0.08181302 -4.54379098] [ 0.12652746 -0.00559912 0.9919473 0.30142071] [ 0. 0. 0. 1. ]] SLAMing on 61.141652532 meters Centerline goodness : 0.751059 with order 1 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.58, Z:0.30 [[ 7.27379029e-01 -6.79439197e-01 -9.63437879e-02 -2.74277072e+00] [ 6.74035446e-01 7.33726841e-01 -8.55636628e-02 -4.58236671e+00] [ 1.28825329e-01 -2.70191408e-03 9.91663619e-01 2.98744968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201652532 meters Centerline goodness : 0.749828 with order 1 Centerline is valid? [False, False] Translation: X:-2.78, Y:-4.63, Z:0.30 [[ 0.72320192 -0.68346201 -0.0992908 -2.77658981] [ 0.67845028 0.7299488 -0.08294559 -4.63222371] [ 0.12916736 -0.00737746 0.99159536 0.29500226] [ 0. 0. 0. 1. ]] SLAMing on 61.261652532 meters Centerline goodness : 0.751465 with order 1 Centerline is valid? [False, False] Translation: X:-2.81, Y:-4.68, Z:0.29 [[ 0.71969198 -0.68662189 -0.10292632 -2.81073341] [ 0.68206196 0.72690508 -0.08000301 -4.68161495] [ 0.12974949 -0.0126246 0.99146643 0.28955404] [ 0. 0. 0. 1. ]] SLAMing on 61.321652532 meters Centerline goodness : 0.750216 with order 1 Centerline is valid? [False, False] Translation: X:-2.85, Y:-4.73, Z:0.28 [[ 0.71762465 -0.68835986 -0.10571452 -2.84891462] [ 0.68418396 0.72517724 -0.07752603 -4.73139495] [ 0.13002757 -0.01669359 0.99136984 0.28304214] [ 0. 0. 0. 1. ]] SLAMing on 61.381652532 meters Centerline goodness : 0.750378 with order 1 Centerline is valid? [False, False] Translation: X:-2.89, Y:-4.78, Z:0.28 [[ 0.71481971 -0.69098157 -0.1075976 -2.88737668] [ 0.68709268 0.722603 -0.07581926 -4.78317028] [ 0.13014006 -0.01973243 0.99129925 0.27749398] [ 0. 0. 0. 1. ]] SLAMing on 61.441652532 meters Centerline goodness : 0.750665 with order 1 Centerline is valid? [False, False] Translation: X:-2.92, Y:-4.82, Z:0.27 [[ 0.71542017 -0.69033334 -0.10776763 -2.91608072] [ 0.6859442 0.72329161 -0.07956 -4.8209439 ] [ 0.13287034 -0.01700375 0.99098756 0.27495945] [ 0. 0. 0. 1. ]] SLAMing on 61.501652532 meters Centerline goodness : 0.749386 with order 1 Centerline is valid? [False, False] Translation: X:-2.95, Y:-4.86, Z:0.27 [[ 0.71680322 -0.68833192 -0.11132074 -2.94913761] [ 0.68324177 0.72523691 -0.08492414 -4.86285182] [ 0.13918991 -0.01518508 0.99014927 0.274571 ] [ 0. 0. 0. 1. ]] SLAMing on 61.561652532 meters Centerline goodness : 0.749696 with order 1 Centerline is valid? [False, False] Translation: X:-2.98, Y:-4.91, Z:0.27 [[ 0.71836293 -0.68646692 -0.11277353 -2.98134268] [ 0.68086338 0.72704134 -0.08852092 -4.9054149 ] [ 0.1427577 -0.01319322 0.98966973 0.27387188] [ 0. 0. 0. 1. ]] SLAMing on 61.621652532 meters Centerline goodness : 0.750596 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-4.94, Z:0.27 [[ 0.71928815 -0.68588511 -0.11039101 -3.01215132] [ 0.68013905 0.72762855 -0.08926118 -4.94443507] [ 0.14154657 -0.01087673 0.98987184 0.26988302] [ 0. 0. 0. 1. ]] SLAMing on 61.681652532 meters Centerline goodness : 0.748244 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-5.00, Z:0.26 [[ 0.71693181 -0.68798932 -0.11260317 -3.05127842] [ 0.68283094 0.72555363 -0.0855209 -4.99551183] [ 0.14053711 -0.01557628 0.98995288 0.26491234] [ 0. 0. 0. 1. ]] SLAMing on 61.741652531999996 meters Centerline goodness : 0.753328 with order 1 Centerline is valid? [False, False] Translation: X:-3.08, Y:-5.04, Z:0.26 [[ 0.71665217 -0.68826556 -0.11269512 -3.07874233] [ 0.68256884 0.72534381 -0.08930927 -5.03587743] [ 0.1432112 -0.0129185 0.98960783 0.26339454] [ 0. 0. 0. 1. ]] SLAMing on 61.801652532 meters Centerline goodness : 0.752038 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-5.07, Z:0.26 [[ 0.71528302 -0.68946603 -0.11404734 -3.10078175] [ 0.68345834 0.72421214 -0.09165956 -5.06779855] [ 0.14579062 -0.01238408 0.98923795 0.2604694 ] [ 0. 0. 0. 1. ]] SLAMing on 61.861652532 meters Centerline goodness : 0.753769 with order 1 Centerline is valid? [False, False] Translation: X:-3.14, Y:-5.12, Z:0.25 [[ 0.71163176 -0.69276353 -0.1168714 -3.13690767] [ 0.68716028 0.72097315 -0.08949004 -5.11774292] [ 0.14625658 -0.01662543 0.98910698 0.25423592] [ 0. 0. 0. 1. ]] SLAMing on 61.921652531999996 meters Centerline goodness : 0.751886 with order 1 Centerline is valid? [False, False] Translation: X:-3.18, Y:-5.17, Z:0.25 [[ 0.71072463 -0.69312518 -0.12019981 -3.17619161] [ 0.68818799 0.72048195 -0.08545793 -5.16679087] [ 0.14583484 -0.02198301 0.98906468 0.2464813 ] [ 0. 0. 0. 1. ]] SLAMing on 61.981652532 meters Centerline goodness : 0.753085 with order 1 Centerline is valid? [False, False] Translation: X:-3.21, Y:-5.21, Z:0.24 [[ 0.71371433 -0.68927501 -0.12454644 -3.20793195] [ 0.68385427 0.72417531 -0.0889576 -5.2054073 ] [ 0.15150971 -0.0216813 0.98821796 0.24439759] [ 0. 0. 0. 1. ]] SLAMing on 62.041652532 meters Centerline goodness : 0.752400 with order 1 Centerline is valid? [False, False] Translation: X:-3.24, Y:-5.24, Z:0.24 [[ 0.71336251 -0.68980368 -0.12363179 -3.23610604] [ 0.68384937 0.72375571 -0.09234559 -5.24059261] [ 0.15317954 -0.01866964 0.988022 0.24015843] [ 0. 0. 0. 1. ]] SLAMing on 62.101652531999996 meters Centerline goodness : 0.747632 with order 1 Centerline is valid? [False, False] Translation: X:-3.27, Y:-5.29, Z:0.24 [[ 0.71409129 -0.68912773 -0.12319332 -3.27326252] [ 0.68190384 0.72453394 -0.10028819 -5.28561749] [ 0.15836911 -0.01239108 0.98730223 0.23661983] [ 0. 0. 0. 1. ]] SLAMing on 62.161652532 meters Centerline goodness : 0.741158 with order 1 Centerline is valid? [False, False] Translation: X:-3.31, Y:-5.32, Z:0.23 [[ 0.71687726 -0.68536786 -0.12789795 -3.30536854] [ 0.67745387 0.72810265 -0.1045121 -5.32185852] [ 0.16475207 -0.01172261 0.98626535 0.23343011] [ 0. 0. 0. 1. ]] SLAMing on 62.221652532 meters Centerline goodness : 0.732033 with order 1 Centerline is valid? [False, False] Translation: X:-3.35, Y:-5.37, Z:0.23 [[ 0.72274191 -0.67787214 -0.13466066 -3.34701866] [ 0.6695327 0.73506531 -0.10679399 -5.36708414] [ 0.17137705 -0.01297523 0.98512007 0.23038179] [ 0. 0. 0. 1. ]] SLAMing on 62.281652532 meters Centerline goodness : 0.734554 with order 1 Centerline is valid? [False, False] Translation: X:-3.38, Y:-5.41, Z:0.22 [[ 0.72488782 -0.67612688 -0.13187149 -3.38100405] [ 0.66759709 0.73671615 -0.10753342 -5.40777362] [ 0.1698581 -0.01008736 0.9854169 0.22473519] [ 0. 0. 0. 1. ]] SLAMing on 62.341652532 meters Centerline goodness : 0.727861 with order 1 Centerline is valid? [False, False] Translation: X:-3.41, Y:-5.45, Z:0.22 [[ 0.72574154 -0.67540141 -0.13088982 -3.41215509] [ 0.66651059 0.73740938 -0.10950364 -5.44683492] [ 0.17047829 -0.00776811 0.98533081 0.22087101] [ 0. 0. 0. 1. ]] SLAMing on 62.401652532 meters Centerline goodness : 0.728641 with order 1 Centerline is valid? [False, False] Translation: X:-3.45, Y:-5.49, Z:0.21 [[ 0.72424317 -0.67610232 -0.13548978 -3.44904025] [ 0.66835307 0.73663928 -0.10327997 -5.49483674] [ 0.16963492 -0.0157552 0.98538103 0.21461165] [ 0. 0. 0. 1. ]] SLAMing on 62.461652532 meters Centerline goodness : 0.715094 with order 1 Centerline is valid? [False, False] Translation: X:-3.49, Y:-5.55, Z:0.21 [[ 0.72199665 -0.67792122 -0.13836061 -3.48775338] [ 0.67076585 0.73485222 -0.10032643 -5.5475827 ] [ 0.16968801 -0.02037223 0.98528724 0.20790538] [ 0. 0. 0. 1. ]] SLAMing on 62.521652532 meters Centerline goodness : 0.710864 with order 1 Centerline is valid? [False, False] Translation: X:-3.53, Y:-5.60, Z:0.20 [[ 0.72137627 -0.67809515 -0.14072402 -3.53028604] [ 0.67147967 0.73457753 -0.09752389 -5.6026009 ] [ 0.16950318 -0.0241419 0.9852339 0.20020026] [ 0. 0. 0. 1. ]] SLAMing on 62.581652532 meters Centerline goodness : 0.704605 with order 1 Centerline is valid? [False, False] Translation: X:-3.57, Y:-5.65, Z:0.19 [[ 0.72006308 -0.67899351 -0.14309775 -3.5703732 ] [ 0.67290593 0.73361239 -0.0949235 -5.65306005] [ 0.16943072 -0.02794042 0.98514596 0.19153921] [ 0. 0. 0. 1. ]] SLAMing on 62.641652532 meters Centerline goodness : 0.702648 with order 1 Centerline is valid? [False, False] Translation: X:-3.61, Y:-5.71, Z:0.18 [[ 0.71814938 -0.68075459 -0.14434215 -3.61218879] [ 0.67505477 0.7318724 -0.09307978 -5.70618187] [ 0.16900453 -0.03059367 0.98514034 0.18236791] [ 0. 0. 0. 1. ]] SLAMing on 62.701652532 meters Centerline goodness : 0.695512 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:-5.76, Z:0.17 [[ 0.71784945 -0.68077344 -0.14573847 -3.65574556] [ 0.6752957 0.73177995 -0.09205333 -5.75988528] [ 0.16931595 -0.03233613 0.98503121 0.17284906] [ 0. 0. 0. 1. ]] SLAMing on 62.761652532 meters Centerline goodness : 0.692848 with order 1 Centerline is valid? [False, False] Translation: X:-3.70, Y:-5.82, Z:0.16 [[ 0.71787907 -0.68029703 -0.14780255 -3.70077612] [ 0.67487085 0.73216482 -0.09210867 -5.81503483] [ 0.17087709 -0.03362475 0.98471844 0.16277841] [ 0. 0. 0. 1. ]] SLAMing on 62.821652532 meters Centerline goodness : 0.686923 with order 1 Centerline is valid? [False, False] Translation: X:-3.75, Y:-5.87, Z:0.15 [[ 0.71963071 -0.67808155 -0.14945583 -3.75173608] [ 0.67240489 0.73423975 -0.0936144 -5.87357698] [ 0.1732146 -0.03312703 0.98432683 0.15200308] [ 0. 0. 0. 1. ]] SLAMing on 62.881652532 meters Centerline goodness : 0.687836 with order 1 Centerline is valid? [False, False] Translation: X:-3.80, Y:-5.93, Z:0.15 [[ 0.72353158 -0.6735751 -0.15099219 -3.7961966 ] [ 0.6664633 0.73861481 -0.10136484 -5.92550973] [ 0.1798019 -0.02729009 0.98332422 0.1471611 ] [ 0. 0. 0. 1. ]] SLAMing on 62.941652532 meters Centerline goodness : 0.690518 with order 1 Centerline is valid? [False, False] Translation: X:-3.85, Y:-5.99, Z:0.14 [[ 0.72671444 -0.67024905 -0.15050694 -3.8510758 ] [ 0.66340278 0.74162385 -0.09945257 -5.98630039] [ 0.17827752 -0.0275731 0.98359384 0.13558352] [ 0. 0. 0. 1. ]] SLAMing on 63.001652532 meters Centerline goodness : 0.698220 with order 1 Centerline is valid? [False, False] Translation: X:-3.89, Y:-6.03, Z:0.13 [[ 0.72881263 -0.6681705 -0.14960057 -3.88821465] [ 0.66026253 0.74367317 -0.10489803 -6.03026891] [ 0.1813437 -0.02232464 0.98316635 0.13023264] [ 0. 0. 0. 1. ]] SLAMing on 63.061652532 meters Centerline goodness : 0.705337 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-6.09, Z:0.12 [[ 0.72820336 -0.66894442 -0.1491081 -3.93545771] [ 0.6613289 0.74294509 -0.10332802 -6.08886458] [ 0.17989983 -0.02336568 0.98340739 0.12087338] [ 0. 0. 0. 1. ]] SLAMing on 63.121652532 meters Centerline goodness : 0.709194 with order 1 Centerline is valid? [False, False] Translation: X:-3.98, Y:-6.14, Z:0.11 [[ 0.72531561 -0.6721631 -0.1487079 -3.976959 ] [ 0.66488739 0.73997882 -0.10176495 -6.14183535] [ 0.17844334 -0.0250623 0.98363095 0.11202829] [ 0. 0. 0. 1. ]] SLAMing on 63.181652532 meters Centerline goodness : 0.720170 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:-6.20, Z:0.10 [[ 0.72633329 -0.67058821 -0.15083565 -4.02221265] [ 0.66411803 0.7412477 -0.09746329 -6.20065593] [ 0.17716431 -0.02938184 0.98374261 0.10367408] [ 0. 0. 0. 1. ]] SLAMing on 63.241652531999996 meters Centerline goodness : 0.721572 with order 1 Centerline is valid? [False, False] Translation: X:-4.06, Y:-6.25, Z:0.10 [[ 0.72221892 -0.67455084 -0.15290844 -4.05816426] [ 0.66850161 0.73749417 -0.09595803 -6.25023299] [ 0.17749766 -0.03291683 0.98357057 0.09677059] [ 0. 0. 0. 1. ]] SLAMing on 63.301652532 meters Centerline goodness : 0.725113 with order 1 Centerline is valid? [False, False] Translation: X:-4.10, Y:-6.30, Z:0.09 [[ 0.71898031 -0.67771015 -0.15419556 -4.09784575] [ 0.67169099 0.73453095 -0.09641322 -6.3035517 ] [ 0.17860162 -0.03425256 0.98332508 0.08713431] [ 0. 0. 0. 1. ]] SLAMing on 63.361652532 meters Centerline goodness : 0.724693 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:-6.36, Z:0.08 [[ 0.71883721 -0.67741017 -0.15616828 -4.14357406] [ 0.6711742 0.73480035 -0.09794714 -6.36075591] [ 0.18110289 -0.03440807 0.98286206 0.07688545] [ 0. 0. 0. 1. ]] SLAMing on 63.421652531999996 meters Centerline goodness : 0.726487 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-6.42, Z:0.07 [[ 0.71857798 -0.67744251 -0.15721747 -4.18981091] [ 0.671297 0.73472542 -0.09766723 -6.41703377] [ 0.18167561 -0.03535809 0.98272264 0.0661901 ] [ 0. 0. 0. 1. ]] SLAMing on 63.481652532 meters Centerline goodness : 0.730709 with order 1 Centerline is valid? [False, False] Translation: X:-4.23, Y:-6.46, Z:0.06 [[ 0.71920048 -0.67706864 -0.15597668 -4.22618248] [ 0.66957311 0.73534063 -0.1046232 -6.46251951] [ 0.18553308 -0.02919274 0.98220429 0.06220004] [ 0. 0. 0. 1. ]] SLAMing on 63.541652532 meters Centerline goodness : 0.734842 with order 1 Centerline is valid? [False, False] Translation: X:-4.28, Y:-6.52, Z:0.05 [[ 0.71945149 -0.67695162 -0.15532562 -4.27567474] [ 0.6694502 0.73546486 -0.10453643 -6.52155275] [ 0.18500264 -0.02877388 0.98231669 0.05041915] [ 0. 0. 0. 1. ]] SLAMing on 63.601652531999996 meters Centerline goodness : 0.734858 with order 1 Centerline is valid? [False, False] Translation: X:-4.32, Y:-6.57, Z:0.04 [[ 0.72015713 -0.67567477 -0.15759857 -4.31965089] [ 0.668495 0.73654194 -0.10305532 -6.57321044] [ 0.18570983 -0.03113783 0.98211114 0.03806917] [ 0. 0. 0. 1. ]] SLAMing on 63.661652532 meters Centerline goodness : 0.731708 with order 1 Centerline is valid? [False, False] Translation: X:-4.37, Y:-6.63, Z:0.03 [[ 0.72119084 -0.67437548 -0.15843447 -4.36743909] [ 0.66732327 0.73769923 -0.10236943 -6.63108631] [ 0.18591242 -0.03189911 0.98204838 0.0268362 ] [ 0. 0. 0. 1. ]] SLAMing on 63.721652532 meters Centerline goodness : 0.730753 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-6.67, Z:0.02 [[ 0.72160838 -0.67450862 -0.155947 -4.39814476] [ 0.66688457 0.73772691 -0.10499513 -6.66878329] [ 0.18586642 -0.02823329 0.98216931 0.02032536] [ 0. 0. 0. 1. ]] SLAMing on 63.781652532 meters Centerline goodness : 0.728189 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:-6.73, Z:0.01 [[ 0.72452491 -0.67144399 -0.15564907 -4.45139562] [ 0.66395596 0.74052276 -0.10386779 -6.72849045] [ 0.18500308 -0.02808932 0.98233642 0.00719112] [ 0. 0. 0. 1. ]] SLAMing on 63.841652532 meters Centerline goodness : 0.727732 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-6.77, Z:0.00 [[ 7.28009999e-01 -6.66120969e-01 -1.62124319e-01 -4.49065753e+00] [ 6.57696663e-01 7.45346389e-01 -1.09058973e-01 -6.77196676e+00] [ 1.93485245e-01 -2.72326009e-02 9.80725163e-01 2.98526037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901652532 meters Centerline goodness : 0.726444 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-6.81, Z:-0.00 [[ 7.30331422e-01 -6.63115126e-01 -1.63994952e-01 -4.52680247e+00] [ 6.53568969e-01 7.48147803e-01 -1.14553343e-01 -6.81383740e+00] [ 1.98654517e-01 -2.35201063e-02 9.79787317e-01 -2.14195441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961652532 meters Centerline goodness : 0.725990 with order 1 Centerline is valid? [False, False] Translation: X:-4.56, Y:-6.85, Z:-0.01 [[ 0.73319135 -0.66045417 -0.16195905 -4.56246066] [ 0.65064582 0.75057707 -0.11529994 -6.8535815 ] [ 0.19771308 -0.02084106 0.98003836 -0.00879462] [ 0. 0. 0. 1. ]] SLAMing on 64.02165253199999 meters Centerline goodness : 0.727795 with order 1 Centerline is valid? [False, False] Translation: X:-4.60, Y:-6.90, Z:-0.02 [[ 0.73678625 -0.65740378 -0.15800727 -4.60044658] [ 0.64765431 0.75331975 -0.11425083 -6.899423 ] [ 0.19413892 -0.01815565 0.98080602 -0.01500167] [ 0. 0. 0. 1. ]] SLAMing on 64.08165253199999 meters Centerline goodness : 0.729073 with order 1 Centerline is valid? [False, False] Translation: X:-4.63, Y:-6.95, Z:-0.02 [[ 0.73370153 -0.65956816 -0.16325411 -4.63449697] [ 0.65124965 0.75115405 -0.10789577 -6.9480598 ] [ 0.1937936 -0.02715589 0.9806664 -0.01974888] [ 0. 0. 0. 1. ]] SLAMing on 64.141652532 meters Centerline goodness : 0.731015 with order 1 Centerline is valid? [False, False] Translation: X:-4.67, Y:-7.00, Z:-0.03 [[ 0.73059739 -0.66191414 -0.16762199 -4.66827076] [ 0.65479827 0.74877856 -0.10280997 -6.99618855] [ 0.19356312 -0.03464589 0.98047589 -0.02622647] [ 0. 0. 0. 1. ]] SLAMing on 64.201652532 meters Centerline goodness : 0.730491 with order 1 Centerline is valid? [False, False] Translation: X:-4.70, Y:-7.04, Z:-0.03 [[ 0.7306161 -0.6615438 -0.16899679 -4.69667399] [ 0.65351507 0.74923003 -0.10757513 -7.03565493] [ 0.19778313 -0.03184582 0.97972837 -0.03057492] [ 0. 0. 0. 1. ]] SLAMing on 64.26165253199999 meters Centerline goodness : 0.730714 with order 1 Centerline is valid? [False, False] Translation: X:-4.72, Y:-7.07, Z:-0.04 [[ 0.7315216 -0.66041894 -0.16947851 -4.7234475 ] [ 0.65243577 0.7502113 -0.10728729 -7.07010189] [ 0.19799925 -0.03209087 0.97967672 -0.03613284] [ 0. 0. 0. 1. ]] SLAMing on 64.32165253199999 meters Centerline goodness : 0.731005 with order 1 Centerline is valid? [False, False] Translation: X:-4.76, Y:-7.11, Z:-0.04 [[ 0.73468665 -0.65667632 -0.17032833 -4.75597929] [ 0.64839808 0.75354353 -0.10840698 -7.10647828] [ 0.19953811 -0.0307954 0.97940604 -0.043493 ] [ 0. 0. 0. 1. ]] SLAMing on 64.38165253199999 meters Centerline goodness : 0.729679 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-7.14, Z:-0.05 [[ 0.7369716 -0.65427283 -0.16970539 -4.78631584] [ 0.64597247 0.75566547 -0.10811692 -7.13876425] [ 0.19897847 -0.02994591 0.97954623 -0.05229936] [ 0. 0. 0. 1. ]] SLAMing on 64.44165253199999 meters Centerline goodness : 0.730284 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-7.18, Z:-0.06 [[ 0.73804905 -0.65190886 -0.17406445 -4.82052203] [ 0.64260388 0.75777212 -0.11332113 -7.17840966] [ 0.20577623 -0.02821794 0.97819215 -0.05543197] [ 0. 0. 0. 1. ]] SLAMing on 64.501652532 meters Centerline goodness : 0.731399 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-7.21, Z:-0.06 [[ 0.73990073 -0.64987669 -0.17380216 -4.84945334] [ 0.64071863 0.75951455 -0.1123267 -7.21124508] [ 0.20500377 -0.02824768 0.97835347 -0.0632591 ] [ 0. 0. 0. 1. ]] SLAMing on 64.561652532 meters Centerline goodness : 0.726691 with order 1 Centerline is valid? [False, False] Translation: X:-4.88, Y:-7.25, Z:-0.07 [[ 0.74156257 -0.64705738 -0.17720526 -4.88475707] [ 0.63700753 0.76198424 -0.11662514 -7.25122229] [ 0.21049077 -0.02639625 0.97723941 -0.06705941] [ 0. 0. 0. 1. ]] SLAMing on 64.621652532 meters Centerline goodness : 0.727307 with order 1 Centerline is valid? [False, False] Translation: X:-4.92, Y:-7.29, Z:-0.07 [[ 0.74417999 -0.64381362 -0.17804539 -4.91759252] [ 0.63358865 0.76475254 -0.11712804 -7.28719702] [ 0.21156929 -0.02564319 0.97702654 -0.07365758] [ 0. 0. 0. 1. ]] SLAMing on 64.68165253199999 meters Centerline goodness : 0.724679 with order 1 Centerline is valid? [False, False] Translation: X:-4.96, Y:-7.33, Z:-0.08 [[ 0.74370226 -0.64292602 -0.18317499 -4.9565173 ] [ 0.6341349 0.76519486 -0.11112942 -7.33461077] [ 0.21161256 -0.03351045 0.97677898 -0.08134498] [ 0. 0. 0. 1. ]] SLAMing on 64.74165253199999 meters Centerline goodness : 0.724290 with order 1 Centerline is valid? [False, False] Translation: X:-4.99, Y:-7.37, Z:-0.09 [[ 0.74670899 -0.63980357 -0.18187103 -4.9902122 ] [ 0.63122673 0.76782838 -0.10950982 -7.37275544] [ 0.20971051 -0.03302989 0.97720547 -0.08817238] [ 0. 0. 0. 1. ]] SLAMing on 64.80165253199999 meters Centerline goodness : 0.718188 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:-7.41, Z:-0.10 [[ 0.74796933 -0.63824636 -0.18216328 -5.01888438] [ 0.62945033 0.76916227 -0.11037065 -7.40626638] [ 0.21055678 -0.03210887 0.97705418 -0.09559521] [ 0. 0. 0. 1. ]] SLAMing on 64.861652532 meters Centerline goodness : 0.719165 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:-7.46, Z:-0.10 [[ 0.74846836 -0.63682381 -0.18506906 -5.06338784] [ 0.62888094 0.77014407 -0.10670931 -7.46020001] [ 0.21048486 -0.03651787 0.97691482 -0.10478148] [ 0. 0. 0. 1. ]] SLAMing on 64.921652532 meters Centerline goodness : 0.713885 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:-7.50, Z:-0.11 [[ 0.74863397 -0.63750459 -0.18203041 -5.09328097] [ 0.62905074 0.76973262 -0.10865943 -7.49721446] [ 0.20938564 -0.03316022 0.97727072 -0.11251164] [ 0. 0. 0. 1. ]] SLAMing on 64.981652532 meters Centerline goodness : 0.715705 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:-7.54, Z:-0.12 [[ 0.74542153 -0.6399829 -0.18646345 -5.12991861] [ 0.63284404 0.76730884 -0.10366086 -7.54392102] [ 0.20941623 -0.04073124 0.97697789 -0.11896796] [ 0. 0. 0. 1. ]] SLAMing on 65.04165253199999 meters Centerline goodness : 0.713565 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:-7.58, Z:-0.12 [[ 0.74768731 -0.63583811 -0.1915035 -5.1604596 ] [ 0.62807912 0.77076797 -0.10692684 -7.58026642] [ 0.21559292 -0.0403315 0.97565007 -0.12393583] [ 0. 0. 0. 1. ]] SLAMing on 65.10165253199999 meters Centerline goodness : 0.710799 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:-7.63, Z:-0.13 [[ 0.74513883 -0.63763014 -0.1954378 -5.19732677] [ 0.63056799 0.7690204 -0.10484099 -7.62928882] [ 0.21714543 -0.04511573 0.97509611 -0.13251302] [ 0. 0. 0. 1. ]] SLAMing on 65.16165253199999 meters Centerline goodness : 0.712167 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:-7.68, Z:-0.14 [[ 0.74513656 -0.63657577 -0.19885371 -5.23937182] [ 0.63029478 0.76963246 -0.10195279 -7.68087173] [ 0.21794494 -0.0493677 0.97471167 -0.14325794] [ 0. 0. 0. 1. ]] SLAMing on 65.221652532 meters Centerline goodness : 0.708913 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:-7.72, Z:-0.15 [[ 0.74473381 -0.63711224 -0.19864426 -5.2679282 ] [ 0.62975837 0.76942111 -0.10674993 -7.71754498] [ 0.22085278 -0.04559761 0.97424068 -0.14975186] [ 0. 0. 0. 1. ]] SLAMing on 65.281652532 meters Centerline goodness : 0.711413 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:-7.77, Z:-0.16 [[ 0.74144142 -0.64083295 -0.19899182 -5.30761774] [ 0.63382885 0.76619938 -0.1058277 -7.77080461] [ 0.22028529 -0.04766172 0.97427037 -0.15993114] [ 0. 0. 0. 1. ]] SLAMing on 65.341652532 meters Centerline goodness : 0.712316 with order 1 Centerline is valid? [False, False] Translation: X:-5.34, Y:-7.82, Z:-0.17 [[ 0.73859235 -0.64261996 -0.20376683 -5.34157274] [ 0.63686191 0.7642353 -0.10174138 -7.81580134] [ 0.22110685 -0.05462593 0.97371853 -0.16818604] [ 0. 0. 0. 1. ]] SLAMing on 65.40165253199999 meters Centerline goodness : 0.705626 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-7.85, Z:-0.17 [[ 0.73791934 -0.64352113 -0.20336077 -5.36855129] [ 0.63742363 0.76356177 -0.10326923 -7.85422789] [ 0.22173444 -0.0534226 0.97364258 -0.17283971] [ 0. 0. 0. 1. ]] SLAMing on 65.46165253199999 meters Centerline goodness : 0.718906 with order 1 Centerline is valid? [False, False] Translation: X:-5.39, Y:-7.89, Z:-0.18 [[ 0.73911311 -0.64200342 -0.20382204 -5.39486018] [ 0.63620834 0.76476844 -0.10182427 -7.8918945 ] [ 0.22124819 -0.05441363 0.97369831 -0.17822278] [ 0. 0. 0. 1. ]] SLAMing on 65.52165253199999 meters Centerline goodness : 0.712704 with order 1 Centerline is valid? [False, False] Translation: X:-5.42, Y:-7.93, Z:-0.18 [[ 0.73830827 -0.64305129 -0.20343534 -5.42096728] [ 0.63691798 0.76396953 -0.10337332 -7.9291484 ] [ 0.22189275 -0.05325025 0.97361595 -0.18360297] [ 0. 0. 0. 1. ]] SLAMing on 65.58165253199999 meters Centerline goodness : 0.722544 with order 1 Centerline is valid? [False, False] Translation: X:-5.44, Y:-7.97, Z:-0.19 [[ 0.73642674 -0.6451479 -0.20361691 -5.44447819] [ 0.63855501 0.76227622 -0.10574717 -7.96501166] [ 0.22343489 -0.05214555 0.97332301 -0.18837753] [ 0. 0. 0. 1. ]] SLAMing on 65.641652532 meters Centerline goodness : 0.715085 with order 1 Centerline is valid? [False, False] Translation: X:-5.48, Y:-8.01, Z:-0.20 [[ 0.73244841 -0.64865437 -0.20680144 -5.4797361 ] [ 0.64318994 0.75885724 -0.10218796 -8.01180174] [ 0.22321744 -0.0581652 0.97303175 -0.19588446] [ 0. 0. 0. 1. ]] SLAMing on 65.701652532 meters Centerline goodness : 0.727780 with order 1 Centerline is valid? [False, False] Translation: X:-5.51, Y:-8.05, Z:-0.20 [[ 0.73515344 -0.64554243 -0.20694054 -5.51014248] [ 0.640473 0.76144078 -0.10001134 -8.04686268] [ 0.22213453 -0.05901615 0.97322831 -0.20337078] [ 0. 0. 0. 1. ]] SLAMing on 65.76165253199999 meters Centerline goodness : 0.717256 with order 1 Centerline is valid? [False, False] Translation: X:-5.54, Y:-8.08, Z:-0.21 [[ 0.73543052 -0.64584976 -0.20498792 -5.5404081 ] [ 0.6402088 0.76139383 -0.10203982 -8.08383415] [ 0.22197893 -0.05619188 0.97343096 -0.21087201] [ 0. 0. 0. 1. ]] SLAMing on 65.82165253199999 meters Centerline goodness : 0.716930 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-8.12, Z:-0.22 [[ 0.73607127 -0.64450683 -0.20690586 -5.56436972] [ 0.63921998 0.76239029 -0.1007912 -8.1154343 ] [ 0.22270364 -0.05806886 0.97315523 -0.21577338] [ 0. 0. 0. 1. ]] SLAMing on 65.88165253199999 meters Centerline goodness : 0.711550 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-8.15, Z:-0.22 [[ 0.73662274 -0.64356209 -0.20788166 -5.59248473] [ 0.63734813 0.76340017 -0.1049168 -8.14897722] [ 0.22621737 -0.05520889 0.97251102 -0.22465101] [ 0. 0. 0. 1. ]] SLAMing on 65.94165253199999 meters Centerline goodness : 0.709158 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:-8.18, Z:-0.23 [[ 0.73768543 -0.64165527 -0.20999697 -5.61748156] [ 0.63572057 0.76488648 -0.10396168 -8.17918292] [ 0.2273314 -0.05680838 0.97215906 -0.23118064] [ 0. 0. 0. 1. ]] SLAMing on 66.001652532 meters Centerline goodness : 0.707323 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:-8.22, Z:-0.24 [[ 0.74129536 -0.63777187 -0.20911297 -5.65266575] [ 0.63169246 0.7682456 -0.10374653 -8.21510497] [ 0.22681673 -0.05518827 0.97237258 -0.24077608] [ 0. 0. 0. 1. ]] SLAMing on 66.061652532 meters Centerline goodness : 0.708398 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:-8.25, Z:-0.25 [[ 0.74352434 -0.6352023 -0.20902057 -5.68387308] [ 0.62910359 0.77041272 -0.10340653 -8.24631866] [ 0.22671617 -0.05461031 0.97242866 -0.25002455] [ 0. 0. 0. 1. ]] SLAMing on 66.121652532 meters Centerline goodness : 0.706532 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-8.28, Z:-0.26 [[ 0.74793926 -0.63047817 -0.20756717 -5.72071817] [ 0.62417206 0.77443904 -0.10321537 -8.28267482] [ 0.22582315 -0.0523588 0.97276023 -0.26059152] [ 0. 0. 0. 1. ]] SLAMing on 66.18165253199999 meters Centerline goodness : 0.709107 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-8.32, Z:-0.27 [[ 0.75039688 -0.62762886 -0.20733194 -5.75163195] [ 0.62149302 0.77675247 -0.10199032 -8.31582525] [ 0.22505767 -0.05232213 0.97293959 -0.2689896 ] [ 0. 0. 0. 1. ]] SLAMing on 66.24165253199999 meters Centerline goodness : 0.716823 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-8.34, Z:-0.27 [[ 0.75487571 -0.62338523 -0.20384679 -5.77567 ] [ 0.6154464 0.78069493 -0.10835662 -8.3400087 ] [ 0.22669007 -0.04366099 0.97298784 -0.272577 ] [ 0. 0. 0. 1. ]] SLAMing on 66.30165253199999 meters Centerline goodness : 0.714002 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-8.37, Z:-0.28 [[ 0.75552034 -0.62120472 -0.20807142 -5.79762879] [ 0.61395831 0.78219532 -0.10595131 -8.36963806] [ 0.22856994 -0.0476988 0.97235827 -0.27619083] [ 0. 0. 0. 1. ]] SLAMing on 66.361652532 meters Centerline goodness : 0.715210 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-8.40, Z:-0.28 [[ 0.75517659 -0.62066674 -0.21090546 -5.82083588] [ 0.61378156 0.78246694 -0.1049652 -8.40125044] [ 0.23017496 -0.05018262 0.97185451 -0.27998716] [ 0. 0. 0. 1. ]] SLAMing on 66.421652532 meters Centerline goodness : 0.719696 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-8.43, Z:-0.29 [[ 0.75657833 -0.61883864 -0.21125335 -5.84936588] [ 0.61204004 0.78390544 -0.10439951 -8.4344789 ] [ 0.2302091 -0.05030911 0.97183989 -0.28782414] [ 0. 0. 0. 1. ]] SLAMing on 66.481652532 meters Centerline goodness : 0.716616 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-8.48, Z:-0.30 [[ 0.75716702 -0.61879685 -0.20925715 -5.88794789] [ 0.61031259 0.78433848 -0.11104814 -8.47815613] [ 0.23284468 -0.04363028 0.97153474 -0.29538262] [ 0. 0. 0. 1. ]] SLAMing on 66.54165253199999 meters Centerline goodness : 0.710278 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-8.51, Z:-0.30 [[ 0.75865526 -0.61570337 -0.21295907 -5.91136824] [ 0.60774342 0.78659755 -0.10914316 -8.50866188] [ 0.23471289 -0.04662244 0.97094604 -0.30137113] [ 0. 0. 0. 1. ]] SLAMing on 66.60165253199999 meters Centerline goodness : 0.719037 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-8.55, Z:-0.31 [[ 0.75378614 -0.62031571 -0.21682916 -5.9442735 ] [ 0.61318234 0.78262123 -0.10729136 -8.55276017] [ 0.23624962 -0.05208107 0.97029567 -0.30984812] [ 0. 0. 0. 1. ]] SLAMing on 66.66165253199999 meters Centerline goodness : 0.716284 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-8.59, Z:-0.32 [[ 0.75696462 -0.61546597 -0.21955912 -5.97198474] [ 0.60883109 0.78630436 -0.10511972 -8.58625337] [ 0.2373379 -0.05410251 0.9699194 -0.31800975] [ 0. 0. 0. 1. ]] SLAMing on 66.721652532 meters Centerline goodness : 0.720458 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-8.61, Z:-0.33 [[ 0.75668235 -0.61499196 -0.2218484 -5.9961594 ] [ 0.60835934 0.7866078 -0.10557977 -8.61355875] [ 0.23943839 -0.0550732 0.96934834 -0.32517284] [ 0. 0. 0. 1. ]] SLAMing on 66.781652532 meters Centerline goodness : 0.716808 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-8.65, Z:-0.33 [[ 0.75712932 -0.61507184 -0.22009503 -6.02611712] [ 0.60792054 0.78671644 -0.10728396 -8.64942391] [ 0.23913973 -0.05257246 0.96956089 -0.33403785] [ 0. 0. 0. 1. ]] SLAMing on 66.841652532 meters Centerline goodness : 0.719258 with order 1 Centerline is valid? [False, False] Translation: X:-6.05, Y:-8.68, Z:-0.34 [[ 0.75761496 -0.61426865 -0.22066625 -6.05159175] [ 0.60697843 0.7873664 -0.10784867 -8.6832583 ] [ 0.23999325 -0.05223189 0.96936839 -0.34207161] [ 0. 0. 0. 1. ]] SLAMing on 66.90165253199999 meters Centerline goodness : 0.719330 with order 1 Centerline is valid? [False, False] Translation: X:-6.07, Y:-8.71, Z:-0.35 [[ 0.75440529 -0.61731457 -0.22314878 -6.06872707] [ 0.60988441 0.78489415 -0.10946316 -8.7063631 ] [ 0.24272137 -0.05351537 0.96861883 -0.34811965] [ 0. 0. 0. 1. ]] SLAMing on 66.96165253199999 meters Centerline goodness : 0.724447 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-8.74, Z:-0.36 [[ 0.7555129 -0.61571826 -0.22381081 -6.09557634] [ 0.60844867 0.78611113 -0.10871755 -8.74124788] [ 0.24287955 -0.05403988 0.96855006 -0.35557913] [ 0. 0. 0. 1. ]] SLAMing on 67.02165253199999 meters Centerline goodness : 0.723400 with order 1 Centerline is valid? [False, False] Translation: X:-6.12, Y:-8.77, Z:-0.36 [[ 0.75614426 -0.61451053 -0.22499481 -6.12215751] [ 0.60717173 0.78704891 -0.10907107 -8.77271975] [ 0.24410724 -0.05413702 0.96823594 -0.36389775] [ 0. 0. 0. 1. ]] SLAMing on 67.08165253199999 meters Centerline goodness : 0.722499 with order 1 Centerline is valid? [False, False] Translation: X:-6.15, Y:-8.81, Z:-0.37 [[ 0.75586066 -0.61593802 -0.22202482 -6.15261873] [ 0.60795192 0.78614708 -0.11120799 -8.80692985] [ 0.24304139 -0.05092267 0.96867836 -0.37339938] [ 0. 0. 0. 1. ]] SLAMing on 67.141652532 meters Centerline goodness : 0.721394 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:-8.85, Z:-0.38 [[ 0.75661426 -0.61689195 -0.21674682 -6.19288026] [ 0.6071584 0.78587936 -0.11727022 -8.85155298] [ 0.24267991 -0.04287133 0.96915866 -0.38332611] [ 0. 0. 0. 1. ]] SLAMing on 67.201652532 meters Centerline goodness : 0.723996 with order 1 Centerline is valid? [False, False] Translation: X:-6.22, Y:-8.88, Z:-0.39 [[ 0.75865139 -0.61414609 -0.21742273 -6.22306859] [ 0.60475065 0.78797758 -0.11562005 -8.88480929] [ 0.24233183 -0.04377122 0.96920553 -0.39090668] [ 0. 0. 0. 1. ]] SLAMing on 67.26165253199999 meters Centerline goodness : 0.718452 with order 1 Centerline is valid? [False, False] Translation: X:-6.25, Y:-8.92, Z:-0.40 [[ 0.75904101 -0.61300888 -0.21926436 -6.25490274] [ 0.60267117 0.78898911 -0.1195142 -8.92123172] [ 0.24626046 -0.04142813 0.96831787 -0.39733795] [ 0. 0. 0. 1. ]] SLAMing on 67.32165253199999 meters Centerline goodness : 0.717391 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-8.97, Z:-0.41 [[ 0.75685365 -0.61434954 -0.2230408 -6.292945 ] [ 0.60537743 0.78757672 -0.11506989 -8.96829481] [ 0.24635488 -0.0479328 0.96799366 -0.40655852] [ 0. 0. 0. 1. ]] SLAMing on 67.38165253199999 meters Centerline goodness : 0.713562 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:-9.00, Z:-0.41 [[ 0.75936508 -0.61136363 -0.22270876 -6.32531044] [ 0.60278063 0.78986579 -0.11299358 -9.00269877] [ 0.24499019 -0.04844115 0.96831465 -0.41476555] [ 0. 0. 0. 1. ]] SLAMing on 67.44165253199999 meters Centerline goodness : 0.711503 with order 1 Centerline is valid? [False, False] Translation: X:-6.35, Y:-9.03, Z:-0.42 [[ 0.76051679 -0.6097404 -0.22322825 -6.35365342] [ 0.60150217 0.7910546 -0.11147983 -9.03493129] [ 0.24455949 -0.04948999 0.96837049 -0.42153906] [ 0. 0. 0. 1. ]] SLAMing on 67.501652532 meters Centerline goodness : 0.703926 with order 1 Centerline is valid? [False, False] Translation: X:-6.38, Y:-9.07, Z:-0.43 [[ 0.76083165 -0.6095266 -0.22273871 -6.38171895] [ 0.60126727 0.79124064 -0.11142673 -9.06785419] [ 0.24415748 -0.04914851 0.96848931 -0.42904096] [ 0. 0. 0. 1. ]] SLAMing on 67.561652532 meters Centerline goodness : 0.695412 with order 1 Centerline is valid? [False, False] Translation: X:-6.41, Y:-9.10, Z:-0.44 [[ 0.76260624 -0.6064506 -0.2250542 -6.41236754] [ 0.59783335 0.79364049 -0.11282756 -9.10162807] [ 0.24703646 -0.04850191 0.96779158 -0.43659317] [ 0. 0. 0. 1. ]] SLAMing on 67.621652532 meters Centerline goodness : 0.694080 with order 1 Centerline is valid? [False, False] Translation: X:-6.44, Y:-9.14, Z:-0.44 [[ 0.76352189 -0.60499861 -0.22585618 -6.43938277] [ 0.59667151 0.79468425 -0.11162462 -9.13558936] [ 0.24701708 -0.04953411 0.96774425 -0.44309727] [ 0. 0. 0. 1. ]] SLAMing on 67.68165253199999 meters Centerline goodness : 0.694388 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-9.16, Z:-0.45 [[ 0.76304963 -0.60441449 -0.22899431 -6.46154013] [ 0.59645445 0.79496701 -0.11076799 -9.16270959] [ 0.2489927 -0.0520632 0.96710499 -0.44805932] [ 0. 0. 0. 1. ]] SLAMing on 67.74165253199999 meters Centerline goodness : 0.684604 with order 1 Centerline is valid? [False, False] Translation: X:-6.49, Y:-9.19, Z:-0.46 [[ 0.76482375 -0.60195445 -0.22955492 -6.49091341] [ 0.59406777 0.79683008 -0.11020578 -9.19417152] [ 0.24925512 -0.05208318 0.96703631 -0.45759226] [ 0. 0. 0. 1. ]] SLAMing on 67.80165253199999 meters Centerline goodness : 0.679499 with order 1 Centerline is valid? [False, False] Translation: X:-6.52, Y:-9.23, Z:-0.47 [[ 0.76702356 -0.59940078 -0.22889638 -6.52361938] [ 0.59117967 0.79887223 -0.11094933 -9.22841265] [ 0.24936208 -0.05021814 0.96710738 -0.46780054] [ 0. 0. 0. 1. ]] SLAMing on 67.861652532 meters Centerline goodness : 0.682325 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-9.26, Z:-0.48 [[ 0.76835741 -0.59785524 -0.22846445 -6.55284908] [ 0.58983778 0.80001954 -0.10981861 -9.26235852] [ 0.24843165 -0.05037702 0.96733855 -0.47556698] [ 0. 0. 0. 1. ]] SLAMing on 67.921652532 meters Centerline goodness : 0.677248 with order 1 Centerline is valid? [False, False] Translation: X:-6.58, Y:-9.30, Z:-0.48 [[ 0.76865297 -0.59766672 -0.22796295 -6.58239597] [ 0.58963394 0.80018024 -0.10974248 -9.29708699] [ 0.24800087 -0.05006081 0.96746549 -0.48257453] [ 0. 0. 0. 1. ]] SLAMing on 67.981652532 meters Centerline goodness : 0.678431 with order 1 Centerline is valid? [False, False] Translation: X:-6.61, Y:-9.33, Z:-0.49 [[ 0.76798827 -0.59735847 -0.23099106 -6.6054414 ] [ 0.58957229 0.80027493 -0.10938262 -9.32671231] [ 0.25019699 -0.05218136 0.96678776 -0.48763311] [ 0. 0. 0. 1. ]] SLAMing on 68.04165253199999 meters Centerline goodness : 0.676692 with order 1 Centerline is valid? [False, False] Translation: X:-6.62, Y:-9.35, Z:-0.49 [[ 0.76551468 -0.59945043 -0.23376579 -6.62378638] [ 0.59161713 0.79860854 -0.11051505 -9.35484966] [ 0.25293565 -0.05369896 0.96599171 -0.49222338] [ 0. 0. 0. 1. ]] SLAMing on 68.10165253199999 meters Centerline goodness : 0.673886 with order 1 Centerline is valid? [False, False] Translation: X:-6.65, Y:-9.39, Z:-0.50 [[ 0.76389509 -0.60122061 -0.23451666 -6.649077 ] [ 0.5933199 0.79724461 -0.11123189 -9.38988962] [ 0.25384205 -0.05417391 0.96572739 -0.49598542] [ 0. 0. 0. 1. ]] SLAMing on 68.16165253199999 meters Centerline goodness : 0.677288 with order 1 Centerline is valid? [False, False] Translation: X:-6.67, Y:-9.42, Z:-0.50 [[ 0.76335447 -0.60060514 -0.23783065 -6.67275522] [ 0.59320582 0.79750247 -0.10998486 -9.42115234] [ 0.255728 -0.05712509 0.96505954 -0.49936942] [ 0. 0. 0. 1. ]] SLAMing on 68.221652532 meters Centerline goodness : 0.671605 with order 1 Centerline is valid? [False, False] Translation: X:-6.69, Y:-9.45, Z:-0.51 [[ 0.76290416 -0.59966363 -0.24162115 -6.69273595] [ 0.59260344 0.79802341 -0.10945228 -9.44552593] [ 0.25845389 -0.05968393 0.9641781 -0.5068659 ] [ 0. 0. 0. 1. ]] SLAMing on 68.281652532 meters Centerline goodness : 0.668431 with order 1 Centerline is valid? [False, False] Translation: X:-6.72, Y:-9.48, Z:-0.52 [[ 0.76288615 -0.59938465 -0.24236908 -6.71828349] [ 0.59186691 0.79831668 -0.11128358 -9.47511258] [ 0.26018895 -0.05855353 0.96378068 -0.51690768] [ 0. 0. 0. 1. ]] SLAMing on 68.341652532 meters Centerline goodness : 0.666896 with order 1 Centerline is valid? [False, False] Translation: X:-6.75, Y:-9.51, Z:-0.53 [[ 0.76440882 -0.59817231 -0.24055985 -6.75319695] [ 0.58949675 0.79955003 -0.11494923 -9.51228278] [ 0.26109908 -0.05394104 0.96380373 -0.52789352] [ 0. 0. 0. 1. ]] SLAMing on 68.40165253199999 meters Centerline goodness : 0.665071 with order 1 Centerline is valid? [False, False] Translation: X:-6.79, Y:-9.56, Z:-0.54 [[ 0.76391823 -0.59698602 -0.24502373 -6.79379011] [ 0.59040983 0.79984141 -0.10802753 -9.55685206] [ 0.26047106 -0.06214022 0.96347985 -0.53839746] [ 0. 0. 0. 1. ]] SLAMing on 68.46165253199999 meters Centerline goodness : 0.660376 with order 1 Centerline is valid? [False, False] Translation: X:-6.82, Y:-9.59, Z:-0.55 [[ 0.76488893 -0.59542349 -0.24579623 -6.82196222] [ 0.58864062 0.80105203 -0.10871 -9.58623413] [ 0.26162406 -0.06153457 0.96320629 -0.5484362 ] [ 0. 0. 0. 1. ]] SLAMing on 68.52165253199999 meters Centerline goodness : 0.657226 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:-9.62, Z:-0.56 [[ 0.76852165 -0.59103788 -0.24504837 -6.85643378] [ 0.58404512 0.8044314 -0.10854229 -9.6197198 ] [ 0.26127721 -0.05970221 0.96341573 -0.56098715] [ 0. 0. 0. 1. ]] SLAMing on 68.58165253199999 meters Centerline goodness : 0.659381 with order 1 Centerline is valid? [False, False] Translation: X:-6.90, Y:-9.66, Z:-0.57 [[ 0.77095494 -0.58871979 -0.24297632 -6.89502109] [ 0.58145835 0.80628842 -0.10865159 -9.65723868] [ 0.25987433 -0.05751513 0.96392808 -0.56908272] [ 0. 0. 0. 1. ]] SLAMing on 68.641652532 meters Centerline goodness : 0.663932 with order 1 Centerline is valid? [False, False] Translation: X:-6.93, Y:-9.69, Z:-0.58 [[ 0.77337922 -0.58625476 -0.24122589 -6.92884539] [ 0.57931668 0.8080988 -0.10662324 -9.69269582] [ 0.25744273 -0.05728598 0.96459398 -0.57761874] [ 0. 0. 0. 1. ]] SLAMing on 68.701652532 meters Centerline goodness : 0.665788 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-9.74, Z:-0.59 [[ 0.77263625 -0.58584591 -0.24457675 -6.97242562] [ 0.58034921 0.80795815 -0.10197266 -9.74015308] [ 0.25734805 -0.06315214 0.96425297 -0.58996312] [ 0. 0. 0. 1. ]] SLAMing on 68.76165253199999 meters Centerline goodness : 0.666325 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-9.77, Z:-0.60 [[ 0.77286469 -0.58498177 -0.2459197 -6.9977062 ] [ 0.57928941 0.80860115 -0.10289782 -9.77139531] [ 0.2590443 -0.06293259 0.96381302 -0.59857812] [ 0. 0. 0. 1. ]] SLAMing on 68.82165253199999 meters Centerline goodness : 0.672300 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:-9.81, Z:-0.61 [[ 0.7728795 -0.58551885 -0.2445914 -7.02955797] [ 0.57907598 0.80842517 -0.10545024 -9.80531892] [ 0.25947694 -0.06013668 0.96387515 -0.60798441] [ 0. 0. 0. 1. ]] SLAMing on 68.88165253199999 meters Centerline goodness : 0.682220 with order 1 Centerline is valid? [False, False] Translation: X:-7.06, Y:-9.84, Z:-0.62 [[ 0.77361266 -0.58481641 -0.24395332 -7.06139401] [ 0.57835647 0.80896749 -0.10523972 -9.83984401] [ 0.25889622 -0.0596772 0.96405984 -0.61520034] [ 0. 0. 0. 1. ]] SLAMing on 68.94165253199999 meters Centerline goodness : 0.691002 with order 1 Centerline is valid? [False, False] Translation: X:-7.09, Y:-9.87, Z:-0.62 [[ 0.77304172 -0.58600877 -0.2428996 -7.08989783] [ 0.57884971 0.80827811 -0.10779385 -9.87328112] [ 0.25949857 -0.05727322 0.96404371 -0.6247243 ] [ 0. 0. 0. 1. ]] SLAMing on 69.001652532 meters Centerline goodness : 0.701065 with order 1 Centerline is valid? [False, False] Translation: X:-7.12, Y:-9.91, Z:-0.64 [[ 0.77262116 -0.587131 -0.24152377 -7.1183372 ] [ 0.57905861 0.80768567 -0.11106299 -9.90560296] [ 0.26028382 -0.0540468 0.9640183 -0.6356482 ] [ 0. 0. 0. 1. ]] SLAMing on 69.061652532 meters Centerline goodness : 0.714503 with order 1 Centerline is valid? [False, False] Translation: X:-7.14, Y:-9.94, Z:-0.64 [[ 0.77081752 -0.58852123 -0.24389158 -7.14151606] [ 0.58060187 0.80655061 -0.11125461 -9.93917379] [ 0.2621866 -0.0558469 0.96339987 -0.63853653] [ 0. 0. 0. 1. ]] SLAMing on 69.121652532 meters Centerline goodness : 0.722578 with order 1 Centerline is valid? [False, False] Translation: X:-7.17, Y:-9.97, Z:-0.65 [[ 0.76965144 -0.58994231 -0.24414078 -7.16828222] [ 0.58132852 0.80563005 -0.11409369 -9.97326374] [ 0.26399584 -0.05411363 0.96300463 -0.64608584] [ 0. 0. 0. 1. ]] SLAMing on 69.18165253199999 meters Centerline goodness : 0.729285 with order 1 Centerline is valid? [False, False] Translation: X:-7.20, Y:-10.02, Z:-0.66 [[ 0.76397812 -0.59506132 -0.24947837 -7.19792739] [ 0.58785406 0.80130213 -0.11109685 -10.01660787] [ 0.26601699 -0.06178131 0.9619865 -0.65542763] [ 0. 0. 0. 1. ]] SLAMing on 69.24165253199999 meters Centerline goodness : 0.734053 with order 1 Centerline is valid? [False, False] Translation: X:-7.24, Y:-10.06, Z:-0.67 [[ 0.76302731 -0.59407709 -0.25467967 -7.23629028] [ 0.58915866 0.80129608 -0.10400321 -10.06146055] [ 0.26585975 -0.07068945 0.96141645 -0.66601323] [ 0. 0. 0. 1. ]] SLAMing on 69.30165253199999 meters Centerline goodness : 0.740483 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:-10.10, Z:-0.67 [[ 0.76150489 -0.59569811 -0.25544873 -7.2619566 ] [ 0.59062816 0.80007557 -0.10505931 -10.09883425] [ 0.26696192 -0.07087203 0.96109754 -0.66979246] [ 0. 0. 0. 1. ]] SLAMing on 69.361652532 meters Centerline goodness : 0.745906 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:-10.15, Z:-0.68 [[ 0.75876666 -0.59831472 -0.2574736 -7.30304372] [ 0.59466553 0.7976035 -0.10100274 -10.14884061] [ 0.26579327 -0.07647316 0.96099209 -0.68014113] [ 0. 0. 0. 1. ]] SLAMing on 69.421652532 meters Centerline goodness : 0.745723 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:-10.18, Z:-0.69 [[ 0.75809813 -0.59805242 -0.26003948 -7.32564835] [ 0.59458308 0.79765424 -0.10108746 -10.17951977] [ 0.2678772 -0.07798086 0.96029204 -0.68649814] [ 0. 0. 0. 1. ]] SLAMing on 69.481652532 meters Centerline goodness : 0.745922 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:-10.21, Z:-0.69 [[ 0.75611971 -0.59963734 -0.26214125 -7.34595487] [ 0.59624053 0.79632863 -0.101774 -10.21017082] [ 0.26977807 -0.07934591 0.95964786 -0.69235647] [ 0. 0. 0. 1. ]] SLAMing on 69.54165253199999 meters Centerline goodness : 0.748512 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:-10.24, Z:-0.70 [[ 0.75485521 -0.59980228 -0.26538808 -7.36900702] [ 0.5968489 0.79593909 -0.1012539 -10.23825426] [ 0.27196507 -0.08196455 0.9588101 -0.6971076 ] [ 0. 0. 0. 1. ]] SLAMing on 69.60165253199999 meters Centerline goodness : 0.747255 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:-10.27, Z:-0.70 [[ 0.75442552 -0.59962318 -0.26700969 -7.39396142] [ 0.59682876 0.79596384 -0.10117804 -10.26700895] [ 0.27319876 -0.08302777 0.95836779 -0.70434462] [ 0. 0. 0. 1. ]] SLAMing on 69.66165253199999 meters Centerline goodness : 0.748130 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-10.30, Z:-0.71 [[ 0.75403232 -0.59956209 -0.26825466 -7.41785612] [ 0.59682292 0.79594343 -0.10137282 -10.30048291] [ 0.27429483 -0.08366215 0.95799947 -0.71143609] [ 0. 0. 0. 1. ]] SLAMing on 69.721652532 meters Centerline goodness : 0.749725 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:-10.34, Z:-0.72 [[ 0.75233982 -0.60175092 -0.26810561 -7.44435536] [ 0.59842402 0.79442715 -0.10379883 -10.33571217] [ 0.27545142 -0.08234885 0.95778139 -0.71871767] [ 0. 0. 0. 1. ]] SLAMing on 69.781652532 meters Centerline goodness : 0.746475 with order 1 Centerline is valid? [False, False] Translation: X:-7.47, Y:-10.36, Z:-0.73 [[ 0.75087184 -0.60217767 -0.27124442 -7.46593802] [ 0.59914577 0.79387472 -0.10386181 -10.36279742] [ 0.27787736 -0.08452804 0.95689037 -0.7250891 ] [ 0. 0. 0. 1. ]] SLAMing on 69.841652532 meters Centerline goodness : 0.748555 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:-10.39, Z:-0.73 [[ 0.7488046 -0.60349621 -0.27401457 -7.48600539] [ 0.60071812 0.79264748 -0.10415233 -10.39269641] [ 0.2800525 -0.08661578 0.9560692 -0.7302487 ] [ 0. 0. 0. 1. ]] SLAMing on 69.90165253199999 meters Centerline goodness : 0.750610 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:-10.43, Z:-0.74 [[ 0.74831804 -0.60456667 -0.27298213 -7.5151204 ] [ 0.60157486 0.79191736 -0.10475968 -10.42619314] [ 0.2795135 -0.08582563 0.95629816 -0.73833124] [ 0. 0. 0. 1. ]] SLAMing on 69.96165253199999 meters Centerline goodness : 0.752960 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:-10.46, Z:-0.74 [[ 0.74570688 -0.60669558 -0.27539378 -7.53645641] [ 0.60387282 0.79008122 -0.10540057 -10.45933498] [ 0.28152951 -0.08770489 0.95553597 -0.74094137] [ 0. 0. 0. 1. ]] SLAMing on 70.02165253199999 meters Centerline goodness : 0.751799 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:-10.49, Z:-0.75 [[ 0.74514173 -0.60640408 -0.27755701 -7.56130346] [ 0.60367247 0.7901877 -0.10574946 -10.48878475] [ 0.28344904 -0.08875519 0.95487128 -0.74864341] [ 0. 0. 0. 1. ]] SLAMing on 70.08165253199999 meters Centerline goodness : 0.752652 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:-10.52, Z:-0.76 [[ 0.74682224 -0.60370043 -0.2789307 -7.59075962] [ 0.60076198 0.79232286 -0.10634629 -10.52094615] [ 0.28520447 -0.08814919 0.9544046 -0.7597187 ] [ 0. 0. 0. 1. ]] SLAMing on 70.141652532 meters Centerline goodness : 0.749653 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:-10.55, Z:-0.77 [[ 0.74780062 -0.60198756 -0.28000932 -7.61978211] [ 0.59928798 0.79354424 -0.10555306 -10.5532533 ] [ 0.28574141 -0.08887358 0.95417678 -0.7679376 ] [ 0. 0. 0. 1. ]] SLAMing on 70.201652532 meters Centerline goodness : 0.752626 with order 1 Centerline is valid? [False, False] Translation: X:-7.65, Y:-10.58, Z:-0.78 [[ 0.74999996 -0.59974051 -0.27894691 -7.65242729] [ 0.5971499 0.79530914 -0.10438084 -10.58344784] [ 0.28445044 -0.08828749 0.95461682 -0.77996822] [ 0. 0. 0. 1. ]] SLAMing on 70.26165253199999 meters Centerline goodness : 0.750745 with order 1 Centerline is valid? [False, False] Translation: X:-7.69, Y:-10.62, Z:-0.79 [[ 0.75397439 -0.59549247 -0.27732893 -7.69070112] [ 0.59286312 0.79867278 -0.10312669 -10.61571807] [ 0.28290623 -0.08666321 0.95522435 -0.79348749] [ 0. 0. 0. 1. ]] SLAMing on 70.32165253199999 meters Centerline goodness : 0.749939 with order 1 Centerline is valid? [False, False] Translation: X:-7.73, Y:-10.65, Z:-0.81 [[ 0.75661679 -0.59324798 -0.27493248 -7.72631255] [ 0.59042984 0.8005475 -0.10254902 -10.6467236 ] [ 0.28093351 -0.08473803 0.95597899 -0.80601856] [ 0. 0. 0. 1. ]] SLAMing on 70.38165253199999 meters Centerline goodness : 0.749232 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-10.68, Z:-0.82 [[ 0.76030125 -0.59015416 -0.27140389 -7.76900732] [ 0.58613463 0.8033877 -0.10494948 -10.68266338] [ 0.27997892 -0.079286 0.95672647 -0.82161029] [ 0. 0. 0. 1. ]] SLAMing on 70.44165253199999 meters Centerline goodness : 0.753587 with order 1 Centerline is valid? [False, False] Translation: X:-7.81, Y:-10.72, Z:-0.83 [[ 0.76553197 -0.5843033 -0.26935192 -7.81220785] [ 0.58013144 0.80788926 -0.10374231 -10.72120239] [ 0.2782235 -0.07684146 0.95743777 -0.83379903] [ 0. 0. 0. 1. ]] SLAMing on 70.501652532 meters Centerline goodness : 0.756518 with order 1 Centerline is valid? [False, False] Translation: X:-7.85, Y:-10.75, Z:-0.84 [[ 0.7693825 -0.5789662 -0.26990501 -7.84674556] [ 0.5756348 0.81157018 -0.09999206 -10.75268714] [ 0.27693888 -0.07843457 0.95768099 -0.84352841] [ 0. 0. 0. 1. ]] SLAMing on 70.561652532 meters Centerline goodness : 0.754969 with order 1 Centerline is valid? [False, False] Translation: X:-7.87, Y:-10.78, Z:-0.85 [[ 0.77131932 -0.57505948 -0.27271431 -7.87466017] [ 0.57228905 0.81415562 -0.09816246 -10.77997301] [ 0.27848115 -0.08035681 0.9570742 -0.85289482] [ 0. 0. 0. 1. ]] SLAMing on 70.62165253199998 meters Centerline goodness : 0.751976 with order 1 Centerline is valid? [False, False] Translation: X:-7.91, Y:-10.81, Z:-0.87 [[ 0.7753442 -0.56988903 -0.27215411 -7.91235858] [ 0.56711642 0.81790368 -0.09701823 -10.81133948] [ 0.27788547 -0.07912055 0.9573503 -0.86573809] [ 0. 0. 0. 1. ]] SLAMing on 70.68165253199999 meters Centerline goodness : 0.751240 with order 1 Centerline is valid? [False, False] Translation: X:-7.95, Y:-10.85, Z:-0.87 [[ 0.7788397 -0.56609465 -0.27008437 -7.95161251] [ 0.56365022 0.8205848 -0.09454636 -10.84741239] [ 0.27514932 -0.07859665 0.9581834 -0.87498848] [ 0. 0. 0. 1. ]] SLAMing on 70.74165253199999 meters Centerline goodness : 0.754646 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:-10.88, Z:-0.88 [[ 0.78033091 -0.56410885 -0.26993493 -7.98298741] [ 0.56177727 0.82196075 -0.09373804 -10.87902872] [ 0.27475437 -0.07849662 0.95830492 -0.88459748] [ 0. 0. 0. 1. ]] SLAMing on 70.80165253199999 meters Centerline goodness : 0.755652 with order 1 Centerline is valid? [False, False] Translation: X:-8.00, Y:-10.90, Z:-0.89 [[ 0.77826139 -0.5658692 -0.27221547 -8.00473654] [ 0.56362487 0.82061277 -0.09445465 -10.90446444] [ 0.27683247 -0.079917 0.95758919 -0.89133217] [ 0. 0. 0. 1. ]] SLAMing on 70.861652532 meters Centerline goodness : 0.758998 with order 1 Centerline is valid? [False, False] Translation: X:-8.03, Y:-10.93, Z:-0.90 [[ 0.77696035 -0.56680281 -0.27398393 -8.02964442] [ 0.56461993 0.81987012 -0.09495957 -10.93404556] [ 0.27845459 -0.08091697 0.95703474 -0.89715438] [ 0. 0. 0. 1. ]] SLAMing on 70.921652532 meters Centerline goodness : 0.752532 with order 1 Centerline is valid? [False, False] Translation: X:-8.05, Y:-10.97, Z:-0.90 [[ 0.77750548 -0.56401652 -0.27815569 -8.05496081] [ 0.5630546 0.82133239 -0.09155663 -10.96544973] [ 0.28009773 -0.08543106 0.95616254 -0.90066592] [ 0. 0. 0. 1. ]] SLAMing on 70.981652532 meters Centerline goodness : 0.750786 with order 1 Centerline is valid? [False, False] Translation: X:-8.08, Y:-11.00, Z:-0.91 [[ 0.77686995 -0.56405926 -0.27983966 -8.08026708] [ 0.5631767 0.82121718 -0.09183866 -10.99585295] [ 0.28161158 -0.08625248 0.95564399 -0.90798347] [ 0. 0. 0. 1. ]] SLAMing on 71.04165253199999 meters Centerline goodness : 0.742819 with order 1 Centerline is valid? [False, False] Translation: X:-8.10, Y:-11.02, Z:-0.92 [[ 0.77516408 -0.56571454 -0.28122537 -8.10209864] [ 0.56469489 0.82003484 -0.09307283 -11.02448109] [ 0.28326726 -0.08665981 0.95511766 -0.91632038] [ 0. 0. 0. 1. ]] SLAMing on 71.10165253199999 meters Centerline goodness : 0.750405 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:-11.05, Z:-0.92 [[ 0.77225587 -0.56811359 -0.28437268 -8.12243029] [ 0.56755857 0.81806177 -0.09301727 -11.05287267] [ 0.28547879 -0.08956502 0.95419074 -0.91894528] [ 0. 0. 0. 1. ]] SLAMing on 71.16165253199999 meters Centerline goodness : 0.752284 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:-11.09, Z:-0.92 [[ 0.77029075 -0.57013927 -0.28564555 -8.14761277] [ 0.56977242 0.81649846 -0.09321836 -11.08774815] [ 0.2863766 -0.09094772 0.95379083 -0.92262105] [ 0. 0. 0. 1. ]] SLAMing on 71.221652532 meters Centerline goodness : 0.750134 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:-11.12, Z:-0.93 [[ 0.77141233 -0.56697647 -0.28889565 -8.17306556] [ 0.56754868 0.81834256 -0.0905757 -11.1195782 ] [ 0.28776989 -0.09409113 0.95306629 -0.92951142] [ 0. 0. 0. 1. ]] SLAMing on 71.281652532 meters Centerline goodness : 0.749182 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-11.15, Z:-0.93 [[ 0.76834586 -0.5691505 -0.29276673 -8.18945575] [ 0.57040209 0.81640417 -0.09014262 -11.14953626] [ 0.29032069 -0.09773404 0.95192539 -0.93175229] [ 0. 0. 0. 1. ]] SLAMing on 71.341652532 meters Centerline goodness : 0.746663 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-11.18, Z:-0.94 [[ 0.76502042 -0.57207837 -0.29575344 -8.206856 ] [ 0.57359247 0.81407399 -0.09096825 -11.17791371] [ 0.29280615 -0.10004938 0.95092307 -0.93576925] [ 0. 0. 0. 1. ]] SLAMing on 71.40165253199999 meters Centerline goodness : 0.749559 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-11.22, Z:-0.95 [[ 0.75883983 -0.57935387 -0.29750834 -8.24238624] [ 0.58247256 0.80808008 -0.08793346 -11.22195898] [ 0.29135516 -0.10656303 0.95066108 -0.94589824] [ 0. 0. 0. 1. ]] SLAMing on 71.46165253199999 meters Centerline goodness : 0.746984 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:-11.25, Z:-0.95 [[ 0.75753496 -0.57991233 -0.29973734 -8.26590722] [ 0.58319225 0.80751001 -0.08839904 -11.25138349] [ 0.29330459 -0.10783913 0.94991744 -0.95290919] [ 0. 0. 0. 1. ]] SLAMing on 71.52165253199999 meters Centerline goodness : 0.746922 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:-11.28, Z:-0.96 [[ 0.75476145 -0.58201219 -0.3026499 -8.28671855] [ 0.58572037 0.80565374 -0.08862103 -11.27729778] [ 0.29540955 -0.11038048 0.94897279 -0.95747864] [ 0. 0. 0. 1. ]] SLAMing on 71.58165253199999 meters Centerline goodness : 0.742539 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:-11.31, Z:-0.97 [[ 0.75629549 -0.57941881 -0.30379428 -8.31658839] [ 0.58339772 0.80744348 -0.08764773 -11.30728266] [ 0.29608146 -0.1109453 0.94869748 -0.96841964] [ 0. 0. 0. 1. ]] SLAMing on 71.641652532 meters Centerline goodness : 0.742754 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:-11.34, Z:-0.98 [[ 0.75592341 -0.58032237 -0.30299462 -8.34842848] [ 0.58364595 0.80704698 -0.08962464 -11.33960376] [ 0.29654208 -0.10909222 0.94876851 -0.97850412] [ 0. 0. 0. 1. ]] SLAMing on 71.701652532 meters Centerline goodness : 0.743321 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:-11.37, Z:-0.99 [[ 0.75784128 -0.57847234 -0.30173888 -8.38210918] [ 0.58167795 0.80852317 -0.08911258 -11.37228173] [ 0.29551204 -0.10798166 0.94921683 -0.98992868] [ 0. 0. 0. 1. ]] SLAMing on 71.76165253199999 meters Centerline goodness : 0.746357 with order 1 Centerline is valid? [False, False] Translation: X:-8.42, Y:-11.41, Z:-1.00 [[ 0.75945987 -0.57718462 -0.300131 -8.41844626] [ 0.58031713 0.80957342 -0.08844723 -11.40824007] [ 0.29402846 -0.10699903 0.94978865 -0.99952511] [ 0. 0. 0. 1. ]] SLAMing on 71.82165253199999 meters Centerline goodness : 0.749512 with order 1 Centerline is valid? [False, False] Translation: X:-8.45, Y:-11.44, Z:-1.01 [[ 0.7587686 -0.57841957 -0.29950128 -8.44808311] [ 0.58125454 0.80879277 -0.08942822 -11.43928116] [ 0.2939615 -0.10623115 0.94989556 -1.00847066] [ 0. 0. 0. 1. ]] SLAMing on 71.88165253199999 meters Centerline goodness : 0.748738 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:-11.48, Z:-1.03 [[ 0.75864902 -0.57734027 -0.30187726 -8.49706859] [ 0.58135427 0.80905866 -0.08632084 -11.48380103] [ 0.29407291 -0.11001042 0.94943079 -1.02668293] [ 0. 0. 0. 1. ]] SLAMing on 71.94165253199999 meters Centerline goodness : 0.746183 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-11.52, Z:-1.04 [[ 0.76158924 -0.5739265 -0.30098207 -8.53522525] [ 0.57718314 0.81189372 -0.08768247 -11.51710045] [ 0.29468874 -0.10694375 0.94959022 -1.04037132] [ 0. 0. 0. 1. ]] SLAMing on 72.001652532 meters Centerline goodness : 0.745749 with order 1 Centerline is valid? [False, False] Translation: X:-8.57, Y:-11.55, Z:-1.06 [[ 0.76497014 -0.5706962 -0.29854067 -8.57337382] [ 0.57358261 0.81448668 -0.08726074 -11.54782321] [ 0.29295677 -0.10448588 0.95039941 -1.05511214] [ 0. 0. 0. 1. ]] SLAMing on 72.061652532 meters Centerline goodness : 0.746404 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:-11.60, Z:-1.07 [[ 0.76666334 -0.56775844 -0.29979605 -8.62698933] [ 0.57185975 0.81612345 -0.08318011 -11.5954946 ] [ 0.2918968 -0.10767016 0.95037014 -1.07329912] [ 0. 0. 0. 1. ]] SLAMing on 72.12165253199998 meters Centerline goodness : 0.744955 with order 1 Centerline is valid? [False, False] Translation: X:-8.66, Y:-11.63, Z:-1.09 [[ 0.76855377 -0.56576272 -0.29872672 -8.66110103] [ 0.56949177 0.817739 -0.08355862 -11.62545185] [ 0.29155484 -0.10590311 0.95067361 -1.08617085] [ 0. 0. 0. 1. ]] SLAMing on 72.18165253199999 meters Centerline goodness : 0.745808 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:-11.66, Z:-1.10 [[ 0.77201923 -0.56183321 -0.29720321 -8.70099834] [ 0.56513609 0.82075589 -0.0835522 -11.65815669] [ 0.29087368 -0.10345636 0.95115156 -1.10013187] [ 0. 0. 0. 1. ]] SLAMing on 72.24165253199999 meters Centerline goodness : 0.744715 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:-11.69, Z:-1.11 [[ 0.77338862 -0.56105633 -0.29510311 -8.73513776] [ 0.56350983 0.8216843 -0.08539078 -11.68672954] [ 0.29039063 -0.10025324 0.95164204 -1.11455835] [ 0. 0. 0. 1. ]] SLAMing on 72.30165253199999 meters Centerline goodness : 0.745145 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:-11.73, Z:-1.13 [[ 0.77690577 -0.55756319 -0.29247343 -8.77841137] [ 0.5589839 0.82458833 -0.08712682 -11.72561004] [ 0.28974889 -0.09579861 0.95229628 -1.12741353] [ 0. 0. 0. 1. ]] SLAMing on 72.361652532 meters Centerline goodness : 0.742511 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-11.77, Z:-1.14 [[ 0.7759726 -0.5576726 -0.29473343 -8.82612875] [ 0.56098295 0.82378147 -0.08174489 -11.76856465] [ 0.28838282 -0.10190864 0.95207667 -1.14126806] [ 0. 0. 0. 1. ]] SLAMing on 72.421652532 meters Centerline goodness : 0.740370 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-11.81, Z:-1.16 [[ 0.77517582 -0.55774469 -0.29668722 -8.87265347] [ 0.56221312 0.82324081 -0.07868278 -11.80969911] [ 0.28812993 -0.10580846 0.95172775 -1.15864965] [ 0. 0. 0. 1. ]] SLAMing on 72.481652532 meters Centerline goodness : 0.736732 with order 1 Centerline is valid? [False, False] Translation: X:-8.92, Y:-11.85, Z:-1.17 [[ 0.78114814 -0.54700533 -0.30098629 -8.92486554] [ 0.55088118 0.83073492 -0.08005886 -11.85220517] [ 0.29383244 -0.10326986 0.95026198 -1.17277651] [ 0. 0. 0. 1. ]] SLAMing on 72.54165253199999 meters Centerline goodness : 0.737241 with order 1 Centerline is valid? [False, False] Translation: X:-8.96, Y:-11.88, Z:-1.18 [[ 0.78250676 -0.54668819 -0.29801877 -8.96284432] [ 0.54961865 0.83138477 -0.08196773 -11.88487509] [ 0.29257906 -0.09965637 0.95103423 -1.18468616] [ 0. 0. 0. 1. ]] SLAMing on 72.60165253199999 meters Centerline goodness : 0.733910 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-11.92, Z:-1.20 [[ 0.78505718 -0.54389898 -0.29641039 -8.99827235] [ 0.54673523 0.8333656 -0.08113171 -11.91739898] [ 0.29114568 -0.09836497 0.95160839 -1.19632934] [ 0. 0. 0. 1. ]] SLAMing on 72.66165253199999 meters Centerline goodness : 0.732164 with order 1 Centerline is valid? [False, False] Translation: X:-9.03, Y:-11.95, Z:-1.21 [[ 0.78496033 -0.54465161 -0.29528275 -9.03075372] [ 0.54635954 0.83327036 -0.08456802 -11.94839276] [ 0.29211048 -0.09494801 0.95165978 -1.20833667] [ 0. 0. 0. 1. ]] SLAMing on 72.721652532 meters Centerline goodness : 0.730708 with order 1 Centerline is valid? [False, False] Translation: X:-9.07, Y:-11.99, Z:-1.22 [[ 0.78413722 -0.54389015 -0.29885167 -9.07362631] [ 0.54836653 0.83271637 -0.07666551 -11.99064866] [ 0.2905563 -0.10376397 0.95121505 -1.22083571] [ 0. 0. 0. 1. ]] SLAMing on 72.781652532 meters Centerline goodness : 0.729228 with order 1 Centerline is valid? [False, False] Translation: X:-9.11, Y:-12.03, Z:-1.23 [[ 0.78150974 -0.54555648 -0.30267253 -9.11027047] [ 0.55259321 0.83049566 -0.07012633 -12.02896251] [ 0.2896261 -0.11245037 0.95051125 -1.23259595] [ 0. 0. 0. 1. ]] SLAMing on 72.841652532 meters Centerline goodness : 0.728662 with order 1 Centerline is valid? [False, False] Translation: X:-9.14, Y:-12.06, Z:-1.24 [[ 0.78083238 -0.54707137 -0.30168477 -9.14143076] [ 0.55333161 0.8297928 -0.07258122 -12.06158361] [ 0.29004296 -0.11025796 0.95064098 -1.24264751] [ 0. 0. 0. 1. ]] SLAMing on 72.90165253199999 meters Centerline goodness : 0.727385 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:-12.09, Z:-1.25 [[ 0.78053705 -0.54826595 -0.30027713 -9.17323604] [ 0.5540243 0.82921328 -0.07390811 -12.09307071] [ 0.28951509 -0.10867281 0.95098435 -1.25213756] [ 0. 0. 0. 1. ]] SLAMing on 72.96165253199999 meters Centerline goodness : 0.726874 with order 1 Centerline is valid? [False, False] Translation: X:-9.21, Y:-12.13, Z:-1.26 [[ 0.78068903 -0.54869557 -0.299095 -9.20724187] [ 0.55344448 0.8293336 -0.07684395 -12.1257299 ] [ 0.29021347 -0.10554124 0.95112417 -1.2634491 ] [ 0. 0. 0. 1. ]] SLAMing on 73.02165253199999 meters Centerline goodness : 0.720384 with order 1 Centerline is valid? [False, False] Translation: X:-9.24, Y:-12.16, Z:-1.28 [[ 0.78149441 -0.5479738 -0.29831394 -9.23993537] [ 0.552059 0.83009475 -0.07857207 -12.15733844] [ 0.29068428 -0.10328326 0.95122827 -1.27529962] [ 0. 0. 0. 1. ]] SLAMing on 73.08165253199999 meters Centerline goodness : 0.718591 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:-12.19, Z:-1.29 [[ 0.78209773 -0.54789568 -0.29687281 -9.27186082] [ 0.55169536 0.83030054 -0.07895096 -12.18871676] [ 0.28975054 -0.10203598 0.95164767 -1.28564588] [ 0. 0. 0. 1. ]] SLAMing on 73.141652532 meters Centerline goodness : 0.722129 with order 1 Centerline is valid? [False, False] Translation: X:-9.30, Y:-12.22, Z:-1.29 [[ 0.78400624 -0.54489903 -0.29735376 -9.30453535] [ 0.5490873 0.83218734 -0.07724872 -12.22144817] [ 0.28954679 -0.10270969 0.95163721 -1.2948019 ] [ 0. 0. 0. 1. ]] SLAMing on 73.201652532 meters Centerline goodness : 0.717503 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-12.25, Z:-1.31 [[ 0.78370706 -0.5451022 -0.29776976 -9.33242447] [ 0.54894497 0.83215671 -0.07857882 -12.24970466] [ 0.29062459 -0.10187644 0.9513982 -1.30533818] [ 0. 0. 0. 1. ]] SLAMing on 73.26165253199999 meters Centerline goodness : 0.712847 with order 1 Centerline is valid? [False, False] Translation: X:-9.36, Y:-12.28, Z:-1.31 [[ 0.78161719 -0.54686944 -0.30001396 -9.35500773] [ 0.55073984 0.83086454 -0.0796853 -12.27556797] [ 0.29284842 -0.10294624 0.9506008 -1.31238545] [ 0. 0. 0. 1. ]] SLAMing on 73.32165253199999 meters Centerline goodness : 0.710315 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-12.30, Z:-1.32 [[ 0.78090125 -0.54658056 -0.30239533 -9.38155545] [ 0.55078893 0.83085673 -0.07942706 -12.3042119 ] [ 0.29466048 -0.10453131 0.94986757 -1.31876596] [ 0. 0. 0. 1. ]] SLAMing on 73.38165253199999 meters Centerline goodness : 0.707868 with order 1 Centerline is valid? [False, False] Translation: X:-9.41, Y:-12.33, Z:-1.33 [[ 0.780079 -0.54696998 -0.30381013 -9.40890417] [ 0.55103723 0.83058937 -0.08049398 -12.33265807] [ 0.29636925 -0.10461903 0.94932614 -1.32702647] [ 0. 0. 0. 1. ]] SLAMing on 73.44165253199999 meters Centerline goodness : 0.705343 with order 1 Centerline is valid? [False, False] Translation: X:-9.44, Y:-12.36, Z:-1.34 [[ 0.78094371 -0.54548948 -0.30425014 -9.43750563] [ 0.54972584 0.83152373 -0.07981099 -12.3576321 ] [ 0.29652727 -0.10492627 0.94924289 -1.33860761] [ 0. 0. 0. 1. ]] SLAMing on 73.501652532 meters Centerline goodness : 0.702998 with order 1 Centerline is valid? [False, False] Translation: X:-9.47, Y:-12.39, Z:-1.35 [[ 0.78332396 -0.5427312 -0.30306174 -9.47415505] [ 0.54666782 0.83354245 -0.07975765 -12.38946449] [ 0.29590179 -0.10319802 0.94962745 -1.35093593] [ 0. 