+ python -m lidar_slam --result /working/result.json --no-model /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 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 0.001346184 Adjusted end_distance from 9.223372036854776e+18 to 231.381346184 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001346184 meters Centerline goodness : 0.137229 with order 1 Centerline is valid? [0, False] SLAMing on 0.061346184 meters Centerline goodness : 0.125764 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99991425e-01 -3.89001631e-03 -1.42024894e-03 4.44496736e-03] [ 3.88494084e-03 9.99986120e-01 -3.55908483e-03 -1.30589409e-03] [ 1.43407413e-03 3.55353673e-03 9.99992658e-01 8.20463452e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121346184 meters Centerline goodness : 0.128530 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99967115e-01 -7.67375469e-03 -2.62357080e-03 8.77911855e-03] [ 7.65567821e-03 9.99947356e-01 -6.83200737e-03 -3.08306258e-03] [ 2.67585983e-03 6.81169749e-03 9.99973220e-01 9.59767730e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.181346184 meters Centerline goodness : 0.131401 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.00 [[ 0.99991273 -0.01286664 0.00299825 0.0447185 ] [ 0.01289917 0.99985525 -0.01109478 -0.0079535 ] [-0.00285507 0.01113249 0.99993396 -0.00191968] [ 0. 0. 0. 1. ]] SLAMing on 0.241346184 meters Centerline goodness : 0.134447 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 0.99981245 -0.01770532 0.00784827 0.08887138] [ 0.01788239 0.9995733 -0.02309612 -0.00902242] [-0.007436 0.02323213 0.99970244 0.00384139] [ 0. 0. 0. 1. ]] SLAMing on 0.30134618399999996 meters Centerline goodness : 0.139235 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.03 [[ 9.99709618e-01 -2.34699941e-02 5.46254305e-03 1.28453227e-01] [ 2.36987867e-02 9.98638311e-01 -4.64746369e-02 -7.12485576e-04] [-4.36434530e-03 4.65905972e-02 9.98904534e-01 3.16220257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36134618399999996 meters Centerline goodness : 0.154016 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:0.03 [[ 0.99982786 -0.01760516 -0.00585708 0.12491397] [ 0.01734797 0.99899234 -0.04139278 -0.01649825] [ 0.00657991 0.04128405 0.99912578 0.03441403] [ 0. 0. 0. 1. ]] SLAMing on 0.42134618399999996 meters Centerline goodness : 0.211589 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:0.04 [[ 0.99981657 -0.01858893 -0.00461346 0.12127936] [ 0.01837241 0.99889671 -0.04321821 -0.02306386] [ 0.00541175 0.04312553 0.999055 0.03609528] [ 0. 0. 0. 1. ]] SLAMing on 0.48134618399999995 meters Centerline goodness : 0.198577 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:0.04 [[ 0.99976341 -0.02163935 -0.00220511 0.11466483] [ 0.02150623 0.99857997 -0.04873936 -0.03370921] [ 0.00325667 0.04868041 0.9988091 0.03868715] [ 0. 0. 0. 1. ]] SLAMing on 0.541346184 meters Centerline goodness : 0.111524 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.03 [[ 0.99969208 -0.02470613 0.00231418 0.14455515] [ 0.02478658 0.99862916 -0.04610237 -0.03933205] [-0.00117199 0.04614553 0.99893404 0.03259327] [ 0. 0. 0. 1. ]] SLAMing on 0.601346184 meters Centerline goodness : 0.638155 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:0.03 [[ 0.99951291 -0.03049888 0.00661491 0.18483745] [ 0.0307905 0.99828922 -0.04970489 -0.04471365] [-0.00508765 0.04988436 0.99874204 0.02862723] [ 0. 0. 0. 1. ]] SLAMing on 0.6613461839999999 meters Centerline goodness : 0.107421 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.02 [[ 0.99934611 -0.03481362 0.00976507 0.22631367] [ 0.03526971 0.99806279 -0.05125155 -0.05033899] [-0.0079619 0.05156245 0.99863803 0.0241872 ] [ 0. 0. 0. 1. ]] SLAMing on 0.721346184 meters Centerline goodness : 0.219150 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:0.02 [[ 0.999233 -0.03643074 0.01435994 0.25814624] [ 0.03708929 0.99812808 -0.04862839 -0.05461987] [-0.01256149 0.04912369 0.99871371 0.01820284] [ 0. 0. 0. 1. ]] SLAMing on 0.781346184 meters Centerline goodness : 0.221583 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:0.01 [[ 0.99905951 -0.03856855 0.0198132 0.27509554] [ 0.03934825 0.99840048 -0.04059805 -0.05850515] [-0.0182157 0.04133948 0.9989791 0.0108272 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8413461839999999 meters Centerline goodness : 0.237037 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.06, Z:0.01 [[ 0.99880526 -0.04258509 0.02397004 0.31654048] [ 0.04361329 0.99807267 -0.04414541 -0.06171667] [-0.02204391 0.04513808 0.99873751 0.00629157] [ 0. 0. 0. 1. ]] SLAMing on 0.9013461839999999 meters Centerline goodness : 0.145164 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:-0.00 [[ 9.98572387e-01 -4.48834983e-02 2.89596236e-02 3.50970384e-01] [ 4.61319064e-02 9.97966466e-01 -4.39861297e-02 -6.57573291e-02] [-2.69264819e-02 4.52592971e-02 9.98612317e-01 -3.33055695e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9613461839999999 meters Centerline goodness : 0.158071 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.00 [[ 0.99812996 -0.05197728 0.03217042 0.39924035] [ 0.05328132 0.99773338 -0.04110004 -0.06676957] [-0.02996123 0.04273727 0.998637 -0.0038959 ] [ 0. 0. 0. 1. ]] SLAMing on 1.021346184 meters Centerline goodness : 0.234817 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.01 [[ 0.9978594 -0.0534454 0.03768576 0.428498 ] [ 0.05492747 0.99771057 -0.03945378 -0.06901793] [-0.03549086 0.0414393 0.99851048 -0.00873691] [ 0. 0. 0. 1. ]] SLAMing on 1.081346184 meters Centerline goodness : 0.154183 with order 2 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.02 [[ 0.99755826 -0.05460325 0.04354314 0.46501984] [ 0.05629922 0.99766273 -0.03872305 -0.07136739] [-0.04132696 0.04107995 0.99830082 -0.0150188 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1413461839999999 meters Centerline goodness : 0.166333 with order 2 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.02 [[ 0.99722321 -0.05621789 0.04884083 0.48337792] [ 0.0576887 0.99790619 -0.02924453 -0.07455847] [-0.0470945 0.03198089 0.99837835 -0.02303639] [ 0. 0. 0. 1. ]] SLAMing on 1.201346184 meters Centerline goodness : 0.179795 with order 2 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.03 [[ 0.9969318 -0.05583478 0.05485864 0.51908606] [ 0.05742578 0.99796082 -0.02786546 -0.07808894] [-0.05319091 0.03093026 0.99810523 -0.02941428] [ 0. 0. 0. 1. ]] SLAMing on 1.261346184 meters Centerline goodness : 0.385113 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.03 [[ 0.99711797 -0.0592605 0.04737031 0.53757211] [ 0.06036221 0.99793021 -0.02217423 -0.08026296] [-0.04595821 0.0249697 0.99863124 -0.03054036] [ 0. 0. 0. 1. ]] SLAMing on 1.3213461839999998 meters Centerline goodness : 0.436838 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.04 [[ 0.99689794 -0.05858209 0.05256075 0.56951315] [ 0.05958687 0.99806519 -0.01775638 -0.08591767] [-0.05141885 0.02083323 0.99845985 -0.03700904] [ 0. 0. 0. 1. ]] SLAMing on 1.3813461839999999 meters Centerline goodness : 0.823553 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.09, Z:-0.04 [[ 0.99683429 -0.0649616 0.04584086 0.58872352] [ 0.065622 0.99775922 -0.01304999 -0.09112387] [-0.04489039 0.01601684 0.99886351 -0.03821812] [ 0. 0. 0. 1. ]] SLAMing on 1.441346184 meters Centerline goodness : 0.838272 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.04 [[ 0.99660525 -0.07288796 0.03827954 0.60788945] [ 0.07328345 0.99727027 -0.00903041 -0.10347903] [-0.03751684 0.01180502 0.99922627 -0.0385487 ] [ 0. 0. 0. 1. ]] SLAMing on 1.501346184 meters Centerline goodness : 0.838374 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.04 [[ 0.99600675 -0.07855252 0.04242705 0.62772514] [ 0.0787678 0.99688711 -0.00342375 -0.11605486] [-0.04202603 0.00675196 0.9990937 -0.04332054] [ 0. 0. 0. 1. ]] SLAMing on 1.561346184 meters Centerline goodness : 0.765285 with order 3 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.05 [[ 0.99591254 -0.08040572 0.04114765 0.63441045] [ 0.08062958 0.99673686 -0.00380739 -0.124411 ] [-0.04070724 0.00710954 0.99914582 -0.04531343] [ 0. 0. 0. 1. ]] SLAMing on 1.6213461839999999 meters Centerline goodness : 0.792750 with order 3 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.05 [[ 0.99647161 -0.07782111 0.03143558 0.62976209] [ 0.07799573 0.99694413 -0.00436553 -0.13998164] [-0.03099979 0.00680197 0.99949625 -0.04532577] [ 0. 0. 0. 1. ]] SLAMing on 1.681346184 meters Centerline goodness : 0.869382 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.05 [[ 0.99701463 -0.07368069 0.02308628 0.62206762] [ 0.07380409 0.99726243 -0.00453831 -0.16086068] [-0.02268869 0.00622862 0.99972318 -0.0450937 ] [ 0. 0. 0. 1. ]] SLAMing on 1.741346184 meters Centerline goodness : 0.833628 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.04 [[ 0.99746156 -0.06975136 0.01432451 0.61450934] [ 0.06982408 0.99754853 -0.00464034 -0.17697692] [-0.01396573 0.00562876 0.99988663 -0.04499315] [ 0. 0. 0. 