0. 0. 1. ]] SLAMing on 73.561652532 meters Centerline goodness : 0.699416 with order 1 Centerline is valid? [False, False] Translation: X:-9.51, Y:-12.42, Z:-1.36 [[ 0.78440692 -0.54185968 -0.3018176 -9.50770505] [ 0.54592212 0.8341304 -0.07871159 -12.42033316] [ 0.29440587 -0.10302699 0.95011085 -1.36025459] [ 0. 0. 0. 1. ]] SLAMing on 73.62165253199998 meters Centerline goodness : 0.698564 with order 1 Centerline is valid? [False, False] Translation: X:-9.54, Y:-12.45, Z:-1.37 [[ 0.78591817 -0.53981754 -0.30154544 -9.54080196] [ 0.54374177 0.8355601 -0.07863974 -12.45049923] [ 0.29441045 -0.10215845 0.95020321 -1.37122132] [ 0. 0. 0. 1. ]] SLAMing on 73.68165253199999 meters Centerline goodness : 0.691066 with order 1 Centerline is valid? [False, False] Translation: X:-9.58, Y:-12.48, Z:-1.38 [[ 0.78853223 -0.53728047 -0.29924342 -9.58177377] [ 0.5402694 0.83765065 -0.0803142 -12.48418004] [ 0.29381269 -0.09834173 0.95079073 -1.38499626] [ 0. 0. 0. 1. ]] SLAMing on 73.74165253199999 meters Centerline goodness : 0.687460 with order 1 Centerline is valid? [False, False] Translation: X:-9.62, Y:-12.52, Z:-1.40 [[ 0.7886332 -0.53849528 -0.2967836 -9.61656703] [ 0.54069344 0.8371882 -0.08225893 -12.5171948 ] [ 0.29275977 -0.09559682 0.95139527 -1.39545543] [ 0. 0. 0. 1. ]] SLAMing on 73.80165253199999 meters Centerline goodness : 0.685306 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:-12.54, Z:-1.41 [[ 0.79149384 -0.5336204 -0.29797108 -9.64889257] [ 0.53624208 0.84023379 -0.08032185 -12.54435925] [ 0.29322675 -0.09621039 0.95118959 -1.40851767] [ 0. 0. 0. 1. ]] SLAMing on 73.861652532 meters Centerline goodness : 0.680970 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:-12.57, Z:-1.41 [[ 0.79040698 -0.53402634 -0.3001211 -9.6745229 ] [ 0.53710358 0.83974407 -0.07968462 -12.57310287] [ 0.2945786 -0.09821284 0.95056703 -1.41403671] [ 0. 0. 0. 1. ]] SLAMing on 73.921652532 meters Centerline goodness : 0.678239 with order 1 Centerline is valid? [False, False] Translation: X:-9.68, Y:-12.58, Z:-1.42 [[ 0.79092427 -0.535317 -0.29643635 -9.6817977 ] [ 0.53761761 0.83927263 -0.08117118 -12.57979517] [ 0.29224323 -0.09516914 0.95159694 -1.41640464] [ 0. 0. 0. 1. ]] SLAMing on 73.981652532 meters Centerline goodness : 0.674605 with order 1 Centerline is valid? [False, False] Translation: X:-9.71, Y:-12.61, Z:-1.42 [[ 0.7907024 -0.53472769 -0.29808725 -9.70957152] [ 0.53773278 0.83937404 -0.079339 -12.61070803] [ 0.29263146 -0.09755775 0.95123568 -1.4219419 ] [ 0. 0. 0. 1. ]] SLAMing on 74.04165253199999 meters Centerline goodness : 0.673873 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:-12.63, Z:-1.43 [[ 0.79009963 -0.53298272 -0.30277384 -9.73178638] [ 0.53725976 0.8399344 -0.07656468 -12.63471416] [ 0.29511781 -0.10217448 0.94998203 -1.42645909] [ 0. 0. 0. 1. ]] SLAMing on 74.10165253199999 meters Centerline goodness : 0.669148 with order 1 Centerline is valid? [False, False] Translation: X:-9.76, Y:-12.66, Z:-1.43 [[ 0.78928784 -0.53270622 -0.30536666 -9.7557192 ] [ 0.53758205 0.83982008 -0.07554984 -12.6615957 ] [ 0.29669892 -0.10452907 0.94923307 -1.43351859] [ 0. 0. 0. 1. ]] SLAMing on 74.16165253199999 meters Centerline goodness : 0.664114 with order 1 Centerline is valid? [False, False] Translation: X:-9.78, Y:-12.69, Z:-1.44 [[ 0.78807735 -0.53363821 -0.30686211 -9.78195432] [ 0.53878853 0.8390575 -0.07542833 -12.68874537] [ 0.2977264 -0.10589042 0.94876036 -1.43994621] [ 0. 0. 0. 1. ]] SLAMing on 74.221652532 meters Centerline goodness : 0.674910 with order 1 Centerline is valid? [False, False] Translation: X:-9.81, Y:-12.71, Z:-1.45 [[ 0.78781204 -0.5328813 -0.30885225 -9.80910583] [ 0.53885931 0.8391919 -0.0734002 -12.71445938] [ 0.2982999 -0.10860235 0.94827354 -1.4467251 ] [ 0. 0. 0. 1. ]] SLAMing on 74.281652532 meters Centerline goodness : 0.664172 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:-12.74, Z:-1.46 [[ 0.78787423 -0.53197104 -0.31025959 -9.83776122] [ 0.53821877 0.83964621 -0.07290272 -12.74149031] [ 0.29929042 -0.10954936 0.94785241 -1.4561679 ] [ 0. 0. 0. 1. ]] SLAMing on 74.341652532 meters Centerline goodness : 0.660249 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:-12.77, Z:-1.46 [[ 0.78819787 -0.52945954 -0.31371438 -9.86323906] [ 0.53677068 0.84078712 -0.07038652 -12.76555273] [ 0.30103383 -0.11291418 0.94690497 -1.46363242] [ 0. 0. 0. 1. ]] SLAMing on 74.40165253199999 meters Centerline goodness : 0.659178 with order 1 Centerline is valid? [False, False] Translation: X:-9.90, Y:-12.80, Z:-1.48 [[ 0.78947149 -0.52875501 -0.31169361 -9.89731445] [ 0.53567062 0.84146356 -0.07068283 -12.79792301] [ 0.29965271 -0.11116303 0.94755002 -1.47555639] [ 0. 0. 0. 1. ]] SLAMing on 74.46165253199999 meters Centerline goodness : 0.658889 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:-12.83, Z:-1.49 [[ 0.79121395 -0.52658145 -0.31095412 -9.93130129] [ 0.53356882 0.84287874 -0.06971194 -12.8258825 ] [ 0.29880563 -0.11075836 0.94786485 -1.48729404] [ 0. 0. 0. 1. ]] SLAMing on 74.52165253199999 meters Centerline goodness : 0.656278 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:-12.86, Z:-1.50 [[ 0.79458713 -0.52322041 -0.30801249 -9.97342007] [ 0.52909358 0.8455523 -0.07142332 -12.8586116 ] [ 0.29781081 -0.10621538 0.94869754 -1.50388687] [ 0. 0. 0. 1. ]] SLAMing on 74.58165253199999 meters Centerline goodness : 0.659236 with order 1 Centerline is valid? [False, False] Translation: X:-10.01, Y:-12.89, Z:-1.52 [[ 0.79549701 -0.52442903 -0.30357651 -10.01405272] [ 0.52910175 0.84533816 -0.07385623 -12.89451334] [ 0.29535715 -0.10187045 0.94994029 -1.51611277] [ 0. 0. 0. 1. ]] SLAMing on 74.641652532 meters Centerline goodness : 0.662533 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:-12.92, Z:-1.53 [[ 0.79635817 -0.52439394 -0.30137129 -10.05049718] [ 0.52821264 0.84572175 -0.07580321 -12.92472289] [ 0.294627 -0.09882162 0.95048894 -1.52885398] [ 0. 0. 0. 1. ]] SLAMing on 74.701652532 meters Centerline goodness : 0.667042 with order 1 Centerline is valid? [False, False] Translation: X:-10.09, Y:-12.96, Z:-1.54 [[ 0.79909478 -0.5200943 -0.30157827 -10.08681961] [ 0.52387876 0.84847315 -0.07512896 -12.9553549 ] [ 0.29495521 -0.09795529 0.95047682 -1.54190246] [ 0. 0. 0. 1. ]] SLAMing on 74.76165253199999 meters Centerline goodness : 0.669495 with order 1 Centerline is valid? [False, False] Translation: X:-10.12, Y:-12.99, Z:-1.55 [[ 0.79849173 -0.52265522 -0.2987348 -10.12077728] [ 0.52532371 0.84729645 -0.07825425 -12.98524305] [ 0.29401693 -0.0944471 0.95112239 -1.5538715 ] [ 0. 0. 0. 1. ]] SLAMing on 74.82165253199999 meters Centerline goodness : 0.677521 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-13.02, Z:-1.56 [[ 0.79894065 -0.52208843 -0.29852555 -10.15400227] [ 0.52485809 0.84763197 -0.07774337 -13.01575725] [ 0.29362871 -0.09457121 0.95122998 -1.56205555] [ 0. 0. 0. 1. ]] SLAMing on 74.88165253199999 meters Centerline goodness : 0.683302 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-13.06, Z:-1.58 [[ 0.79757739 -0.52384354 -0.29909573 -10.20113197] [ 0.52775489 0.84611604 -0.07458166 -13.05579574] [ 0.29213882 -0.09836459 0.95130401 -1.57983648] [ 0. 0. 0. 1. ]] SLAMing on 74.94165253199999 meters Centerline goodness : 0.691833 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-13.09, Z:-1.59 [[ 0.79905133 -0.52195691 -0.2984593 -10.23523086] [ 0.52554191 0.84745137 -0.07504587 -13.08569654] [ 0.29210045 -0.09688737 0.95146737 -1.59136959] [ 0. 0. 0. 1. ]] SLAMing on 75.001652532 meters Centerline goodness : 0.705184 with order 1 Centerline is valid? [False, False] Translation: X:-10.28, Y:-13.12, Z:-1.60 [[ 0.80161644 -0.51930197 -0.29620354 -10.27578776] [ 0.52224099 0.84941798 -0.07585145 -13.11938796] [ 0.29099042 -0.09388586 0.9521082 -1.6044275 ] [ 0. 0. 0. 1. ]] SLAMing on 75.061652532 meters Centerline goodness : 0.713537 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-13.15, Z:-1.62 [[ 0.80350357 -0.51659809 -0.29581824 -10.30937157] [ 0.51952357 0.85113717 -0.07523809 -13.14763119] [ 0.29064975 -0.09323048 0.95227664 -1.61672313] [ 0. 0. 0. 1. ]] SLAMing on 75.12165253199998 meters Centerline goodness : 0.723978 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-13.18, Z:-1.63 [[ 0.80179735 -0.51935152 -0.29562647 -10.33897911] [ 0.52129473 0.84971973 -0.07891884 -13.17561569] [ 0.29218626 -0.09083161 0.95203824 -1.62729547] [ 0. 0. 0. 1. ]] SLAMing on 75.18165253199999 meters Centerline goodness : 0.731559 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-13.20, Z:-1.64 [[ 0.80258652 -0.51751948 -0.29669591 -10.37004276] [ 0.51947251 0.85083842 -0.07888153 -13.2041786 ] [ 0.29326301 -0.09081611 0.95170859 -1.63753834] [ 0. 0. 0. 1. ]] SLAMing on 75.24165253199999 meters Centerline goodness : 0.737970 with order 1 Centerline is valid? [False, False] Translation: X:-10.42, Y:-13.25, Z:-1.65 [[ 0.80129897 -0.51866268 -0.29817611 -10.41632497] [ 0.52226961 0.84954391 -0.07422667 -13.24639809] [ 0.2918123 -0.09625056 0.95162041 -1.65269312] [ 0. 0. 0. 1. ]] SLAMing on 75.30165253199999 meters Centerline goodness : 0.741133 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:-13.27, Z:-1.66 [[ 0.80168048 -0.51761337 -0.29897291 -10.44569364] [ 0.52129773 0.85015629 -0.074047 -13.27234463] [ 0.29250142 -0.09649186 0.95138438 -1.66267977] [ 0. 0. 0. 1. ]] SLAMing on 75.361652532 meters Centerline goodness : 0.745795 with order 1 Centerline is valid? [False, False] Translation: X:-10.48, Y:-13.30, Z:-1.67 [[ 0.8018364 -0.51830029 -0.29736038 -10.48090709] [ 0.52089326 0.85012585 -0.07717675 -13.30475057] [ 0.29279447 -0.09300989 0.95164098 -1.67439553] [ 0. 0. 0. 1. ]] SLAMing on 75.421652532 meters Centerline goodness : 0.746685 with order 1 Centerline is valid? [False, False] Translation: X:-10.52, Y:-13.34, Z:-1.69 [[ 0.80490964 -0.51402688 -0.29647401 -10.51973541] [ 0.51614648 0.85297886 -0.07758786 -13.33791787] [ 0.29276831 -0.0905728 0.95188407 -1.68810975] [ 0. 0. 0. 1. ]] SLAMing on 75.481652532 meters Centerline goodness : 0.752401 with order 1 Centerline is valid? [False, False] Translation: X:-10.55, Y:-13.37, Z:-1.69 [[ 0.80538425 -0.51319841 -0.2966203 -10.55037622] [ 0.51612805 0.85323585 -0.07483598 -13.36730468] [ 0.29149277 -0.09282234 0.95205881 -1.69483939] [ 0. 0. 0. 1. ]] SLAMing on 75.54165253199999 meters Centerline goodness : 0.753644 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:-13.41, Z:-1.71 [[ 0.8036388 -0.51483656 -0.29850962 -10.59448236] [ 0.51962985 0.85154253 -0.06971471 -13.40791158] [ 0.29008532 -0.09908906 0.95185706 -1.70917411] [ 0. 0. 0. 1. ]] SLAMing on 75.60165253199999 meters Centerline goodness : 0.750467 with order 1 Centerline is valid? [False, False] Translation: X:-10.63, Y:-13.44, Z:-1.72 [[ 0.80356211 -0.51603825 -0.29663523 -10.62840447] [ 0.51985092 0.85117487 -0.07250079 -13.43758718] [ 0.28990163 -0.09594721 0.95223483 -1.72179063] [ 0. 0. 0. 1. ]] SLAMing on 75.66165253199999 meters Centerline goodness : 0.754361 with order 1 Centerline is valid? [False, False] Translation: X:-10.67, Y:-13.47, Z:-1.73 [[ 0.80519182 -0.5147113 -0.29451386 -10.66781631] [ 0.51773526 0.85232533 -0.07410614 -13.47129957] [ 0.28916489 -0.09281055 0.95276958 -1.73452012] [ 0. 0. 0. 1. ]] SLAMing on 75.721652532 meters Centerline goodness : 0.752002 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:-13.50, Z:-1.74 [[ 0.80560587 -0.51346543 -0.29555445 -10.69677944] [ 0.51726483 0.85281935 -0.0716676 -13.49826542] [ 0.2888534 -0.09514408 0.95263389 -1.74165047] [ 0. 0. 0. 1. ]] SLAMing on 75.781652532 meters Centerline goodness : 0.749957 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-13.53, Z:-1.75 [[ 0.80575482 -0.51266911 -0.29652919 -10.72727593] [ 0.51663999 0.85322972 -0.07128931 -13.52955588] [ 0.28955535 -0.09575713 0.95235932 -1.74942235] [ 0. 0. 0. 1. ]] SLAMing on 75.841652532 meters Centerline goodness : 0.750939 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-13.56, Z:-1.75 [[ 0.80526882 -0.51151123 -0.29983062 -10.75298783] [ 0.51638377 0.85355015 -0.06928159 -13.55621437] [ 0.29135878 -0.09903736 0.95147342 -1.75479388] [ 0. 0. 0. 1. ]] SLAMing on 75.90165253199999 meters Centerline goodness : 0.753624 with order 1 Centerline is valid? [False, False] Translation: X:-10.78, Y:-13.59, Z:-1.76 [[ 0.80382734 -0.51318502 -0.30083674 -10.78179373] [ 0.51810649 0.85246212 -0.06981404 -13.58556133] [ 0.29227944 -0.09974703 0.95111685 -1.76083614] [ 0. 0. 0. 1. ]] SLAMing on 75.96165253199999 meters Centerline goodness : 0.754038 with order 1 Centerline is valid? [False, False] Translation: X:-10.81, Y:-13.61, Z:-1.77 [[ 0.80383546 -0.51251756 -0.30195083 -10.81273187] [ 0.51747414 0.85283323 -0.06997145 -13.61401731] [ 0.2933753 -0.10000621 0.95075217 -1.7697512 ] [ 0. 0. 0. 1. ]] SLAMing on 76.02165253199999 meters Centerline goodness : 0.751876 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:-13.64, Z:-1.78 [[ 0.80612861 -0.50879163 -0.30213862 -10.84797034] [ 0.51403327 0.85504029 -0.0683806 -13.64227766] [ 0.29313217 -0.10018574 0.95080826 -1.78106453] [ 0. 0. 0. 1. ]] SLAMing on 76.08165253199999 meters Centerline goodness : 0.751915 with order 1 Centerline is valid? [False, False] Translation: X:-10.89, Y:-13.67, Z:-1.79 [[ 0.81061943 -0.50144444 -0.30240637 -10.88630598] [ 0.50785017 0.85912013 -0.06325194 -13.67490971] [ 0.29152073 -0.10230387 0.95107811 -1.79137889] [ 0. 0. 0. 1. ]] SLAMing on 76.141652532 meters Centerline goodness : 0.753452 with order 1 Centerline is valid? [False, False] Translation: X:-10.92, Y:-13.70, Z:-1.80 [[ 0.81120057 -0.50016743 -0.30296232 -10.91684412] [ 0.50699824 0.85972707 -0.06182358 -13.70352581] [ 0.29138705 -0.10345003 0.9509951 -1.79990578] [ 0. 0. 0. 1. ]] SLAMing on 76.201652532 meters Centerline goodness : 0.753618 with order 1 Centerline is valid? [False, False] Translation: X:-10.94, Y:-13.73, Z:-1.81 [[ 0.81106745 -0.4982512 -0.30645609 -10.94112564] [ 0.50633213 0.86033712 -0.05871803 -13.72803848] [ 0.29291188 -0.10754429 0.95007203 -1.80591652] [ 0. 0. 0. 1. ]] SLAMing on 76.26165253199999 meters Centerline goodness : 0.755525 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-13.75, Z:-1.81 [[ 0.80990715 -0.49911649 -0.30811222 -10.96837216] [ 0.50755211 0.85964033 -0.05838971 -13.75482518] [ 0.29400896 -0.10909276 0.94955648 -1.81230691] [ 0. 0. 0. 1. ]] SLAMing on 76.32165253199999 meters Centerline goodness : 0.756008 with order 1 Centerline is valid? [False, False] Translation: X:-11.00, Y:-13.78, Z:-1.82 [[ 0.81120955 -0.49742851 -0.30741494 -11.00142152] [ 0.50649996 0.86043782 -0.05571851 -13.783782 ] [ 0.29222742 -0.11050627 0.94994289 -1.82114215] [ 0. 0. 0. 1. ]] SLAMing on 76.38165253199999 meters Centerline goodness : 0.757326 with order 1 Centerline is valid? [False, False] Translation: X:-11.03, Y:-13.81, Z:-1.83 [[ 0.81109769 -0.497549 -0.30751508 -11.03048932] [ 0.50681404 0.8602893 -0.05515299 -13.81082287] [ 0.29199325 -0.1111185 0.94994348 -1.83036356] [ 0. 0. 0. 1. ]] SLAMing on 76.44165253199999 meters Centerline goodness : 0.757619 with order 1 Centerline is valid? [False, False] Translation: X:-11.06, Y:-13.83, Z:-1.84 [[ 0.80979085 -0.49829011 -0.30975111 -11.05534878] [ 0.50771865 0.85972214 -0.05567415 -13.83418144] [ 0.29404177 -0.11218199 0.9491863 -1.83914493] [ 0. 0. 0. 1. ]] SLAMing on 76.501652532 meters Centerline goodness : 0.756577 with order 1 Centerline is valid? [False, False] Translation: X:-11.09, Y:-13.86, Z:-1.85 [[ 0.80870759 -0.49997279 -0.30986972 -11.08617551] [ 0.50939728 0.8587028 -0.05607062 -13.86415795] [ 0.29411978 -0.11250206 0.94912425 -1.84592311] [ 0. 0. 0. 1. ]] SLAMing on 76.561652532 meters Centerline goodness : 0.758632 with order 1 Centerline is valid? [False, False] Translation: X:-11.12, Y:-13.89, Z:-1.85 [[ 0.80743627 -0.50205874 -0.30981236 -11.11672425] [ 0.51116804 0.85755655 -0.05748041 -13.89196364] [ 0.29454016 -0.1119544 0.94905864 -1.85392559] [ 0. 0. 0. 1. ]] SLAMing on 76.62165253199998 meters Centerline goodness : 0.754919 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:-13.92, Z:-1.87 [[ 0.80800176 -0.50166136 -0.30898063 -11.1496163 ] [ 0.5105901 0.85788949 -0.05764864 -13.91937166] [ 0.29399133 -0.11118225 0.94931955 -1.86501388] [ 0. 0. 0. 1. ]] SLAMing on 76.68165253199999 meters Centerline goodness : 0.755649 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:-13.95, Z:-1.88 [[ 0.81018454 -0.49879831 -0.30789813 -11.18889092] [ 0.50715686 0.85986666 -0.05849141 -13.94807925] [ 0.29392676 -0.10876382 0.94961966 -1.87828866] [ 0. 0. 0. 1. ]] SLAMing on 76.74165253199999 meters Centerline goodness : 0.755812 with order 1 Centerline is valid? [False, False] Translation: X:-11.23, Y:-13.98, Z:-1.89 [[ 0.81217902 -0.49681726 -0.30583959 -11.22588443] [ 0.50517949 0.86111125 -0.05728084 -13.9778845 ] [ 0.29182002 -0.10798159 0.95035838 -1.8889326 ] [ 0. 0. 0. 1. ]] SLAMing on 76.80165253199999 meters Centerline goodness : 0.753572 with order 1 Centerline is valid? [False, False] Translation: X:-11.27, Y:-14.01, Z:-1.90 [[ 0.81696802 -0.48969611 -0.30456686 -11.27140804] [ 0.49780586 0.86546434 -0.05622097 -14.00759524] [ 0.29112295 -0.10568443 0.95083028 -1.90404648] [ 0. 0. 0. 1. ]] SLAMing on 76.861652532 meters Centerline goodness : 0.751753 with order 1 Centerline is valid? [False, False] Translation: X:-11.31, Y:-14.03, Z:-1.92 [[ 0.81921129 -0.48664846 -0.30342403 -11.31158782] [ 0.4940159 0.86754128 -0.05762305 -14.03495444] [ 0.29127504 -0.10269085 0.95111169 -1.9177225 ] [ 0. 0. 0. 1. ]] SLAMing on 76.921652532 meters Centerline goodness : 0.749844 with order 1 Centerline is valid? [False, False] Translation: X:-11.35, Y:-14.06, Z:-1.93 [[ 0.82261399 -0.48190869 -0.30177846 -11.35050007] [ 0.48938776 0.87028336 -0.05573593 -14.06247128] [ 0.2894924 -0.10183753 0.95174748 -1.93122347] [ 0. 0. 0. 1. ]] SLAMing on 76.981652532 meters Centerline goodness : 0.747192 with order 1 Centerline is valid? [False, False] Translation: X:-11.39, Y:-14.09, Z:-1.94 [[ 0.82642635 -0.47656318 -0.29984499 -11.39331598] [ 0.48404887 0.87337408 -0.05398521 -14.09105051] [ 0.2876042 -0.10052483 0.95245923 -1.94457547] [ 0. 0. 0. 1. ]] SLAMing on 77.04165253199999 meters Centerline goodness : 0.744288 with order 1 Centerline is valid? [False, False] Translation: X:-11.43, Y:-14.12, Z:-1.96 [[ 0.82800176 -0.47567514 -0.29689434 -11.43159009] [ 0.4825822 0.8741432 -0.05466347 -14.120453 ] [ 0.28553022 -0.09801447 0.95334446 -1.95645607] [ 0. 0. 0. 1. ]] SLAMing on 77.10165253199999 meters Centerline goodness : 0.742698 with order 1 Centerline is valid? [False, False] Translation: X:-11.46, Y:-14.14, Z:-1.96 [[ 0.82474325 -0.48067283 -0.29791309 -11.45693172] [ 0.48714312 0.87143251 -0.05741918 -14.14493391] [ 0.28721099 -0.09777023 0.95286454 -1.96212617] [ 0. 0. 0. 1. ]] SLAMing on 77.16165253199999 meters Centerline goodness : 0.739946 with order 1 Centerline is valid? [False, False] Translation: X:-11.49, Y:-14.18, Z:-1.97 [[ 0.81954673 -0.48803821 -0.30026965 -11.49299332] [ 0.49645447 0.86642926 -0.05322866 -14.17838582] [ 0.28614003 -0.10544684 0.95236802 -1.97199955] [ 0. 0. 0. 1. ]] SLAMing on 77.221652532 meters Centerline goodness : 0.735761 with order 1 Centerline is valid? [False, False] Translation: X:-11.53, Y:-14.21, Z:-1.98 [[ 0.81550652 -0.49409066 -0.30136943 -11.53346992] [ 0.50400499 0.86226227 -0.04982715 -14.21427502] [ 0.28447862 -0.11125733 0.95220466 -1.98480152] [ 0. 0. 0. 1. ]] SLAMing on 77.281652532 meters Centerline goodness : 0.734517 with order 1 Centerline is valid? [False, False] Translation: X:-11.56, Y:-14.24, Z:-1.99 [[ 0.81561642 -0.49274033 -0.30327681 -11.56322099] [ 0.50279859 0.8629635 -0.04987566 -14.23981041] [ 0.28629256 -0.11180775 0.95159634 -1.9940991 ] [ 0. 0. 0. 1. ]] SLAMing on 77.341652532 meters Centerline goodness : 0.724472 with order 1 Centerline is valid? [False, False] Translation: X:-11.61, Y:-14.27, Z:-2.01 [[ 0.82230516 -0.48206914 -0.30236331 -11.61073804] [ 0.4919126 0.86931087 -0.04817278 -14.27448258] [ 0.28607032 -0.1091236 0.95197469 -2.01174067] [ 0. 0. 0. 1. ]] SLAMing on 77.40165253199999 meters Centerline goodness : 0.721913 with order 1 Centerline is valid? [False, False] Translation: X:-11.65, Y:-14.31, Z:-2.03 [[ 0.82448513 -0.48136381 -0.29751161 -11.65162237] [ 0.48991263 0.87031037 -0.05045262 -14.30783901] [ 0.2832135 -0.10415726 0.95338417 -2.02573958] [ 0. 0. 0. 1. ]] SLAMing on 77.46165253199999 meters Centerline goodness : 0.720470 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:-14.34, Z:-2.04 [[ 0.82673572 -0.4803791 -0.29282071 -11.69677491] [ 0.48710751 0.87163022 -0.05465379 -14.34471534] [ 0.28148592 -0.09745093 0.9546041 -2.04098344] [ 0. 0. 0. 1. ]] SLAMing on 77.52165253199999 meters Centerline goodness : 0.714934 with order 1 Centerline is valid? [False, False] Translation: X:-11.73, Y:-14.37, Z:-2.05 [[ 0.8269812 -0.47981216 -0.29305695 -11.72724554] [ 0.48645652 0.87197696 -0.05492022 -14.3687921 ] [ 0.2818903 -0.09714147 0.95451631 -2.05243226] [ 0. 0. 0. 1. ]] SLAMing on 77.58165253199999 meters Centerline goodness : 0.712067 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:-14.40, Z:-2.06 [[ 0.82746406 -0.48097298 -0.2897727 -11.76543395] [ 0.48655905 0.87174978 -0.05755534 -14.40126275] [ 0.28029185 -0.09336656 0.95536337 -2.06411618] [ 0. 0. 0. 1. ]] SLAMing on 77.641652532 meters Centerline goodness : 0.715111 with order 1 Centerline is valid? [False, False] Translation: X:-11.80, Y:-14.43, Z:-2.08 [[ 0.82837295 -0.4813598 -0.28651527 -11.80278517] [ 0.48608977 0.87188588 -0.05942857 -14.42925524] [ 0.27841514 -0.09004312 0.95623075 -2.07702781] [ 0. 0. 0. 1. ]] SLAMing on 77.701652532 meters Centerline goodness : 0.717720 with order 1 Centerline is valid? [False, False] Translation: X:-11.84, Y:-14.46, Z:-2.09 [[ 0.83048563 -0.47895523 -0.28442134 -11.84184527] [ 0.48336375 0.87340221 -0.05939748 -14.45881576] [ 0.27686296 -0.08815021 0.95685759 -2.08955997] [ 0. 0. 0. 1. ]] SLAMing on 77.76165253199999 meters Centerline goodness : 0.713663 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:-14.49, Z:-2.10 [[ 0.83140561 -0.47877272 -0.28203085 -11.88116177] [ 0.48181701 0.87398229 -0.06330342 -14.49166071] [ 0.27679791 -0.08325644 0.95731462 -2.10238712] [ 0. 0. 0. 1. ]] SLAMing on 77.82165253199999 meters Centerline goodness : 0.712070 with order 1 Centerline is valid? [False, False] Translation: X:-11.92, Y:-14.52, Z:-2.11 [[ 0.83206505 -0.47878634 -0.28005604 -11.91530921] [ 0.48155912 0.87410093 -0.0636268 -14.51676726] [ 0.27526089 -0.0819219 0.95787277 -2.11425721] [ 0. 0. 0. 1. ]] SLAMing on 77.88165253199999 meters Centerline goodness : 0.709670 with order 1 Centerline is valid? [False, False] Translation: X:-11.96, Y:-14.55, Z:-2.13 [[ 0.83368178 -0.47672113 -0.27876811 -11.95855032] [ 0.47813863 0.87568033 -0.06758253 -14.54733903] [ 0.27632977 -0.07694748 0.95797753 -2.12759455] [ 0. 0. 0. 1. ]] SLAMing on 77.94165253199999 meters Centerline goodness : 0.708965 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:-14.58, Z:-2.14 [[ 0.83993129 -0.46718577 -0.27613926 -12.00800036] [ 0.46837666 0.88106287 -0.06596608 -14.581355 ] [ 0.27411447 -0.07393021 0.95885118 -2.14328419] [ 0. 0. 0. 1. ]] SLAMing on 78.001652532 meters Centerline goodness : 0.707058 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:-14.61, Z:-2.16 [[ 0.84191581 -0.46551454 -0.2728992 -12.05082322] [ 0.465734 0.88229291 -0.06819866 -14.61240446] [ 0.2725245 -0.0696809 0.9596223 -2.15579552] [ 0. 0. 0. 1. ]] SLAMing on 78.061652532 meters Centerline goodness : 0.707571 with order 1 Centerline is valid? [False, False] Translation: X:-12.09, Y:-14.64, Z:-2.17 [[ 0.84231779 -0.4663539 -0.27021248 -12.08613134] [ 0.46569762 0.882113 -0.07072749 -14.63882524] [ 0.27134198 -0.06626229 0.96019937 -2.168419 ] [ 0. 0. 0. 1. ]] SLAMing on 78.12165253199998 meters Centerline goodness : 0.704107 with order 1 Centerline is valid? [False, False] Translation: X:-12.11, Y:-14.66, Z:-2.18 [[ 0.84186542 -0.46502861 -0.27388139 -12.10938939] [ 0.46479816 0.88264881 -0.0699553 -14.65630434] [ 0.2742723 -0.06840662 0.95921595 -2.17795791] [ 0. 0. 0. 1. ]] SLAMing on 78.18165253199999 meters Centerline goodness : 0.706936 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:-14.68, Z:-2.19 [[ 0.8435554 -0.46297304 -0.27215851 -12.14501739] [ 0.46363085 0.88356521 -0.06602239 -14.68301303] [ 0.27103638 -0.07048754 0.95998479 -2.18645909] [ 0. 0. 0. 1. ]] SLAMing on 78.24165253199999 meters Centerline goodness : 0.717444 with order 1 Centerline is valid? [False, False] Translation: X:-12.18, Y:-14.71, Z:-2.19 [[ 0.84440621 -0.46429465 -0.26722393 -12.18199361] [ 0.46534629 0.88285001 -0.06347203 -14.71222582] [ 0.26538838 -0.07075549 0.96154182 -2.19428586] [ 0. 0. 0. 1. ]] SLAMing on 78.30165253199999 meters Centerline goodness : 0.728429 with order 1 Centerline is valid? [False, False] Translation: X:-12.22, Y:-14.74, Z:-2.20 [[ 0.84810028 -0.45946864 -0.26384556 -12.22459418] [ 0.4613991 0.88526135 -0.05850818 -14.74316526] [ 0.26045496 -0.0721173 0.96278882 -2.20315042] [ 0. 0. 0. 1. ]] SLAMing on 78.361652532 meters Centerline goodness : 0.735344 with order 1 Centerline is valid? [False, False] Translation: X:-12.26, Y:-14.77, Z:-2.21 [[ 0.84895814 -0.45991787 -0.26027991 -12.2626181 ] [ 0.46144644 0.88520038 -0.05905477 -14.77489022] [ 0.25756022 -0.06997022 0.96372553 -2.21251218] [ 0. 0. 0. 1. ]] SLAMing on 78.421652532 meters Centerline goodness : 0.741010 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-14.80, Z:-2.22 [[ 0.84834752 -0.46106461 -0.26024202 -12.29226187] [ 0.46332652 0.88438626 -0.05647549 -14.8022128 ] [ 0.25619332 -0.07266619 0.96389035 -2.21616258] [ 0. 0. 0. 1. ]] SLAMing on 78.481652532 meters Centerline goodness : 0.745389 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-14.83, Z:-2.22 [[ 0.84943098 -0.45721394 -0.26348135 -12.32263166] [ 0.46057454 0.88605416 -0.05271733 -14.82827781] [ 0.25756184 -0.07657307 0.96322296 -2.22178607] [ 0. 0. 0. 1. ]] SLAMing on 78.54165253199999 meters Centerline goodness : 0.747275 with order 1 Centerline is valid? [False, False] Translation: X:-12.36, Y:-14.85, Z:-2.23 [[ 0.8509986 -0.45306877 -0.26557498 -12.35549946] [ 0.45643475 0.8881964 -0.05267331 -14.85290503] [ 0.25974738 -0.07639273 0.96265022 -2.23276234] [ 0. 0. 0. 1. ]] SLAMing on 78.60165253199999 meters Centerline goodness : 0.745104 with order 1 Centerline is valid? [False, False] Translation: X:-12.39, Y:-14.88, Z:-2.24 [[ 0.85005269 -0.45429064 -0.26651537 -12.38512393] [ 0.45744373 0.88760073 -0.05394599 -14.87878161] [ 0.2610664 -0.07605885 0.96231979 -2.24003752] [ 0. 0. 0. 1. ]] SLAMing on 78.66165253199999 meters Centerline goodness : 0.740508 with order 1 Centerline is valid? [False, False] Translation: X:-12.41, Y:-14.90, Z:-2.25 [[ 0.85326054 -0.4468487 -0.26883582 -12.41044829] [ 0.44799398 0.89197284 -0.06071112 -14.89551274] [ 0.26692293 -0.06863443 0.96127075 -2.24557157] [ 0. 0. 0. 1. ]] SLAMing on 78.721652532 meters Centerline goodness : 0.738642 with order 1 Centerline is valid? [False, False] Translation: X:-12.45, Y:-14.92, Z:-2.26 [[ 0.85506443 -0.44378748 -0.26817438 -12.4459468 ] [ 0.44529356 0.8934564 -0.05873072 -14.92017622] [ 0.26566608 -0.06919778 0.9615785 -2.25615515] [ 0. 0. 0. 1. ]] SLAMing on 78.781652532 meters Centerline goodness : 0.738930 with order 1 Centerline is valid? [False, False] Translation: X:-12.49, Y:-14.95, Z:-2.27 [[ 0.85649202 -0.44326767 -0.26445262 -12.48737602] [ 0.4443276 0.89390147 -0.05927181 -14.95242335] [ 0.26266786 -0.06673777 0.96257554 -2.26614144] [ 0. 0. 0. 1. ]] SLAMing on 78.841652532 meters Centerline goodness : 0.737498 with order 1 Centerline is valid? [False, False] Translation: X:-12.52, Y:-14.98, Z:-2.28 [[ 0.85331433 -0.45021424 -0.26298629 -12.51710164] [ 0.45339254 0.88978556 -0.05212356 -14.98245758] [ 0.25746817 -0.07475824 0.96339055 -2.27652248] [ 0. 0. 0. 1. ]] SLAMing on 78.90165253199999 meters Centerline goodness : 0.728298 with order 1 Centerline is valid? [False, False] Translation: X:-12.55, Y:-15.01, Z:-2.29 [[ 0.85619807 -0.44376594 -0.26456881 -12.54960485] [ 0.44790458 0.89279265 -0.04798723 -15.0099795 ] [ 0.25750018 -0.07741501 0.96317214 -2.28700852] [ 0. 0. 0. 1. ]] SLAMing on 78.96165253199999 meters Centerline goodness : 0.725951 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:-15.02, Z:-2.29 [[ 0.85316374 -0.4541453 -0.2566392 -12.55598866] [ 0.45535791 0.88839652 -0.05831629 -15.01688736] [ 0.25448145 -0.06710934 0.96474635 -2.29325016] [ 0. 0. 0. 1. ]] SLAMing on 79.02165253199999 meters Centerline goodness : 0.720514 with order 1 Centerline is valid? [False, False] Translation: X:-12.57, Y:-15.03, Z:-2.29 [[ 0.84817565 -0.46070896 -0.2614294 -12.5693785 ] [ 0.46228675 0.88474382 -0.05932401 -15.03228107] [ 0.25862914 -0.07053817 0.96339781 -2.29494245] [ 0. 0. 0. 1. ]] SLAMing on 79.08165253199999 meters Centerline goodness : 0.720514 with order 1 Centerline is valid? [False, False] Translation: X:-12.57, Y:-15.03, Z:-2.29 [[ 0.84817565 -0.46070896 -0.2614294 -12.5693785 ] [ 0.46228675 0.88474382 -0.05932401 -15.03228107] [ 0.25862914 -0.07053817 0.96339781 -2.29494245] [ 0. 0. 0. 1. ]] SLAMing on 79.141652532 meters Centerline goodness : 0.720514 with order 1 Centerline is valid? [False, False] Translation: X:-12.57, Y:-15.03, Z:-2.29 [[ 0.84817565 -0.46070896 -0.2614294 -12.5693785 ] [ 0.46228675 0.88474382 -0.05932401 -15.03228107] [ 0.25862914 -0.07053817 0.96339781 -2.29494245] [ 0. 0. 0. 1. ]] SLAMing on 79.201652532 meters Centerline goodness : 0.724179 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:-15.06, Z:-2.30 [[ 0.84961316 -0.4562869 -0.26449904 -12.59908743] [ 0.45914176 0.88667351 -0.0547625 -15.05586304] [ 0.2595117 -0.07491562 0.96282985 -2.30217759] [ 0. 0. 0. 1. ]] SLAMing on 79.26165253199999 meters Centerline goodness : 0.723706 with order 1 Centerline is valid? [False, False] Translation: X:-12.63, Y:-15.08, Z:-2.31 [[ 0.85452941 -0.44701988 -0.26448575 -12.62898055] [ 0.44854484 0.89186497 -0.05817559 -15.07634184] [ 0.26189122 -0.06892096 0.96263331 -2.30606648] [ 0. 0. 0. 1. ]] SLAMing on 79.32165253199999 meters Centerline goodness : 0.717491 with order 1 Centerline is valid? [False, False] Translation: X:-12.64, Y:-15.08, Z:-2.31 [[ 0.85421912 -0.44947619 -0.26130605 -12.63512888] [ 0.45029436 0.89084045 -0.06031823 -15.08102605] [ 0.2598936 -0.06613966 0.96336953 -2.30665386] [ 0. 0. 0. 1. ]] SLAMing on 79.38165253199999 meters Centerline goodness : 0.706966 with order 1 Centerline is valid? [False, False] Translation: X:-12.65, Y:-15.09, Z:-2.32 [[ 0.85563125 -0.4504408 -0.25494755 -12.65157635] [ 0.44868401 0.89106181 -0.06849459 -15.09142502] [ 0.25802678 -0.05578478 0.96452591 -2.31683919] [ 0. 0. 0. 1. ]] SLAMing on 79.44165253199999 meters Centerline goodness : 0.697455 with order 1 Centerline is valid? [False, False] Translation: X:-12.68, Y:-15.11, Z:-2.32 [[ 0.85604156 -0.44799434 -0.25786414 -12.67882288] [ 0.44690399 0.89212153 -0.06630236 -15.11467911] [ 0.25974923 -0.05848294 0.96390356 -2.32471798] [ 0. 0. 0. 1. ]] SLAMing on 79.501652532 meters Centerline goodness : 0.692562 with order 1 Centerline is valid? [False, False] Translation: X:-12.70, Y:-15.14, Z:-2.33 [[ 0.85557987 -0.44607391 -0.2626807 -12.70276696] [ 0.44634506 0.89269991 -0.06215262 -15.13602397] [ 0.2622197 -0.0640697 0.96287897 -2.32792827] [ 0. 0. 0. 1. ]] SLAMing on 79.561652532 meters Centerline goodness : 0.690732 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:-15.16, Z:-2.33 [[ 0.85514353 -0.44726571 -0.26207428 -12.73147629] [ 0.44859498 0.89183305 -0.05827829 -15.16252487] [ 0.25979239 -0.0677289 0.96328641 -2.33215198] [ 0. 0. 0. 1. ]] SLAMing on 79.62165253199998 meters Centerline goodness : 0.676787 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:-15.18, Z:-2.34 [[ 0.85212965 -0.45099526 -0.26547757 -12.75135704] [ 0.45274335 0.88973466 -0.05827262 -15.18314226] [ 0.26248527 -0.07053738 0.96235438 -2.33540772] [ 0. 0. 0. 1. ]] SLAMing on 79.68165253199999 meters Centerline goodness : 0.683154 with order 1 Centerline is valid? [False, False] Translation: X:-12.78, Y:-15.21, Z:-2.34 [[ 0.84993732 -0.45405804 -0.26727859 -12.77587667] [ 0.45577801 0.88811059 -0.05938002 -15.20802689] [ 0.26433492 -0.07135041 0.96178801 -2.34149037] [ 0. 0. 0. 1. ]] SLAMing on 79.74165253199999 meters Centerline goodness : 0.680220 with order 1 Centerline is valid? [False, False] Translation: X:-12.81, Y:-15.24, Z:-2.35 [[ 0.849559 -0.45421956 -0.26820531 -12.8062049 ] [ 0.45621455 0.88793361 -0.05867014 -15.23561989] [ 0.26479763 -0.07251542 0.96157357 -2.348693 ] [ 0. 0. 0. 1. ]] SLAMing on 79.80165253199999 meters Centerline goodness : 0.678310 with order 1 Centerline is valid? [False, False] Translation: X:-12.83, Y:-15.26, Z:-2.35 [[ 0.84838491 -0.45488673 -0.2707787 -12.83302272] [ 0.45746526 0.88737192 -0.05741618 -15.26256388] [ 0.26639927 -0.07516082 0.96092782 -2.35268259] [ 0. 0. 0. 1. ]] SLAMing on 79.861652532 meters Centerline goodness : 0.680786 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:-15.29, Z:-2.36 [[ 0.84687044 -0.45715224 -0.27170257 -12.86146536] [ 0.45975619 0.88615077 -0.05797475 -15.29089079] [ 0.26727273 -0.07581984 0.96063346 -2.35829479] [ 0. 0. 0. 1. ]] SLAMing on 79.921652532 meters Centerline goodness : 0.669897 with order 1 Centerline is valid? [False, False] Translation: X:-12.89, Y:-15.32, Z:-2.36 [[ 0.84464295 -0.46075309 -0.27255252 -12.88800531] [ 0.46303286 0.88430862 -0.05999023 -15.31818838] [ 0.26866123 -0.07553045 0.96026887 -2.36484695] [ 0. 0. 0. 1. ]] SLAMing on 79.981652532 meters Centerline goodness : 0.666960 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:-15.34, Z:-2.38 [[ 0.84511565 -0.45938047 -0.27340284 -12.91974985] [ 0.46149138 0.88507178 -0.06061059 -15.34456491] [ 0.26982446 -0.0749501 0.95998815 -2.37556044] [ 0. 0. 0. 1. ]] SLAMing on 80.04165253199999 meters Centerline goodness : 0.665075 with order 1 Centerline is valid? [False, False] Translation: X:-12.95, Y:-15.37, Z:-2.38 [[ 0.8420132 -0.46462559 -0.27411098 -12.94739989] [ 0.46606961 0.88242557 -0.06406434 -15.37310872] [ 0.27164847 -0.07381178 0.95956184 -2.38039962] [ 0. 0. 0. 1. ]] SLAMing on 80.10165253199999 meters Centerline goodness : 0.659207 with order 1 Centerline is valid? [False, False] Translation: X:-12.97, Y:-15.40, Z:-2.39 [[ 0.83978406 -0.46674003 -0.27733819 -12.97049648] [ 0.46845611 0.8811367 -0.06439718 -15.39673004] [ 0.2744296 -0.07584105 0.95861177 -2.38512218] [ 0. 0. 0. 1. ]] SLAMing on 80.16165253199999 meters Centerline goodness : 0.645976 with order 1 Centerline is valid? [False, False] Translation: X:-13.00, Y:-15.42, Z:-2.40 [[ 0.84024562 -0.46469214 -0.27937164 -13.00102651] [ 0.46649052 0.88218256 -0.06434684 -15.42139989] [ 0.27635826 -0.07625707 0.95802452 -2.39544305] [ 0. 0. 0. 1. ]] SLAMing on 80.221652532 meters Centerline goodness : 0.645123 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:-15.45, Z:-2.40 [[ 0.83853084 -0.46780754 -0.27932443 -13.03372465] [ 0.46862163 0.88075665 -0.06827514 -15.45008514] [ 0.27795648 -0.07364667 0.95776634 -2.40325649] [ 0. 0. 0. 1. ]] SLAMing on 80.281652532 meters Centerline goodness : 0.647965 with order 1 Centerline is valid? [False, False] Translation: X:-13.07, Y:-15.48, Z:-2.41 [[ 0.83954248 -0.46786407 -0.2761732 -13.07167812] [ 0.46872881 0.8807799 -0.06723147 -15.47804988] [ 0.27470299 -0.07300666 0.95875351 -2.41308059] [ 0. 0. 0. 1. ]] SLAMing on 80.341652532 meters Centerline goodness : 0.650272 with order 1 Centerline is valid? [False, False] Translation: X:-13.11, Y:-15.51, Z:-2.42 [[ 0.84015477 -0.4670791 -0.2756394 -13.10952208] [ 0.4675178 0.88133056 -0.06843641 -15.50722129] [ 0.27489465 -0.07136915 0.95882187 -2.42277255] [ 0. 0. 0. 1. ]] SLAMing on 80.40165253199999 meters Centerline goodness : 0.649430 with order 1 Centerline is valid? [False, False] Translation: X:-13.15, Y:-15.53, Z:-2.44 [[ 0.84272363 -0.46238545 -0.27571105 -13.14816403] [ 0.46284507 0.8838592 -0.0675822 -15.53337673] [ 0.27493877 -0.07065838 0.95886186 -2.43524363] [ 0. 0. 0. 1. ]] SLAMing on 80.46165253199999 meters Centerline goodness : 0.653362 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:-15.56, Z:-2.45 [[ 0.84388855 -0.46055691 -0.27520801 -13.1852361 ] [ 0.46090703 0.88487622 -0.06751871 -15.55915564] [ 0.27462124 -0.06986704 0.95901083 -2.44534949] [ 0. 0. 0. 1. ]] SLAMing on 80.52165253199999 meters Centerline goodness : 0.655739 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:-15.59, Z:-2.45 [[ 0.84501282 -0.45870971 -0.2748431 -13.22120993] [ 0.4594205 0.88577486 -0.06584598 -15.58540732] [ 0.2736533 -0.07062786 0.95923176 -2.45343359] [ 0. 0. 0. 1. ]] SLAMing on 80.58165253199999 meters Centerline goodness : 0.657882 with order 1 Centerline is valid? [False, False] Translation: X:-13.26, Y:-15.61, Z:-2.47 [[ 0.84762602 -0.45468277 -0.27348438 -13.26373394] [ 0.45503619 0.88801919 -0.06606047 -15.61396273] [ 0.27289593 -0.06845072 0.95960529 -2.46602596] [ 0. 0. 0. 1. ]] SLAMing on 80.641652532 meters Centerline goodness : 0.658321 with order 1 Centerline is valid? [False, False] Translation: X:-13.29, Y:-15.63, Z:-2.48 [[ 0.84666294 -0.45516674 -0.27565396 -13.29126011] [ 0.45536435 0.88776123 -0.06725557 -15.63407018] [ 0.2753274 -0.06858019 0.95890124 -2.47587543] [ 0. 0. 0. 1. ]] SLAMing on 80.701652532 meters Centerline goodness : 0.665078 with order 1 Centerline is valid? [False, False] Translation: X:-13.33, Y:-15.66, Z:-2.49 [[ 0.84847321 -0.45243192 -0.274588 -13.33064298] [ 0.45276886 0.88917963 -0.06602982 -15.66193245] [ 0.27403205 -0.06830036 0.95929218 -2.4854024 ] [ 0. 0. 0. 1. ]] SLAMing on 80.76165253199999 meters Centerline goodness : 0.667849 with order 1 Centerline is valid? [False, False] Translation: X:-13.37, Y:-15.69, Z:-2.50 [[ 0.8502378 -0.44975957 -0.27351787 -13.36682171] [ 0.45043959 0.89050312 -0.06409649 -15.68669782] [ 0.27239652 -0.06870602 0.95972893 -2.49589318] [ 0. 0. 0. 1. ]] SLAMing on 80.82165253199999 meters Centerline goodness : 0.677533 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:-15.71, Z:-2.51 [[ 0.8504959 -0.45052558 -0.27144692 -13.40586781] [ 0.45031785 0.89036439 -0.06682133 -15.71454671] [ 0.27179139 -0.06540613 0.96013097 -2.50687889] [ 0. 0. 0. 1. ]] SLAMing on 80.88165253199999 meters Centerline goodness : 0.682179 with order 1 Centerline is valid? [False, False] Translation: X:-13.44, Y:-15.74, Z:-2.52 [[ 0.85018097 -0.45055132 -0.2723891 -13.43811189] [ 0.44980546 0.8904608 -0.06895375 -15.73924815] [ 0.27361902 -0.06389894 0.95971327 -2.5175954 ] [ 0. 0. 0. 1. ]] SLAMing on 80.94165253199999 meters Centerline goodness : 0.687532 with order 1 Centerline is valid? [False, False] Translation: X:-13.47, Y:-15.76, Z:-2.53 [[ 0.85070553 -0.44837721 -0.27433188 -13.47252483] [ 0.44755792 0.89156407 -0.06932119 -15.76313475] [ 0.27566649 -0.06380749 0.95913325 -2.52773035] [ 0. 0. 0. 1. ]] SLAMing on 81.001652532 meters Centerline goodness : 0.697500 with order 1 Centerline is valid? [False, False] Translation: X:-13.52, Y:-15.79, Z:-2.54 [[ 0.85267544 -0.44724271 -0.27003436 -13.51528187] [ 0.44648122 0.89221382 -0.06788971 -15.79465605] [ 0.27129157 -0.06267738 0.96045428 -2.53724745] [ 0. 0. 0. 1. ]] SLAMing on 81.061652532 meters Centerline goodness : 0.701326 with order 1 Centerline is valid? [False, False] Translation: X:-13.54, Y:-15.82, Z:-2.54 [[ 0.85159387 -0.44749403 -0.27301462 -13.54182945] [ 0.44733664 0.89188731 -0.06653529 -15.81714304] [ 0.27327242 -0.0654684 0.95970624 -2.54193497] [ 0. 0. 0. 1. ]] SLAMing on 81.12165253199998 meters Centerline goodness : 0.708128 with order 1 Centerline is valid? [False, False] Translation: X:-13.57, Y:-15.84, Z:-2.55 [[ 0.85218398 -0.44586533 -0.27383678 -13.57467186] [ 0.44566288 0.89271793 -0.06662802 -15.84384447] [ 0.27416613 -0.06525956 0.95946554 -2.55264676] [ 0. 0. 0. 1. ]] SLAMing on 81.18165253199999 meters Centerline goodness : 0.711775 with order 1 Centerline is valid? [False, False] Translation: X:-13.61, Y:-15.87, Z:-2.56 [[ 0.85161599 -0.44618716 -0.27507676 -13.60515505] [ 0.44580186 0.89257336 -0.0676276 -15.86820016] [ 0.27570075 -0.06503699 0.95904082 -2.56233824] [ 0. 0. 0. 1. ]] SLAMing on 81.24165253199999 meters Centerline goodness : 0.717696 with order 1 Centerline is valid? [False, False] Translation: X:-13.64, Y:-15.90, Z:-2.57 [[ 0.85283651 -0.44464734 -0.27378575 -13.64117333] [ 0.44494544 0.89322053 -0.06465792 -15.89503071] [ 0.27330103 -0.06667708 0.95961488 -2.57064162] [ 0. 0. 0. 1. ]] SLAMing on 81.30165253199999 meters Centerline goodness : 0.720017 with order 1 Centerline is valid? [False, False] Translation: X:-13.68, Y:-15.92, Z:-2.58 [[ 0.85371347 -0.44327223 -0.27328198 -13.67738274] [ 0.44325371 0.89400624 -0.06541404 -15.92159566] [ 0.27331202 -0.0652884 0.95970723 -2.58142978] [ 0. 0. 0. 1. ]] SLAMing on 81.361652532 meters Centerline goodness : 0.725838 with order 1 Centerline is valid? [False, False] Translation: X:-13.72, Y:-15.95, Z:-2.59 [[ 0.85582106 -0.44018159 -0.27168085 -13.71624626] [ 0.44017758 0.89559442 -0.06445407 -15.94782573] [ 0.27168735 -0.06442667 0.96022663 -2.5930614 ] [ 0. 0. 0. 1. ]] SLAMing on 81.421652532 meters Centerline goodness : 0.725457 with order 1 Centerline is valid? [False, False] Translation: X:-13.76, Y:-15.98, Z:-2.60 [[ 0.85819148 -0.4367343 -0.26976014 -13.75568682] [ 0.43711505 0.89726301 -0.06204444 -15.97502885] [ 0.26914273 -0.0646702 0.96092661 -2.60428614] [ 0. 0. 0. 1. ]] SLAMing on 81.481652532 meters Centerline goodness : 0.725151 with order 1 Centerline is valid? [False, False] Translation: X:-13.80, Y:-16.01, Z:-2.62 [[ 0.86008112 -0.43468398 -0.26703988 -13.80012813] [ 0.43440204 0.89848365 -0.0634192 -16.00567734] [ 0.26749828 -0.06145701 0.96159644 -2.61702436] [ 0. 0. 0. 1. ]] SLAMing on 81.54165253199999 meters Centerline goodness : 0.729205 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:-16.03, Z:-2.63 [[ 0.86113791 -0.4327457 -0.26678202 -13.83528764] [ 0.4328471 0.89935573 -0.06166562 -16.031407 ] [ 0.26661747 -0.06237322 0.96178205 -2.62608317] [ 0. 0. 0. 1. ]] SLAMing on 81.60165253199999 meters Centerline goodness : 0.726262 with order 1 Centerline is valid? [False, False] Translation: X:-13.87, Y:-16.06, Z:-2.63 [[ 0.86221806 -0.4312002 -0.26579391 -13.87021634] [ 0.43184744 0.90000191 -0.05919753 -16.05702941] [ 0.26474101 -0.06374124 0.96221061 -2.63432013] [ 0. 0. 0. 1. ]] SLAMing on 81.66165253199999 meters Centerline goodness : 0.727065 with order 1 Centerline is valid? [False, False] Translation: X:-13.88, Y:-16.06, Z:-2.64 [[ 0.86257728 -0.43274731 -0.26208816 -13.87864273] [ 0.43259985 0.8994905 -0.06143466 -16.06057579] [ 0.26233149 -0.06038715 0.96308649 -2.637018 ] [ 0. 0. 0. 1. ]] SLAMing on 81.721652532 meters Centerline goodness : 0.728999 with order 1 Centerline is valid? [False, False] Translation: X:-13.88, Y:-16.06, Z:-2.64 [[ 0.86272913 -0.43232268 -0.26228905 -13.87870267] [ 0.43236359 0.89965229 -0.06072472 -16.06269451] [ 0.26222161 -0.06101525 0.96307682 -2.63615501] [ 0. 0. 0. 1. ]] SLAMing on 81.781652532 meters Centerline goodness : 0.729538 with order 1 Centerline is valid? [False, False] Translation: X:-13.91, Y:-16.08, Z:-2.64 [[ 0.8633722 -0.42962287 -0.26459902 -13.90766869] [ 0.4306542 0.90069985 -0.05724279 -16.08479252] [ 0.26291711 -0.06452885 0.9626581 -2.6429645 ] [ 0. 0. 0. 1. ]] SLAMing on 81.841652532 meters Centerline goodness : 0.727549 with order 1 Centerline is valid? [False, False] Translation: X:-13.91, Y:-16.09, Z:-2.64 [[ 0.8636398 -0.42924004 -0.26434691 -13.90898703] [ 0.43033599 0.90087486 -0.05688081 -16.08526917] [ 0.26255901 -0.06463346 0.96274882 -2.64310628] [ 0. 0. 0. 1. ]] SLAMing on 81.90165253199999 meters Centerline goodness : 0.733337 with order 1 Centerline is valid? [False, False] Translation: X:-13.94, Y:-16.11, Z:-2.65 [[ 0.8651242 -0.42497905 -0.2663699 -13.94158705] [ 0.42727938 0.90260418 -0.05232623 -16.10963373] [ 0.26266414 -0.06854568 0.9624495 -2.64995284] [ 0. 0. 0. 1. ]] SLAMing on 81.96165253199999 meters Centerline goodness : 0.737370 with order 1 Centerline is valid? [False, False] Translation: X:-13.97, Y:-16.13, Z:-2.66 [[ 0.86552301 -0.42432152 -0.26612248 -13.97461291] [ 0.42691498 0.90284805 -0.05107843 -16.13338797] [ 0.26194184 -0.06940211 0.96258497 -2.65825086] [ 0. 0. 0. 1. ]] SLAMing on 82.02165253199999 meters Centerline goodness : 0.738842 with order 1 Centerline is valid? [False, False] Translation: X:-14.01, Y:-16.16, Z:-2.67 [[ 0.86533927 -0.42446128 -0.26649685 -14.00651683] [ 0.4270581 0.90277394 -0.05119174 -16.15786841] [ 0.26231532 -0.06951142 0.96247537 -2.66678086] [ 0. 0. 0. 1. ]] SLAMing on 82.08165253199999 meters Centerline goodness : 0.740302 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:-16.18, Z:-2.68 [[ 0.86503712 -0.424285 -0.26775551 -14.03823322] [ 0.42703816 0.90279758 -0.05094053 -16.17889682] [ 0.26334233 -0.07027638 0.96213931 -2.67547914] [ 0. 0. 0. 1. ]] SLAMing on 82.141652532 meters Centerline goodness : 0.743552 with order 1 Centerline is valid? [False, False] Translation: X:-14.07, Y:-16.20, Z:-2.69 [[ 0.86782862 -0.41772445 -0.26903488 -14.07279678] [ 0.42170066 0.90557833 -0.04578702 -16.20157078] [ 0.26275851 -0.07371689 0.96204147 -2.68531066] [ 0. 0. 0. 1. ]] SLAMing on 82.201652532 meters Centerline goodness : 0.744204 with order 1 Centerline is valid? [False, False] Translation: X:-14.08, Y:-16.21, Z:-2.69 [[ 0.86897768 -0.41767224 -0.26538215 -14.08361571] [ 0.42094289 0.90585178 -0.04732482 -16.20767452] [ 0.26016316 -0.07058651 0.96298114 -2.6875575 ] [ 0. 0. 0. 1. ]] SLAMing on 82.26165253199999 meters Centerline goodness : 0.746583 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:-16.23, Z:-2.70 [[ 0.87038437 -0.41525352 -0.26456675 -14.11957393] [ 0.41895966 0.9068843 -0.0450962 -16.23286163] [ 0.25865778 -0.07159177 0.96331239 -2.69673248] [ 0. 0. 0. 1. ]] SLAMing on 82.32165253199999 meters Centerline goodness : 0.747602 with order 1 Centerline is valid? [False, False] Translation: X:-14.14, Y:-16.25, Z:-2.70 [[ 0.8676851 -0.41896996 -0.26755697 -14.1428212 ] [ 0.42310166 0.90496517 -0.04497813 -16.25367576] [ 0.26097423 -0.07417694 0.96249168 -2.69985567] [ 0. 0. 0. 1. ]] SLAMing on 82.38165253199999 meters Centerline goodness : 0.749307 with order 1 Centerline is valid? [False, False] Translation: X:-14.17, Y:-16.27, Z:-2.71 [[ 0.86760934 -0.41752966 -0.27004263 -14.17165458] [ 0.4225775 0.90534704 -0.0421306 -16.27421162] [ 0.26207307 -0.07756103 0.96192619 -2.7060505 ] [ 0. 0. 0. 1. ]] SLAMing on 82.44165253199999 meters Centerline goodness : 0.748748 with order 1 Centerline is valid? [False, False] Translation: X:-14.22, Y:-16.30, Z:-2.72 [[ 0.86875706 -0.41693944 -0.26725022 -14.21579372] [ 0.4206001 0.9060638 -0.04630278 -16.3035056 ] [ 0.26145121 -0.0721796 0.96251409 -2.71930537] [ 0. 0. 0. 1. ]] SLAMing on 82.501652532 meters Centerline goodness : 0.749695 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:-16.33, Z:-2.73 [[ 0.86941303 -0.41635671 -0.2660227 -14.25029724] [ 0.42023564 0.90629608 -0.04504924 -16.32683167] [ 0.25985188 -0.07262582 0.96291354 -2.72853003] [ 0. 0. 0. 1. ]] SLAMing on 82.561652532 meters Centerline goodness : 0.748094 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:-16.35, Z:-2.74 [[ 0.87096279 -0.41402872 -0.26458277 -14.2884048 ] [ 0.41823321 0.90731891 -0.04305089 -16.35286267] [ 0.25788526 -0.07316158 0.96340157 -2.737122 ] [ 0. 0. 0. 1. ]] SLAMing on 82.62165253199998 meters Centerline goodness : 0.746954 with order 1 Centerline is valid? [False, False] Translation: X:-14.33, Y:-16.38, Z:-2.75 [[ 0.87221386 -0.41158362 -0.2642762 -14.32537153] [ 0.41590585 0.90843085 -0.04213928 -16.3765761 ] [ 0.25742049 -0.07315955 0.96352601 -2.74714879] [ 0. 0. 0. 1. ]] SLAMing on 82.68165253199999 meters Centerline goodness : 0.740016 with order 1 Centerline is valid? [False, False] Translation: X:-14.36, Y:-16.40, Z:-2.76 [[ 0.87342404 -0.40958342 -0.26338539 -14.36124003] [ 0.41384426 0.9093877 -0.04179653 -16.40092227] [ 0.2566386 -0.07249444 0.96378482 -2.75811747] [ 0. 0. 0. 1. ]] SLAMing on 82.74165253199999 meters Centerline goodness : 0.740737 with order 1 Centerline is valid? [False, False] Translation: X:-14.40, Y:-16.42, Z:-2.77 [[ 0.8743975 -0.4086926 -0.26153275 -14.3978509 ] [ 0.41311392 0.90977805 -0.04050651 -16.4248591 ] [ 0.25449146 -0.07262403 0.96434426 -2.76752577] [ 0. 0. 0. 1. ]] SLAMing on 82.80165253199999 meters Centerline goodness : 0.741432 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:-16.45, Z:-2.78 [[ 0.87481575 -0.40846392 -0.2604892 -14.43353482] [ 0.41298201 0.90986942 -0.03979308 -16.44745774] [ 0.25326519 -0.07276574 0.96465636 -2.77643779] [ 0. 0. 0. 1. ]] SLAMing on 82.861652532 meters Centerline goodness : 0.737984 with order 1 Centerline is valid? [False, False] Translation: X:-14.48, Y:-16.48, Z:-2.79 [[ 0.87799685 -0.40337513 -0.25770144 -14.48095552] [ 0.40712071 0.9124464 -0.04116193 -16.47505386] [ 0.25174244 -0.06877555 0.96534743 -2.7905529 ] [ 0. 0. 0. 1. ]] SLAMing on 82.921652532 meters Centerline goodness : 0.738016 with order 1 Centerline is valid? [False, False] Translation: X:-14.49, Y:-16.48, Z:-2.79 [[ 0.87807303 -0.40584384 -0.2535321 -14.48818739] [ 0.40855251 0.91165541 -0.04437621 -16.47852598] [ 0.24914372 -0.06461563 0.96630856 -2.79460875] [ 0. 0. 0. 1. ]] SLAMing on 82.981652532 meters Centerline goodness : 0.738817 with order 1 Centerline is valid? [False, False] Translation: X:-14.53, Y:-16.50, Z:-2.81 [[ 0.87963449 -0.40379656 -0.25137921 -14.52538295] [ 0.40665989 0.91257232 -0.04288937 -16.50167239] [ 0.24672029 -0.06449887 0.96693795 -2.80526894] [ 0. 0. 0. 1. ]] SLAMing on 83.04165253199999 meters Centerline goodness : 0.738157 with order 1 Centerline is valid? [False, False] Translation: X:-14.56, Y:-16.52, Z:-2.81 [[ 0.88029464 -0.40384713 -0.24897558 -14.56247674] [ 0.4068186 0.91255142 -0.04181549 -16.52434826] [ 0.24409009 -0.06447795 0.96760665 -2.81429363] [ 0. 0. 0. 1. ]] SLAMing on 83.10165253199999 meters Centerline goodness : 0.736723 with order 1 Centerline is valid? [False, False] Translation: X:-14.60, Y:-16.55, Z:-2.82 [[ 0.88136374 -0.4024506 -0.24744994 -14.59877323] [ 0.40552787 0.91317286 -0.04077351 -16.54854112] [ 0.24237389 -0.06441155 0.96804238 -2.82370941] [ 0. 0. 0. 1. ]] SLAMing on 83.16165253199999 meters Centerline goodness : 0.734162 with order 1 Centerline is valid? [False, False] Translation: X:-14.64, Y:-16.57, Z:-2.84 [[ 0.88352805 -0.399725 -0.24412723 -14.63945115] [ 0.40274318 0.91445126 -0.03970935 -16.57193097] [ 0.23911527 -0.06323625 0.96892985 -2.83551119] [ 0. 0. 0. 1. ]] SLAMing on 83.221652532 meters Centerline goodness : 0.735857 with order 1 Centerline is valid? [False, False] Translation: X:-14.68, Y:-16.59, Z:-2.85 [[ 0.88609269 -0.39621993 -0.24051924 -14.68138108] [ 0.39926656 0.91604234 -0.03811359 -16.59433842] [ 0.23542718 -0.06225912 0.96989579 -2.84692701] [ 0. 0. 0. 1. ]] SLAMing on 83.281652532 meters Centerline goodness : 0.736016 with order 1 Centerline is valid? [False, False] Translation: X:-14.71, Y:-16.61, Z:-2.85 [[ 0.88812113 -0.39308994 -0.23816205 -14.71400065] [ 0.39361287 0.9180509 -0.04744951 -16.61277306] [ 0.23729681 -0.05160273 0.97006566 -2.85087878] [ 0. 0. 0. 1. ]] SLAMing on 83.341652532 meters Centerline goodness : 0.738401 with order 1 Centerline is valid? [False, False] Translation: X:-14.75, Y:-16.64, Z:-2.86 [[ 0.88957162 -0.39062451 -0.23680125 -14.75203178] [ 0.39129295 0.91910538 -0.04620748 -16.63646689] [ 0.23569507 -0.0515538 0.97045867 -2.86045978] [ 0. 0. 0. 1. ]] SLAMing on 83.40165253199999 meters Centerline goodness : 0.736558 with order 1 Centerline is valid? [False, False] Translation: X:-14.79, Y:-16.66, Z:-2.87 [[ 0.88972872 -0.39022767 -0.23686529 -14.7864677 ] [ 0.3908986 0.91927568 -0.04615742 -16.66025916] [ 0.2357564 -0.05152273 0.97044543 -2.86840155] [ 0. 0. 0. 1. ]] SLAMing on 83.46165253199999 meters Centerline goodness : 0.737834 with order 1 Centerline is valid? [False, False] Translation: X:-14.82, Y:-16.69, Z:-2.88 [[ 0.88926822 -0.39263108 -0.23461215 -14.82220473] [ 0.39300923 0.91832282 -0.04719051 -16.68740266] [ 0.23397815 -0.05023972 0.97094294 -2.87501639] [ 0. 0. 0. 1. ]] SLAMing on 83.52165253199999 meters Centerline goodness : 0.738169 with order 1 Centerline is valid? [False, False] Translation: X:-14.86, Y:-16.71, Z:-2.88 [[ 0.89100996 -0.38855586 -0.23478841 -14.86088587] [ 0.38914835 0.92003642 -0.04578796 -16.71049707] [ 0.23380506 -0.05057 0.97096749 -2.88468493] [ 0. 0. 0. 1. ]] SLAMing on 83.58165253199999 meters Centerline goodness : 0.733417 with order 1 Centerline is valid? [False, False] Translation: X:-14.90, Y:-16.74, Z:-2.89 [[ 0.88982027 -0.39160958 -0.23422602 -14.89751214] [ 0.39108973 0.91895572 -0.05068736 -16.73567986] [ 0.235093 -0.04650075 0.97085991 -2.89327469] [ 0. 0. 0. 1. ]] SLAMing on 83.641652532 meters Centerline goodness : 0.734568 with order 1 Centerline is valid? [False, False] Translation: X:-14.94, Y:-16.76, Z:-2.90 [[ 0.89133768 -0.38870595 -0.23329131 -14.93516976] [ 0.38817571 0.92021992 -0.05014899 -16.76216755] [ 0.23417252 -0.04585834 0.97111289 -2.9029451 ] [ 0. 0. 0. 1. ]] SLAMing on 83.701652532 meters Centerline goodness : 0.735596 with order 1 Centerline is valid? [False, False] Translation: X:-14.98, Y:-16.79, Z:-2.91 [[ 0.89149262 -0.38948072 -0.2313994 -14.97615797] [ 0.38818555 0.92005248 -0.05306042 -16.78788927] [ 0.2335656 -0.04252293 0.97141078 -2.91211539] [ 0. 0. 0. 1. ]] SLAMing on 83.76165253199999 meters Centerline goodness : 0.738650 with order 1 Centerline is valid? [False, False] Translation: X:-15.02, Y:-16.81, Z:-2.92 [[ 0.893368 -0.38577845 -0.23036623 -15.0202612 ] [ 0.38417843 0.92169884 -0.05364865 -16.81394183] [ 0.23302478 -0.04057374 0.97162401 -2.92222528] [ 0. 0. 0. 1. ]] SLAMing on 83.82165253199999 meters Centerline goodness : 0.743283 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-16.84, Z:-2.93 [[ 0.89486196 -0.38356428 -0.22825539 -15.06553349] [ 0.3809031 0.92282966 -0.05743042 -16.84273083] [ 0.2326691 -0.03555088 0.97190598 -2.93368067] [ 0. 0. 0. 1. ]] SLAMing on 83.88165253199999 meters Centerline goodness : 0.742095 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-16.87, Z:-2.94 [[ 0.89764804 -0.37783283 -0.22687078 -15.10846572] [ 0.37541693 0.92519658 -0.05543847 -16.8660641 ] [ 0.23084654 -0.03540689 0.97234573 -2.94395457] [ 0. 0. 0. 1. ]] SLAMing on 83.94165253199999 meters Centerline goodness : 0.744744 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:-16.89, Z:-2.95 [[ 0.89807484 -0.37651895 -0.22736548 -15.14311054] [ 0.37430242 0.92570329 -0.05450799 -16.88850629] [ 0.23099626 -0.0361512 0.97228279 -2.95080398] [ 0. 0. 0. 1. ]] SLAMing on 84.001652532 meters Centerline goodness : 0.746493 with order 1 Centerline is valid? [False, False] Translation: X:-15.19, Y:-16.92, Z:-2.96 [[ 0.90159008 -0.3684922 -0.2266028 -15.18552992] [ 0.36686789 0.92888254 -0.05084458 -16.91540553] [ 0.22922322 -0.03729232 0.97265924 -2.9612246 ] [ 0. 0. 0. 1. ]] SLAMing on 84.061652532 meters Centerline goodness : 0.742175 with order 1 Centerline is valid? [False, False] Translation: X:-15.22, Y:-16.94, Z:-2.97 [[ 0.90079752 -0.37063151 -0.2262656 -15.22242023] [ 0.36807717 0.92816703 -0.0550015 -16.9405309 ] [ 0.23039756 -0.03373799 0.97251155 -2.96951522] [ 0. 0. 0. 1. ]] SLAMing on 84.12165253199998 meters Centerline goodness : 0.743291 with order 1 Centerline is valid? [False, False] Translation: X:-15.26, Y:-16.96, Z:-2.98 [[ 0.90277215 -0.36514698 -0.22731066 -15.25641307] [ 0.36366036 0.93019146 -0.04994993 -16.96305227] [ 0.2296815 -0.03757047 0.97254042 -2.97753178] [ 0. 0. 0. 1. ]] SLAMing on 84.18165253199999 meters Centerline goodness : 0.746596 with order 1 Centerline is valid? [False, False] Translation: X:-15.29, Y:-16.99, Z:-2.99 [[ 0.90220302 -0.3672375 -0.22619976 -15.29173421] [ 0.36518009 0.92945791 -0.05245463 -16.98691063] [ 0.22950646 -0.03527893 0.97266756 -2.98642519] [ 0. 0. 0. 1. ]] SLAMing on 84.24165253199999 meters Centerline goodness : 0.750092 with order 1 Centerline is valid? [False, False] Translation: X:-15.33, Y:-17.01, Z:-2.99 [[ 0.90209712 -0.36960595 -0.22273802 -15.32894566] [ 0.36740596 0.92855953 -0.05282113 -17.01172671] [ 0.22634852 -0.03418549 0.9734463 -2.99359106] [ 0. 0. 0. 1. ]] SLAMing on 84.30165253199999 meters Centerline goodness : 0.748957 with order 1 Centerline is valid? [False, False] Translation: X:-15.36, Y:-17.03, Z:-3.00 [[ 0.90252063 -0.36769508 -0.22418035 -15.35964463] [ 0.36626014 0.92919361 -0.04952524 -17.03235341] [ 0.22651714 -0.03741078 0.97328846 -2.9994052 ] [ 0. 0. 0. 1. ]] SLAMing on 84.361652532 meters Centerline goodness : 0.746187 with order 1 Centerline is valid? [False, False] Translation: X:-15.39, Y:-17.05, Z:-3.01 [[ 0.90289578 -0.36650936 -0.22461099 -15.39183459] [ 0.3652754 0.92963077 -0.04858517 -17.05364494] [ 0.22661221 -0.03817753 0.97323655 -3.00810934] [ 0. 0. 0. 1. ]] SLAMing on 84.421652532 meters Centerline goodness : 0.742308 with order 1 Centerline is valid? [False, False] Translation: X:-15.41, Y:-17.06, Z:-3.02 [[ 0.90650618 -0.35919576 -0.22186696 -15.4066393 ] [ 0.35770887 0.93258356 -0.04829364 -17.05960914] [ 0.22425635 -0.0355853 0.97388027 -3.01552583] [ 0. 0. 0. 1. ]] SLAMing on 84.48165253199998 meters Centerline goodness : 0.738961 with order 1 Centerline is valid? [False, False] Translation: X:-15.41, Y:-17.07, Z:-3.02 [[ 0.9051258 -0.36570319 -0.21681434 -15.41295236] [ 0.36275384 0.93027622 -0.05473401 -17.06517093] [ 0.22171362 -0.02910907 0.97467724 -3.01838316] [ 0. 0. 0. 1. ]] SLAMing on 84.54165253199999 meters Centerline goodness : 0.736093 with order 1 Centerline is valid? [False, False] Translation: X:-15.44, Y:-17.09, Z:-3.02 [[ 0.90222546 -0.37206995 -0.2180669 -15.43857422] [ 0.36876577 0.92775853 -0.05723565 -17.08809467] [ 0.22360909 -0.02877615 0.97425403 -3.02286465] [ 0. 0. 0. 1. ]] SLAMing on 84.60165253199999 meters Centerline goodness : 0.733028 with order 1 Centerline is valid? [False, False] Translation: X:-15.45, Y:-17.10, Z:-3.03 [[ 0.90258707 -0.37586486 -0.20990995 -15.45464983] [ 0.37372413 0.926118 -0.05133937 -17.09739435] [ 0.21369805 -0.03211016 0.9763719 -3.03339584] [ 0. 0. 0. 1. ]] SLAMing on 84.66165253199999 meters Centerline goodness : 0.733513 with order 1 Centerline is valid? [False, False] Translation: X:-15.46, Y:-17.10, Z:-3.03 [[ 0.90134222 -0.37979445 -0.20817874 -15.45518049] [ 0.37718936 0.9245796 -0.05367266 -17.10267527] [ 0.21286239 -0.03014537 0.97661705 -3.03258941] [ 0. 0. 0. 1. ]] SLAMing on 84.721652532 meters Centerline goodness : 0.734052 with order 1 Centerline is valid? [False, False] Translation: X:-15.46, Y:-17.10, Z:-3.03 [[ 0.9019668 -0.37859749 -0.20765315 -15.45843953] [ 0.37616903 0.92505441 -0.05264212 -17.10452638] [ 0.21202064 -0.03063124 0.97678502 -3.03218275] [ 0. 0. 0. 1. ]] SLAMing on 84.781652532 meters Centerline goodness : 0.736465 with order 1 Centerline is valid? [False, False] Translation: X:-15.46, Y:-17.11, Z:-3.03 [[ 0.90161436 -0.38101579 -0.2047401 -15.46399737] [ 0.3780436 0.92415091 -0.0550285 -17.10715893] [ 0.21017748 -0.0277862 0.97726831 -3.03341939] [ 0. 0. 0. 1. ]] SLAMing on 84.841652532 meters Centerline goodness : 0.735497 with order 1 Centerline is valid? [False, False] Translation: X:-15.47, Y:-17.11, Z:-3.03 [[ 0.90070115 -0.38448005 -0.20226846 -15.46755954] [ 0.3808981 0.92279894 -0.05795479 -17.10851372] [ 0.20893558 -0.02484373 0.97761378 -3.03394691] [ 0. 0. 0. 1. ]] SLAMing on 84.90165253199999 meters Centerline goodness : 0.736246 with order 1 Centerline is valid? [False, False] Translation: X:-15.47, Y:-17.11, Z:-3.03 [[ 0.89951773 -0.388379 -0.200074 -15.46976365] [ 0.38417552 0.92123859 -0.06106255 -17.10995121] [ 0.2080313 -0.02193668 0.97787615 -3.03434889] [ 0. 0. 0. 1. ]] SLAMing on 84.96165253199999 meters Centerline goodness : 0.737616 with order 1 Centerline is valid? [False, False] Translation: X:-15.47, Y:-17.11, Z:-3.04 [[ 0.90010946 -0.38744329 -0.19922516 -15.47254779] [ 0.38332454 0.92163237 -0.06046543 -17.11073366] [ 0.20703928 -0.02194239 0.97808653 -3.03539201] [ 0. 0. 0. 1. ]] SLAMing on 85.02165253199999 meters Centerline goodness : 0.735045 with order 1 Centerline is valid? [False, False] Translation: X:-15.51, Y:-17.14, Z:-3.04 [[ 0.90096685 -0.38472309 -0.20061623 -15.50581109] [ 0.38133576 0.92268606 -0.05686356 -17.1352151 ] [ 0.20698252 -0.02526996 0.97801823 -3.04027021] [ 0. 0. 0. 1. ]] SLAMing on 85.08165253199999 meters Centerline goodness : 0.733641 with order 1 Centerline is valid? [False, False] Translation: X:-15.52, Y:-17.14, Z:-3.04 [[ 0.90199559 -0.3843008 -0.19676596 -15.5169404 ] [ 0.38042834 0.92294736 -0.05867234 -17.14133741] [ 0.20415246 -0.02193315 0.97869337 -3.04299676] [ 0. 0. 0. 1. ]] SLAMing on 85.141652532 meters Centerline goodness : 0.725312 with order 1 Centerline is valid? [False, False] Translation: X:-15.55, Y:-17.17, Z:-3.05 [[ 0.90208053 -0.38345754 -0.19801776 -15.54968727] [ 0.37975755 0.92327272 -0.05789378 -17.16781504] [ 0.2050242 -0.02297389 0.97848724 -3.04816655] [ 0. 0. 0. 1. ]] SLAMing on 85.201652532 meters Centerline goodness : 0.710899 with order 1 Centerline is valid? [False, False] Translation: X:-15.58, Y:-17.19, Z:-3.05 [[ 0.90315042 -0.38059956 -0.19865369 -15.58483865] [ 0.37752049 0.92438527 -0.05468228 -17.1918882 ] [ 0.2044446 -0.02560952 0.97854308 -3.05366117] [ 0. 0. 0. 1. ]] SLAMing on 85.26165253199999 meters Centerline goodness : 0.705356 with order 1 Centerline is valid? [False, False] Translation: X:-15.61, Y:-17.21, Z:-3.06 [[ 0.90263486 -0.38002438 -0.20206873 -15.61200648] [ 0.37761975 0.92450653 -0.05187479 -17.21278811] [ 0.20652754 -0.02948114 0.97799654 -3.05666638] [ 0. 0. 0. 1. ]] SLAMing on 85.32165253199999 meters Centerline goodness : 0.692649 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-17.23, Z:-3.06 [[ 0.90489518 -0.37662327 -0.19829176 -15.63589773] [ 0.37244712 0.92614887 -0.05942563 -17.22510421] [ 0.20602877 -0.02007923 0.97833991 -3.06334646] [ 0. 0. 0. 1. ]] SLAMing on 85.38165253199999 meters Centerline goodness : 0.683398 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-17.23, Z:-3.06 [[ 0.90550916 -0.37534364 -0.19791492 -15.63939734] [ 0.37128769 0.92666222 -0.05867351 -17.22594868] [ 0.20542301 -0.02035398 0.9784616 -3.06267288] [ 0. 0. 0. 1. ]] SLAMing on 85.44165253199999 meters Centerline goodness : 0.675519 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:-17.23, Z:-3.06 [[ 0.90517893 -0.37736851 -0.19556102 -15.64490624] [ 0.37288627 0.92588884 -0.06070992 -17.23037152] [ 0.20397778 -0.01796868 0.9788106 -3.06202841] [ 0. 0. 0. 1. ]] SLAMing on 85.501652532 meters Centerline goodness : 0.674001 with order 1 Centerline is valid? [False, False] Translation: X:-15.65, Y:-17.23, Z:-3.06 [[ 9.04103079e-01 -3.80888760e-01 -1.93704349e-01 -1.56468584e+01] [ 3.75910539e-01 9.24489849e-01 -6.33228731e-02 -1.72338508e+01] [ 2.03196675e-01 -1.55651018e-02 9.79014218e-01 -3.06141726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561652532 meters Centerline goodness : 0.676857 with order 1 Centerline is valid? [False, False] Translation: X:-15.67, Y:-17.26, Z:-3.06 [[ 0.90346028 -0.38001938 -0.19835522 -15.67199717] [ 0.37605476 0.92472948 -0.05880656 -17.25670374] [ 0.20577255 -0.02146303 0.97836445 -3.06152349] [ 0. 0. 0. 1. ]] SLAMing on 85.62165253199998 meters Centerline goodness : 0.677935 with order 1 Centerline is valid? [False, False] Translation: X:-15.68, Y:-17.27, Z:-3.07 [[ 0.90184286 -0.38735076 -0.19141278 -15.68398699] [ 0.38465158 0.92156083 -0.0526193 -17.27023219] [ 0.19678064 -0.02617289 0.98009814 -3.06691077] [ 0. 0. 0. 1. ]] SLAMing on 85.68165253199999 meters Centerline goodness : 0.676622 with order 1 Centerline is valid? [False, False] Translation: X:-15.70, Y:-17.29, Z:-3.07 [[ 0.89996983 -0.38911962 -0.19657118 -15.70477786] [ 0.38716684 0.92065865 -0.04989478 -17.2901266 ] [ 0.20039 -0.03120205 0.97921922 -3.06696918] [ 0. 0. 0. 1. ]] SLAMing on 85.74165253199999 meters Centerline goodness : 0.669351 with order 1 Centerline is valid? [False, False] Translation: X:-15.72, Y:-17.31, Z:-3.07 [[ 0.8983082 -0.38989131 -0.2025516 -15.7236322 ] [ 0.38899548 0.92009497 -0.04591029 -17.30894674] [ 0.20426674 -0.03755007 0.97819481 -3.06685723] [ 0. 0. 0. 1. ]] SLAMing on 85.80165253199999 meters Centerline goodness : 0.670794 with order 1 Centerline is valid? [False, False] Translation: X:-15.75, Y:-17.33, Z:-3.07 [[ 0.89767586 -0.39021684 -0.20471655 -15.75275078] [ 0.38994064 0.91981606 -0.04341324 -17.33055802] [ 0.20524214 -0.04085628 0.97785808 -3.06931661] [ 0. 0. 0. 1. ]] SLAMing on 85.861652532 meters Centerline goodness : 0.671499 with order 1 Centerline is valid? [False, False] Translation: X:-15.78, Y:-17.35, Z:-3.07 [[ 0.89578143 -0.3933126 -0.20707686 -15.77899383] [ 0.39330563 0.91840195 -0.04299454 -17.3524677 ] [ 0.20709008 -0.04293079 0.97737948 -3.07120275] [ 0. 0. 0. 1. ]] SLAMing on 85.921652532 meters Centerline goodness : 0.675758 with order 1 Centerline is valid? [False, False] Translation: X:-15.81, Y:-17.37, Z:-3.07 [[ 0.89512144 -0.39336386 -0.20981537 -15.80609689] [ 0.39413519 0.91818391 -0.03994705 -17.37178735] [ 0.20836282 -0.04693816 0.97692464 -3.07412062] [ 0. 0. 0. 1. ]] SLAMing on 85.98165253199998 meters Centerline goodness : 0.679877 with order 1 Centerline is valid? [False, False] Translation: X:-15.81, Y:-17.37, Z:-3.07 [[ 0.89428437 -0.39640022 -0.20765917 -15.81063367] [ 0.39651319 0.91702503 -0.04292311 -17.37164433] [ 0.20744338 -0.04395413 0.97725906 -3.07392165] [ 0. 0. 0. 1. ]] SLAMing on 86.04165253199999 meters Centerline goodness : 0.676690 with order 1 Centerline is valid? [False, False] Translation: X:-15.83, Y:-17.38, Z:-3.08 [[ 0.89644254 -0.39348026 -0.20387266 -15.82509283] [ 0.39290719 0.91847437 -0.04504188 -17.37848458] [ 0.2049749 -0.03972558 0.97796072 -3.07889398] [ 0. 0. 0. 1. ]] SLAMing on 86.10165253199999 meters Centerline goodness : 0.680236 with order 1 Centerline is valid? [False, False] Translation: X:-15.86, Y:-17.40, Z:-3.08 [[ 0.89580369 -0.39509761 -0.20355254 -15.85796592] [ 0.39469971 0.91774015 -0.04433001 -17.40309056] [ 0.20432302 -0.04063114 0.97805992 -3.08273934] [ 0. 0. 0. 1. ]] SLAMing on 86.16165253199999 meters Centerline goodness : 0.677026 with order 1 Centerline is valid? [False, False] Translation: X:-15.86, Y:-17.41, Z:-3.08 [[ 0.89435423 -0.39913125 -0.20205134 -15.85766908] [ 0.39816803 0.91609667 -0.0472135 -17.40631162] [ 0.20394295 -0.03822479 0.97823624 -3.08220828] [ 0. 0. 0. 1. ]] SLAMing on 86.221652532 meters Centerline goodness : 0.676309 with order 1 Centerline is valid? [False, False] Translation: X:-15.89, Y:-17.43, Z:-3.09 [[ 0.89507193 -0.39573933 -0.20551551 -15.88783328] [ 0.39561074 0.9173862 -0.04352824 -17.42904794] [ 0.20576293 -0.04234324 0.97768536 -3.08656619] [ 0. 0. 0. 1. ]] SLAMing on 86.281652532 meters Centerline goodness : 0.675877 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:-17.45, Z:-3.09 [[ 0.89320911 -0.39840652 -0.20844599 -15.91338006] [ 0.39841512 0.91615761 -0.04382504 -17.45242058] [ 0.20842957 -0.04390311 0.9770515 -3.08942365] [ 0. 0. 0. 1. ]] SLAMing on 86.341652532 meters Centerline goodness : 0.676970 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:-17.46, Z:-3.09 [[ 0.89336892 -0.40020361 -0.20427689 -15.92133921] [ 0.39952745 0.91554597 -0.04640468 -17.45817241] [ 0.20559621 -0.04015773 0.97781264 -3.09284793] [ 0. 0. 0. 1. ]] SLAMing on 86.40165253199999 meters Centerline goodness : 0.677243 with order 1 Centerline is valid? [False, False] Translation: X:-15.95, Y:-17.48, Z:-3.09 [[ 0.89069687 -0.40470066 -0.20706632 -15.94538221] [ 0.40411274 0.9134963 -0.0470893 -17.48071778] [ 0.20821139 -0.04173585 0.97719299 -3.09435528] [ 0. 0. 0. 1. ]] SLAMing on 86.46165253199999 meters Centerline goodness : 0.680949 with order 1 Centerline is valid? [False, False] Translation: X:-15.95, Y:-17.49, Z:-3.10 [[ 0.88971054 -0.40951893 -0.20176571 -15.9540294 ] [ 0.40774162 0.91160025 -0.05226626 -17.48810517] [ 0.2053337 -0.03576643 0.97803826 -3.09714258] [ 0. 0. 0. 1. ]] SLAMing on 86.52165253199999 meters Centerline goodness : 0.679756 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:-17.51, Z:-3.10 [[ 0.88810849 -0.41148892 -0.20479302 -15.9796287 ] [ 0.40998842 0.91062185 -0.05174301 -17.51143353] [ 0.20778068 -0.03800936 0.97743669 -3.10037027] [ 0. 0. 0. 1. ]] SLAMing on 86.58165253199999 meters Centerline goodness : 0.687985 with order 1 Centerline is valid? [False, False] Translation: X:-16.00, Y:-17.52, Z:-3.11 [[ 0.8881914 -0.41455202 -0.19814806 -15.99998928] [ 0.41063081 0.90965798 -0.06248759 -17.52338995] [ 0.20615132 -0.02586476 0.97817823 -3.10773903] [ 0. 0. 0. 1. ]] SLAMing on 86.641652532 meters Centerline goodness : 0.692437 with order 1 Centerline is valid? [False, False] Translation: X:-16.03, Y:-17.55, Z:-3.11 [[ 0.88705017 -0.41531486 -0.20163224 -16.02854115] [ 0.41195029 0.90920053 -0.06042642 -17.54818856] [ 0.20842013 -0.02946119 0.97759557 -3.10843713] [ 0. 0. 0. 1. ]] SLAMing on 86.701652532 meters Centerline goodness : 0.691077 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:-17.57, Z:-3.11 [[ 0.88625018 -0.41480882 -0.20614136 -16.05353709] [ 0.412133 0.90928494 -0.05785576 -17.57054295] [ 0.21144032 -0.03368298 0.97681034 -3.11059176] [ 0. 0. 0. 1. ]] SLAMing on 86.76165253199999 meters Centerline goodness : 0.694898 with order 1 Centerline is valid? [False, False] Translation: X:-16.08, Y:-17.59, Z:-3.12 [[ 0.88584448 -0.4140771 -0.20933159 -16.08308715] [ 0.41170948 0.90953789 -0.05688698 -17.5930369 ] [ 0.21395061 -0.03579079 0.97618859 -3.11512783] [ 0. 0. 0. 1. ]] SLAMing on 86.82165253199999 meters Centerline goodness : 0.699871 with order 1 Centerline is valid? [False, False] Translation: X:-16.12, Y:-17.62, Z:-3.12 [[ 0.88652781 -0.41210921 -0.21031987 -16.11891454] [ 0.41006993 0.9103747 -0.05532239 -17.61562948] [ 0.21426875 -0.03720102 0.97606608 -3.12048482] [ 0. 0. 0. 1. ]] SLAMing on 86.88165253199999 meters Centerline goodness : 0.708700 with order 1 Centerline is valid? [False, False] Translation: X:-16.15, Y:-17.63, Z:-3.12 [[ 0.89006182 -0.4064061 -0.20645591 -16.1488472 ] [ 0.40303088 0.91320972 -0.06011744 -17.62963986] [ 0.21296964 -0.02969987 0.97660732 -3.12498345] [ 0. 0. 0. 1. ]] SLAMing on 86.94165253199999 meters Centerline goodness : 0.711119 with order 1 Centerline is valid? [False, False] Translation: X:-16.16, Y:-17.63, Z:-3.13 [[ 0.89112291 -0.40508202 -0.20447131 -16.15609377] [ 0.40175224 0.91381544 -0.05946839 -17.63076158] [ 0.21093862 -0.02915316 0.97706448 -3.1263628 ] [ 0. 0. 0. 1. ]] SLAMing on 87.001652532 meters Centerline goodness : 0.717250 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:-17.65, Z:-3.13 [[ 0.89325104 -0.3997538 -0.20566839 -16.19491455] [ 0.39703533 0.9160821 -0.05618306 -17.65356344] [ 0.21086852 -0.03147204 0.97700767 -3.13270551] [ 0. 0. 0. 1. ]] SLAMing on 87.061652532 meters Centerline goodness : 0.721385 with order 1 Centerline is valid? [False, False] Translation: X:-16.22, Y:-17.67, Z:-3.14 [[ 0.89569516 -0.39389926 -0.2063336 -16.22190911] [ 0.38947887 0.9188511 -0.06339456 -17.6661899 ] [ 0.21456092 -0.02358038 0.97642592 -3.13579279] [ 0. 0. 0. 1. ]] SLAMing on 87.12165253199998 meters Centerline goodness : 0.726386 with order 1 Centerline is valid? [False, False] Translation: X:-16.25, Y:-17.67, Z:-3.14 [[ 0.89982784 -0.38469765 -0.20571236 -16.24874858] [ 0.37937651 0.92286042 -0.0663484 -17.67405498] [ 0.21536787 -0.0183403 0.97636075 -3.14058228] [ 0. 0. 0. 1. ]] SLAMing on 87.18165253199999 meters Centerline goodness : 0.731403 with order 1 Centerline is valid? [False, False] Translation: X:-16.29, Y:-17.69, Z:-3.15 [[ 0.90128077 -0.38162406 -0.20507574 -16.28716267] [ 0.37657346 0.92412422 -0.06470595 -17.69371884] [ 0.2142088 -0.01890785 0.97660488 -3.14842166] [ 0. 0. 0. 1. ]] SLAMing on 87.24165253199999 meters Centerline goodness : 0.734831 with order 1 Centerline is valid? [False, False] Translation: X:-16.34, Y:-17.72, Z:-3.16 [[ 0.90464921 -0.37449934 -0.20337172 -16.33535235] [ 0.36955065 0.92705403 -0.06327041 -17.71861404] [ 0.2122313 -0.01791862 0.97705517 -3.15744295] [ 0. 0. 0. 1. ]] SLAMing on 87.30165253199999 meters Centerline goodness : 0.733715 with order 1 Centerline is valid? [False, False] Translation: X:-16.38, Y:-17.74, Z:-3.16 [[ 0.90592359 -0.37163313 -0.2029563 -16.3756131 ] [ 0.36704043 0.92818537 -0.06126368 -17.74092529] [ 0.21114868 -0.01899296 0.97726941 -3.16340797] [ 0. 0. 0. 1. ]] SLAMing on 87.361652532 meters Centerline goodness : 0.733046 with order 1 Centerline is valid? [False, False] Translation: X:-16.38, Y:-17.74, Z:-3.16 [[ 0.90603522 -0.37145058 -0.20279215 -16.37705972] [ 0.36691385 0.92825485 -0.06096851 -17.74126876] [ 0.21088959 -0.01916763 0.97732194 -3.16277288] [ 0. 0. 0. 1. ]] SLAMing on 87.421652532 meters Centerline goodness : 0.725181 with order 1 Centerline is valid? [False, False] Translation: X:-16.42, Y:-17.76, Z:-3.17 [[ 0.90885892 -0.36393499 -0.20378122 -16.41645475] [ 0.36031945 0.93115041 -0.0559358 -17.76387507] [ 0.21010796 -0.02258859 0.97741721 -3.16968517] [ 0. 0. 0. 1. ]] SLAMing on 87.48165253199998 meters Centerline goodness : 0.716980 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-17.79, Z:-3.18 [[ 0.91236866 -0.35521911 -0.20347683 -16.45834013] [ 0.35270055 0.9344115 -0.04977419 -17.78753232] [ 0.20781183 -0.02635398 0.97781374 -3.17713895] [ 0. 0. 0. 1. ]] SLAMing on 87.54165253199999 meters Centerline goodness : 0.711166 with order 1 Centerline is valid? [False, False] Translation: X:-16.47, Y:-17.80, Z:-3.18 [[ 0.91261871 -0.35740044 -0.19847419 -16.47178345] [ 0.3535417 0.93375295 -0.05580047 -17.79623206] [ 0.20526898 -0.01924435 0.97851638 -3.1806778 ] [ 0. 0. 0. 1. ]] SLAMing on 87.60165253199999 meters Centerline goodness : 0.701786 with order 1 Centerline is valid? [False, False] Translation: X:-16.47, Y:-17.80, Z:-3.18 [[ 9.11452405e-01 -3.61178913e-01 -1.96988087e-01 -1.64734390e+01] [ 3.56812745e-01 9.32342209e-01 -5.85035966e-02 -1.77994108e+01] [ 2.04790574e-01 -1.69646162e-02 9.78658788e-01 -3.17913272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66165253199999 meters Centerline goodness : 0.698691 with order 1 Centerline is valid? [False, False] Translation: X:-16.50, Y:-17.82, Z:-3.18 [[ 0.91187795 -0.35757821 -0.20153517 -16.50254908] [ 0.3540884 0.93362941 -0.05438318 -17.81929827] [ 0.2076054 -0.02177044 0.97797037 -3.18330085] [ 0. 0. 0. 1. ]] SLAMing on 87.721652532 meters Centerline goodness : 0.692739 with order 1 Centerline is valid? [False, False] Translation: X:-16.54, Y:-17.85, Z:-3.19 [[ 0.91084443 -0.35986233 -0.20214234 -16.53817414] [ 0.3558974 0.9327892 -0.05693279 -17.84709048] [ 0.20904416 -0.02008502 0.97769992 -3.18807244] [ 0. 0. 0. 1. ]] SLAMing on 87.781652532 meters Centerline goodness : 0.694768 with order 1 Centerline is valid? [False, False] Translation: X:-16.55, Y:-17.86, Z:-3.19 [[ 0.91026074 -0.36541867 -0.19466528 -16.55336869] [ 0.362616 0.93053332 -0.05116035 -17.85847569] [ 0.19983748 -0.02401949 0.97953461 -3.19433779] [ 0. 0. 0. 1. ]] SLAMing on 87.841652532 meters Centerline goodness : 0.692491 with order 1 Centerline is valid? [False, False] Translation: X:-16.57, Y:-17.88, Z:-3.19 [[ 0.90623304 -0.37363179 -0.19784074 -16.57438331] [ 0.37078211 0.92722373 -0.05269522 -17.87717488] [ 0.20313124 -0.02560166 0.97881676 -3.19280666] [ 0. 0. 0. 1. ]] SLAMing on 87.90165253199999 meters Centerline goodness : 0.693932 with order 1 Centerline is valid? [False, False] Translation: X:-16.60, Y:-17.89, Z:-3.19 [[ 0.90500871 -0.37368006 -0.20327925 -16.59674303] [ 0.37180474 0.92702619 -0.04882286 -17.8941793 ] [ 0.20668932 -0.03139507 0.97790279 -3.19347007] [ 0. 0. 0. 1. ]] SLAMing on 87.96165253199999 meters Centerline goodness : 0.685309 with order 1 Centerline is valid? [False, False] Translation: X:-16.64, Y:-17.91, Z:-3.20 [[ 0.90796212 -0.36616147 -0.20379048 -16.63631151] [ 0.36500886 0.92993446 -0.04461423 -17.91497947] [ 0.20584781 -0.0338773 0.97799745 -3.20260523] [ 0. 0. 0. 1. ]] SLAMing on 88.02165253199999 meters Centerline goodness : 0.686349 with order 1 Centerline is valid? [False, False] Translation: X:-16.66, Y:-17.93, Z:-3.20 [[ 0.909994 -0.36109898 -0.20376074 -16.66486697] [ 0.3582677 0.93217251 -0.05194859 -17.9308517 ] [ 0.20869874 -0.02572799 0.9776415 -3.20366136] [ 0. 0. 0. 1. ]] SLAMing on 88.08165253199999 meters Centerline goodness : 0.681056 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-17.93, Z:-3.20 [[ 0.90888687 -0.36491108 -0.20190236 -16.66758664] [ 0.36143211 0.93076306 -0.05519926 -17.93199959] [ 0.20806608 -0.02280412 0.9778489 -3.20300169] [ 0. 0. 0. 1. ]] SLAMing on 88.141652532 meters Centerline goodness : 0.686080 with order 1 Centerline is valid? [False, False] Translation: X:-16.70, Y:-17.95, Z:-3.21 [[ 0.91074446 -0.35957016 -0.20311037 -16.70342597] [ 0.35702094 0.93273757 -0.05036548 -17.9527766 ] [ 0.20755859 -0.02664458 0.97785965 -3.2093819 ] [ 0. 0. 0. 1. ]] SLAMing on 88.201652532 meters Centerline goodness : 0.685660 with order 1 Centerline is valid? [False, False] Translation: X:-16.74, Y:-17.98, Z:-3.21 [[ 0.91161224 -0.3579177 -0.20213371 -16.74255199] [ 0.35579371 0.93332932 -0.04803349 -17.97555129] [ 0.20584935 -0.02812998 0.9781793 -3.21423787] [ 0. 0. 0. 1. ]] SLAMing on 88.26165253199999 meters Centerline goodness : 0.683781 with order 1 Centerline is valid? [False, False] Translation: X:-16.76, Y:-17.98, Z:-3.22 [[ 0.91220266 -0.35934286 -0.19687309 -16.7586852 ] [ 0.35538455 0.93302077 -0.05633894 -17.9816758 ] [ 0.20393167 -0.01857313 0.97880893 -3.22188867] [ 0. 0. 0. 1. ]] SLAMing on 88.32165253199999 meters Centerline goodness : 0.686774 with order 1 Centerline is valid? [False, False] Translation: X:-16.79, Y:-18.00, Z:-3.22 [[ 0.91055047 -0.36153358 -0.20047769 -16.78632111] [ 0.35798034 0.93210711 -0.05501286 -18.00000111] [ 0.20675568 -0.02167508 0.97815248 -3.22219033] [ 0. 0. 0. 1. ]] SLAMing on 88.38165253199999 meters Centerline goodness : 0.686525 with order 1 Centerline is valid? [False, False] Translation: X:-16.82, Y:-18.02, Z:-3.23 [[ 0.91287792 -0.3546356 -0.20220655 -16.82318683] [ 0.3518579 0.9346756 -0.05076953 -18.01940165] [ 0.20700221 -0.02480158 0.97802606 -3.23027044] [ 0. 0. 0. 1. ]] SLAMing on 88.44165253199999 meters Centerline goodness : 0.680634 with order 1 Centerline is valid? [False, False] Translation: X:-16.85, Y:-18.03, Z:-3.23 [[ 0.91588147 -0.34477397 -0.2056503 -16.85200009] [ 0.34104753 0.93846714 -0.05446105 -18.03301463] [ 0.21177281 -0.02025666 0.97710897 -3.23107151] [ 0. 0. 0. 1. ]] SLAMing on 88.501652532 meters Centerline goodness : 0.678097 with order 1 Centerline is valid? [False, False] Translation: X:-16.86, Y:-18.03, Z:-3.23 [[ 9.16167660e-01 -3.46127463e-01 -2.02070777e-01 -1.68608251e+01] [ 3.41568014e-01 9.38055570e-01 -5.81639080e-02 -1.80344247e+01] [ 2.09685744e-01 -1.57330225e-02 9.77642246e-01 -3.23447457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561652532 meters Centerline goodness : 0.676835 with order 1 Centerline is valid? [False, False] Translation: X:-16.90, Y:-18.05, Z:-3.24 [[ 9.16860131e-01 -3.44667946e-01 -2.01423700e-01 -1.68974406e+01] [ 3.40254428e-01 9.38587841e-01 -5.72694425e-02 -1.80507404e+01] [ 2.08792777e-01 -1.60272373e-02 9.77828566e-01 -3.24207084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62165253199998 meters Centerline goodness : 0.676104 with order 1 Centerline is valid? [False, False] Translation: X:-16.94, Y:-18.07, Z:-3.25 [[ 9.18169484e-01 -3.42452483e-01 -1.99226244e-01 -1.69364380e+01] [ 3.38522652e-01 9.39375019e-01 -5.45617816e-02 -1.80697859e+01] [ 2.05832975e-01 -1.73456338e-02 9.78433399e-01 -3.24900438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68165253199999 meters Centerline goodness : 0.673971 with order 1 Centerline is valid? [False, False] Translation: X:-16.98, Y:-18.09, Z:-3.26 [[ 0.92030525 -0.33701775 -0.19863856 -16.97585606] [ 0.33366927 0.94130215 -0.05113787 -18.09062184] [ 0.20421327 -0.01921714 0.97873778 -3.25687295] [ 0. 0. 0. 1. ]] SLAMing on 88.74165253199999 meters Centerline goodness : 0.671685 with order 1 Centerline is valid? [False, False] Translation: X:-16.99, Y:-18.09, Z:-3.26 [[ 9.22208729e-01 -3.33771536e-01 -1.95262957e-01 -1.69921021e+01] [ 3.29298084e-01 9.42568153e-01 -5.59289574e-02 -1.80936242e+01] [ 2.02716139e-01 -1.27215448e-02 9.79154906e-01 -3.26401821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80165253199999 meters Centerline goodness : 0.672479 with order 1 Centerline is valid? [False, False] Translation: X:-17.03, Y:-18.12, Z:-3.27 [[ 9.22450219e-01 -3.33502389e-01 -1.94580958e-01 -1.70283017e+01] [ 3.29407708e-01 9.42641288e-01 -5.40181771e-02 -1.81156950e+01] [ 2.01435236e-01 -1.42673883e-02 9.79397921e-01 -3.26779280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861652532 meters Centerline goodness : 0.670642 with order 1 Centerline is valid? [False, False] Translation: X:-17.03, Y:-18.12, Z:-3.27 [[ 9.22928814e-01 -3.32361812e-01 -1.94262788e-01 -1.70321234e+01] [ 3.28416592e-01 9.43036627e-01 -5.31456735e-02 -1.81163635e+01] [ 2.00860517e-01 -1.47494492e-02 9.79508809e-01 -3.26646732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921652532 meters Centerline goodness : 0.674749 with order 1 Centerline is valid? [False, False] Translation: X:-17.06, Y:-18.13, Z:-3.27 [[ 0.92352504 -0.32886157 -0.19736152 -17.06471152] [ 0.32571354 0.9441894 -0.04916358 -18.13443052] [ 0.20251467 -0.01887952 0.97909722 -3.2704737 ] [ 0. 0. 0. 1. ]] SLAMing on 88.98165253199998 meters Centerline goodness : 0.673896 with order 1 Centerline is valid? [False, False] Translation: X:-17.08, Y:-18.14, Z:-3.28 [[ 9.25610696e-01 -3.25302564e-01 -1.93450464e-01 -1.70816020e+01] [ 3.21224820e-01 9.45519323e-01 -5.29889193e-02 -1.81405861e+01] [ 2.00148583e-01 -1.30939799e-02 9.79678056e-01 -3.27676462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04165253199999 meters Centerline goodness : 0.670246 with order 1 Centerline is valid? [False, False] Translation: X:-17.09, Y:-18.14, Z:-3.28 [[ 9.25131949e-01 -3.27492207e-01 -1.92040962e-01 -1.70862678e+01] [ 3.22991781e-01 9.44790352e-01 -5.52041669e-02 -1.81411314e+01] [ 1.99517382e-01 -1.09565137e-02 9.79833031e-01 -3.27539702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10165253199999 meters Centerline goodness : 0.676834 with order 1 Centerline is valid? [False, False] Translation: X:-17.09, Y:-18.14, Z:-3.28 [[ 9.27543829e-01 -3.20783215e-01 -1.91730473e-01 -1.70927525e+01] [ 3.17115192e-01 9.47048082e-01 -5.03774353e-02 -1.81435014e+01] [ 1.97738212e-01 -1.40733664e-02 9.80153835e-01 -3.27646486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16165253199999 meters Centerline goodness : 0.680488 with order 1 Centerline is valid? [False, False] Translation: X:-17.09, Y:-18.14, Z:-3.28 [[ 9.26441191e-01 -3.24898369e-01 -1.90125667e-01 -1.70936981e+01] [ 3.20591165e-01 9.45684459e-01 -5.38721468e-02 -1.81445925e+01] [ 1.97301861e-01 -1.10432332e-02 9.80280584e-01 -3.27701007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221652532 meters Centerline goodness : 0.689561 with order 1 Centerline is valid? [False, False] Translation: X:-17.11, Y:-18.16, Z:-3.28 [[ 9.22671988e-01 -3.33013999e-01 -1.94365838e-01 -1.71112297e+01] [ 3.28646571e-01 9.42833975e-01 -5.52768255e-02 -1.81619046e+01] [ 2.01662672e-01 -1.28752878e-02 9.79370407e-01 -3.27697204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281652532 meters Centerline goodness : 0.694446 with order 1 Centerline is valid? [False, False] Translation: X:-17.14, Y:-18.18, Z:-3.28 [[ 0.92207871 -0.33153866 -0.19963206 -17.13506134] [ 0.32809401 0.94326242 -0.05109131 -18.17658363] [ 0.20524417 -0.01838787 0.97853805 -3.27962615] [ 0. 0. 0. 1. ]] SLAMing on 89.341652532 meters Centerline goodness : 0.696982 with order 1 Centerline is valid? [False, False] Translation: X:-17.14, Y:-18.18, Z:-3.28 [[ 0.92256493 -0.3305219 -0.1990709 -17.13873061] [ 0.32713325 0.94361925 -0.05066116 -18.17562373] [ 0.20459176 -0.0183845 0.97867473 -3.27960511] [ 0. 0. 0. 1. ]] SLAMing on 89.40165253199999 meters Centerline goodness : 0.705804 with order 1 Centerline is valid? [False, False] Translation: X:-17.15, Y:-18.18, Z:-3.28 [[ 9.23024693e-01 -3.30833012e-01 -1.96405029e-01 -1.71483693e+01] [ 3.27127410e-01 9.43549150e-01 -5.19871117e-02 -1.81810785e+01] [ 2.02516851e-01 -1.62640805e-02 9.79143710e-01 -3.27862268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46165253199999 meters Centerline goodness : 0.713467 with order 1 Centerline is valid? [False, False] Translation: X:-17.15, Y:-18.18, Z:-3.28 [[ 9.22147515e-01 -3.34334365e-01 -1.94588009e-01 -1.71509290e+01] [ 3.30062200e-01 9.42357312e-01 -5.49694506e-02 -1.81831736e+01] [ 2.01749609e-01 -1.35362041e-02 9.79343589e-01 -3.27842078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52165253199999 meters Centerline goodness : 0.718224 with order 1 Centerline is valid? [False, False] Translation: X:-17.16, Y:-18.19, Z:-3.29 [[ 9.20951946e-01 -3.41435068e-01 -1.87802043e-01 -1.71625322e+01] [ 3.38117942e-01 9.39750842e-01 -5.04441574e-02 -1.81909544e+01] [ 1.93710532e-01 -1.70425954e-02 9.80910689e-01 -3.28698592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58165253199999 meters Centerline goodness : 0.718403 with order 1 Centerline is valid? [False, False] Translation: X:-17.16, Y:-18.19, Z:-3.29 [[ 9.19713091e-01 -3.45439456e-01 -1.86546008e-01 -1.71627864e+01] [ 3.41605088e-01 9.38326875e-01 -5.33726433e-02 -1.81940726e+01] [ 1.93478150e-01 -1.46375469e-02 9.80995386e-01 -3.28621473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641652532 meters Centerline goodness : 0.719412 with order 1 Centerline is valid? [False, False] Translation: X:-17.16, Y:-18.19, Z:-3.29 [[ 9.19695948e-01 -3.45442066e-01 -1.86625675e-01 -1.71624643e+01] [ 3.41620358e-01 9.38324599e-01 -5.33149024e-02 -1.81942472e+01] [ 1.93532672e-01 -1.47216302e-02 9.80983373e-01 -3.28644241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701652532 meters Centerline goodness : 0.719829 with order 1 Centerline is valid? [False, False] Translation: X:-17.18, Y:-18.21, Z:-3.29 [[ 0.91793331 -0.34728408 -0.19181292 -17.18281486] [ 0.34413193 0.93755617 -0.05061272 -18.21096967] [ 0.19741238 -0.01954984 0.98012558 -3.28718922] [ 0. 0. 0. 1. ]] SLAMing on 89.76165253199999 meters Centerline goodness : 0.718813 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:-18.23, Z:-3.29 [[ 0.91792668 -0.34670951 -0.1928811 -17.21548196] [ 0.34378712 0.93774078 -0.04952417 -18.23427357] [ 0.19804297 -0.02085048 0.97997155 -3.29276104] [ 0. 0. 0. 1. ]] SLAMing on 89.82165253199999 meters Centerline goodness : 0.713017 with order 1 Centerline is valid? [False, False] Translation: X:-17.24, Y:-18.25, Z:-3.30 [[ 0.91674937 -0.34836199 -0.19548532 -17.2436043 ] [ 0.3456368 0.93708698 -0.04902239 -18.25491157] [ 0.20026429 -0.02262567 0.97948062 -3.29634333] [ 0. 0. 0. 1. ]] SLAMing on 89.88165253199999 meters Centerline goodness : 0.710440 with order 1 Centerline is valid? [False, False] Translation: X:-17.25, Y:-18.26, Z:-3.30 [[ 9.14408020e-01 -3.56445119e-01 -1.91845903e-01 -1.72466157e+01] [ 3.52447853e-01 9.34168390e-01 -5.57667369e-02 -1.82573242e+01] [ 1.99094159e-01 -1.66221251e-02 9.79839385e-01 -3.29655380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94165253199999 meters Centerline goodness : 0.710363 with order 1 Centerline is valid? [False, False] Translation: X:-17.27, Y:-18.27, Z:-3.30 [[ 0.9131814 -0.35675502 -0.19704207 -17.26905094] [ 0.35372872 0.93392467 -0.051582 -18.27471919] [ 0.20242459 -0.02259572 0.97903714 -3.29677014] [ 0. 0. 0. 1. ]] SLAMing on 90.001652532 meters Centerline goodness : 0.710940 with order 1 Centerline is valid? [False, False] Translation: X:-17.28, Y:-18.28, Z:-3.30 [[ 0.91453626 -0.35514727 -0.19363328 -17.28075271] [ 0.351666 0.9346093 -0.05325858 -18.27847562] [ 0.19988611 -0.01938734 0.97962731 -3.30040053] [ 0. 0. 0. 1. ]] SLAMing on 90.061652532 meters Centerline goodness : 0.710694 with order 1 Centerline is valid? [False, False] Translation: X:-17.28, Y:-18.28, Z:-3.30 [[ 0.91654698 -0.34942567 -0.19453362 -17.28412374] [ 0.34679602 0.93668278 -0.04855803 -18.28003315] [ 0.19918371 -0.02295777 0.97969321 -3.29973984] [ 0. 0. 0. 1. ]] SLAMing on 90.12165253199998 meters Centerline goodness : 0.713954 with order 1 Centerline is valid? [False, False] Translation: X:-17.30, Y:-18.29, Z:-3.30 [[ 0.91890653 -0.34560468 -0.1901794 -17.30147763] [ 0.34248815 0.93818574 -0.05009366 -18.28847544] [ 0.19573621 -0.0191028 0.98047051 -3.30389781] [ 0. 0. 0. 1. ]] SLAMing on 90.18165253199999 meters Centerline goodness : 0.711889 with order 1 Centerline is valid? [False, False] Translation: X:-17.30, Y:-18.29, Z:-3.30 [[ 0.91923298 -0.34506883 -0.1895738 -17.30355548] [ 0.34197761 0.93838493 -0.04985018 -18.28843621] [ 0.19509494 -0.01900607 0.98060019 -3.30447289] [ 0. 0. 0. 1. ]] SLAMing on 90.24165253199999 meters Centerline goodness : 0.715050 with order 1 Centerline is valid? [False, False] Translation: X:-17.32, Y:-18.30, Z:-3.31 [[ 0.91793087 -0.35280241 -0.18147554 -17.3168783 ] [ 0.35036294 0.93546285 -0.04642274 -18.29528466] [ 0.18614168 -0.02096943 0.98229912 -3.31351368] [ 0. 0. 0. 1. ]] SLAMing on 90.30165253199999 meters Centerline goodness : 0.712605 with order 1 Centerline is valid? [False, False] Translation: X:-17.34, Y:-18.31, Z:-3.32 [[ 0.91727799 -0.35247803 -0.18536537 -17.34250252] [ 0.35058238 0.9354966 -0.04402388 -18.31307874] [ 0.18892613 -0.02460369 0.98168303 -3.31750329] [ 0. 0. 0. 1. ]] SLAMing on 90.361652532 meters Centerline goodness : 0.710275 with order 1 Centerline is valid? [False, False] Translation: X:-17.36, Y:-18.32, Z:-3.33 [[ 9.18265119e-01 -3.52566311e-01 -1.80239194e-01 -1.73609015e+01] [ 3.48981136e-01 9.35668730e-01 -5.23086429e-02 -1.83191463e+01] [ 1.87086443e-01 -1.48668765e-02 9.82230950e-01 -3.32589203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421652532 meters Centerline goodness : 0.720669 with order 1 Centerline is valid? [False, False] Translation: X:-17.36, Y:-18.32, Z:-3.32 [[ 9.17195544e-01 -3.56314665e-01 -1.78303655e-01 -1.73637332e+01] [ 3.52201881e-01 9.34288112e-01 -5.53132785e-02 -1.83210622e+01] [ 1.86295918e-01 -1.20657902e-02 9.82419588e-01 -3.32499111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48165253199998 meters Centerline goodness : 0.716550 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-18.32, Z:-3.32 [[ 9.16646450e-01 -3.58825502e-01 -1.76078232e-01 -1.73691430e+01] [ 3.54258652e-01 9.33357652e-01 -5.78299331e-02 -1.83213861e+01] [ 1.85094820e-01 -9.36763437e-03 9.82676017e-01 -3.32453301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54165253199999 meters Centerline goodness : 0.716839 with order 1 Centerline is valid? [False, False] Translation: X:-17.39, Y:-18.33, Z:-3.33 [[ 9.18018511e-01 -3.57640051e-01 -1.71276405e-01 -1.73889921e+01] [ 3.51569773e-01 9.33859515e-01 -6.56132711e-02 -1.83294041e+01] [ 1.83414034e-01 1.85906295e-05 9.83035753e-01 -3.33186251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60165253199999 meters Centerline goodness : 0.716511 with order 1 Centerline is valid? [False, False] Translation: X:-17.40, Y:-18.34, Z:-3.33 [[ 9.16170943e-01 -3.56932296e-01 -1.82291360e-01 -1.73987185e+01] [ 3.50485718e-01 9.34128129e-01 -6.75603407e-02 -1.83385235e+01] [ 1.94397954e-01 -1.99369716e-03 9.80920721e-01 -3.32812749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66165253199999 meters Centerline goodness : 0.709453 with order 1 Centerline is valid? [False, False] Translation: X:-17.40, Y:-18.34, Z:-3.33 [[ 9.16914567e-01 -3.55396295e-01 -1.81552061e-01 -1.74034469e+01] [ 3.49135024e-01 9.34712518e-01 -6.64623481e-02 -1.83390687e+01] [ 1.93319457e-01 -2.44588825e-03 9.81132817e-01 -3.32756519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721652532 meters Centerline goodness : 0.709698 with order 1 Centerline is valid? [False, False] Translation: X:-17.42, Y:-18.36, Z:-3.33 [[ 9.16226189e-01 -3.53591864e-01 -1.88420710e-01 -1.74232487e+01] [ 3.48578860e-01 9.35341107e-01 -6.02477568e-02 -1.83553555e+01] [ 1.97540752e-01 -1.04789038e-02 9.80238667e-01 -3.32699726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781652532 meters Centerline goodness : 0.717710 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-18.36, Z:-3.33 [[ 9.15210257e-01 -3.57228115e-01 -1.86489301e-01 -1.74260797e+01] [ 3.51710997e-01 9.33983776e-01 -6.30371406e-02 -1.83578569e+01] [ 1.96696620e-01 -7.89810025e-03 9.80432588e-01 -3.32598920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841652532 meters Centerline goodness : 0.718926 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-18.38, Z:-3.33 [[ 9.13533456e-01 -3.59735830e-01 -1.89859834e-01 -1.74521516e+01] [ 3.54761051e-01 9.32979211e-01 -6.07814814e-02 -1.83783508e+01] [ 1.99000555e-01 -1.18289574e-02 9.79927985e-01 -3.32509374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90165253199999 meters Centerline goodness : 0.719843 with order 1 Centerline is valid? [False, False] Translation: X:-17.48, Y:-18.40, Z:-3.33 [[ 9.14333206e-01 -3.55760841e-01 -1.93465792e-01 -1.74824107e+01] [ 3.51809536e-01 9.34418401e-01 -5.56084621e-02 -1.83998710e+01] [ 2.00561309e-01 -1.72184471e-02 9.79529829e-01 -3.32832098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96165253199999 meters Centerline goodness : 0.717959 with order 1 Centerline is valid? [False, False] Translation: X:-17.50, Y:-18.42, Z:-3.33 [[ 0.91219575 -0.35815029 -0.19906605 -17.50072978] [ 0.35506907 0.93337973 -0.05223253 -18.4168782 ] [ 0.20451131 -0.0230359 0.97859311 -3.32792923] [ 0. 0. 0. 1. ]] SLAMing on 91.02165253199999 meters Centerline goodness : 0.719812 with order 1 Centerline is valid? [False, False] Translation: X:-17.50, Y:-18.42, Z:-3.33 [[ 0.91148852 -0.3609792 -0.19718695 -17.50473583] [ 0.3573387 0.93235269 -0.05502291 -18.41653651] [ 0.2037099 -0.02030978 0.97882061 -3.32781628] [ 0. 0. 0. 1. ]] SLAMing on 91.08165253199999 meters Centerline goodness : 0.721511 with order 1 Centerline is valid? [False, False] Translation: X:-17.52, Y:-18.42, Z:-3.33 [[ 0.91027389 -0.3678258 -0.19001481 -17.51770918] [ 0.36504191 0.9296063 -0.05075953 -18.42344863] [ 0.19530963 -0.0231583 0.98046818 -3.33443257] [ 0. 0. 0. 1. ]] SLAMing on 91.141652532 meters Centerline goodness : 0.725569 with order 1 Centerline is valid? [False, False] Translation: X:-17.53, Y:-18.43, Z:-3.33 [[ 0.91143292 -0.36627213 -0.18744269 -17.52816103] [ 0.36343965 0.93024613 -0.05053475 -18.4285748 ] [ 0.19287731 -0.02206507 0.98097476 -3.33424553] [ 0. 0. 0. 1. ]] SLAMing on 91.201652532 meters Centerline goodness : 0.724409 with order 1 Centerline is valid? [False, False] Translation: X:-17.53, Y:-18.43, Z:-3.33 [[ 0.91166553 -0.36578822 -0.18725632 -17.52901835] [ 0.3629964 0.93043432 -0.05025524 -18.42897477] [ 0.19261248 -0.0221574 0.98102471 -3.33455849] [ 0. 0. 0. 1. ]] SLAMing on 91.26165253199999 meters Centerline goodness : 0.724578 with order 1 Centerline is valid? [False, False] Translation: X:-17.53, Y:-18.43, Z:-3.33 [[ 0.91198706 -0.36521059 -0.18681763 -17.53112698] [ 0.36246984 0.93065963 -0.0498826 -18.42862614] [ 0.19208128 -0.02222347 0.98112736 -3.33485743] [ 0. 0. 0. 1. ]] SLAMing on 91.32165253199999 meters Centerline goodness : 0.722725 with order 1 Centerline is valid? [False, False] Translation: X:-17.56, Y:-18.45, Z:-3.34 [[ 0.91036421 -0.36795035 -0.18933978 -17.55781572] [ 0.36531223 0.92954362 -0.04995637 -18.45083967] [ 0.19438105 -0.02368964 0.98064 -3.33752939] [ 0. 0. 0. 1. ]] SLAMing on 91.38165253199999 meters Centerline goodness : 0.728356 with order 1 Centerline is valid? [False, False] Translation: X:-17.56, Y:-18.45, Z:-3.34 [[ 0.90975106 -0.37047712 -0.18734915 -17.56332519] [ 0.36745872 0.92859 -0.0519105 -18.45341792] [ 0.1932022 -0.02161745 0.98092079 -3.33543468] [ 0. 0. 0. 1. ]] SLAMing on 91.44165253199999 meters Centerline goodness : 0.723482 with order 1 Centerline is valid? [False, False] Translation: X:-17.56, Y:-18.46, Z:-3.33 [[ 0.90993422 -0.36995525 -0.1874909 -17.56393757] [ 0.36708248 0.92878196 -0.05113234 -18.45503681] [ 0.19305484 -0.02229756 0.98093458 -3.33459577] [ 0. 0. 0. 1. ]] SLAMing on 91.501652532 meters Centerline goodness : 0.721303 with order 1 Centerline is valid? [False, False] Translation: X:-17.58, Y:-18.46, Z:-3.34 [[ 9.10327367e-01 -3.71445396e-01 -1.82571639e-01 -1.75772916e+01] [ 3.66889726e-01 9.28365209e-01 -5.94135235e-02 -1.84612526e+01] [ 1.91562038e-01 -1.28979022e-02 9.81395756e-01 -3.34261468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561652532 meters Centerline goodness : 0.720454 with order 1 Centerline is valid? [False, False] Translation: X:-17.58, Y:-18.46, Z:-3.34 [[ 9.09183322e-01 -3.74994070e-01 -1.81011423e-01 -1.75784052e+01] [ 3.69972307e-01 9.26967287e-01 -6.20656114e-02 -1.84647424e+01] [ 1.91065904e-01 -1.05401950e-02 9.81520619e-01 -3.34174593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62165253199998 meters Centerline goodness : 0.720445 with order 1 Centerline is valid? [False, False] Translation: X:-17.59, Y:-18.48, Z:-3.35 [[ 9.07277092e-01 -3.82660401e-01 -1.74411283e-01 -1.75891099e+01] [ 3.78841279e-01 9.23763500e-01 -5.60382172e-02 -1.84769505e+01] [ 1.82558384e-01 -1.52320028e-02 9.83077018e-01 -3.34682374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68165253199999 meters Centerline goodness : 0.718718 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:-18.50, Z:-3.35 [[ 9.05434409e-01 -3.85617582e-01 -1.77447488e-01 -1.76142647e+01] [ 3.81935876e-01 9.22498593e-01 -5.58688819e-02 -1.85005705e+01] [ 1.85239082e-01 -1.71879540e-02 9.82543158e-01 -3.34847764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74165253199999 meters Centerline goodness : 0.715506 with order 1 Centerline is valid? [False, False] Translation: X:-17.64, Y:-18.52, Z:-3.35 [[ 0.90547015 -0.38326889 -0.1822876 -17.63957177] [ 0.38052321 0.92335105 -0.05123402 -18.52176089] [ 0.18795185 -0.02297379 0.98190952 -3.35054414] [ 0. 0. 0. 1. ]] SLAMing on 91.80165253199999 meters Centerline goodness : 0.711852 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:-18.55, Z:-3.35 [[ 0.90501787 -0.38315188 -0.18476283 -17.67061936] [ 0.3809613 0.92330952 -0.04866233 -18.54805485] [ 0.18923834 -0.02634721 0.98157765 -3.35103255] [ 0. 0. 0. 1. ]] SLAMing on 91.861652532 meters Centerline goodness : 0.713437 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:-18.55, Z:-3.35 [[ 0.90426521 -0.38587571 -0.18276862 -17.67403528] [ 0.38322036 0.92224273 -0.05109313 -18.55137425] [ 0.18827262 -0.02383891 0.98182744 -3.35023573] [ 0. 0. 0. 1. ]] SLAMing on 91.921652532 meters Centerline goodness : 0.705980 with order 1 Centerline is valid? [False, False] Translation: X:-17.68, Y:-18.55, Z:-3.35 [[ 0.90296512 -0.38971921 -0.18103297 -17.67514955] [ 0.38653341 0.92069034 -0.0540483 -18.55355794] [ 0.18773897 -0.02117156 0.98199076 -3.34981652] [ 0. 0. 0. 1. ]] SLAMing on 91.98165253199998 meters Centerline goodness : 0.711242 with order 1 Centerline is valid? [False, False] Translation: X:-17.70, Y:-18.58, Z:-3.35 [[ 0.90291782 -0.38774989 -0.18544387 -17.70172257] [ 0.38539209 0.92139146 -0.05010708 -18.5760498 ] [ 0.19029541 -0.02622603 0.98137651 -3.35177677] [ 0. 0. 0. 1. ]] SLAMing on 92.04165253199999 meters Centerline goodness : 0.697736 with order 1 Centerline is valid? [False, False] Translation: X:-17.70, Y:-18.58, Z:-3.35 [[ 0.901339 -0.3920866 -0.18400028 -17.70035939] [ 0.38911207 0.91963249 -0.0535526 -18.57764104] [ 0.19020989 -0.02332768 0.98146626 -3.35245246] [ 0. 0. 0. 1. ]] SLAMing on 92.10165253199999 meters Centerline goodness : 0.695276 with order 1 Centerline is valid? [False, False] Translation: X:-17.70, Y:-18.58, Z:-3.35 [[ 0.90034559 -0.39533236 -0.18190698 -17.70380149] [ 0.39187538 0.91830395 -0.05613859 -18.57991634] [ 0.1892393 -0.02074073 0.98171193 -3.35159964] [ 0. 0. 0. 1. ]] SLAMing on 92.16165253199999 meters Centerline goodness : 0.691803 with order 1 Centerline is valid? [False, False] Translation: X:-17.70, Y:-18.58, Z:-3.35 [[ 0.90063089 -0.39467553 -0.18192091 -17.70468762] [ 0.39141107 0.91856649 -0.05507237 -18.5821994 ] [ 0.18884217 -0.02160598 0.98176974 -3.35090483] [ 0. 0. 0. 1. ]] SLAMing on 92.221652532 meters Centerline goodness : 0.687811 with order 1 Centerline is valid? [False, False] Translation: X:-17.71, Y:-18.58, Z:-3.35 [[ 8.97995692e-01 -4.02387637e-01 -1.78011031e-01 -1.77085166e+01] [ 3.97954566e-01 9.15337188e-01 -6.15629383e-02 -1.85836750e+01] [ 1.87712281e-01 -1.55570491e-02 9.82100849e-01 -3.35059261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281652532 meters Centerline goodness : 0.696636 with order 1 Centerline is valid? [False, False] Translation: X:-17.74, Y:-18.61, Z:-3.35 [[ 0.89864654 -0.39964402 -0.18088409 -17.73995516] [ 0.39584246 0.91646838 -0.05826194 -18.60709016] [ 0.18905858 -0.01924471 0.98177721 -3.35352613] [ 0. 0. 0. 1. ]] SLAMing on 92.341652532 meters Centerline goodness : 0.694377 with order 1 Centerline is valid? [False, False] Translation: X:-17.77, Y:-18.63, Z:-3.35 [[ 0.89967789 -0.3947885 -0.18633768 -17.76872731] [ 0.39218858 0.91840133 -0.05222179 -18.62755077] [ 0.19174934 -0.02609672 0.98109691 -3.35478492] [ 0. 0. 0. 1. ]] SLAMing on 92.40165253199999 meters Centerline goodness : 0.688951 with order 1 Centerline is valid? [False, False] Translation: X:-17.77, Y:-18.63, Z:-3.35 [[ 0.89876825 -0.3979467 -0.18399469 -17.7728884 ] [ 0.39478399 0.91711808 -0.05513638 -18.62880987] [ 0.1906862 -0.02308333 0.98137961 -3.3545312 ] [ 0. 0. 0. 1. ]] SLAMing on 92.46165253199999 meters Centerline goodness : 0.688128 with order 1 Centerline is valid? [False, False] Translation: X:-17.77, Y:-18.63, Z:-3.35 [[ 0.89896981 -0.39741259 -0.18416435 -17.77331904] [ 0.39437926 0.91733407 -0.0544354 -18.63106563] [ 0.19057354 -0.02369481 0.98138692 -3.35354648] [ 0. 0. 0. 1. ]] SLAMing on 92.52165253199999 meters Centerline goodness : 0.695206 with order 1 Centerline is valid? [False, False] Translation: X:-17.78, Y:-18.63, Z:-3.36 [[ 0.89956591 -0.39775366 -0.18048049 -17.78375718] [ 0.39404865 0.91728771 -0.05752318 -18.63211702] [ 0.18843259 -0.0193722 0.98189504 -3.35744607] [ 0. 0. 0. 1. ]] SLAMing on 92.58165253199999 meters Centerline goodness : 0.701493 with order 1 Centerline is valid? [False, False] Translation: X:-17.81, Y:-18.65, Z:-3.36 [[ 0.89918668 -0.39661894 -0.1848154 -17.81046946] [ 0.39352767 0.91768209 -0.05473166 -18.65289252] [ 0.1913094 -0.02351599 0.98124804 -3.35930659] [ 0. 0. 0. 1. ]] SLAMing on 92.641652532 meters Centerline goodness : 0.705619 with order 1 Centerline is valid? [False, False] Translation: X:-17.81, Y:-18.65, Z:-3.36 [[ 0.89966465 -0.39603285 -0.18374304 -17.81433789] [ 0.39294156 0.91794483 -0.05453638 -18.65186464] [ 0.19026417 -0.02313582 0.98146028 -3.36033078] [ 0. 0. 0. 1. ]] SLAMing on 92.701652532 meters Centerline goodness : 0.715243 with order 1 Centerline is valid? [False, False] Translation: X:-17.82, Y:-18.66, Z:-3.36 [[ 0.90056772 -0.39515998 -0.1811805 -17.82447288] [ 0.39197936 0.91835243 -0.05459841 -18.65501708] [ 0.18796266 -0.02184945 0.98193311 -3.36028288] [ 0. 0. 0. 1. ]] SLAMing on 92.76165253199999 meters Centerline goodness : 0.721813 with order 1 Centerline is valid? [False, False] Translation: X:-17.86, Y:-18.68, Z:-3.37 [[ 0.90122068 -0.39319436 -0.18220727 -17.86075379] [ 0.39014657 0.91917812 -0.05382601 -18.67736664] [ 0.18864502 -0.02257843 0.98178576 -3.36570849] [ 0. 0. 0. 1. ]] SLAMing on 92.82165253199999 meters Centerline goodness : 0.726009 with order 1 Centerline is valid? [False, False] Translation: X:-17.88, Y:-18.68, Z:-3.37 [[ 9.03891706e-01 -3.88784159e-01 -1.78400284e-01 -1.78799959e+01] [ 3.84713255e-01 9.21191452e-01 -5.83268327e-02 -1.86809671e+01] [ 1.87017365e-01 -1.59118138e-02 9.82227733e-01 -3.37380581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88165253199999 meters Centerline goodness : 0.731886 with order 1 Centerline is valid? [False, False] Translation: X:-17.91, Y:-18.69, Z:-3.38 [[ 9.06654119e-01 -3.82827891e-01 -1.77260019e-01 -1.79084023e+01] [ 3.77309146e-01 9.23787250e-01 -6.52297858e-02 -1.86938990e+01] [ 1.88722327e-01 -7.74097240e-03 9.81999980e-01 -3.37683403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94165253199999 meters Centerline goodness : 0.739666 with order 1 Centerline is valid? [False, False] Translation: X:-17.92, Y:-18.69, Z:-3.37 [[ 9.08843575e-01 -3.77209298e-01 -1.78091276e-01 -1.79151620e+01] [ 3.72514426e-01 9.26057506e-01 -6.04193486e-02 -1.86935664e+01] [ 1.87713503e-01 -1.14298327e-02 9.82157319e-01 -3.37412924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001652532 meters Centerline goodness : 0.744298 with order 1 Centerline is valid? [False, False] Translation: X:-17.95, Y:-18.71, Z:-3.38 [[ 9.12372830e-01 -3.68141642e-01 -1.79018295e-01 -1.79487211e+01] [ 3.62139392e-01 9.29759789e-01 -6.63460300e-02 -1.87078283e+01] [ 1.90868749e-01 -4.29726145e-03 9.81606160e-01 -3.37691862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061652532 meters Centerline goodness : 0.745974 with order 1 Centerline is valid? [False, False] Translation: X:-17.99, Y:-18.73, Z:-3.38 [[ 9.14420109e-01 -3.62764006e-01 -1.79549827e-01 -1.79861174e+01] [ 3.57387244e-01 9.31855366e-01 -6.26093822e-02 -1.87253595e+01] [ 1.90026900e-01 -6.91753951e-03 9.81754514e-01 -3.38337753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12165253199998 meters Centerline goodness : 0.751530 with order 1 Centerline is valid? [False, False] Translation: X:-18.04, Y:-18.74, Z:-3.39 [[ 9.19659177e-01 -3.48888618e-01 -1.80287910e-01 -1.80351403e+01] [ 3.44590178e-01 9.37100574e-01 -5.56787488e-02 -1.87449890e+01] [ 1.88373586e-01 -1.09199707e-02 9.82036734e-01 -3.39125781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18165253199999 meters Centerline goodness : 0.751875 with order 1 Centerline is valid? [False, False] Translation: X:-18.08, Y:-18.76, Z:-3.40 [[ 9.22070024e-01 -3.42578012e-01 -1.80075475e-01 -1.80756189e+01] [ 3.38799017e-01 9.39402690e-01 -5.23241108e-02 -1.87632357e+01] [ 1.87088475e-01 -1.27628996e-02 9.82260154e-01 -3.39930249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24165253199999 meters Centerline goodness : 0.751806 with order 1 Centerline is valid? [False, False] Translation: X:-18.11, Y:-18.78, Z:-3.40 [[ 9.23578122e-01 -3.38805119e-01 -1.79484106e-01 -1.81053125e+01] [ 3.33070973e-01 9.40853483e-01 -6.21164296e-02 -1.87770348e+01] [ 1.89913611e-01 -2.41157058e-03 9.81797843e-01 -3.40163323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30165253199999 meters Centerline goodness : 0.757402 with order 1 Centerline is valid? [False, False] Translation: X:-18.15, Y:-18.80, Z:-3.41 [[ 9.25310906e-01 -3.35130901e-01 -1.77445783e-01 -1.81482816e+01] [ 3.29671448e-01 9.42167714e-01 -6.03053413e-02 -1.87972508e+01] [ 1.87393871e-01 -2.69761813e-03 9.82281151e-01 -3.40849585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361652532 meters Centerline goodness : 0.759208 with order 1 Centerline is valid? [False, False] Translation: X:-18.17, Y:-18.80, Z:-3.42 [[ 9.29297605e-01 -3.25017152e-01 -1.75413258e-01 -1.81695530e+01] [ 3.19212195e-01 9.45707747e-01 -6.11590615e-02 -1.88022298e+01] [ 1.85767421e-01 8.40918172e-04 9.82593384e-01 -3.41568190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421652532 meters Centerline goodness : 0.761255 with order 1 Centerline is valid? [False, False] Translation: X:-18.17, Y:-18.80, Z:-3.42 [[ 9.29566638e-01 -3.24439512e-01 -1.75056760e-01 -1.81717817e+01] [ 3.18696061e-01 9.45906179e-01 -6.07809284e-02 -1.88018894e+01] [ 1.85307006e-01 7.10023121e-04 9.82680421e-01 -3.41549074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48165253199998 meters Centerline goodness : 0.766241 with order 1 Centerline is valid? [False, False] Translation: X:-18.18, Y:-18.80, Z:-3.42 [[ 9.30136130e-01 -3.23186309e-01 -1.74348471e-01 -1.81757815e+01] [ 3.17584281e-01 9.46335290e-01 -5.99144663e-02 -1.88024841e+01] [ 1.84355646e-01 3.58276029e-04 9.82859536e-01 -3.41507605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54165253199999 meters Centerline goodness : 0.768385 with order 1 Centerline is valid? [False, False] Translation: X:-18.18, Y:-18.81, Z:-3.41 [[ 9.30343890e-01 -3.22533584e-01 -1.74448658e-01 -1.81767222e+01] [ 3.17120929e-01 9.46557846e-01 -5.88435346e-02 -1.88054186e+01] [ 1.84104762e-01 -5.76597572e-04 9.82906457e-01 -3.41370875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60165253199999 meters Centerline goodness : 0.769107 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-18.81, Z:-3.42 [[ 9.31199127e-01 -3.21942040e-01 -1.70943000e-01 -1.81865611e+01] [ 3.16326105e-01 9.46757853e-01 -5.98945974e-02 -1.88148271e+01] [ 1.81124217e-01 1.70006336e-03 9.83458758e-01 -3.41534947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66165253199999 meters Centerline goodness : 0.769939 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-18.82, Z:-3.41 [[ 9.29993172e-01 -3.25960384e-01 -1.69889753e-01 -1.81857174e+01] [ 3.19981150e-01 9.45376847e-01 -6.22469267e-02 -1.88199347e+01] [ 1.80899872e-01 3.52769812e-03 9.83495192e-01 -3.41444414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721652532 meters Centerline goodness : 0.772988 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-18.83, Z:-3.41 [[ 9.29080515e-01 -3.29257403e-01 -1.68519908e-01 -1.81867955e+01] [ 3.22974204e-01 9.44225618e-01 -6.42311941e-02 -1.88253239e+01] [ 1.80269411e-01 5.24836760e-03 9.83603271e-01 -3.41329120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781652532 meters Centerline goodness : 0.774116 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-18.84, Z:-3.41 [[ 9.26558921e-01 -3.37265061e-01 -1.66555828e-01 -1.81852096e+01] [ 3.30367070e-01 9.41372915e-01 -6.83712990e-02 -1.88359949e+01] [ 1.79850396e-01 8.32547613e-03 9.83658742e-01 -3.41009355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841652532 meters Centerline goodness : 0.778256 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-18.85, Z:-3.41 [[ 9.22999741e-01 -3.50057114e-01 -1.59785779e-01 -1.81933766e+01] [ 3.44138306e-01 9.36718445e-01 -6.42446920e-02 -1.88542175e+01] [ 1.72163598e-01 4.30942678e-03 9.85058945e-01 -3.41251895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90165253199999 meters Centerline goodness : 0.779574 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-18.86, Z:-3.41 [[ 9.21686402e-01 -3.53737223e-01 -1.59261272e-01 -1.81915775e+01] [ 3.47749662e-01 9.35334048e-01 -6.49645306e-02 -1.88629946e+01] [ 1.71942863e-01 4.49387083e-03 9.85096674e-01 -3.40930287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96165253199999 meters Centerline goodness : 0.783042 with order 1 Centerline is valid? [False, False] Translation: X:-18.20, Y:-18.88, Z:-3.40 [[ 9.17015191e-01 -3.62923804e-01 -1.65437157e-01 -1.82011241e+01] [ 3.57295735e-01 9.31818539e-01 -6.36707740e-02 -1.88846816e+01] [ 1.77265049e-01 -7.22923729e-04 9.84162883e-01 -3.40457791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02165253199999 meters Centerline goodness : 0.782013 with order 1 Centerline is valid? [False, False] Translation: X:-18.22, Y:-18.91, Z:-3.40 [[ 9.14612666e-01 -3.66925942e-01 -1.69850005e-01 -1.82224802e+01] [ 3.61673337e-01 9.30238347e-01 -6.20404270e-02 -1.89084669e+01] [ 1.80765230e-01 -4.68725763e-03 9.83515105e-01 -3.40305032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08165253199999 meters Centerline goodness : 0.779388 with order 1 Centerline is valid? [False, False] Translation: X:-18.23, Y:-18.92, Z:-3.40 [[ 9.12423453e-01 -3.68296886e-01 -1.78440033e-01 -1.82325004e+01] [ 3.64125444e-01 9.29615428e-01 -5.68138869e-02 -1.89239645e+01] [ 1.86804986e-01 -1.31362335e-02 9.82309186e-01 -3.40187598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141652532 meters Centerline goodness : 0.781131 with order 1 Centerline is valid? [False, False] Translation: X:-18.23, Y:-18.93, Z:-3.40 [[ 9.11030097e-01 -3.72252424e-01 -1.77347951e-01 -1.82310173e+01] [ 3.67644996e-01 9.28065597e-01 -5.94256157e-02 -1.89285485e+01] [ 1.86711862e-01 -1.10625625e-02 9.82352432e-01 -3.40117443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201652532 meters Centerline goodness : 0.775154 with order 1 Centerline is valid? [False, False] Translation: X:-18.24, Y:-18.94, Z:-3.40 [[ 9.08601659e-01 -3.74454195e-01 -1.85005624e-01 -1.82431647e+01] [ 3.70864509e-01 9.27057789e-01 -5.49851900e-02 -1.89422070e+01] [ 1.92100340e-01 -1.86523851e-02 9.81198017e-01 -3.40023460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26165253199999 meters Centerline goodness : 0.773058 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-18.95, Z:-3.41 [[ 9.08922903e-01 -3.76641952e-01 -1.78885431e-01 -1.82587155e+01] [ 3.71633098e-01 9.26304020e-01 -6.20459695e-02 -1.89512803e+01] [ 1.89071409e-01 -1.00847442e-02 9.81911554e-01 -3.40680927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32165253199999 meters Centerline goodness : 0.775300 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-18.96, Z:-3.40 [[ 9.07214450e-01 -3.80783543e-01 -1.78789916e-01 -1.82559511e+01] [ 3.75604574e-01 9.24613369e-01 -6.33349944e-02 -1.89585421e+01] [ 1.89428470e-01 -9.69588792e-03 9.81846650e-01 -3.40237109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38165253199999 meters Centerline goodness : 0.775286 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-18.96, Z:-3.40 [[ 9.06362450e-01 -3.83979748e-01 -1.76257374e-01 -1.82600207e+01] [ 3.78280441e-01 9.23317689e-01 -6.62446399e-02 -1.89597891e+01] [ 1.88178152e-01 -6.63306324e-03 9.82112512e-01 -3.40290386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44165253199999 meters Centerline goodness : 0.770433 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-18.96, Z:-3.40 [[ 9.06510797e-01 -3.83702234e-01 -1.76098749e-01 -1.82600396e+01] [ 3.78092728e-01 9.23430453e-01 -6.57425873e-02 -1.89608434e+01] [ 1.87840526e-01 -6.98529138e-03 9.82174701e-01 -3.40355820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501652532 meters Centerline goodness : 0.771750 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-18.98, Z:-3.40 [[ 9.03833803e-01 -3.87861141e-01 -1.80688108e-01 -1.82798225e+01] [ 3.82720490e-01 9.21647941e-01 -6.39538857e-02 -1.89810788e+01] [ 1.91336049e-01 -1.13493573e-02 9.81458969e-01 -3.40241191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561652532 meters Centerline goodness : 0.771054 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-18.98, Z:-3.40 [[ 9.02663184e-01 -3.91613475e-01 -1.78432232e-01 -1.82830218e+01] [ 3.85945326e-01 9.20090970e-01 -6.69239280e-02 -1.89815652e+01] [ 1.90382198e-01 -8.45531997e-03 9.81673635e-01 -3.40237762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62165253199998 meters Centerline goodness : 0.769346 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-19.00, Z:-3.40 [[ 9.02399545e-01 -3.89779260e-01 -1.83704083e-01 -1.83081252e+01] [ 3.84970305e-01 9.20799237e-01 -6.26628308e-02 -1.89994095e+01] [ 1.93579251e-01 -1.41737069e-02 9.80982252e-01 -3.40384067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68165253199999 meters Centerline goodness : 0.768542 with order 1 Centerline is valid? [False, False] Translation: X:-18.34, Y:-19.01, Z:-3.41 [[ 9.03957819e-01 -3.86519604e-01 -1.82928557e-01 -1.83350271e+01] [ 3.79833401e-01 9.22269522e-01 -7.17322534e-02 -1.90112802e+01] [ 1.96435355e-01 -4.63944449e-03 9.80505802e-01 -3.40694674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74165253199999 meters Centerline goodness : 0.769878 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-19.02, Z:-3.41 [[ 9.06460345e-01 -3.82637988e-01 -1.78655571e-01 -1.83539256e+01] [ 3.75433704e-01 9.23898351e-01 -7.39010916e-02 -1.90175109e+01] [ 1.93336953e-01 -8.49137403e-05 9.81132415e-01 -3.41167138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80165253199999 meters Centerline goodness : 0.766845 with order 1 Centerline is valid? [False, False] Translation: X:-18.36, Y:-19.02, Z:-3.41 [[ 9.08612210e-01 -3.77177768e-01 -1.79334280e-01 -1.83601431e+01] [ 3.70708037e-01 9.26135318e-01 -6.96342224e-02 -1.90162460e+01] [ 1.92352291e-01 -3.21015423e-03 9.81320687e-01 -3.41000839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861652532 meters Centerline goodness : 0.764717 with order 1 Centerline is valid? [False, False] Translation: X:-18.37, Y:-19.02, Z:-3.41 [[ 9.10855456e-01 -3.72802713e-01 -1.77088889e-01 -1.83715290e+01] [ 3.66494886e-01 9.27906834e-01 -6.83403633e-02 -1.90192599e+01] [ 1.89799464e-01 -2.65397949e-03 9.81819291e-01 -3.41208780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921652532 meters Centerline goodness : 0.760974 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:-19.03, Z:-3.41 [[ 9.11262047e-01 -3.68817251e-01 -1.83235686e-01 -1.83971214e+01] [ 3.63905382e-01 9.29435811e-01 -6.10077522e-02 -1.90349297e+01] [ 1.92806520e-01 -1.10864031e-02 9.81174163e-01 -3.41139362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98165253199998 meters Centerline goodness : 0.755378 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:-19.03, Z:-3.41 [[ 9.11793970e-01 -3.67815675e-01 -1.82601711e-01 -1.84010679e+01] [ 3.62958831e-01 9.29833271e-01 -6.05885814e-02 -1.90348062e+01] [ 1.92074576e-01 -1.10326003e-02 9.81318317e-01 -3.41097141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04165253199999 meters Centerline goodness : 0.749951 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:-19.03, Z:-3.41 [[ 9.11976870e-01 -3.67502083e-01 -1.82319519e-01 -1.84028506e+01] [ 3.62674762e-01 9.29957063e-01 -6.03893832e-02 -1.90343469e+01] [ 1.91742548e-01 -1.10489673e-02 9.81383063e-01 -3.41074358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10165253199999 meters Centerline goodness : 0.747168 with order 1 Centerline is valid? [False, False] Translation: X:-18.41, Y:-19.04, Z:-3.41 [[ 9.14061093e-01 -3.61665133e-01 -1.83550127e-01 -1.84072685e+01] [ 3.57749549e-01 9.32184136e-01 -5.52086577e-02 -1.90362467e+01] [ 1.91069564e-01 -1.52008893e-02 9.81458789e-01 -3.40821850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16165253199999 meters Centerline goodness : 0.743938 with order 1 Centerline is valid? [False, False] Translation: X:-18.44, Y:-19.06, Z:-3.41 [[ 9.13468252e-01 -3.61740550e-01 -1.86331769e-01 -1.84370468e+01] [ 3.58273537e-01 9.32101371e-01 -5.31705430e-02 -1.90573376e+01] [ 1.92914039e-01 -1.81881388e-02 9.81047076e-01 -3.41045393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221652532 meters Centerline goodness : 0.738108 with order 1 Centerline is valid? [False, False] Translation: X:-18.44, Y:-19.06, Z:-3.41 [[ 9.11346228e-01 -3.69207192e-01 -1.82027753e-01 -1.84417646e+01] [ 3.64449258e-01 9.29276111e-01 -6.01884414e-02 -1.90583622e+01] [ 1.91376048e-01 -1.14873707e-02 9.81449565e-01 -3.41197597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281652532 meters Centerline goodness : 0.732332 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-19.08, Z:-3.41 [[ 9.11017078e-01 -3.67348703e-01 -1.87357447e-01 -1.84669710e+01] [ 3.63709723e-01 9.29903465e-01 -5.47246093e-02 -1.90778086e+01] [ 1.94327354e-01 -1.82886715e-02 9.80766233e-01 -3.41208418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341652532 meters Centerline goodness : 0.726163 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-19.08, Z:-3.41 [[ 9.09901776e-01 -3.70889750e-01 -1.85794380e-01 -1.84681727e+01] [ 3.66788139e-01 9.28538752e-01 -5.72908948e-02 -1.90814023e+01] [ 1.93765887e-01 -1.60180879e-02 9.80917021e-01 -3.41108439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40165253199999 meters Centerline goodness : 0.724714 with order 1 Centerline is valid? [False, False] Translation: X:-18.48, Y:-19.08, Z:-3.41 [[ 9.09733343e-01 -3.73040963e-01 -1.82279141e-01 -1.84753687e+01] [ 3.68346496e-01 9.27733138e-01 -6.02667679e-02 -1.90831469e+01] [ 1.91588372e-01 -1.23151945e-02 9.81398100e-01 -3.41379780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46165253199999 meters Centerline goodness : 0.725396 with order 1 Centerline is valid? [False, False] Translation: X:-18.50, Y:-19.10, Z:-3.41 [[ 9.07873838e-01 -3.74693888e-01 -1.88068033e-01 -1.84952458e+01] [ 3.70896638e-01 9.26962293e-01 -5.63612573e-02 -1.91024530e+01] [ 1.95450194e-01 -1.85848904e-02 9.80537518e-01 -3.41248547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52165253199999 meters Centerline goodness : 0.725951 with order 1 Centerline is valid? [False, False] Translation: X:-18.50, Y:-19.10, Z:-3.41 [[ 9.06812404e-01 -3.78329922e-01 -1.85897105e-01 -1.84980400e+01] [ 3.73981116e-01 9.25537186e-01 -5.93215070e-02 -1.91040716e+01] [ 1.94497784e-01 -1.57285283e-02 9.80776848e-01 -3.41252689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58165253199999 meters Centerline goodness : 0.727775 with order 1 Centerline is valid? [False, False] Translation: X:-18.50, Y:-19.11, Z:-3.41 [[ 9.05515532e-01 -3.82327389e-01 -1.84030947e-01 -1.84989205e+01] [ 3.77399941e-01 9.23937679e-01 -6.25175974e-02 -1.91058273e+01] [ 1.93935316e-01 -1.28426132e-02 9.80930253e-01 -3.41286028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641652532 meters Centerline goodness : 0.729158 with order 1 Centerline is valid? [False, False] Translation: X:-18.52, Y:-19.12, Z:-3.41 [[ 0.90499173 -0.38071287 -0.18986227 -18.52320376] [ 0.37697515 0.92447496 -0.05688394 -19.12399752] [ 0.19717937 -0.02009386 0.98016148 -3.41199102] [ 0. 0. 0. 1. ]] SLAMing on 95.701652532 meters Centerline goodness : 0.732404 with order 1 Centerline is valid? [False, False] Translation: X:-18.53, Y:-19.12, Z:-3.41 [[ 9.04044212e-01 -3.84096140e-01 -1.87547906e-01 -1.85273271e+01] [ 3.79773533e-01 9.23135828e-01 -5.99358509e-02 -1.91239933e+01] [ 1.96153321e-01 -1.70410719e-02 9.80425151e-01 -3.41218766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76165253199999 meters Centerline goodness : 0.732679 with order 1 Centerline is valid? [False, False] Translation: X:-18.56, Y:-19.15, Z:-3.41 [[ 0.90395535 -0.38215943 -0.19188249 -18.55672179] [ 0.37865752 0.9238356 -0.05609158 -19.14792808] [ 0.1987038 -0.02195347 0.97981368 -3.41257706] [ 0. 0. 0. 1. ]] SLAMing on 95.82165253199999 meters Centerline goodness : 0.736508 with order 1 Centerline is valid? [False, False] Translation: X:-18.56, Y:-19.15, Z:-3.41 [[ 0.90418854 -0.3818182 -0.19146266 -18.55881253] [ 0.37834694 0.92397712 -0.0558559 -19.14738668] [ 0.19823391 -0.02193505 0.97990927 -3.41276414] [ 0. 0. 0. 1. ]] SLAMing on 95.88165253199999 meters Centerline goodness : 0.737746 with order 1 Centerline is valid? [False, False] Translation: X:-18.59, Y:-19.17, Z:-3.41 [[ 0.90343949 -0.3833065 -0.19202399 -18.59297338] [ 0.37998954 0.92333506 -0.05532004 -19.17237587] [ 0.19850702 -0.0229888 0.97982982 -3.41478638] [ 0. 0. 0. 1. ]] SLAMing on 95.94165253199999 meters Centerline goodness : 0.738477 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-19.18, Z:-3.42 [[ 0.90362213 -0.38436846 -0.18901835 -18.601471 ] [ 0.38056813 0.92296359 -0.05749872 -19.17508852] [ 0.19655775 -0.01997724 0.98028871 -3.41586205] [ 0. 0. 0. 1. ]] SLAMing on 96.001652532 meters Centerline goodness : 0.734690 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-19.20, Z:-3.42 [[ 0.90447928 -0.38064952 -0.19241405 -18.63749181] [ 0.37736504 0.92443482 -0.05491703 -19.19710573] [ 0.19877839 -0.02293902 0.97977597 -3.41924663] [ 0. 0. 0. 1. ]] SLAMing on 96.061652532 meters Centerline goodness : 0.731313 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-19.22, Z:-3.42 [[ 0.90151221 -0.38556211 -0.19651361 -18.66066955] [ 0.382528 0.92232059 -0.05474539 -19.21643691] [ 0.20235629 -0.02581832 0.97897158 -3.41778443] [ 0. 0. 0. 1. ]] SLAMing on 96.12165253199998 meters Centerline goodness : 0.730620 with order 1 Centerline is valid? [False, False] Translation: X:-18.70, Y:-19.24, Z:-3.42 [[ 0.90302689 -0.38053779 -0.19933247 -18.69689458] [ 0.37798636 0.92433617 -0.05223934 -19.23675608] [ 0.20412926 -0.02817143 0.97853851 -3.42389923] [ 0. 0. 0. 1. ]] SLAMing on 96.18165253199999 meters Centerline goodness : 0.726355 with order 1 Centerline is valid? [False, False] Translation: X:-18.73, Y:-19.25, Z:-3.43 [[ 0.90710072 -0.36843284 -0.2035326 -18.73260124] [ 0.36509089 0.92933713 -0.05514651 -19.25204446] [ 0.20946819 -0.02428446 0.97751386 -3.42535913] [ 0. 0. 0. 1. ]] SLAMing on 96.24165253199999 meters Centerline goodness : 0.725942 with order 1 Centerline is valid? [False, False] Translation: X:-18.77, Y:-19.28, Z:-3.43 [[ 0.90770374 -0.36745822 -0.20260401 -18.77206001] [ 0.36389474 0.92975736 -0.05596319 -19.27574267] [ 0.2089367 -0.02292853 0.97766034 -3.432427 ] [ 0. 0. 0. 1. ]] SLAMing on 96.30165253199999 meters Centerline goodness : 0.724283 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-19.30, Z:-3.44 [[ 0.90878243 -0.36512124 -0.2019925 -18.80952401] [ 0.36177835 0.93066427 -0.0545935 -19.29663998] [ 0.20792045 -0.0234629 0.97786429 -3.43994099] [ 0. 0. 0. 1. ]] SLAMing on 96.361652532 meters Centerline goodness : 0.722583 with order 1 Centerline is valid? [False, False] Translation: X:-18.84, Y:-19.32, Z:-3.44 [[ 0.90820948 -0.36535299 -0.20413899 -18.84181445] [ 0.36228777 0.93052521 -0.05357612 -19.31727994] [ 0.20953067 -0.02529872 0.97747474 -3.44343642] [ 0. 0. 0. 1. ]] SLAMing on 96.421652532 meters Centerline goodness : 0.720067 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-19.34, Z:-3.45 [[ 0.90984705 -0.36068225 -0.20515033 -18.88405523] [ 0.35771586 0.93234196 -0.05270514 -19.33928112] [ 0.21028007 -0.02543191 0.97731034 -3.45114841] [ 0. 0. 0. 1. ]] SLAMing on 96.48165253199998 meters Centerline goodness : 0.715683 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-19.36, Z:-3.45 [[ 0.90937039 -0.36063481 -0.20733554 -18.91521782] [ 0.35810919 0.932289 -0.05094144 -19.35962034] [ 0.2116679 -0.02792413 0.97694265 -3.45446618] [ 0. 0. 0. 1. ]] SLAMing on 96.54165253199999 meters Centerline goodness : 0.716364 with order 1 Centerline is valid? [False, False] Translation: X:-18.96, Y:-19.38, Z:-3.46 [[ 0.91074064 -0.35790248 -0.20605167 -18.95794483] [ 0.35532694 0.93336693 -0.05068466 -19.38431447] [ 0.21046198 -0.02705513 0.9772276 -3.46185448] [ 0. 0. 0. 1. ]] SLAMing on 96.60165253199999 meters Centerline goodness : 0.713570 with order 1 Centerline is valid? [False, False] Translation: X:-18.99, Y:-19.40, Z:-3.47 [[ 0.91207622 -0.35329853 -0.20807962 -18.99291506] [ 0.35143093 0.93502566 -0.04715213 -19.4047472 ] [ 0.21121856 -0.03011928 0.97697469 -3.46838273] [ 0. 0. 0. 1. ]] SLAMing on 96.66165253199999 meters Centerline goodness : 0.714972 with order 1 Centerline is valid? [False, False] Translation: X:-19.03, Y:-19.43, Z:-3.47 [[ 0.91176216 -0.35458539 -0.20726543 -19.03158954] [ 0.35249436 0.93457084 -0.04821906 -19.43077574] [ 0.210802 -0.02909558 0.97709568 -3.47288229] [ 0. 0. 0. 1. ]] SLAMing on 96.721652532 meters Centerline goodness : 0.713312 with order 1 Centerline is valid? [False, False] Translation: X:-19.05, Y:-19.44, Z:-3.48 [[ 0.91081848 -0.36116031 -0.19993231 -19.04564527] [ 0.360076 0.93192813 -0.04307247 -19.43711273] [ 0.20187861 -0.03275962 0.97886252 -3.48077383] [ 0. 0. 0. 1. ]] SLAMing on 96.781652532 meters Centerline goodness : 0.714272 with order 1 Centerline is valid? [False, False] Translation: X:-19.08, Y:-19.46, Z:-3.49 [[ 0.91154874 -0.35894495 -0.20059269 -19.08377548] [ 0.35794546 0.93277376 -0.04252249 -19.45836704] [ 0.20237083 -0.03303992 0.97875145 -3.48744489] [ 0. 