1. ]] SLAMing on 1.8013461839999998 meters Centerline goodness : 0.886814 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.05 [[ 9.97926031e-01 -6.41725127e-02 -5.05222467e-03 6.05943467e-01] [ 6.41726843e-02 9.97938801e-01 -1.28305935e-04 -2.06525273e-01] [ 5.05004475e-03 -1.96174986e-04 9.99987229e-01 -4.53913258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8613461839999998 meters Centerline goodness : 0.798394 with order 3 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.23, Z:-0.05 [[ 0.9980093 -0.06110159 -0.01562174 0.60446391] [ 0.06118021 0.99811611 0.00460495 -0.22798657] [ 0.01531094 -0.00555152 0.99986737 -0.0462793 ] [ 0. 0. 0. 1. ]] SLAMing on 1.921346184 meters Centerline goodness : 0.788988 with order 3 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.26, Z:-0.05 [[ 0.99773408 -0.06515714 -0.0167704 0.61136874] [ 0.06531729 0.99782227 0.00918573 -0.25909908] [ 0.01613537 -0.01026031 0.99981717 -0.05301227] [ 0. 0. 0. 1. ]] SLAMing on 1.981346184 meters Centerline goodness : 0.775140 with order 3 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.28, Z:-0.05 [[ 0.99749425 -0.0652163 -0.02742372 0.60992378] [ 0.0655463 0.99778542 0.01131073 -0.28343129] [ 0.02662534 -0.01307991 0.99955991 -0.05312886] [ 0. 0. 0. 1. ]] SLAMing on 2.041346184 meters Centerline goodness : 0.884177 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.06 [[ 0.99682722 -0.07181108 -0.03433163 0.62689079] [ 0.07257088 0.9971332 0.02142093 -0.31748462] [ 0.03269495 -0.02384444 0.99918091 -0.06148712] [ 0. 0. 0. 1. ]] SLAMing on 2.101346184 meters Centerline goodness : 0.879032 with order 2 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.34, Z:-0.07 [[ 0.99632919 -0.07614835 -0.03910982 0.63884095] [ 0.07731786 0.99657546 0.02931394 -0.34060319] [ 0.03674368 -0.03223022 0.99880484 -0.0659036 ] [ 0. 0. 0. 1. ]] SLAMing on 2.161346184 meters Centerline goodness : 0.878346 with order 2 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.37, Z:-0.07 [[ 0.99529457 -0.08392918 -0.04842113 0.66055193] [ 0.08564561 0.99572707 0.03453149 -0.37038714] [ 0.04531603 -0.03851606 0.99822992 -0.07016587] [ 0. 0. 0. 1. ]] SLAMing on 2.2213461839999997 meters Centerline goodness : 0.876858 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.38, Z:-0.07 [[ 0.99455696 -0.08896913 -0.05423043 0.67801634] [ 0.09075054 0.99538109 0.03131811 -0.38496718] [ 0.0511936 -0.03606909 0.99803719 -0.07135569] [ 0. 0. 0. 1. ]] SLAMing on 2.2813461839999998 meters Centerline goodness : 0.886595 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.40, Z:-0.07 [[ 0.99344966 -0.09289217 -0.06654931 0.68166042] [ 0.0950241 0.9950344 0.02961346 -0.40126096] [ 0.06346799 -0.03574327 0.99734359 -0.07331053] [ 0. 0. 0. 1. ]] SLAMing on 2.341346184 meters Centerline goodness : 0.881297 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.41, Z:-0.08 [[ 0.99280693 -0.0993541 -0.0668069 0.68768888] [ 0.10115257 0.9945792 0.02409112 -0.40630481] [ 0.06405121 -0.03067552 0.99747504 -0.07818195] [ 0. 0. 0. 1. ]] SLAMing on 2.401346184 meters Centerline goodness : 0.879349 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.42, Z:-0.08 [[ 0.99159709 -0.10615814 -0.07393006 0.70782931] [ 0.10790762 0.99395822 0.02007474 -0.41764335] [ 0.07135229 -0.02788367 0.99706136 -0.08069933] [ 0. 0. 0. 1. ]] SLAMing on 2.461346184 meters Centerline goodness : 0.881906 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.42, Z:-0.08 [[ 0.99101788 -0.11055804 -0.07523613 0.71382171] [ 0.11218716 0.99352819 0.01777005 -0.4208728 ] [ 0.0727846 -0.02605097 0.9970074 -0.08282715] [ 0. 0. 0. 1. ]] SLAMing on 2.521346184 meters Centerline goodness : 0.856975 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.42, Z:-0.09 [[ 0.99012983 -0.11643398 -0.07801306 0.72366047] [ 0.11794621 0.99290594 0.01504959 -0.42276155] [ 0.07570735 -0.02410239 0.99683874 -0.08671101] [ 0. 0. 0. 1. ]] SLAMing on 2.581346184 meters Centerline goodness : 0.857191 with order 2 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.42, Z:-0.09 [[ 0.98956268 -0.12055439 -0.07894521 0.72881535] [ 0.12182609 0.9924851 0.01147778 -0.42162453] [ 0.07696825 -0.02097557 0.99681288 -0.08931782] [ 0. 0. 0. 1. ]] SLAMing on 2.6413461839999997 meters Centerline goodness : 0.867320 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.42, Z:-0.09 [[ 0.98842791 -0.12899251 -0.07981982 0.73659197] [ 0.12966312 0.99155276 0.00325443 -0.42034425] [ 0.07872576 -0.01356646 0.996804 -0.09444569] [ 0. 0. 0. 1. ]] SLAMing on 2.7013461839999997 meters Centerline goodness : 0.866654 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.42, Z:-0.10 [[ 0.98822486 -0.12987379 -0.08089759 0.74027915] [ 0.1305391 0.99143872 0.00296773 -0.41998419] [ 0.07981958 -0.01349308 0.996718 -0.09587041] [ 0. 0. 0. 1. ]] SLAMing on 2.7613461839999998 meters Centerline goodness : 0.861987 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:-0.10 [[ 0.98745419 -0.13474678 -0.0823257 0.74760472] [ 0.13508112 0.99083338 -0.00152056 -0.41679222] [ 0.08177594 -0.00961916 0.99660432 -0.09987891] [ 0. 0. 0. 1. ]] SLAMing on 2.821346184 meters Centerline goodness : 0.856183 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.41, Z:-0.10 [[ 0.98665232 -0.14001729 -0.08314061 0.75378702] [ 0.13995221 0.990136 -0.00663923 -0.41340799] [ 0.08325012 -0.0050851 0.99651571 -0.10395327] [ 0. 0. 0. 1. ]] SLAMing on 2.881346184 meters Centerline goodness : 0.851224 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.41, Z:-0.11 [[ 0.98637372 -0.14114303 -0.08453123 0.75984675] [ 0.14102174 0.98997859 -0.00743439 -0.41203972] [ 0.08473342 -0.00458766 0.9963931 -0.10738918] [ 0. 0. 0. 1. ]] SLAMing on 2.941346184 meters Centerline goodness : 0.836720 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.41, Z:-0.11 [[ 0.98618253 -0.14144229 -0.08624437 0.76799002] [ 0.14120625 0.98994053 -0.00886222 -0.40564019] [ 0.08663029 -0.00343848 0.9962346 -0.11360554] [ 0. 0. 0. 1. ]] SLAMing on 3.001346184 meters Centerline goodness : 0.831158 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.40, Z:-0.12 [[ 0.98656233 -0.13761199 -0.08807791 0.773029 ] [ 0.13764429 0.99046512 -0.00573596 -0.40163296] [ 0.08802743 -0.00646454 0.99609707 -0.11688414] [ 0. 0. 0. 1. ]] SLAMing on 3.061346184 meters Centerline goodness : 0.811308 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.39, Z:-0.12 [[ 0.98691415 -0.13351706 -0.0904083 0.78105278] [ 0.1337313 0.99101068 -0.0037111 -0.39461923] [ 0.09009109 -0.00842788 0.99589787 -0.12326348] [ 0. 0. 0. 1. ]] SLAMing on 3.121346184 meters Centerline goodness : 0.788691 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.39, Z:-0.13 [[ 0.98751195 -0.12633512 -0.09412542 0.78994017] [ 0.12708484 0.99188986 0.00198965 -0.38553633] [ 0.09311069 -0.01392671 0.99555836 -0.12820509] [ 0. 0. 0. 1. ]] SLAMing on 3.1813461839999997 meters Centerline goodness : 0.764648 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.38, Z:-0.13 [[ 0.98764433 -0.12334854 -0.0966634 0.79759349] [ 0.1243443 0.99222972 0.00432278 -0.37920041] [ 0.09537909 -0.01628891 0.99530774 -0.13275371] [ 0. 0. 0. 1. ]] SLAMing on 3.2413461839999997 meters Centerline goodness : 0.734428 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.37, Z:-0.14 [[ 0.9874701 -0.12201293 -0.10007819 0.80691212] [ 0.12318978 0.99236709 0.00564165 -0.37029099] [ 0.09862595 -0.01789957 0.99496358 -0.13713461] [ 0. 0. 0. 1. ]] SLAMing on 3.301346184 meters Centerline goodness : 0.713306 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.37, Z:-0.14 [[ 0.98714508 -0.1233475 -0.10163657 0.81300433] [ 0.12440784 0.99222255 0.00413644 -0.36579881] [ 0.10033587 -0.01672765 0.994813 -0.140814 ] [ 0. 0. 0. 1. ]] SLAMing on 3.361346184 meters Centerline goodness : 0.736740 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.36, Z:-0.14 [[ 0.98688514 -0.12430946 -0.10298 0.81878697] [ 0.12527423 0.99211783 0.00292914 -0.36285079] [ 0.10180418 -0.01579147 0.99467911 -0.14480129] [ 0. 0. 0. 1. ]] SLAMing on 3.421346184 meters Centerline goodness : 0.724819 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.36, Z:-0.15 [[ 0.98712175 -0.12133616 -0.10425058 0.82152119] [ 0.1226614 0.99242812 0.00637233 -0.36225404] [ 0.10268801 -0.01907779 0.99453065 -0.14571832] [ 0. 0. 0. 1. ]] SLAMing on 3.481346184 meters Centerline goodness : 0.717274 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.36, Z:-0.15 [[ 0.98735108 -0.11936437 -0.10435514 0.82326663] [ 0.12062125 0.99268169 0.00579466 -0.35932886] [ 0.10289976 -0.01830881 0.99452322 -0.14911503] [ 0. 0. 0. 1. ]] SLAMing on 3.541346184 meters Centerline goodness : 0.707471 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.35, Z:-0.15 [[ 0.98853129 -0.11615845 -0.09650445 0.83426361] [ 0.11704876 0.99311966 0.00359692 -0.35268221] [ 0.09542265 -0.0148514 0.99532605 -0.15254378] [ 0. 0. 0. 1. ]] SLAMing on 3.6013461839999996 meters Centerline goodness : 0.715115 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.35, Z:-0.15 [[ 0.9901156 -0.113117 -0.08291949 0.83111504] [ 0.114016 0.99345974 0.00617277 -0.35183262] [ 0.08167893 -0.01556591 0.99653713 -0.15234069] [ 0. 0. 0. 