0. 0. 1. ]] SLAMing on 96.841652532 meters Centerline goodness : 0.713075 with order 1 Centerline is valid? [False, False] Translation: X:-19.12, Y:-19.48, Z:-3.49 [[ 0.91265728 -0.35595875 -0.20087322 -19.12466579] [ 0.35495881 0.93392743 -0.04223509 -19.48343596] [ 0.20263496 -0.03275555 0.97870636 -3.49357723] [ 0. 0. 0. 1. ]] SLAMing on 96.90165253199999 meters Centerline goodness : 0.716469 with order 1 Centerline is valid? [False, False] Translation: X:-19.15, Y:-19.50, Z:-3.50 [[ 0.91461334 -0.35365748 -0.1959817 -19.14918605] [ 0.35094305 0.93508202 -0.04960441 -19.4954831 ] [ 0.20080194 -0.02340956 0.97935212 -3.50010647] [ 0. 0. 0. 1. ]] SLAMing on 96.96165253199999 meters Centerline goodness : 0.714279 with order 1 Centerline is valid? [False, False] Translation: X:-19.16, Y:-19.50, Z:-3.51 [[ 9.15253446e-01 -3.54516978e-01 -1.91386629e-01 -1.91645330e+01] [ 3.50370054e-01 9.34920054e-01 -5.62611559e-02 -1.95000839e+01] [ 1.98876732e-01 -1.55629266e-02 9.79900934e-01 -3.50590776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02165253199999 meters Centerline goodness : 0.717212 with order 1 Centerline is valid? [False, False] Translation: X:-19.19, Y:-19.52, Z:-3.51 [[ 0.9155225 -0.35182368 -0.19503498 -19.19409053] [ 0.34859218 0.93584082 -0.05182135 -19.5200091 ] [ 0.20075367 -0.02054405 0.97942631 -3.50828623] [ 0. 0. 0. 1. ]] SLAMing on 97.08165253199999 meters Centerline goodness : 0.711563 with order 1 Centerline is valid? [False, False] Translation: X:-19.23, Y:-19.54, Z:-3.51 [[ 0.91637015 -0.3493609 -0.19548073 -19.23159556] [ 0.34639667 0.93673873 -0.05029814 -19.541853 ] [ 0.20068658 -0.02162216 0.97941686 -3.51449914] [ 0. 0. 0. 1. ]] SLAMing on 97.141652532 meters Centerline goodness : 0.713268 with order 1 Centerline is valid? [False, False] Translation: X:-19.24, Y:-19.54, Z:-3.52 [[ 0.91670968 -0.34899355 -0.19454271 -19.23524609] [ 0.34600234 0.93688501 -0.05028781 -19.54004665] [ 0.19981427 -0.02121291 0.97960414 -3.51516785] [ 0. 0. 0. 1. ]] SLAMing on 97.201652532 meters Centerline goodness : 0.709274 with order 1 Centerline is valid? [False, False] Translation: X:-19.25, Y:-19.54, Z:-3.52 [[ 9.17287996e-01 -3.49175572e-01 -1.91465798e-01 -1.92450015e+01] [ 3.45771431e-01 9.36875134e-01 -5.20298036e-02 -1.95439777e+01] [ 1.97547082e-01 -1.84770887e-02 9.80119252e-01 -3.51611109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26165253199999 meters Centerline goodness : 0.701557 with order 1 Centerline is valid? [False, False] Translation: X:-19.29, Y:-19.57, Z:-3.52 [[ 0.91876921 -0.3458521 -0.19039292 -19.28534814] [ 0.34286752 0.93807972 -0.04948044 -19.56633482] [ 0.19571665 -0.01981844 0.98046021 -3.52226423] [ 0. 0. 0. 1. ]] SLAMing on 97.32165253199999 meters Centerline goodness : 0.698675 with order 1 Centerline is valid? [False, False] Translation: X:-19.29, Y:-19.57, Z:-3.52 [[ 0.91930423 -0.3447209 -0.18986112 -19.28907641] [ 0.34193048 0.9384816 -0.04833051 -19.56838085] [ 0.1948417 -0.02048886 0.98062068 -3.52105981] [ 0. 0. 0. 1. ]] SLAMing on 97.38165253199999 meters Centerline goodness : 0.693361 with order 1 Centerline is valid? [False, False] Translation: X:-19.29, Y:-19.57, Z:-3.52 [[ 9.18421632e-01 -3.48144148e-01 -1.87875911e-01 -1.92921594e+01] [ 3.44818775e-01 9.37272551e-01 -5.11876736e-02 -1.95705396e+01] [ 1.93911623e-01 -1.77712748e-02 9.80858024e-01 -3.52062846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44165253199999 meters Centerline goodness : 0.691388 with order 1 Centerline is valid? [False, False] Translation: X:-19.30, Y:-19.57, Z:-3.52 [[ 9.17417553e-01 -3.51885433e-01 -1.85800097e-01 -1.92951394e+01] [ 3.48002527e-01 9.35924248e-01 -5.42221574e-02 -1.95721915e+01] [ 1.92974803e-01 -1.49145444e-02 9.81090353e-01 -3.52021552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501652532 meters Centerline goodness : 0.692108 with order 1 Centerline is valid? [False, False] Translation: X:-19.33, Y:-19.59, Z:-3.52 [[ 0.91845107 -0.34706139 -0.18972618 -19.32692995] [ 0.34426705 0.93761401 -0.04858149 -19.59195524] [ 0.19475068 -0.02069675 0.9806344 -3.52292148] [ 0. 0. 0. 1. ]] SLAMing on 97.561652532 meters Centerline goodness : 0.689420 with order 1 Centerline is valid? [False, False] Translation: X:-19.35, Y:-19.60, Z:-3.52 [[ 9.20287008e-01 -3.40591042e-01 -1.92534583e-01 -1.93516149e+01] [ 3.36526642e-01 9.40097182e-01 -5.44711618e-02 -1.96048123e+01] [ 1.99553608e-01 -1.46639139e-02 9.79777182e-01 -3.52363402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62165253199998 meters Centerline goodness : 0.688733 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-19.61, Z:-3.53 [[ 9.20927405e-01 -3.41747128e-01 -1.87354249e-01 -1.93679271e+01] [ 3.36496337e-01 9.39760908e-01 -6.01635311e-02 -1.96119037e+01] [ 1.96628913e-01 -7.63777389e-03 9.80448232e-01 -3.52754908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68165253199999 meters Centerline goodness : 0.691110 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-19.61, Z:-3.53 [[ 9.22045294e-01 -3.39268552e-01 -1.86358059e-01 -1.93744145e+01] [ 3.34271707e-01 9.40653267e-01 -5.85991181e-02 -1.96145120e+01] [ 1.95179155e-01 -8.26318528e-03 9.80732796e-01 -3.52668127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74165253199999 meters Centerline goodness : 0.681557 with order 1 Centerline is valid? [False, False] Translation: X:-19.38, Y:-19.62, Z:-3.53 [[ 9.22656996e-01 -3.37929888e-01 -1.85761833e-01 -1.93788548e+01] [ 3.33141360e-01 9.41128862e-01 -5.73872703e-02 -1.96158693e+01] [ 1.94218696e-01 -8.93618311e-03 9.80917551e-01 -3.52548831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80165253199999 meters Centerline goodness : 0.676675 with order 1 Centerline is valid? [False, False] Translation: X:-19.38, Y:-19.62, Z:-3.52 [[ 9.21460476e-01 -3.41954162e-01 -1.84331069e-01 -1.93794772e+01] [ 3.36625625e-01 9.39695281e-01 -6.04645963e-02 -1.96188183e+01] [ 1.93891156e-01 -6.33482550e-03 9.81002594e-01 -3.52479274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861652532 meters Centerline goodness : 0.674692 with order 1 Centerline is valid? [False, False] Translation: X:-19.38, Y:-19.62, Z:-3.52 [[ 9.21747571e-01 -3.41280111e-01 -1.84144781e-01 -1.93806414e+01] [ 3.36071179e-01 9.39937194e-01 -5.97848991e-02 -1.96204305e+01] [ 1.93487926e-01 -6.77916805e-03 9.81079235e-01 -3.52462809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921652532 meters Centerline goodness : 0.670308 with order 1 Centerline is valid? [False, False] Translation: X:-19.39, Y:-19.62, Z:-3.52 [[ 9.22260347e-01 -3.40201147e-01 -1.83572958e-01 -1.93851442e+01] [ 3.35160915e-01 9.40324361e-01 -5.87984451e-02 -1.96198966e+01] [ 1.92621423e-01 -7.29900621e-03 9.81246000e-01 -3.52356711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98165253199998 meters Centerline goodness : 0.670564 with order 1 Centerline is valid? [False, False] Translation: X:-19.39, Y:-19.62, Z:-3.52 [[ 9.22086036e-01 -3.41916470e-01 -1.81246984e-01 -1.93920353e+01] [ 3.36507272e-01 9.39717329e-01 -6.07799091e-02 -1.96234564e+01] [ 1.91102584e-01 -4.94662270e-03 9.81557606e-01 -3.52235604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04165253199999 meters Centerline goodness : 0.663329 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-19.64, Z:-3.53 [[ 9.22932533e-01 -3.37917696e-01 -1.84410332e-01 -1.94237899e+01] [ 3.33182891e-01 9.41134630e-01 -5.70505827e-02 -1.96446822e+01] [ 1.92833351e-01 -8.78852869e-03 9.81192163e-01 -3.52663286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10165253199999 meters Centerline goodness : 0.660568 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-19.65, Z:-3.53 [[ 9.23105073e-01 -3.37547222e-01 -1.84225124e-01 -1.94252814e+01] [ 3.32896634e-01 9.41264583e-01 -5.65757452e-02 -1.96453124e+01] [ 1.92501571e-01 -9.10256640e-03 9.81254446e-01 -3.52612470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16165253199999 meters Centerline goodness : 0.654837 with order 1 Centerline is valid? [False, False] Translation: X:-19.46, Y:-19.67, Z:-3.53 [[ 9.23048579e-01 -3.37059957e-01 -1.85396620e-01 -1.94582646e+01] [ 3.32867613e-01 9.41411342e-01 -5.42571401e-02 -1.96678687e+01] [ 1.92822390e-01 -1.16305542e-02 9.81164745e-01 -3.52885100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221652532 meters Centerline goodness : 0.652033 with order 1 Centerline is valid? [False, False] Translation: X:-19.46, Y:-19.67, Z:-3.53 [[ 9.23591719e-01 -3.35605903e-01 -1.85329474e-01 -1.94611605e+01] [ 3.31675011e-01 9.41916488e-01 -5.27732582e-02 -1.96715927e+01] [ 1.92275904e-01 -1.27282109e-02 9.81258360e-01 -3.52683947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281652532 meters Centerline goodness : 0.651298 with order 1 Centerline is valid? [False, False] Translation: X:-19.50, Y:-19.69, Z:-3.53 [[ 9.23428621e-01 -3.35637871e-01 -1.86082783e-01 -1.94960513e+01] [ 3.32085041e-01 9.41874971e-01 -5.09024972e-02 -1.96935115e+01] [ 1.92351521e-01 -1.47904858e-02 9.81214622e-01 -3.52931629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341652532 meters Centerline goodness : 0.653277 with order 1 Centerline is valid? [False, False] Translation: X:-19.50, Y:-19.69, Z:-3.53 [[ 9.22350181e-01 -3.39537921e-01 -1.84347888e-01 -1.94984349e+01] [ 3.35408693e-01 9.40516904e-01 -5.41198838e-02 -1.96945433e+01] [ 1.91758058e-01 -1.19143996e-02 9.81369907e-01 -3.52869689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40165253199999 meters Centerline goodness : 0.646041 with order 1 Centerline is valid? [False, False] Translation: X:-19.50, Y:-19.69, Z:-3.53 [[ 9.23790081e-01 -3.34840149e-01 -1.85725497e-01 -1.94991921e+01] [ 3.31378568e-01 9.42154686e-01 -5.03268600e-02 -1.96934308e+01] [ 1.91833601e-01 -1.50539953e-02 9.81312003e-01 -3.52866242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46165253199999 meters Centerline goodness : 0.644587 with order 1 Centerline is valid? [False, False] Translation: X:-19.53, Y:-19.71, Z:-3.53 [[ 9.23858903e-01 -3.33875217e-01 -1.87115119e-01 -1.95343823e+01] [ 3.30481506e-01 9.42487366e-01 -4.99953865e-02 -1.97136622e+01] [ 1.93045856e-01 -1.56494033e-02 9.81064928e-01 -3.53411662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52165253199999 meters Centerline goodness : 0.650489 with order 1 Centerline is valid? [False, False] Translation: X:-19.54, Y:-19.71, Z:-3.53 [[ 9.23216629e-01 -3.36805564e-01 -1.85021802e-01 -1.95393048e+01] [ 3.32895252e-01 9.41486177e-01 -5.27686512e-02 -1.97147520e+01] [ 1.91968244e-01 -1.28759829e-02 9.81316668e-01 -3.53334321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58165253199999 meters Centerline goodness : 0.652396 with order 1 Centerline is valid? [False, False] Translation: X:-19.54, Y:-19.71, Z:-3.53 [[ 9.23555635e-01 -3.36078780e-01 -1.84651135e-01 -1.95423837e+01] [ 3.32249596e-01 9.41742901e-01 -5.22543171e-02 -1.97142435e+01] [ 1.91455463e-01 -1.30904961e-02 9.81414003e-01 -3.53279776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641652532 meters Centerline goodness : 0.657680 with order 1 Centerline is valid? [False, False] Translation: X:-19.58, Y:-19.73, Z:-3.54 [[ 9.24806282e-01 -3.33093081e-01 -1.83799730e-01 -1.95838094e+01] [ 3.29294170e-01 9.42808754e-01 -5.17397695e-02 -1.97343412e+01] [ 1.90522154e-01 -1.26749156e-02 9.81601067e-01 -3.54023673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701652532 meters Centerline goodness : 0.663035 with order 1 Centerline is valid? [False, False] Translation: X:-19.59, Y:-19.74, Z:-3.54 [[ 9.25454091e-01 -3.31613695e-01 -1.83213219e-01 -1.95885614e+01] [ 3.27965459e-01 9.43324313e-01 -5.07730029e-02 -1.97354199e+01] [ 1.89666507e-01 -1.30995242e-02 9.81761182e-01 -3.53893719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76165253199999 meters Centerline goodness : 0.670619 with order 1 Centerline is valid? [False, False] Translation: X:-19.59, Y:-19.74, Z:-3.54 [[ 9.25768493e-01 -3.30887730e-01 -1.82937170e-01 -1.95916178e+01] [ 3.27289291e-01 9.43577896e-01 -5.04229653e-02 -1.97356896e+01] [ 1.89299810e-01 -1.31933841e-02 9.81830696e-01 -3.53774814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82165253199999 meters Centerline goodness : 0.673598 with order 1 Centerline is valid? [False, False] Translation: X:-19.61, Y:-19.74, Z:-3.54 [[ 9.27829920e-01 -3.25328676e-01 -1.82463400e-01 -1.96097807e+01] [ 3.20670517e-01 9.45573744e-01 -5.53237217e-02 -1.97400921e+01] [ 1.90530993e-01 -7.17962835e-03 9.81654926e-01 -3.54256202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88165253199999 meters Centerline goodness : 0.676604 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-19.76, Z:-3.54 [[ 9.27149410e-01 -3.24679676e-01 -1.87021602e-01 -1.96348028e+01] [ 3.20749690e-01 9.45748065e-01 -5.17709689e-02 -1.97566644e+01] [ 1.93684300e-01 -1.19876977e-02 9.80990666e-01 -3.54470404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94165253199999 meters Centerline goodness : 0.681110 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:-19.76, Z:-3.55 [[ 9.27397577e-01 -3.28454927e-01 -1.79028196e-01 -1.96538983e+01] [ 3.25636575e-01 9.44386605e-01 -4.57685619e-02 -1.97648661e+01] [ 1.84104740e-01 -1.58524753e-02 9.82778787e-01 -3.55230899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001652532 meters Centerline goodness : 0.687831 with order 1 Centerline is valid? [False, False] Translation: X:-19.69, Y:-19.79, Z:-3.55 [[ 9.27171812e-01 -3.27952075e-01 -1.81107339e-01 -1.96861264e+01] [ 3.25630468e-01 9.44506264e-01 -4.32748796e-02 -1.97873638e+01] [ 1.85249103e-01 -1.88508191e-02 9.82510772e-01 -3.55404398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061652532 meters Centerline goodness : 0.691135 with order 1 Centerline is valid? [False, False] Translation: X:-19.69, Y:-19.79, Z:-3.55 [[ 9.27893093e-01 -3.26271384e-01 -1.80447755e-01 -1.96907296e+01] [ 3.24100653e-01 9.45079260e-01 -4.22369340e-02 -1.97881476e+01] [ 1.84318133e-01 -1.92918759e-02 9.82677286e-01 -3.55359268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12165253199998 meters Centerline goodness : 0.694303 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-19.81, Z:-3.56 [[ 0.92754006 -0.32729364 -0.18041149 -19.72371996] [ 0.32550928 0.94468092 -0.04026992 -19.81130768] [ 0.18361138 -0.02137365 0.98276652 -3.55663754] [ 0. 0. 0. 1. ]] SLAMing on 99.18165253199999 meters Centerline goodness : 0.706758 with order 1 Centerline is valid? [False, False] Translation: X:-19.73, Y:-19.82, Z:-3.56 [[ 9.27089681e-01 -3.31172330e-01 -1.75583630e-01 -1.97343084e+01] [ 3.28384897e-01 9.43444339e-01 -4.55646710e-02 -1.98195462e+01] [ 1.80743140e-01 -1.54164760e-02 9.83409503e-01 -3.55834463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24165253199999 meters Centerline goodness : 0.710604 with order 1 Centerline is valid? [False, False] Translation: X:-19.76, Y:-19.84, Z:-3.56 [[ 9.26341966e-01 -3.31601157e-01 -1.78693130e-01 -1.97628808e+01] [ 3.29294899e-01 9.43233713e-01 -4.33016448e-02 -1.98416171e+01] [ 1.82908260e-01 -1.87306053e-02 9.82951542e-01 -3.56054592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30165253199999 meters Centerline goodness : 0.714350 with order 1 Centerline is valid? [False, False] Translation: X:-19.77, Y:-19.84, Z:-3.56 [[ 9.25352729e-01 -3.35430801e-01 -1.76659290e-01 -1.97651182e+01] [ 3.32529672e-01 9.41936593e-01 -4.66848187e-02 -1.98421071e+01] [ 1.82061376e-01 -1.55445313e-02 9.83164291e-01 -3.56150395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361652532 meters Centerline goodness : 0.719455 with order 1 Centerline is valid? [False, False] Translation: X:-19.77, Y:-19.84, Z:-3.56 [[ 9.24116833e-01 -3.39680346e-01 -1.75000974e-01 -1.97654075e+01] [ 3.36212706e-01 9.40456447e-01 -5.00268634e-02 -1.98439043e+01] [ 1.81573936e-01 -1.26068844e-02 9.83296482e-01 -3.56214463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421652532 meters Centerline goodness : 0.723073 with order 1 Centerline is valid? [False, False] Translation: X:-19.77, Y:-19.84, Z:-3.56 [[ 9.23288848e-01 -3.43086881e-01 -1.72711015e-01 -1.97695353e+01] [ 3.39087095e-01 9.39255245e-01 -5.30992156e-02 -1.98437841e+01] [ 1.80437371e-01 -9.53816279e-03 9.83540227e-01 -3.56250504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48165253199998 meters Centerline goodness : 0.725494 with order 1 Centerline is valid? [False, False] Translation: X:-19.77, Y:-19.85, Z:-3.56 [[ 9.21213665e-01 -3.50561398e-01 -1.68736747e-01 -1.97739718e+01] [ 3.45484781e-01 9.36533420e-01 -5.95434237e-02 -1.98467178e+01] [ 1.78901229e-01 -3.44376261e-03 9.83861012e-01 -3.56287138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54165253199999 meters Centerline goodness : 0.727442 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-19.87, Z:-3.56 [[ 9.20484910e-01 -3.50058810e-01 -1.73684654e-01 -1.97980469e+01] [ 3.45865674e-01 9.36678810e-01 -5.48611250e-02 -1.98669770e+01] [ 1.81891355e-01 -9.57272231e-03 9.83272037e-01 -3.56264540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60165253199999 meters Centerline goodness : 0.729244 with order 1 Centerline is valid? [False, False] Translation: X:-19.81, Y:-19.87, Z:-3.57 [[ 9.22090274e-01 -3.47709097e-01 -1.69846728e-01 -1.98113987e+01] [ 3.42981257e-01 9.37587298e-01 -5.73926417e-02 -1.98716164e+01] [ 1.79202078e-01 -5.33304739e-03 9.83797832e-01 -3.56828851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66165253199999 meters Centerline goodness : 0.730962 with order 1 Centerline is valid? [False, False] Translation: X:-19.84, Y:-19.90, Z:-3.57 [[ 9.21672655e-01 -3.47855710e-01 -1.71801986e-01 -1.98433661e+01] [ 3.43465843e-01 9.37516166e-01 -5.56296034e-02 -1.98966506e+01] [ 1.80418215e-01 -7.73582995e-03 9.83559568e-01 -3.56977725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721652532 meters Centerline goodness : 0.735206 with order 1 Centerline is valid? [False, False] Translation: X:-19.86, Y:-19.90, Z:-3.58 [[ 9.22294919e-01 -3.49020078e-01 -1.66003214e-01 -1.98596076e+01] [ 3.43440057e-01 9.37115192e-01 -6.21614376e-02 -1.99038716e+01] [ 1.77259723e-01 3.19024886e-04 9.84164056e-01 -3.57575394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781652532 meters Centerline goodness : 0.738031 with order 1 Centerline is valid? [False, False] Translation: X:-19.89, Y:-19.92, Z:-3.58 [[ 9.21863188e-01 -3.48343606e-01 -1.69779256e-01 -1.98872609e+01] [ 3.43336560e-01 9.37358718e-01 -5.89799953e-02 -1.99225102e+01] [ 1.79689370e-01 -3.91993927e-03 9.83715591e-01 -3.57819803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841652532 meters Centerline goodness : 0.741946 with order 1 Centerline is valid? [False, False] Translation: X:-19.92, Y:-19.94, Z:-3.58 [[ 9.22440290e-01 -3.45465241e-01 -1.72504138e-01 -1.99192402e+01] [ 3.41271953e-01 9.38391025e-01 -5.43667070e-02 -1.99437858e+01] [ 1.80658143e-01 -8.72078321e-03 9.83507287e-01 -3.58002269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90165253199999 meters Centerline goodness : 0.738215 with order 1 Centerline is valid? [False, False] Translation: X:-19.92, Y:-19.94, Z:-3.58 [[ 9.21714677e-01 -3.48563760e-01 -1.70133359e-01 -1.99234431e+01] [ 3.43815740e-01 9.37269446e-01 -5.75909855e-02 -1.99442768e+01] [ 1.79534929e-01 -5.41207016e-03 9.83736712e-01 -3.58059144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96165253199999 meters Centerline goodness : 0.740309 with order 1 Centerline is valid? [False, False] Translation: X:-19.93, Y:-19.95, Z:-3.58 [[ 9.22424907e-01 -3.46981490e-01 -1.69517365e-01 -1.99281020e+01] [ 3.42444201e-01 9.37851823e-01 -5.62665801e-02 -1.99465631e+01] [ 1.78505632e-01 -6.14854383e-03 9.83919679e-01 -3.57912153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02165253199999 meters Centerline goodness : 0.740339 with order 1 Centerline is valid? [False, False] Translation: X:-19.93, Y:-19.95, Z:-3.58 [[ 9.22931300e-01 -3.45829405e-01 -1.69114866e-01 -1.99315568e+01] [ 3.41500128e-01 9.38271331e-01 -5.49961072e-02 -1.99489266e+01] [ 1.77694902e-01 -6.99511972e-03 9.84060765e-01 -3.57756621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08165253199999 meters Centerline goodness : 0.742209 with order 1 Centerline is valid? [False, False] Translation: X:-19.95, Y:-19.96, Z:-3.58 [[ 9.23555474e-01 -3.46576132e-01 -1.64104454e-01 -1.99489370e+01] [ 3.40756332e-01 9.38018410e-01 -6.32975873e-02 -1.99557503e+01] [ 1.75870432e-01 2.53920136e-03 9.84410049e-01 -3.58439511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141652532 meters Centerline goodness : 0.741237 with order 1 Centerline is valid? [False, False] Translation: X:-19.95, Y:-19.95, Z:-3.58 [[ 9.24029453e-01 -3.45642411e-01 -1.63404082e-01 -1.99524417e+01] [ 3.39872713e-01 9.38362629e-01 -6.29453315e-02 -1.99547517e+01] [ 1.75088860e-01 2.62675135e-03 9.84549131e-01 -3.58467172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201652532 meters Centerline goodness : 0.741522 with order 1 Centerline is valid? [False, False] Translation: X:-19.97, Y:-19.96, Z:-3.59 [[ 9.26418526e-01 -3.39981343e-01 -1.61744862e-01 -1.99741591e+01] [ 3.33160930e-01 9.40384209e-01 -6.84202795e-02 -1.99636823e+01] [ 1.75363933e-01 9.49874597e-03 9.84457853e-01 -3.58957143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26165253199999 meters Centerline goodness : 0.740901 with order 1 Centerline is valid? [False, False] Translation: X:-19.98, Y:-19.96, Z:-3.59 [[ 9.28072804e-01 -3.34790076e-01 -1.63084261e-01 -1.99767851e+01] [ 3.28721097e-01 9.42276658e-01 -6.36956847e-02 -1.99647663e+01] [ 1.74995176e-01 5.50499539e-03 9.84553901e-01 -3.58739303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32165253199999 meters Centerline goodness : 0.739655 with order 1 Centerline is valid? [False, False] Translation: X:-20.00, Y:-19.97, Z:-3.59 [[ 9.30063069e-01 -3.28764091e-01 -1.64002623e-01 -1.99986649e+01] [ 3.21544844e-01 9.44336411e-01 -6.95532573e-02 -1.99710514e+01] [ 1.77740262e-01 1.19547182e-02 9.84004819e-01 -3.59058402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38165253199999 meters Centerline goodness : 0.738897 with order 1 Centerline is valid? [False, False] Translation: X:-20.00, Y:-19.97, Z:-3.59 [[ 9.30359526e-01 -3.28319838e-01 -1.63209180e-01 -2.00022146e+01] [ 3.21070139e-01 9.44484140e-01 -6.97400571e-02 -1.99690025e+01] [ 1.77045527e-01 1.24817323e-02 9.84123513e-01 -3.59067593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44165253199999 meters Centerline goodness : 0.736832 with order 1 Centerline is valid? [False, False] Translation: X:-20.03, Y:-19.97, Z:-3.59 [[ 9.34748155e-01 -3.16343082e-01 -1.61780534e-01 -2.00271388e+01] [ 3.09139170e-01 9.48540011e-01 -6.85917020e-02 -1.99740024e+01] [ 1.75153820e-01 1.41032669e-02 9.84440063e-01 -3.59375182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501652532 meters Centerline goodness : 0.739819 with order 1 Centerline is valid? [False, False] Translation: X:-20.03, Y:-19.97, Z:-3.59 [[ 9.36499387e-01 -3.10747799e-01 -1.62495244e-01 -2.00320564e+01] [ 3.04241733e-01 9.50432947e-01 -6.41418777e-02 -1.99729055e+01] [ 1.74372781e-01 1.06309946e-02 9.84622321e-01 -3.59200308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561652532 meters Centerline goodness : 0.737801 with order 1 Centerline is valid? [False, False] Translation: X:-20.05, Y:-19.98, Z:-3.60 [[ 9.37634950e-01 -3.09771359e-01 -1.57741580e-01 -2.00532565e+01] [ 3.01939526e-01 9.50602815e-01 -7.20195245e-02 -1.99786543e+01] [ 1.72259176e-01 1.98996054e-02 9.84850639e-01 -3.59770454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62165253199998 meters Centerline goodness : 0.740227 with order 1 Centerline is valid? [False, False] Translation: X:-20.08, Y:-19.99, Z:-3.60 [[ 9.37710433e-01 -3.06096745e-01 -1.64328715e-01 -2.00762647e+01] [ 2.99473264e-01 9.51935968e-01 -6.42936811e-02 -1.99943654e+01] [ 1.76110501e-01 1.10767988e-02 9.84308080e-01 -3.59639659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68165253199999 meters Centerline goodness : 0.740329 with order 1 Centerline is valid? [False, False] Translation: X:-20.10, Y:-20.01, Z:-3.60 [[ 9.38098942e-01 -3.01529437e-01 -1.70441699e-01 -2.01005670e+01] [ 2.96378289e-01 9.53455580e-01 -5.55190730e-02 -2.00065402e+01] [ 1.79249223e-01 1.56716465e-03 9.83802450e-01 -3.59515184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74165253199999 meters Centerline goodness : 0.739883 with order 1 Centerline is valid? [False, False] Translation: X:-20.10, Y:-20.01, Z:-3.59 [[ 9.38205089e-01 -3.01197925e-01 -1.70443600e-01 -2.01023527e+01] [ 2.96133931e-01 9.53560966e-01 -5.50107067e-02 -2.00074045e+01] [ 1.79097475e-01 1.13719157e-03 9.83830677e-01 -3.59346761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80165253199999 meters Centerline goodness : 0.739411 with order 1 Centerline is valid? [False, False] Translation: X:-20.14, Y:-20.03, Z:-3.60 [[ 9.39939210e-01 -2.95299607e-01 -1.71208712e-01 -2.01385943e+01] [ 2.91153902e-01 9.55398679e-01 -4.94243878e-02 -2.00266361e+01] [ 1.78167580e-01 -3.39216453e-03 9.83994312e-01 -3.59853546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861652532 meters Centerline goodness : 0.736687 with order 1 Centerline is valid? [False, False] Translation: X:-20.14, Y:-20.03, Z:-3.60 [[ 9.40168834e-01 -2.94578708e-01 -1.71189804e-01 -2.01407061e+01] [ 2.90581160e-01 9.55618386e-01 -4.85395679e-02 -2.00284068e+01] [ 1.77890848e-01 -4.10914296e-03 9.84041646e-01 -3.59662098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921652532 meters Centerline goodness : 0.736421 with order 1 Centerline is valid? [False, False] Translation: X:-20.15, Y:-20.03, Z:-3.59 [[ 9.39580080e-01 -2.97400077e-01 -1.69536037e-01 -2.01451852e+01] [ 2.92985643e-01 9.54751473e-01 -5.10787432e-02 -2.00303109e+01] [ 1.77055603e-01 -1.67905519e-03 9.84199418e-01 -3.59497701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98165253199998 meters Centerline goodness : 0.733480 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.04, Z:-3.60 [[ 9.39433828e-01 -3.02111201e-01 -1.61842223e-01 -2.01621983e+01] [ 2.98708893e-01 9.53256530e-01 -4.55519980e-02 -2.00379314e+01] [ 1.68038925e-01 -5.55062333e-03 9.85764734e-01 -3.60188429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04165253199999 meters Centerline goodness : 0.733051 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.04, Z:-3.60 [[ 9.40039829e-01 -3.00503669e-01 -1.61315423e-01 -2.01661240e+01] [ 2.97273688e-01 9.53760280e-01 -4.43811009e-02 -2.00392577e+01] [ 1.67192926e-01 -6.23482825e-03 9.85904484e-01 -3.60106396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10165253199999 meters Centerline goodness : 0.726644 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.04, Z:-3.60 [[ 9.40175233e-01 -2.99847823e-01 -1.61746138e-01 -2.01658820e+01] [ 2.96804755e-01 9.53958704e-01 -4.32403594e-02 -2.00432607e+01] [ 1.67264664e-01 -7.35350781e-03 9.85884607e-01 -3.59953121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16165253199999 meters Centerline goodness : 0.722164 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.05, Z:-3.60 [[ 9.38806049e-01 -3.04457879e-01 -1.61085696e-01 -2.01626542e+01] [ 3.00887336e-01 9.52514651e-01 -4.67188543e-02 -2.00473253e+01] [ 1.67660409e-01 -4.60870303e-03 9.85834036e-01 -3.59980525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221652532 meters Centerline goodness : 0.714820 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.05, Z:-3.60 [[ 9.38738690e-01 -3.04434653e-01 -1.61521561e-01 -2.01612345e+01] [ 3.00959879e-01 9.52518631e-01 -4.61671878e-02 -2.00498425e+01] [ 1.67907188e-01 -5.27258424e-03 9.85788708e-01 -3.59942519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281652532 meters Centerline goodness : 0.715232 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.05, Z:-3.60 [[ 9.37532099e-01 -3.08606310e-01 -1.60610428e-01 -2.01602977e+01] [ 3.04754735e-01 9.51184219e-01 -4.87148036e-02 -2.00548860e+01] [ 1.67803800e-01 -3.27509645e-03 9.85814972e-01 -3.59826888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34165253199998 meters Centerline goodness : 0.712534 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.06, Z:-3.60 [[ 9.36666531e-01 -3.11988626e-01 -1.59119162e-01 -2.01624845e+01] [ 3.07753579e-01 9.50085337e-01 -5.12404749e-02 -2.00585659e+01] [ 1.67163229e-01 -9.74253921e-04 9.85928753e-01 -3.59708945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40165253199999 meters Centerline goodness : 0.709487 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.06, Z:-3.60 [[ 9.35478664e-01 -3.15936260e-01 -1.58315978e-01 -2.01610996e+01] [ 3.11343665e-01 9.48779964e-01 -5.36814907e-02 -2.00645497e+01] [ 1.67166957e-01 9.27212398e-04 9.85928166e-01 -3.59592426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46165253199999 meters Centerline goodness : 0.701169 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.07, Z:-3.60 [[ 9.33991135e-01 -3.20655851e-01 -1.57608326e-01 -2.01580503e+01] [ 3.15580135e-01 9.47189540e-01 -5.69311270e-02 -2.00686115e+01] [ 1.67540257e-01 3.43511134e-03 9.85859251e-01 -3.59588468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52165253199999 meters Centerline goodness : 0.696029 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.07, Z:-3.60 [[ 9.32920730e-01 -3.24471849e-01 -1.56131135e-01 -2.01589664e+01] [ 3.18956984e-01 9.45875937e-01 -5.98761570e-02 -2.00714457e+01] [ 1.67108811e-01 6.06059235e-03 9.85919832e-01 -3.59570276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58165253199999 meters Centerline goodness : 0.682032 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.08, Z:-3.59 [[ 9.32813790e-01 -3.24565775e-01 -1.56574237e-01 -2.01575957e+01] [ 3.19202342e-01 9.45849729e-01 -5.89758815e-02 -2.00753152e+01] [ 1.67237253e-01 5.03465227e-03 9.85903826e-01 -3.59449886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641652532 meters Centerline goodness : 0.687838 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.08, Z:-3.59 [[ 9.32894638e-01 -3.24190365e-01 -1.56870014e-01 -2.01574500e+01] [ 3.18936604e-01 9.45981877e-01 -5.82900565e-02 -2.00780992e+01] [ 1.67293265e-01 4.34689180e-03 9.85897595e-01 -3.59346947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701652532 meters Centerline goodness : 0.680727 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-20.08, Z:-3.60 [[ 9.33892174e-01 -3.22547510e-01 -1.54300066e-01 -2.01641998e+01] [ 3.17162000e-01 9.46533100e-01 -5.90199670e-02 -2.00783663e+01] [ 1.65086863e-01 6.18016790e-03 9.86259668e-01 -3.59793401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76165253199999 meters Centerline goodness : 0.670054 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.08, Z:-3.60 [[ 9.34044721e-01 -3.22164045e-01 -1.54177778e-01 -2.01657278e+01] [ 3.16852090e-01 9.46665844e-01 -5.85536734e-02 -2.00794714e+01] [ 1.64818725e-01 5.84019822e-03 9.86306585e-01 -3.59700813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82165253199999 meters Centerline goodness : 0.670465 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.08, Z:-3.60 [[ 9.34486135e-01 -3.21145397e-01 -1.53627138e-01 -2.01695605e+01] [ 3.15973144e-01 9.47014885e-01 -5.76522420e-02 -2.00805969e+01] [ 1.64001938e-01 5.33317114e-03 9.86445600e-01 -3.59576717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88165253199999 meters Centerline goodness : 0.674438 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.08, Z:-3.60 [[ 9.33780205e-01 -3.24192497e-01 -1.51504959e-01 -2.01737711e+01] [ 3.18645139e-01 9.45957462e-01 -6.02474570e-02 -2.00827910e+01] [ 1.62849020e-01 7.98156395e-03 9.86618716e-01 -3.59507788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94165253199999 meters Centerline goodness : 0.662377 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.08, Z:-3.60 [[ 9.33706117e-01 -3.24342881e-01 -1.51639649e-01 -2.01730701e+01] [ 3.18833033e-01 9.45908256e-01 -6.00255622e-02 -2.00839227e+01] [ 1.62906060e-01 7.69850525e-03 9.86611549e-01 -3.59500539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001652532 meters Centerline goodness : 0.672805 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.08, Z:-3.60 [[ 9.33647455e-01 -3.24493293e-01 -1.51679044e-01 -2.01725849e+01] [ 3.19012205e-01 9.45858246e-01 -5.98614308e-02 -2.00845123e+01] [ 1.62891508e-01 7.50200622e-03 9.86615465e-01 -3.59523390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061652532 meters Centerline goodness : 0.664171 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.09, Z:-3.60 [[ 9.33638419e-01 -3.24477374e-01 -1.51768696e-01 -2.01721880e+01] [ 3.19054978e-01 9.45866589e-01 -5.95005587e-02 -2.00858312e+01] [ 1.62859524e-01 7.12944969e-03 9.86623508e-01 -3.59514969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12165253199998 meters Centerline goodness : 0.669211 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.09, Z:-3.59 [[ 9.32339887e-01 -3.28897286e-01 -1.50229524e-01 -2.01730309e+01] [ 3.22983483e-01 9.44311340e-01 -6.29107559e-02 -2.00868527e+01] [ 1.62554620e-01 1.01325522e-02 9.86647519e-01 -3.59487154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18165253199999 meters Centerline goodness : 0.666271 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.09, Z:-3.59 [[ 9.32524221e-01 -3.28410183e-01 -1.50151021e-01 -2.01743645e+01] [ 3.22604893e-01 9.44486614e-01 -6.22183223e-02 -2.00884678e+01] [ 1.62248760e-01 9.58063839e-03 9.86703376e-01 -3.59385366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24165253199999 meters Centerline goodness : 0.657103 with order 1 Centerline is valid? [False, False] Translation: X:-20.17, Y:-20.09, Z:-3.59 [[ 9.32658524e-01 -3.28011210e-01 -1.50188963e-01 -2.01749232e+01] [ 3.22363182e-01 9.44633868e-01 -6.12277264e-02 -2.00914131e+01] [ 1.61956962e-01 8.68916881e-03 9.86759566e-01 -3.59281432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30165253199999 meters Centerline goodness : 0.662750 with order 1 Centerline is valid? [False, False] Translation: X:-20.20, Y:-20.11, Z:-3.59 [[ 9.32483877e-01 -3.26849175e-01 -1.53764221e-01 -2.02043255e+01] [ 3.21835408e-01 9.45068831e-01 -5.71565858e-02 -2.01138797e+01] [ 1.63999355e-01 3.81082395e-03 9.86453085e-01 -3.59270681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361652532 meters Centerline goodness : 0.661827 with order 1 Centerline is valid? [False, False] Translation: X:-20.21, Y:-20.11, Z:-3.59 [[ 9.31498598e-01 -3.30580086e-01 -1.51747052e-01 -2.02073297e+01] [ 3.25096016e-01 9.43752775e-01 -6.03595968e-02 -2.01143056e+01] [ 1.63165382e-01 6.89251805e-03 9.86574656e-01 -3.59261873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421652532 meters Centerline goodness : 0.648831 with order 1 Centerline is valid? [False, False] Translation: X:-20.21, Y:-20.11, Z:-3.59 [[ 9.30730605e-01 -3.33717049e-01 -1.49577649e-01 -2.02117645e+01] [ 3.27792549e-01 9.42620563e-01 -6.33917904e-02 -2.01142303e+01] [ 1.62149889e-01 9.97024059e-03 9.86715769e-01 -3.59224595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48165253199998 meters Centerline goodness : 0.640332 with order 1 Centerline is valid? [False, False] Translation: X:-20.21, Y:-20.11, Z:-3.59 [[ 9.31033525e-01 -3.33199799e-01 -1.48843777e-01 -2.02145288e+01] [ 3.27304738e-01 9.42801703e-01 -6.32183268e-02 -2.01129697e+01] [ 1.61394500e-01 1.01411083e-02 9.86837866e-01 -3.59279830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54165253199999 meters Centerline goodness : 0.626264 with order 1 Centerline is valid? [False, False] Translation: X:-20.23, Y:-20.12, Z:-3.60 [[ 9.32210514e-01 -3.31296629e-01 -1.45691804e-01 -2.02339698e+01] [ 3.24314168e-01 9.43354522e-01 -7.00183286e-02 -2.01201156e+01] [ 1.60635858e-01 1.80219060e-02 9.86849194e-01 -3.59691750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60165253199999 meters Centerline goodness : 0.643394 with order 1 Centerline is valid? [False, False] Translation: X:-20.26, Y:-20.13, Z:-3.60 [[ 0.93338845 -0.32926183 -0.14273283 -20.25596586] [ 0.32104452 0.9438562 -0.07788381 -20.13029537] [ 0.16036343 0.02687226 0.98669218 -3.60060876] [ 0. 0. 0. 1. ]] SLAMing on 102.66165253199999 meters Centerline goodness : 0.644186 with order 1 Centerline is valid? [False, False] Translation: X:-20.29, Y:-20.15, Z:-3.60 [[ 0.93365243 -0.32743898 -0.1451787 -20.28743001] [ 0.31993576 0.94462298 -0.0729968 -20.14950333] [ 0.16104113 0.02170578 0.98670898 -3.60059926] [ 0. 0. 0. 1. ]] SLAMing on 102.721652532 meters Centerline goodness : 0.651507 with order 1 Centerline is valid? [False, False] Translation: X:-20.31, Y:-20.17, Z:-3.59 [[ 9.30526511e-01 -3.34236346e-01 -1.49687935e-01 -2.03063389e+01] [ 3.27242885e-01 9.42352759e-01 -6.98811295e-02 -2.01666688e+01] [ 1.64415652e-01 1.60419317e-02 9.86260691e-01 -3.59457251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781652532 meters Centerline goodness : 0.640129 with order 1 Centerline is valid? [False, False] Translation: X:-20.33, Y:-20.18, Z:-3.59 [[ 9.30661337e-01 -3.30726107e-01 -1.56491910e-01 -2.03279871e+01] [ 3.24836632e-01 9.43697751e-01 -6.25756893e-02 -2.01804147e+01] [ 1.68376478e-01 7.40246977e-03 9.85694966e-01 -3.59473408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84165253199998 meters Centerline goodness : 0.652623 with order 1 Centerline is valid? [False, False] Translation: X:-20.36, Y:-20.19, Z:-3.59 [[ 9.35361932e-01 -3.15217452e-01 -1.60424480e-01 -2.03572695e+01] [ 3.09268102e-01 9.48986817e-01 -6.14594344e-02 -2.01939610e+01] [ 1.71613803e-01 7.87264100e-03 9.85132846e-01 -3.59444251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90165253199999 meters Centerline goodness : 0.642311 with order 1 Centerline is valid? [False, False] Translation: X:-20.36, Y:-20.20, Z:-3.59 [[ 9.34423892e-01 -3.18717751e-01 -1.58968505e-01 -2.03599544e+01] [ 3.12317012e-01 9.47790950e-01 -6.44235951e-02 -2.01961427e+01] [ 1.71201854e-01 1.05503780e-02 9.85179484e-01 -3.59270044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96165253199999 meters Centerline goodness : 0.647712 with order 1 Centerline is valid? [False, False] Translation: X:-20.36, Y:-20.20, Z:-3.59 [[ 9.35995462e-01 -3.13373310e-01 -1.60342336e-01 -2.03622629e+01] [ 3.07692008e-01 9.49607043e-01 -5.97669913e-02 -2.01972607e+01] [ 1.70991592e-01 6.60557721e-03 9.85250345e-01 -3.59064717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02165253199999 meters Centerline goodness : 0.647729 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-20.20, Z:-3.59 [[ 9.36483049e-01 -3.12139916e-01 -1.59900507e-01 -2.03660637e+01] [ 3.06614844e-01 9.50017090e-01 -5.87781170e-02 -2.01978130e+01] [ 1.70255211e-01 6.01684120e-03 9.85381632e-01 -3.58941594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08165253199999 meters Centerline goodness : 0.653684 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-20.20, Z:-3.59 [[ 9.36537119e-01 -3.11928205e-01 -1.59996935e-01 -2.03665746e+01] [ 3.06469530e-01 9.50088971e-01 -5.83727263e-02 -2.01989432e+01] [ 1.70219423e-01 5.63403968e-03 9.85390078e-01 -3.58855877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141652532 meters Centerline goodness : 0.654857 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-20.20, Z:-3.59 [[ 9.36870841e-01 -3.10943012e-01 -1.59960840e-01 -2.03691170e+01] [ 3.05650031e-01 9.50416337e-01 -5.73310129e-02 -2.02007224e+01] [ 1.69856073e-01 4.81971868e-03 9.85457094e-01 -3.58659307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201652532 meters Centerline goodness : 0.660956 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-20.20, Z:-3.58 [[ 9.37339460e-01 -3.09733930e-01 -1.59560741e-01 -2.03730631e+01] [ 3.04604389e-01 9.50814170e-01 -5.62901408e-02 -2.02014633e+01] [ 1.69147580e-01 4.16006823e-03 9.85581955e-01 -3.58499024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26165253199999 meters Centerline goodness : 0.656623 with order 1 Centerline is valid? [False, False] Translation: X:-20.38, Y:-20.20, Z:-3.58 [[ 9.37577897e-01 -3.09093322e-01 -1.59402025e-01 -2.03753082e+01] [ 3.04059964e-01 9.51024375e-01 -5.56792271e-02 -2.02019283e+01] [ 1.68805288e-01 3.73583874e-03 9.85642338e-01 -3.58385690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32165253199999 meters Centerline goodness : 0.657684 with order 1 Centerline is valid? [False, False] Translation: X:-20.38, Y:-20.20, Z:-3.58 [[ 9.37724482e-01 -3.08827941e-01 -1.59053762e-01 -2.03771220e+01] [ 3.03807005e-01 9.51110297e-01 -5.55923220e-02 -2.02008690e+01] [ 1.68446133e-01 3.80863422e-03 9.85703502e-01 -3.58382908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38165253199999 meters Centerline goodness : 0.660766 with order 1 Centerline is valid? [False, False] Translation: X:-20.41, Y:-20.22, Z:-3.59 [[ 9.38308079e-01 -3.05653232e-01 -1.61722141e-01 -2.04087181e+01] [ 3.01408147e-01 9.52142264e-01 -5.07763534e-02 -2.02186641e+01] [ 1.69502442e-01 -1.10050825e-03 9.85529153e-01 -3.58593706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44165253199999 meters Centerline goodness : 0.663746 with order 1 Centerline is valid? [False, False] Translation: X:-20.42, Y:-20.22, Z:-3.59 [[ 9.40044686e-01 -3.01432866e-01 -1.59543774e-01 -2.04194112e+01] [ 2.97062414e-01 9.53487155e-01 -5.11484815e-02 -2.02168989e+01] [ 1.67540773e-01 6.87399550e-04 9.85864908e-01 -3.58991403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501652532 meters Centerline goodness : 0.660099 with order 1 Centerline is valid? [False, False] Translation: X:-20.42, Y:-20.21, Z:-3.59 [[ 9.40295784e-01 -3.00955131e-01 -1.58964929e-01 -2.04225153e+01] [ 2.96546441e-01 9.53637630e-01 -5.13369205e-02 -2.02149643e+01] [ 1.67045048e-01 1.13140592e-03 9.85948615e-01 -3.58973108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561652532 meters Centerline goodness : 0.664133 with order 1 Centerline is valid? [False, False] Translation: X:-20.44, Y:-20.22, Z:-3.60 [[ 9.43139564e-01 -2.93425411e-01 -1.56170709e-01 -2.04401456e+01] [ 2.88796455e-01 9.55973576e-01 -5.20685127e-02 -2.02151887e+01] [ 1.64573296e-01 4.00632718e-03 9.86356720e-01 -3.59544839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62165253199998 meters Centerline goodness : 0.662846 with order 1 Centerline is valid? [False, False] Translation: X:-20.46, Y:-20.22, Z:-3.60 [[ 9.46167737e-01 -2.85017930e-01 -1.53399458e-01 -2.04589024e+01] [ 2.80094454e-01 9.58493348e-01 -5.32691208e-02 -2.02162457e+01] [ 1.62215014e-01 7.43518612e-03 9.86727423e-01 -3.60207395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68165253199999 meters Centerline goodness : 0.664673 with order 1 Centerline is valid? [False, False] Translation: X:-20.46, Y:-20.22, Z:-3.60 [[ 9.46582156e-01 -2.83953273e-01 -1.52816104e-01 -2.04625679e+01] [ 2.79100284e-01 9.58810242e-01 -5.27821176e-02 -2.02159108e+01] [ 1.61509301e-01 7.31159251e-03 9.86844104e-01 -3.60138324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74165253199999 meters Centerline goodness : 0.666231 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-20.22, Z:-3.60 [[ 9.46844032e-01 -2.83234517e-01 -1.52527331e-01 -2.04650093e+01] [ 2.78433269e-01 9.59023902e-01 -5.24220281e-02 -2.02156011e+01] [ 1.61125084e-01 7.16680097e-03 9.86907971e-01 -3.60073967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80165253199999 meters Centerline goodness : 0.671401 with order 1 Centerline is valid? [False, False] Translation: X:-20.48, Y:-20.22, Z:-3.61 [[ 9.46383771e-01 -2.87742933e-01 -1.46839242e-01 -2.04766722e+01] [ 2.84122645e-01 9.57706716e-01 -4.55210731e-02 -2.02204954e+01] [ 1.53727295e-01 1.36005110e-03 9.88112377e-01 -3.60810169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861652532 meters Centerline goodness : 0.667264 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.24, Z:-3.61 [[ 9.44288239e-01 -2.92294739e-01 -1.51272958e-01 -2.04975937e+01] [ 2.88871517e-01 9.56327020e-01 -4.46304489e-02 -2.02368933e+01] [ 1.57711663e-01 -1.55444100e-03 9.87483982e-01 -3.60837044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921652532 meters Centerline goodness : 0.666337 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.24, Z:-3.61 [[ 9.43517916e-01 -2.95687456e-01 -1.49475318e-01 -2.05009899e+01] [ 2.91835006e-01 9.55283876e-01 -4.75924889e-02 -2.02377440e+01] [ 1.56863863e-01 1.28223568e-03 9.87619403e-01 -3.60784688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98165253199998 meters Centerline goodness : 0.673181 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.24, Z:-3.61 [[ 9.43430701e-01 -2.95844639e-01 -1.49714603e-01 -2.04999649e+01] [ 2.92055095e-01 9.55235725e-01 -4.72073210e-02 -2.02385512e+01] [ 1.56978770e-01 8.11923421e-04 9.87601644e-01 -3.60815399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04165253199999 meters Centerline goodness : 0.673556 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.24, Z:-3.61 [[ 9.41083735e-01 -3.04446992e-01 -1.47218995e-01 -2.05002687e+01] [ 2.99673962e-01 9.52504843e-01 -5.41298592e-02 -2.02418277e+01] [ 1.56706479e-01 6.82303054e-03 9.87621651e-01 -3.60771791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10165253199999 meters Centerline goodness : 0.683539 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.25, Z:-3.61 [[ 9.41573904e-01 -3.03045636e-01 -1.46975938e-01 -2.05019584e+01] [ 2.98514251e-01 9.52959804e-01 -5.25057457e-02 -2.02456841e+01] [ 1.55973798e-01 5.56362792e-03 9.87745524e-01 -3.60740285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16165253199999 meters Centerline goodness : 0.687923 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.25, Z:-3.61 [[ 9.39448589e-01 -3.11188175e-01 -1.43520968e-01 -2.05041847e+01] [ 3.05626157e-01 9.50267712e-01 -5.98659114e-02 -2.02469049e+01] [ 1.55012906e-01 1.23771841e-02 9.87834907e-01 -3.60905391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221652532 meters Centerline goodness : 0.694694 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.25, Z:-3.61 [[ 9.38224125e-01 -3.15396550e-01 -1.42339412e-01 -2.05029450e+01] [ 3.09465452e-01 9.48845913e-01 -6.26304058e-02 -2.02515367e+01] [ 1.54811583e-01 1.47122273e-02 9.87834462e-01 -3.60919481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281652532 meters Centerline goodness : 0.703049 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.26, Z:-3.61 [[ 9.36568358e-01 -3.20607180e-01 -1.41600658e-01 -2.04991045e+01] [ 3.14300315e-01 9.47062935e-01 -6.54760155e-02 -2.02568423e+01] [ 1.55096815e-01 1.68176330e-02 9.87756116e-01 -3.60923332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34165253199998 meters Centerline goodness : 0.702110 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.26, Z:-3.61 [[ 9.36356978e-01 -3.21017245e-01 -1.42068781e-01 -2.04968078e+01] [ 3.14843634e-01 9.46942107e-01 -6.46075318e-02 -2.02601336e+01] [ 1.55271043e-01 1.57662619e-02 9.87746085e-01 -3.60890336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40165253199999 meters Centerline goodness : 0.709773 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.28, Z:-3.60 [[ 9.30841158e-01 -3.34353509e-01 -1.47453279e-01 -2.04994483e+01] [ 3.28722580e-01 9.42404529e-01 -6.17670525e-02 -2.02758734e+01] [ 1.59612669e-01 9.02409227e-03 9.87138471e-01 -3.60312468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46165253199999 meters Centerline goodness : 0.706796 with order 1 Centerline is valid? [False, False] Translation: X:-20.50, Y:-20.28, Z:-3.60 [[ 9.30581808e-01 -3.34909816e-01 -1.47827312e-01 -2.04963196e+01] [ 3.29358724e-01 9.42213166e-01 -6.12958541e-02 -2.02788006e+01] [ 1.59813423e-01 8.35259200e-03 9.87111901e-01 -3.60389271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52165253199999 meters Centerline goodness : 0.705996 with order 1 Centerline is valid? [False, False] Translation: X:-20.51, Y:-20.30, Z:-3.60 [[ 9.27604212e-01 -3.40969816e-01 -1.52610650e-01 -2.05129417e+01] [ 3.35678361e-01 9.40063812e-01 -6.00005540e-02 -2.02955316e+01] [ 1.63922128e-01 4.42867358e-03 9.86463341e-01 -3.60353273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58165253199999 meters Centerline goodness : 0.705845 with order 1 Centerline is valid? [False, False] Translation: X:-20.51, Y:-20.30, Z:-3.60 [[ 9.27568154e-01 -3.40796844e-01 -1.53214986e-01 -2.05104755e+01] [ 3.35772440e-01 9.40133106e-01 -5.83661795e-02 -2.03028113e+01] [ 1.63933490e-01 2.69323987e-03 9.86467717e-01 -3.60196456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641652532 meters Centerline goodness : 0.711260 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-20.33, Z:-3.60 [[ 9.24726033e-01 -3.46776324e-01 -1.56932929e-01 -2.05312574e+01] [ 3.42051554e-01 9.37947407e-01 -5.70560728e-02 -2.03253967e+01] [ 1.66980529e-01 -9.17916484e-04 9.85959766e-01 -3.59963877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701652532 meters Centerline goodness : 0.716493 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-20.33, Z:-3.60 [[ 9.25376026e-01 -3.45157640e-01 -1.56669761e-01 -2.05326880e+01] [ 3.40778516e-01 9.38541084e-01 -5.48692729e-02 -2.03318613e+01] [ 1.65979556e-01 -2.61497906e-03 9.86125727e-01 -3.59908798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76165253199999 meters Centerline goodness : 0.720010 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-20.34, Z:-3.60 [[ 9.24045653e-01 -3.49216183e-01 -1.55523918e-01 -2.05321123e+01] [ 3.44607897e-01 9.37041242e-01 -5.65606640e-02 -2.03390647e+01] [ 1.65484225e-01 -1.33013482e-03 9.86211540e-01 -3.59684000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82165253199999 meters Centerline goodness : 0.720077 with order 1 Centerline is valid? [False, False] Translation: X:-20.55, Y:-20.36, Z:-3.60 [[ 9.22797282e-01 -3.50045991e-01 -1.60975090e-01 -2.05520777e+01] [ 3.46233328e-01 9.36701148e-01 -5.20907126e-02 -2.03567288e+01] [ 1.69019697e-01 -7.66577325e-03 9.85582862e-01 -3.59717942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88165253199999 meters Centerline goodness : 0.721307 with order 1 Centerline is valid? [False, False] Translation: X:-20.55, Y:-20.36, Z:-3.60 [[ 9.21373963e-01 -3.54519544e-01 -1.59329574e-01 -2.05510458e+01] [ 3.50190532e-01 9.35036692e-01 -5.54344259e-02 -2.03594284e+01] [ 1.68631585e-01 -4.71987168e-03 9.85667850e-01 -3.59818435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94165253199999 meters Centerline goodness : 0.725558 with order 1 Centerline is valid? [False, False] Translation: X:-20.55, Y:-20.36, Z:-3.60 [[ 9.21652144e-01 -3.53981765e-01 -1.58915814e-01 -2.05530538e+01] [ 3.49763052e-01 9.35238193e-01 -5.47296041e-02 -2.03607007e+01] [ 1.67997420e-01 -5.14122305e-03 9.85774028e-01 -3.59791840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001652532 meters Centerline goodness : 0.728507 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-20.38, Z:-3.60 [[ 9.24497505e-01 -3.45890078e-01 -1.60201179e-01 -2.05866378e+01] [ 3.40458017e-01 9.38273044e-01 -6.10903672e-02 -2.03758367e+01] [ 1.71442999e-01 1.93611640e-03 9.85192138e-01 -3.59967765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061652532 meters Centerline goodness : 0.731349 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-20.39, Z:-3.61 [[ 9.25606639e-01 -3.45901517e-01 -1.53637532e-01 -2.06063180e+01] [ 3.39276304e-01 9.38205467e-01 -6.82795056e-02 -2.03873079e+01] [ 1.67761557e-01 1.10743895e-02 9.85765397e-01 -3.60715603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12165253199998 meters Centerline goodness : 0.731512 with order 1 Centerline is valid? [False, False] Translation: X:-20.63, Y:-20.40, Z:-3.60 [[ 9.25285460e-01 -3.43458446e-01 -1.60882295e-01 -2.06271963e+01] [ 3.38079639e-01 9.39166420e-01 -6.05689085e-02 -2.04019527e+01] [ 1.71898152e-01 1.65250224e-03 9.85113341e-01 -3.60483584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18165253199999 meters Centerline goodness : 0.733183 with order 1 Centerline is valid? [False, False] Translation: X:-20.66, Y:-20.42, Z:-3.60 [[ 9.24908696e-01 -3.42323443e-01 -1.65404245e-01 -2.06554261e+01] [ 3.37821214e-01 9.39571278e-01 -5.55215298e-02 -2.04213449e+01] [ 1.74415399e-01 -4.52471707e-03 9.84661767e-01 -3.60359765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24165253199999 meters Centerline goodness : 0.734039 with order 1 Centerline is valid? [False, False] Translation: X:-20.66, Y:-20.42, Z:-3.61 [[ 9.26082730e-01 -3.40232083e-01 -1.63134626e-01 -2.06632809e+01] [ 3.35836324e-01 9.40332316e-01 -5.46726564e-02 -2.04242558e+01] [ 1.72002152e-01 -4.15513001e-03 9.85087811e-01 -3.60535117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30165253199999 meters Centerline goodness : 0.734783 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-20.42, Z:-3.61 [[ 9.25234203e-01 -3.43673510e-01 -1.60717729e-01 -2.06677740e+01] [ 3.38764166e-01 9.39088779e-01 -5.78887220e-02 -2.04248199e+01] [ 1.70823036e-01 -8.84781813e-04 9.85301328e-01 -3.60545213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361652532 meters Centerline goodness : 0.734351 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-20.43, Z:-3.61 [[ 9.25891811e-01 -3.42400082e-01 -1.59645039e-01 -2.06720354e+01] [ 3.37621026e-01 9.39553596e-01 -5.70182756e-02 -2.04266000e+01] [ 1.69518132e-01 -1.10676735e-03 9.85526447e-01 -3.60567957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421652532 meters Centerline goodness : 0.733409 with order 1 Centerline is valid? [False, False] Translation: X:-20.70, Y:-20.44, Z:-3.60 [[ 9.27326745e-01 -3.34899206e-01 -1.67055770e-01 -2.06956510e+01] [ 3.29491236e-01 9.42253801e-01 -5.99441391e-02 -2.04375255e+01] [ 1.77484179e-01 5.44391255e-04 9.84123503e-01 -3.60397923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48165253199998 meters Centerline goodness : 0.736207 with order 1 Centerline is valid? [False, False] Translation: X:-20.70, Y:-20.44, Z:-3.60 [[ 9.26654830e-01 -3.37927830e-01 -1.64668176e-01 -2.07007970e+01] [ 3.32110470e-01 9.41166436e-01 -6.25170005e-02 -2.04407213e+01] [ 1.76106395e-01 3.24365491e-03 9.84365794e-01 -3.60288737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54165253199999 meters Centerline goodness : 0.737458 with order 1 Centerline is valid? [False, False] Translation: X:-20.71, Y:-20.44, Z:-3.60 [[ 9.28704814e-01 -3.32197310e-01 -1.64779595e-01 -2.07058544e+01] [ 3.27035425e-01 9.43209873e-01 -5.83349471e-02 -2.04394466e+01] [ 1.74800453e-01 2.87181373e-04 9.84603839e-01 -3.60377103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60165253199999 meters Centerline goodness : 0.736364 with order 1 Centerline is valid? [False, False] Translation: X:-20.74, Y:-20.46, Z:-3.61 [[ 9.28959758e-01 -3.29819593e-01 -1.68085707e-01 -2.07372117e+01] [ 3.25402281e-01 9.44033060e-01 -5.39901671e-02 -2.04571746e+01] [ 1.76485480e-01 -4.54078007e-03 9.84292770e-01 -3.60539008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66165253199999 meters Centerline goodness : 0.738816 with order 1 Centerline is valid? [False, False] Translation: X:-20.74, Y:-20.46, Z:-3.60 [[ 9.30033983e-01 -3.27433107e-01 -1.66806326e-01 -2.07439491e+01] [ 3.23244971e-01 9.44860411e-01 -5.24546759e-02 -2.04612470e+01] [ 1.74784092e-01 -5.13467500e-03 9.84593397e-01 -3.60440830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721652532 meters Centerline goodness : 0.741050 with order 1 Centerline is valid? [False, False] Translation: X:-20.75, Y:-20.46, Z:-3.60 [[ 9.30669973e-01 -3.26156480e-01 -1.65756905e-01 -2.07493473e+01] [ 3.22084741e-01 9.45300833e-01 -5.16503064e-02 -2.04608647e+01] [ 1.73536223e-01 -5.31838072e-03 9.84813127e-01 -3.60408391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781652532 meters Centerline goodness : 0.741475 with order 1 Centerline is valid? [False, False] Translation: X:-20.78, Y:-20.48, Z:-3.61 [[ 9.30503105e-01 -3.24892156e-01 -1.69142124e-01 -2.07800334e+01] [ 3.21421041e-01 9.45704075e-01 -4.82940575e-02 -2.04794482e+01] [ 1.75648757e-01 -9.42806726e-03 9.84407754e-01 -3.60536774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84165253199998 meters Centerline goodness : 0.742994 with order 1 Centerline is valid? [False, False] Translation: X:-20.82, Y:-20.50, Z:-3.61 [[ 9.32016476e-01 -3.19581122e-01 -1.70918680e-01 -2.08153100e+01] [ 3.16924271e-01 9.47459093e-01 -4.33621229e-02 -2.04973266e+01] [ 1.75796174e-01 -1.37540652e-02 9.84330499e-01 -3.61057930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90165253199999 meters Centerline goodness : 0.745761 with order 1 Centerline is valid? [False, False] Translation: X:-20.85, Y:-20.52, Z:-3.61 [[ 9.32395972e-01 -3.18885770e-01 -1.70145871e-01 -2.08544338e+01] [ 3.16360852e-01 9.47686685e-01 -4.24942080e-02 -2.05179197e+01] [ 1.74795775e-01 -1.42060643e-02 9.84502222e-01 -3.61485518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96165253199999 meters Centerline goodness : 0.748041 with order 1 Centerline is valid? [False, False] Translation: X:-20.86, Y:-20.52, Z:-3.62 [[ 9.32110074e-01 -3.21511931e-01 -1.66735981e-01 -2.08623063e+01] [ 3.18325023e-01 9.46853023e-01 -4.62442679e-02 -2.05169590e+01] [ 1.72742551e-01 -9.97148685e-03 9.84916535e-01 -3.61678815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02165253199999 meters Centerline goodness : 0.748940 with order 1 Centerline is valid? [False, False] Translation: X:-20.86, Y:-20.52, Z:-3.62 [[ 9.30856528e-01 -3.26118424e-01 -1.64781363e-01 -2.08640052e+01] [ 3.22302693e-01 9.45307103e-01 -5.01543159e-02 -2.05164060e+01] [ 1.72125240e-01 -6.42300478e-03 9.85054134e-01 -3.61724415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08165253199999 meters Centerline goodness : 0.745668 with order 1 Centerline is valid? [False, False] Translation: X:-20.89, Y:-20.53, Z:-3.62 [[ 9.32742465e-01 -3.17044237e-01 -1.71681233e-01 -2.08896905e+01] [ 3.12629124e-01 9.48400880e-01 -5.29037070e-02 -2.05262374e+01] [ 1.79595448e-01 -4.32701949e-03 9.83731036e-01 -3.61746978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141652532 meters Centerline goodness : 0.745402 with order 1 Centerline is valid? [False, False] Translation: X:-20.91, Y:-20.53, Z:-3.62 [[ 9.34977495e-01 -3.12515982e-01 -1.67782134e-01 -2.09086896e+01] [ 3.07346623e-01 9.49911508e-01 -5.66231474e-02 -2.05321500e+01] [ 1.77073818e-01 1.37409626e-03 9.84196614e-01 -3.62392786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201652532 meters Centerline goodness : 0.744006 with order 1 Centerline is valid? [False, False] Translation: X:-20.91, Y:-20.54, Z:-3.62 [[ 9.35382468e-01 -3.11405404e-01 -1.67589716e-01 -2.09113373e+01] [ 3.06431341e-01 9.50277024e-01 -5.54383485e-02 -2.05351933e+01] [ 1.76520458e-01 5.01317769e-04 9.84296844e-01 -3.62220406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26165253199999 meters Centerline goodness : 0.744119 with order 1 Centerline is valid? [False, False] Translation: X:-20.94, Y:-20.55, Z:-3.63 [[ 9.34845676e-01 -3.10983495e-01 -1.71326668e-01 -2.09390211e+01] [ 3.06456259e-01 9.50410581e-01 -5.29555346e-02 -2.05534826e+01] [ 1.79298976e-01 -2.99887730e-03 9.83790061e-01 -3.62551598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32165253199999 meters Centerline goodness : 0.743695 with order 1 Centerline is valid? [False, False] Translation: X:-20.97, Y:-20.57, Z:-3.63 [[ 9.34686729e-01 -3.09280394e-01 -1.75232295e-01 -2.09695145e+01] [ 3.05455901e-01 9.50940162e-01 -4.90866776e-02 -2.05730364e+01] [ 1.81816974e-01 -7.64507247e-03 9.83302670e-01 -3.62667502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38165253199999 meters Centerline goodness : 0.742903 with order 1 Centerline is valid? [False, False] Translation: X:-20.97, Y:-20.58, Z:-3.63 [[ 9.33671992e-01 -3.13187227e-01 -1.73696206e-01 -2.09709272e+01] [ 3.08881162e-01 9.49677736e-01 -5.20060111e-02 -2.05761249e+01] [ 1.81243038e-01 -5.09493000e-03 9.83425138e-01 -3.62594515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44165253199999 meters Centerline goodness : 0.741028 with order 1 Centerline is valid? [False, False] Translation: X:-21.01, Y:-20.60, Z:-3.63 [[ 9.33226854e-01 -3.14652500e-01 -1.73440031e-01 -2.10099183e+01] [ 3.10009135e-01 9.49200820e-01 -5.39642459e-02 -2.05997333e+01] [ 1.81609404e-01 -3.40711057e-03 9.83364844e-01 -3.63081893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501652532 meters Centerline goodness : 0.740257 with order 1 Centerline is valid? [False, False] Translation: X:-21.01, Y:-20.60, Z:-3.63 [[ 9.33317503e-01 -3.14442807e-01 -1.73332513e-01 -2.10102496e+01] [ 3.09897259e-01 9.49268554e-01 -5.34125582e-02 -2.06010416e+01] [ 1.81334299e-01 -3.86439533e-03 9.83413920e-01 -3.63076466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561652532 meters Centerline goodness : 0.739282 with order 1 Centerline is valid? [False, False] Translation: X:-21.04, Y:-20.62, Z:-3.63 [[ 9.31611650e-01 -3.17196823e-01 -1.77442692e-01 -2.10353336e+01] [ 3.13237667e-01 9.48322640e-01 -5.06589968e-02 -2.06217181e+01] [ 1.84341795e-01 -8.38722344e-03 9.82826412e-01 -3.62890282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62165253199998 meters Centerline goodness : 0.735491 with order 1 Centerline is valid? [False, False] Translation: X:-21.07, Y:-20.64, Z:-3.63 [[ 9.31802887e-01 -3.14551074e-01 -1.81110470e-01 -2.10652740e+01] [ 3.11328655e-01 9.49153474e-01 -4.67135025e-02 -2.06412711e+01] [ 1.86595415e-01 -1.28571028e-02 9.82352710e-01 -3.63210389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68165253199999 meters Centerline goodness : 0.733572 with order 1 Centerline is valid? [False, False] Translation: X:-21.07, Y:-20.64, Z:-3.63 [[ 9.32199193e-01 -3.13825474e-01 -1.80328134e-01 -2.10687761e+01] [ 3.10639309e-01 9.49394856e-01 -4.63964086e-02 -2.06404621e+01] [ 1.85762977e-01 -1.27663121e-02 9.82511648e-01 -3.63233428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74165253199999 meters Centerline goodness : 0.733306 with order 1 Centerline is valid? [False, False] Translation: X:-21.10, Y:-20.66, Z:-3.64 [[ 9.35257527e-01 -3.05970182e-01 -1.77976420e-01 -2.11019959e+01] [ 3.01579624e-01 9.52027262e-01 -5.19020501e-02 -2.06573362e+01] [ 1.85318883e-01 -5.13227870e-03 9.82665035e-01 -3.63501673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80165253199999 meters Centerline goodness : 0.732179 with order 1 Centerline is valid? [False, False] Translation: X:-21.11, Y:-20.66, Z:-3.63 [[ 9.34859517e-01 -3.08618239e-01 -1.75477824e-01 -2.11086559e+01] [ 3.03757109e-01 9.51183319e-01 -5.46068844e-02 -2.06596032e+01] [ 1.83764259e-01 -2.25287084e-03 9.82967762e-01 -3.63394694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861652532 meters Centerline goodness : 0.728363 with order 1 Centerline is valid? [False, False] Translation: X:-21.14, Y:-20.68, Z:-3.63 [[ 9.34876711e-01 -3.06084087e-01 -1.79772267e-01 -2.11365497e+01] [ 3.02438838e-01 9.51957479e-01 -4.80386069e-02 -2.06765118e+01] [ 1.85839407e-01 -9.45994081e-03 9.82534592e-01 -3.63363866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921652532 meters Centerline goodness : 0.727246 with order 1 Centerline is valid? [False, False] Translation: X:-21.14, Y:-20.68, Z:-3.63 [[ 9.33802000e-01 -3.10372037e-01 -1.77997257e-01 -2.11383759e+01] [ 3.06116905e-01 9.50594290e-01 -5.16036496e-02 -2.06767231e+01] [ 1.85219506e-01 -6.30037825e-03 9.82676976e-01 -3.63385450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98165253199998 meters Centerline goodness : 0.723560 with order 1 Centerline is valid? [False, False] Translation: X:-21.16, Y:-20.69, Z:-3.63 [[ 9.33514284e-01 -3.08327878e-01 -1.82989073e-01 -2.11639449e+01] [ 3.05132110e-01 9.51193923e-01 -4.60924800e-02 -2.06917040e+01] [ 1.88269691e-01 -1.28078535e-02 9.82033850e-01 -3.63448311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04165253199999 meters Centerline goodness : 0.721204 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:-20.71, Z:-3.64 [[ 9.33561567e-01 -3.07452875e-01 -1.84215988e-01 -2.11997062e+01] [ 3.04695539e-01 9.51441484e-01 -4.38147351e-02 -2.07116885e+01] [ 1.88741700e-01 -1.52260372e-02 9.81908722e-01 -3.63734595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10165253199999 meters Centerline goodness : 0.722663 with order 1 Centerline is valid? [False, False] Translation: X:-21.24, Y:-20.73, Z:-3.64 [[ 9.34981312e-01 -3.04036895e-01 -1.82678712e-01 -2.12416790e+01] [ 3.01519779e-01 9.52530427e-01 -4.20904824e-02 -2.07319692e+01] [ 1.86804091e-01 -1.57274304e-02 9.82271286e-01 -3.64394777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16165253199999 meters Centerline goodness : 0.720535 with order 1 Centerline is valid? [False, False] Translation: X:-21.28, Y:-20.75, Z:-3.65 [[ 9.36018738e-01 -3.01221238e-01 -1.82029361e-01 -2.12806891e+01] [ 2.98968727e-01 9.53409023e-01 -4.03600592e-02 -2.07508238e+01] [ 1.85705743e-01 -1.66433147e-02 9.82464441e-01 -3.65070685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221652532 meters Centerline goodness : 0.718314 with order 1 Centerline is valid? [False, False] Translation: X:-21.29, Y:-20.75, Z:-3.65 [[ 9.36737658e-01 -2.99417596e-01 -1.81305442e-01 -2.12869789e+01] [ 2.97357030e-01 9.53965516e-01 -3.90971936e-02 -2.07521527e+01] [ 1.84665528e-01 -1.72886342e-02 9.82649350e-01 -3.64837836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281652532 meters Centerline goodness : 0.718536 with order 1 Centerline is valid? [False, False] Translation: X:-21.31, Y:-20.77, Z:-3.65 [[ 9.35602541e-01 -3.00933192e-01 -1.84626918e-01 -2.13142787e+01] [ 2.99434564e-01 9.53413610e-01 -3.66255475e-02 -2.07667339e+01] [ 1.87047660e-01 -2.10167254e-02 9.82125995e-01 -3.64928052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34165253199998 meters Centerline goodness : 0.713938 with order 1 Centerline is valid? [False, False] Translation: X:-21.32, Y:-20.76, Z:-3.65 [[ 9.34239407e-01 -3.06139292e-01 -1.82963013e-01 -2.13150802e+01] [ 3.03810838e-01 9.51835421e-01 -4.13316568e-02 -2.07635312e+01] [ 1.86803920e-01 -1.69724836e-02 9.82250594e-01 -3.65045772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40165253199999 meters Centerline goodness : 0.704019 with order 1 Centerline is valid? [False, False] Translation: X:-21.34, Y:-20.78, Z:-3.66 [[ 9.34444697e-01 -3.03619765e-01 -1.86086398e-01 -2.13448982e+01] [ 3.01800108e-01 9.52584057e-01 -3.87338191e-02 -2.07782033e+01] [ 1.89023289e-01 -1.99662831e-02 9.81769598e-01 -3.65605705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46165253199999 meters Centerline goodness : 0.698736 with order 1 Centerline is valid? [False, False] Translation: X:-21.36, Y:-20.78, Z:-3.66 [[ 0.93802657 -0.29288348 -0.18527122 -21.3587682 ] [ 0.2919378 0.9558681 -0.03299254 -20.78089121] [ 0.18675782 -0.02313979 0.98213343 -3.65744742] [ 0. 0. 0. 1. ]] SLAMing on 107.52165253199999 meters Centerline goodness : 0.695497 with order 1 Centerline is valid? [False, False] Translation: X:-21.37, Y:-20.79, Z:-3.66 [[ 9.39174086e-01 -2.91121314e-01 -1.82209814e-01 -2.13731313e+01] [ 2.89930221e-01 9.56452661e-01 -3.37457391e-02 -2.07887709e+01] [ 1.84099165e-01 -2.11350079e-02 9.82680421e-01 -3.65592714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58165253199999 meters Centerline goodness : 0.682216 with order 1 Centerline is valid? [False, False] Translation: X:-21.37, Y:-20.79, Z:-3.66 [[ 0.93936698 -0.29054949 -0.18212819 -21.3739387 ] [ 0.28944471 0.95661814 -0.03321893 -20.79071973] [ 0.18387887 -0.02151127 0.9827135 -3.65556379] [ 0. 0. 0. 1. ]] SLAMing on 107.641652532 meters Centerline goodness : 0.683230 with order 1 Centerline is valid? [False, False] Translation: X:-21.39, Y:-20.79, Z:-3.67 [[ 0.94024099 -0.29196554 -0.17522272 -21.38752825] [ 0.29194758 0.95606801 -0.02646819 -20.79477199] [ 0.17525263 -0.02626938 0.98417297 -3.66506152] [ 0. 0. 0. 1. ]] SLAMing on 107.701652532 meters Centerline goodness : 0.682499 with order 1 Centerline is valid? [False, False] Translation: X:-21.39, Y:-20.79, Z:-3.66 [[ 0.9393738 -0.2957883 -0.17345356 -21.39086346] [ 0.29519943 0.95497121 -0.02978722 -20.794582 ] [ 0.17445387 -0.02322206 0.98439148 -3.66454237] [ 0. 0. 0. 1. ]] SLAMing on 107.76165253199999 meters Centerline goodness : 0.674805 with order 1 Centerline is valid? [False, False] Translation: X:-21.40, Y:-20.80, Z:-3.66 [[ 9.39090588e-01 -2.97884949e-01 -1.71386771e-01 -2.13966421e+01] [ 2.96880038e-01 9.54375988e-01 -3.20736190e-02 -2.07982909e+01] [ 1.73121667e-01 -2.07612774e-02 9.84681602e-01 -3.66342415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82165253199999 meters Centerline goodness : 0.667368 with order 1 Centerline is valid? [False, False] Translation: X:-21.40, Y:-20.80, Z:-3.66 [[ 9.38312307e-01 -3.01319418e-01 -1.69636736e-01 -2.13997102e+01] [ 2.99788755e-01 9.53356412e-01 -3.51888395e-02 -2.07995683e+01] [ 1.72327351e-01 -1.78370649e-02 9.84878228e-01 -3.66306287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88165253199999 meters Centerline goodness : 0.664648 with order 1 Centerline is valid? [False, False] Translation: X:-21.40, Y:-20.80, Z:-3.66 [[ 9.37471573e-01 -3.04825157e-01 -1.68013908e-01 -2.14025138e+01] [ 3.02833958e-01 9.52285943e-01 -3.79878381e-02 -2.08018144e+01] [ 1.71576931e-01 -1.52677984e-02 9.85052410e-01 -3.66211715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94165253199999 meters Centerline goodness : 0.666587 with order 1 Centerline is valid? [False, False] Translation: X:-21.41, Y:-20.80, Z:-3.66 [[ 9.36540503e-01 -3.08691622e-01 -1.66136599e-01 -2.14055428e+01] [ 3.06135819e-01 9.51085763e-01 -4.14334552e-02 -2.08014057e+01] [ 1.70800314e-01 -1.20562548e-02 9.85231901e-01 -3.66213651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001652532 meters Centerline goodness : 0.664649 with order 1 Centerline is valid? [False, False] Translation: X:-21.41, Y:-20.80, Z:-3.66 [[ 9.35739511e-01 -3.12166527e-01 -1.64145142e-01 -2.14090569e+01] [ 3.09079598e-01 9.49985566e-01 -4.46903463e-02 -2.08018055e+01] [ 1.69886346e-01 -8.91539169e-03 9.85423333e-01 -3.66222104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061652532 meters Centerline goodness : 0.668533 with order 1 Centerline is valid? [False, False] Translation: X:-21.41, Y:-20.80, Z:-3.66 [[ 9.35889849e-01 -3.11866458e-01 -1.63858180e-01 -2.14104356e+01] [ 3.08794363e-01 9.50084327e-01 -4.45624660e-02 -2.08016154e+01] [ 1.69576627e-01 -8.89292287e-03 9.85476881e-01 -3.66225822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12165253199998 meters Centerline goodness : 0.671843 with order 1 Centerline is valid? [False, False] Translation: X:-21.41, Y:-20.80, Z:-3.66 [[ 9.35050029e-01 -3.15306551e-01 -1.62059316e-01 -2.14143244e+01] [ 3.11779854e-01 9.48969773e-01 -4.74309328e-02 -2.08036034e+01] [ 1.68744676e-01 -6.17653482e-03 9.85640444e-01 -3.66072911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18165253199999 meters Centerline goodness : 0.676126 with order 1 Centerline is valid? [False, False] Translation: X:-21.44, Y:-20.82, Z:-3.66 [[ 9.33356978e-01 -3.18786031e-01 -1.64985510e-01 -2.14410244e+01] [ 3.15432242e-01 9.47790335e-01 -4.68612982e-02 -2.08215686e+01] [ 1.71310399e-01 -8.30342987e-03 9.85182115e-01 -3.66136965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24165253199999 meters Centerline goodness : 0.679831 with order 1 Centerline is valid? [False, False] Translation: X:-21.46, Y:-20.83, Z:-3.66 [[ 9.31996060e-01 -3.19951090e-01 -1.70336858e-01 -2.14620464e+01] [ 3.17222458e-01 9.47341311e-01 -4.37533211e-02 -2.08324155e+01] [ 1.75366065e-01 -1.32567540e-02 9.84414040e-01 -3.66301584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30165253199999 meters Centerline goodness : 0.686036 with order 1 Centerline is valid? [False, False] Translation: X:-21.48, Y:-20.83, Z:-3.67 [[ 9.35141855e-01 -3.11961849e-01 -1.67897338e-01 -2.14793697e+01] [ 3.08860761e-01 9.50043963e-01 -4.49610867e-02 -2.08345323e+01] [ 1.73535997e-01 -9.81190574e-03 9.84778647e-01 -3.67072194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361652532 meters Centerline goodness : 0.683792 with order 1 Centerline is valid? [False, False] Translation: X:-21.48, Y:-20.83, Z:-3.67 [[ 9.36955468e-01 -3.06196320e-01 -1.68399122e-01 -2.14845771e+01] [ 3.03765498e-01 9.51878834e-01 -4.06596651e-02 -2.08331940e+01] [ 1.72745400e-01 -1.30575475e-02 9.84879956e-01 -3.66964877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421652532 meters Centerline goodness : 0.690655 with order 1 Centerline is valid? [False, False] Translation: X:-21.49, Y:-20.83, Z:-3.67 [[ 9.37308869e-01 -3.05394758e-01 -1.67887241e-01 -2.14882714e+01] [ 3.03021980e-01 9.52134634e-01 -4.02158983e-02 -2.08333563e+01] [ 1.72132981e-01 -1.31788061e-02 9.84985561e-01 -3.66835776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48165253199998 meters Centerline goodness : 0.697475 with order 1 Centerline is valid? [False, False] Translation: X:-21.49, Y:-20.83, Z:-3.67 [[ 9.38858475e-01 -3.00348751e-01 -1.68331198e-01 -2.14928023e+01] [ 2.98578132e-01 9.53692925e-01 -3.63442374e-02 -2.08304907e+01] [ 1.71452218e-01 -1.61379192e-02 9.85060254e-01 -3.66777321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54165253199999 meters Centerline goodness : 0.697550 with order 1 Centerline is valid? [False, False] Translation: X:-21.53, Y:-20.85, Z:-3.67 [[ 9.39575313e-01 -2.97669145e-01 -1.69089654e-01 -2.15292267e+01] [ 2.96265409e-01 9.54497797e-01 -3.40699692e-02 -2.08489315e+01] [ 1.71537281e-01 -1.80841135e-02 9.85011638e-01 -3.67253618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60165253199999 meters Centerline goodness : 0.705265 with order 1 Centerline is valid? [False, False] Translation: X:-21.53, Y:-20.85, Z:-3.67 [[ 9.39760909e-01 -2.97317197e-01 -1.68676964e-01 -2.15320010e+01] [ 2.95934845e-01 9.54607429e-01 -3.38706938e-02 -2.08485526e+01] [ 1.71090623e-01 -1.80870371e-02 9.85089264e-01 -3.67158572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66165253199999 meters Centerline goodness : 0.709708 with order 1 Centerline is valid? [False, False] Translation: X:-21.54, Y:-20.85, Z:-3.67 [[ 9.40172348e-01 -2.96402627e-01 -1.67992376e-01 -2.15360731e+01] [ 2.95074503e-01 9.54890265e-01 -3.34008925e-02 -2.08470735e+01] [ 1.70314397e-01 -1.81676713e-02 9.85222280e-01 -3.67112512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721652532 meters Centerline goodness : 0.710862 with order 1 Centerline is valid? [False, False] Translation: X:-21.55, Y:-20.84, Z:-3.68 [[ 9.40335802e-01 -2.98224494e-01 -1.63800888e-01 -2.15452056e+01] [ 2.95848866e-01 9.54426323e-01 -3.92917714e-02 -2.08444946e+01] [ 1.68053648e-01 -1.15128476e-02 9.85710620e-01 -3.67813341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781652532 meters Centerline goodness : 0.717242 with order 1 Centerline is valid? [False, False] Translation: X:-21.58, Y:-20.86, Z:-3.68 [[ 9.41341557e-01 -2.95304943e-01 -1.63312781e-01 -2.15839331e+01] [ 2.93111338e-01 9.55325620e-01 -3.79302456e-02 -2.08634996e+01] [ 1.67217873e-01 -1.21635114e-02 9.85844933e-01 -3.68411162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84165253199998 meters Centerline goodness : 0.718164 with order 1 Centerline is valid? [False, False] Translation: X:-21.60, Y:-20.87, Z:-3.69 [[ 9.42142217e-01 -2.95224701e-01 -1.58777893e-01 -2.16023220e+01] [ 2.91840687e-01 9.55418783e-01 -4.47656355e-02 -2.08673921e+01] [ 1.64915303e-01 -4.16225438e-03 9.86298950e-01 -3.68853436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90165253199999 meters Centerline goodness : 0.717700 with order 1 Centerline is valid? [False, False] Translation: X:-21.64, Y:-20.88, Z:-3.69 [[ 9.43570294e-01 -2.89645507e-01 -1.60563322e-01 -2.16381863e+01] [ 2.87008539e-01 9.57096806e-01 -3.98973916e-02 -2.08844418e+01] [ 1.65230743e-01 -8.43705085e-03 9.86218849e-01 -3.69318514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96165253199999 meters Centerline goodness : 0.717041 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.89, Z:-3.70 [[ 9.43121005e-01 -2.93402653e-01 -1.56325473e-01 -2.16484706e+01] [ 2.89783406e-01 9.55987001e-01 -4.59829436e-02 -2.08876726e+01] [ 1.62936638e-01 -1.93304818e-03 9.86634641e-01 -3.69535341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02165253199999 meters Centerline goodness : 0.713261 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.89, Z:-3.69 [[ 9.42412028e-01 -2.96515389e-01 -1.54719723e-01 -2.16524412e+01] [ 2.92545889e-01 9.55028025e-01 -4.83567429e-02 -2.08906574e+01] [ 1.62100190e-01 3.09357371e-04 9.86774256e-01 -3.69322157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08165253199999 meters Centerline goodness : 0.710393 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.89, Z:-3.69 [[ 9.42348334e-01 -2.96542880e-01 -1.55054629e-01 -2.16517813e+01] [ 2.92691095e-01 9.55019415e-01 -4.76428341e-02 -2.08932048e+01] [ 1.62208324e-01 -4.86963863e-04 9.86756415e-01 -3.69214290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141652532 meters Centerline goodness : 0.703439 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.90, Z:-3.69 [[ 9.41355574e-01 -3.00362669e-01 -1.53726866e-01 -2.16521443e+01] [ 2.96066467e-01 9.53822575e-01 -5.06669753e-02 -2.08963972e+01] [ 1.61846623e-01 2.18226947e-03 9.86813512e-01 -3.69206094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201652532 meters Centerline goodness : 0.695455 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.90, Z:-3.69 [[ 9.40363625e-01 -3.04230206e-01 -1.52184870e-01 -2.16537337e+01] [ 2.99468029e-01 9.52585043e-01 -5.38575419e-02 -2.08978497e+01] [ 1.61354122e-01 5.07117022e-03 9.86883545e-01 -3.69187253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26165253199999 meters Centerline goodness : 0.689609 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.90, Z:-3.69 [[ 9.40243186e-01 -3.04279661e-01 -1.52828789e-01 -2.16516676e+01] [ 2.99693991e-01 9.52575127e-01 -5.27649503e-02 -2.09028040e+01] [ 1.61636204e-01 3.81001539e-03 9.86843058e-01 -3.69035732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32165253199999 meters Centerline goodness : 0.687718 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.91, Z:-3.69 [[ 9.40078642e-01 -3.04605003e-01 -1.53192492e-01 -2.16497039e+01] [ 3.00105703e-01 9.52473550e-01 -5.22561275e-02 -2.09055804e+01] [ 1.61829275e-01 3.15092872e-03 9.86813740e-01 -3.69012778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38165253199999 meters Centerline goodness : 0.685028 with order 1 Centerline is valid? [False, False] Translation: X:-21.65, Y:-20.91, Z:-3.69 [[ 9.40458537e-01 -3.03584940e-01 -1.52885334e-01 -2.16525028e+01] [ 2.99225186e-01 9.52801036e-01 -5.13271251e-02 -2.09066150e+01] [ 1.61251447e-01 2.52389051e-03 9.86910128e-01 -3.68911953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44165253199999 meters Centerline goodness : 0.680522 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-20.91, Z:-3.69 [[ 9.39927647e-01 -3.06047008e-01 -1.51232426e-01 -2.16563077e+01] [ 3.01302895e-01 9.52002659e-01 -5.39212694e-02 -2.09098171e+01] [ 1.60476114e-01 5.11532422e-03 9.87026469e-01 -3.68801937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501652532 meters Centerline goodness : 0.675116 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-20.91, Z:-3.69 [[ 9.40382804e-01 -3.04859499e-01 -1.50800752e-01 -2.16595996e+01] [ 3.00230149e-01 9.52385783e-01 -5.31335777e-02 -2.09104556e+01] [ 1.59818768e-01 4.69097055e-03 9.87135227e-01 -3.68718933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561652532 meters Centerline goodness : 0.665084 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-20.91, Z:-3.69 [[ 9.40610770e-01 -3.04277849e-01 -1.50553547e-01 -2.16617856e+01] [ 2.99727756e-01 9.52573367e-01 -5.26046763e-02 -2.09114825e+01] [ 1.59419737e-01 4.35544843e-03 9.87201285e-01 -3.68619265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62165253199998 meters Centerline goodness : 0.663316 with order 1 Centerline is valid? [False, False] Translation: X:-21.66, Y:-20.91, Z:-3.69 [[ 9.40979852e-01 -3.03260960e-01 -1.50298729e-01 -2.16642362e+01] [ 2.98806044e-01 9.52899295e-01 -5.19411436e-02 -2.09125555e+01] [ 1.58971274e-01 3.96540106e-03 9.87275245e-01 -3.68540276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68165253199999 meters Centerline goodness : 0.659183 with order 1 Centerline is valid? [False, False] Translation: X:-21.70, Y:-20.93, Z:-3.69 [[ 9.40709872e-01 -3.03112867e-01 -1.52274508e-01 -2.16965152e+01] [ 2.98818123e-01 9.52951692e-01 -5.08999203e-02 -2.09317977e+01] [ 1.60538671e-01 2.37967462e-03 9.87026683e-01 -3.68860749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74165253199999 meters Centerline goodness : 0.652767 with order 1 Centerline is valid? [False, False] Translation: X:-21.70, Y:-20.93, Z:-3.69 [[ 9.40964186e-01 -3.02462938e-01 -1.51995301e-01 -2.16992193e+01] [ 2.98237375e-01 9.53158792e-01 -5.04260346e-02 -2.09324890e+01] [ 1.60127664e-01 2.11841294e-03 9.87094040e-01 -3.68741640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80165253199999 meters Centerline goodness : 0.651556 with order 1 Centerline is valid? [False, False] Translation: X:-21.70, Y:-20.94, Z:-3.68 [[ 9.41181898e-01 -3.01615356e-01 -1.52331258e-01 -2.17007230e+01] [ 2.97560874e-01 9.53429089e-01 -4.93000920e-02 -2.09356911e+01] [ 1.60106717e-01 1.07253191e-03 9.87099128e-01 -3.68482319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861652532 meters Centerline goodness : 0.651104 with order 1 Centerline is valid? [False, False] Translation: X:-21.70, Y:-20.94, Z:-3.68 [[ 9.41251787e-01 -3.01284965e-01 -1.52553087e-01 -2.17008807e+01] [ 2.97291005e-01 9.53533909e-01 -4.88993090e-02 -2.09368485e+01] [ 1.60197168e-01 6.73901469e-04 9.87084806e-01 -3.68405470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921652532 meters Centerline goodness : 0.647766 with order 1 Centerline is valid? [False, False] Translation: X:-21.72, Y:-20.94, Z:-3.69 [[ 9.45006454e-01 -2.89594361e-01 -1.51979963e-01 -2.17224892e+01] [ 2.85278707e-01 9.57141710e-01 -4.99580455e-02 -2.09407993e+01] [ 1.59933930e-01 3.85402812e-03 9.87120198e-01 -3.69081613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98165253199998 meters Centerline goodness : 0.647692 with order 1 Centerline is valid? [False, False] Translation: X:-21.73, Y:-20.94, Z:-3.69 [[ 9.45592974e-01 -2.87860965e-01 -1.51624512e-01 -2.17262942e+01] [ 2.83746671e-01 9.57667771e-01 -4.85825796e-02 -2.09440507e+01] [ 1.59190937e-01 2.91639545e-03 9.87243506e-01 -3.68896172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04165253199999 meters Centerline goodness : 0.651602 with order 1 Centerline is valid? [False, False] Translation: X:-21.73, Y:-20.95, Z:-3.69 [[ 9.46187391e-01 -2.85932049e-01 -1.51566106e-01 -2.17298107e+01] [ 2.82072619e-01 9.58248604e-01 -4.68470936e-02 -2.09485467e+01] [ 1.58633095e-01 1.57348088e-03 9.87336349e-01 -3.68626409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10165253199999 meters Centerline goodness : 0.653608 with order 1 Centerline is valid? [False, False] Translation: X:-21.73, Y:-20.95, Z:-3.69 [[ 9.46433527e-01 -2.85337799e-01 -1.51148666e-01 -2.17323595e+01] [ 2.81563166e-01 9.58426214e-01 -4.62750116e-02 -2.09480479e+01] [ 1.58068854e-01 1.23832543e-03 9.87427316e-01 -3.68591748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16165253199999 meters Centerline goodness : 0.658929 with order 1 Centerline is valid? [False, False] Translation: X:-21.73, Y:-20.95, Z:-3.69 [[ 9.46359249e-01 -2.85371585e-01 -1.51549432e-01 -2.17308659e+01] [ 2.81676755e-01 9.58416745e-01 -4.57771635e-02 -2.09501004e+01] [ 1.58311015e-01 6.33689873e-04 9.87389093e-01 -3.68570649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221652532 meters Centerline goodness : 0.662679 with order 1 Centerline is valid? [False, False] Translation: X:-21.73, Y:-20.95, Z:-3.68 [[ 9.46479681e-01 -2.84824629e-01 -1.51826030e-01 -2.17310699e+01] [ 2.81292799e-01 9.58579565e-01 -4.47166440e-02 -2.09533418e+01] [ 1.58273731e-01 -3.84173839e-04 9.87395199e-01 -3.68430112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281652532 meters Centerline goodness : 0.669016 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.96, Z:-3.69 [[ 9.46008992e-01 -2.90064361e-01 -1.44670848e-01 -2.17462381e+01] [ 2.87513609e-01 9.56994184e-01 -3.87047388e-02 -2.09592427e+01] [ 1.49676025e-01 -4.97980671e-03 9.88722554e-01 -3.69117361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34165253199998 meters Centerline goodness : 0.674265 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.96, Z:-3.69 [[ 9.46420574e-01 -2.88922547e-01 -1.44263157e-01 -2.17490964e+01] [ 2.86468974e-01 9.57337239e-01 -3.79596733e-02 -2.09590720e+01] [ 1.49075898e-01 -5.40110280e-03 9.88811006e-01 -3.69104815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40165253199999 meters Centerline goodness : 0.679468 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.96, Z:-3.69 [[ 9.46929057e-01 -2.87448677e-01 -1.43870145e-01 -2.17527912e+01] [ 2.85172099e-01 9.57775199e-01 -3.66543574e-02 -2.09610350e+01] [ 1.48331504e-01 -6.31867514e-03 9.88917509e-01 -3.68952594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46165253199999 meters Centerline goodness : 0.685755 with order 1 Centerline is valid? [False, False] Translation: X:-21.76, Y:-20.96, Z:-3.69 [[ 9.46178991e-01 -2.90615044e-01 -1.42436698e-01 -2.17560383e+01] [ 2.88028419e-01 9.56830819e-01 -3.89154703e-02 -2.09646791e+01] [ 1.47597243e-01 -4.20481642e-03 9.89038611e-01 -3.68744396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52165253199999 meters Centerline goodness : 0.694377 with order 1 Centerline is valid? [False, False] Translation: X:-21.76, Y:-20.97, Z:-3.69 [[ 9.45147791e-01 -2.94620206e-01 -1.41048176e-01 -2.17570177e+01] [ 2.91629716e-01 9.55613198e-01 -4.18989865e-02 -2.09669655e+01] [ 1.47131787e-01 -1.53310502e-03 9.89115710e-01 -3.68711535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58165253199999 meters Centerline goodness : 0.698279 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.97, Z:-3.69 [[ 9.44363276e-01 -2.97022635e-01 -1.41264142e-01 -2.17516585e+01] [ 2.94003808e-01 9.54869075e-01 -4.22706701e-02 -2.09685267e+01] [ 1.47444106e-01 -1.61332713e-03 9.89069074e-01 -3.68903562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641652532 meters Centerline goodness : 0.697593 with order 1 Centerline is valid? [False, False] Translation: X:-21.76, Y:-20.97, Z:-3.69 [[ 9.43735479e-01 -2.99951953e-01 -1.39255776e-01 -2.17553538e+01] [ 2.96538399e-01 9.53953413e-01 -4.51426980e-02 -2.09693394e+01] [ 1.46384163e-01 1.30808094e-03 9.89226954e-01 -3.68944162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701652532 meters Centerline goodness : 0.701157 with order 1 Centerline is valid? [False, False] Translation: X:-21.76, Y:-20.97, Z:-3.69 [[ 9.42635603e-01 -3.03879465e-01 -1.38186074e-01 -2.17551914e+01] [ 3.00114501e-01 9.52703654e-01 -4.78229353e-02 -2.09733371e+01] [ 1.46182786e-01 3.60795685e-03 9.89251018e-01 -3.68867321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76165253199999 meters Centerline goodness : 0.700232 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.98, Z:-3.69 [[ 9.41455479e-01 -3.08006085e-01 -1.37090598e-01 -2.17543605e+01] [ 3.03854697e-01 9.51364547e-01 -5.07722658e-02 -2.09768259e+01] [ 1.46061302e-01 6.14420570e-03 9.89256461e-01 -3.68858604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82165253199999 meters Centerline goodness : 0.700736 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.98, Z:-3.69 [[ 9.41314224e-01 -3.08279671e-01 -1.37445177e-01 -2.17520798e+01] [ 3.04186502e-01 9.51279184e-01 -5.03833883e-02 -2.09786870e+01] [ 1.46280910e-01 5.61763256e-03 9.89227142e-01 -3.68918485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88165253199999 meters Centerline goodness : 0.699663 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.98, Z:-3.69 [[ 9.41039117e-01 -3.08881534e-01 -1.37976732e-01 -2.17493063e+01] [ 3.04878367e-01 9.51088421e-01 -4.97995610e-02 -2.09812310e+01] [ 1.46610237e-01 4.79721411e-03 9.89182706e-01 -3.68912462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94165253199999 meters Centerline goodness : 0.703637 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.98, Z:-3.69 [[ 9.40009161e-01 -3.12714598e-01 -1.36353799e-01 -2.17509368e+01] [ 3.08306453e-01 9.49816170e-01 -5.28807513e-02 -2.09831905e+01] [ 1.46047626e-01 7.66963460e-03 9.89247829e-01 -3.68877446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001652532 meters Centerline goodness : 0.708370 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.99, Z:-3.69 [[ 9.40156437e-01 -3.12212116e-01 -1.36489809e-01 -2.17516134e+01] [ 3.07977906e-01 9.49989962e-01 -5.16592832e-02 -2.09864015e+01] [ 1.45792602e-01 6.53196215e-03 9.89293612e-01 -3.68730749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061652532 meters Centerline goodness : 0.715993 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.99, Z:-3.69 [[ 9.38820234e-01 -3.16754265e-01 -1.35215767e-01 -2.17515300e+01] [ 3.12103522e-01 9.48461862e-01 -5.48770247e-02 -2.09885643e+01] [ 1.45629530e-01 9.31834401e-03 9.89295309e-01 -3.68669823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12165253199998 meters Centerline goodness : 0.716733 with order 1 Centerline is valid? [False, False] Translation: X:-21.75, Y:-20.99, Z:-3.69 [[ 9.38923580e-01 -3.16586468e-01 -1.34890764e-01 -2.17526092e+01] [ 3.11960534e-01 9.48518113e-01 -5.47175884e-02 -2.09880193e+01] [ 1.45269181e-01 9.29503918e-03 9.89348506e-01 -3.68715755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18165253199999 meters Centerline goodness : 0.713872 with order 1 Centerline is valid? [False, False] Translation: X:-21.77, Y:-21.00, Z:-3.69 [[ 9.38756977e-01 -3.13889680e-01 -1.42156978e-01 -2.17722799e+01] [ 3.10296704e-01 9.49459398e-01 -4.73582861e-02 -2.10014278e+01] [ 1.49837556e-01 3.47079688e-04 9.88710567e-01 -3.68593968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24165253199999 meters Centerline goodness : 0.714979 with order 1 Centerline is valid? [False, False] Translation: X:-21.77, Y:-21.00, Z:-3.68 [[ 9.39054225e-01 -3.13027837e-01 -1.42094108e-01 -2.17745100e+01] [ 3.09583813e-01 9.49743818e-01 -4.63092060e-02 -2.10037073e+01] [ 1.49449071e-01 -5.03180102e-04 9.88769297e-01 -3.68414544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30165253199999 meters Centerline goodness : 0.719441 with order 1 Centerline is valid? [False, False] Translation: X:-21.78, Y:-21.01, Z:-3.68 [[ 9.40431764e-01 -3.08932708e-01 -1.41946042e-01 -2.17814866e+01] [ 3.05892502e-01 9.51080114e-01 -4.33173755e-02 -2.10056942e+01] [ 1.48384212e-01 -2.68319396e-03 9.88926148e-01 -3.68160524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361652532 meters Centerline goodness : 0.722111 with order 1 Centerline is valid? [False, False] Translation: X:-21.79, Y:-21.01, Z:-3.68 [[ 9.39820345e-01 -3.11708986e-01 -1.39911497e-01 -2.17867859e+01] [ 3.08273562e-01 9.50177588e-01 -4.61515150e-02 -2.10051530e+01] [ 1.47326611e-01 2.43117213e-04 9.89087868e-01 -3.68079726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421652532 meters Centerline goodness : 0.723806 with order 1 Centerline is valid? [False, False] Translation: X:-21.80, Y:-21.00, Z:-3.69 [[ 9.41647934e-01 -3.07498825e-01 -1.36907415e-01 -2.17993663e+01] [ 3.03701706e-01 9.51540321e-01 -4.83351937e-02 -2.10047153e+01] [ 1.45135941e-01 3.93571965e-03 9.89403896e-01 -3.68834405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48165253199998 meters Centerline goodness : 0.724998 with order 1 Centerline is valid? [False, False] Translation: X:-21.80, Y:-21.00, Z:-3.69 [[ 9.42159974e-01 -3.06291489e-01 -1.36088604e-01 -2.18045495e+01] [ 3.02578703e-01 9.51930356e-01 -4.76940975e-02 -2.10037371e+01] [ 1.44155169e-01 3.75795648e-03 9.89547960e-01 -3.68726468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54165253199999 meters Centerline goodness : 0.724998 with order 1 Centerline is valid? [False, False] Translation: X:-21.80, Y:-21.00, Z:-3.69 [[ 9.42160837e-01 -3.06288952e-01 -1.36088338e-01 -2.18045494e+01] [ 3.02576606e-01 9.51931182e-01 -4.76909000e-02 -2.10037458e+01] [ 1.44153928e-01 3.75535084e-03 9.89548151e-01 -3.68726566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60165253199999 meters Centerline goodness : 0.727226 with order 1 Centerline is valid? [False, False] Translation: X:-21.81, Y:-21.00, Z:-3.69 [[ 9.42704370e-01 -3.04891566e-01 -1.35460707e-01 -2.18098674e+01] [ 3.01279881e-01 9.52380949e-01 -4.69144059e-02 -2.10029807e+01] [ 1.43314004e-01 3.41482963e-03 9.89671377e-01 -3.68551949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66165253199999 meters Centerline goodness : 0.728719 with order 1 Centerline is valid? [False, False] Translation: X:-21.82, Y:-21.00, Z:-3.68 [[ 9.44379019e-01 -2.99434972e-01 -1.35966784e-01 -2.18151829e+01] [ 2.96392628e-01 9.54116706e-01 -4.25760574e-02 -2.10008299e+01] [ 1.42476941e-01 -9.16172148e-05 9.89798117e-01 -3.68400112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721652532 meters Centerline goodness : 0.731108 with order 1 Centerline is valid? [False, False] Translation: X:-21.82, Y:-21.00, Z:-3.68 [[ 9.44857505e-01 -2.98295005e-01 -1.35145794e-01 -2.18201063e+01] [ 2.95325025e-01 9.54473695e-01 -4.19892357e-02 -2.09996039e+01] [ 1.41518285e-01 -2.38090634e-04 9.89935613e-01 -3.68313027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781652532 meters Centerline goodness : 0.734017 with order 1 Centerline is valid? [False, False] Translation: X:-21.82, Y:-21.00, Z:-3.68 [[ 9.46615761e-01 -2.92301863e-01 -1.35934627e-01 -2.18246975e+01] [ 2.89973536e-01 9.56316333e-01 -3.70731655e-02 -2.10006381e+01] [ 1.40833059e-01 -4.32340163e-03 9.90023918e-01 -3.68082560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84165253199998 meters Centerline goodness : 0.738197 with order 1 Centerline is valid? [False, False] Translation: X:-21.83, Y:-21.00, Z:-3.68 [[ 9.47420700e-01 -2.89729010e-01 -1.35834891e-01 -2.18305604e+01] [ 2.87646824e-01 9.57091322e-01 -3.51497720e-02 -2.09983611e+01] [ 1.40190304e-01 -5.77085330e-03 9.90107760e-01 -3.67845819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90165253199999 meters Centerline goodness : 0.741969 with order 1 Centerline is valid? [False, False] Translation: X:-21.85, Y:-21.00, Z:-3.68 [[ 9.48768058e-01 -2.86956720e-01 -1.32268711e-01 -2.18457405e+01] [ 2.84399814e-01 9.57942622e-01 -3.82449771e-02 -2.09999668e+01] [ 1.37680489e-01 -1.33158421e-03 9.90475800e-01 -3.68260365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96165253199999 meters Centerline goodness : 0.744106 with order 1 Centerline is valid? [False, False] Translation: X:-21.85, Y:-21.00, Z:-3.68 [[ 9.49123745e-01 -2.86092279e-01 -1.31587707e-01 -2.18492627e+01] [ 2.83563091e-01 9.58201233e-01 -3.79785533e-02 -2.09988267e+01] [ 1.36952873e-01 -1.26707010e-03 9.90576754e-01 -3.68238701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02165253199999 meters Centerline goodness : 0.745537 with order 1 Centerline is valid? [False, False] Translation: X:-21.87, Y:-21.00, Z:-3.69 [[ 9.49694187e-01 -2.85887168e-01 -1.27865080e-01 -2.18675044e+01] [ 2.82245688e-01 9.58232143e-01 -4.61360072e-02 -2.10018712e+01] [ 1.35714122e-01 7.72573043e-03 9.90717917e-01 -3.68731947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08165253199999 meters Centerline goodness : 0.748402 with order 1 Centerline is valid? [False, False] Translation: X:-21.87, Y:-21.00, Z:-3.69 [[ 9.49966106e-01 -2.85146872e-01 -1.27497680e-01 -2.18708224e+01] [ 2.81579690e-01 9.58455390e-01 -4.55647097e-02 -2.10013687e+01] [ 1.35193473e-01 7.38417269e-03 9.90791703e-01 -3.68591621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141652532 meters Centerline goodness : 0.751646 with order 1 Centerline is valid? [False, False] Translation: X:-21.87, Y:-21.00, Z:-3.68 [[ 9.51209299e-01 -2.80297004e-01 -1.28974644e-01 -2.18711037e+01] [ 2.77298747e-01 9.59907818e-01 -4.10168852e-02 -2.10027344e+01] [ 1.35300680e-01 3.25113522e-03 9.90799251e-01 -3.68465741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201652532 meters Centerline goodness : 0.756685 with order 1 Centerline is valid? [False, False] Translation: X:-21.87, Y:-21.00, Z:-3.68 [[ 9.51380110e-01 -2.79723877e-01 -1.28959061e-01 -2.18730034e+01] [ 2.76824112e-01 9.60076970e-01 -4.02569468e-02 -2.10040423e+01] [ 1.35071454e-01 2.60068096e-03 9.90832447e-01 -3.68292361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26165253199999 meters Centerline goodness : 0.757908 with order 1 Centerline is valid? [False, False] Translation: X:-21.87, Y:-21.01, Z:-3.68 [[ 9.51463150e-01 -2.79390945e-01 -1.29068100e-01 -2.18735584e+01] [ 2.76552584e-01 9.60175008e-01 -3.97821799e-02 -2.10052857e+01] [ 1.35042745e-01 2.15716165e-03 9.90837425e-01 -3.68202442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32165253199999 meters Centerline goodness : 0.761810 with order 1 Centerline is valid? [False, False] Translation: X:-21.88, Y:-21.01, Z:-3.68 [[ 9.51880898e-01 -2.78239029e-01 -1.28474892e-01 -2.18778345e+01] [ 2.75527490e-01 9.60510670e-01 -3.87795780e-02 -2.10055492e+01] [ 1.34191496e-01 1.51517515e-03 9.90954261e-01 -3.68045158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38165253199999 meters Centerline goodness : 0.761612 with order 1 Centerline is valid? [False, False] Translation: X:-21.88, Y:-21.01, Z:-3.68 [[ 9.51988699e-01 -2.77860702e-01 -1.28494929e-01 -2.18789819e+01] [ 2.75230470e-01 9.60620902e-01 -3.81532583e-02 -2.10066756e+01] [ 1.34036206e-01 9.55750971e-04 9.90975974e-01 -3.67928066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44165253199999 meters Centerline goodness : 0.762583 with order 1 Centerline is valid? [False, False] Translation: X:-21.89, Y:-21.02, Z:-3.68 [[ 9.50250734e-01 -2.80628700e-01 -1.35170539e-01 -2.18940670e+01] [ 2.78397470e-01 9.59808604e-01 -3.55287529e-02 -2.10185746e+01] [ 1.39708234e-01 -3.86991260e-03 9.90185151e-01 -3.67968728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501652532 meters Centerline goodness : 0.763322 with order 1 Centerline is valid? [False, False] Translation: X:-21.89, Y:-21.02, Z:-3.68 [[ 9.50114661e-01 -2.80912942e-01 -1.35536155e-01 -2.18928684e+01] [ 2.78703470e-01 9.59724346e-01 -3.54055836e-02 -2.10192464e+01] [ 1.40023234e-01 -4.13503256e-03 9.90139584e-01 -3.67947639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561652532 meters Centerline goodness : 0.764879 with order 1 Centerline is valid? [False, False] Translation: X:-21.90, Y:-21.02, Z:-3.68 [[ 9.49439674e-01 -2.84015702e-01 -1.33788586e-01 -2.18968440e+01] [ 2.81451638e-01 9.58818494e-01 -3.81060617e-02 -2.10201829e+01] [ 1.39101691e-01 -1.47561002e-03 9.90277003e-01 -3.67842011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62165253199998 meters Centerline goodness : 0.766135 with order 1 Centerline is valid? [False, False] Translation: X:-21.90, Y:-21.02, Z:-3.68 [[ 9.48779906e-01 -2.86977936e-01 -1.32137630e-01 -2.19011413e+01] [ 2.84087516e-01 9.57936649e-01 -4.06406214e-02 -2.10212580e+01] [ 1.38242441e-01 1.02035378e-03 9.90397893e-01 -3.67668918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68165253199999 meters Centerline goodness : 0.768073 with order 1 Centerline is valid? [False, False] Translation: X:-21.90, Y:-21.02, Z:-3.68 [[ 9.47860463e-01 -2.90695185e-01 -1.30601881e-01 -2.19034594e+01] [ 2.87378490e-01 9.56806677e-01 -4.39839374e-02 -2.10219047e+01] [ 1.37746671e-01 4.15846388e-03 9.90458763e-01 -3.67611675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74165253199999 meters Centerline goodness : 0.763589 with order 1 Centerline is valid? [False, False] Translation: X:-21.90, Y:-21.02, Z:-3.68 [[ 9.46800447e-01 -2.94733403e-01 -1.29232869e-01 -2.19044672e+01] [ 2.90984759e-01 9.55551679e-01 -4.74221311e-02 -2.10227765e+01] [ 1.37465571e-01 7.29449967e-03 9.90479685e-01 -3.67589522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80165253199999 meters Centerline goodness : 0.764080 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.02, Z:-3.68 [[ 9.46884283e-01 -2.94491096e-01 -1.29171010e-01 -2.19056202e+01] [ 2.90801059e-01 9.55629112e-01 -4.69866424e-02 -2.10226024e+01] [ 1.37276725e-01 6.92784674e-03 9.90508509e-01 -3.67536284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861652532 meters Centerline goodness : 0.763101 with order 1 Centerline is valid? [False, False] Translation: X:-21.90, Y:-21.02, Z:-3.67 [[ 9.46864776e-01 -2.94427017e-01 -1.29459751e-01 -2.19049198e+01] [ 2.90791899e-01 9.55652190e-01 -4.65721334e-02 -2.10240344e+01] [ 1.37430589e-01 6.45166577e-03 9.90490388e-01 -3.67492668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921652532 meters Centerline goodness : 0.763477 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.02, Z:-3.67 [[ 9.46050078e-01 -2.97772733e-01 -1.27752298e-01 -2.19079430e+01] [ 2.93717847e-01 9.54587401e-01 -4.99271385e-02 -2.10237698e+01] [ 1.36817674e-01 9.71044339e-03 9.90548652e-01 -3.67471817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98165253199998 meters Centerline goodness : 0.764566 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.02, Z:-3.67 [[ 9.46025179e-01 -2.97846420e-01 -1.27764903e-01 -2.19081063e+01] [ 2.93815906e-01 9.54566234e-01 -4.97545898e-02 -2.10238766e+01] [ 1.36779288e-01 9.52973414e-03 9.90555708e-01 -3.67456324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04165253199999 meters Centerline goodness : 0.764620 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.03, Z:-3.67 [[ 9.46518243e-01 -2.96480246e-01 -1.27289746e-01 -2.19117424e+01] [ 2.92617253e-01 9.54999901e-01 -4.84802378e-02 -2.10256061e+01] [ 1.35935127e-01 8.64025379e-03 9.90680063e-01 -3.67314553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10165253199999 meters Centerline goodness : 0.767528 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.03, Z:-3.67 [[ 9.46891860e-01 -2.95347633e-01 -1.27143940e-01 -2.19138764e+01] [ 2.91638599e-01 9.55358831e-01 -4.72909188e-02 -2.10281141e+01] [ 1.35435347e-01 7.69930553e-03 9.90756271e-01 -3.67180820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16165253199999 meters Centerline goodness : 0.767132 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.03, Z:-3.67 [[ 9.46873895e-01 -2.95352284e-01 -1.27266867e-01 -2.19131082e+01] [ 2.91692610e-01 9.55360470e-01 -4.69232807e-02 -2.10295123e+01] [ 1.35444632e-01 7.30762502e-03 9.90757968e-01 -3.67195074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221652532 meters Centerline goodness : 0.768611 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.03, Z:-3.67 [[ 9.45483731e-01 -3.00191828e-01 -1.26275017e-01 -2.19115613e+01] [ 2.96124595e-01 9.53824868e-01 -5.02826591e-02 -2.10324645e+01] [ 1.35538695e-01 1.01482979e-02 9.90720079e-01 -3.67167691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281652532 meters Centerline goodness : 0.770487 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.03, Z:-3.67 [[ 9.45580773e-01 -2.99895063e-01 -1.26253523e-01 -2.19119285e+01] [ 2.95924266e-01 9.53924882e-01 -4.95595372e-02 -2.10340429e+01] [ 1.35299038e-01 9.50106422e-03 9.90759254e-01 -3.67130795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34165253199998 meters Centerline goodness : 0.769893 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.04, Z:-3.67 [[ 9.45426111e-01 -3.00263096e-01 -1.26536720e-01 -2.19105208e+01] [ 2.96387709e-01 9.53816791e-01 -4.88656896e-02 -2.10370095e+01] [ 1.35365412e-01 8.69497022e-03 9.90757590e-01 -3.67062358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40165253199999 meters Centerline goodness : 0.773454 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.04, Z:-3.67 [[ 9.45784123e-01 -2.99130492e-01 -1.26543833e-01 -2.19121028e+01] [ 2.95464501e-01 9.54184253e-01 -4.72561229e-02 -2.10412457e+01] [ 1.34881880e-01 7.30488042e-03 9.90834758e-01 -3.66887018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46165253199999 meters Centerline goodness : 0.773535 with order 1 Centerline is valid? [False, False] Translation: X:-21.92, Y:-21.04, Z:-3.67 [[ 9.44327619e-01 -3.05712899e-01 -1.21593465e-01 -2.19185863e+01] [ 3.01183263e-01 9.52008187e-01 -5.44890271e-02 -2.10448816e+01] [ 1.32415972e-01 1.48335769e-02 9.91083233e-01 -3.67240460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52165253199999 meters Centerline goodness : 0.775207 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.05, Z:-3.67 [[ 9.43791690e-01 -3.07313567e-01 -1.21719424e-01 -2.19148663e+01] [ 3.02843882e-01 9.51502058e-01 -5.41240823e-02 -2.10484869e+01] [ 1.32449347e-01 1.42198761e-02 9.91087769e-01 -3.67300415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58165253199999 meters Centerline goodness : 0.775556 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.05, Z:-3.67 [[ 9.43784006e-01 -3.07200455e-01 -1.22064042e-01 -2.19138479e+01] [ 3.02881517e-01 9.51555956e-01 -5.29532828e-02 -2.10518114e+01] [ 1.32418039e-01 1.30055191e-02 9.91108631e-01 -3.67209565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641652532 meters Centerline goodness : 0.777359 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.06, Z:-3.67 [[ 9.42755059e-01 -3.10851955e-01 -1.20764074e-01 -2.19145339e+01] [ 3.06250797e-01 9.50335597e-01 -5.54319671e-02 -2.10562648e+01] [ 1.31997534e-01 1.52746735e-02 9.91132350e-01 -3.67101856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701652532 meters Centerline goodness : 0.781246 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.06, Z:-3.67 [[ 9.42870878e-01 -3.10382048e-01 -1.21068131e-01 -2.19141444e+01] [ 3.06001857e-01 9.50514701e-01 -5.37091022e-02 -2.10611381e+01] [ 1.31747380e-01 1.35936754e-02 9.91190113e-01 -3.66938585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76165253199999 meters Centerline goodness : 0.781321 with order 1 Centerline is valid? [False, False] Translation: X:-21.91, Y:-21.07, Z:-3.67 [[ 9.41685293e-01 -3.14378132e-01 -1.19979993e-01 -2.19137465e+01] [ 3.09698110e-01 9.49164876e-01 -5.63304350e-02 -2.10654930e+01] [ 1.31589853e-01 1.58879650e-02 9.91176918e-01 -3.66831263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82165253199999 meters Centerline goodness : 0.781417 with order 1 Centerline is valid? [False, False] Translation: X:-21.93, Y:-21.08, Z:-3.67 [[ 9.40551855e-01 -3.15557788e-01 -1.25640322e-01 -2.19344311e+01] [ 3.11449685e-01 9.48859604e-01 -5.16192457e-02 -2.10821935e+01] [ 1.35503881e-01 9.41993856e-03 9.90732034e-01 -3.66636664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88165253199999 meters Centerline goodness : 0.777450 with order 1 Centerline is valid? [False, False] Translation: X:-21.94, Y:-21.08, Z:-3.67 [[ 9.42051924e-01 -3.10696666e-01 -1.26513853e-01 -2.19363248e+01] [ 3.07087760e-01 9.50490262e-01 -4.75959030e-02 -2.10809215e+01] [ 1.35038073e-01 5.98695636e-03 9.90822323e-01 -3.66661915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94165253199999 meters Centerline goodness : 0.775059 with order 1 Centerline is valid? [False, False] Translation: X:-21.94, Y:-21.08, Z:-3.67 [[ 9.42774625e-01 -3.09101067e-01 -1.25030140e-01 -2.19418373e+01] [ 3.05561473e-01 9.51009303e-01 -4.70477543e-02 -2.10816383e+01] [ 1.33447337e-01 6.15103526e-03 9.91036817e-01 -3.66728275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001652532 meters Centerline goodness : 0.775900 with order 1 Centerline is valid? [False, False] Translation: X:-21.95, Y:-21.09, Z:-3.67 [[ 9.43318137e-01 -3.08619955e-01 -1.22084462e-01 -2.19520829e+01] [ 3.04869063e-01 9.51144874e-01 -4.87676412e-02 -2.10862522e+01] [ 1.31170678e-01 8.78362480e-03 9.91320887e-01 -3.66729229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061652532 meters Centerline goodness : 0.774000 with order 1 Centerline is valid? [False, False] Translation: X:-21.96, Y:-21.09, Z:-3.67 [[ 9.43604574e-01 -3.09057615e-01 -1.18717308e-01 -2.19608845e+01] [ 3.04893534e-01 9.50953272e-01 -5.22284184e-02 -2.10865917e+01] [ 1.29036203e-01 1.30868350e-02 9.91553525e-01 -3.67092330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12165253199998 meters Centerline goodness : 0.772851 with order 1 Centerline is valid? [False, False] Translation: X:-21.98, Y:-21.10, Z:-3.67 [[ 9.42809549e-01 -3.09337414e-01 -1.24179380e-01 -2.19844285e+01] [ 3.05654058e-01 9.50923044e-01 -4.81763588e-02 -2.11029675e+01] [ 1.32987784e-01 7.46519977e-03 9.91089562e-01 -3.66952663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18165253199999 meters Centerline goodness : 0.769383 with order 1 Centerline is valid? [False, False] Translation: X:-21.99, Y:-21.10, Z:-3.67 [[ 9.43133526e-01 -3.08530227e-01 -1.23726518e-01 -2.19868969e+01] [ 3.04965537e-01 9.51189928e-01 -4.72624815e-02 -2.11042735e+01] [ 1.32269322e-01 6.84250685e-03 9.91190197e-01 -3.66883206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24165253199999 meters Centerline goodness : 0.769580 with order 1 Centerline is valid? [False, False] Translation: X:-21.99, Y:-21.11, Z:-3.67 [[ 9.42800519e-01 -3.10564287e-01 -1.21148692e-01 -2.19939042e+01] [ 3.06816435e-01 9.50510140e-01 -4.89300385e-02 -2.11088067e+01] [ 1.30348982e-01 8.96085602e-03 9.91427681e-01 -3.66685921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30165253199999 meters Centerline goodness : 0.769490 with order 1 Centerline is valid? [False, False] Translation: X:-22.02, Y:-21.12, Z:-3.67 [[ 9.44345439e-01 -3.07542198e-01 -1.16745400e-01 -2.20177710e+01] [ 3.03058883e-01 9.51393127e-01 -5.48309338e-02 -2.11182320e+01] [ 1.27933597e-01 1.63986117e-02 9.91647155e-01 -3.67047072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361652532 meters Centerline goodness : 0.767553 with order 1 Centerline is valid? [False, False] Translation: X:-22.02, Y:-21.12, Z:-3.67 [[ 9.43217968e-01 -3.11384531e-01 -1.15669955e-01 -2.20180546e+01] [ 3.06617644e-01 9.50100513e-01 -5.73989214e-02 -2.11224657e+01] [ 1.27771219e-01 1.86732451e-02 9.91627866e-01 -3.66866534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421652532 meters Centerline goodness : 0.768041 with order 1 Centerline is valid? [False, False] Translation: X:-22.04, Y:-21.13, Z:-3.67 [[ 0.94488216 -0.3078666 -0.11142646 -22.03558525] [ 0.302939 0.95117174 -0.05916324 -21.13113661] [ 0.12420009 0.02214687 0.99201001 -3.6711298 ] [ 0. 0. 0. 1. ]] SLAMing on 114.48165253199998 meters Centerline goodness : 0.763137 with order 1 Centerline is valid? [False, False] Translation: X:-22.06, Y:-21.15, Z:-3.67 [[ 9.45392345e-01 -3.04178905e-01 -1.17083335e-01 -2.20619582e+01] [ 3.00059204e-01 9.52514822e-01 -5.17686120e-02 -2.11486642e+01] [ 1.27270531e-01 1.38097174e-02 9.91771901e-01 -3.66881832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54165253199999 meters Centerline goodness : 0.757845 with order 1 Centerline is valid? [False, False] Translation: X:-22.07, Y:-21.15, Z:-3.67 [[ 9.44674528e-01 -3.07147182e-01 -1.15111447e-01 -2.20659067e+01] [ 3.02781095e-01 9.51523145e-01 -5.41046508e-02 -2.11518113e+01] [ 1.26149297e-01 1.62577153e-02 9.91878038e-01 -3.66726880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60165253199999 meters Centerline goodness : 0.755516 with order 1 Centerline is valid? [False, False] Translation: X:-22.08, Y:-21.17, Z:-3.66 [[ 9.44153584e-01 -3.05939986e-01 -1.22371296e-01 -2.20847153e+01] [ 3.02429159e-01 9.52023994e-01 -4.67645061e-02 -2.11668743e+01] [ 1.30807542e-01 7.14422810e-03 9.91382039e-01 -3.66395590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66165253199999 meters Centerline goodness : 0.750409 with order 1 Centerline is valid? [False, False] Translation: X:-22.09, Y:-21.17, Z:-3.66 [[ 9.44386491e-01 -3.05423441e-01 -1.21863357e-01 -2.20871785e+01] [ 3.01978875e-01 9.52191756e-01 -4.62560112e-02 -2.11669554e+01] [ 1.30164954e-01 6.88339274e-03 9.91468458e-01 -3.66335330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721652532 meters Centerline goodness : 0.750083 with order 1 Centerline is valid? [False, False] Translation: X:-22.09, Y:-21.17, Z:-3.66 [[ 9.43859439e-01 -3.07963466e-01 -1.19531851e-01 -2.20927633e+01] [ 3.04242061e-01 9.51349908e-01 -4.86838786e-02 -2.11692116e+01] [ 1.28709471e-01 9.58412169e-03 9.91636030e-01 -3.66216739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781652532 meters Centerline goodness : 0.750886 with order 1 Centerline is valid? [False, False] Translation: X:-22.12, Y:-21.19, Z:-3.66 [[ 9.42938747e-01 -3.08731256e-01 -1.24705774e-01 -2.21160258e+01] [ 3.05538334e-01 9.51141673e-01 -4.44504664e-02 -2.11858925e+01] [ 1.32336107e-01 3.81167256e-03 9.91197572e-01 -3.66021990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84165253199998 meters Centerline goodness : 0.748514 with order 1 Centerline is valid? [False, False] Translation: X:-22.12, Y:-21.19, Z:-3.66 [[ 9.43262031e-01 -3.07930240e-01 -1.24240525e-01 -2.21188172e+01] [ 3.04844208e-01 9.51403353e-01 -4.36081242e-02 -2.11867819e+01] [ 1.31631112e-01 3.25988347e-03 9.91293409e-01 -3.65932730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90165253199999 meters Centerline goodness : 0.745899 with order 1 Centerline is valid? [False, False] Translation: X:-22.12, Y:-21.19, Z:-3.66 [[ 9.44690972e-01 -3.02897698e-01 -1.25745586e-01 -2.21197283e+01] [ 3.00459042e-01 9.53021871e-01 -3.83885115e-02 -2.11897098e+01] [ 1.31466085e-01 -1.51611811e-03 9.91319509e-01 -3.65696615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96165253199999 meters Centerline goodness : 0.741395 with order 1 Centerline is valid? [False, False] Translation: X:-22.12, Y:-21.19, Z:-3.66 [[ 9.45088843e-01 -3.01787844e-01 -1.25423988e-01 -2.21226810e+01] [ 2.99504170e-01 9.53371918e-01 -3.71380851e-02 -2.11921445e+01] [ 1.30783530e-01 -2.46621745e-03 9.91407881e-01 -3.65525852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02165253199999 meters Centerline goodness : 0.738823 with order 1 Centerline is valid? [False, False] Translation: X:-22.12, Y:-21.20, Z:-3.65 [[ 9.44188105e-01 -3.05250858e-01 -1.23817346e-01 -2.21249395e+01] [ 3.02641750e-01 9.52271966e-01 -3.98255540e-02 -2.11952494e+01] [ 1.30064572e-01 1.30516232e-04 9.91505517e-01 -3.65400358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08165253199999 meters Centerline goodness : 0.735111 with order 1 Centerline is valid? [False, False] Translation: X:-22.15, Y:-21.21, Z:-3.65 [[ 9.43761098e-01 -3.04576316e-01 -1.28640035e-01 -2.21507968e+01] [ 3.02486864e-01 9.52474950e-01 -3.59606249e-02 -2.12135286e+01] [ 1.33479165e-01 -4.97368189e-03 9.91039139e-01 -3.65343872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141652532 meters Centerline goodness : 0.732992 with order 1 Centerline is valid? [False, False] Translation: X:-22.18, Y:-21.23, Z:-3.65 [[ 9.43548119e-01 -3.03027724e-01 -1.33757784e-01 -2.21762174e+01] [ 3.01574326e-01 9.52922504e-01 -3.14901239e-02 -2.12306225e+01] [ 1.37003183e-01 -1.06254664e-02 9.90513618e-01 -3.65362843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20165253199998 meters Centerline goodness : 0.729453 with order 1 Centerline is valid? [False, False] Translation: X:-22.18, Y:-21.23, Z:-3.65 [[ 9.42875725e-01 -3.05843177e-01 -1.32080723e-01 -2.21799594e+01] [ 3.04064550e-01 9.52046883e-01 -3.39334934e-02 -2.12337696e+01] [ 1.36125368e-01 -8.16599851e-03 9.90657963e-01 -3.65183506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26165253199999 meters Centerline goodness : 0.726826 with order 1 Centerline is valid? [False, False] Translation: X:-22.18, Y:-21.23, Z:-3.65 [[ 9.42149938e-01 -3.08969486e-01 -1.29966732e-01 -2.21839766e+01] [ 3.06782151e-01 9.51058922e-01 -3.70356460e-02 -2.12344691e+01] [ 1.35048905e-01 -4.97834222e-03 9.90826427e-01 -3.65181063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32165253199999 meters Centerline goodness : 0.718894 with order 1 Centerline is valid? [False, False] Translation: X:-22.19, Y:-21.24, Z:-3.65 [[ 9.41166960e-01 -3.12691904e-01 -1.28173810e-01 -2.21860671e+01] [ 3.10081324e-01 9.49852977e-01 -4.03595648e-02 -2.12356397e+01] [ 1.34366384e-01 -1.75921569e-03 9.90930159e-01 -3.65187548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38165253199999 meters Centerline goodness : 0.715882 with order 1 Centerline is valid? [False, False] Translation: X:-22.19, Y:-21.24, Z:-3.65 [[ 9.40428322e-01 -3.15706141e-01 -1.26191144e-01 -2.21896834e+01] [ 3.12723272e-01 9.48856162e-01 -4.33144163e-02 -2.12371591e+01] [ 1.33411872e-01 1.27119642e-03 9.91059865e-01 -3.65158717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44165253199999 meters Centerline goodness : 0.711713 with order 1 Centerline is valid? [False, False] Translation: X:-22.21, Y:-21.26, Z:-3.65 [[ 9.39845009e-01 -3.15092776e-01 -1.31939008e-01 -2.22127718e+01] [ 3.12785770e-01 9.49046791e-01 -3.84089804e-02 -2.12550064e+01] [ 1.37318684e-01 -5.17015564e-03 9.90513427e-01 -3.64971149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501652532 meters Centerline goodness : 0.707234 with order 1 Centerline is valid? [False, False] Translation: X:-22.21, Y:-21.26, Z:-3.65 [[ 9.39582520e-01 -3.15409661e-01 -1.33046735e-01 -2.22104898e+01] [ 3.13314383e-01 9.48930074e-01 -3.69569033e-02 -2.12596114e+01] [ 1.37908613e-01 -6.96139557e-03 9.90420493e-01 -3.64635890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561652532 meters Centerline goodness : 0.701955 with order 1 Centerline is valid? [False, False] Translation: X:-22.21, Y:-21.26, Z:-3.64 [[ 9.39769489e-01 -3.14564369e-01 -1.33725708e-01 -2.22101324e+01] [ 3.12653583e-01 9.49199469e-01 -3.56104592e-02 -2.12642321e+01] [ 1.38134153e-01 -8.34419873e-03 9.90378377e-01 -3.64396898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62165253199998 meters Centerline goodness : 0.690859 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-21.27, Z:-3.65 [[ 9.40500038e-01 -3.13955821e-01 -1.29967002e-01 -2.22219579e+01] [ 3.11480543e-01 9.49431705e-01 -3.94880803e-02 -2.12674064e+01] [ 1.35792305e-01 -3.34365130e-03 9.90731684e-01 -3.64860883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68165253199999 meters Centerline goodness : 0.688574 with order 1 Centerline is valid? [False, False] Translation: X:-22.23, Y:-21.27, Z:-3.65 [[ 9.39879493e-01 -3.16440823e-01 -1.28420188e-01 -2.22256890e+01] [ 3.13693958e-01 9.48611535e-01 -4.16203797e-02 -2.12722551e+01] [ 1.34991259e-01 -1.16649575e-03 9.90846103e-01 -3.64629028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74165253199999 meters Centerline goodness : 0.686156 with order 1 Centerline is valid? [False, False] Translation: X:-22.22, Y:-21.28, Z:-3.64 [[ 9.39957576e-01 -3.15830723e-01 -1.29347243e-01 -2.22242142e+01] [ 3.13269357e-01 9.48811702e-01 -4.02326350e-02 -2.12778678e+01] [ 1.35432880e-01 -2.70355752e-03 9.90782835e-01 -3.64371707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80165253199999 meters Centerline goodness : 0.679633 with order 1 Centerline is valid? [False, False] Translation: X:-22.25, Y:-21.29, Z:-3.64 [[ 9.38620821e-01 -3.17465603e-01 -1.34931633e-01 -2.22453342e+01] [ 3.15477234e-01 9.48232954e-01 -3.64469443e-02 -2.12948046e+01] [ 1.39517272e-01 -8.35799760e-03 9.90184364e-01 -3.64230152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861652532 meters Centerline goodness : 0.674620 with order 1 Centerline is valid? [False, False] Translation: X:-22.25, Y:-21.30, Z:-3.64 [[ 9.37660288e-01 -3.21069533e-01 -1.33069677e-01 -2.22477744e+01] [ 3.18616236e-01 9.47042622e-01 -3.99245048e-02 -2.12950347e+01] [ 1.38841198e-01 -4.96253704e-03 9.90302224e-01 -3.64273896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921652532 meters Centerline goodness : 0.673510 with order 1 Centerline is valid? [False, False] Translation: X:-22.26, Y:-21.30, Z:-3.65 [[ 9.37655564e-01 -3.22440398e-01 -1.29746801e-01 -2.22636033e+01] [ 3.18733694e-01 9.46578804e-01 -4.89632447e-02 -2.13048647e+01] [ 1.38603300e-01 4.55598170e-03 9.90337502e-01 -3.64640842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98165253199998 meters Centerline goodness : 0.672170 with order 1 Centerline is valid? [False, False] Translation: X:-22.27, Y:-21.31, Z:-3.64 [[ 9.36638021e-01 -3.25954085e-01 -1.28308811e-01 -2.22657615e+01] [ 3.21895773e-01 9.45358221e-01 -5.17778487e-02 -2.13074196e+01] [ 1.38174991e-01 7.19503781e-03 9.90381696e-01 -3.64481463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04165253199999 meters Centerline goodness : 0.671821 with order 1 Centerline is valid? [False, False] Translation: X:-22.29, Y:-21.33, Z:-3.64 [[ 9.35637591e-01 -3.26551559e-01 -1.33964089e-01 -2.22878804e+01] [ 3.23263592e-01 9.45179388e-01 -4.62230950e-02 -2.13260184e+01] [ 1.41714320e-01 -5.76474500e-05 9.89907596e-01 -3.64131433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10165253199999 meters Centerline goodness : 0.672616 with order 1 Centerline is valid? [False, False] Translation: X:-22.30, Y:-21.33, Z:-3.65 [[ 9.35604691e-01 -3.28115778e-01 -1.30322288e-01 -2.22963918e+01] [ 3.24274157e-01 9.44625359e-01 -5.02911863e-02 -2.13259619e+01] [ 1.39607070e-01 4.79251986e-03 9.90195384e-01 -3.64540968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16165253199999 meters Centerline goodness : 0.670573 with order 1 Centerline is valid? [False, False] Translation: X:-22.33, Y:-21.35, Z:-3.64 [[ 9.35268802e-01 -3.27567040e-01 -1.34060069e-01 -2.23266985e+01] [ 3.24220233e-01 9.44827914e-01 -4.67060332e-02 -2.13460265e+01] [ 1.41963052e-01 2.17709024e-04 9.89871933e-01 -3.64354174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221652532 meters Centerline goodness : 0.670361 with order 1 Centerline is valid? [False, False] Translation: X:-22.35, Y:-21.36, Z:-3.65 [[ 9.37327976e-01 -3.22030141e-01 -1.33089648e-01 -2.23541792e+01] [ 3.17576939e-01 9.46692417e-01 -5.40218048e-02 -2.13566276e+01] [ 1.43391610e-01 8.36994594e-03 9.89630633e-01 -3.64583056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281652532 meters Centerline goodness : 0.673302 with order 1 Centerline is valid? [False, False] Translation: X:-22.37, Y:-21.36, Z:-3.65 [[ 9.37615795e-01 -3.22576428e-01 -1.29696061e-01 -2.23652695e+01] [ 3.17692507e-01 9.46460518e-01 -5.73058297e-02 -2.13583558e+01] [ 1.41237711e-01 1.25273842e-02 9.89896446e-01 -3.64722110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34165253199998 meters Centerline goodness : 0.671541 with order 1 Centerline is valid? [False, False] Translation: X:-22.39, Y:-21.37, Z:-3.65 [[ 9.39641690e-01 -3.16052642e-01 -1.31088606e-01 -2.23924743e+01] [ 3.10102831e-01 9.48539571e-01 -6.41008363e-02 -2.13689310e+01] [ 1.44601968e-01 1.95808704e-02 9.89296144e-01 -3.64820675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40165253199999 meters Centerline goodness : 0.671456 with order 1 Centerline is valid? [False, False] Translation: X:-22.42, Y:-21.38, Z:-3.65 [[ 9.39815007e-01 -3.13426107e-01 -1.36058181e-01 -2.24199034e+01] [ 3.08197512e-01 9.49523223e-01 -5.84802827e-02 -2.13844886e+01] [ 1.47519650e-01 1.30278545e-02 9.88973320e-01 -3.64814806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46165253199999 meters Centerline goodness : 0.674494 with order 1 Centerline is valid? [False, False] Translation: X:-22.45, Y:-21.40, Z:-3.65 [[ 9.40961744e-01 -3.08467899e-01 -1.39422206e-01 -2.24529598e+01] [ 3.04030043e-01 9.51208064e-01 -5.26208344e-02 -2.14021810e+01] [ 1.48851365e-01 7.12565265e-03 9.88833907e-01 -3.64927506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52165253199999 meters Centerline goodness : 0.676802 with order 1 Centerline is valid? [False, False] Translation: X:-22.49, Y:-21.42, Z:-3.65 [[ 9.41783937e-01 -3.04232332e-01 -1.43128276e-01 -2.24852498e+01] [ 3.00446301e-01 9.52595542e-01 -4.78931429e-02 -2.14198524e+01] [ 1.50914000e-01 2.10263158e-03 9.88544659e-01 -3.65114165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58165253199999 meters Centerline goodness : 0.679756 with order 1 Centerline is valid? [False, False] Translation: X:-22.51, Y:-21.43, Z:-3.65 [[ 9.41360734e-01 -3.03916139e-01 -1.46543336e-01 -2.25146401e+01] [ 3.00430241e-01 9.52698442e-01 -4.59058756e-02 -2.14343506e+01] [ 1.53563145e-01 -8.12061053e-04 9.88138503e-01 -3.65311557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641652532 meters Centerline goodness : 0.684649 with order 1 Centerline is valid? [False, False] Translation: X:-22.54, Y:-21.44, Z:-3.66 [[ 9.43394094e-01 -2.96663842e-01 -1.48317724e-01 -2.25437189e+01] [ 2.91987117e-01 9.54959306e-01 -5.28795497e-02 -2.14446788e+01] [ 1.57324841e-01 6.57939013e-03 9.87524990e-01 -3.65531702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70165253199998 meters Centerline goodness : 0.688894 with order 1 Centerline is valid? [False, False] Translation: X:-22.57, Y:-21.46, Z:-3.66 [[ 9.44951549e-01 -2.91370918e-01 -1.48894450e-01 -2.25708341e+01] [ 2.85445863e-01 9.56501910e-01 -6.02059335e-02 -2.14557207e+01] [ 1.59960084e-01 1.43903852e-02 9.87018586e-01 -3.65691004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76165253199999 meters Centerline goodness : 0.699338 with order 1 Centerline is valid? [False, False] Translation: X:-22.58, Y:-21.46, Z:-3.66 [[ 9.45529491e-01 -2.91793948e-01 -1.44326969e-01 -2.25831098e+01] [ 2.85194560e-01 9.56266939e-01 -6.49430816e-02 -2.14568720e+01] [ 1.56965107e-01 2.02443324e-02 9.87396639e-01 -3.66280718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82165253199999 meters Centerline goodness : 0.705499 with order 1 Centerline is valid? [False, False] Translation: X:-22.62, Y:-21.47, Z:-3.67 [[ 9.46350597e-01 -2.88079975e-01 -1.46391518e-01 -2.26170559e+01] [ 2.82146933e-01 9.57477412e-01 -6.02504218e-02 -2.14749682e+01] [ 1.57523512e-01 1.57141049e-02 9.87390202e-01 -3.66555231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88165253199999 meters Centerline goodness : 0.716583 with order 1 Centerline is valid? [False, False] Translation: X:-22.64, Y:-21.49, Z:-3.66 [[ 9.45070076e-01 -2.89631839e-01 -1.51512209e-01 -2.26403646e+01] [ 2.84384882e-01 9.57090397e-01 -5.57064664e-02 -2.14902312e+01] [ 1.61145247e-01 9.55873272e-03 9.86884411e-01 -3.66347374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94165253199999 meters Centerline goodness : 0.716496 with order 1 Centerline is valid? [False, False] Translation: X:-22.66, Y:-21.50, Z:-3.67 [[ 9.46428285e-01 -2.87447884e-01 -1.47129924e-01 -2.26574174e+01] [ 2.81503245e-01 9.57669888e-01 -6.02022291e-02 -2.14959273e+01] [ 1.58206902e-01 1.55595412e-02 9.87283382e-01 -3.66991449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001652532 meters Centerline goodness : 0.733335 with order 1 Centerline is valid? [False, False] Translation: X:-22.66, Y:-21.50, Z:-3.67 [[ 9.45694417e-01 -2.91035640e-01 -1.44776812e-01 -2.26606732e+01] [ 2.84598893e-01 9.56520728e-01 -6.38088266e-02 -2.14961360e+01] [ 1.57052665e-01 1.91403306e-02 9.87404734e-01 -3.67167762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061652532 meters Centerline goodness : 0.738181 with order 1 Centerline is valid? [False, False] Translation: X:-22.66, Y:-21.50, Z:-3.67 [[ 9.45768962e-01 -2.90715465e-01 -1.44933052e-01 -2.26607814e+01] [ 2.84421013e-01 9.56635673e-01 -6.28719097e-02 -2.14992834e+01] [ 1.56925964e-01 1.82402953e-02 9.87441914e-01 -3.67060302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12165253199998 meters Centerline goodness : 0.745986 with order 1 Centerline is valid? [False, False] Translation: X:-22.66, Y:-21.50, Z:-3.67 [[ 9.47129090e-01 -2.85563109e-01 -1.46288066e-01 -2.26609048e+01] [ 2.80006380e-01 9.58262036e-01 -5.77087332e-02 -2.15033806e+01] [ 1.56661785e-01 1.36960283e-02 9.87557342e-01 -3.66943676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18165253199999 meters Centerline goodness : 0.745350 with order 1 Centerline is valid? [False, False] Translation: X:-22.68, Y:-21.52, Z:-3.67 [[ 9.45789789e-01 -2.87118062e-01 -1.51805448e-01 -2.26814830e+01] [ 2.82272634e-01 9.57867340e-01 -5.30312932e-02 -2.15186230e+01] [ 1.60635723e-01 7.30593195e-03 9.86986721e-01 -3.66821175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24165253199999 meters Centerline goodness : 0.744831 with order 1 Centerline is valid? [False, False] Translation: X:-22.68, Y:-21.52, Z:-3.67 [[ 9.46014724e-01 -2.86400989e-01 -1.51758409e-01 -2.26822652e+01] [ 2.81740096e-01 9.58089219e-01 -5.18417437e-02 -2.15219642e+01] [ 1.60245622e-01 6.28662414e-03 9.87057151e-01 -3.66729552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30165253199999 meters Centerline goodness : 0.741290 with order 1 Centerline is valid? [False, False] Translation: X:-22.68, Y:-21.52, Z:-3.67 [[ 9.44984902e-01 -2.90532064e-01 -1.50315183e-01 -2.26822761e+01] [ 2.85401304e-01 9.56821035e-01 -5.51326003e-02 -2.15244570e+01] [ 1.59842517e-01 9.19932568e-03 9.87099662e-01 -3.66792349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361652532 meters Centerline goodness : 0.737581 with order 1 Centerline is valid? [False, False] Translation: X:-22.68, Y:-21.53, Z:-3.67 [[ 9.44942675e-01 -2.90449081e-01 -1.50740413e-01 -2.26801873e+01] [ 2.85591225e-01 9.56861628e-01 -5.34179543e-02 -2.15305938e+01] [ 1.59752912e-01 7.42676563e-03 9.87129095e-01 -3.66676881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421652532 meters Centerline goodness : 0.738935 with order 1 Centerline is valid? [False, False] Translation: X:-22.68, Y:-21.53, Z:-3.67 [[ 9.44071751e-01 -2.94148559e-01 -1.49013936e-01 -2.26821113e+01] [ 2.88861384e-01 9.55704665e-01 -5.64596718e-02 -2.15326646e+01] [ 1.59020845e-01 1.02576094e-02 9.87221937e-01 -3.66681844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48165253199998 meters Centerline goodness : 0.740037 with order 1 Centerline is valid? [False, False] Translation: X:-22.68, Y:-21.54, Z:-3.67 [[ 9.42955886e-01 -2.98105837e-01 -1.48213047e-01 -2.26806413e+01] [ 2.92502967e-01 9.54456480e-01 -5.87779072e-02 -2.15390093e+01] [ 1.58984940e-01 1.20722177e-02 9.87207197e-01 -3.66572145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54165253199999 meters Centerline goodness : 0.735088 with order 1 Centerline is valid? [False, False] Translation: X:-22.68, Y:-21.54, Z:-3.67 [[ 9.41685881e-01 -3.02799621e-01 -1.46765428e-01 -2.26795681e+01] [ 2.96620982e-01 9.52925970e-01 -6.28338103e-02 -2.15394118e+01] [ 1.58882642e-01 1.56360066e-02 9.87173653e-01 -3.66739819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60165253199999 meters Centerline goodness : 0.739862 with order 1 Centerline is valid? [False, False] Translation: X:-22.71, Y:-21.56, Z:-3.67 [[ 9.42677017e-01 -2.98084097e-01 -1.50019706e-01 -2.27141010e+01] [ 2.92716875e-01 9.54487222e-01 -5.71924241e-02 -2.15605239e+01] [ 1.60240044e-01 1.00006844e-02 9.87027413e-01 -3.66940347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66165253199999 meters Centerline goodness : 0.739312 with order 1 Centerline is valid? [False, False] Translation: X:-22.73, Y:-21.57, Z:-3.68 [[ 9.43072151e-01 -2.99188519e-01 -1.45262341e-01 -2.27296475e+01] [ 2.92732223e-01 9.54019103e-01 -6.44623692e-02 -2.15651248e+01] [ 1.57869449e-01 1.82696970e-02 9.87290968e-01 -3.67525808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721652532 meters Centerline goodness : 0.738088 with order 1 Centerline is valid? [False, False] Translation: X:-22.75, Y:-21.57, Z:-3.68 [[ 0.94417839 -0.29808952 -0.14024906 -22.75113921] [ 0.29049794 0.95414151 -0.07228364 -21.57494195] [ 0.15536445 0.02750659 0.98747419 -3.68154153] [ 0. 