1. ]] SLAMing on 3.6613461839999997 meters Centerline goodness : 0.731355 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.35, Z:-0.15 [[ 0.99067229 -0.11506214 -0.07300085 0.83619937] [ 0.11558219 0.99329361 0.00292568 -0.35218791] [ 0.07217464 -0.01133599 0.99732759 -0.14870268] [ 0. 0. 0. 1. ]] SLAMing on 3.7213461839999997 meters Centerline goodness : 0.757070 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.36, Z:-0.14 [[ 0.99120019 -0.11104942 -0.07204314 0.82836035] [ 0.11205648 0.99365073 0.01007825 -0.35792002] [ 0.07046653 -0.01806247 0.9973506 -0.13909239] [ 0. 0. 0. 1. ]] SLAMing on 3.7813461839999998 meters Centerline goodness : 0.770762 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.36, Z:-0.13 [[ 0.99148691 -0.10796656 -0.07277995 0.82617315] [ 0.10937322 0.99387808 0.01561576 -0.35997935] [ 0.07064842 -0.023443 0.99722577 -0.13376459] [ 0. 0. 0. 1. ]] SLAMing on 3.841346184 meters Centerline goodness : 0.780757 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.36, Z:-0.13 [[ 0.99151891 -0.10724493 -0.07340824 0.82392284] [ 0.10892194 0.99386439 0.01922464 -0.3618651 ] [ 0.07089609 -0.02705737 0.99711666 -0.1280729 ] [ 0. 0. 0. 1. ]] SLAMing on 3.901346184 meters Centerline goodness : 0.789694 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.36, Z:-0.12 [[ 0.99147773 -0.10776004 -0.07320982 0.82108678] [ 0.10945141 0.99380113 0.01948623 -0.36126814] [ 0.07065617 -0.02733308 0.99712617 -0.12439296] [ 0. 0. 0. 1. ]] SLAMing on 3.961346184 meters Centerline goodness : 0.810004 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.36, Z:-0.12 [[ 0.99126182 -0.10950721 -0.07354029 0.81654935] [ 0.11127818 0.99357948 0.02041997 -0.35969016] [ 0.07083199 -0.02842497 0.99708317 -0.11606975] [ 0. 0. 0. 1. ]] SLAMing on 4.0213461839999995 meters Centerline goodness : 0.807337 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.36, Z:-0.11 [[ 0.9907394 -0.11230637 -0.07630681 0.81940557] [ 0.11432227 0.99318728 0.02257103 -0.35603173] [ 0.07325208 -0.03108558 0.99682888 -0.11054286] [ 0. 0. 0. 1. ]] SLAMing on 4.081346184 meters Centerline goodness : 0.814513 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.11 [[ 0.99041598 -0.11460993 -0.07707632 0.81856274] [ 0.11658556 0.99294518 0.02162564 -0.35165372] [ 0.07405405 -0.03040437 0.99679064 -0.10677558] [ 0. 0. 0. 1. ]] SLAMing on 4.141346184 meters Centerline goodness : 0.817944 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.10 [[ 0.98974633 -0.12015272 -0.07723685 0.81751017] [ 0.12187876 0.99238142 0.01801898 -0.35099223] [ 0.07448338 -0.02724775 0.99684993 -0.10280384] [ 0. 0. 0. 1. ]] SLAMing on 4.201346184 meters Centerline goodness : 0.823909 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.10 [[ 0.98948239 -0.12207413 -0.07760475 0.8165698 ] [ 0.12379344 0.99214967 0.01772598 -0.35004306] [ 0.07483165 -0.0271465 0.99682661 -0.09971883] [ 0. 0. 0. 1. ]] SLAMing on 4.261346184 meters Centerline goodness : 0.830022 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.10 [[ 0.98967216 -0.11948359 -0.07920034 0.81807393] [ 0.12156045 0.99234186 0.02192446 -0.34882491] [ 0.0759742 -0.03132566 0.99661759 -0.09781155] [ 0. 0. 0. 1. ]] SLAMing on 4.321346184 meters Centerline goodness : 0.831116 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.10 [[ 0.99010424 -0.11539879 -0.07985437 0.81840089] [ 0.11774892 0.99271954 0.02535949 -0.34731112] [ 0.07634654 -0.0345113 0.99648391 -0.09794194] [ 0. 0. 0. 1. ]] SLAMing on 4.381346184 meters Centerline goodness : 0.821652 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.10 [[ 0.99016891 -0.11496992 -0.07967083 0.81714706] [ 0.11729426 0.99277945 0.02512031 -0.34577745] [ 0.07620749 -0.03421829 0.99650466 -0.09719374] [ 0. 0. 0. 1. ]] SLAMing on 4.4413461839999995 meters Centerline goodness : 0.826625 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.10 [[ 0.99019346 -0.11482227 -0.07957865 0.81602004] [ 0.11717646 0.99278219 0.02555782 -0.3462262 ] [ 0.07606966 -0.03463193 0.9965009 -0.09578798] [ 0. 0. 0. 1. ]] SLAMing on 4.501346184 meters Centerline goodness : 0.854614 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.35, Z:-0.09 [[ 0.9901975 -0.11480458 -0.07955392 0.8150149 ] [ 0.11719664 0.99276659 0.02606625 -0.34682332] [ 0.07598595 -0.03513418 0.9964897 -0.09425441] [ 0. 0. 0. 1. ]] SLAMing on 4.561346184 meters Centerline goodness : 0.855676 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.35, Z:-0.09 [[ 0.99028299 -0.11413187 -0.07945764 0.81329058] [ 0.1165899 0.99281306 0.02700036 -0.34730946] [ 0.07580498 -0.03600196 0.99647251 -0.09210263] [ 0. 0. 0. 1. ]] SLAMing on 4.621346184 meters Centerline goodness : 0.861106 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.35, Z:-0.09 [[ 0.99030616 -0.11375357 -0.07971096 0.81292281] [ 0.11635484 0.99279089 0.02877149 -0.35025498] [ 0.07586346 -0.03776734 0.99640271 -0.0900769 ] [ 0. 0. 0. 1. ]] SLAMing on 4.681346184 meters Centerline goodness : 0.863143 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.35, Z:-0.09 [[ 0.98973286 -0.11877952 -0.07950029 0.81255989] [ 0.1211824 0.99228711 0.02609814 -0.35307468] [ 0.07578719 -0.03546423 0.99649315 -0.08765326] [ 0. 0. 0. 1. ]] SLAMing on 4.741346184 meters Centerline goodness : 0.864123 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.35, Z:-0.09 [[ 0.98949333 -0.12010673 -0.08048184 0.81414163] [ 0.12261808 0.99208642 0.02700624 -0.3543156 ] [ 0.07660131 -0.03659102 0.99639015 -0.08582931] [ 0. 0. 0. 1. ]] SLAMing on 4.801346184 meters Centerline goodness : 0.865069 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.35, Z:-0.08 [[ 0.98938762 -0.12110034 -0.08029231 0.81224108] [ 0.12358391 0.99197483 0.02670128 -0.35441754] [ 0.07641442 -0.03634075 0.99641366 -0.08342435] [ 0. 0. 0. 1. ]] SLAMing on 4.861346183999999 meters Centerline goodness : 0.861384 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.35, Z:-0.08 [[ 0.98975337 -0.11752923 -0.08108732 0.81224429] [ 0.1202772 0.99229107 0.02986362 -0.35165222] [ 0.07695237 -0.03931057 0.99625951 -0.08272663] [ 0. 0. 0. 1. ]] SLAMing on 4.921346184 meters Centerline goodness : 0.867458 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.35, Z:-0.08 [[ 0.99038397 -0.11273008 -0.08019673 0.80636178] [ 0.11564732 0.99275202 0.03269757 -0.34817215] [ 0.07592947 -0.04165769 0.99624262 -0.07935936] [ 0. 0. 0. 1. ]] SLAMing on 4.9813461839999995 meters Centerline goodness : 0.869379 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.34, Z:-0.08 [[ 0.99058117 -0.11048407 -0.08088397 0.80430204] [ 0.11362505 0.99289622 0.03530513 -0.34325229] [ 0.07640873 -0.04416304 0.99609805 -0.07581207] [ 0. 0. 0. 1. ]] SLAMing on 5.041346184 meters Centerline goodness : 0.870316 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.34, Z:-0.08 [[ 0.99027085 -0.11395983 -0.07985485 0.80235133] [ 0.11670245 0.99269699 0.03054867 -0.34083516] [ 0.07579035 -0.03957072 0.99633829 -0.07559573] [ 0. 0. 0. 1. ]] SLAMing on 5.101346184 meters Centerline goodness : 0.872664 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.34, Z:-0.07 [[ 0.98995995 -0.1160687 -0.08066814 0.8036247 ] [ 0.11882569 0.99245439 0.0302446 -0.33980322] [ 0.07654899 -0.03952639 0.99628205 -0.07410724] [ 0. 0. 0. 1. ]] SLAMing on 5.161346184 meters Centerline goodness : 0.873075 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.34, Z:-0.07 [[ 0.98977091 -0.11711552 -0.08147087 0.80397314] [ 0.11994031 0.99230719 0.03067184 -0.33813132] [ 0.07725198 -0.04012973 0.99620366 -0.0717464 ] [ 0. 0. 0. 1. ]] SLAMing on 5.221346184 meters Centerline goodness : 0.873930 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.33, Z:-0.07 [[ 0.98922678 -0.12185375 -0.08112973 0.80267715] [ 0.12433363 0.99189366 0.02623198 -0.33479282] [ 0.0772756 -0.03603653 0.99635829 -0.06983811] [ 0. 0. 0. 1. ]] SLAMing on 5.281346183999999 meters Centerline goodness : 0.873470 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.34, Z:-0.07 [[ 0.98901262 -0.12304421 -0.08193999 0.80453842] [ 0.12560728 0.99171591 0.02687681 -0.3362805 ] [ 0.07795415 -0.03687376 0.9962748 -0.06908971] [ 0. 0. 0. 1. ]] SLAMing on 5.341346184 meters Centerline goodness : 0.875479 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.34, Z:-0.07 [[ 0.98874653 -0.12435325 -0.08316591 0.80634944] [ 0.12702045 0.99151694 0.0275674 -0.33598728] [ 0.07903231 -0.03782094 0.99615434 -0.06725129] [ 0. 0. 0. 1. ]] SLAMing on 5.401346183999999 meters Centerline goodness : 0.876171 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.33, Z:-0.07 [[ 0.98902379 -0.12148633 -0.08410125 0.80618762] [ 0.12446361 0.99173686 0.03109346 -0.33440372] [ 0.07962888 -0.04121972 0.99597198 -0.06544476] [ 0. 0. 0. 1. ]] SLAMing on 5.461346184 meters Centerline goodness : 0.876266 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.33, Z:-0.07 [[ 0.98947264 -0.11914272 -0.08215173 0.80087886] [ 0.12194542 0.99208424 0.02996947 -0.33183195] [ 0.07793079 -0.03967199 0.99616912 -0.06524433] [ 0. 0. 0. 1. ]] SLAMing on 5.5213461839999995 meters Centerline goodness : 0.876314 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.33, Z:-0.07 [[ 0.98984338 -0.11663684 -0.08127684 0.79883906] [ 0.11932843 0.99242919 0.02906928 -0.32816352] [ 0.07727096 -0.03847267 0.99626756 -0.06681078] [ 0. 0. 0. 1. ]] SLAMing on 5.581346184 meters Centerline goodness : 0.880296 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.32, Z:-0.07 [[ 0.99054428 -0.10937216 -0.08282365 0.80024469] [ 0.11256261 0.99303257 0.03487085 -0.32249221] [ 0.07843268 -0.04386396 0.99595395 -0.06761264] [ 0. 0. 0. 1. ]] SLAMing on 5.641346184 meters Centerline goodness : 0.878781 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.32, Z:-0.07 [[ 0.9909893 -0.1053188 -0.08275354 0.79877746] [ 0.10860718 0.9934224 0.03628237 -0.31715581] [ 0.078388 -0.04494307 0.99590935 -0.06829993] [ 0. 0. 0. 1. ]] SLAMing on 5.701346184 meters Centerline goodness : 0.880506 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.31, Z:-0.07 [[ 0.99081116 -0.10662086 -0.08321801 0.79819032] [ 0.10979904 0.99335193 0.0345848 -0.31171668] [ 0.07897731 -0.04340426 0.99593105 -0.06664805] [ 0. 0. 0. 1. ]] SLAMing on 5.761346184 meters Centerline goodness : 0.879581 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.07 [[ 0.99057634 -0.114812 -0.07467739 0.80722151] [ 0.11712718 0.99273929 0.02738476 -0.29727566] [ 0.07099108 -0.03587344 0.99683166 -0.06664077] [ 0. 0. 0. 1. ]] SLAMing on 5.821346183999999 meters Centerline goodness : 0.882083 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.07 [[ 0.99022631 -0.1172456 -0.07553362 0.80897927] [ 0.11943773 0.99252249 0.02517397 -0.29178347] [ 0.07201728 -0.0339495 0.99682543 -0.06657482] [ 0. 0. 0. 1. ]] SLAMing on 5.881346184 meters Centerline goodness : 0.882635 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.28, Z:-0.07 [[ 0.9897922 -0.11996868 -0.07693449 0.81345422] [ 0.12194181 0.99230509 0.0214665 -0.28194243] [ 0.07376718 -0.0306289 0.99680503 -0.06946819] [ 0. 0. 0. 1. ]] SLAMing on 5.9413461839999995 meters Centerline goodness : 0.877395 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.27, Z:-0.07 [[ 0.98984949 -0.11855911 -0.0783691 0.81580488] [ 0.12065482 0.99243828 0.02255373 -0.2747927 ] [ 0.07510255 -0.03178041 0.99666926 -0.07011595] [ 0. 0. 0. 1. ]] SLAMing on 6.001346184 meters Centerline goodness : 0.880707 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.26, Z:-0.07 [[ 0.99028657 -0.11651284 -0.07587661 0.80953734] [ 0.11805945 0.99287418 0.01621182 -0.26211493] [ 0.07344704 -0.0250123 0.99698541 -0.06957332] [ 0. 0. 0. 1. ]] SLAMing on 6.061346184 meters Centerline goodness : 0.880005 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.25, Z:-0.07 [[ 0.99070119 -0.11274186 -0.07616058 0.80901332] [ 0.11427899 0.99331788 0.01612165 -0.25312641] [ 0.07383408 -0.02467529 0.99696522 -0.07103784] [ 0. 0. 0. 1. ]] SLAMing on 6.121346184 meters Centerline goodness : 0.879255 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.24, Z:-0.07 [[ 0.99101636 -0.11610982 -0.06637084 0.81608691] [ 0.11705319 0.99307021 0.01049288 -0.2417534 ] [ 0.06469257 -0.01816753 0.99773985 -0.07349831] [ 0. 0. 0. 1. ]] SLAMing on 6.181346184 meters Centerline goodness : 0.883164 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.24, Z:-0.07 [[ 0.99104999 -0.11591278 -0.06621291 0.81424402] [ 0.11678662 0.99311188 0.00946974 -0.23654761] [ 0.06465916 -0.01711776 0.99776058 -0.07228882] [ 0. 0. 0. 1. ]] SLAMing on 6.241346184 meters Centerline goodness : 0.882193 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.23, Z:-0.07 [[ 0.99062043 -0.11855144 -0.06794641 0.81860885] [ 0.11944872 0.99279696 0.00928434 -0.23249016] [ 0.06635632 -0.01731337 0.99764577 -0.07240269] [ 0. 0. 0. 1. ]] SLAMing on 6.301346184 meters Centerline goodness : 0.880593 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.23, Z:-0.07 [[ 0.9900867 -0.12209776 -0.06942953 0.82318182] [ 0.12291026 0.99238917 0.00753742 -0.22742421] [ 0.06798081 -0.0159963 0.99755838 -0.07368044] [ 0. 0. 0. 1. ]] SLAMing on 6.361346183999999 meters Centerline goodness : 0.885893 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.23, Z:-0.07 [[ 0.99039634 -0.11923258 -0.06999052 0.82330529] [ 0.12021947 0.9926965 0.01004659 -0.22530536] [ 0.06828146 -0.01836433 0.99749706 -0.07352752] [ 0. 0. 0. 1. ]] SLAMing on 6.421346184 meters Centerline goodness : 0.888559 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.21, Z:-0.07 [[ 0.99132714 -0.11747299 -0.05891173 0.82527697] [ 0.11819147 0.99295137 0.00885129 -0.21378763] [ 0.0574567 -0.01573739 0.99822395 -0.07493545] [ 0. 0. 0. 1. ]] SLAMing on 6.4813461839999995 meters Centerline goodness : 0.888168 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.21, Z:-0.07 [[ 0.99150545 -0.11610035 -0.05863156 0.82341649] [ 0.1167498 0.99313101 0.00776375 -0.21027759] [ 0.05732745 -0.01454302 0.9982495 -0.07457251] [ 0. 0. 0. 1. ]] SLAMing on 6.541346184 meters Centerline goodness : 0.887219 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.08 [[ 0.99210123 -0.11045841 -0.05944827 0.82352222] [ 0.11113141 0.9937725 0.00812594 -0.19950636] [ 0.05818048 -0.01466832 0.99819831 -0.07629567] [ 0. 0. 0. 1. ]] SLAMing on 6.601346184 meters Centerline goodness : 0.885611 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.19, Z:-0.08 [[ 0.99241012 -0.1069274 -0.06073449 0.82746994] [ 0.10769201 0.9941394 0.0094494 -0.18936268] [ 0.05936815 -0.0159183 0.99810923 -0.07902071] [ 0. 0. 0. 1. ]] SLAMing on 6.661346184 meters Centerline goodness : 0.882533 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.18, Z:-0.08 [[ 0.99236276 -0.10694006 -0.0614815 0.82999739] [ 0.10762668 0.99415953 0.00795733 -0.18247978] [ 0.06027146 -0.01451361 0.9980765 -0.08038472] [ 0. 0. 0. 1. ]] SLAMing on 6.721346184 meters Centerline goodness : 0.887909 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.17, Z:-0.08 [[ 0.99266468 -0.10597435 -0.05819172 0.84835487] [ 0.10685734 0.99419866 0.0122689 -0.16976776] [ 0.05655394 -0.01839712 0.99823003 -0.08150745] [ 0. 0. 0. 1. ]] SLAMing on 6.781346183999999 meters Centerline goodness : 0.891268 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.16, Z:-0.08 [[ 0.99289162 -0.10355336 -0.05867658 0.87806583] [ 0.10449493 0.99443776 0.01320401 -0.16000009] [ 0.05698289 -0.01924155 0.99818972 -0.08088147] [ 0. 0. 0. 1. ]] SLAMing on 6.841346184 meters Centerline goodness : 0.893663 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:-0.08 [[ 0.99311792 -0.09957101 -0.06166362 0.88295163] [ 0.10085559 0.99473688 0.0180745 -0.14868388] [ 0.05953938 -0.02416923 0.99793332 -0.08153495] [ 0. 0. 0. 1. ]] SLAMing on 6.901346183999999 meters Centerline goodness : 0.893680 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.14, Z:-0.08 [[ 0.99309172 -0.09859614 -0.06362103 0.8872403 ] [ 0.10005705 0.99477678 0.02019264 -0.14272642] [ 0.0612978 -0.02641888 0.99776982 -0.08261403] [ 0. 0. 0. 1. ]] SLAMing on 6.961346184 meters Centerline goodness : 0.895348 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.13, Z:-0.08 [[ 0.99326122 -0.10297583 -0.05318021 0.89142287] [ 0.10396528 0.99444932 0.01617957 -0.12919498] [ 0.05121892 -0.02159944 0.99845385 -0.08348612] [ 0. 0. 0. 1. ]] SLAMing on 7.0213461839999995 meters Centerline goodness : 0.895416 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.08 [[ 0.99324276 -0.10132347 -0.05658944 0.89746633] [ 0.10271854 0.99446033 0.02230594 -0.12337282] [ 0.05401584 -0.027968 0.99814833 -0.08285323] [ 0. 0. 0. 1. ]] SLAMing on 7.081346184 meters Centerline goodness : 0.895457 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.08 [[ 0.99317367 -0.10089502 -0.05853415 0.90076422] [ 0.10250989 0.99441102 0.0252674 -0.1187717 ] [ 0.05565765 -0.03109525 0.99796559 -0.08219773] [ 0. 0. 0. 1. ]] SLAMing on 7.141346184 meters Centerline goodness : 0.894081 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.09 [[ 0.99290313 -0.10280784 -0.05978226 0.90529834] [ 0.10432905 0.99427918 0.02289894 -0.11206291] [ 0.05708606 -0.02897346 0.99794876 -0.08560514] [ 0. 0. 0. 1. ]] SLAMing on 7.201346183999999 meters Centerline goodness : 0.893760 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:-0.09 [[ 0.9927317 -0.10387009 -0.06078466 0.90746678] [ 0.10542503 0.99416238 0.02295032 -0.10763685] [ 0.05804597 -0.02919173 0.99788702 -0.08575893] [ 0. 0. 0. 1. ]] SLAMing on 7.261346184 meters Centerline goodness : 0.892308 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:-0.09 [[ 0.99233908 -0.10629825 -0.06295896 0.9121654 ] [ 0.1079267 0.99389171 0.02304566 -0.10225367] [ 0.06012468 -0.02966407 0.99775 -0.08611501] [ 0. 0. 0. 1. ]] SLAMing on 7.321346183999999 meters Centerline goodness : 0.891092 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:-0.09 [[ 0.99223483 -0.11256962 -0.05289732 0.91800813] [ 0.11367237 0.9933495 0.01831304 -0.09392454] [ 0.05048404 -0.0241838 0.99843202 -0.08682063] [ 0. 0. 0. 1. ]] SLAMing on 7.381346184 meters Centerline goodness : 0.890958 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:-0.09 [[ 0.9921484 -0.11254239 -0.05455058 0.92170811] [ 0.11379165 0.99329613 0.02035325 -0.09047421] [ 0.05189428 -0.02640085 0.99830355 -0.08778871] [ 0. 0. 0. 