0. 0. 1. ]] SLAMing on 117.781652532 meters Centerline goodness : 0.729783 with order 1 Centerline is valid? [False, False] Translation: X:-22.75, Y:-21.58, Z:-3.68 [[ 9.45391033e-01 -2.93313472e-01 -1.42137268e-01 -2.27504254e+01] [ 2.86451688e-01 9.55748264e-01 -6.70125776e-02 -2.15790072e+01] [ 1.55503139e-01 2.26376298e-02 9.87575978e-01 -3.67896799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84165253199998 meters Centerline goodness : 0.731522 with order 1 Centerline is valid? [False, False] Translation: X:-22.79, Y:-21.60, Z:-3.68 [[ 9.46835677e-01 -2.88062364e-01 -1.43255982e-01 -2.27876713e+01] [ 2.82017424e-01 9.57449240e-01 -6.12953987e-02 -2.15956757e+01] [ 1.54817228e-01 1.76359874e-02 9.87785704e-01 -3.68242123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90165253199999 meters Centerline goodness : 0.730003 with order 1 Centerline is valid? [False, False] Translation: X:-22.79, Y:-21.60, Z:-3.68 [[ 9.47313018e-01 -2.86794227e-01 -1.42643322e-01 -2.27915093e+01] [ 2.80889330e-01 9.57839038e-01 -6.03784839e-02 -2.15971197e+01] [ 1.53945543e-01 1.71303367e-02 9.87930828e-01 -3.68130356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96165253199999 meters Centerline goodness : 0.728262 with order 1 Centerline is valid? [False, False] Translation: X:-22.79, Y:-21.60, Z:-3.68 [[ 9.46748023e-01 -2.88138721e-01 -1.43681103e-01 -2.27880821e+01] [ 2.82270952e-01 9.57448834e-01 -6.01235391e-02 -2.16002169e+01] [ 1.54891225e-01 1.63648399e-02 9.87795981e-01 -3.67884249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02165253199999 meters Centerline goodness : 0.727617 with order 1 Centerline is valid? [False, False] Translation: X:-22.79, Y:-21.60, Z:-3.68 [[ 9.48297126e-01 -2.82931467e-01 -1.43813576e-01 -2.27923402e+01] [ 2.77538649e-01 9.59040126e-01 -5.66951135e-02 -2.15951895e+01] [ 1.53963822e-01 1.38499876e-02 9.87979412e-01 -3.68015219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08165253199999 meters Centerline goodness : 0.725093 with order 1 Centerline is valid? [False, False] Translation: X:-22.79, Y:-21.60, Z:-3.68 [[ 9.48556289e-01 -2.82067381e-01 -1.43801805e-01 -2.27941433e+01] [ 2.76793251e-01 9.59303876e-01 -5.58710197e-02 -2.15970735e+01] [ 1.53709021e-01 1.31934380e-02 9.88028071e-01 -3.67870886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141652532 meters Centerline goodness : 0.724455 with order 1 Centerline is valid? [False, False] Translation: X:-22.79, Y:-21.60, Z:-3.68 [[ 9.48629315e-01 -2.81530197e-01 -1.44371645e-01 -2.27939856e+01] [ 2.76393915e-01 9.59475122e-01 -5.48989353e-02 -2.16004356e+01] [ 1.53976709e-01 1.21752953e-02 9.87999461e-01 -3.67662536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20165253199998 meters Centerline goodness : 0.727353 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:-21.60, Z:-3.68 [[ 9.48740927e-01 -2.81226362e-01 -1.44230327e-01 -2.27956841e+01] [ 2.76148216e-01 9.59567784e-01 -5.45144904e-02 -2.16005020e+01] [ 1.53729687e-01 1.18911805e-02 9.88041387e-01 -3.67557028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26165253199999 meters Centerline goodness : 0.729737 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:-21.60, Z:-3.67 [[ 9.49037434e-01 -2.80454185e-01 -1.43782473e-01 -2.27988859e+01] [ 2.75456849e-01 9.59797126e-01 -5.39722193e-02 -2.16001379e+01] [ 1.53138739e-01 1.16157895e-02 9.88136428e-01 -3.67454113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32165253199999 meters Centerline goodness : 0.730399 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:-21.60, Z:-3.67 [[ 9.48751162e-01 -2.81038972e-01 -1.44527951e-01 -2.27967607e+01] [ 2.76081635e-01 9.59632759e-01 -5.37019429e-02 -2.16018492e+01] [ 1.53786095e-01 1.10482677e-02 9.88042394e-01 -3.67327043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38165253199999 meters Centerline goodness : 0.731416 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:-21.60, Z:-3.67 [[ 9.50402027e-01 -2.75106629e-01 -1.45094209e-01 -2.28009683e+01] [ 2.70808332e-01 9.61386312e-01 -4.89816943e-02 -2.16017656e+01] [ 1.52966776e-01 7.25958077e-03 9.88204667e-01 -3.67228049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44165253199999 meters Centerline goodness : 0.731479 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:-21.60, Z:-3.67 [[ 9.50286296e-01 -2.75329498e-01 -1.45429100e-01 -2.28003129e+01] [ 2.71053213e-01 9.61324482e-01 -4.88405265e-02 -2.16023531e+01] [ 1.53251792e-01 6.99345831e-03 9.88162426e-01 -3.67160339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501652532 meters Centerline goodness : 0.735608 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:-21.60, Z:-3.67 [[ 9.50751620e-01 -2.74048006e-01 -1.44806932e-01 -2.28034385e+01] [ 2.69884285e-01 9.61693382e-01 -4.80448909e-02 -2.16039068e+01] [ 1.52426475e-01 6.59764259e-03 9.88292791e-01 -3.67125141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561652532 meters Centerline goodness : 0.739394 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:-21.60, Z:-3.67 [[ 9.50728833e-01 -2.74294672e-01 -1.44489168e-01 -2.28042324e+01] [ 2.70109664e-01 9.61621563e-01 -4.82155575e-02 -2.16024367e+01] [ 1.52169170e-01 6.81200026e-03 9.88330987e-01 -3.67172933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62165253199998 meters Centerline goodness : 0.743075 with order 1 Centerline is valid? [False, False] Translation: X:-22.81, Y:-21.60, Z:-3.67 [[ 9.50855946e-01 -2.73847329e-01 -1.44501244e-01 -2.28053566e+01] [ 2.69775113e-01 9.61753614e-01 -4.74486434e-02 -2.16042690e+01] [ 1.51968278e-01 6.13398534e-03 9.88366337e-01 -3.67043456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68165253199999 meters Centerline goodness : 0.743501 with order 1 Centerline is valid? [False, False] Translation: X:-22.81, Y:-21.60, Z:-3.67 [[ 9.50887044e-01 -2.74039399e-01 -1.43931365e-01 -2.28065019e+01] [ 2.69865721e-01 9.61693414e-01 -4.81484179e-02 -2.16014879e+01] [ 1.51612409e-01 6.94156513e-03 9.88415647e-01 -3.67185155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74165253199999 meters Centerline goodness : 0.744427 with order 1 Centerline is valid? [False, False] Translation: X:-22.81, Y:-21.60, Z:-3.67 [[ 9.52124181e-01 -2.69209486e-01 -1.44864750e-01 -2.28080941e+01] [ 2.65583394e-01 9.63074938e-01 -4.41828522e-02 -2.16002389e+01] [ 1.51410053e-01 3.59388995e-03 9.88464506e-01 -3.67142705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80165253199999 meters Centerline goodness : 0.749433 with order 1 Centerline is valid? [False, False] Translation: X:-22.81, Y:-21.60, Z:-3.67 [[ 9.53355910e-01 -2.64191934e-01 -1.45997020e-01 -2.28096418e+01] [ 2.61208459e-01 9.64470047e-01 -3.95938171e-02 -2.16011977e+01] [ 1.51270120e-01 -3.88657031e-04 9.88492387e-01 -3.66972902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861652532 meters Centerline goodness : 0.755528 with order 1 Centerline is valid? [False, False] Translation: X:-22.81, Y:-21.60, Z:-3.67 [[ 9.53620946e-01 -2.63449243e-01 -1.45607652e-01 -2.28124975e+01] [ 2.60553493e-01 9.64672940e-01 -3.89614671e-02 -2.16018009e+01] [ 1.50728130e-01 -7.84111057e-04 9.88574942e-01 -3.66854956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921652532 meters Centerline goodness : 0.759092 with order 1 Centerline is valid? [False, False] Translation: X:-22.82, Y:-21.60, Z:-3.67 [[ 9.55624734e-01 -2.56438060e-01 -1.44985823e-01 -2.28199057e+01] [ 2.54062180e-01 9.66554699e-01 -3.49917529e-02 -2.15995196e+01] [ 1.49109946e-01 -3.39642977e-03 9.88814790e-01 -3.66998410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98165253199998 meters Centerline goodness : 0.760318 with order 1 Centerline is valid? [False, False] Translation: X:-22.83, Y:-21.60, Z:-3.67 [[ 9.56090559e-01 -2.55351974e-01 -1.43827024e-01 -2.28250101e+01] [ 2.53048107e-01 9.66841817e-01 -3.44028613e-02 -2.15989096e+01] [ 1.47842820e-01 -3.50290530e-03 9.89004666e-01 -3.66961624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04165253199999 meters Centerline goodness : 0.762870 with order 1 Centerline is valid? [False, False] Translation: X:-22.83, Y:-21.60, Z:-3.67 [[ 9.57403418e-01 -2.51727291e-01 -1.41464012e-01 -2.28348896e+01] [ 2.49527263e-01 9.67792428e-01 -3.33760671e-02 -2.16012594e+01] [ 1.45309466e-01 -3.34476684e-03 9.89380600e-01 -3.67070051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10165253199999 meters Centerline goodness : 0.761861 with order 1 Centerline is valid? [False, False] Translation: X:-22.84, Y:-21.60, Z:-3.67 [[ 9.58672478e-01 -2.46605098e-01 -1.41890824e-01 -2.28377177e+01] [ 2.44927085e-01 9.69094121e-01 -2.94500744e-02 -2.15990532e+01] [ 1.44768101e-01 -6.51993007e-03 9.89444130e-01 -3.67079272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16165253199999 meters Centerline goodness : 0.763369 with order 1 Centerline is valid? [False, False] Translation: X:-22.84, Y:-21.60, Z:-3.67 [[ 9.59303168e-01 -2.44754596e-01 -1.40828331e-01 -2.28437907e+01] [ 2.43199887e-01 9.69559865e-01 -2.84162355e-02 -2.15989067e+01] [ 1.43496502e-01 -6.98964941e-03 9.89626141e-01 -3.66967430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221652532 meters Centerline goodness : 0.764692 with order 1 Centerline is valid? [False, False] Translation: X:-22.85, Y:-21.60, Z:-3.67 [[ 9.58815233e-01 -2.47721785e-01 -1.38950590e-01 -2.28490212e+01] [ 2.45778112e-01 9.68822170e-01 -3.12525444e-02 -2.16003407e+01] [ 1.42360348e-01 -4.18559804e-03 9.89806048e-01 -3.66810855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281652532 meters Centerline goodness : 0.766940 with order 1 Centerline is valid? [False, False] Translation: X:-22.85, Y:-21.60, Z:-3.67 [[ 9.57550226e-01 -2.52935210e-01 -1.38279946e-01 -2.28475268e+01] [ 2.50497576e-01 9.67482618e-01 -3.50478000e-02 -2.16019360e+01] [ 1.42648267e-01 -1.07876248e-03 9.89772857e-01 -3.66745975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34165253199998 meters Centerline goodness : 0.767231 with order 1 Centerline is valid? [False, False] Translation: X:-22.85, Y:-21.60, Z:-3.67 [[ 9.57770026e-01 -2.52440614e-01 -1.37660134e-01 -2.28502918e+01] [ 2.50012488e-01 9.67611922e-01 -3.49417107e-02 -2.15996711e+01] [ 1.42022294e-01 -9.50629591e-04 9.89863003e-01 -3.66769071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40165253199999 meters Centerline goodness : 0.768696 with order 1 Centerline is valid? [False, False] Translation: X:-22.85, Y:-21.60, Z:-3.67 [[ 9.58566286e-01 -2.48611685e-01 -1.39078775e-01 -2.28489179e+01] [ 2.46712424e-01 9.68592385e-01 -3.10124463e-02 -2.15994394e+01] [ 1.42420699e-01 -4.58497635e-03 9.89795596e-01 -3.66723263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46165253199999 meters Centerline goodness : 0.768722 with order 1 Centerline is valid? [False, False] Translation: X:-22.85, Y:-21.60, Z:-3.67 [[ 9.57780102e-01 -2.52455829e-01 -1.37562097e-01 -2.28516088e+01] [ 2.50102442e-01 9.67607353e-01 -3.44206311e-02 -2.16003131e+01] [ 1.41795785e-01 -1.43722076e-03 9.89894888e-01 -3.66632138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52165253199999 meters Centerline goodness : 0.770307 with order 1 Centerline is valid? [False, False] Translation: X:-22.85, Y:-21.60, Z:-3.67 [[ 9.59132397e-01 -2.46903368e-01 -1.38216396e-01 -2.28546593e+01] [ 2.45168736e-01 9.69025108e-01 -2.97091079e-02 -2.16001985e+01] [ 1.41270437e-01 -5.39137129e-03 9.89956361e-01 -3.66518900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58165253199999 meters Centerline goodness : 0.769866 with order 1 Centerline is valid? [False, False] Translation: X:-22.86, Y:-21.60, Z:-3.67 [[ 9.60700288e-01 -2.40641644e-01 -1.38371079e-01 -2.28589436e+01] [ 2.39516976e-01 9.70570910e-01 -2.49745189e-02 -2.16003439e+01] [ 1.40308853e-01 -9.14919480e-03 9.90065512e-01 -3.66502227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641652532 meters Centerline goodness : 0.771046 with order 1 Centerline is valid? [False, False] Translation: X:-22.86, Y:-21.60, Z:-3.66 [[ 9.60878251e-01 -2.39959455e-01 -1.38320091e-01 -2.28602403e+01] [ 2.38940439e-01 9.70733236e-01 -2.41754278e-02 -2.16025391e+01] [ 1.40073032e-01 -9.82062038e-03 9.90092471e-01 -3.66379189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70165253199998 meters Centerline goodness : 0.772489 with order 1 Centerline is valid? [False, False] Translation: X:-22.87, Y:-21.60, Z:-3.66 [[ 9.60403059e-01 -2.42895792e-01 -1.36482961e-01 -2.28651509e+01] [ 2.41495591e-01 9.70026781e-01 -2.69800622e-02 -2.16034916e+01] [ 1.38945471e-01 -7.04829905e-03 9.90274950e-01 -3.66252356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76165253199999 meters Centerline goodness : 0.769333 with order 1 Centerline is valid? [False, False] Translation: X:-22.87, Y:-21.60, Z:-3.66 [[ 9.60387359e-01 -2.43115557e-01 -1.36201863e-01 -2.28659224e+01] [ 2.41681073e-01 9.69973709e-01 -2.72261387e-02 -2.16017083e+01] [ 1.38731325e-01 -6.76977314e-03 9.90306917e-01 -3.66296878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82165253199999 meters Centerline goodness : 0.767529 with order 1 Centerline is valid? [False, False] Translation: X:-22.87, Y:-21.60, Z:-3.66 [[ 9.59544467e-01 -2.47199703e-01 -1.34783986e-01 -2.28677783e+01] [ 2.45298666e-01 9.68958199e-01 -3.07989186e-02 -2.16020807e+01] [ 1.38213532e-01 -3.50940003e-03 9.90396236e-01 -3.66273606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88165253199999 meters Centerline goodness : 0.767048 with order 1 Centerline is valid? [False, False] Translation: X:-22.87, Y:-21.60, Z:-3.66 [[ 9.59494125e-01 -2.47308954e-01 -1.34941857e-01 -2.28675701e+01] [ 2.45454125e-01 9.68928920e-01 -3.04798412e-02 -2.16028793e+01] [ 1.38287006e-01 -3.87680702e-03 9.90384609e-01 -3.66216072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94165253199999 meters Centerline goodness : 0.768092 with order 1 Centerline is valid? [False, False] Translation: X:-22.87, Y:-21.60, Z:-3.66 [[ 9.58476910e-01 -2.51759928e-01 -1.33936372e-01 -2.28682272e+01] [ 2.49454981e-01 9.67789368e-01 -3.39992959e-02 -2.16038700e+01] [ 1.38181857e-01 -8.23554904e-04 9.90406531e-01 -3.66122177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001652532 meters Centerline goodness : 0.767065 with order 1 Centerline is valid? [False, False] Translation: X:-22.87, Y:-21.60, Z:-3.66 [[ 9.57868852e-01 -2.54985721e-01 -1.32172404e-01 -2.28722908e+01] [ 2.52248341e-01 9.66941770e-01 -3.73415032e-02 -2.16022448e+01] [ 1.37324568e-01 2.42799325e-03 9.90523128e-01 -3.66102443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061652532 meters Centerline goodness : 0.763372 with order 1 Centerline is valid? [False, False] Translation: X:-22.87, Y:-21.60, Z:-3.66 [[ 9.58938385e-01 -2.50239914e-01 -1.33480934e-01 -2.28722608e+01] [ 2.48075693e-01 9.68182562e-01 -3.28782251e-02 -2.16032922e+01] [ 1.37461357e-01 -1.58518312e-03 9.90505862e-01 -3.66007888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12165253199998 meters Centerline goodness : 0.761027 with order 1 Centerline is valid? [False, False] Translation: X:-22.88, Y:-21.61, Z:-3.66 [[ 9.60739774e-01 -2.43190089e-01 -1.33557730e-01 -2.28783766e+01] [ 2.41726634e-01 9.69959837e-01 -2.73157368e-02 -2.16052988e+01] [ 1.36188551e-01 -6.04114578e-03 9.90664516e-01 -3.65834080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18165253199999 meters Centerline goodness : 0.761245 with order 1 Centerline is valid? [False, False] Translation: X:-22.88, Y:-21.61, Z:-3.66 [[ 9.61142561e-01 -2.41795894e-01 -1.33190553e-01 -2.28819468e+01] [ 2.40505154e-01 9.70301157e-01 -2.59409984e-02 -2.16079434e+01] [ 1.35507374e-01 -7.10001681e-03 9.90750898e-01 -3.65612750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24165253199999 meters Centerline goodness : 0.761072 with order 1 Centerline is valid? [False, False] Translation: X:-22.88, Y:-21.61, Z:-3.66 [[ 9.61274513e-01 -2.41437729e-01 -1.32887673e-01 -2.28834654e+01] [ 2.40185216e-01 9.70388933e-01 -2.56199297e-02 -2.16079725e+01] [ 1.35138345e-01 -7.28986902e-03 9.90799922e-01 -3.65580890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30165253199999 meters Centerline goodness : 0.758253 with order 1 Centerline is valid? [False, False] Translation: X:-22.88, Y:-21.61, Z:-3.66 [[ 9.61355328e-01 -2.41424107e-01 -1.32326615e-01 -2.28849797e+01] [ 2.40147622e-01 9.70394395e-01 -2.57650674e-02 -2.16067866e+01] [ 1.34629314e-01 -7.00853711e-03 9.90871247e-01 -3.65634776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361652532 meters Centerline goodness : 0.758995 with order 1 Centerline is valid? [False, False] Translation: X:-22.89, Y:-21.61, Z:-3.66 [[ 9.61531612e-01 -2.40941645e-01 -1.31924533e-01 -2.28871448e+01] [ 2.39729813e-01 9.70511669e-01 -2.52332510e-02 -2.16073505e+01] [ 1.34114039e-01 -7.36367498e-03 9.90938545e-01 -3.65548834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421652532 meters Centerline goodness : 0.757697 with order 1 Centerline is valid? [False, False] Translation: X:-22.89, Y:-21.61, Z:-3.65 [[ 9.61019367e-01 -2.44003240e-01 -1.30016133e-01 -2.28919806e+01] [ 2.42398918e-01 9.69764674e-01 -2.82708596e-02 -2.16066224e+01] [ 1.32983234e-01 -4.34692632e-03 9.91108755e-01 -3.65482814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48165253199998 meters Centerline goodness : 0.757251 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.61, Z:-3.65 [[ 9.60422624e-01 -2.47315276e-01 -1.28154349e-01 -2.28957152e+01] [ 2.45274576e-01 9.68934578e-01 -3.17201134e-02 -2.16062762e+01] [ 1.32018048e-01 -9.68289067e-04 9.91246840e-01 -3.65490149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54165253199999 meters Centerline goodness : 0.757259 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.61, Z:-3.65 [[ 9.60483248e-01 -2.47070835e-01 -1.28171494e-01 -2.28965850e+01] [ 2.45116434e-01 9.68996119e-01 -3.10556696e-02 -2.16076925e+01] [ 1.31870631e-01 -1.58848923e-03 9.91265662e-01 -3.65367285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60165253199999 meters Centerline goodness : 0.757898 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.61, Z:-3.65 [[ 9.60607876e-01 -2.46534299e-01 -1.28270602e-01 -2.28975423e+01] [ 2.44737643e-01 9.69130213e-01 -2.98348183e-02 -2.16108072e+01] [ 1.31666222e-01 -2.73308327e-03 9.91290339e-01 -3.65174894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66165253199999 meters Centerline goodness : 0.758423 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.61, Z:-3.65 [[ 9.59882730e-01 -2.50315446e-01 -1.26361870e-01 -2.29004109e+01] [ 2.48075699e-01 9.68164058e-01 -3.34186126e-02 -2.16100763e+01] [ 1.30704216e-01 7.30639915e-04 9.91421139e-01 -3.65249917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721652532 meters Centerline goodness : 0.755692 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.61, Z:-3.65 [[ 9.58893254e-01 -2.54562890e-01 -1.25385257e-01 -2.29002474e+01] [ 2.51953926e-01 9.67050172e-01 -3.65127976e-02 -2.16133638e+01] [ 1.30548638e-01 3.42056754e-03 9.91436005e-01 -3.65182291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781652532 meters Centerline goodness : 0.753479 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.62, Z:-3.65 [[ 9.59093229e-01 -2.53983634e-01 -1.25029964e-01 -2.29021537e+01] [ 2.51506007e-01 9.67205058e-01 -3.54838665e-02 -2.16151289e+01] [ 1.29941935e-01 2.58654897e-03 9.91518231e-01 -3.65092536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84165253199998 meters Centerline goodness : 0.752778 with order 1 Centerline is valid? [False, False] Translation: X:-22.91, Y:-21.62, Z:-3.65 [[ 9.57539504e-01 -2.61253896e-01 -1.21920059e-01 -2.29068967e+01] [ 2.58035138e-01 9.65232418e-01 -4.17641837e-02 -2.16176085e+01] [ 1.28592249e-01 8.53119643e-03 9.91660855e-01 -3.64992717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90165253199999 meters Centerline goodness : 0.753027 with order 1 Centerline is valid? [False, False] Translation: X:-22.91, Y:-21.62, Z:-3.65 [[ 9.56472861e-01 -2.65459236e-01 -1.21206683e-01 -2.29058649e+01] [ 2.61979517e-01 9.64065815e-01 -4.40889627e-02 -2.16232604e+01] [ 1.28555042e-01 1.04162281e-02 9.91647671e-01 -3.64844257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96165253199999 meters Centerline goodness : 0.750756 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.63, Z:-3.65 [[ 9.56310769e-01 -2.65841261e-01 -1.21647591e-01 -2.29037616e+01] [ 2.62493262e-01 9.63972438e-01 -4.30630420e-02 -2.16273250e+01] [ 1.28712858e-01 9.24997797e-03 9.91638764e-01 -3.64761750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02165253199999 meters Centerline goodness : 0.747417 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.63, Z:-3.65 [[ 9.55076142e-01 -2.70653127e-01 -1.20732962e-01 -2.29021731e+01] [ 2.66925502e-01 9.62601534e-01 -4.63579811e-02 -2.16304376e+01] [ 1.28764667e-01 1.20486951e-02 9.91601981e-01 -3.64755111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08165253199999 meters Centerline goodness : 0.743863 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.64, Z:-3.65 [[ 9.53915347e-01 -2.74983411e-01 -1.20123412e-01 -2.29002959e+01] [ 2.70972679e-01 9.61346184e-01 -4.88602194e-02 -2.16361881e+01] [ 1.28915934e-01 1.40583503e-02 9.91555871e-01 -3.64627964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141652532 meters Centerline goodness : 0.740469 with order 1 Centerline is valid? [False, False] Translation: X:-22.90, Y:-21.64, Z:-3.65 [[ 9.53806709e-01 -2.75177696e-01 -1.20540443e-01 -2.28986167e+01] [ 2.71283286e-01 9.61305231e-01 -4.79336262e-02 -2.16398923e+01] [ 1.29066423e-01 1.30188069e-02 9.91550487e-01 -3.64540234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20165253199998 meters Centerline goodness : 0.739176 with order 1 Centerline is valid? [False, False] Translation: X:-22.91, Y:-21.66, Z:-3.64 [[ 9.51552709e-01 -2.79790538e-01 -1.27533123e-01 -2.29126905e+01] [ 2.76357075e-01 9.60036681e-01 -4.42305217e-02 -2.16555826e+01] [ 1.34811758e-01 6.84299188e-03 9.90847599e-01 -3.64161040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26165253199999 meters Centerline goodness : 0.734317 with order 1 Centerline is valid? [False, False] Translation: X:-22.91, Y:-21.66, Z:-3.64 [[ 9.50609696e-01 -2.83631866e-01 -1.26072082e-01 -2.29136839e+01] [ 2.79797636e-01 9.58882137e-01 -4.75218928e-02 -2.16577532e+01] [ 1.34366991e-01 9.90010145e-03 9.90882183e-01 -3.64165263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32165253199999 meters Centerline goodness : 0.730059 with order 1 Centerline is valid? [False, False] Translation: X:-22.91, Y:-21.66, Z:-3.64 [[ 9.49625298e-01 -2.87517330e-01 -1.24681909e-01 -2.29149903e+01] [ 2.83295602e-01 9.57688951e-01 -5.07491395e-02 -2.16595911e+01] [ 1.33997744e-01 1.28708303e-02 9.90898050e-01 -3.64112420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38165253199999 meters Centerline goodness : 0.722989 with order 1 Centerline is valid? [False, False] Translation: X:-22.92, Y:-21.66, Z:-3.64 [[ 9.48810225e-01 -2.90903109e-01 -1.23022509e-01 -2.29177240e+01] [ 2.86353219e-01 9.56625319e-01 -5.35708287e-02 -2.16618825e+01] [ 1.33270368e-01 1.56006585e-02 9.90956926e-01 -3.64023806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44165253199999 meters Centerline goodness : 0.720493 with order 1 Centerline is valid? [False, False] Translation: X:-22.94, Y:-21.68, Z:-3.64 [[ 9.47779883e-01 -2.91963392e-01 -1.28338114e-01 -2.29405952e+01] [ 2.87848528e-01 9.56373081e-01 -4.99375035e-02 -2.16784634e+01] [ 1.37319040e-01 1.03878241e-02 9.90472400e-01 -3.63847277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501652532 meters Centerline goodness : 0.717924 with order 1 Centerline is valid? [False, False] Translation: X:-22.94, Y:-21.68, Z:-3.64 [[ 9.47973724e-01 -2.91234148e-01 -1.28563172e-01 -2.29416897e+01] [ 2.87265156e-01 9.56606119e-01 -4.88207314e-02 -2.16813416e+01] [ 1.37202581e-01 9.34905082e-03 9.90498888e-01 -3.63645547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561652532 meters Centerline goodness : 0.714902 with order 1 Centerline is valid? [False, False] Translation: X:-22.96, Y:-21.68, Z:-3.64 [[ 9.48308037e-01 -2.92070989e-01 -1.24122534e-01 -2.29560639e+01] [ 2.87407596e-01 9.56264983e-01 -5.43521474e-02 -2.16846853e+01] [ 1.34568718e-01 1.58688191e-02 9.90777190e-01 -3.64044621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62165253199998 meters Centerline goodness : 0.709282 with order 1 Centerline is valid? [False, False] Translation: X:-22.98, Y:-21.70, Z:-3.64 [[ 9.47954925e-01 -2.90930161e-01 -1.29387410e-01 -2.29812784e+01] [ 2.86843436e-01 9.56693127e-01 -4.95893513e-02 -2.17003691e+01] [ 1.38211084e-01 9.89454036e-03 9.90353368e-01 -3.63904315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68165253199999 meters Centerline goodness : 0.707011 with order 1 Centerline is valid? [False, False] Translation: X:-22.98, Y:-21.70, Z:-3.64 [[ 9.48042287e-01 -2.90506911e-01 -1.29697941e-01 -2.29820251e+01] [ 2.86513981e-01 9.56828968e-01 -4.88678376e-02 -2.17024960e+01] [ 1.38295191e-01 9.16850315e-03 9.90348615e-01 -3.63710656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74165253199999 meters Centerline goodness : 0.703662 with order 1 Centerline is valid? [False, False] Translation: X:-22.99, Y:-21.70, Z:-3.63 [[ 9.48574180e-01 -2.88853875e-01 -1.29500825e-01 -2.29867274e+01] [ 2.85054311e-01 9.57339512e-01 -4.73824681e-02 -2.17043494e+01] [ 1.37662866e-01 8.03101739e-03 9.90446585e-01 -3.63386186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80165253199999 meters Centerline goodness : 0.688289 with order 1 Centerline is valid? [False, False] Translation: X:-22.99, Y:-21.71, Z:-3.63 [[ 9.48617273e-01 -2.88537832e-01 -1.29889138e-01 -2.29866182e+01] [ 2.84806439e-01 9.57439520e-01 -4.68493039e-02 -2.17062149e+01] [ 1.37878790e-01 7.44879605e-03 9.90421100e-01 -3.63265956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861652532 meters Centerline goodness : 0.681615 with order 1 Centerline is valid? [False, False] Translation: X:-22.99, Y:-21.70, Z:-3.63 [[ 9.47708456e-01 -2.92139768e-01 -1.28464155e-01 -2.29890597e+01] [ 2.87927827e-01 9.56312349e-01 -5.06385013e-02 -2.17047740e+01] [ 1.37645378e-01 1.10021309e-02 9.90420468e-01 -3.63254533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921652532 meters Centerline goodness : 0.682405 with order 1 Centerline is valid? [False, False] Translation: X:-22.99, Y:-21.70, Z:-3.63 [[ 9.47900266e-01 -2.91494162e-01 -1.28515524e-01 -2.29908677e+01] [ 2.87345350e-01 9.56513905e-01 -5.01377996e-02 -2.17048579e+01] [ 1.37541762e-01 1.05972953e-02 9.90439277e-01 -3.63128496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98165253199998 meters Centerline goodness : 0.670757 with order 1 Centerline is valid? [False, False] Translation: X:-23.03, Y:-21.72, Z:-3.63 [[ 9.48526384e-01 -2.89223712e-01 -1.29024581e-01 -2.30302671e+01] [ 2.85187465e-01 9.57211215e-01 -4.91406045e-02 -2.17228192e+01] [ 1.37716404e-01 9.81496680e-03 9.90423070e-01 -3.63413623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04165253199999 meters Centerline goodness : 0.668376 with order 1 Centerline is valid? [False, False] Translation: X:-23.03, Y:-21.72, Z:-3.63 [[ 9.49591844e-01 -2.84853226e-01 -1.30896788e-01 -2.30294575e+01] [ 2.81337545e-01 9.58552923e-01 -4.50053370e-02 -2.17235970e+01] [ 1.38291414e-01 5.91051989e-03 9.90373945e-01 -3.63248775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10165253199999 meters Centerline goodness : 0.662242 with order 1 Centerline is valid? [False, False] Translation: X:-23.05, Y:-21.73, Z:-3.64 [[ 9.51643387e-01 -2.77604687e-01 -1.31569377e-01 -2.30539242e+01] [ 2.73128086e-01 9.60609040e-01 -5.12963993e-02 -2.17300278e+01] [ 1.40626854e-01 1.28805872e-02 9.89978878e-01 -3.63556191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16165253199999 meters Centerline goodness : 0.659345 with order 1 Centerline is valid? [False, False] Translation: X:-23.05, Y:-21.73, Z:-3.63 [[ 9.52823444e-01 -2.72870127e-01 -1.32926213e-01 -2.30546404e+01] [ 2.68927595e-01 9.62007432e-01 -4.71131474e-02 -2.17300921e+01] [ 1.40731775e-01 9.14298465e-03 9.90005542e-01 -3.63434496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221652532 meters Centerline goodness : 0.662480 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-21.73, Z:-3.63 [[ 9.54179608e-01 -2.67607358e-01 -1.33893901e-01 -2.30577678e+01] [ 2.64211447e-01 9.63512275e-01 -4.28533260e-02 -2.17290854e+01] [ 1.40476282e-01 5.51346847e-03 9.90068692e-01 -3.63260101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281652532 meters Centerline goodness : 0.657495 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-21.73, Z:-3.63 [[ 9.54390677e-01 -2.67123114e-01 -1.33355453e-01 -2.30603341e+01] [ 2.63633205e-01 9.63641389e-01 -4.35063956e-02 -2.17265416e+01] [ 1.40128398e-01 6.36517278e-03 9.90112881e-01 -3.63318150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34165253199998 meters Centerline goodness : 0.653924 with order 1 Centerline is valid? [False, False] Translation: X:-23.06, Y:-21.72, Z:-3.63 [[ 9.54542422e-01 -2.66927231e-01 -1.32659781e-01 -2.30632356e+01] [ 2.63376763e-01 9.63691135e-01 -4.39553912e-02 -2.17233002e+01] [ 1.39575946e-01 7.01778189e-03 9.90186501e-01 -3.63360334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40165253199999 meters Centerline goodness : 0.660567 with order 1 Centerline is valid? [False, False] Translation: X:-23.09, Y:-21.73, Z:-3.64 [[ 9.56494457e-01 -2.60496772e-01 -1.31376507e-01 -2.30868631e+01] [ 2.56085501e-01 9.65374408e-01 -4.97239228e-02 -2.17270967e+01] [ 1.39780439e-01 1.39170380e-02 9.90084716e-01 -3.63827648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46165253199999 meters Centerline goodness : 0.659562 with order 1 Centerline is valid? [False, False] Translation: X:-23.09, Y:-21.73, Z:-3.64 [[ 9.56891772e-01 -2.59399252e-01 -1.30652843e-01 -2.30916622e+01] [ 2.55085675e-01 9.65674573e-01 -4.90297701e-02 -2.17261994e+01] [ 1.38886414e-01 1.35885149e-02 9.90215086e-01 -3.63681193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52165253199999 meters Centerline goodness : 0.665831 with order 1 Centerline is valid? [False, False] Translation: X:-23.10, Y:-21.72, Z:-3.64 [[ 9.58335492e-01 -2.53767067e-01 -1.31131081e-01 -2.30964710e+01] [ 2.50039123e-01 9.67215805e-01 -4.44299825e-02 -2.17247195e+01] [ 1.38106921e-01 9.79092856e-03 9.90368929e-01 -3.63508129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58165253199999 meters Centerline goodness : 0.669967 with order 1 Centerline is valid? [False, False] Translation: X:-23.10, Y:-21.72, Z:-3.63 [[ 9.58697626e-01 -2.52768922e-01 -1.30409867e-01 -2.31007959e+01] [ 2.49074713e-01 9.67476364e-01 -4.41732039e-02 -2.17235410e+01] [ 1.37334077e-01 9.86694551e-03 9.90475641e-01 -3.63419855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641652532 meters Centerline goodness : 0.669074 with order 1 Centerline is valid? [False, False] Translation: X:-23.10, Y:-21.72, Z:-3.63 [[ 9.59946307e-01 -2.47674682e-01 -1.30997482e-01 -2.31039670e+01] [ 2.44520381e-01 9.68822979e-01 -3.98976098e-02 -2.17220960e+01] [ 1.36794998e-01 6.26800910e-03 9.90579548e-01 -3.63324152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70165253199998 meters Centerline goodness : 0.673012 with order 1 Centerline is valid? [False, False] Translation: X:-23.11, Y:-21.72, Z:-3.63 [[ 9.60255485e-01 -2.46872739e-01 -1.30243060e-01 -2.31079685e+01] [ 2.43767420e-01 9.69028055e-01 -3.95230847e-02 -2.17205268e+01] [ 1.35966351e-01 6.20324415e-03 9.90694035e-01 -3.63266911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76165253199999 meters Centerline goodness : 0.681819 with order 1 Centerline is valid? [False, False] Translation: X:-23.11, Y:-21.72, Z:-3.63 [[ 9.60630647e-01 -2.45735777e-01 -1.29625179e-01 -2.31118746e+01] [ 2.42739451e-01 9.69320147e-01 -3.86783144e-02 -2.17211389e+01] [ 1.35152943e-01 5.69042939e-03 9.90808408e-01 -3.63154429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82165253199999 meters Centerline goodness : 0.690549 with order 1 Centerline is valid? [False, False] Translation: X:-23.12, Y:-21.72, Z:-3.63 [[ 9.59947100e-01 -2.49482421e-01 -1.27515047e-01 -2.31155108e+01] [ 2.46037664e-01 9.68334921e-01 -4.23432248e-02 -2.17207309e+01] [ 1.34041163e-01 9.27375157e-03 9.90932371e-01 -3.63246978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88165253199999 meters Centerline goodness : 0.692671 with order 1 Centerline is valid? [False, False] Translation: X:-23.12, Y:-21.72, Z:-3.63 [[ 9.59979400e-01 -2.49423218e-01 -1.27387633e-01 -2.31158877e+01] [ 2.46034062e-01 9.68353526e-01 -4.19367332e-02 -2.17214149e+01] [ 1.33816259e-01 8.91670305e-03 9.90966044e-01 -3.63263127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94165253199999 meters Centerline goodness : 0.699361 with order 1 Centerline is valid? [False, False] Translation: X:-23.12, Y:-21.72, Z:-3.63 [[ 9.59395916e-01 -2.52747823e-01 -1.25211877e-01 -2.31200295e+01] [ 2.48928065e-01 9.67451303e-01 -4.55279669e-02 -2.17199269e+01] [ 1.32643488e-01 1.25105953e-02 9.91084855e-01 -3.63384609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001652532 meters Centerline goodness : 0.704261 with order 1 Centerline is valid? [False, False] Translation: X:-23.13, Y:-21.72, Z:-3.63 [[ 9.58929508e-01 -2.55570759e-01 -1.23035710e-01 -2.31252289e+01] [ 2.51444434e-01 9.66668980e-01 -4.82367093e-02 -2.17213167e+01] [ 1.31262697e-01 1.53189594e-02 9.91229254e-01 -3.63338054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061652532 meters Centerline goodness : 0.714693 with order 1 Centerline is valid? [False, False] Translation: X:-23.13, Y:-21.72, Z:-3.63 [[ 9.59201518e-01 -2.54670947e-01 -1.22780933e-01 -2.31272439e+01] [ 2.50731058e-01 9.66924898e-01 -4.67993500e-02 -2.17247512e+01] [ 1.30638376e-01 1.41050143e-02 9.91329745e-01 -3.63202499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12165253199998 meters Centerline goodness : 0.725133 with order 1 Centerline is valid? [False, False] Translation: X:-23.13, Y:-21.73, Z:-3.63 [[ 9.59202805e-01 -2.54619425e-01 -1.22877696e-01 -2.31271165e+01] [ 2.50807566e-01 9.66952249e-01 -4.58138882e-02 -2.17279217e+01] [ 1.30481970e-01 1.31261543e-02 9.91363788e-01 -3.63113091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18165253199999 meters Centerline goodness : 0.730995 with order 1 Centerline is valid? [False, False] Translation: X:-23.13, Y:-21.73, Z:-3.63 [[ 9.59590659e-01 -2.53490806e-01 -1.22180924e-01 -2.31306374e+01] [ 2.49813524e-01 9.67257606e-01 -4.47875682e-02 -2.17290734e+01] [ 1.29533665e-01 1.24552848e-02 9.91496795e-01 -3.63046013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24165253199999 meters Centerline goodness : 0.734642 with order 1 Centerline is valid? [False, False] Translation: X:-23.14, Y:-21.73, Z:-3.63 [[ 9.60055987e-01 -2.52178437e-01 -1.21237529e-01 -2.31353944e+01] [ 2.48636719e-01 9.67608035e-01 -4.37546952e-02 -2.17296098e+01] [ 1.28344398e-01 1.18628556e-02 9.91658705e-01 -3.62945172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30165253199999 meters Centerline goodness : 0.742656 with order 1 Centerline is valid? [False, False] Translation: X:-23.14, Y:-21.73, Z:-3.63 [[ 9.60667422e-01 -2.50423194e-01 -1.20026363e-01 -2.31417007e+01] [ 2.47033402e-01 9.68071069e-01 -4.25782102e-02 -2.17304848e+01] [ 1.26856621e-01 1.12529787e-02 9.91857232e-01 -3.62781680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361652532 meters Centerline goodness : 0.743701 with order 1 Centerline is valid? [False, False] Translation: X:-23.15, Y:-21.73, Z:-3.63 [[ 9.61202606e-01 -2.48839455e-01 -1.19031410e-01 -2.31470168e+01] [ 2.45532677e-01 9.68481514e-01 -4.19197144e-02 -2.17295557e+01] [ 1.25710999e-01 1.10672379e-02 9.92005172e-01 -3.62703488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421652532 meters Centerline goodness : 0.741768 with order 1 Centerline is valid? [False, False] Translation: X:-23.17, Y:-21.73, Z:-3.63 [[ 9.62779415e-01 -2.43819119e-01 -1.16653486e-01 -2.31663982e+01] [ 2.39709758e-01 9.69644170e-01 -4.82640197e-02 -2.17306045e+01] [ 1.24880064e-01 1.85046257e-02 9.91999268e-01 -3.63441222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48165253199998 meters Centerline goodness : 0.740830 with order 1 Centerline is valid? [False, False] Translation: X:-23.19, Y:-21.73, Z:-3.64 [[ 0.9647366 -0.23684592 -0.114836 -23.18887883] [ 0.2321147 0.97123521 -0.05315013 -21.73463041] [ 0.12412115 0.02462076 0.99196157 -3.63945156] [ 0. 0. 0. 1. ]] SLAMing on 123.54165253199999 meters Centerline goodness : 0.738297 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.74, Z:-3.64 [[ 0.96658607 -0.22767496 -0.11779423 -23.21516035] [ 0.22217756 0.97327704 -0.05804258 -21.74222671] [ 0.12786126 0.02993192 0.99134029 -3.64071264] [ 0. 0. 0. 1. ]] SLAMing on 123.60165253199999 meters Centerline goodness : 0.740138 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.74, Z:-3.64 [[ 0.96673681 -0.22737611 -0.11713257 -23.21759944] [ 0.22186718 0.97333404 -0.05827353 -21.74004475] [ 0.12725912 0.03034729 0.99140514 -3.64099229] [ 0. 0. 0. 1. ]] SLAMing on 123.66165253199999 meters Centerline goodness : 0.736980 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.74, Z:-3.64 [[ 9.68682599e-01 -2.17945614e-01 -1.18969457e-01 -2.32189557e+01] [ 2.13419195e-01 9.75695588e-01 -4.97027802e-02 -2.17407920e+01] [ 1.26910477e-01 2.27558525e-02 9.91653116e-01 -3.63938899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721652532 meters Centerline goodness : 0.739026 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.74, Z:-3.64 [[ 9.68948394e-01 -2.17052895e-01 -1.18435847e-01 -2.32220570e+01] [ 2.12629298e-01 9.75906473e-01 -4.89421852e-02 -2.17414031e+01] [ 1.26205353e-01 2.22395207e-02 9.91754815e-01 -3.63831409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781652532 meters Centerline goodness : 0.741025 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.74, Z:-3.64 [[ 9.69120286e-01 -2.16369680e-01 -1.18279473e-01 -2.32229959e+01] [ 2.12089413e-01 9.76080427e-01 -4.78025204e-02 -2.17444519e+01] [ 1.25793295e-01 2.12405682e-02 9.91829061e-01 -3.63749364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84165253199998 meters Centerline goodness : 0.743594 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.75, Z:-3.64 [[ 0.96807199 -0.22121191 -0.11790634 -23.21995373] [ 0.21662851 0.97494564 -0.05052814 -21.75067378] [ 0.1261297 0.023373 0.99173837 -3.63716802] [ 0. 0. 0. 1. ]] SLAMing on 123.90165253199999 meters Centerline goodness : 0.743953 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.76, Z:-3.64 [[ 0.96711306 -0.22571277 -0.11724367 -23.21872867] [ 0.22083902 0.97385885 -0.05318901 -21.75538387] [ 0.12618422 0.02554781 0.9916778 -3.63648214] [ 0. 0. 0. 1. ]] SLAMing on 123.96165253199999 meters Centerline goodness : 0.746425 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.77, Z:-3.64 [[ 9.65493337e-01 -2.35184072e-01 -1.11852888e-01 -2.32245346e+01] [ 2.31137303e-01 9.71733776e-01 -4.80522297e-02 -2.17699467e+01] [ 1.19992348e-01 2.05407327e-02 9.92562298e-01 -3.63936634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02165253199999 meters Centerline goodness : 0.750364 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.78, Z:-3.64 [[ 9.64277322e-01 -2.40077166e-01 -1.11947311e-01 -2.32202403e+01] [ 2.35847030e-01 9.70512853e-01 -4.98094388e-02 -2.17782256e+01] [ 1.20604413e-01 2.16276714e-02 9.92465022e-01 -3.63759881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08165253199999 meters Centerline goodness : 0.752629 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.79, Z:-3.64 [[ 9.61064179e-01 -2.53809103e-01 -1.09254672e-01 -2.32216943e+01] [ 2.50251847e-01 9.67117858e-01 -4.53548548e-02 -2.17936647e+01] [ 1.17173619e-01 1.62477428e-02 9.92978526e-01 -3.64057177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141652532 meters Centerline goodness : 0.752333 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.80, Z:-3.64 [[ 9.58595599e-01 -2.63357136e-01 -1.08339724e-01 -2.32155293e+01] [ 2.59246536e-01 9.64480745e-01 -5.06766885e-02 -2.18031661e+01] [ 1.17837645e-01 2.04917525e-02 9.92821423e-01 -3.63970865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20165253199998 meters Centerline goodness : 0.752090 with order 1 Centerline is valid? [False, False] Translation: X:-23.21, Y:-21.81, Z:-3.64 [[ 9.57376349e-01 -2.67813998e-01 -1.08195145e-01 -2.32128764e+01] [ 2.63624311e-01 9.63244443e-01 -5.15981137e-02 -2.18117019e+01] [ 1.18037070e-01 2.08759430e-02 9.92789729e-01 -3.63619519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26165253199999 meters Centerline goodness : 0.754369 with order 1 Centerline is valid? [False, False] Translation: X:-23.21, Y:-21.82, Z:-3.63 [[ 9.56107796e-01 -2.72290446e-01 -1.08239532e-01 -2.32096769e+01] [ 2.68076855e-01 9.61991946e-01 -5.20220705e-02 -2.18214947e+01] [ 1.18290671e-01 2.07221938e-02 9.92762765e-01 -3.63175638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32165253199999 meters Centerline goodness : 0.754477 with order 1 Centerline is valid? [False, False] Translation: X:-23.21, Y:-21.83, Z:-3.63 [[ 9.55862679e-01 -2.72707256e-01 -1.09349403e-01 -2.32063456e+01] [ 2.68706003e-01 9.61919407e-01 -5.00813205e-02 -2.18279808e+01] [ 1.18842853e-01 1.84880240e-02 9.92740938e-01 -3.62882496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38165253199999 meters Centerline goodness : 0.750764 with order 1 Centerline is valid? [False, False] Translation: X:-23.20, Y:-21.83, Z:-3.63 [[ 9.55577277e-01 -2.73373386e-01 -1.10177400e-01 -2.32025852e+01] [ 2.69447712e-01 9.61749129e-01 -4.93613490e-02 -2.18319379e+01] [ 1.19457098e-01 1.74815352e-02 9.92685448e-01 -3.62824363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44165253199999 meters Centerline goodness : 0.749047 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.85, Z:-3.63 [[ 9.54043123e-01 -2.76233499e-01 -1.16175615e-01 -2.32207496e+01] [ 2.72710079e-01 9.61018769e-01 -4.55207558e-02 -2.18452241e+01] [ 1.24221304e-01 1.17465027e-02 9.92185007e-01 -3.62622875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501652532 meters Centerline goodness : 0.747967 with order 1 Centerline is valid? [False, False] Translation: X:-23.22, Y:-21.85, Z:-3.63 [[ 9.54402283e-01 -2.75184225e-01 -1.15714841e-01 -2.32236314e+01] [ 2.71785309e-01 9.61328286e-01 -4.45047506e-02 -2.18469155e+01] [ 1.23486955e-01 1.10258418e-02 9.92284940e-01 -3.62511769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561652532 meters Centerline goodness : 0.745734 with order 1 Centerline is valid? [False, False] Translation: X:-23.23, Y:-21.85, Z:-3.62 [[ 9.54854965e-01 -2.73835604e-01 -1.15178378e-01 -2.32278683e+01] [ 2.70554577e-01 9.61720327e-01 -4.35227999e-02 -2.18481403e+01] [ 1.22687479e-01 1.03959243e-02 9.92390904e-01 -3.62326561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62165253199998 meters Centerline goodness : 0.741589 with order 1 Centerline is valid? [False, False] Translation: X:-23.23, Y:-21.85, Z:-3.62 [[ 9.55162706e-01 -2.72955398e-01 -1.14715107e-01 -2.32307099e+01] [ 2.69730893e-01 9.61972826e-01 -4.30526207e-02 -2.18489342e+01] [ 1.22104261e-01 1.01800494e-02 9.92465070e-01 -3.62233293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68165253199999 meters Centerline goodness : 0.742529 with order 1 Centerline is valid? [False, False] Translation: X:-23.23, Y:-21.85, Z:-3.62 [[ 9.56448519e-01 -2.67949678e-01 -1.15798102e-01 -2.32324512e+01] [ 2.65233893e-01 9.63413248e-01 -3.85473150e-02 -2.18494561e+01] [ 1.21890166e-01 6.15494107e-03 9.92524511e-01 -3.62093805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74165253199999 meters Centerline goodness : 0.734174 with order 1 Centerline is valid? [False, False] Translation: X:-23.23, Y:-21.85, Z:-3.62 [[ 9.56479399e-01 -2.67960563e-01 -1.15517515e-01 -2.32342392e+01] [ 2.65212186e-01 9.63407943e-01 -3.88282414e-02 -2.18478757e+01] [ 1.21694928e-01 6.50176045e-03 9.92546257e-01 -3.62046458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80165253199999 meters Centerline goodness : 0.733892 with order 1 Centerline is valid? [False, False] Translation: X:-23.24, Y:-21.85, Z:-3.62 [[ 9.56688069e-01 -2.67355474e-01 -1.15191101e-01 -2.32367891e+01] [ 2.64647436e-01 9.63577189e-01 -3.84803249e-02 -2.18477698e+01] [ 1.21283443e-01 6.32863809e-03 9.92597741e-01 -3.61953402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861652532 meters Centerline goodness : 0.734975 with order 1 Centerline is valid? [False, False] Translation: X:-23.24, Y:-21.85, Z:-3.62 [[ 9.56779594e-01 -2.67078860e-01 -1.15072546e-01 -2.32380650e+01] [ 2.64408591e-01 9.63655463e-01 -3.81607819e-02 -2.18479166e+01] [ 1.21082226e-01 6.08528753e-03 9.92623828e-01 -3.61884039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921652532 meters Centerline goodness : 0.731766 with order 1 Centerline is valid? [False, False] Translation: X:-23.25, Y:-21.85, Z:-3.62 [[ 9.58936959e-01 -2.59971324e-01 -1.13379096e-01 -2.32492298e+01] [ 2.57733415e-01 9.65609624e-01 -3.42277882e-02 -2.18473043e+01] [ 1.18378189e-01 3.60070969e-03 9.92962053e-01 -3.61989115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98165253199998 meters Centerline goodness : 0.731603 with order 1 Centerline is valid? [False, False] Translation: X:-23.27, Y:-21.85, Z:-3.62 [[ 9.61317534e-01 -2.52140384e-01 -1.10877522e-01 -2.32658754e+01] [ 2.49927725e-01 9.67679550e-01 -3.36514526e-02 -2.18472572e+01] [ 1.15778801e-01 4.63836468e-03 9.93264192e-01 -3.62326561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04165253199999 meters Centerline goodness : 0.729543 with order 1 Centerline is valid? [False, False] Translation: X:-23.27, Y:-21.85, Z:-3.62 [[ 9.61783565e-01 -2.50692650e-01 -1.10116160e-01 -2.32709529e+01] [ 2.48512185e-01 9.68055396e-01 -3.33233280e-02 -2.18456284e+01] [ 1.14952456e-01 4.68462163e-03 9.93359948e-01 -3.62222602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10165253199999 meters Centerline goodness : 0.727558 with order 1 Centerline is valid? [False, False] Translation: X:-23.30, Y:-21.85, Z:-3.63 [[ 9.64146215e-01 -2.41393542e-01 -1.10232639e-01 -2.32978998e+01] [ 2.38576056e-01 9.70369414e-01 -3.82709589e-02 -2.18504527e+01] [ 1.16204744e-01 1.05999318e-02 9.93168716e-01 -3.62526934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16165253199999 meters Centerline goodness : 0.724917 with order 1 Centerline is valid? [False, False] Translation: X:-23.31, Y:-21.85, Z:-3.63 [[ 9.66246892e-01 -2.34107820e-01 -1.07519636e-01 -2.33138543e+01] [ 2.31291032e-01 9.72136796e-01 -3.81380079e-02 -2.18510194e+01] [ 1.13452201e-01 1.19824039e-02 9.93471197e-01 -3.62925761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221652532 meters Centerline goodness : 0.726657 with order 1 Centerline is valid? [False, False] Translation: X:-23.33, Y:-21.85, Z:-3.63 [[ 9.68627613e-01 -2.25339401e-01 -1.04798384e-01 -2.33321933e+01] [ 2.22741561e-01 9.74211912e-01 -3.60187027e-02 -2.18538277e+01] [ 1.10212267e-01 1.15457544e-02 9.93841009e-01 -3.63003681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281652532 meters Centerline goodness : 0.727459 with order 1 Centerline is valid? [False, False] Translation: X:-23.33, Y:-21.85, Z:-3.63 [[ 9.68572297e-01 -2.25470832e-01 -1.05026709e-01 -2.33323916e+01] [ 2.22883633e-01 9.74183585e-01 -3.59058274e-02 -2.18540576e+01] [ 1.10411012e-01 1.13686553e-02 9.93820991e-01 -3.62890762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34165253199998 meters Centerline goodness : 0.733636 with order 1 Centerline is valid? [False, False] Translation: X:-23.34, Y:-21.85, Z:-3.63 [[ 9.69981235e-01 -2.20265522e-01 -1.03050972e-01 -2.33414355e+01] [ 2.17646481e-01 9.75358166e-01 -3.61449589e-02 -2.18502290e+01] [ 1.08473095e-01 1.26312505e-02 9.94019134e-01 -3.63458459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40165253199999 meters Centerline goodness : 0.737980 with order 1 Centerline is valid? [False, False] Translation: X:-23.35, Y:-21.85, Z:-3.63 [[ 9.70297452e-01 -2.19272796e-01 -1.02187555e-01 -2.33456288e+01] [ 2.16729489e-01 9.75586102e-01 -3.54976887e-02 -2.18496958e+01] [ 1.07476436e-01 1.22962604e-02 9.94131590e-01 -3.63357610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46165253199999 meters Centerline goodness : 0.745232 with order 1 Centerline is valid? [False, False] Translation: X:-23.35, Y:-21.85, Z:-3.63 [[ 9.69366628e-01 -2.23694728e-01 -1.01434754e-01 -2.33459943e+01] [ 2.20875622e-01 9.74547100e-01 -3.83654650e-02 -2.18534526e+01] [ 1.07435097e-01 1.47857371e-02 9.94102149e-01 -3.63146084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52165253199999 meters Centerline goodness : 0.753268 with order 1 Centerline is valid? [False, False] Translation: X:-23.34, Y:-21.85, Z:-3.63 [[ 9.68070371e-01 -2.29602227e-01 -1.00611006e-01 -2.33442551e+01] [ 2.26337246e-01 9.73103735e-01 -4.29018961e-02 -2.18523191e+01] [ 1.07755317e-01 1.87600364e-02 9.94000429e-01 -3.63213367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58165253199999 meters Centerline goodness : 0.751940 with order 1 Centerline is valid? [False, False] Translation: X:-23.36, Y:-21.86, Z:-3.63 [[ 9.69447181e-01 -2.19966181e-01 -1.08568143e-01 -2.33618159e+01] [ 2.16467267e-01 9.75334866e-01 -4.31720023e-02 -2.18578715e+01] [ 1.15386676e-01 1.83515267e-02 9.93151115e-01 -3.62914747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641652532 meters Centerline goodness : 0.751782 with order 1 Centerline is valid? [False, False] Translation: X:-23.36, Y:-21.86, Z:-3.63 [[ 9.69707773e-01 -2.18986285e-01 -1.08221266e-01 -2.33648478e+01] [ 2.15608173e-01 9.75570577e-01 -4.21327106e-02 -2.18594887e+01] [ 1.14803968e-01 1.75230275e-02 9.93233604e-01 -3.62728164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70165253199998 meters Centerline goodness : 0.757532 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-21.86, Z:-3.62 [[ 9.70041872e-01 -2.17523065e-01 -1.08178016e-01 -2.33677698e+01] [ 2.14352975e-01 9.75926246e-01 -4.02587138e-02 -2.18642671e+01] [ 1.14330964e-01 1.58643586e-02 9.93316039e-01 -3.62401261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76165253199999 meters Centerline goodness : 0.754759 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-21.86, Z:-3.62 [[ 9.70261874e-01 -2.16865009e-01 -1.07524246e-01 -2.33704374e+01] [ 2.13750097e-01 9.76075887e-01 -3.98341447e-02 -2.18640053e+01] [ 1.13590456e-01 1.56662339e-02 9.93404136e-01 -3.62384497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82165253199999 meters Centerline goodness : 0.754123 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-21.86, Z:-3.62 [[ 9.70332634e-01 -2.16829892e-01 -1.06955020e-01 -2.33720921e+01] [ 2.13703944e-01 9.76078843e-01 -4.00089612e-02 -2.18615975e+01] [ 1.13071671e-01 1.59652911e-02 9.93458558e-01 -3.62456733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88165253199999 meters Centerline goodness : 0.752227 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-21.86, Z:-3.62 [[ 9.70490335e-01 -2.16194731e-01 -1.06809863e-01 -2.33736321e+01] [ 2.13139960e-01 9.76228128e-01 -3.93700229e-02 -2.18627899e+01] [ 1.12782384e-01 1.54427768e-02 9.93499700e-01 -3.62354086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94165253199999 meters Centerline goodness : 0.757278 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.86, Z:-3.62 [[ 9.70795552e-01 -2.15132723e-01 -1.06178658e-01 -2.33775204e+01] [ 2.12161975e-01 9.76469586e-01 -3.86580475e-02 -2.18623287e+01] [ 1.11996842e-01 1.50019867e-02 9.93595314e-01 -3.62224776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001652532 meters Centerline goodness : 0.758350 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.86, Z:-3.62 [[ 9.71069172e-01 -2.14216630e-01 -1.05526772e-01 -2.33813553e+01] [ 2.11339688e-01 9.76679074e-01 -3.78618973e-02 -2.18624126e+01] [ 1.11176438e-01 1.44645263e-02 9.93695415e-01 -3.62065152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061652532 meters Centerline goodness : 0.761784 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.86, Z:-3.62 [[ 9.71136696e-01 -2.13923335e-01 -1.05500353e-01 -2.33818213e+01] [ 2.11102835e-01 9.76750182e-01 -3.73453364e-02 -2.18639914e+01] [ 1.11036528e-01 1.39960029e-02 9.93717767e-01 -3.62011228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12165253199998 meters Centerline goodness : 0.760508 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.86, Z:-3.62 [[ 9.71069150e-01 -2.14214852e-01 -1.05530575e-01 -2.33818138e+01] [ 2.11409989e-01 9.76688658e-01 -3.72166860e-02 -2.18641039e+01] [ 1.11042883e-01 1.38297580e-02 9.93719385e-01 -3.61975245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18165253199999 meters Centerline goodness : 0.763297 with order 1 Centerline is valid? [False, False] Translation: X:-23.39, Y:-21.86, Z:-3.62 [[ 9.71612372e-01 -2.12184584e-01 -1.04628398e-01 -2.33874302e+01] [ 2.09528790e-01 9.77143940e-01 -3.58804594e-02 -2.18643020e+01] [ 1.09850285e-01 1.29392365e-02 9.93863920e-01 -3.61803739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24165253199999 meters Centerline goodness : 0.760850 with order 1 Centerline is valid? [False, False] Translation: X:-23.39, Y:-21.87, Z:-3.62 [[ 9.71733488e-01 -2.11535844e-01 -1.04817051e-01 -2.33885081e+01] [ 2.09026279e-01 9.77301195e-01 -3.45020045e-02 -2.18679805e+01] [ 1.09736240e-01 1.16172351e-02 9.93892850e-01 -3.61560641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30165253199999 meters Centerline goodness : 0.760812 with order 1 Centerline is valid? [False, False] Translation: X:-23.39, Y:-21.87, Z:-3.61 [[ 9.71700924e-01 -2.11553793e-01 -1.05082379e-01 -2.33880232e+01] [ 2.09147994e-01 9.77308769e-01 -3.35363402e-02 -2.18712334e+01] [ 1.09792671e-01 1.06095240e-02 9.93897886e-01 -3.61436233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361652532 meters Centerline goodness : 0.761680 with order 1 Centerline is valid? [False, False] Translation: X:-23.39, Y:-21.87, Z:-3.61 [[ 9.70749822e-01 -2.16186377e-01 -1.04442490e-01 -2.33871189e+01] [ 2.13469996e-01 9.76261671e-01 -3.66566675e-02 -2.18740195e+01] [ 1.09887872e-01 1.32891155e-02 9.93855148e-01 -3.61367237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421652532 meters Centerline goodness : 0.754260 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.88, Z:-3.61 [[ 9.70620903e-01 -2.16491614e-01 -1.05006879e-01 -2.33846313e+01] [ 2.13896146e-01 9.76210588e-01 -3.55151570e-02 -2.18786142e+01] [ 1.10197561e-01 1.20111871e-02 9.93837124e-01 -3.61311193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48165253199998 meters Centerline goodness : 0.755280 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.88, Z:-3.61 [[ 9.70627246e-01 -2.16316477e-01 -1.05308738e-01 -2.33842133e+01] [ 2.13833036e-01 9.76262075e-01 -3.44643988e-02 -2.18819165e+01] [ 1.10264144e-01 1.09335974e-02 9.93842178e-01 -3.61184878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54165253199999 meters Centerline goodness : 0.753472 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.89, Z:-3.61 [[ 9.70730182e-01 -2.15773242e-01 -1.05474273e-01 -2.33845417e+01] [ 2.13420478e-01 9.76394736e-01 -3.32418357e-02 -2.18856864e+01] [ 1.10157223e-01 9.75848355e-03 9.93866268e-01 -3.61041902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60165253199999 meters Centerline goodness : 0.756082 with order 1 Centerline is valid? [False, False] Translation: X:-23.39, Y:-21.89, Z:-3.61 [[ 9.70030029e-01 -2.19406469e-01 -1.04415247e-01 -2.33858752e+01] [ 2.16774910e-01 9.75555461e-01 -3.60580161e-02 -2.18888956e+01] [ 1.09774227e-01 1.23427526e-02 9.93879910e-01 -3.60938635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66165253199999 meters Centerline goodness : 0.752787 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.89, Z:-3.61 [[ 9.68809712e-01 -2.24807678e-01 -1.04255692e-01 -2.33824473e+01] [ 2.21877725e-01 9.74292278e-01 -3.90490872e-02 -2.18934283e+01] [ 1.10354051e-01 1.46991190e-02 9.93783638e-01 -3.60862734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721652532 meters Centerline goodness : 0.753941 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.90, Z:-3.61 [[ 9.68752327e-01 -2.24930799e-01 -1.04523036e-01 -2.33811083e+01] [ 2.22110001e-01 9.74279351e-01 -3.80380529e-02 -2.18974120e+01] [ 1.10390565e-01 1.36338407e-02 9.93794768e-01 -3.60805715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781652532 meters Centerline goodness : 0.751514 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.90, Z:-3.61 [[ 9.68980650e-01 -2.24072102e-01 -1.04250629e-01 -2.33822086e+01] [ 2.21373002e-01 9.74489756e-01 -3.69284315e-02 -2.19002198e+01] [ 1.09865801e-01 1.27046608e-02 9.93865231e-01 -3.60783739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84165253199998 meters Centerline goodness : 0.754634 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.90, Z:-3.61 [[ 9.68166091e-01 -2.27939473e-01 -1.03431217e-01 -2.33822050e+01] [ 2.24967087e-01 9.73557105e-01 -3.97035731e-02 -2.19043031e+01] [ 1.09746208e-01 1.51710336e-02 9.93843856e-01 -3.60700008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90165253199999 meters Centerline goodness : 0.750271 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.91, Z:-3.60 [[ 9.67313319e-01 -2.31768350e-01 -1.02899826e-01 -2.33815353e+01] [ 2.28639341e-01 9.72630866e-01 -4.13914383e-02 -2.19119219e+01] [ 1.09676772e-01 1.65115412e-02 9.93830154e-01 -3.60456943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96165253199999 meters Centerline goodness : 0.748812 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.92, Z:-3.61 [[ 9.66200651e-01 -2.36662339e-01 -1.02211737e-01 -2.33788914e+01] [ 2.33227497e-01 9.71402799e-01 -4.45144573e-02 -2.19160507e+01] [ 1.09823663e-01 1.91713102e-02 9.93766182e-01 -3.60512109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02165253199999 meters Centerline goodness : 0.754119 with order 1 Centerline is valid? [False, False] Translation: X:-23.38, Y:-21.92, Z:-3.61 [[ 9.65068460e-01 -2.41506936e-01 -1.01573951e-01 -2.33767600e+01] [ 2.37746680e-01 9.70149912e-01 -4.78086240e-02 -2.19192377e+01] [ 1.10088074e-01 2.19897256e-02 9.93678554e-01 -3.60515378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08165253199999 meters Centerline goodness : 0.754170 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-21.93, Z:-3.60 [[ 9.64960115e-01 -2.41636128e-01 -1.02293485e-01 -2.33747619e+01] [ 2.38117411e-01 9.70170024e-01 -4.54997076e-02 -2.19258806e+01] [ 1.10236446e-01 1.95475432e-02 9.93713147e-01 -3.60237058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141652532 meters Centerline goodness : 0.755360 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-21.93, Z:-3.60 [[ 9.65023841e-01 -2.41086669e-01 -1.02986423e-01 -2.33745364e+01] [ 2.37800366e-01 9.70350112e-01 -4.32625352e-02 -2.19322357e+01] [ 1.10362907e-01 1.72591688e-02 9.93741490e-01 -3.59875795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20165253199998 meters Centerline goodness : 0.755689 with order 1 Centerline is valid? [False, False] Translation: X:-23.37, Y:-21.94, Z:-3.60 [[ 9.65100748e-01 -2.40582883e-01 -1.03442847e-01 -2.33740668e+01] [ 2.37492303e-01 9.70506502e-01 -4.14069513e-02 -2.19382998e+01] [ 1.10353759e-01 1.53949998e-02 9.93773134e-01 -3.59620425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26165253199999 meters Centerline goodness : 0.755619 with order 1 Centerline is valid? [False, False] Translation: X:-23.40, Y:-21.95, Z:-3.60 [[ 9.64628907e-01 -2.40110286e-01 -1.08803135e-01 -2.33969327e+01] [ 2.37558446e-01 9.70704717e-01 -3.60324468e-02 -2.19510943e+01] [ 1.14267478e-01 8.91083601e-03 9.93410057e-01 -3.59532923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32165253199999 meters Centerline goodness : 0.753747 with order 1 Centerline is valid? [False, False] Translation: X:-23.40, Y:-21.95, Z:-3.59 [[ 9.65487979e-01 -2.35916163e-01 -1.10347304e-01 -2.33957689e+01] [ 2.33885463e-01 9.71763897e-01 -3.11852316e-02 -2.19539879e+01] [ 1.14588626e-01 4.30033597e-03 9.93403721e-01 -3.59341757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38165253199999 meters Centerline goodness : 0.753202 with order 1 Centerline is valid? [False, False] Translation: X:-23.40, Y:-21.95, Z:-3.59 [[ 9.65567069e-01 -2.35726454e-01 -1.10060319e-01 -2.33973406e+01] [ 2.33714643e-01 9.71810240e-01 -3.10213450e-02 -2.19537520e+01] [ 1.14270297e-01 4.23048096e-03 9.93440689e-01 -3.59275871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44165253199999 meters Centerline goodness : 0.752647 with order 1 Centerline is valid? [False, False] Translation: X:-23.40, Y:-21.95, Z:-3.59 [[ 9.65808358e-01 -2.34966573e-01 -1.09566989e-01 -2.34003879e+01] [ 2.32976086e-01 9.71994241e-01 -3.08113315e-02 -2.19521608e+01] [ 1.13738116e-01 4.23135325e-03 9.93501755e-01 -3.59219462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501652532 meters Centerline goodness : 0.751330 with order 1 Centerline is valid? [False, False] Translation: X:-23.40, Y:-21.95, Z:-3.59 [[ 9.66946139e-01 -2.29739104e-01 -1.10612421e-01 -2.34021297e+01] [ 2.28292591e-01 9.73252184e-01 -2.57425502e-02 -2.19542874e+01] [ 1.13567851e-01 -3.60336587e-04 9.93530177e-01 -3.58985769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561652532 meters Centerline goodness : 0.749940 with order 1 Centerline is valid? [False, False] Translation: X:-23.41, Y:-21.95, Z:-3.59 [[ 9.67258995e-01 -2.28684584e-01 -1.10060886e-01 -2.34061954e+01] [ 2.27305031e-01 9.73500284e-01 -2.50922183e-02 -2.19542887e+01] [ 1.12882507e-01 -7.46719099e-04 9.93608063e-01 -3.58797834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62165253199998 meters Centerline goodness : 0.745095 with order 1 Centerline is valid? [False, False] Translation: X:-23.41, Y:-21.95, Z:-3.59 [[ 9.66762601e-01 -2.31701812e-01 -1.08094140e-01 -2.34118259e+01] [ 2.29975628e-01 9.72783533e-01 -2.83444672e-02 -2.19524555e+01] [ 1.11719664e-01 2.54335317e-03 9.93736508e-01 -3.58692967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68165253199999 meters Centerline goodness : 0.745803 with order 1 Centerline is valid? [False, False] Translation: X:-23.41, Y:-21.95, Z:-3.59 [[ 9.67953086e-01 -2.26416774e-01 -1.08638245e-01 -2.34146863e+01] [ 2.25151168e-01 9.74029666e-01 -2.39408080e-02 -2.19514233e+01] [ 1.11237474e-01 -1.28644888e-03 9.93793021e-01 -3.58601608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74165253199999 meters Centerline goodness : 0.743696 with order 1 Centerline is valid? [False, False] Translation: X:-23.42, Y:-21.95, Z:-3.58 [[ 9.68341437e-01 -2.25078960e-01 -1.07955193e-01 -2.34194291e+01] [ 2.23862235e-01 9.74339388e-01 -2.34191433e-02 -2.19503820e+01] [ 1.10456153e-01 -1.48936403e-03 9.93879882e-01 -3.58443214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80165253199999 meters Centerline goodness : 0.738766 with order 1 Centerline is valid? [False, False] Translation: X:-23.42, Y:-21.95, Z:-3.58 [[ 9.68629083e-01 -2.24119047e-01 -1.07370162e-01 -2.34230397e+01] [ 2.22970424e-01 9.74559899e-01 -2.27418692e-02 -2.19507237e+01] [ 1.09735540e-01 -1.91193457e-03 9.93958981e-01 -3.58291632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861652532 meters Centerline goodness : 0.736696 with order 1 Centerline is valid? [False, False] Translation: X:-23.43, Y:-21.95, Z:-3.58 [[ 9.68950732e-01 -2.22877936e-01 -1.07050948e-01 -2.34265562e+01] [ 2.21826455e-01 9.74842789e-01 -2.17844239e-02 -2.19516090e+01] [ 1.09213112e-01 -2.63869867e-03 9.94014856e-01 -3.58086935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921652532 meters Centerline goodness : 0.721026 with order 1 Centerline is valid? [False, False] Translation: X:-23.42, Y:-21.95, Z:-3.58 [[ 9.68598331e-01 -2.24116661e-01 -1.07652200e-01 -2.34234724e+01] [ 2.23068474e-01 9.74558124e-01 -2.18384805e-02 -2.19528217e+01] [ 1.09807693e-01 -2.86109629e-03 9.93948733e-01 -3.58077776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98165253199998 meters Centerline goodness : 0.713792 with order 1 Centerline is valid? [False, False] Translation: X:-23.43, Y:-21.95, Z:-3.58 [[ 9.68903952e-01 -2.22945740e-01 -1.07332793e-01 -2.34260753e+01] [ 2.21987166e-01 9.74824475e-01 -2.09509306e-02 -2.19541504e+01] [ 1.09301554e-01 -3.52706296e-03 9.94002379e-01 -3.57969671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041652532 meters Centerline goodness : 0.709239 with order 1 Centerline is valid? [False, False] Translation: X:-23.43, Y:-21.95, Z:-3.58 [[ 9.68192490e-01 -2.26692431e-01 -1.05895434e-01 -2.34287021e+01] [ 2.25373785e-01 9.73966370e-01 -2.44165220e-02 -2.19538349e+01] [ 1.08673633e-01 -2.26161677e-04 9.94077457e-01 -3.57932951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101652532 meters Centerline goodness : 0.710447 with order 1 Centerline is valid? [False, False] Translation: X:-23.44, Y:-21.96, Z:-3.58 [[ 9.68388482e-01 -2.26911049e-01 -1.03610443e-01 -2.34376936e+01] [ 2.25445218e-01 9.73914127e-01 -2.58016857e-02 -2.19580657e+01] [ 1.06762362e-01 1.62757632e-03 9.94283234e-01 -3.57749564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161652532 meters Centerline goodness : 0.706136 with order 1 Centerline is valid? [False, False] Translation: X:-23.44, Y:-21.96, Z:-3.58 [[ 9.67813969e-01 -2.30060060e-01 -1.02022006e-01 -2.34409456e+01] [ 2.28268409e-01 9.73164408e-01 -2.90614520e-02 -2.19585594e+01] [ 1.05970065e-01 4.83767816e-03 9.94357553e-01 -3.57726958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221652532 meters Centerline goodness : 0.710993 with order 1 Centerline is valid? [False, False] Translation: X:-23.44, Y:-21.96, Z:-3.58 [[ 9.67969472e-01 -2.29361870e-01 -1.02118722e-01 -2.34425066e+01] [ 2.27691556e-01 9.73334047e-01 -2.78816785e-02 -2.19607209e+01] [ 1.05790623e-01 3.73704292e-03 9.94381405e-01 -3.57519210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281652532 meters Centerline goodness : 0.711149 with order 1 Centerline is valid? [False, False] Translation: X:-23.44, Y:-21.96, Z:-3.57 [[ 9.68196134e-01 -2.28473226e-01 -1.01961912e-01 -2.34449366e+01] [ 2.26895146e-01 9.73545637e-01 -2.69719242e-02 -2.19619102e+01] [ 1.05426937e-01 2.97944973e-03 9.94422588e-01 -3.57348675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341652532 meters Centerline goodness : 0.709536 with order 1 Centerline is valid? [False, False] Translation: X:-23.45, Y:-21.96, Z:-3.57 [[ 9.68547561e-01 -2.27046545e-01 -1.01811044e-01 -2.34482913e+01] [ 2.25621331e-01 9.73882452e-01 -2.54555452e-02 -2.19645637e+01] [ 1.04931583e-01 1.68416289e-03 9.94478017e-01 -3.57078980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401652532 meters Centerline goodness : 0.705383 with order 1 Centerline is valid? [False, False] Translation: X:-23.45, Y:-21.97, Z:-3.57 [[ 9.68375999e-01 -2.27518961e-01 -1.02386755e-01 -2.34468800e+01] [ 2.26140485e-01 9.73773046e-01 -2.50307081e-02 -2.19661838e+01] [ 1.05396423e-01 1.08534646e-03 9.94429694e-01 -3.56942789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46165253200002 meters Centerline goodness : 0.694570 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-21.97, Z:-3.58 [[ 9.69397208e-01 -2.23954342e-01 -1.00565926e-01 -2.34599802e+01] [ 2.22050515e-01 9.74577007e-01 -2.98868862e-02 -2.19664175e+01] [ 1.04702537e-01 6.64154845e-03 9.94481407e-01 -3.57519803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.521652532 meters Centerline goodness : 0.691495 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-21.97, Z:-3.57 [[ 9.69515988e-01 -2.23325469e-01 -1.00819063e-01 -2.34608093e+01] [ 2.21522138e-01 9.74727435e-01 -2.88854736e-02 -2.19690672e+01] [ 1.04721969e-01 5.67127403e-03 9.94485367e-01 -3.57327973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581652532 meters Centerline goodness : 0.685365 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-21.97, Z:-3.57 [[ 9.68934388e-01 -2.26464164e-01 -9.93988677e-02 -2.34641023e+01] [ 2.24344543e-01 9.73979225e-01 -3.21557847e-02 -2.19688571e+01] [ 1.04094565e-01 8.85725201e-03 9.94527964e-01 -3.57268679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641652532 meters Centerline goodness : 0.678783 with order 1 Centerline is valid? [False, False] Translation: X:-23.46, Y:-21.97, Z:-3.57 [[ 9.68980020e-01 -2.26316823e-01 -9.92895595e-02 -2.34646905e+01] [ 2.24222520e-01 9.74015223e-01 -3.19156253e-02 -2.19692300e+01] [ 1.03932585e-01 8.66264795e-03 9.94546618e-01 -3.57250383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701652532 meters Centerline goodness : 0.682201 with order 1 Centerline is valid? [False, False] Translation: X:-23.47, Y:-21.97, Z:-3.57 [[ 9.69227828e-01 -2.25401847e-01 -9.89516307e-02 -2.34676366e+01] [ 2.23380194e-01 9.74231902e-01 -3.12008035e-02 -2.19698281e+01] [ 1.03434554e-01 8.13685258e-03 9.94602978e-01 -3.57104445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761652532 meters Centerline goodness : 0.685100 with order 1 Centerline is valid? [False, False] Translation: X:-23.47, Y:-21.97, Z:-3.57 [[ 9.68512187e-01 -2.29059247e-01 -9.75500110e-02 -2.34709051e+01] [ 2.26760979e-01 9.73350528e-01 -3.41790555e-02 -2.19713468e+01] [ 1.02779383e-01 1.09822958e-02 9.94643548e-01 -3.56917381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821652532 meters Centerline goodness : 0.688952 with order 1 Centerline is valid? [False, False] Translation: X:-23.47, Y:-21.97, Z:-3.57 [[ 9.67908338e-01 -2.32359915e-01 -9.57200013e-02 -2.34746424e+01] [ 2.29725954e-01 9.72519905e-01 -3.78288351e-02 -2.19701500e+01] [ 1.01879511e-01 1.46254764e-02 9.94689228e-01 -3.56957601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881652532 meters Centerline goodness : 0.692748 with order 1 Centerline is valid? [False, False] Translation: X:-23.49, Y:-21.98, Z:-3.56 [[ 9.68409329e-01 -2.27180520e-01 -1.02822094e-01 -2.34939463e+01] [ 2.23993260e-01 9.73698015e-01 -4.17036690e-02 -2.19799556e+01] [ 1.09591930e-01 1.73547661e-02 9.93825146e-01 -3.56475567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941652532 meters Centerline goodness : 0.697754 with order 1 Centerline is valid? [False, False] Translation: X:-23.50, Y:-21.98, Z:-3.56 [[ 9.67860439e-01 -2.30228521e-01 -1.01197819e-01 -2.34974903e+01] [ 2.26791362e-01 9.72930442e-01 -4.44075751e-02 -2.19826282e+01] [ 1.08682330e-01 2.00295438e-02 9.93874725e-01 -3.56371111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001652532 meters Centerline goodness : 0.702409 with order 1 Centerline is valid? [False, False] Translation: X:-23.52, Y:-22.00, Z:-3.56 [[ 9.66528458e-01 -2.33064266e-01 -1.07255715e-01 -2.35167635e+01] [ 2.29950285e-01 9.72350431e-01 -4.07124736e-02 -2.19958374e+01] [ 1.13778764e-01 1.46862821e-02 9.93397557e-01 -3.56142691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061652532 meters Centerline goodness : 0.708380 with order 1 Centerline is valid? [False, False] Translation: X:-23.54, Y:-22.01, Z:-3.56 [[ 9.66001499e-01 -2.33080709e-01 -1.11868170e-01 -2.35440683e+01] [ 2.30354227e-01 9.72407336e-01 -3.68904156e-02 -2.20132992e+01] [ 1.17379873e-01 9.86689093e-03 9.93038071e-01 -3.56002567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121652532 meters Centerline goodness : 0.708575 with order 1 Centerline is valid? [False, False] Translation: X:-23.54, Y:-22.01, Z:-3.56 [[ 9.65085656e-01 -2.37403390e-01 -1.10676585e-01 -2.35443940e+01] [ 2.34301189e-01 9.71322998e-01 -4.04300117e-02 -2.20149987e+01] [ 1.17100934e-01 1.30867689e-02 9.93033790e-01 -3.56023930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18165253200002 meters Centerline goodness : 0.717791 with order 1 Centerline is valid? [False, False] Translation: X:-23.55, Y:-22.02, Z:-3.56 [[ 9.64490261e-01 -2.40672641e-01 -1.08789778e-01 -2.35478854e+01] [ 2.37251361e-01 9.70471051e-01 -4.35629516e-02 -2.20160256e+01] [ 1.16061741e-01 1.62055196e-02 9.93109789e-01 -3.56045548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24165253200002 meters Centerline goodness : 0.719371 with order 1 Centerline is valid? [False, False] Translation: X:-23.55, Y:-22.02, Z:-3.56 [[ 9.63758050e-01 -2.44326788e-01 -1.07120683e-01 -2.35500148e+01] [ 2.40587976e-01 9.69501427e-01 -4.67376681e-02 -2.20177847e+01] [ 1.15272919e-01 1.92718557e-02 9.93146892e-01 -3.56070240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301652532 meters Centerline goodness : 0.721331 with order 1 Centerline is valid? [False, False] Translation: X:-23.55, Y:-22.02, Z:-3.56 [[ 9.62903191e-01 -2.48374137e-01 -1.05488067e-01 -2.35519385e+01] [ 2.44293399e-01 9.68401368e-01 -5.01948719e-02 -2.20183977e+01] [ 1.14621897e-01 2.25627638e-02 9.93152930e-01 -3.56092080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361652532 meters Centerline goodness : 0.729281 with order 1 Centerline is valid? [False, False] Translation: X:-23.57, Y:-22.03, Z:-3.56 [[ 9.61988276e-01 -2.49444836e-01 -1.11156781e-01 -2.35737541e+01] [ 2.45904947e-01 9.68262048e-01 -4.47142469e-02 -2.20340900e+01] [ 1.18782630e-01 1.56805790e-02 9.92796458e-01 -3.55750649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421652532 meters Centerline goodness : 0.731923 with order 1 Centerline is valid? [False, False] Translation: X:-23.58, Y:-22.03, Z:-3.56 [[ 9.62399343e-01 -2.48135848e-01 -1.10526490e-01 -2.35781576e+01] [ 2.44729601e-01 9.68610418e-01 -4.36036696e-02 -2.20347484e+01] [ 1.17876743e-01 1.49150393e-02 9.92916218e-01 -3.55577659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481652532 meters Centerline goodness : 0.736233 with order 1 Centerline is valid? [False, False] Translation: X:-23.58, Y:-22.04, Z:-3.55 [[ 9.61709171e-01 -2.51543340e-01 -1.08818284e-01 -2.35817785e+01] [ 2.47811680e-01 9.67678267e-01 -4.67775944e-02 -2.20357473e+01] [ 1.17067680e-01 1.80199999e-02 9.92960441e-01 -3.55476425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541652532 meters Centerline goodness : 0.736416 with order 1 Centerline is valid? [False, False] Translation: X:-23.61, Y:-22.05, Z:-3.55 [[ 9.61057450e-01 -2.51708047e-01 -1.14068559e-01 -2.36059106e+01] [ 2.48398240e-01 9.67721221e-01 -4.25905258e-02 -2.20488530e+01] [ 1.21106943e-01 1.25975130e-02 9.92559525e-01 -3.55313329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601652532 meters Centerline goodness : 0.738463 with order 1 Centerline is valid? [False, False] Translation: X:-23.61, Y:-22.05, Z:-3.55 [[ 9.61893150e-01 -2.48778093e-01 -1.13450554e-01 -2.36123988e+01] [ 2.45677668e-01 9.68494165e-01 -4.07619453e-02 -2.20487515e+01] [ 1.20016878e-01 1.13363685e-02 9.92707125e-01 -3.55102267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661652532 meters Centerline goodness : 0.738122 with order 1 Centerline is valid? [False, False] Translation: X:-23.64, Y:-22.06, Z:-3.55 [[ 9.63177126e-01 -2.42236832e-01 -1.16666793e-01 -2.36438885e+01] [ 2.38229987e-01 9.70053489e-01 -4.73571765e-02 -2.20600185e+01] [ 1.24644682e-01 1.78198206e-02 9.92041409e-01 -3.54892897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721652532 meters Centerline goodness : 0.735796 with order 1 Centerline is valid? [False, False] Translation: X:-23.64, Y:-22.06, Z:-3.55 [[ 9.64125149e-01 -2.37622311e-01 -1.18314560e-01 -2.36433403e+01] [ 2.34178353e-01 9.71268176e-01 -4.24102465e-02 -2.20633690e+01] [ 1.24992787e-01 1.31820765e-02 9.92070076e-01 -3.54649747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781652532 meters Centerline goodness : 0.736819 with order 1 Centerline is valid? [False, False] Translation: X:-23.65, Y:-22.07, Z:-3.54 [[ 9.65246052e-01 -2.32339258e-01 -1.19660049e-01 -2.36451677e+01] [ 2.29526080e-01 9.72600058e-01 -3.69716832e-02 -2.20663502e+01] [ 1.24971344e-01 8.22166928e-03 9.92126286e-01 -3.54291844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841652532 meters Centerline goodness : 0.737181 with order 1 Centerline is valid? [False, False] Translation: X:-23.65, Y:-22.07, Z:-3.54 [[ 9.66267263e-01 -2.27447069e-01 -1.20811454e-01 -2.36460620e+01] [ 2.25175482e-01 9.73782137e-01 -3.23164383e-02 -2.20674131e+01] [ 1.24994315e-01 4.02253901e-03 9.92149303e-01 -3.54127271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901652532 meters Centerline goodness : 0.735768 with order 1 Centerline is valid? [False, False] Translation: X:-23.65, Y:-22.07, Z:-3.54 [[ 9.65746252e-01 -2.30502427e-01 -1.19175534e-01 -2.36502414e+01] [ 2.27827030e-01 9.73043486e-01 -3.57941297e-02 -2.20656504e+01] [ 1.24213610e-01 7.41663875e-03 9.92227783e-01 -3.54110993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96165253200002 meters Centerline goodness : 0.741020 with order 1 Centerline is valid? [False, False] Translation: X:-23.65, Y:-22.07, Z:-3.54 [[ 9.66168378e-01 -2.29066714e-01 -1.18520491e-01 -2.36546098e+01] [ 2.26532736e-01 9.73388409e-01 -3.46110468e-02 -2.20672054e+01] [ 1.23294711e-01 6.59132797e-03 9.92348209e-01 -3.53921202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.021652532 meters Centerline goodness : 0.739348 with order 1 Centerline is valid? [False, False] Translation: X:-23.66, Y:-22.07, Z:-3.54 [[ 9.66367719e-01 -2.28428232e-01 -1.18126940e-01 -2.36580828e+01] [ 2.25973515e-01 9.73541529e-01 -3.39538173e-02 -2.20670378e+01] [ 1.22757493e-01 6.11831308e-03 9.92417838e-01 -3.53715825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081652532 meters Centerline goodness : 0.737578 with order 1 Centerline is valid? [False, False] Translation: X:-23.66, Y:-22.07, Z:-3.54 [[ 9.67797143e-01 -2.22163953e-01 -1.18371739e-01 -2.36626960e+01] [ 2.20192209e-01 9.75005773e-01 -2.96501962e-02 -2.20654832e+01] [ 1.22000334e-01 2.63084040e-03 9.92526573e-01 -3.53657972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141652532 meters Centerline goodness : 0.727604 with order 1 Centerline is valid? [False, False] Translation: X:-23.67, Y:-22.07, Z:-3.54 [[ 9.68361676e-01 -2.20268813e-01 -1.17291581e-01 -2.36680554e+01] [ 2.18389752e-01 9.75436560e-01 -2.87999042e-02 -2.20657477e+01] [ 1.20754217e-01 2.27344413e-03 9.92679833e-01 -3.53597319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201652532 meters Centerline goodness : 0.730881 with order 1 Centerline is valid? [False, False] Translation: X:-23.67, Y:-22.07, Z:-3.53 [[ 9.68565011e-01 -2.19374310e-01 -1.17289090e-01 -2.36701228e+01] [ 2.17619560e-01 9.75639867e-01 -2.77232194e-02 -2.20682899e+01] [ 1.20513674e-01 1.32734020e-03 9.92710780e-01 -3.53375505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261652532 meters Centerline goodness : 0.726513 with order 1 Centerline is valid? [False, False] Translation: X:-23.67, Y:-22.07, Z:-3.53 [[ 9.69661037e-01 -2.14120568e-01 -1.17940049e-01 -2.36720416e+01] [ 2.12883566e-01 9.76803585e-01 -2.31375148e-02 -2.20686487e+01] [ 1.20158481e-01 -2.67195156e-03 9.92751127e-01 -3.53303964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321652532 meters Centerline goodness : 0.725875 with order 1 Centerline is valid? [False, False] Translation: X:-23.67, Y:-22.07, Z:-3.53 [[ 9.68816792e-01 -2.18476903e-01 -1.16883988e-01 -2.36728618e+01] [ 2.16820310e-01 9.75841882e-01 -2.68621556e-02 -2.20694728e+01] [ 1.19929051e-01 6.81685043e-04 9.92782231e-01 -3.53263617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381652532 meters Centerline goodness : 0.722364 with order 1 Centerline is valid? [False, False] Translation: X:-23.67, Y:-22.07, Z:-3.53 [[ 9.68797230e-01 -2.18354912e-01 -1.17273435e-01 -2.36724222e+01] [ 2.16750568e-01 9.75869408e-01 -2.64214013e-02 -2.20712195e+01] [ 1.20212801e-01 1.77896590e-04 9.92748131e-01 -3.53153676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441652532 meters Centerline goodness : 0.721330 with order 1 Centerline is valid? [False, False] Translation: X:-23.68, Y:-22.07, Z:-3.53 [[ 9.70219622e-01 -2.11821095e-01 -1.17497701e-01 -2.36779103e+01] [ 2.10776731e-01 9.77300214e-01 -2.13883427e-02 -2.20694121e+01] [ 1.19361031e-01 -4.01439155e-03 9.92842802e-01 -3.53007225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501652532 meters Centerline goodness : 0.721265 with order 1 Centerline is valid? [False, False] Translation: X:-23.68, Y:-22.07, Z:-3.53 [[ 9.70527382e-01 -2.10692642e-01 -1.16983806e-01 -2.36819154e+01] [ 2.09748205e-01 9.77541188e-01 -2.04674446e-02 -2.20704788e+01] [ 1.18668829e-01 -4.67292783e-03 9.92922894e-01 -3.52793961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561652532 meters Centerline goodness : 0.719355 with order 1 Centerline is valid? [False, False] Translation: X:-23.69, Y:-22.07, Z:-3.53 [[ 9.70982490e-01 -2.08952750e-01 -1.16326058e-01 -2.36867191e+01] [ 2.08107620e-01 9.77911519e-01 -1.95007529e-02 -2.20715980e+01] [ 1.17831328e-01 -5.27344952e-03 9.93019622e-01 -3.52605970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621652532 meters Centerline goodness : 0.716857 with order 1 Centerline is valid? [False, False] Translation: X:-23.69, Y:-22.07, Z:-3.52 [[ 9.71147722e-01 -2.08259646e-01 -1.16189597e-01 -2.36887964e+01] [ 2.07517111e-01 9.78054796e-01 -1.85866581e-02 -2.20735294e+01] [ 1.17510643e-01 -6.06093879e-03 9.93053127e-01 -3.52424906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68165253200002 meters Centerline goodness : 0.721480 with order 1 Centerline is valid? [False, False] Translation: X:-23.69, Y:-22.07, Z:-3.53 [[ 9.72116594e-01 -2.03588281e-01 -1.16366403e-01 -2.36912422e+01] [ 2.03194952e-01 9.79017817e-01 -1.53598474e-02 -2.20693162e+01] [ 1.17051867e-01 -8.71350314e-03 9.93087577e-01 -3.52519574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74165253200002 meters Centerline goodness : 0.722332 with order 1 Centerline is valid? [False, False] Translation: X:-23.69, Y:-22.07, Z:-3.53 [[ 9.72166087e-01 -2.03561748e-01 -1.15998763e-01 -2.36926956e+01] [ 2.03137653e-01 9.79026030e-01 -1.55925163e-02 -2.20674772e+01] [ 1.16739849e-01 -8.40520099e-03 9.93126961e-01 -3.52532198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801652532 meters Centerline goodness : 0.723354 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-22.07, Z:-3.52 [[ 9.71778376e-01 -2.06391261e-01 -1.14234122e-01 -2.36976439e+01] [ 2.05572925e-01 9.78456805e-01 -1.90276817e-02 -2.20664291e+01] [ 1.15700301e-01 -4.99275293e-03 9.93271621e-01 -3.52465674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861652532 meters Centerline goodness : 0.718593 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-22.06, Z:-3.53 [[ 9.72000054e-01 -2.05829822e-01 -1.13357749e-01 -2.37007872e+01] [ 2.04931606e-01 9.78579073e-01 -1.96477407e-02 -2.20623473e+01] [ 1.14973612e-01 -4.13298063e-03 9.93359948e-01 -3.52585293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921652532 meters Centerline goodness : 0.715239 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-22.06, Z:-3.53 [[ 9.71320876e-01 -2.09723053e-01 -1.12035697e-01 -2.37030813e+01] [ 2.08438808e-01 9.77760479e-01 -2.31885656e-02 -2.20631858e+01] [ 1.14407254e-01 -8.29049389e-04 9.93433588e-01 -3.52523278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981652532 meters Centerline goodness : 0.710968 with order 1 Centerline is valid? [False, False] Translation: X:-23.70, Y:-22.06, Z:-3.53 [[ 9.71420951e-01 -2.09461237e-01 -1.11657180e-01 -2.37045492e+01] [ 2.08184983e-01 9.77816621e-01 -2.31012862e-02 -2.20621593e+01] [ 1.14019070e-01 -8.04274699e-04 9.93478236e-01 -3.52536858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041652532 meters Centerline goodness : 0.718759 with order 1 Centerline is valid? [False, False] Translation: X:-23.71, Y:-22.06, Z:-3.52 [[ 9.71936524e-01 -2.07512456e-01 -1.10806021e-01 -2.37101251e+01] [ 2.06340701e-01 9.78231350e-01 -2.20667244e-02 -2.20599863e+01] [ 1.12973044e-01 -1.41633668e-03 9.93597044e-01 -3.52429744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101652532 meters Centerline goodness : 0.722805 with order 1 Centerline is valid? [False, False] Translation: X:-23.71, Y:-22.06, Z:-3.52 [[ 9.72176848e-01 -2.06685100e-01 -1.10242670e-01 -2.37134021e+01] [ 2.05557554e-01 9.78406141e-01 -2.16220880e-02 -2.20598772e+01] [ 1.12331068e-01 -1.64072016e-03 9.93669482e-01 -3.52320587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161652532 meters Centerline goodness : 0.728994 with order 1 Centerline is valid? [False, False] Translation: X:-23.72, Y:-22.06, Z:-3.52 [[ 9.73273125e-01 -2.01309529e-01 -1.10516502e-01 -2.37169054e+01] [ 2.00670173e-01 9.79511455e-01 -1.69938699e-02 -2.20597157e+01] [ 1.11673207e-01 -5.63768865e-03 9.93728993e-01 -3.52190225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221652532 meters Centerline goodness : 0.736039 with order 1 Centerline is valid? [False, False] Translation: X:-23.72, Y:-22.06, Z:-3.52 [[ 9.73468822e-01 -2.00895835e-01 -1.09541393e-01 -2.37200201e+01] [ 2.00219908e-01 9.79599122e-01 -1.72496021e-02 -2.20575764e+01] [ 1.10772025e-01 -5.14041780e-03 9.93832549e-01 -3.52263444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281652532 meters Centerline goodness : 0.730881 with order 1 Centerline is valid? [False, False] Translation: X:-23.72, Y:-22.06, Z:-3.52 [[ 9.73485393e-01 -2.00970291e-01 -1.09257187e-01 -2.37206451e+01] [ 2.00281763e-01 9.79584635e-01 -1.73538973e-02 -2.20569021e+01] [ 1.10514279e-01 -4.98845649e-03 9.93862017e-01 -3.52311609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341652532 meters Centerline goodness : 0.739104 with order 1 Centerline is valid? [False, False] Translation: X:-23.72, Y:-22.05, Z:-3.52 [[ 9.72833914e-01 -2.05220457e-01 -1.07138879e-01 -2.37242183e+01] [ 2.04045387e-01 9.78715634e-01 -2.19359872e-02 -2.20532107e+01] [ 1.09360209e-01 -5.21121718e-04 9.94002049e-01 -3.52475155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401652532 meters Centerline goodness : 0.742027 with order 1 Centerline is valid? [False, False] Translation: X:-23.73, Y:-22.05, Z:-3.52 [[ 9.72817359e-01 -2.05361636e-01 -1.07018614e-01 -2.37253328e+01] [ 2.04200125e-01 9.78685959e-01 -2.18197894e-02 -2.20525772e+01] [ 1.09218563e-01 -6.26544524e-04 9.94017562e-01 -3.52392318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46165253200002 meters Centerline goodness : 0.743682 with order 1 Centerline is valid? [False, False] Translation: X:-23.73, Y:-22.05, Z:-3.52 [[ 9.73776976e-01 -2.00414950e-01 -1.07667308e-01 -2.37271782e+01] [ 1.99750310e-01 9.79698755e-01 -1.70341738e-02 -2.20534091e+01] [ 1.08895431e-01 -4.91909198e-03 9.94041039e-01 -3.52265962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.521652532 meters Centerline goodness : 0.748265 with order 1 Centerline is valid? [False, False] Translation: X:-23.73, Y:-22.05, Z:-3.52 [[ 9.72943383e-01 -2.04865457e-01 -1.06823770e-01 -2.37274616e+01] [ 2.03828015e-01 9.78788713e-01 -2.06590582e-02 -2.20549970e+01] [ 1.08790227e-01 -1.67358288e-03 9.94063321e-01 -3.52207548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581652532 meters Centerline goodness : 0.751064 with order 1 Centerline is valid? [False, False] Translation: X:-23.73, Y:-22.05, Z:-3.52 [[ 9.73326742e-01 -2.03577576e-01 -1.05788576e-01 -2.37317810e+01] [ 2.02560452e-01 9.79057534e-01 -2.03864611e-02 -2.20531205e+01] [ 1.07723329e-01 -1.58589407e-03 9.94179646e-01 -3.52248150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641652532 meters Centerline goodness : 0.749255 with order 1 Centerline is valid? [False, False] Translation: X:-23.74, Y:-22.05, Z:-3.52 [[ 9.71827216e-01 -2.11864423e-01 -1.03273082e-01 -2.37350719e+01] [ 2.10053446e-01 9.77282185e-01 -2.82326248e-02 -2.20514555e+01] [ 1.06908432e-01 5.74436638e-03 9.94252277e-01 -3.52258263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701652532 meters Centerline goodness : 0.743627 with order 1 Centerline is valid? [False, False] Translation: X:-23.74, Y:-22.05, Z:-3.52 [[ 9.72871693e-01 -2.07049531e-01 -1.03204456e-01 -2.37376739e+01] [ 2.05598227e-01 9.78326630e-01 -2.46246648e-02 -2.20487662e+01] [ 1.06066193e-01 2.73798619e-03 9.94355302e-01 -3.52375578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761652532 meters Centerline goodness : 0.742376 with order 1 Centerline is valid? [False, False] Translation: X:-23.74, Y:-22.05, Z:-3.52 [[ 9.72101782e-01 -2.11178389e-01 -1.02087287e-01 -2.37394254e+01] [ 2.09371124e-01 9.77428709e-01 -2.82285624e-02 -2.20498499e+01] [ 1.05744307e-01 6.06690593e-03 9.94374846e-01 -3.52263812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821652532 meters Centerline goodness : 0.738196 with order 1 Centerline is valid? [False, False] Translation: X:-23.74, Y:-22.05, Z:-3.52 [[ 9.73251858e-01 -2.05585607e-01 -1.02544520e-01 -2.37423860e+01] [ 2.04264731e-01 9.78637547e-01 -2.33339183e-02 -2.20509326e+01] [ 1.05151036e-01 1.76355053e-03 9.94454700e-01 -3.52118889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881652532 meters Centerline goodness : 0.737282 with order 1 Centerline is valid? [False, False] Translation: X:-23.74, Y:-22.05, Z:-3.52 [[ 9.73388229e-01 -2.05008676e-01 -1.02405073e-01 -2.37446609e+01] [ 2.03790965e-01 9.78759774e-01 -2.23281847e-02 -2.20527283e+01] [ 1.04807438e-01 8.64763435e-04 9.94492158e-01 -3.51905177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941652532 meters Centerline goodness : 0.736821 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.05, Z:-3.52 [[ 9.73616124e-01 -2.04077680e-01 -1.02097715e-01 -2.37469273e+01] [ 2.02944036e-01 9.78954679e-01 -2.14815204e-02 -2.20542725e+01] [ 1.04332934e-01 1.94632426e-04 9.94542408e-01 -3.51782572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001652532 meters Centerline goodness : 0.728005 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.06, Z:-3.52 [[ 9.73661379e-01 -2.03838964e-01 -1.02143020e-01 -2.37475858e+01] [ 2.02771705e-01 9.79004339e-01 -2.08359974e-02 -2.20557040e+01] [ 1.04245648e-01 -4.24508393e-04 9.94551489e-01 -3.51680854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061652532 meters Centerline goodness : 0.734190 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.06, Z:-3.52 [[ 9.72894993e-01 -2.07983125e-01 -1.01085868e-01 -2.37484298e+01] [ 2.06575069e-01 9.78128468e-01 -2.43195740e-02 -2.20573110e+01] [ 1.03933027e-01 2.77857147e-03 9.94580417e-01 -3.51641617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121652532 meters Centerline goodness : 0.731843 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.06, Z:-3.52 [[ 9.73070932e-01 -2.07237520e-01 -1.00923597e-01 -2.37501494e+01] [ 2.05917626e-01 9.78288558e-01 -2.34398962e-02 -2.20588573e+01] [ 1.03590026e-01 2.02673415e-03 9.94618017e-01 -3.51534437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18165253200002 meters Centerline goodness : 0.731097 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.06, Z:-3.51 [[ 9.72402695e-01 -2.10830880e-01 -9.99166637e-02 -2.37516781e+01] [ 2.09240805e-01 9.77511617e-01 -2.62550002e-02 -2.20625136e+01] [ 1.03205064e-01 4.62378984e-03 9.94649353e-01 -3.51394389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24165253200002 meters Centerline goodness : 0.729257 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.06, Z:-3.51 [[ 9.71714719e-01 -2.14566225e-01 -9.86500923e-02 -2.37533104e+01] [ 2.12678361e-01 9.76680005e-01 -2.93952888e-02 -2.20643385e+01] [ 1.02656809e-01 7.58309484e-03 9.94687929e-01 -3.51360505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301652532 meters Centerline goodness : 0.731143 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.07, Z:-3.51 [[ 9.71683161e-01 -2.14516032e-01 -9.90691982e-02 -2.37520138e+01] [ 2.12742851e-01 9.76699646e-01 -2.82538557e-02 -2.20684966e+01] [ 1.02821756e-01 6.37753215e-03 9.94679352e-01 -3.51271848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361652532 meters Centerline goodness : 0.729855 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.07, Z:-3.51 [[ 9.70954065e-01 -2.18212002e-01 -9.81413584e-02 -2.37528515e+01] [ 2.16175352e-01 9.75860434e-01 -3.10584931e-02 -2.20724270e+01] [ 1.02549605e-01 8.94062739e-03 9.94687712e-01 -3.51160704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421652532 meters Centerline goodness : 0.725431 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.08, Z:-3.51 [[ 9.70096014e-01 -2.22330281e-01 -9.73805371e-02 -2.37524415e+01] [ 2.20024357e-01 9.74903510e-01 -3.39474361e-02 -2.20764068e+01] [ 1.02484170e-01 1.15061824e-02 9.94668087e-01 -3.51097399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481652532 meters Centerline goodness : 0.727222 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.08, Z:-3.51 [[ 9.69945890e-01 -2.22796632e-01 -9.78091552e-02 -2.37507740e+01] [ 2.20555153e-01 9.74805941e-01 -3.32986808e-02 -2.20795969e+01] [ 1.02763779e-01 1.07256054e-02 9.94647961e-01 -3.51027145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541652532 meters Centerline goodness : 0.723574 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.09, Z:-3.51 [[ 9.69082255e-01 -2.26688165e-01 -9.74271987e-02 -2.37499813e+01] [ 2.24269967e-01 9.73889727e-01 -3.52389179e-02 -2.20862357e+01] [ 1.02871594e-01 1.22994153e-02 9.94618600e-01 -3.50793311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601652532 meters Centerline goodness : 0.719020 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.09, Z:-3.51 [[ 9.67224650e-01 -2.35355861e-01 -9.53105166e-02 -2.37501891e+01] [ 2.32273056e-01 9.71726015e-01 -4.24002293e-02 -2.20892034e+01] [ 1.02594851e-01 1.88724820e-02 9.94544180e-01 -3.50796745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661652532 meters Centerline goodness : 0.717721 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.09, Z:-3.51 [[ 9.67434314e-01 -2.34603695e-01 -9.50365980e-02 -2.37522048e+01] [ 2.31630109e-01 9.71924541e-01 -4.13543157e-02 -2.20911792e+01] [ 1.02070277e-01 1.79942465e-02 9.94614431e-01 -3.50684258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721652532 meters Centerline goodness : 0.713188 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.10, Z:-3.50 [[ 9.67644847e-01 -2.33551842e-01 -9.54829184e-02 -2.37523704e+01] [ 2.30757254e-01 9.72209791e-01 -3.94868449e-02 -2.20976588e+01] [ 1.02051654e-01 1.61758659e-02 9.94647576e-01 -3.50457338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781652532 meters Centerline goodness : 0.698256 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.10, Z:-3.50 [[ 9.67632187e-01 -2.33388174e-01 -9.60099541e-02 -2.37510136e+01] [ 2.30745752e-01 9.72274989e-01 -3.79176011e-02 -2.21046446e+01] [ 1.02197597e-01 1.45364023e-02 9.94657903e-01 -3.50247570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841652532 meters Centerline goodness : 0.700358 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.11, Z:-3.50 [[ 9.67415228e-01 -2.34117202e-01 -9.64204949e-02 -2.37487437e+01] [ 2.31538530e-01 9.72111347e-01 -3.72751578e-02 -2.21081197e+01] [ 1.02458213e-01 1.37354956e-02 9.94642474e-01 -3.50201105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901652532 meters Centerline goodness : 0.688182 with order 1 Centerline is valid? [False, False] Translation: X:-23.75, Y:-22.11, Z:-3.50 [[ 9.67406315e-01 -2.33965166e-01 -9.68778709e-02 -2.37477543e+01] [ 2.31510558e-01 9.72165851e-01 -3.60058356e-02 -2.21123238e+01] [ 1.02605469e-01 1.24040228e-02 9.94644790e-01 -3.50073282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96165253200002 meters Centerline goodness : 0.684927 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-22.12, Z:-3.49 [[ 9.66650573e-01 -2.33789282e-01 -1.04543013e-01 -2.37618068e+01] [ 2.30453384e-01 9.72128593e-01 -4.30956625e-02 -2.21222409e+01] [ 1.11704556e-01 1.75661557e-02 9.93586193e-01 -3.49479623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.021652532 meters Centerline goodness : 0.691795 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-22.13, Z:-3.49 [[ 9.66298810e-01 -2.35056389e-01 -1.04952869e-01 -2.37586425e+01] [ 2.31743110e-01 9.71830824e-01 -4.28949999e-02 -2.21254943e+01] [ 1.12079177e-01 1.71272831e-02 9.93551667e-01 -3.49494942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081652532 meters Centerline goodness : 0.689892 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-22.13, Z:-3.49 [[ 9.66590718e-01 -2.34076538e-01 -1.04453614e-01 -2.37615691e+01] [ 2.30886465e-01 9.72081349e-01 -4.18245232e-02 -2.21272924e+01] [ 1.11327550e-01 1.63102702e-02 9.93649914e-01 -3.49384467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141652532 meters Centerline goodness : 0.694176 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-22.13, Z:-3.49 [[ 9.66685311e-01 -2.33701504e-01 -1.04417993e-01 -2.37624561e+01] [ 2.30584534e-01 9.72181478e-01 -4.11575839e-02 -2.21287881e+01] [ 1.11131828e-01 1.57092576e-02 9.93681506e-01 -3.49293800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201652532 meters Centerline goodness : 0.691950 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-22.13, Z:-3.49 [[ 9.66700869e-01 -2.33540318e-01 -1.04634361e-01 -2.37622285e+01] [ 2.30494294e-01 9.72231114e-01 -4.04850763e-02 -2.21312678e+01] [ 1.11183679e-01 1.50193353e-02 9.93686374e-01 -3.49203414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261652532 meters Centerline goodness : 0.688123 with order 1 Centerline is valid? [False, False] Translation: X:-23.79, Y:-22.14, Z:-3.49 [[ 9.67612509e-01 -2.27186607e-01 -1.10055794e-01 -2.37854673e+01] [ 2.23370410e-01 9.73647165e-01 -4.60093232e-02 -2.21393813e+01] [ 1.17608214e-01 1.99359887e-02 9.92859942e-01 -3.48972929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321652532 meters Centerline goodness : 0.691355 with order 1 Centerline is valid? [False, False] Translation: X:-23.79, Y:-22.14, Z:-3.49 [[ 9.67955200e-01 -2.26164048e-01 -1.09144652e-01 -2.37898830e+01] [ 2.22374284e-01 9.73880854e-01 -4.58885623e-02 -2.21372886e+01] [ 1.16672230e-01 2.01471085e-02 9.92966105e-01 -3.48926868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381652532 meters Centerline goodness : 0.689242 with order 1 Centerline is valid? [False, False] Translation: X:-23.79, Y:-22.14, Z:-3.49 [[ 9.68120419e-01 -2.25613514e-01 -1.08818183e-01 -2.37920099e+01] [ 2.21823396e-01 9.74004997e-01 -4.59199992e-02 -2.21358281e+01] [ 1.16349626e-01 2.03176700e-02 9.93000482e-01 -3.48904026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441652532 meters Centerline goodness : 0.687864 with order 1 Centerline is valid? [False, False] Translation: X:-23.79, Y:-22.14, Z:-3.49 [[ 9.69125504e-01 -2.20802099e-01 -1.09736911e-01 -2.37939616e+01] [ 2.17471605e-01 9.75179962e-01 -4.15949707e-02 -2.21353262e+01] [ 1.16197494e-01 1.64460847e-02 9.93089960e-01 -3.48714302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501652532 meters Centerline goodness : 0.688672 with order 1 Centerline is valid? [False, False] Translation: X:-23.80, Y:-22.13, Z:-3.49 [[ 9.69504174e-01 -2.19483137e-01 -1.09035817e-01 -2.37986962e+01] [ 2.16201931e-01 9.75478917e-01 -4.12020402e-02 -2.21337340e+01] [ 1.15405294e-01 1.63717958e-02 9.93183559e-01 -3.48584562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561652532 meters Centerline goodness : 0.692273 with order 1 Centerline is valid? [False, False] Translation: X:-23.80, Y:-22.13, Z:-3.48 [[ 9.70698243e-01 -2.14050977e-01 -1.09211266e-01 -2.38033089e+01] [ 2.11184037e-01 9.76733909e-01 -3.73118372e-02 -2.21297849e+01] [ 1.14656982e-01 1.31548587e-02 9.93318039e-01 -3.48494426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621652532 meters Centerline goodness : 0.689050 with order 1 Centerline is valid? [False, False] Translation: X:-23.81, Y:-22.13, Z:-3.48 [[ 9.71944703e-01 -2.09133499e-01 -1.07641410e-01 -2.38140074e+01] [ 2.06395038e-01 9.77802302e-01 -3.61074193e-02 -2.21281818e+01] [ 1.12803290e-01 1.28777620e-02 9.93533885e-01 -3.48486595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68165253200002 meters Centerline goodness : 0.690717 with order 1 Centerline is valid? [False, False] Translation: X:-23.82, Y:-22.13, Z:-3.48 [[ 9.72985438e-01 -2.03960138e-01 -1.08164692e-01 -2.38172222e+01] [ 2.01678738e-01 9.78937151e-01 -3.17449376e-02 -2.21270667e+01] [ 1.12361137e-01 9.07284350e-03 9.93626015e-01 -3.48307531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74165253200002 meters Centerline goodness : 0.690378 with order 1 Centerline is valid? [False, False] Translation: X:-23.82, Y:-22.12, Z:-3.48 [[ 9.74092078e-01 -1.98476773e-01 -1.08404773e-01 -2.38219146e+01] [ 1.96608755e-01 9.80088829e-01 -2.77648007e-02 -2.21232310e+01] [ 1.11756975e-01 5.73214483e-03 9.93719035e-01 -3.48162024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801652532 meters Centerline goodness : 0.700069 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-22.12, Z:-3.48 [[ 9.74553483e-01 -1.96620708e-01 -1.07637385e-01 -2.38270686e+01] [ 1.94752804e-01 9.80461048e-01 -2.77034023e-02 -2.21189902e+01] [ 1.10981326e-01 6.03576456e-03 9.93804163e-01 -3.48159590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861652532 meters Centerline goodness : 0.700724 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-22.12, Z:-3.48 [[ 9.74771993e-01 -1.95931715e-01 -1.06912696e-01 -2.38310420e+01] [ 1.94070055e-01 9.80597915e-01 -2.76503773e-02 -2.21160400e+01] [ 1.10255953e-01 6.20426053e-03 9.93883862e-01 -3.48086827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921652532 meters Centerline goodness : 0.702623 with order 1 Centerline is valid? [False, False] Translation: X:-23.84, Y:-22.11, Z:-3.48 [[ 9.75346334e-01 -1.93924156e-01 -1.05323075e-01 -2.38377680e+01] [ 1.92048348e-01 9.80992572e-01 -2.77669918e-02 -2.21133611e+01] [ 1.08705845e-01 6.85531113e-03 9.94050323e-01 -3.48142247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981652532 meters Centerline goodness : 0.710302 with order 1 Centerline is valid? [False, False] Translation: X:-23.84, Y:-22.11, Z:-3.48 [[ 9.75923646e-01 -1.91306565e-01 -1.04760843e-01 -2.38441383e+01] [ 1.89585897e-01 9.81513526e-01 -2.62371065e-02 -2.21117483e+01] [ 1.07843516e-01 5.74423416e-03 9.94151286e-01 -3.47870694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041652532 meters Centerline goodness : 0.715940 with order 1 Centerline is valid? [False, False] Translation: X:-23.85, Y:-22.11, Z:-3.48 [[ 9.76256232e-01 -1.90129402e-01 -1.03800677e-01 -2.38489192e+01] [ 1.88463796e-01 9.81743393e-01 -2.57159070e-02 -2.21095903e+01] [ 1.06794979e-01 5.54264479e-03 9.94265614e-01 -3.47799049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101652532 meters Centerline goodness : 0.711816 with order 1 Centerline is valid? [False, False] Translation: X:-23.85, Y:-22.11, Z:-3.48 [[ 9.76421736e-01 -1.89596822e-01 -1.03216467e-01 -2.38515752e+01] [ 1.87946979e-01 9.81846234e-01 -2.55715952e-02 -2.21084252e+01] [ 1.06190993e-01 5.56943816e-03 9.94330154e-01 -3.47765440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161652532 meters Centerline goodness : 0.713361 with order 1 Centerline is valid? [False, False] Translation: X:-23.85, Y:-22.11, Z:-3.48 [[ 9.76496660e-01 -1.89255539e-01 -1.03133964e-01 -2.38527878e+01] [ 1.87648985e-01 9.81914057e-01 -2.51523976e-02 -2.21091312e+01] [ 1.06028920e-01 5.20824842e-03 9.94349407e-01 -3.47670585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221652532 meters Centerline goodness : 0.723573 with order 1 Centerline is valid? [False, False] Translation: X:-23.86, Y:-22.11, Z:-3.48 [[ 9.77335666e-01 -1.84606873e-01 -1.03611285e-01 -2.38551838e+01] [ 1.83377410e-01 9.82810670e-01 -2.13521181e-02 -2.21065681e+01] [ 1.05772024e-01 1.86821745e-03 9.94388651e-01 -3.47572085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281652532 meters Centerline goodness : 0.715463 with order 1 Centerline is valid? [False, False] Translation: X:-23.86, Y:-22.11, Z:-3.47 [[ 9.77216641e-01 -1.85858564e-01 -1.02490153e-01 -2.38605219e+01] [ 1.84419167e-01 9.82568389e-01 -2.34292879e-02 -2.21074112e+01] [ 1.05058118e-01 3.99434135e-03 9.94458062e-01 -3.47359543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341652532 meters Centerline goodness : 0.717042 with order 1 Centerline is valid? [False, False] Translation: X:-23.86, Y:-22.11, Z:-3.47 [[ 9.77358814e-01 -1.85332801e-01 -1.02085753e-01 -2.38629244e+01] [ 1.83877837e-01 9.82666575e-01 -2.35657213e-02 -2.21054083e+01] [ 1.04683759e-01 4.26085796e-03 9.94496433e-01 -3.47327300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401652532 meters Centerline goodness : 0.717042 with order 1 Centerline is valid? [False, False] Translation: X:-23.86, Y:-22.11, Z:-3.47 [[ 9.77358814e-01 -1.85332801e-01 -1.02085753e-01 -2.38629244e+01] [ 1.83877837e-01 9.82666575e-01 -2.35657213e-02 -2.21054083e+01] [ 1.04683759e-01 4.26085796e-03 9.94496433e-01 -3.47327300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46165253200002 meters Centerline goodness : 0.712748 with order 1 Centerline is valid? [False, False] Translation: X:-23.86, Y:-22.10, Z:-3.47 [[ 9.77334531e-01 -1.85506255e-01 -1.02003157e-01 -2.38631462e+01] [ 1.84016636e-01 9.82632338e-01 -2.39074253e-02 -2.21040158e+01] [ 1.04666578e-01 4.59527439e-03 9.94496753e-01 -3.47375003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.521652532 meters Centerline goodness : 0.713664 with order 1 Centerline is valid? [False, False] Translation: X:-23.86, Y:-22.10, Z:-3.47 [[ 9.77391509e-01 -1.85365544e-01 -1.01712604e-01 -2.38640967e+01] [ 1.83866442e-01 9.82658112e-01 -2.40034743e-02 -2.21032377e+01] [ 1.04398132e-01 4.75925738e-03 9.94524198e-01 -3.47404929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581652532 meters Centerline goodness : 0.711781 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.10, Z:-3.47 [[ 9.77499393e-01 -1.85073978e-01 -1.01205527e-01 -2.38658585e+01] [ 1.83542851e-01 9.82710855e-01 -2.43186517e-02 -2.21018858e+01] [ 1.03956520e-01 5.19591626e-03 9.94568270e-01 -3.47453811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641652532 meters Centerline goodness : 0.715067 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.10, Z:-3.47 [[ 9.77067074e-01 -1.88127916e-01 -9.97387606e-02 -2.38697809e+01] [ 1.86285277e-01 9.82109046e-01 -2.75611726e-02 -2.21019262e+01] [ 1.03139365e-01 8.34925166e-03 9.94631872e-01 -3.47371498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701652532 meters Centerline goodness : 0.713467 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.10, Z:-3.48 [[ 9.76592684e-01 -1.91493709e-01 -9.79637130e-02 -2.38728863e+01] [ 1.89249489e-01 9.81414072e-01 -3.17970146e-02 -2.20990958e+01] [ 1.02231895e-01 1.25131492e-02 9.94681889e-01 -3.47563100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761652532 meters Centerline goodness : 0.717648 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.10, Z:-3.48 [[ 9.76564012e-01 -1.91636685e-01 -9.79699476e-02 -2.38726531e+01] [ 1.89410862e-01 9.81388527e-01 -3.16241104e-02 -2.20999321e+01] [ 1.02206922e-01 1.23263959e-02 9.94686787e-01 -3.47583367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821652532 meters Centerline goodness : 0.725806 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.10, Z:-3.48 [[ 9.76099847e-01 -1.94765376e-01 -9.64133696e-02 -2.38763746e+01] [ 1.92268930e-01 9.80731070e-01 -3.46298643e-02 -2.21010730e+01] [ 1.01300286e-01 1.52649098e-02 9.94738777e-01 -3.47504460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881652532 meters Centerline goodness : 0.731360 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.10, Z:-3.47 [[ 9.76168436e-01 -1.94612789e-01 -9.60262813e-02 -2.38781562e+01] [ 1.92150466e-01 9.80764292e-01 -3.43453341e-02 -2.21014200e+01] [ 1.00863189e-01 1.50753364e-02 9.94786083e-01 -3.47448429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941652532 meters Centerline goodness : 0.736679 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.10, Z:-3.47 [[ 9.75739092e-01 -1.97690002e-01 -9.40844646e-02 -2.38823776e+01] [ 1.94922773e-01 9.80088482e-01 -3.78375393e-02 -2.21000789e+01] [ 9.96912033e-02 1.85803615e-02 9.94844930e-01 -3.47494280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001652532 meters Centerline goodness : 0.740329 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.10, Z:-3.47 [[ 9.76022636e-01 -1.96602106e-01 -9.34206936e-02 -2.38857382e+01] [ 1.93921936e-01 9.80317469e-01 -3.70397493e-02 -2.21007205e+01] [ 9.88640306e-02 1.80353119e-02 9.94937501e-01 -3.47402923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061652532 meters Centerline goodness : 0.740793 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.10, Z:-3.47 [[ 9.75615535e-01 -1.99483092e-01 -9.15468353e-02 -2.38902956e+01] [ 1.96554327e-01 9.79674383e-01 -4.00562206e-02 -2.21019421e+01] [ 9.76766281e-02 2.10855445e-02 9.94994812e-01 -3.47334324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121652532 meters Centerline goodness : 0.739548 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.10, Z:-3.47 [[ 9.75567824e-01 -1.99703123e-01 -9.15755667e-02 -2.38897874e+01] [ 1.96796507e-01 9.79634835e-01 -3.98337190e-02 -2.21031174e+01] [ 9.76655332e-02 2.08387428e-02 9.95001101e-01 -3.47347046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18165253200002 meters Centerline goodness : 0.742248 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.10, Z:-3.47 [[ 9.75843830e-01 -1.98591080e-01 -9.10516488e-02 -2.38926147e+01] [ 1.95780171e-01 9.79875228e-01 -3.89186583e-02 -2.21044605e+01] [ 9.69481535e-02 2.01524252e-02 9.95085391e-01 -3.47252390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24165253200002 meters Centerline goodness : 0.747231 with order 1 Centerline is valid? [False, False] Translation: X:-23.90, Y:-22.10, Z:-3.47 [[ 9.76040389e-01 -1.97865339e-01 -9.05232942e-02 -2.38953340e+01] [ 1.95117386e-01 9.80029870e-01 -3.83491750e-02 -2.21043292e+01] [ 9.63035048e-02 1.97676752e-02 9.95155703e-01 -3.47174754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301652532 meters Centerline goodness : 0.747808 with order 1 Centerline is valid? [False, False] Translation: X:-23.90, Y:-22.11, Z:-3.47 [[ 9.76260685e-01 -1.96894612e-01 -9.02639868e-02 -2.38973324e+01] [ 1.94265726e-01 9.80246117e-01 -3.71265176e-02 -2.21074202e+01] [ 9.57909338e-02 1.87099605e-02 9.95225620e-01 -3.47028345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361652532 meters Centerline goodness : 0.749861 with order 1 Centerline is valid? [False, False] Translation: X:-23.90, Y:-22.11, Z:-3.47 [[ 9.76222159e-01 -1.96937773e-01 -9.05859232e-02 -2.38958580e+01] [ 1.94379186e-01 9.80253212e-01 -3.63369371e-02 -2.21112879e+01] [ 9.59532576e-02 1.78649051e-02 9.95225511e-01 -3.47002900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421652532 meters Centerline goodness : 0.748326 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.12, Z:-3.47 [[ 9.75262977e-01 -2.01861658e-01 -9.00777304e-02 -2.38938655e+01] [ 1.99062130e-01 9.79204798e-01 -3.91437251e-02 -2.21162799e+01] [ 9.61061631e-02 2.02443609e-02 9.95165198e-01 -3.46949764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481652532 meters Centerline goodness : 0.749612 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.12, Z:-3.47 [[ 9.75264598e-01 -2.01838121e-01 -9.01129110e-02 -2.38933132e+01] [ 1.99116955e-01 9.79226098e-01 -3.83234582e-02 -2.21188594e+01] [ 9.59760490e-02 1.94325036e-02 9.95193939e-01 -3.46946889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541652532 meters Centerline goodness : 0.748860 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.12, Z:-3.47 [[ 9.76118796e-01 -1.97098663e-01 -9.13466588e-02 -2.38921235e+01] [ 1.94852651e-01 9.80278068e-01 -3.29750648e-02 -2.21235530e+01] [ 9.60444673e-02 1.43884420e-02 9.95273044e-01 -3.46856538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601652532 meters Centerline goodness : 0.747904 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.13, Z:-3.47 [[ 9.75583540e-01 -2.00132884e-01 -9.04631705e-02 -2.38933483e+01] [ 1.97728307e-01 9.79635537e-01 -3.48960067e-02 -2.21304183e+01] [ 9.56047751e-02 1.61568402e-02 9.95288241e-01 -3.46679996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661652532 meters Centerline goodness : 0.748945 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.14, Z:-3.47 [[ 9.75528546e-01 -2.00266565e-01 -9.07598974e-02 -2.38923167e+01] [ 1.97976941e-01 9.79628671e-01 -3.36570605e-02 -2.21354075e+01] [ 9.56513816e-02 1.48650564e-02 9.95303895e-01 -3.46550557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721652532 meters Centerline goodness : 0.748534 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.14, Z:-3.47 [[ 9.74606282e-01 -2.04982357e-01 -9.01378343e-02 -2.38895613e+01] [ 2.02388031e-01 9.78601065e-01 -3.71354233e-02 -2.21393588e+01] [ 9.58210873e-02 1.79495980e-02 9.95236721e-01 -3.46698880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781652532 meters Centerline goodness : 0.747371 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.14, Z:-3.47 [[ 9.74516059e-01 -2.05300695e-01 -9.03884663e-02 -2.38876621e+01] [ 2.02776549e-01 9.78549217e-01 -3.63744523e-02 -2.21427160e+01] [ 9.59172633e-02 1.71188267e-02 9.95242093e-01 -3.46724368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841652532 meters Centerline goodness : 0.748626 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.15, Z:-3.47 [[ 9.74465134e-01 -2.05330681e-01 -9.08681112e-02 -2.38852443e+01] [ 2.02932711e-01 9.78567484e-01 -3.49856163e-02 -2.21483709e+01] [ 9.61041994e-02 1.56521512e-02 9.95248207e-01 -3.46692787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901652532 meters Centerline goodness : 0.746660 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.16, Z:-3.46 [[ 9.73761024e-01 -2.08823681e-01 -9.04551726e-02 -2.38846485e+01] [ 2.06305698e-01 9.77808438e-01 -3.64502025e-02 -2.21567520e+01] [ 9.60594965e-02 1.68323690e-02 9.95233261e-01 -3.46452544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96165253200002 meters Centerline goodness : 0.752173 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.16, Z:-3.46 [[ 9.73076396e-01 -2.12464312e-01 -8.93378037e-02 -2.38857006e+01] [ 2.09727384e-01 9.76978189e-01 -3.90901947e-02 -2.21608230e+01] [ 9.55863570e-02 1.93011619e-02 9.95233999e-01 -3.46384702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.021652532 meters Centerline goodness : 0.749743 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.17, Z:-3.46 [[ 9.72816428e-01 -2.13392665e-01 -8.99542557e-02 -2.38819778e+01] [ 2.10809392e-01 9.76810969e-01 -3.74129718e-02 -2.21675384e+01] [ 9.58519574e-02 1.74327516e-02 9.95242936e-01 -3.46281573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081652532 meters Centerline goodness : 0.752594 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.17, Z:-3.46 [[ 9.72569682e-01 -2.14278919e-01 -9.05138543e-02 -2.38788300e+01] [ 2.11830400e-01 9.76644773e-01 -3.59564994e-02 -2.21736361e+01] [ 9.61046024e-02 1.57966153e-02 9.95245885e-01 -3.46161461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141652532 meters Centerline goodness : 0.748348 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.18, Z:-3.46 [[ 9.72509725e-01 -2.14099792e-01 -9.15757242e-02 -2.38763295e+01] [ 2.11925113e-01 9.76729908e-01 -3.29610985e-02 -2.21825375e+01] [ 9.65017129e-02 1.26477932e-02 9.95252457e-01 -3.45776515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201652532 meters Centerline goodness : 0.743522 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.19, Z:-3.46 [[ 9.72793577e-01 -2.12750272e-01 -9.17059297e-02 -2.38771901e+01] [ 2.10768618e-01 9.77047787e-01 -3.08903079e-02 -2.21888537e+01] [ 9.61729971e-02 1.07211611e-02 9.95306893e-01 -3.45585129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261652532 meters Centerline goodness : 0.745519 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.19, Z:-3.45 [[ 9.72777033e-01 -2.12614340e-01 -9.21953669e-02 -2.38760994e+01] [ 2.10757601e-01 9.77091875e-01 -2.95415077e-02 -2.21937170e+01] [ 9.63642921e-02 9.30642589e-03 9.95302624e-01 -3.45417282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321652532 meters Centerline goodness : 0.744029 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.20, Z:-3.45 [[ 9.71688264e-01 -2.17537916e-01 -9.21909538e-02 -2.38728141e+01] [ 2.15566131e-01 9.75998535e-01 -3.09532275e-02 -2.22026233e+01] [ 9.67117365e-02 1.02036406e-02 9.95260130e-01 -3.45105851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381652532 meters Centerline goodness : 0.737075 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.21, Z:-3.45 [[ 9.70478433e-01 -2.22844193e-01 -9.22609196e-02 -2.38683123e+01] [ 2.20652405e-01 9.74779007e-01 -3.34425481e-02 -2.22087799e+01] [ 9.73864852e-02 1.20976778e-02 9.95173110e-01 -3.45011091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441652532 meters Centerline goodness : 0.736920 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.21, Z:-3.45 [[ 9.70446203e-01 -2.22730022e-01 -9.28735960e-02 -2.38667577e+01] [ 2.20676934e-01 9.74823497e-01 -3.19505953e-02 -2.22137437e+01] [ 9.76517204e-02 1.05112735e-02 9.95165139e-01 -3.44844324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501652532 meters Centerline goodness : 0.728465 with order 1 Centerline is valid? [False, False] Translation: X:-23.86, Y:-22.22, Z:-3.45 [[ 9.69288615e-01 -2.27699623e-01 -9.29110448e-02 -2.38631601e+01] [ 2.25379954e-01 9.73646391e-01 -3.48795297e-02 -2.22188227e+01] [ 9.84045593e-02 1.28680441e-02 9.95063293e-01 -3.44725287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561652532 meters Centerline goodness : 0.725437 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.22, Z:-3.45 [[ 9.68669897e-01 -2.30982554e-01 -9.12452167e-02 -2.38661665e+01] [ 2.28373236e-01 9.72823351e-01 -3.82150791e-02 -2.22204253e+01] [ 9.75924940e-02 1.61798314e-02 9.95094929e-01 -3.44713667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621652532 meters Centerline goodness : 0.722080 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.22, Z:-3.45 [[ 9.67947675e-01 -2.34687484e-01 -8.94376009e-02 -2.38693516e+01] [ 2.31750199e-01 9.71865244e-01 -4.20689072e-02 -2.22194126e+01] [ 9.67943418e-02 1.99933191e-02 9.95103574e-01 -3.44758872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68165253200002 meters Centerline goodness : 0.719119 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.22, Z:-3.45 [[ 9.67894858e-01 -2.34755611e-01 -8.98295415e-02 -2.38685605e+01] [ 2.31900880e-01 9.71868871e-01 -4.11446101e-02 -2.22228860e+01] [ 9.69614632e-02 1.89921069e-02 9.95106916e-01 -3.44611334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74165253200002 meters Centerline goodness : 0.721903 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.22, Z:-3.44 [[ 9.68899885e-01 -2.30115146e-01 -9.09946844e-02 -2.38688924e+01] [ 2.27671736e-01 9.73052877e-01 -3.65195661e-02 -2.22241925e+01] [ 9.69463448e-02 1.46668857e-02 9.95181536e-01 -3.44493578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801652532 meters Centerline goodness : 0.719350 with order 1 Centerline is valid? [False, False] Translation: X:-23.87, Y:-22.22, Z:-3.45 [[ 9.69872404e-01 -2.25714946e-01 -9.16530581e-02 -2.38702324e+01] [ 2.23570024e-01 9.74123413e-01 -3.31665598e-02 -2.22211026e+01] [ 9.67675780e-02 1.16764547e-02 9.95238512e-01 -3.44542664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861652532 meters Centerline goodness : 0.719743 with order 1 Centerline is valid? [False, False] Translation: X:-23.88, Y:-22.22, Z:-3.44 [[ 9.71049906e-01 -2.21432699e-01 -8.96082588e-02 -2.38818685e+01] [ 2.19446578e-01 9.75113760e-01 -3.15650896e-02 -2.22242962e+01] [ 9.43677891e-02 1.09870516e-02 9.95476773e-01 -3.44368830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921652532 meters Centerline goodness : 0.718625 with order 1 Centerline is valid? [False, False] Translation: X:-23.89, Y:-22.23, Z:-3.44 [[ 9.72080272e-01 -2.17457861e-01 -8.81590835e-02 -2.38919833e+01] [ 2.15652137e-01 9.76020600e-01 -2.96301225e-02 -2.22257555e+01] [ 9.24883847e-02 9.79116283e-03 9.95665623e-01 -3.44120273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981652532 meters Centerline goodness : 0.721022 with order 1 Centerline is valid? [False, False] Translation: X:-23.90, Y:-22.22, Z:-3.44 [[ 9.72846764e-01 -2.15000141e-01 -8.56977976e-02 -2.39010279e+01] [ 2.13123994e-01 9.76546478e-01 -3.05800438e-02 -2.22232298e+01] [ 9.02625961e-02 1.14854398e-02 9.95851770e-01 -3.44403218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041652532 meters Centerline goodness : 0.712911 with order 1 Centerline is valid? [False, False] Translation: X:-23.93, Y:-22.23, Z:-3.44 [[ 9.75005523e-01 -2.03662316e-01 -8.88025389e-02 -2.39278916e+01] [ 2.01378571e-01 9.78921312e-01 -3.40549111e-02 -2.22261465e+01] [ 9.38663999e-02 1.53207980e-02 9.95466912e-01 -3.44458635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101652532 meters Centerline goodness : 0.709920 with order 1 Centerline is valid? [False, False] Translation: X:-23.94, Y:-22.22, Z:-3.45 [[ 9.76594807e-01 -1.96456710e-01 -8.75633772e-02 -2.39372712e+01] [ 1.94451906e-01 9.80423661e-01 -3.09499777e-02 -2.22218716e+01] [ 9.19295376e-02 1.31987218e-02 9.95678037e-01 -3.44587308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161652532 meters Centerline goodness : 0.717830 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-22.23, Z:-3.44 [[ 9.77898485e-01 -1.88401798e-01 -9.06604437e-02 -2.39755217e+01] [ 1.85679026e-01 9.81888480e-01 -3.76604962e-02 -2.22310038e+01] [ 9.61137505e-02 1.99943993e-02 9.95169519e-01 -3.44391399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221652532 meters Centerline goodness : 0.713479 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-22.23, Z:-3.44 [[ 0.97971753 -0.17876905 -0.09052725 -24.00255585] [ 0.1756404 0.98357985 -0.04148652 -22.2348276 ] [ 0.09645728 0.02474483 0.99502949 -3.44483542] [ 0. 0. 0. 1. ]] SLAMing on 137.281652532 meters Centerline goodness : 0.714870 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.23, Z:-3.44 [[ 0.98000485 -0.17751466 -0.08988348 -24.00705047] [ 0.1744484 0.98381423 -0.04095499 -22.23382602] [ 0.09569876 0.02445606 0.99510987 -3.44315019] [ 0. 0. 0. 