1. ]] SLAMing on 7.4413461839999995 meters Centerline goodness : 0.885902 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:-0.09 [[ 0.99234758 -0.11046109 -0.05517814 0.92252861] [ 0.11177897 0.99350289 0.02138849 -0.08541332] [ 0.05245704 -0.02739257 0.99824742 -0.08872092] [ 0. 0. 0. 1. ]] SLAMing on 7.501346184 meters Centerline goodness : 0.885906 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:-0.09 [[ 0.9923551 -0.11059905 -0.05476505 0.92265793] [ 0.11175945 0.99356138 0.01859064 -0.08247144] [ 0.05235633 -0.02456903 0.99832619 -0.09081913] [ 0. 0. 0. 1. ]] SLAMing on 7.561346184 meters Centerline goodness : 0.887495 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:-0.09 [[ 0.99251581 -0.10844932 -0.05613476 0.92411286] [ 0.10981702 0.99371113 0.02187287 -0.07820828] [ 0.05340964 -0.02787372 0.99818358 -0.09011856] [ 0. 0. 0. 1. ]] SLAMing on 7.621346184 meters Centerline goodness : 0.886254 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:-0.09 [[ 0.9926696 -0.10640702 -0.05731147 0.92715831] [ 0.10793251 0.9938635 0.02420573 -0.07528746] [ 0.05438412 -0.03021406 0.99806286 -0.09207038] [ 0. 0. 0. 1. ]] SLAMing on 7.681346184 meters Centerline goodness : 0.884626 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.09 [[ 0.99309839 -0.10213819 -0.05764874 0.92655289] [ 0.1037666 0.99426203 0.02599045 -0.07091209] [ 0.05466334 -0.03179308 0.99799856 -0.0923397 ] [ 0. 0. 0. 1. ]] SLAMing on 7.741346183999999 meters Centerline goodness : 0.886139 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.09 [[ 0.9935743 -0.0973638 -0.05770966 0.9259502 ] [ 0.09908525 0.99469187 0.02775247 -0.06610229] [ 0.05470124 -0.03329231 0.99794759 -0.09360108] [ 0. 0. 0. 1. ]] SLAMing on 7.801346184 meters Centerline goodness : 0.884937 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:-0.10 [[ 0.99370459 -0.10131126 -0.04782486 0.93211379] [ 0.10257289 0.99441874 0.02470144 -0.05663557] [ 0.0450554 -0.02945147 0.99855026 -0.09597187] [ 0. 0. 0. 1. ]] SLAMing on 7.861346183999999 meters Centerline goodness : 0.884169 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:-0.10 [[ 0.9934796 -0.10263951 -0.04963271 0.93638403] [ 0.10394571 0.99428148 0.02448741 -0.05108079] [ 0.04683551 -0.02948685 0.99846731 -0.09746782] [ 0. 0. 0. 1. ]] SLAMing on 7.921346184 meters Centerline goodness : 0.881069 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:-0.10 [[ 0.99342515 -0.10276969 -0.05044667 0.93824805] [ 0.10410138 0.99426453 0.0245144 -0.0478603 ] [ 0.04763799 -0.02960479 0.99842585 -0.09818422] [ 0. 0. 0. 1. ]] SLAMing on 7.9813461839999995 meters Centerline goodness : 0.888669 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:-0.10 [[ 0.9937108 -0.09928755 -0.05177666 0.93888727] [ 0.10084604 0.99449649 0.02840434 -0.04341496] [ 0.0486715 -0.03344717 0.99825466 -0.09698017] [ 0. 0. 0. 1. ]] SLAMing on 8.041346184 meters Centerline goodness : 0.887947 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:-0.10 [[ 0.99389965 -0.09685529 -0.05274975 0.93917177] [ 0.09852313 0.99468285 0.02998695 -0.03887412] [ 0.04956488 -0.03500109 0.99815743 -0.09598688] [ 0. 0. 0. 1. ]] SLAMing on 8.101346184 meters Centerline goodness : 0.885350 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:-0.10 [[ 0.9939793 -0.09610766 -0.0526162 0.93839242] [ 0.09777823 0.99475147 0.03014856 -0.03753687] [ 0.04944253 -0.03511177 0.99815961 -0.09557717] [ 0. 0. 0. 1. ]] SLAMing on 8.161346184000001 meters Centerline goodness : 0.883254 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.04, Z:-0.09 [[ 0.99398119 -0.09616831 -0.05246961 0.93704145] [ 0.09781054 0.99476242 0.02967858 -0.03592304] [ 0.04934066 -0.03463203 0.99818141 -0.0942192 ] [ 0. 0. 0. 1. ]] SLAMing on 8.221346184 meters Centerline goodness : 0.883898 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.09 [[ 0.993932 -0.09579585 -0.05405859 0.9379587 ] [ 0.09767166 0.99466511 0.03318996 -0.03389411] [ 0.05059073 -0.03826856 0.99798602 -0.09119304] [ 0. 0. 0. 1. ]] SLAMing on 8.281346184 meters Centerline goodness : 0.885877 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.09 [[ 0.99372559 -0.09754644 -0.0547187 0.93976295] [ 0.0994865 0.99446051 0.03392246 -0.03456792] [ 0.05110657 -0.03915339 0.99792541 -0.09102846] [ 0. 0. 0. 1. ]] SLAMing on 8.341346184 meters Centerline goodness : 0.885063 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.09 [[ 0.99343439 -0.10083989 -0.05403183 0.93805959] [ 0.10255478 0.9942761 0.02995914 -0.03315823] [ 0.05070148 -0.03530366 0.99808968 -0.089802 ] [ 0. 0. 0. 1. ]] SLAMing on 8.401346184000001 meters Centerline goodness : 0.883959 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.09 [[ 0.99332707 -0.10180555 -0.05419383 0.93886754] [ 0.10347157 0.99421328 0.02887195 -0.03278075] [ 0.0509409 -0.03428681 0.99811294 -0.09023431] [ 0. 0. 0. 1. ]] SLAMing on 8.461346184 meters Centerline goodness : 0.884945 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.09 [[ 0.99306817 -0.104998 -0.05283018 0.93710199] [ 0.10634442 0.99405521 0.02334743 -0.03153217] [ 0.05006468 -0.02880379 0.99833054 -0.09084662] [ 0. 0. 0. 1. ]] SLAMing on 8.521346184 meters Centerline goodness : 0.884968 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.09 [[ 0.99307513 -0.10496433 -0.05276619 0.93763572] [ 0.10629462 0.99406717 0.02306309 -0.03201075] [ 0.05003233 -0.02851214 0.99834053 -0.09161922] [ 0. 0. 0. 1. ]] SLAMing on 8.581346184000001 meters Centerline goodness : 0.888842 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.09 [[ 0.99325708 -0.10342197 -0.05238574 0.93480564] [ 0.10485459 0.99416383 0.02537295 -0.0329768 ] [ 0.04945589 -0.03069475 0.99830454 -0.08850607] [ 0. 0. 0. 1. ]] SLAMing on 8.641346184000001 meters Centerline goodness : 0.886018 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.09 [[ 0.99356993 -0.10084173 -0.05147558 0.93262656] [ 0.10227971 0.99441312 0.02610364 -0.03372847] [ 0.04855566 -0.03120069 0.99833304 -0.08844696] [ 0. 0. 0. 1. ]] SLAMing on 8.701346184 meters Centerline goodness : 0.891839 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.09 [[ 0.99383872 -0.0989836 -0.04986835 0.92978346] [ 0.10029762 0.99465408 0.0245691 -0.03382852] [ 0.04716982 -0.0294194 0.99845356 -0.0895037 ] [ 0. 0. 0. 1. ]] SLAMing on 8.761346184 meters Centerline goodness : 0.889218 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.09 [[ 0.99443052 -0.09317284 -0.04926228 0.92732808] [ 0.09455487 0.99516673 0.02650578 -0.03121685] [ 0.04655456 -0.03101615 0.99843411 -0.08975634] [ 0. 0. 0. 1. ]] SLAMing on 8.821346184000001 meters Centerline goodness : 0.887506 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.09 [[ 0.9947384 -0.09026836 -0.04844736 0.92723621] [ 0.091573 0.99547394 0.02541686 -0.02890437] [ 0.04593375 -0.02971959 0.9985023 -0.09329845] [ 0. 0. 0. 1. ]] SLAMing on 8.881346184 meters Centerline goodness : 0.888165 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.10 [[ 0.99500465 -0.08790291 -0.04731621 0.92537024] [ 0.08904658 0.99577041 0.02262732 -0.02624875] [ 0.04512707 -0.02672764 0.99862364 -0.0952505 ] [ 0. 0. 0. 1. ]] SLAMing on 8.941346184 meters Centerline goodness : 0.887832 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.9950901 -0.08696351 -0.04725498 0.9238256 ] [ 0.08813517 0.99583599 0.02329984 -0.02491853] [ 0.04503198 -0.02735027 0.99861108 -0.0934253 ] [ 0. 0. 0. 1. ]] SLAMing on 9.001346184 meters Centerline goodness : 0.889424 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.03, Z:-0.09 [[ 0.99530696 -0.08445007 -0.0472465 0.92184379] [ 0.0858126 0.99592918 0.02759121 -0.02616347] [ 0.04472409 -0.03151607 0.99850212 -0.09071768] [ 0. 0. 0. 1. ]] SLAMing on 9.061346184000001 meters Centerline goodness : 0.892439 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.03, Z:-0.09 [[ 0.99529466 -0.08477994 -0.04691381 0.9213802 ] [ 0.0860464 0.9959605 0.02566525 -0.02555258] [ 0.0445484 -0.02958125 0.99856917 -0.09119081] [ 0. 0. 0. 1. ]] SLAMing on 9.121346184 meters Centerline goodness : 0.890984 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.99523253 -0.08552294 -0.04688315 0.92092812] [ 0.08674874 0.99592241 0.02476291 -0.02417539] [ 0.04457418 -0.02871191 0.9985934 -0.09053239] [ 0. 0. 0. 1. ]] SLAMing on 9.181346184 meters Centerline goodness : 0.888841 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.99495073 -0.08838208 -0.04755691 0.9232595 ] [ 0.08959778 0.99568726 0.02406508 -0.02413139] [ 0.04522489 -0.02820456 0.9985786 -0.09107482] [ 0. 0. 0. 1. ]] SLAMing on 9.241346184000001 meters Centerline goodness : 0.890031 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.99482033 -0.0906453 -0.04599932 0.92067201] [ 0.09167746 0.99557057 0.02084407 -0.02450395] [ 0.04390615 -0.0249532 0.99872398 -0.09076966] [ 0. 0. 0. 1. ]] SLAMing on 9.301346184 meters Centerline goodness : 0.889264 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.99485394 -0.08960736 -0.04728814 0.92195435] [ 0.09085576 0.99555167 0.02494195 -0.02336474] [ 0.04484281 -0.02910999 0.99856984 -0.08890357] [ 0. 0. 0. 