1. ]] SLAMing on 137.341652532 meters Centerline goodness : 0.716083 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.23, Z:-3.44 [[ 9.80995997e-01 -1.71927595e-01 -8.99319515e-02 -2.40122630e+01] [ 1.69257079e-01 9.84892847e-01 -3.65803474e-02 -2.22310877e+01] [ 9.48625069e-02 2.06635549e-02 9.95275903e-01 -3.44078032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401652532 meters Centerline goodness : 0.717898 with order 1 Centerline is valid? [False, False] Translation: X:-24.02, Y:-22.23, Z:-3.44 [[ 9.81844341e-01 -1.66851648e-01 -9.02342357e-02 -2.40154497e+01] [ 1.64567023e-01 9.85838703e-01 -3.22451018e-02 -2.22296272e+01] [ 9.43365502e-02 1.68100912e-02 9.95398431e-01 -3.43911141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46165253200002 meters Centerline goodness : 0.719211 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-22.23, Z:-3.44 [[ 9.83689448e-01 -1.56414695e-01 -8.88229263e-02 -2.40280091e+01] [ 1.54576755e-01 9.87604921e-01 -2.72497194e-02 -2.22283562e+01] [ 9.19842156e-02 1.30753017e-02 9.95674616e-01 -3.43973564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.521652532 meters Centerline goodness : 0.726131 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-22.23, Z:-3.44 [[ 9.84654454e-01 -1.50415939e-01 -8.84909692e-02 -2.40337238e+01] [ 1.48996711e-01 9.88582389e-01 -2.24686586e-02 -2.22275431e+01] [ 9.08602581e-02 8.93900140e-03 9.95823532e-01 -3.43758458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581652532 meters Centerline goodness : 0.732158 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-22.23, Z:-3.44 [[ 9.84832690e-01 -1.49676774e-01 -8.77578255e-02 -2.40372667e+01] [ 1.48289942e-01 9.88695797e-01 -2.21520486e-02 -2.22269954e+01] [ 9.00814405e-02 8.80245880e-03 9.95895502e-01 -3.43657212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641652532 meters Centerline goodness : 0.738276 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-22.23, Z:-3.43 [[ 9.84977101e-01 -1.48914903e-01 -8.74326158e-02 -2.40402026e+01] [ 1.47621595e-01 9.88818550e-01 -2.11125717e-02 -2.22287019e+01] [ 8.95989689e-02 7.88845752e-03 9.95946684e-01 -3.43422988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701652532 meters Centerline goodness : 0.745980 with order 1 Centerline is valid? [False, False] Translation: X:-24.05, Y:-22.23, Z:-3.43 [[ 9.85876570e-01 -1.43190199e-01 -8.68559490e-02 -2.40460453e+01] [ 1.42288644e-01 9.89687410e-01 -1.65158117e-02 -2.22259076e+01] [ 8.83251416e-02 3.92393657e-03 9.96083968e-01 -3.43267778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761652532 meters Centerline goodness : 0.751701 with order 1 Centerline is valid? [False, False] Translation: X:-24.06, Y:-22.23, Z:-3.44 [[ 9.87205546e-01 -1.35654068e-01 -8.38044383e-02 -2.40617713e+01] [ 1.34718471e-01 9.90742396e-01 -1.67463041e-02 -2.22251207e+01] [ 8.53003142e-02 5.24203845e-03 9.96341496e-01 -3.43730002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821652532 meters Centerline goodness : 0.758530 with order 1 Centerline is valid? [False, False] Translation: X:-24.06, Y:-22.23, Z:-3.44 [[ 9.87298640e-01 -1.35261032e-01 -8.33417601e-02 -2.40639894e+01] [ 1.34359398e-01 9.90797612e-01 -1.63598309e-02 -2.22251369e+01] [ 8.47876645e-02 4.95429008e-03 9.96386726e-01 -3.43645038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881652532 meters Centerline goodness : 0.768403 with order 1 Centerline is valid? [False, False] Translation: X:-24.07, Y:-22.22, Z:-3.44 [[ 9.88009511e-01 -1.30114725e-01 -8.31105574e-02 -2.40677711e+01] [ 1.29576082e-01 9.91498486e-01 -1.18655303e-02 -2.22239909e+01] [ 8.39478720e-02 9.54116345e-04 9.96469691e-01 -3.43506118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941652532 meters Centerline goodness : 0.775164 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-22.22, Z:-3.44 [[ 9.88207208e-01 -1.30528516e-01 -8.00551068e-02 -2.40776971e+01] [ 1.29722424e-01 9.91433666e-01 -1.52111623e-02 -2.22233887e+01] [ 8.13548184e-02 4.64683774e-03 9.96674370e-01 -3.43679638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001652532 meters Centerline goodness : 0.777633 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-22.22, Z:-3.44 [[ 9.87882900e-01 -1.33985389e-01 -7.83280986e-02 -2.40816615e+01] [ 1.32896155e-01 9.90948200e-01 -1.89809361e-02 -2.22222695e+01] [ 8.01622565e-02 8.34143904e-03 9.96746925e-01 -3.43704628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061652532 meters Centerline goodness : 0.777656 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-22.22, Z:-3.44 [[ 9.87278509e-01 -1.38859404e-01 -7.74545717e-02 -2.40808563e+01] [ 1.37417375e-01 9.90230307e-01 -2.36728383e-02 -2.22212133e+01] [ 7.99850606e-02 1.27280806e-02 9.96714797e-01 -3.43931251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121652532 meters Centerline goodness : 0.777278 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-22.22, Z:-3.44 [[ 9.87997305e-01 -1.33635249e-01 -7.74786754e-02 -2.40835099e+01] [ 1.32569801e-01 9.90996142e-01 -1.87588364e-02 -2.22217553e+01] [ 7.92879102e-02 8.26234720e-03 9.96817516e-01 -3.43816950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18165253200002 meters Centerline goodness : 0.773913 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.22, Z:-3.44 [[ 9.87758308e-01 -1.36248832e-01 -7.59590676e-02 -2.40885964e+01] [ 1.35042845e-01 9.90621051e-01 -2.08173802e-02 -2.22249769e+01] [ 7.80829951e-02 1.03048117e-02 9.96893604e-01 -3.43551816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24165253200002 meters Centerline goodness : 0.773374 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.23, Z:-3.43 [[ 9.87902330e-01 -1.35323643e-01 -7.57396674e-02 -2.40903892e+01] [ 1.34208720e-01 9.90758339e-01 -1.96452034e-02 -2.22278120e+01] [ 7.76981675e-02 9.24261843e-03 9.96934084e-01 -3.43415731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301652532 meters Centerline goodness : 0.771515 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.23, Z:-3.43 [[ 9.88100689e-01 -1.34095338e-01 -7.53357130e-02 -2.40927108e+01] [ 1.33094048e-01 9.90936644e-01 -1.81808033e-02 -2.22311850e+01] [ 7.70908796e-02 7.93772926e-03 9.96992472e-01 -3.43277471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361652532 meters Centerline goodness : 0.768933 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.23, Z:-3.43 [[ 9.87680119e-01 -1.37715926e-01 -7.43122185e-02 -2.40939896e+01] [ 1.36496055e-01 9.90412111e-01 -2.12762054e-02 -2.22336725e+01] [ 7.65297935e-02 1.08707605e-02 9.97008033e-01 -3.43285940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421652532 meters Centerline goodness : 0.767875 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.24, Z:-3.43 [[ 9.87634083e-01 -1.37915203e-01 -7.45541051e-02 -2.40933956e+01] [ 1.36761473e-01 9.90394149e-01 -2.03894574e-02 -2.22366798e+01] [ 7.66499656e-02 9.94119387e-03 9.97008503e-01 -3.43176132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481652532 meters Centerline goodness : 0.765110 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.24, Z:-3.43 [[ 9.87728131e-01 -1.37256411e-01 -7.45239345e-02 -2.40952888e+01] [ 1.36235901e-01 9.90501181e-01 -1.86330124e-02 -2.22405454e+01] [ 7.63735456e-02 8.25151514e-03 9.97045131e-01 -3.42866306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541652532 meters Centerline goodness : 0.764023 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.24, Z:-3.43 [[ 9.87835615e-01 -1.36447102e-01 -7.45854296e-02 -2.40967710e+01] [ 1.35546046e-01 9.90624572e-01 -1.70360491e-02 -2.22444399e+01] [ 7.62106788e-02 6.71905605e-03 9.97069098e-01 -3.42613502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601652532 meters Centerline goodness : 0.761098 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.25, Z:-3.43 [[ 9.87309950e-01 -1.40567864e-01 -7.38900377e-02 -2.40971548e+01] [ 1.39417714e-01 9.90020912e-01 -2.05254788e-02 -2.22464085e+01] [ 7.60379052e-02 9.96342932e-03 9.97055147e-01 -3.42585709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661652532 meters Centerline goodness : 0.758957 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.25, Z:-3.43 [[ 9.87755598e-01 -1.36937704e-01 -7.47458569e-02 -2.40956983e+01] [ 1.36100397e-01 9.90562471e-01 -1.62072120e-02 -2.22479489e+01] [ 7.62598191e-02 5.83582361e-03 9.97070902e-01 -3.42554244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721652532 meters Centerline goodness : 0.754571 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.25, Z:-3.42 [[ 9.87804877e-01 -1.36739031e-01 -7.44577895e-02 -2.40973760e+01] [ 1.35909241e-01 9.90590083e-01 -1.61234542e-02 -2.22463068e+01] [ 7.59618534e-02 5.80732507e-03 9.97093813e-01 -3.42498577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781652532 meters Centerline goodness : 0.751683 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-22.24, Z:-3.43 [[ 9.88109184e-01 -1.35934029e-01 -7.18483084e-02 -2.41062795e+01] [ 1.34907996e-01 9.90676559e-01 -1.89680987e-02 -2.22447793e+01] [ 7.37568450e-02 9.04964125e-03 9.97235194e-01 -3.42732206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841652532 meters Centerline goodness : 0.751411 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-22.25, Z:-3.43 [[ 9.88244805e-01 -1.35134851e-01 -7.14897036e-02 -2.41085010e+01] [ 1.34156917e-01 9.90790546e-01 -1.83307138e-02 -2.22455560e+01] [ 7.33084407e-02 8.52439443e-03 9.97272885e-01 -3.42620356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901652532 meters Centerline goodness : 0.749652 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-22.25, Z:-3.43 [[ 9.88295498e-01 -1.34860197e-01 -7.13073357e-02 -2.41093982e+01] [ 1.33921287e-01 9.90831920e-01 -1.78099958e-02 -2.22465219e+01] [ 7.30554439e-02 8.05196856e-03 9.97295376e-01 -3.42561856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96165253200002 meters Centerline goodness : 0.748064 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-22.25, Z:-3.42 [[ 9.88216641e-01 -1.35247378e-01 -7.16660161e-02 -2.41080618e+01] [ 1.34349974e-01 9.90784311e-01 -1.72201608e-02 -2.22493703e+01] [ 7.33345459e-02 7.38892211e-03 9.97280025e-01 -3.42498963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.021652532 meters Centerline goodness : 0.747793 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-22.25, Z:-3.42 [[ 9.88183835e-01 -1.35251691e-01 -7.21088687e-02 -2.41069026e+01] [ 1.34444529e-01 9.90792671e-01 -1.59546865e-02 -2.22540803e+01] [ 7.36028370e-02 6.07152036e-03 9.97269151e-01 -3.42362053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081652532 meters Centerline goodness : 0.740843 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-22.26, Z:-3.42 [[ 9.87744751e-01 -1.38785811e-01 -7.14059208e-02 -2.41086228e+01] [ 1.37831452e-01 9.90289435e-01 -1.81473573e-02 -2.22587852e+01] [ 7.32311247e-02 8.08297518e-03 9.97282241e-01 -3.42134290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141652532 meters Centerline goodness : 0.739563 with order 1 Centerline is valid? [False, False] Translation: X:-24.11, Y:-22.27, Z:-3.42 [[ 9.87079981e-01 -1.43379119e-01 -7.15230015e-02 -2.41066312e+01] [ 1.42304035e-01 9.89622260e-01 -1.99334928e-02 -2.22668654e+01] [ 7.36388010e-02 9.49793998e-03 9.97239749e-01 -3.41879359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201652532 meters Centerline goodness : 0.737595 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.27, Z:-3.42 [[ 9.86224911e-01 -1.48992675e-01 -7.18443256e-02 -2.41026242e+01] [ 1.47766517e-01 9.88774880e-01 -2.21199677e-02 -2.22740061e+01] [ 7.43335775e-02 1.11990774e-02 9.97170547e-01 -3.41709298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261652532 meters Centerline goodness : 0.734442 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.28, Z:-3.42 [[ 9.85586871e-01 -1.53231089e-01 -7.16850955e-02 -2.41012973e+01] [ 1.51850514e-01 9.88103235e-01 -2.43601716e-02 -2.22803589e+01] [ 7.45650104e-02 1.31236467e-02 9.97129796e-01 -3.41571524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321652532 meters Centerline goodness : 0.735696 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.29, Z:-3.41 [[ 9.84792965e-01 -1.58228293e-01 -7.17399663e-02 -2.40985458e+01] [ 1.56677198e-01 9.87286411e-01 -2.67917736e-02 -2.22870526e+01] [ 7.50671104e-02 1.51443332e-02 9.97063477e-01 -3.41422346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381652532 meters Centerline goodness : 0.735768 with order 1 Centerline is valid? [False, False] Translation: X:-24.10, Y:-22.29, Z:-3.41 [[ 9.84059885e-01 -1.62752119e-01 -7.16790808e-02 -2.40961863e+01] [ 1.60988572e-01 9.86507243e-01 -2.97680836e-02 -2.22920486e+01] [ 7.55567511e-02 1.77540641e-02 9.96983435e-01 -3.41384594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441652532 meters Centerline goodness : 0.730687 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.30, Z:-3.41 [[ 9.83098080e-01 -1.68322771e-01 -7.20111790e-02 -2.40919165e+01] [ 1.66427513e-01 9.85547254e-01 -3.15989296e-02 -2.23005774e+01] [ 7.62892391e-02 1.90802055e-02 9.96903154e-01 -3.41153493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501652532 meters Centerline goodness : 0.724136 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.31, Z:-3.41 [[ 9.81915694e-01 -1.74832564e-01 -7.26301858e-02 -2.40860323e+01] [ 1.72765256e-01 9.84380130e-01 -3.38810446e-02 -2.23087643e+01] [ 7.74192217e-02 2.07203568e-02 9.96783292e-01 -3.40897600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561652532 meters Centerline goodness : 0.717714 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-22.32, Z:-3.41 [[ 9.81039997e-01 -1.79586237e-01 -7.28649976e-02 -2.40826200e+01] [ 1.77331197e-01 9.83478875e-01 -3.63723766e-02 -2.23159767e+01] [ 7.81931641e-02 2.27615190e-02 9.96678355e-01 -3.40757768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621652532 meters Centerline goodness : 0.712199 with order 1 Centerline is valid? [False, False] Translation: X:-24.08, Y:-22.32, Z:-3.40 [[ 9.79883327e-01 -1.85452132e-01 -7.37304021e-02 -2.40765042e+01] [ 1.83063823e-01 9.82366829e-01 -3.79875091e-02 -2.23240634e+01] [ 7.94751659e-02 2.37259575e-02 9.96554453e-01 -3.40489107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68165253200002 meters Centerline goodness : 0.712875 with order 1 Centerline is valid? [False, False] Translation: X:-24.07, Y:-22.33, Z:-3.40 [[ 0.97896859 -0.19016235 -0.07388353 -24.07311845] [ 0.18756575 0.98140903 -0.04068659 -22.33015664] [ 0.08024702 0.02597287 0.99643656 -3.40403114] [ 0. 0. 0. 1. ]] SLAMing on 139.741652532 meters Centerline goodness : 0.711643 with order 1 Centerline is valid? [False, False] Translation: X:-24.09, Y:-22.35, Z:-3.40 [[ 9.76761758e-01 -1.99031662e-01 -7.95164483e-02 -2.40881322e+01] [ 1.96389455e-01 9.79715840e-01 -3.98504026e-02 -2.23494416e+01] [ 8.58350158e-02 2.33081573e-02 9.96036686e-01 -3.40003699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801652532 meters Centerline goodness : 0.668364 with order 1 Centerline is valid? [False, False] Translation: X:-23.95, Y:-22.34, Z:-3.37 [[ 9.77357670e-01 -1.93487231e-01 -8.56427275e-02 -2.39494608e+01] [ 1.93640713e-01 9.81050371e-01 -6.59114053e-03 -2.23358512e+01] [ 8.52951311e-02 -1.01420171e-02 9.96304110e-01 -3.36792688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861652532 meters Centerline goodness : 0.705756 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.37, Z:-3.37 [[ 9.74049951e-01 -2.09073893e-01 -8.66879467e-02 -2.40083277e+01] [ 2.08371988e-01 9.77898928e-01 -1.71697582e-02 -2.23654581e+01] [ 8.83617984e-02 -1.33913764e-03 9.96087546e-01 -3.37345016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921652532 meters Centerline goodness : 0.701637 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-22.37, Z:-3.37 [[ 9.72961565e-01 -2.14132116e-01 -8.65634459e-02 -2.40036123e+01] [ 2.13157849e-01 9.76803632e-01 -2.04547499e-02 -2.23708324e+01] [ 8.89355072e-02 1.45000756e-03 9.96036331e-01 -3.37475985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981652532 meters Centerline goodness : 0.696136 with order 1 Centerline is valid? [False, False] Translation: X:-24.00, Y:-22.39, Z:-3.39 [[ 9.72756610e-01 -2.20561917e-01 -7.13934110e-02 -2.40040553e+01] [ 2.20229235e-01 9.75366805e-01 -1.25968042e-02 -2.23935292e+01] [ 7.24131385e-02 -3.46929173e-03 9.97368689e-01 -3.38772689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041652532 meters Centerline goodness : 0.683389 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.42, Z:-3.40 [[ 9.72067568e-01 -2.27979259e-01 -5.57682771e-02 -2.40052508e+01] [ 2.27939736e-01 9.73648963e-01 -7.15361230e-03 -2.24167604e+01] [ 5.59296004e-02 -5.75801186e-03 9.98418111e-01 -3.39953367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101652532 meters Centerline goodness : 0.682508 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.43, Z:-3.41 [[ 9.73335538e-01 -2.26036536e-01 -3.90565688e-02 -2.40106370e+01] [ 2.26183097e-01 9.74084566e-01 -6.82483912e-04 -2.24302383e+01] [ 3.81986671e-02 -8.16964982e-03 9.99236768e-01 -3.41384432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161652532 meters Centerline goodness : 0.666354 with order 1 Centerline is valid? [False, False] Translation: X:-24.02, Y:-22.45, Z:-3.43 [[ 9.73325765e-01 -2.28347425e-01 -2.22353098e-02 -2.40169180e+01] [ 2.28577603e-01 9.73489505e-01 8.39421117e-03 -2.24506123e+01] [ 1.97290443e-02 -1.32527958e-02 9.99717524e-01 -3.42594792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221652532 meters Centerline goodness : 0.655069 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.47, Z:-3.44 [[ 9.69915443e-01 -2.42524981e-01 -2.11108102e-02 -2.40102974e+01] [ 2.42723023e-01 9.70067798e-01 7.34856215e-03 -2.24673497e+01] [ 1.86967073e-02 -1.22515636e-02 9.99750135e-01 -3.43632126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281652532 meters Centerline goodness : 0.642843 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.48, Z:-3.45 [[ 9.66259380e-01 -2.56829022e-01 -1.95362433e-02 -2.40062916e+01] [ 2.57053074e-01 9.66346159e-01 9.94072019e-03 -2.24839966e+01] [ 1.63257082e-02 -1.46271655e-02 9.99759730e-01 -3.44733862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341652532 meters Centerline goodness : 0.644239 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.50, Z:-3.45 [[ 9.62776551e-01 -2.69171679e-01 -2.46560267e-02 -2.40127328e+01] [ 2.69406727e-01 9.63003150e-01 6.70442127e-03 -2.24984637e+01] [ 2.19391910e-02 -1.30973590e-02 9.99673512e-01 -3.45146734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401652532 meters Centerline goodness : 0.645456 with order 1 Centerline is valid? [False, False] Translation: X:-24.01, Y:-22.50, Z:-3.46 [[ 9.61377435e-01 -2.74218924e-01 -2.36095351e-02 -2.40080210e+01] [ 2.74335347e-01 9.61632442e-01 1.77890144e-03 -2.25010815e+01] [ 2.22158864e-02 -8.18712571e-03 9.99719673e-01 -3.45665165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46165253200002 meters Centerline goodness : 0.652062 with order 1 Centerline is valid? [False, False] Translation: X:-24.03, Y:-22.42, Z:-3.54 [[ 9.64401536e-01 -2.61711620e-01 3.79039097e-02 -2.40333756e+01] [ 2.64438404e-01 9.55197802e-01 -1.32926634e-01 -2.24180473e+01] [-1.41728657e-03 1.38217899e-01 9.90400830e-01 -3.53942797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.521652532 meters Centerline goodness : 0.658293 with order 1 Centerline is valid? [False, False] Translation: X:-24.04, Y:-22.42, Z:-3.53 [[ 9.65033689e-01 -2.60721859e-01 2.70941080e-02 -2.40381577e+01] [ 2.62078331e-01 9.57721822e-01 -1.18675442e-01 -2.24229110e+01] [ 4.99266326e-03 1.21626578e-01 9.92563373e-01 -3.53425334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581652532 meters Centerline goodness : 0.663880 with order 1 Centerline is valid? [False, False] Translation: X:-23.97, Y:-22.37, Z:-3.57 [[ 9.69526297e-01 -2.37862324e-01 5.86538480e-02 -2.39672722e+01] [ 2.44671876e-01 9.52262296e-01 -1.82571062e-01 -2.23651931e+01] [-1.24270709e-02 1.91358393e-01 9.81441559e-01 -3.57369420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641652532 meters Centerline goodness : 0.667364 with order 1 Centerline is valid? [False, False] Translation: X:-23.91, Y:-22.36, Z:-3.57 [[ 9.72213503e-01 -2.29762944e-01 4.48318438e-02 -2.39093502e+01] [ 2.34056110e-01 9.57588254e-01 -1.68054969e-01 -2.23607329e+01] [-4.31764277e-03 1.73878477e-01 9.84757652e-01 -3.56756588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701652532 meters Centerline goodness : 0.671482 with order 1 Centerline is valid? [False, False] Translation: X:-23.93, Y:-22.24, Z:-3.63 [[ 0.9756534 -0.19279653 0.10454639 -23.9283945 ] [ 0.21658883 0.92196604 -0.32104191 -22.23914467] [ -0.03449245 0.33586921 0.94127687 -3.63403029] [ 0. 0. 0. 1. ]] SLAMing on 140.761652532 meters Centerline goodness : 0.669002 with order 1 Centerline is valid? [False, False] Translation: X:-23.84, Y:-22.23, Z:-3.63 [[ 9.80211900e-01 -1.78216895e-01 8.61589762e-02 -2.38439739e+01] [ 1.96677033e-01 9.26115327e-01 -3.21913879e-01 -2.22312154e+01] [-2.24226566e-02 3.32489307e-01 9.42840435e-01 -3.62734588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821652532 meters Centerline goodness : 0.667495 with order 1 Centerline is valid? [False, False] Translation: X:-23.74, Y:-22.18, Z:-3.63 [[ 9.87659449e-01 -1.41424258e-01 6.72903626e-02 -2.37441125e+01] [ 1.56507443e-01 9.07280640e-01 -3.90316871e-01 -2.21765631e+01] [-5.85096944e-03 3.96031588e-01 9.18218246e-01 -3.62788794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881652532 meters Centerline goodness : 0.659079 with order 1 Centerline is valid? [False, False] Translation: X:-23.74, Y:-22.20, Z:-3.61 [[ 9.90765773e-01 -1.26826693e-01 4.79392710e-02 -2.37385838e+01] [ 1.35476069e-01 9.11882396e-01 -3.87449003e-01 -2.21956701e+01] [ 5.42389862e-03 3.90365835e-01 9.20643849e-01 -3.61142883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941652532 meters Centerline goodness : 0.655935 with order 1 Centerline is valid? [False, False] Translation: X:-23.71, Y:-22.21, Z:-3.60 [[ 9.93478407e-01 -1.09495540e-01 3.18022227e-02 -2.37090250e+01] [ 1.13296813e-01 9.16624703e-01 -3.83357517e-01 -2.22078380e+01] [ 1.28252353e-02 3.84460505e-01 9.23052346e-01 -3.59780721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001652532 meters Centerline goodness : 0.651614 with order 1 Centerline is valid? [False, False] Translation: X:-23.76, Y:-22.23, Z:-3.59 [[ 9.94629504e-01 -9.96542113e-02 2.79497357e-02 -2.37628984e+01] [ 1.03021898e-01 9.27343469e-01 -3.59750719e-01 -2.22312943e+01] [ 9.93166929e-03 3.60698114e-01 9.32629740e-01 -3.58783903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061652532 meters Centerline goodness : 0.651446 with order 1 Centerline is valid? [False, False] Translation: X:-23.83, Y:-22.26, Z:-3.58 [[ 9.95112757e-01 -9.49438175e-02 2.71343530e-02 -2.38288104e+01] [ 9.84789187e-02 9.34060735e-01 -3.43267308e-01 -2.22556075e+01] [ 7.24597499e-03 3.44261839e-01 9.38845718e-01 -3.57964448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121652532 meters Centerline goodness : 0.649415 with order 1 Centerline is valid? [False, False] Translation: X:-23.90, Y:-22.28, Z:-3.57 [[ 9.96282997e-01 -8.28452137e-02 2.35978839e-02 -2.38981784e+01] [ 8.60161402e-02 9.42070315e-01 -3.24198619e-01 -2.22849010e+01] [ 4.62743800e-03 3.25023371e-01 9.45694663e-01 -3.56718305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18165253200002 meters Centerline goodness : 0.649342 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:-22.31, Z:-3.56 [[ 9.96248416e-01 -8.26348678e-02 2.57016172e-02 -2.39775073e+01] [ 8.65350903e-02 9.48231725e-01 -3.05562227e-01 -2.23060135e+01] [ 8.79005477e-04 3.06639976e-01 9.51825169e-01 -3.55835182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.241652532 meters Centerline goodness : 0.659089 with order 1 Centerline is valid? [False, False] Translation: X:-24.05, Y:-22.32, Z:-3.55 [[ 9.96693329e-01 -7.61273484e-02 2.84083442e-02 -2.40476408e+01] [ 8.11044033e-02 9.53351096e-01 -2.90764101e-01 -2.23215605e+01] [-4.94802600e-03 2.92106682e-01 9.56372942e-01 -3.54831209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301652532 meters Centerline goodness : 0.668014 with order 1 Centerline is valid? [False, False] Translation: X:-24.12, Y:-22.34, Z:-3.54 [[ 9.96878084e-01 -7.26006357e-02 3.10359911e-02 -2.41181774e+01] [ 7.83607867e-02 9.57905142e-01 -2.76183501e-01 -2.23387129e+01] [-9.67843776e-03 2.77753284e-01 9.60603686e-01 -3.53963322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361652532 meters Centerline goodness : 0.668580 with order 1 Centerline is valid? [False, False] Translation: X:-24.18, Y:-22.35, Z:-3.53 [[ 9.97310974e-01 -6.56205952e-02 3.26306321e-02 -2.41814554e+01] [ 7.18256776e-02 9.63643908e-01 -2.57354796e-01 -2.23530933e+01] [-1.45565350e-02 2.59006479e-01 9.65765888e-01 -3.52658016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421652532 meters Centerline goodness : 0.666880 with order 1 Centerline is valid? [False, False] Translation: X:-24.26, Y:-22.37, Z:-3.52 [[ 9.97624860e-01 -5.83195734e-02 3.66533279e-02 -2.42574361e+01] [ 6.55492686e-02 9.67296321e-01 -2.45032895e-01 -2.23651342e+01] [-2.11644153e-02 2.46853507e-01 9.68821663e-01 -3.51849203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481652532 meters Centerline goodness : 0.661010 with order 1 Centerline is valid? [False, False] Translation: X:-24.31, Y:-22.37, Z:-3.51 [[ 9.97771014e-01 -5.51319692e-02 3.75961412e-02 -2.43052043e+01] [ 6.22282809e-02 9.72165957e-01 -2.25878270e-01 -2.23740901e+01] [-2.40965748e-02 2.27714333e-01 9.73429780e-01 -3.51137116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541652532 meters Centerline goodness : 0.657023 with order 1 Centerline is valid? [False, False] Translation: X:-24.34, Y:-22.38, Z:-3.50 [[ 0.99822663 -0.04550725 0.03837572 -24.3407377 ] [ 0.05261093 0.97605306 -0.21107466 -22.37952998] [ -0.02785131 0.21271933 0.97671633 -3.50263497] [ 0. 0. 0. 1. ]] SLAMing on 141.601652532 meters Centerline goodness : 0.660271 with order 1 Centerline is valid? [False, False] Translation: X:-24.38, Y:-22.39, Z:-3.50 [[ 0.99813145 -0.0416908 0.04467096 -24.38364109] [ 0.04971119 0.97915957 -0.19691453 -22.38873611] [ -0.03553048 0.19876723 0.97940246 -3.49613371] [ 0. 0. 0. 1. ]] SLAMing on 141.661652532 meters Centerline goodness : 0.666533 with order 1 Centerline is valid? [False, False] Translation: X:-24.43, Y:-22.40, Z:-3.49 [[ 0.99810059 -0.03308257 0.05196889 -24.43053579] [ 0.0421538 0.98192496 -0.18451675 -22.39595488] [ -0.04492526 0.18635696 0.98145443 -3.4868145 ] [ 0. 0. 0. 1. ]] SLAMing on 141.721652532 meters Centerline goodness : 0.670419 with order 1 Centerline is valid? [False, False] Translation: X:-24.47, Y:-22.40, Z:-3.48 [[ 0.99788803 -0.0295005 0.05787223 -24.46616156] [ 0.03909166 0.9842642 -0.17232475 -22.40354801] [ -0.0518779 0.17422312 0.98333869 -3.4780346 ] [ 0. 0. 0. 1. ]] SLAMing on 141.781652532 meters Centerline goodness : 0.670222 with order 1 Centerline is valid? [False, False] Translation: X:-24.50, Y:-22.41, Z:-3.47 [[ 9.97732959e-01 -1.92019373e-02 6.44998347e-02 -2.45049922e+01] [ 2.91500813e-02 9.87163188e-01 -1.57032205e-01 -2.24093149e+01] [-6.06565399e-02 1.58556382e-01 9.85484986e-01 -3.47028193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841652532 meters Centerline goodness : 0.672579 with order 1 Centerline is valid? [False, False] Translation: X:-24.55, Y:-22.42, Z:-3.46 [[ 9.97530436e-01 -1.29194171e-02 6.90370753e-02 -2.45456196e+01] [ 2.30100970e-02 9.88804011e-01 -1.47435282e-01 -2.24163085e+01] [-6.63593591e-02 1.48659731e-01 9.86659374e-01 -3.46281479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901652532 meters Centerline goodness : 0.669628 with order 1 Centerline is valid? [False, False] Translation: X:-24.58, Y:-22.42, Z:-3.46 [[ 9.97567808e-01 -7.62727528e-03 6.92841416e-02 -2.45800980e+01] [ 1.70779453e-02 9.90443585e-01 -1.36857040e-01 -2.24246261e+01] [-6.75781872e-02 1.37707409e-01 9.88164894e-01 -3.45511907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96165253200002 meters Centerline goodness : 0.672419 with order 1 Centerline is valid? [False, False] Translation: X:-24.62, Y:-22.43, Z:-3.44 [[ 9.97154653e-01 -4.06931364e-03 7.52730899e-02 -2.46197580e+01] [ 1.36363280e-02 9.91805786e-01 -1.27024931e-01 -2.24318041e+01] [-7.41393819e-02 1.27689950e-01 9.89039245e-01 -3.44434308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.021652532 meters Centerline goodness : 0.671689 with order 1 Centerline is valid? [False, False] Translation: X:-24.65, Y:-22.44, Z:-3.44 [[ 9.97084665e-01 -3.70565911e-03 7.62131124e-02 -2.46481885e+01] [ 1.26605462e-02 9.93009490e-01 -1.17353584e-01 -2.24405553e+01] [-7.52454714e-02 1.17976358e-01 9.90161450e-01 -3.43697231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081652532 meters Centerline goodness : 0.676509 with order 1 Centerline is valid? [False, False] Translation: X:-24.68, Y:-22.45, Z:-3.43 [[ 9.96617614e-01 -4.07484828e-03 8.20775663e-02 -2.46848206e+01] [ 1.30970853e-02 9.93879840e-01 -1.09687419e-01 -2.24484231e+01] [-8.11282789e-02 1.10391390e-01 9.90571524e-01 -3.42658228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141652532 meters Centerline goodness : 0.676785 with order 1 Centerline is valid? [False, False] Translation: X:-24.72, Y:-22.46, Z:-3.42 [[ 9.96229837e-01 -2.65878654e-03 8.67124158e-02 -2.47192302e+01] [ 1.14326869e-02 9.94836444e-01 -1.00845144e-01 -2.24562859e+01] [-8.59965457e-02 1.01456297e-01 9.91116145e-01 -3.41900024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201652532 meters Centerline goodness : 0.683141 with order 1 Centerline is valid? [False, False] Translation: X:-24.76, Y:-22.47, Z:-3.41 [[ 9.95685977e-01 -7.79645603e-04 9.27837634e-02 -2.47591368e+01] [ 9.37616519e-03 9.95691605e-01 -9.22513736e-02 -2.24683076e+01] [-9.23120909e-02 9.27233549e-02 9.91403479e-01 -3.40828164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261652532 meters Centerline goodness : 0.685206 with order 1 Centerline is valid? [False, False] Translation: X:-24.78, Y:-22.48, Z:-3.40 [[ 9.95974156e-01 -2.62232242e-03 8.96024768e-02 -2.47841482e+01] [ 1.01794046e-02 9.96414799e-01 -8.39876671e-02 -2.24809624e+01] [-8.90609912e-02 8.45616457e-02 9.92430082e-01 -3.39909828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321652532 meters Centerline goodness : 0.685601 with order 1 Centerline is valid? [False, False] Translation: X:-24.81, Y:-22.50, Z:-3.39 [[ 9.96278170e-01 -7.02705843e-03 8.59094252e-02 -2.48076443e+01] [ 1.36781974e-02 9.96931174e-01 -7.70788050e-02 -2.24985569e+01] [-8.51041468e-02 7.79670168e-02 9.93316882e-01 -3.39026570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381652532 meters Centerline goodness : 0.686993 with order 1 Centerline is valid? [False, False] Translation: X:-24.82, Y:-22.52, Z:-3.38 [[ 9.96629388e-01 -1.38560719e-02 8.08571070e-02 -2.48222594e+01] [ 1.94291883e-02 9.97458396e-01 -6.85511150e-02 -2.25152135e+01] [-7.97017511e-02 6.98910437e-02 9.94365563e-01 -3.38096088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441652532 meters Centerline goodness : 0.693340 with order 1 Centerline is valid? [False, False] Translation: X:-24.85, Y:-22.54, Z:-3.38 [[ 0.99618357 -0.02784443 0.08272233 -24.84753345] [ 0.03268533 0.99779565 -0.05775391 -22.53640584] [ -0.08093186 0.06023731 0.99489773 -3.37504155] [ 0. 0. 0. 1. ]] SLAMing on 142.501652532 meters Centerline goodness : 0.699400 with order 1 Centerline is valid? [False, False] Translation: X:-24.87, Y:-22.56, Z:-3.37 [[ 0.99537443 -0.04553926 0.08459267 -24.87451338] [ 0.04998165 0.99743893 -0.05116071 -22.55969448] [ -0.0820462 0.05515214 0.99510133 -3.37065136] [ 0. 0. 0. 1. ]] SLAMing on 142.561652532 meters Centerline goodness : 0.697313 with order 1 Centerline is valid? [False, False] Translation: X:-24.91, Y:-22.58, Z:-3.36 [[ 0.99525408 -0.05680558 0.07900916 -24.90991274] [ 0.06014836 0.99736379 -0.04059119 -22.57922942] [ -0.07649507 0.04515082 0.99604714 -3.36335598] [ 0. 0. 0. 1. ]] SLAMing on 142.621652532 meters Centerline goodness : 0.701457 with order 1 Centerline is valid? [False, False] Translation: X:-24.92, Y:-22.59, Z:-3.36 [[ 0.99497109 -0.06951106 0.07211611 -24.91842685] [ 0.07247737 0.99659302 -0.03936214 -22.59493952] [ -0.0691343 0.04439098 0.99661923 -3.35926546] [ 0. 0. 0. 1. ]] SLAMing on 142.68165253200002 meters Centerline goodness : 0.700663 with order 1 Centerline is valid? [False, False] Translation: X:-24.93, Y:-22.61, Z:-3.35 [[ 0.99484153 -0.07745352 0.06550792 -24.93014264] [ 0.07987212 0.9961855 -0.03514119 -22.60712867] [ -0.06253623 0.04019217 0.99723308 -3.35495243] [ 0. 0. 0. 1. ]] SLAMing on 142.741652532 meters Centerline goodness : 0.704486 with order 1 Centerline is valid? [False, False] Translation: X:-24.94, Y:-22.62, Z:-3.35 [[ 0.99430546 -0.08821961 0.05978261 -24.943585 ] [ 0.09028966 0.99537353 -0.03285299 -22.62157364] [ -0.05660775 0.03806366 0.99767065 -3.34815622] [ 0. 0. 0. 1. ]] SLAMing on 142.801652532 meters Centerline goodness : 0.707461 with order 1 Centerline is valid? [False, False] Translation: X:-24.96, Y:-22.63, Z:-3.34 [[ 0.99426236 -0.09171382 0.05505399 -24.96462286] [ 0.09330912 0.9952673 -0.02713671 -22.63305833] [ -0.05230462 0.03211804 0.99811455 -3.34167005] [ 0. 0. 0. 1. ]] SLAMing on 142.861652532 meters Centerline goodness : 0.709613 with order 1 Centerline is valid? [False, False] Translation: X:-24.98, Y:-22.64, Z:-3.33 [[ 0.99515792 -0.08795688 0.04386685 -24.98123414] [ 0.08917524 0.99565981 -0.02663323 -22.64233113] [ -0.04133388 0.03041611 0.99868232 -3.33026286] [ 0. 0. 0. 1. ]] SLAMing on 142.921652532 meters Centerline goodness : 0.716419 with order 1 Centerline is valid? [False, False] Translation: X:-24.99, Y:-22.65, Z:-3.32 [[ 9.95844899e-01 -8.53681650e-02 3.17051176e-02 -2.49933182e+01] [ 8.61719281e-02 9.95968761e-01 -2.49123658e-02 -2.26498679e+01] [-2.94505837e-02 2.75409435e-02 9.99186749e-01 -3.31784445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981652532 meters Centerline goodness : 0.720546 with order 1 Centerline is valid? [False, False] Translation: X:-25.03, Y:-22.66, Z:-3.31 [[ 9.96204878e-01 -8.17113076e-02 2.99850360e-02 -2.50307400e+01] [ 8.23389998e-02 9.96396988e-01 -2.03305573e-02 -2.26569843e+01] [-2.82157631e-02 2.27223383e-02 9.99343568e-01 -3.31426903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041652532 meters Centerline goodness : 0.721689 with order 1 Centerline is valid? [False, False] Translation: X:-25.05, Y:-22.66, Z:-3.32 [[ 0.99670091 -0.07499741 0.03102714 -25.05238495] [ 0.07580409 0.99679162 -0.02569428 -22.65584018] [ -0.02900059 0.0279615 0.99918823 -3.31575722] [ 0. 0. 0. 1. ]] SLAMing on 143.101652532 meters Centerline goodness : 0.726502 with order 1 Centerline is valid? [False, False] Translation: X:-25.08, Y:-22.66, Z:-3.31 [[ 0.99777747 -0.05990157 0.02918771 -25.08446549] [ 0.06064039 0.99784351 -0.02512102 -22.6569706 ] [ -0.02761998 0.02683514 0.99925823 -3.30983089] [ 0. 0. 0. 1. ]] SLAMing on 143.161652532 meters Centerline goodness : 0.740520 with order 1 Centerline is valid? [False, False] Translation: X:-25.10, Y:-22.66, Z:-3.30 [[ 9.98288582e-01 -4.96948762e-02 3.08273655e-02 -2.50969919e+01] [ 5.02494881e-02 9.98583638e-01 -1.74844635e-02 -2.26550977e+01] [-2.99148146e-02 1.90035996e-02 9.99371786e-01 -3.30334583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221652532 meters Centerline goodness : 0.743894 with order 1 Centerline is valid? [False, False] Translation: X:-25.13, Y:-22.66, Z:-3.30 [[ 9.98674140e-01 -4.02648673e-02 3.20734082e-02 -2.51258019e+01] [ 4.10111313e-02 9.98894865e-01 -2.29594251e-02 -2.26566586e+01] [-3.11135046e-02 2.42443508e-02 9.99221778e-01 -3.30337038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281652532 meters Centerline goodness : 0.753738 with order 1 Centerline is valid? [False, False] Translation: X:-25.15, Y:-22.65, Z:-3.30 [[ 0.9988346 -0.03369762 0.03455291 -25.14780799] [ 0.03466015 0.99901668 -0.02764693 -22.65471841] [ -0.0335873 0.02881232 0.99902039 -3.30445877] [ 0. 0. 0. 1. ]] SLAMing on 143.341652532 meters Centerline goodness : 0.760701 with order 1 Centerline is valid? [False, False] Translation: X:-25.17, Y:-22.66, Z:-3.30 [[ 9.98987358e-01 -3.30754880e-02 3.05003461e-02 -2.51726227e+01] [ 3.36661454e-02 9.99251380e-01 -1.90596748e-02 -2.26628613e+01] [-2.98471049e-02 2.00672033e-02 9.99353020e-01 -3.29765233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401652532 meters Centerline goodness : 0.770115 with order 1 Centerline is valid? [False, False] Translation: X:-25.20, Y:-22.67, Z:-3.29 [[ 9.99166987e-01 -3.09897524e-02 2.65512204e-02 -2.51967949e+01] [ 3.12349829e-02 9.99472696e-01 -8.87162007e-03 -2.26706274e+01] [-2.62622905e-02 9.69355681e-03 9.99608087e-01 -3.29130859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46165253200002 meters Centerline goodness : 0.769645 with order 1 Centerline is valid? [False, False] Translation: X:-25.22, Y:-22.67, Z:-3.29 [[ 9.99316306e-01 -2.64694838e-02 2.58125452e-02 -2.52212307e+01] [ 2.69299779e-02 9.99481342e-01 -1.76585026e-02 -2.26741714e+01] [-2.53317459e-02 1.83415609e-02 9.99510825e-01 -3.29063620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.521652532 meters Centerline goodness : 0.777046 with order 1 Centerline is valid? [False, False] Translation: X:-25.25, Y:-22.68, Z:-3.29 [[ 9.99460333e-01 -2.43424389e-02 2.20564787e-02 -2.52476096e+01] [ 2.45719019e-02 9.99646102e-01 -1.01927919e-02 -2.26805861e+01] [-2.18005555e-02 1.07292608e-02 9.99704766e-01 -3.28711589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581652532 meters Centerline goodness : 0.786568 with order 1 Centerline is valid? [False, False] Translation: X:-25.27, Y:-22.68, Z:-3.29 [[ 9.99452065e-01 -2.24040088e-02 2.43645424e-02 -2.52683728e+01] [ 2.28719868e-02 9.99555907e-01 -1.91013274e-02 -2.26802607e+01] [-2.39257760e-02 1.96481266e-02 9.99520639e-01 -3.28901274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641652532 meters Centerline goodness : 0.786046 with order 1 Centerline is valid? [False, False] Translation: X:-25.28, Y:-22.68, Z:-3.29 [[ 9.99438056e-01 -1.97297708e-02 2.70981125e-02 -2.52824722e+01] [ 2.03142777e-02 9.99563158e-01 -2.14668154e-02 -2.26813221e+01] [-2.66627396e-02 2.20052308e-02 9.99402255e-01 -3.28762190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701652532 meters Centerline goodness : 0.788712 with order 1 Centerline is valid? [False, False] Translation: X:-25.31, Y:-22.69, Z:-3.28 [[ 9.99528539e-01 -1.90315101e-02 2.40935883e-02 -2.53113876e+01] [ 1.94145025e-02 9.99687251e-01 -1.57631698e-02 -2.26899706e+01] [-2.37860562e-02 1.62235031e-02 9.99585425e-01 -3.28343245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761652532 meters Centerline goodness : 0.782394 with order 1 Centerline is valid? [False, False] Translation: X:-25.31, Y:-22.70, Z:-3.27 [[ 9.99833226e-01 -1.50997908e-02 1.02721252e-02 -2.53148876e+01] [ 1.52034000e-02 9.99833568e-01 -1.00842597e-02 -2.26959764e+01] [-1.01181454e-02 1.02387491e-02 9.99896390e-01 -3.27315751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821652532 meters Centerline goodness : 0.781283 with order 1 Centerline is valid? [False, False] Translation: X:-25.34, Y:-22.70, Z:-3.27 [[ 9.99835948e-01 -1.71472592e-02 5.83511260e-03 -2.53388723e+01] [ 1.71723263e-02 9.99843413e-01 -4.27326452e-03 -2.27040292e+01] [-5.76092413e-03 4.37276594e-03 9.99973845e-01 -3.26729296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881652532 meters Centerline goodness : 0.783672 with order 1 Centerline is valid? [False, False] Translation: X:-25.34, Y:-22.70, Z:-3.26 [[ 9.99804557e-01 -1.85279694e-02 6.89656030e-03 -2.53443144e+01] [ 1.85714120e-02 9.99807755e-01 -6.28934313e-03 -2.27033842e+01] [-6.77870572e-03 6.41619278e-03 9.99956440e-01 -3.26436728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941652532 meters Centerline goodness : 0.783987 with order 1 Centerline is valid? [False, False] Translation: X:-25.35, Y:-22.71, Z:-3.26 [[ 9.99814309e-01 -1.80377843e-02 6.78133486e-03 -2.53450456e+01] [ 1.80697507e-02 9.99825764e-01 -4.68253375e-03 -2.27078753e+01] [-6.69569077e-03 4.80420127e-03 9.99966043e-01 -3.26188248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001652532 meters Centerline goodness : 0.783522 with order 1 Centerline is valid? [False, False] Translation: X:-25.36, Y:-22.71, Z:-3.27 [[ 9.99833930e-01 -1.54635230e-02 9.64322770e-03 -2.53599182e+01] [ 1.55570047e-02 9.99831974e-01 -9.69555045e-03 -2.27088266e+01] [-9.49168002e-03 9.84396005e-03 9.99906498e-01 -3.26566486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061652532 meters Centerline goodness : 0.774640 with order 1 Centerline is valid? [False, False] Translation: X:-25.36, Y:-22.71, Z:-3.27 [[ 9.99773048e-01 -1.90437424e-02 9.54923656e-03 -2.53594265e+01] [ 1.91625337e-02 9.99738156e-01 -1.25066323e-02 -2.27146466e+01] [-9.30856307e-03 1.26867815e-02 9.99876190e-01 -3.26552868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121652532 meters Centerline goodness : 0.772231 with order 1 Centerline is valid? [False, False] Translation: X:-25.36, Y:-22.72, Z:-3.27 [[ 9.99681557e-01 -2.33985650e-02 9.44939298e-03 -2.53583023e+01] [ 2.35483842e-02 9.99593568e-01 -1.60677378e-02 -2.27178767e+01] [-9.06959044e-03 1.62851391e-02 9.99826253e-01 -3.26623654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18165253200002 meters Centerline goodness : 0.768667 with order 1 Centerline is valid? [False, False] Translation: X:-25.38, Y:-22.73, Z:-3.26 [[ 9.99607631e-01 -2.76700477e-02 4.35345254e-03 -2.53759043e+01] [ 2.77112957e-02 9.99568726e-01 -9.71833564e-03 -2.27283739e+01] [-4.08266820e-03 9.83516228e-03 9.99943299e-01 -3.26222506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.241652532 meters Centerline goodness : 0.768704 with order 1 Centerline is valid? [False, False] Translation: X:-25.38, Y:-22.73, Z:-3.26 [[ 9.99374591e-01 -3.49076127e-02 5.64676632e-03 -2.53789374e+01] [ 3.49981862e-02 9.99245712e-01 -1.68265741e-02 -2.27313700e+01] [-5.05513150e-03 1.70136772e-02 9.99842478e-01 -3.26199599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301652532 meters Centerline goodness : 0.768130 with order 1 Centerline is valid? [False, False] Translation: X:-25.38, Y:-22.74, Z:-3.26 [[ 9.99339267e-01 -3.59501754e-02 5.34922475e-03 -2.53775856e+01] [ 3.60221006e-02 9.99252657e-01 -1.40190953e-02 -2.27392183e+01] [-4.84123811e-03 1.42025227e-02 9.99887419e-01 -3.25795626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361652532 meters Centerline goodness : 0.764834 with order 1 Centerline is valid? [False, False] Translation: X:-25.39, Y:-22.75, Z:-3.25 [[ 9.99168757e-01 -4.07649980e-02 9.57277861e-05 -2.53942285e+01] [ 4.07644302e-02 9.99135765e-01 -8.12306675e-03 -2.27487659e+01] [ 2.35491745e-04 8.12021680e-03 9.99967003e-01 -3.25436811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421652532 meters Centerline goodness : 0.760266 with order 1 Centerline is valid? [False, False] Translation: X:-25.39, Y:-22.75, Z:-3.26 [[ 9.99173675e-01 -4.06429607e-02 3.41154001e-04 -2.53943446e+01] [ 4.06443840e-02 9.99143708e-01 -7.73858095e-03 -2.27503665e+01] [-2.63430314e-05 7.74605236e-03 9.99969999e-01 -3.25518056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481652532 meters Centerline goodness : 0.756626 with order 1 Centerline is valid? [False, False] Translation: X:-25.40, Y:-22.75, Z:-3.26 [[ 9.99024433e-01 -4.41405205e-02 1.34057592e-03 -2.53967599e+01] [ 4.41530411e-02 9.98958611e-01 -1.14979273e-02 -2.27509320e+01] [-8.31655364e-04 1.15459009e-02 9.99932998e-01 -3.25509263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541652532 meters Centerline goodness : 0.755482 with order 1 Centerline is valid? [False, False] Translation: X:-25.40, Y:-22.75, Z:-3.25 [[ 9.99044993e-01 -4.36615610e-02 1.66425388e-03 -2.53982840e+01] [ 4.36771237e-02 9.98986484e-01 -1.08772060e-02 -2.27521604e+01] [-1.18765134e-03 1.09395080e-02 9.99939456e-01 -3.25392484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601652532 meters Centerline goodness : 0.752943 with order 1 Centerline is valid? [False, False] Translation: X:-25.40, Y:-22.75, Z:-3.25 [[ 9.99083441e-01 -4.27080054e-02 2.88173853e-03 -2.54023262e+01] [ 4.27370094e-02 9.99026979e-01 -1.08923066e-02 -2.27495544e+01] [-2.41374585e-03 1.10054801e-02 9.99936525e-01 -3.25362566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661652532 meters Centerline goodness : 0.750538 with order 1 Centerline is valid? [False, False] Translation: X:-25.41, Y:-22.75, Z:-3.25 [[ 9.99281617e-01 -3.77557651e-02 3.27890360e-03 -2.54050947e+01] [ 3.77756722e-02 9.99266775e-01 -6.23783152e-03 -2.27493184e+01] [-3.04098532e-03 6.35721316e-03 9.99975169e-01 -3.25185121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721652532 meters Centerline goodness : 0.750329 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-22.75, Z:-3.25 [[ 9.99435374e-01 -3.32330409e-02 4.94963226e-03 -2.54309033e+01] [ 3.33020000e-02 9.99339119e-01 -1.45705789e-02 -2.27498098e+01] [-4.46213650e-03 1.47271846e-02 9.99881593e-01 -3.25335824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781652532 meters Centerline goodness : 0.748881 with order 1 Centerline is valid? [False, False] Translation: X:-25.43, Y:-22.75, Z:-3.25 [[ 9.99550348e-01 -2.96250696e-02 4.63215660e-03 -2.54300931e+01] [ 2.96701383e-02 9.99509882e-01 -9.98396274e-03 -2.27517239e+01] [-4.33411070e-03 1.01169102e-02 9.99939430e-01 -3.25277623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841652532 meters Centerline goodness : 0.746348 with order 1 Centerline is valid? [False, False] Translation: X:-25.44, Y:-22.76, Z:-3.25 [[ 9.99546101e-01 -2.88072434e-02 8.81670289e-03 -2.54411623e+01] [ 2.88269455e-02 9.99582178e-01 -2.11574241e-03 -2.27570483e+01] [-8.75207037e-03 2.36894069e-03 9.99958894e-01 -3.24858687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901652532 meters Centerline goodness : 0.742594 with order 1 Centerline is valid? [False, False] Translation: X:-25.45, Y:-22.76, Z:-3.25 [[ 9.99546604e-01 -2.83807537e-02 1.00557797e-02 -2.54450562e+01] [ 2.83922302e-02 9.99596359e-01 -1.00033908e-03 -2.27578745e+01] [-1.00233304e-02 1.28539154e-03 9.99948939e-01 -3.24679447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96165253200002 meters Centerline goodness : 0.743765 with order 1 Centerline is valid? [False, False] Translation: X:-25.45, Y:-22.76, Z:-3.25 [[ 9.99436471e-01 -3.11519842e-02 1.25018085e-02 -2.54503999e+01] [ 3.11270195e-02 9.99513045e-01 2.18656968e-03 -2.27630144e+01] [-1.25638366e-02 -1.79619345e-03 9.99919459e-01 -3.24775772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.021652532 meters Centerline goodness : 0.739788 with order 1 Centerline is valid? [False, False] Translation: X:-25.45, Y:-22.77, Z:-3.25 [[ 9.99384876e-01 -3.22311336e-02 1.38211268e-02 -2.54527949e+01] [ 3.21724981e-02 9.99472451e-01 4.44407194e-03 -2.27662378e+01] [-1.39570730e-02 -3.99667811e-03 9.99894608e-01 -3.24973716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081652532 meters Centerline goodness : 0.737313 with order 1 Centerline is valid? [False, False] Translation: X:-25.46, Y:-22.77, Z:-3.25 [[ 9.99102115e-01 -3.86523585e-02 1.73481668e-02 -2.54590081e+01] [ 3.85783572e-02 9.99245080e-01 4.58035664e-03 -2.27689003e+01] [-1.75121119e-02 -3.90698023e-03 9.99839018e-01 -3.25404929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141652532 meters Centerline goodness : 0.732262 with order 1 Centerline is valid? [False, False] Translation: X:-25.47, Y:-22.77, Z:-3.25 [[ 9.99047785e-01 -3.87406100e-02 2.00671109e-02 -2.54655972e+01] [ 3.86034081e-02 9.99228814e-01 7.18012639e-03 -2.27692934e+01] [-2.03297979e-02 -6.39863049e-03 9.99772853e-01 -3.25409090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201652532 meters Centerline goodness : 0.723453 with order 1 Centerline is valid? [False, False] Translation: X:-25.47, Y:-22.77, Z:-3.26 [[ 9.98949056e-01 -3.98443867e-02 2.26541076e-02 -2.54713047e+01] [ 3.96384919e-02 9.99169244e-01 9.46635037e-03 -2.27708380e+01] [-2.30124685e-02 -8.55842710e-03 9.99698544e-01 -3.25591888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261652532 meters Centerline goodness : 0.720299 with order 1 Centerline is valid? [False, False] Translation: X:-25.48, Y:-22.77, Z:-3.25 [[ 9.98880469e-01 -4.03696853e-02 2.46596330e-02 -2.54783783e+01] [ 4.01147054e-02 9.99137265e-01 1.07487890e-02 -2.27722747e+01] [-2.50722835e-02 -9.74754150e-03 9.99638118e-01 -3.25208576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321652532 meters Centerline goodness : 0.713841 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-22.77, Z:-3.25 [[ 9.98832570e-01 -3.96637515e-02 2.75732401e-02 -2.54874542e+01] [ 3.93174737e-02 9.99142338e-01 1.29894075e-02 -2.27720666e+01] [-2.80648002e-02 -1.18901331e-02 9.99535388e-01 -3.24858384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381652532 meters Centerline goodness : 0.714206 with order 1 Centerline is valid? [False, False] Translation: X:-25.49, Y:-22.77, Z:-3.25 [[ 9.98607474e-01 -4.35305579e-02 2.98027317e-02 -2.54931693e+01] [ 4.32291795e-02 9.99008059e-01 1.06834614e-02 -2.27725038e+01] [-3.02382262e-02 -9.38023674e-03 9.99498705e-01 -3.24767027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441652532 meters Centerline goodness : 0.710123 with order 1 Centerline is valid? [False, False] Translation: X:-25.52, Y:-22.79, Z:-3.26 [[ 9.98293264e-01 -4.20182157e-02 4.05589430e-02 -2.55215239e+01] [ 4.15590454e-02 9.99062791e-01 1.20989543e-02 -2.27871308e+01] [-4.10293073e-02 -1.03927136e-02 9.99103892e-01 -3.25546368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501652532 meters Centerline goodness : 0.705871 with order 1 Centerline is valid? [False, False] Translation: X:-25.57, Y:-22.80, Z:-3.26 [[ 9.97836667e-01 -4.80726704e-02 4.48442193e-02 -2.55707069e+01] [ 4.74221749e-02 9.98755303e-01 1.54590613e-02 -2.28045645e+01] [-4.55315602e-02 -1.32990078e-02 9.98874373e-01 -3.25626057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561652532 meters Centerline goodness : 0.700806 with order 1 Centerline is valid? [False, False] Translation: X:-25.61, Y:-22.82, Z:-3.25 [[ 9.97387789e-01 -5.50106059e-02 4.68127395e-02 -2.56066563e+01] [ 5.42396653e-02 9.98373117e-01 1.75834657e-02 -2.28157600e+01] [-4.77038577e-02 -1.49984267e-02 9.98748912e-01 -3.25361697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621652532 meters Centerline goodness : 0.698422 with order 1 Centerline is valid? [False, False] Translation: X:-25.66, Y:-22.83, Z:-3.25 [[ 9.97158042e-01 -5.93198171e-02 4.64434913e-02 -2.56579976e+01] [ 5.83611671e-02 9.98058937e-01 2.17332149e-02 -2.28299605e+01] [-4.76425519e-02 -1.89609537e-02 9.98684469e-01 -3.25245140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68165253200002 meters Centerline goodness : 0.687916 with order 1 Centerline is valid? [False, False] Translation: X:-25.71, Y:-22.84, Z:-3.25 [[ 9.97252464e-01 -5.88680137e-02 4.49675479e-02 -2.57134538e+01] [ 5.79689217e-02 9.98096559e-01 2.10443303e-02 -2.28390224e+01] [-4.61207927e-02 -1.83797900e-02 9.98766767e-01 -3.24648056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.741652532 meters Centerline goodness : 0.702145 with order 1 Centerline is valid? [False, False] Translation: X:-25.75, Y:-22.84, Z:-3.24 [[ 9.97620138e-01 -5.37085875e-02 4.32371218e-02 -2.57492213e+01] [ 5.29810015e-02 9.98436825e-01 1.78022399e-02 -2.28447535e+01] [-4.41256678e-02 -1.54691270e-02 9.98906218e-01 -3.24300854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801652532 meters Centerline goodness : 0.681723 with order 3 Centerline is valid? [False, False] Translation: X:-25.79, Y:-22.85, Z:-3.24 [[ 9.97972480e-01 -4.78521481e-02 4.19654646e-02 -2.57873046e+01] [ 4.72873078e-02 9.98778231e-01 1.43511326e-02 -2.28508629e+01] [-4.26009251e-02 -1.23376016e-02 9.99015988e-01 -3.24004983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861652532 meters Centerline goodness : 0.687407 with order 3 Centerline is valid? [False, False] Translation: X:-25.82, Y:-22.85, Z:-3.24 [[ 9.98326778e-01 -4.05805489e-02 4.11929941e-02 -2.58198656e+01] [ 4.03924783e-02 9.99169364e-01 5.38801722e-03 -2.28544331e+01] [-4.13774264e-02 -3.71511476e-03 9.99136681e-01 -3.23741432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921652532 meters Centerline goodness : 0.702724 with order 1 Centerline is valid? [False, False] Translation: X:-25.86, Y:-22.86, Z:-3.23 [[ 9.98784506e-01 -3.23507115e-02 3.71879350e-02 -2.58633758e+01] [ 3.25146322e-02 9.99463992e-01 -3.81143936e-03 -2.28609106e+01] [-3.70446992e-02 5.01595860e-03 9.99301021e-01 -3.22932298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981652532 meters Centerline goodness : 0.678037 with order 3 Centerline is valid? [False, False] Translation: X:-25.92, Y:-22.87, Z:-3.22 [[ 9.98908005e-01 -2.81115491e-02 3.73167175e-02 -2.59193781e+01] [ 2.83879425e-02 9.99573183e-01 -6.89750810e-03 -2.28708744e+01] [-3.71068905e-02 7.94932089e-03 9.99279684e-01 -3.22350684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041652532 meters Centerline goodness : 0.681744 with order 3 Centerline is valid? [False, False] Translation: X:-25.95, Y:-22.88, Z:-3.22 [[ 9.99058384e-01 -2.77871829e-02 3.33199226e-02 -2.59497992e+01] [ 2.78538309e-02 9.99610824e-01 -1.53765387e-03 -2.28830083e+01] [-3.32642282e-02 2.46429348e-03 9.99443554e-01 -3.21669338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101652532 meters Centerline goodness : 0.647631 with order 1 Centerline is valid? [False, False] Translation: X:-25.99, Y:-22.90, Z:-3.21 [[ 9.99158430e-01 -2.72540884e-02 3.06536410e-02 -2.59890416e+01] [ 2.72478369e-02 9.99628515e-01 6.21718103e-04 -2.28959512e+01] [-3.06591980e-02 2.14050528e-04 9.99529873e-01 -3.21109202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161652532 meters Centerline goodness : 0.638324 with order 1 Centerline is valid? [False, False] Translation: X:-26.02, Y:-22.91, Z:-3.21 [[ 9.99253488e-01 -2.79271295e-02 2.66934796e-02 -2.60192030e+01] [ 2.78044499e-02 9.99601095e-01 4.95610578e-03 -2.29075890e+01] [-2.68212413e-02 -4.21020848e-03 9.99631380e-01 -3.20511700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221652532 meters Centerline goodness : 0.644540 with order 1 Centerline is valid? [False, False] Translation: X:-26.07, Y:-22.92, Z:-3.20 [[ 9.99292596e-01 -2.79103182e-02 2.52055820e-02 -2.60655468e+01] [ 2.78134023e-02 9.99604361e-01 4.18751818e-03 -2.29222668e+01] [-2.53124846e-02 -3.48350292e-03 9.99673518e-01 -3.19776233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281652532 meters Centerline goodness : 0.707970 with order 3 Centerline is valid? [False, False] Translation: X:-26.10, Y:-22.93, Z:-3.19 [[ 9.99379896e-01 -2.72882238e-02 2.22525448e-02 -2.61017553e+01] [ 2.71397942e-02 9.99607521e-01 6.94522817e-03 -2.29342158e+01] [-2.24333341e-02 -6.33699192e-03 9.99728257e-01 -3.19202705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341652532 meters Centerline goodness : 0.696994 with order 2 Centerline is valid? [False, False] Translation: X:-26.18, Y:-22.95, Z:-3.19 [[ 9.99435418e-01 -2.69342216e-02 2.00846528e-02 -2.61778922e+01] [ 2.68283293e-02 9.99624797e-01 5.52328543e-03 -2.29480926e+01] [-2.02258824e-02 -4.98132940e-03 9.99783026e-01 -3.18968273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401652532 meters Centerline goodness : 0.697814 with order 3 Centerline is valid? [False, False] Translation: X:-26.22, Y:-22.95, Z:-3.18 [[ 9.99743835e-01 -1.83025893e-02 1.33146384e-02 -2.62221234e+01] [ 1.83493839e-02 9.99825852e-01 -3.40087832e-03 -2.29537766e+01] [-1.32500748e-02 3.64432255e-03 9.99905573e-01 -3.18427017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46165253200002 meters Centerline goodness : 0.684963 with order 3 Centerline is valid? [False, False] Translation: X:-26.27, Y:-22.96, Z:-3.18 [[ 9.99945410e-01 -6.58887005e-03 8.10953428e-03 -2.62743531e+01] [ 6.69787072e-03 9.99886598e-01 -1.34881007e-02 -2.29584146e+01] [-8.01974330e-03 1.35416810e-02 9.99876146e-01 -3.17820078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.521652532 meters Centerline goodness : 0.694075 with order 3 Centerline is valid? [False, False] Translation: X:-26.32, Y:-22.96, Z:-3.18 [[ 9.99900882e-01 -8.29592100e-03 1.13755771e-02 -2.63210446e+01] [ 8.52432172e-03 9.99760045e-01 -2.01788845e-02 -2.29593439e+01] [-1.12054451e-02 2.02738535e-02 9.99731668e-01 -3.18146944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581652532 meters Centerline goodness : 0.639323 with order 1 Centerline is valid? [False, False] Translation: X:-26.38, Y:-22.97, Z:-3.18 [[ 9.99931374e-01 2.73207268e-03 1.13922318e-02 -2.63827735e+01] [-2.48070082e-03 9.99754425e-01 -2.20212496e-02 -2.29652962e+01] [-1.14495978e-02 2.19914776e-02 9.99692594e-01 -3.17947601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641652532 meters Centerline goodness : 0.631462 with order 1 Centerline is valid? [False, False] Translation: X:-26.44, Y:-22.97, Z:-3.18 [[ 9.99881100e-01 4.53059740e-03 1.47397145e-02 -2.64383629e+01] [-4.10841310e-03 9.99583982e-01 -2.85479059e-02 -2.29715318e+01] [-1.48629216e-02 2.84839547e-02 9.99483746e-01 -3.17931188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701652532 meters Centerline goodness : 0.670786 with order 1 Centerline is valid? [False, False] Translation: X:-26.50, Y:-22.98, Z:-3.17 [[ 9.99846030e-01 7.87252771e-03 1.56824708e-02 -2.64970477e+01] [-7.37848465e-03 9.99482316e-01 -3.13154512e-02 -2.29834493e+01] [-1.59208840e-02 3.11949167e-02 9.99386513e-01 -3.17263379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761652532 meters Centerline goodness : 0.662310 with order 1 Centerline is valid? [False, False] Translation: X:-26.54, Y:-23.00, Z:-3.17 [[ 9.99882215e-01 6.49259539e-03 1.39069419e-02 -2.65355297e+01] [-6.07972234e-03 9.99545477e-01 -2.95275635e-02 -2.29982202e+01] [-1.40923314e-02 2.94395352e-02 9.99467218e-01 -3.16628643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821652532 meters Centerline goodness : 0.711596 with order 3 Centerline is valid? [False, False] Translation: X:-26.58, Y:-23.02, Z:-3.16 [[ 9.99917780e-01 4.66752158e-04 1.28146206e-02 -2.65817409e+01] [-6.18514390e-05 9.99501257e-01 -3.15790087e-02 -2.30220433e+01] [-1.28229689e-02 3.15756197e-02 9.99419107e-01 -3.15550845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881652532 meters Centerline goodness : 0.320034 with order 1 Centerline is valid? [False, False] Translation: X:-26.62, Y:-23.04, Z:-3.15 [[ 9.99917652e-01 -7.26045587e-03 1.05818067e-02 -2.66213597e+01] [ 7.60841945e-03 9.99419016e-01 -3.32226120e-02 -2.30436579e+01] [-1.03344475e-02 3.33003870e-02 9.99391957e-01 -3.14800762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941652532 meters Centerline goodness : 0.674709 with order 1 Centerline is valid? [False, False] Translation: X:-26.65, Y:-23.06, Z:-3.15 [[ 9.99906305e-01 -1.19100240e-02 6.74782999e-03 -2.66505972e+01] [ 1.21202699e-02 9.99413600e-01 -3.20242762e-02 -2.30599347e+01] [-6.36246317e-03 3.21030612e-02 9.99464313e-01 -3.14532658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001652532 meters Centerline goodness : 0.697017 with order 1 Centerline is valid? [False, False] Translation: X:-26.70, Y:-23.07, Z:-3.14 [[ 9.99913004e-01 -1.31008135e-02 1.53407949e-03 -2.66954889e+01] [ 1.31493080e-02 9.99203943e-01 -3.76639896e-02 -2.30734812e+01] [-1.03942937e-03 3.76808850e-02 9.99289283e-01 -3.14485025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061652532 meters Centerline goodness : 0.663627 with order 1 Centerline is valid? [False, False] Translation: X:-26.73, Y:-23.08, Z:-3.14 [[ 9.99962673e-01 -8.55090958e-03 -1.23899776e-03 -2.67330171e+01] [ 8.50607213e-03 9.99434233e-01 -3.25401242e-02 -2.30806451e+01] [ 1.51654444e-03 3.25283705e-02 9.99469662e-01 -3.14238675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121652532 meters Centerline goodness : 0.694711 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:-23.09, Z:-3.14 [[ 9.99999854e-01 3.68886347e-04 -3.93719795e-04 -2.67957980e+01] [-3.82316866e-04 9.99398560e-01 -3.46752344e-02 -2.30850686e+01] [ 3.80691776e-04 3.46753798e-02 9.99398556e-01 -3.13933783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18165253200002 meters Centerline goodness : 0.702379 with order 1 Centerline is valid? [False, False] Translation: X:-26.86, Y:-23.09, Z:-3.14 [[ 9.99968654e-01 7.68064644e-03 1.92341837e-03 -2.68610927e+01] [-7.59723029e-03 9.99164528e-01 -4.01562850e-02 -2.30888028e+01] [-2.23023764e-03 4.01404136e-02 9.99191560e-01 -3.13664829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.241652532 meters Centerline goodness : 0.701464 with order 1 Centerline is valid? [False, False] Translation: X:-26.92, Y:-23.09, Z:-3.14 [[ 9.99844624e-01 1.68495835e-02 5.17880860e-03 -2.69201133e+01] [-1.66879453e-02 9.99416188e-01 -2.98126666e-02 -2.30897789e+01] [-5.67811617e-03 2.97216107e-02 9.99542088e-01 -3.13711513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301652532 meters Centerline goodness : 0.702012 with order 1 Centerline is valid? [False, False] Translation: X:-27.00, Y:-23.09, Z:-3.14 [[ 9.99550359e-01 2.84179903e-02 9.56544466e-03 -2.69999663e+01] [-2.82069571e-02 9.99370480e-01 -2.15177158e-02 -2.30879537e+01] [-1.01709133e-02 2.12382285e-02 9.99722707e-01 -3.13621204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361652532 meters Centerline goodness : 0.704252 with order 1 Centerline is valid? [False, False] Translation: X:-27.07, Y:-23.08, Z:-3.13 [[ 9.99006025e-01 3.74050716e-02 2.42450374e-02 -2.70654413e+01] [-3.72524358e-02 9.99283312e-01 -6.71708732e-03 -2.30839391e+01] [-2.44789144e-02 5.80722401e-03 9.99683479e-01 -3.12869855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421652532 meters Centerline goodness : 0.701451 with order 1 Centerline is valid? [False, False] Translation: X:-27.08, Y:-23.08, Z:-3.12 [[ 9.98409504e-01 4.96177825e-02 2.67682262e-02 -2.70836012e+01] [-4.96297144e-02 9.98767662e-01 -2.18844541e-04 -2.30813432e+01] [-2.67460972e-02 -1.11000295e-03 9.99641643e-01 -3.12330444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481652532 meters Centerline goodness : 0.695715 with order 1 Centerline is valid? [False, False] Translation: X:-27.14, Y:-23.07, Z:-3.12 [[ 9.96970916e-01 7.39028924e-02 2.42354242e-02 -2.71389318e+01] [-7.38996308e-02 9.97265151e-01 -1.03140403e-03 -2.30707608e+01] [-2.42453677e-02 -7.62709082e-04 9.99705747e-01 -3.11714433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541652532 meters Centerline goodness : 0.700524 with order 1 Centerline is valid? [False, False] Translation: X:-27.19, Y:-23.06, Z:-3.12 [[ 9.95529389e-01 9.04781669e-02 2.71097146e-02 -2.71883605e+01] [-9.06364180e-02 9.95873127e-01 4.66411743e-03 -2.30601414e+01] [-2.65758355e-02 -7.10039340e-03 9.99621583e-01 -3.11911039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601652532 meters Centerline goodness : 0.700903 with order 1 Centerline is valid? [False, False] Translation: X:-27.24, Y:-23.05, Z:-3.12 [[ 9.93331848e-01 1.11591923e-01 2.89669045e-02 -2.72390567e+01] [-1.11936634e-01 9.93659240e-01 1.05595478e-02 -2.30467552e+01] [-2.76048721e-02 -1.37315929e-02 9.99524594e-01 -3.12380090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661652532 meters Centerline goodness : 0.707176 with order 1 Centerline is valid? [False, False] Translation: X:-27.31, Y:-23.02, Z:-3.12 [[ 9.88366102e-01 1.50692580e-01 2.05960027e-02 -2.73111536e+01] [-1.50913201e-01 9.88500354e-01 9.60498021e-03 -2.30212569e+01] [-1.89117567e-02 -1.26014456e-02 9.99741741e-01 -3.12362865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721652532 meters Centerline goodness : 0.709295 with order 1 Centerline is valid? [False, False] Translation: X:-27.35, Y:-23.01, Z:-3.13 [[ 9.87004550e-01 1.58943740e-01 2.36411855e-02 -2.73509262e+01] [-1.59253698e-01 9.87166553e-01 1.18513918e-02 -2.30120194e+01] [-2.14540830e-02 -1.54623239e-02 9.99650258e-01 -3.12868893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781652532 meters Centerline goodness : 0.688212 with order 1 Centerline is valid? [False, False] Translation: X:-27.43, Y:-22.98, Z:-3.13 [[ 9.77674664e-01 2.09639317e-01 1.42690957e-02 -2.74306655e+01] [-2.09832087e-01 9.77641521e-01 1.36949701e-02 -2.29798861e+01] [-1.10790563e-02 -1.63833395e-02 9.99804401e-01 -3.13035475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841652532 meters Centerline goodness : 0.681406 with order 1 Centerline is valid? [False, False] Translation: X:-27.50, Y:-22.96, Z:-3.13 [[ 9.74481168e-01 2.23881319e-01 1.62360435e-02 -2.75017361e+01] [-2.24146215e-01 9.74409111e-01 1.68925504e-02 -2.29640133e+01] [-1.20386223e-02 -2.01007199e-02 9.99725479e-01 -3.13420371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901652532 meters Centerline goodness : 0.691637 with order 1 Centerline is valid? [False, False] Translation: X:-27.59, Y:-22.94, Z:-3.13 [[ 9.65634053e-01 2.59530906e-01 1.39493803e-02 -2.75946472e+01] [-2.59774381e-01 9.65460462e-01 2.00840119e-02 -2.29444482e+01] [-8.25515335e-03 -2.30174975e-02 9.99700979e-01 -3.12915662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96165253200002 meters Centerline goodness : 0.668044 with order 1 Centerline is valid? [False, False] Translation: X:-27.68, Y:-22.94, Z:-3.13 [[ 9.59186499e-01 2.82198019e-01 1.80426594e-02 -2.76756551e+01] [-2.82612368e-01 9.58842603e-01 2.74064170e-02 -2.29359319e+01] [-9.56603388e-03 -3.13869438e-02 9.99461530e-01 -3.13154360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.021652532 meters Centerline goodness : 0.190121 with order 1 Centerline is valid? [False, False] Translation: X:-27.78, Y:-22.93, Z:-3.13 [[ 9.48299471e-01 3.16952456e-01 1.64089549e-02 -2.77784024e+01] [-3.17286852e-01 9.47994104e-01 2.52236536e-02 -2.29329789e+01] [-7.56089353e-03 -2.91259230e-02 9.99547154e-01 -3.12522962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081652532 meters Centerline goodness : 0.749352 with order 1 Centerline is valid? [False, False] Translation: X:-27.86, Y:-22.94, Z:-3.12 [[ 9.39506873e-01 3.41701935e-01 2.38038405e-02 -2.78628977e+01] [-3.42252533e-01 9.39272997e-01 2.50886478e-02 -2.29360492e+01] [-1.37854651e-02 -3.17178818e-02 9.99401790e-01 -3.11962729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141652532 meters Centerline goodness : 0.741983 with order 1 Centerline is valid? [False, False] Translation: X:-27.89, Y:-22.94, Z:-3.12 [[ 9.46936898e-01 3.20960227e-01 1.71768198e-02 -2.78947864e+01] [-3.21314874e-01 9.46639481e-01 2.51086616e-02 -2.29444655e+01] [-8.20137405e-03 -2.92954858e-02 9.99537149e-01 -3.12037361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201652532 meters Centerline goodness : 0.751904 with order 1 Centerline is valid? [False, False] Translation: X:-27.94, Y:-22.96, Z:-3.12 [[ 9.61978070e-01 2.71485895e-01 2.98931690e-02 -2.79434097e+01] [-2.72198586e-01 9.61964871e-01 2.30546421e-02 -2.29619345e+01] [-2.24971683e-02 -3.03149384e-02 9.99287187e-01 -3.11653279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9529.14 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%| | 0/4942 [00:00