1. ]] SLAMing on 9.361346184 meters Centerline goodness : 0.890683 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.9948898 -0.08899733 -0.04768403 0.9209412 ] [ 0.09031341 0.99556893 0.02619132 -0.02146027] [ 0.04514178 -0.03036399 0.99851903 -0.08659908] [ 0. 0. 0. 1. ]] SLAMing on 9.421346184 meters Centerline goodness : 0.891100 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.99469563 -0.09184959 -0.04630615 0.91913304] [ 0.09291409 0.99544454 0.02138097 -0.02235937] [ 0.04413137 -0.02557005 0.99869845 -0.08694517] [ 0. 0. 0. 1. ]] SLAMing on 9.481346184000001 meters Centerline goodness : 0.890950 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.99442979 -0.09384533 -0.04798378 0.92207608] [ 0.0950822 0.99517586 0.02417418 -0.02194372] [ 0.04548367 -0.02860193 0.99855554 -0.08522761] [ 0. 0. 0. 1. ]] SLAMing on 9.541346184 meters Centerline goodness : 0.899496 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.09 [[ 0.99415609 -0.09616986 -0.04904112 0.92454104] [ 0.09745466 0.99493807 0.02451183 -0.02144578] [ 0.04643557 -0.02914787 0.99849594 -0.0851291 ] [ 0. 0. 0. 1. ]] SLAMing on 9.601346184 meters Centerline goodness : 0.896282 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.08 [[ 0.99411784 -0.09655501 -0.04905957 0.92426551] [ 0.09779803 0.99492651 0.02359624 -0.01971508] [ 0.04653233 -0.02825538 0.99851709 -0.08465578] [ 0. 0. 0. 1. ]] SLAMing on 9.661346184000001 meters Centerline goodness : 0.897290 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.02, Z:-0.09 [[ 0.9940578 -0.09671036 -0.04996204 0.92628056] [ 0.0979917 0.99490113 0.02386133 -0.01685561] [ 0.04739965 -0.02861541 0.99846604 -0.08529412] [ 0. 0. 0. 1. ]] SLAMing on 9.721346184 meters Centerline goodness : 0.898046 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.01, Z:-0.08 [[ 0.99412263 -0.09585499 -0.05031914 0.9255026 ] [ 0.0971672 0.99497118 0.02430818 -0.01316163] [ 0.04773603 -0.02905468 0.99843733 -0.08388763] [ 0. 0. 0. 1. ]] SLAMing on 9.781346184 meters Centerline goodness : 0.895966 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.01, Z:-0.09 [[ 0.99411961 -0.09577179 -0.05053685 0.9266738 ] [ 0.09711142 0.99496577 0.02474853 -0.01096708] [ 0.04791223 -0.02951071 0.99841551 -0.08500619] [ 0. 0. 0. 1. ]] SLAMing on 9.841346184 meters Centerline goodness : 0.897473 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.01, Z:-0.08 [[ 0.9938496 -0.0980608 -0.05144955 0.92888471] [ 0.09942948 0.99473681 0.02474778 -0.00807303] [ 0.04875198 -0.02971117 0.99836892 -0.08497378] [ 0. 0. 0. 1. ]] SLAMing on 9.901346184000001 meters Centerline goodness : 0.894120 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.01, Z:-0.08 [[ 0.99348452 -0.10069499 -0.05337625 0.93299876] [ 0.10222206 0.9944035 0.02668937 -0.00519964] [ 0.05039005 -0.03197171 0.99821774 -0.08440981] [ 0. 0. 0. 1. ]] SLAMing on 9.961346184 meters Centerline goodness : 0.894788 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.00, Z:-0.08 [[ 9.92939698e-01 -1.04804838e-01 -5.55580997e-02 9.37499935e-01] [ 1.06419631e-01 9.93956228e-01 2.69421481e-02 4.85240060e-04] [ 5.23986518e-02 -3.26644008e-02 9.98091889e-01 -8.39661804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021346184 meters Centerline goodness : 0.893786 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.00, Z:-0.08 [[ 0.99259264 -0.10810418 -0.0554376 0.93834525] [ 0.1095273 0.99371066 0.0233003 0.00418344] [ 0.05257007 -0.02919964 0.99819025 -0.08491394] [ 0. 0. 0. 1. ]] SLAMing on 10.081346184000001 meters Centerline goodness : 0.892491 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:-0.08 [[ 0.99224375 -0.11010801 -0.0576937 0.94226287] [ 0.11174243 0.99339953 0.02590371 0.00773861] [ 0.05446069 -0.03214963 0.99799821 -0.08396535] [ 0. 0. 0. 1. ]] SLAMing on 10.141346184 meters Centerline goodness : 0.891192 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:-0.08 [[ 0.99211231 -0.11085244 -0.05852262 0.94170361] [ 0.11254455 0.99329468 0.02644615 0.01169019] [ 0.05519859 -0.03282395 0.99793572 -0.08077156] [ 0. 0. 0. 1. ]] SLAMing on 10.201346184 meters Centerline goodness : 0.890130 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.08 [[ 0.99205466 -0.11077687 -0.05963247 0.94367365] [ 0.11253567 0.99328131 0.02698087 0.01525464] [ 0.05624296 -0.03347728 0.9978557 -0.08093361] [ 0. 0. 0. 1. ]] SLAMing on 10.261346184 meters Centerline goodness : 0.891579 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.08 [[ 0.99207776 -0.11038427 -0.05997534 0.94573178] [ 0.11214698 0.99332866 0.02685553 0.01913192] [ 0.0566108 -0.03336883 0.99783853 -0.08334919] [ 0. 0. 0. 1. ]] SLAMing on 10.321346184000001 meters Centerline goodness : 0.890882 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.08 [[ 0.99202886 -0.1106772 -0.06024366 0.94582152] [ 0.11240484 0.99332028 0.02607628 0.02151728] [ 0.0569552 -0.0326401 0.99784304 -0.08287541] [ 0. 0. 0. 1. ]] SLAMing on 10.381346184 meters Centerline goodness : 0.890258 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.09 [[ 0.99226359 -0.10821009 -0.06085671 0.94950843] [ 0.11002314 0.99355498 0.02726541 0.02520007] [ 0.0575141 -0.03375012 0.99777405 -0.08732525] [ 0. 0. 0. 1. ]] SLAMing on 10.441346184 meters Centerline goodness : 0.888012 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.09 [[ 0.99251575 -0.10641875 -0.05989595 0.94823201] [ 0.10811214 0.99380463 0.02577061 0.02742041] [ 0.0567824 -0.03205322 0.99787191 -0.08856007] [ 0. 0. 0. 1. ]] SLAMing on 10.501346184 meters Centerline goodness : 0.889987 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.09 [[ 0.99295907 -0.10213882 -0.05999959 0.94704232] [ 0.10396692 0.99418166 0.02817266 0.03043575] [ 0.05677297 -0.03421227 0.99780076 -0.08813554] [ 0. 0. 0. 1. ]] SLAMing on 10.561346184 meters Centerline goodness : 0.891471 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.09 [[ 0.99320756 -0.10022139 -0.05911367 0.94549221] [ 0.10198505 0.99440282 0.02760596 0.03266754] [ 0.05601609 -0.03344716 0.99786947 -0.08870297] [ 0. 0. 0. 1. ]] SLAMing on 10.621346184 meters Centerline goodness : 0.892732 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.04, Z:-0.08 [[ 0.99377883 -0.09672071 -0.05521547 0.9663866 ] [ 0.09762367 0.99512645 0.01389102 0.0421069 ] [ 0.05360282 -0.01919493 0.99837783 -0.08040304] [ 0. 0. 0. 1. ]] SLAMing on 10.681346184 meters Centerline goodness : 0.893391 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.07 [[ 0.99384972 -0.09650565 -0.05430834 0.98073048] [ 0.09677539 0.99530347 0.00235297 0.04861168] [ 0.0538262 -0.00759421 0.99852144 -0.07361024] [ 0. 0. 0. 1. ]] SLAMing on 10.741346184000001 meters Centerline goodness : 0.893851 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.07 [[ 0.99401653 -0.09607039 -0.05197708 0.99774424] [ 0.09564558 0.99535896 -0.0106053 0.05552352] [ 0.0527547 0.00557046 0.99859196 -0.06699279] [ 0. 0. 0. 1. ]] SLAMing on 10.801346184 meters Centerline goodness : 0.895603 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.06 [[ 0.99416386 -0.09602976 -0.049158 1.00952158] [ 0.0950006 0.99521456 -0.02286619 0.06382802] [ 0.05111859 0.0180627 0.99852923 -0.05832424] [ 0. 0. 0. 1. ]] SLAMing on 10.861346184 meters Centerline goodness : 0.894323 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:-0.05 [[ 0.99391498 -0.09808777 -0.05011795 1.0154906 ] [ 0.09665331 0.99485706 -0.03029124 0.06924004] [ 0.0528314 0.02526285 0.99828384 -0.05310556] [ 0. 0. 0. 1. ]] SLAMing on 10.921346184 meters Centerline goodness : 0.892449 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:-0.05 [[ 0.99368228 -0.10001685 -0.05091332 1.02166271] [ 0.09812135 0.99443081 -0.03846523 0.07525389] [ 0.05447695 0.03322653 0.99796205 -0.04645793] [ 0. 0. 0. 1. ]] SLAMing on 10.981346184000001 meters Centerline goodness : 0.895743 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:-0.05 [[ 0.99369739 -0.10219426 -0.04606324 1.03744884] [ 0.1007806 0.99439268 -0.03203865 0.07653699] [ 0.04907912 0.02719444 0.99842461 -0.04914671] [ 0. 0. 0. 1. ]] SLAMing on 11.041346184 meters Centerline goodness : 0.895527 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:-0.04 [[ 0.99334264 -0.10532684 -0.0466547 1.04061959] [ 0.10355859 0.99386518 -0.0388282 0.08214645] [ 0.05045814 0.03373821 0.99815615 -0.04479239] [ 0. 0. 0. 1. ]] SLAMing on 11.101346184 meters Centerline goodness : 0.897637 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:-0.05 [[ 0.99356781 -0.10544739 -0.04127787 1.05278753] [ 0.10435805 0.9941535 -0.02771671 0.08158766] [ 0.04395919 0.02323076 0.9987632 -0.05012018] [ 0. 0. 0. 1. ]] SLAMing on 11.161346184000001 meters Centerline goodness : 0.897898 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.09, Z:-0.05 [[ 0.99324328 -0.10833595 -0.04160665 1.05553888] [ 0.10703324 0.99372862 -0.03236227 0.08509749] [ 0.04485172 0.02769031 0.99860982 -0.04916499] [ 0. 0. 0. 1. ]] SLAMing on 11.221346184 meters Centerline goodness : 0.899844 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.09, Z:-0.05 [[ 0.99288497 -0.1113959 -0.04207604 1.05844383] [ 0.10990717 0.99328301 -0.03618397 0.08676972] [ 0.04582416 0.03130206 0.99845898 -0.04929467] [ 0. 0. 0. 1. ]] SLAMing on 11.281346184 meters Centerline goodness : 0.897540 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:-0.05 [[ 0.99269972 -0.11238204 -0.04378984 1.06632892] [ 0.11064639 0.99304515 -0.04023307 0.08826315] [ 0.04800676 0.03509416 0.99823031 -0.04839854] [ 0. 0. 0. 1. ]] SLAMing on 11.341346184 meters Centerline goodness : 0.900228 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:-0.05 [[ 0.99275232 -0.11159613 -0.04459965 1.06882676] [ 0.1098474 0.99314679 -0.03991233 0.08876435] [ 0.04874806 0.0347239 0.99820733 -0.04880511] [ 0. 0. 0. 1. ]] SLAMing on 11.401346184000001 meters Centerline goodness : 0.904126 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:-0.05 [[ 0.99287573 -0.11011589 -0.04552222 1.07268538] [ 0.10840771 0.9933632 -0.03843597 0.08667502] [ 0.04945251 0.03322718 0.99822362 -0.05117416] [ 0. 0. 0. 1. ]] SLAMing on 11.461346184 meters Centerline goodness : 0.901617 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:-0.04 [[ 0.99285943 -0.10961913 -0.04705097 1.08406545] [ 0.10748782 0.993157 -0.04566781 0.0892122 ] [ 0.05173507 0.04028431 0.99784801 -0.04498857] [ 0. 0. 0. 1. ]] SLAMing on 11.521346184 meters Centerline goodness : 0.904280 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:-0.04 [[ 0.99310684 -0.1081087 -0.04529147 1.11761544] [ 0.10596787 0.99324525 -0.04727251 0.09298468] [ 0.05009611 0.04214721 0.9978547 -0.04024471] [ 0. 0. 0. 1. ]] SLAMing on 11.581346184000001 meters Centerline goodness : 0.901361 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.04 [[ 0.99310745 -0.10735905 -0.04702799 1.12793972] [ 0.10488721 0.99311264 -0.0522107 0.09588884] [ 0.05230939 0.0469182 0.99752815 -0.0376516 ] [ 0. 0. 0. 1. ]] SLAMing on 11.641346184 meters Centerline goodness : 0.904817 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.09, Z:-0.04 [[ 0.99333252 -0.10637073 -0.0444496 1.15399173] [ 0.10442129 0.99355504 -0.04409732 0.09268258] [ 0.04885378 0.03916182 0.9980379 -0.04390536] [ 0. 0. 0. 1. ]] SLAMing on 11.701346184 meters Centerline goodness : 0.901273 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.09, Z:-0.05 [[ 0.99315166 -0.10898632 -0.04209237 1.1762838 ] [ 0.10738581 0.99346846 -0.03858363 0.0916226 ] [ 0.04602253 0.03379927 0.99836844 -0.04738779] [ 0. 0. 0. 1. ]] SLAMing on 11.761346184 meters Centerline goodness : 0.902263 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.09, Z:-0.05 [[ 0.99300921 -0.11181811 -0.03780757 1.19376828] [ 0.1106897 0.99337971 -0.03073327 0.08818389] [ 0.04099381 0.02633351 0.99881232 -0.05388602] [ 0. 0. 0. 1. ]] SLAMing on 11.821346184000001 meters Centerline goodness : 0.901976 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.09, Z:-0.05 [[ 0.99259729 -0.11529493 -0.03817971 1.1960099 ] [ 0.11392748 0.99282764 -0.03624655 0.09123927] [ 0.04208491 0.03162851 0.99861329 -0.05147502] [ 0. 0. 0. 1. ]] SLAMing on 11.881346184 meters Centerline goodness : 0.902416 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.04 [[ 0.99319107 -0.11078532 -0.03602943 1.21810932] [ 0.10902296 0.99289544 -0.04767226 0.0963292 ] [ 0.04105484 0.04341962 0.99821302 -0.04400058] [ 0. 0. 0. 1. ]] SLAMing on 11.941346184 meters Centerline goodness : 0.900090 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.10, Z:-0.04 [[ 0.99431532 -0.10248642 -0.02887166 1.24947914] [ 0.10063159 0.99313225 -0.05967924 0.10256895] [ 0.03478969 0.05643458 0.99779999 -0.03606913] [ 0. 0. 0. 1. ]] SLAMing on 12.001346184 meters Centerline goodness : 0.903345 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:0.10, Z:-0.03 [[ 0.99455609 -0.10100813 -0.0256036 1.28303229] [ 0.09929755 0.99318419 -0.06103411 0.10248494] [ 0.03159403 0.05815948 0.99780724 -0.03225073] [ 0. 0. 0. 1. ]] SLAMing on 12.061346184 meters Centerline goodness : 0.904014 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.10, Z:-0.04 [[ 0.9944938 -0.10211664 -0.02354298 1.30816157] [ 0.10074506 0.99347238 -0.0535076 0.09685298] [ 0.02885332 0.05084114 0.99828987 -0.03884676] [ 0. 0. 0. 1. ]] SLAMing on 12.121346184 meters Centerline goodness : 0.903429 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.09, Z:-0.04 [[ 0.99442085 -0.0978762 -0.03933735 1.31546373] [ 0.09588393 0.99415136 -0.04969245 0.08954466] [ 0.04397099 0.04564339 0.9979896 -0.03690507] [ 0. 0. 0. 1. ]] SLAMing on 12.181346184 meters Centerline goodness : 0.905969 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.08, Z:-0.03 [[ 0.99400707 -0.09574066 -0.05276048 1.31685931] [ 0.09336264 0.99457657 -0.04583514 0.07972044] [ 0.05686262 0.0406346 0.99755475 -0.03414645] [ 0. 0. 0. 1. ]] SLAMing on 12.241346184000001 meters Centerline goodness : 0.903631 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.08, Z:-0.04 [[ 0.9939148 -0.09629136 -0.05349158 1.31954518] [ 0.09396907 0.9945864 -0.04435885 0.07819613] [ 0.05747337 0.03906236 0.99758255 -0.03546687] [ 0. 0. 0. 1. ]] SLAMing on 12.301346184 meters Centerline goodness : 0.902979 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.07, Z:-0.04 [[ 0.99389671 -0.09635481 -0.05371295 1.32082617] [ 0.09420387 0.99469844 -0.04123887 0.07315727] [ 0.05740175 0.03592721 0.9977045 -0.03613811] [ 0. 0. 0. 1. ]] SLAMing on 12.361346184 meters Centerline goodness : 0.904403 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.07, Z:-0.04 [[ 0.99389705 -0.09620654 -0.05397183 1.32246766] [ 0.09409671 0.99474449 -0.04036334 0.07142977] [ 0.05757139 0.03503843 0.99772634 -0.0376213 ] [ 0. 0. 0. 1. ]] SLAMing on 12.421346184 meters Centerline goodness : 0.903641 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.07, Z:-0.04 [[ 0.99391339 -0.09625373 -0.05358544 1.32395617] [ 0.09413612 0.99472555 -0.04073668 0.06904895] [ 0.05722386 0.0354444 0.99773199 -0.04077811] [ 0. 0. 0. 1. ]] SLAMing on 12.481346184000001 meters Centerline goodness : 0.903035 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.04 [[ 0.99391676 -0.09608439 -0.05382624 1.32680418] [ 0.09397021 0.99474983 -0.04052617 0.06771577] [ 0.05743757 0.03522158 0.9977276 -0.04407443] [ 0. 0. 0. 1. ]] SLAMing on 12.541346184 meters Centerline goodness : 0.906777 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.04 [[ 0.99401334 -0.09533604 -0.05337155 1.32659011] [ 0.09330632 0.99486088 -0.0393162 0.06518427] [ 0.05684552 0.03410092 0.99780044 -0.04490311] [ 0. 0. 0. 1. ]] SLAMing on 12.601346184 meters Centerline goodness : 0.906371 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.04 [[ 0.99391319 -0.09607036 -0.05391709 1.3278828 ] [ 0.09409802 0.99483727 -0.03800481 0.06394098] [ 0.05728986 0.03269999 0.99782192 -0.04491034] [ 0. 0. 0. 1. ]] SLAMing on 12.661346184000001 meters Centerline goodness : 0.906791 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.05 [[ 0.99385382 -0.09682572 -0.0536598 1.33042915] [ 0.09471669 0.99467808 -0.04054947 0.06212563] [ 0.05730046 0.03521776 0.99773562 -0.04905069] [ 0. 0. 0. 1. ]] SLAMing on 12.721346184 meters Centerline goodness : 0.908277 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.05 [[ 0.99425545 -0.09340224 -0.05226973 1.32873411] [ 0.09139863 0.99503077 -0.03949751 0.05952596] [ 0.05569915 0.03449323 0.9978516 -0.05109649] [ 0. 0. 0. 1. ]] SLAMing on 12.781346184 meters Centerline goodness : 0.910047 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.05 [[ 0.99471108 -0.08812317 -0.05276533 1.32991358] [ 0.08638529 0.99566905 -0.03436178 0.05895244] [ 0.05556488 0.0296219 0.99801557 -0.05251905] [ 0. 0. 0. 1. ]] SLAMing on 12.841346184 meters Centerline goodness : 0.913401 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.05 [[ 0.99537285 -0.08114489 -0.05146264 1.3280694 ] [ 0.0796623 0.9963632 -0.03023733 0.05709961] [ 0.05372909 0.02599779 0.99821706 -0.05495719] [ 0. 0. 0. 1. ]] SLAMing on 12.901346184000001 meters Centerline goodness : 0.908251 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.05 [[ 0.99547279 -0.0799226 -0.05144218 1.32755921] [ 0.07854638 0.99651029 -0.02824357 0.05700546] [ 0.05351996 0.02407511 0.99827652 -0.05439459] [ 0. 0. 0. 1. ]] SLAMing on 12.961346184 meters Centerline goodness : 0.906818 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.06 [[ 0.99514695 -0.08302968 -0.05280739 1.33146052] [ 0.08160892 0.99625634 -0.02851823 0.05735284] [ 0.05497756 0.02407027 0.99819742 -0.05541824] [ 0. 0. 0. 1. ]] SLAMing on 13.021346184 meters Centerline goodness : 0.905680 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.05, Z:-0.06 [[ 0.99461926 -0.08977966 -0.05169268 1.33149336] [ 0.0880335 0.99549806 -0.0351242 0.05443617] [ 0.0546134 0.03038452 0.99804517 -0.05678052] [ 0. 0. 0. 1. ]] SLAMing on 13.081346184000001 meters Centerline goodness : 0.905879 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.06 [[ 0.99423407 -0.0925495 -0.05415902 1.33592312] [ 0.090921 0.99535017 -0.03180257 0.05330155] [ 0.0568505 0.02669501 0.99802575 -0.05518816] [ 0. 0. 0. 1. ]] SLAMing on 13.141346184 meters Centerline goodness : 0.910534 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.05 [[ 0.99414605 -0.09327492 -0.05452912 1.33655611] [ 0.09169052 0.99530879 -0.03087489 0.05221795] [ 0.05715316 0.02569434 0.99803473 -0.05488125] [ 0. 0. 0. 1. ]] SLAMing on 13.201346184 meters Centerline goodness : 0.906555 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.05, Z:-0.06 [[ 0.99415167 -0.0941212 -0.05294951 1.33466034] [ 0.09236695 0.99512158 -0.03466093 0.05093306] [ 0.05595353 0.02956743 0.99799548 -0.05618846] [ 0. 0. 0. 1. ]] SLAMing on 13.261346184 meters Centerline goodness : 0.909379 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.06 [[ 0.99437997 -0.09093143 -0.05422133 1.33756583] [ 0.08944208 0.99556112 -0.02929444 0.0486362 ] [ 0.05664443 0.02428014 0.99809914 -0.05731778] [ 0. 0. 0. 1. ]] SLAMing on 13.321346184000001 meters Centerline goodness : 0.905637 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.06 [[ 0.99455642 -0.08775183 -0.05618854 1.34176672] [ 0.08651115 0.99595814 -0.02414966 0.04904138] [ 0.05808061 0.01915726 0.99812807 -0.05827036] [ 0. 0. 0. 1. ]] SLAMing on 13.381346184 meters Centerline goodness : 0.909575 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.06 [[ 0.99505899 -0.08367279 -0.05344594 1.33823823] [ 0.08241308 0.99627559 -0.02535799 0.04621375] [ 0.05536866 0.02082805 0.99824872 -0.06185984] [ 0. 0. 0. 1. ]] SLAMing on 13.441346184 meters Centerline goodness : 0.907145 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.06 [[ 0.99533555 -0.08084084 -0.05264881 1.33634202] [ 0.07962709 0.99651716 -0.02476052 0.04535047] [ 0.0544671 0.02045276 0.99830608 -0.06205782] [ 0. 0. 0. 1. ]] SLAMing on 13.501346184 meters Centerline goodness : 0.909166 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.04, Z:-0.07 [[ 0.99590414 -0.07562464 -0.04955651 1.33162743] [ 0.07442114 0.99689571 -0.02569901 0.04158122] [ 0.05134616 0.0219057 0.99844064 -0.06522424] [ 0. 0. 0. 1. ]] SLAMing on 13.561346184 meters Centerline goodness : 0.908539 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.04, Z:-0.07 [[ 0.99603118 -0.07454014 -0.04863802 1.32961906] [ 0.07330054 0.99694993 -0.02679311 0.03906221] [ 0.05048683 0.02312158 0.99845705 -0.06517213] [ 0. 0. 0. 1. ]] SLAMing on 13.621346184 meters Centerline goodness : 0.910569 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.03, Z:-0.07 [[ 0.9962294 -0.07359028 -0.04595066 1.32437328] [ 0.07227742 0.99694497 -0.02960921 0.03307441] [ 0.04798922 0.02617637 0.9985048 -0.06531683] [ 0. 0. 0. 1. ]] SLAMing on 13.681346184 meters Centerline goodness : 0.917405 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.03, Z:-0.06 [[ 0.99637517 -0.07245071 -0.0445805 1.32160513] [ 0.07125421 0.99706878 -0.02786902 0.02644089] [ 0.04646895 0.02459145 0.99861699 -0.06475584] [ 0. 0. 0. 1. ]] SLAMing on 13.741346184000001 meters Centerline goodness : 0.920214 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:-0.07 [[ 0.9964384 -0.07260446 -0.04288492 1.31867547] [ 0.07135668 0.99700125 -0.02994547 0.02212483] [ 0.04493049 0.02677869 0.99863114 -0.06509247] [ 0. 0. 0. 1. ]] SLAMing on 13.801346184 meters Centerline goodness : 0.920351 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:-0.07 [[ 0.99642382 -0.07366525 -0.0413885 1.31747646] [ 0.07231183 0.99682604 -0.03329933 0.01904915] [ 0.04371014 0.03018737 0.99858808 -0.06730215] [ 0. 0. 0. 1. ]] SLAMing on 13.861346184 meters Centerline goodness : 0.916540 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99650255 -0.07405863 -0.03870381 1.31274007] [ 0.07263161 0.99666999 -0.03706182 0.01414303] [ 0.04131968 0.03412108 0.99856319 -0.06808501] [ 0. 0. 0. 1. ]] SLAMing on 13.921346184 meters Centerline goodness : 0.919393 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.01, Z:-0.07 [[ 0.99656467 -0.07386436 -0.03745562 1.31071519] [ 0.07245234 0.99665716 -0.03775126 0.0103474 ] [ 0.04011888 0.03490782 0.99858496 -0.0684946 ] [ 0. 0. 0. 1. ]] SLAMing on 13.981346184 meters Centerline goodness : 0.919913 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.00, Z:-0.07 [[ 0.99653581 -0.07510089 -0.03572454 1.30819312] [ 0.0737252 0.99653968 -0.03838304 0.00212305] [ 0.03848353 0.03561628 0.9986243 -0.06908104] [ 0. 0. 0. 1. ]] SLAMing on 14.041346184 meters Centerline goodness : 0.921684 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.00, Z:-0.07 [[ 0.9963106 -0.07790301 -0.03600418 1.30867409] [ 0.07656743 0.9963741 -0.03709561 -0.00285402] [ 0.03876349 0.034202 0.99866291 -0.06747568] [ 0. 0. 0. 1. ]] SLAMing on 14.101346184 meters Centerline goodness : 0.922779 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.07 [[ 0.99586618 -0.08407598 -0.03437712 1.30706411] [ 0.08268356 0.99576881 -0.04009871 -0.0119428 ] [ 0.037603 0.03709052 0.99860418 -0.06731226] [ 0. 0. 0. 1. ]] SLAMing on 14.161346184000001 meters Centerline goodness : 0.925931 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.02, Z:-0.07 [[ 0.9957093 -0.0858748 -0.0344748 1.30903683] [ 0.08447375 0.99561339 -0.04022643 -0.01524608] [ 0.03777801 0.03714161 0.99859568 -0.06878297] [ 0. 0. 0. 1. ]] SLAMing on 14.221346184 meters Centerline goodness : 0.926184 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.02, Z:-0.07 [[ 0.99523032 -0.09132537 -0.03429703 1.31139498] [ 0.08990415 0.99510947 -0.0409192 -0.02343122] [ 0.03786626 0.03764058 0.99857365 -0.07067938] [ 0. 0. 0. 1. ]] SLAMing on 14.281346184 meters Centerline goodness : 0.925533 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.03, Z:-0.07 [[ 0.99487496 -0.09435145 -0.03635407 1.31626636] [ 0.09296019 0.99493558 -0.03823087 -0.02693877] [ 0.03977709 0.03465546 0.99860742 -0.07021518] [ 0. 0. 0. 1. ]] SLAMing on 14.341346184 meters Centerline goodness : 0.927272 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.07 [[ 0.99424349 -0.09532638 -0.04891583 1.31734708] [ 0.09366413 0.9949806 -0.03522279 -0.03706467] [ 0.05202797 0.03043837 0.99818164 -0.069333 ] [ 0. 0. 0. 1. ]] SLAMing on 14.401346184 meters Centerline goodness : 0.930664 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.07 [[ 0.99339859 -0.10343435 -0.04960415 1.31952445] [ 0.1016639 0.99413112 -0.0369834 -0.04253941] [ 0.05313838 0.03169631 0.99808399 -0.06691408] [ 0. 0. 0. 1. ]] SLAMing on 14.461346184 meters Centerline goodness : 0.931888 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.06 [[ 0.99281316 -0.10760274 -0.05238006 1.32477362] [ 0.10595478 0.99381353 -0.03329053 -0.04479719] [ 0.05563816 0.02750136 0.99807218 -0.06403587] [ 0. 0. 0. 1. ]] SLAMing on 14.521346184 meters Centerline goodness : 0.932683 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.06 [[ 0.99202057 -0.11439242 -0.05300534 1.32857139] [ 0.11260676 0.99300379 -0.03554137 -0.04902022] [ 0.05670016 0.02928901 0.99796154 -0.06466099] [ 0. 0. 0. 1. ]] SLAMing on 14.581346184000001 meters Centerline goodness : 0.931515 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.07 [[ 0.99183993 -0.11553098 -0.0539086 1.33245524] [ 0.11375774 0.99289578 -0.0348877 -0.05079086] [ 0.05755623 0.0284705 0.99793623 -0.06679671] [ 0. 0. 0. 1. ]] SLAMing on 14.641346184 meters Centerline goodness : 0.933940 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.07 [[ 0.99237442 -0.11084857 -0.05390357 1.33183607] [ 0.10928477 0.99352226 -0.03115044 -0.05027894] [ 0.05700737 0.02502206 0.99806015 -0.06739498] [ 0. 0. 0. 1. ]] SLAMing on 14.701346184 meters Centerline goodness : 0.930387 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.07 [[ 0.99282235 -0.1068073 -0.05381435 1.33292913] [ 0.10533473 0.99399908 -0.02950297 -0.04893492] [ 0.05664255 0.02362269 0.99811502 -0.07070964] [ 0. 0. 0. 1. ]] SLAMing on 14.761346184 meters Centerline goodness : 0.932131 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.07 [[ 0.99330222 -0.10224457 -0.05382143 1.3344683 ] [ 0.10094348 0.99454266 -0.02636892 -0.04966151] [ 0.05622379 0.02075939 0.99820235 -0.07411322] [ 0. 0. 0. 1. ]] SLAMing on 14.821346184000001 meters Centerline goodness : 0.930619 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 0.99318044 -0.10283719 -0.05492841 1.33814307] [ 0.10158234 0.99450852 -0.02517598 -0.05000329] [ 0.05721579 0.01942453 0.99817285 -0.07559111] [ 0. 0. 0. 1. ]] SLAMing on 14.881346184 meters Centerline goodness : 0.921153 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 0.99246058 -0.10926403 -0.05552804 1.34276171] [ 0.10777391 0.99374753 -0.02916545 -0.05199507] [ 0.05836759 0.02296109 0.99803107 -0.07828354] [ 0. 0. 0. 1. ]] SLAMing on 14.941346184 meters Centerline goodness : 0.920494 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.08 [[ 0.99190897 -0.11336223 -0.05714535 1.34755118] [ 0.11186994 0.99330891 -0.02867977 -0.05300121] [ 0.06001419 0.02205487 0.99795385 -0.07843925] [ 0. 0. 0. 1. ]] SLAMing on 15.001346184 meters Centerline goodness : 0.919791 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.08 [[ 0.9915319 -0.11568889 -0.0589963 1.35071826] [ 0.11431647 0.99310038 -0.02614157 -0.05366045] [ 0.06161354 0.01917595 0.99791586 -0.07627059] [ 0. 0. 0. 1. ]] SLAMing on 15.061346184 meters Centerline goodness : 0.920956 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.08 [[ 0.9917342 -0.11381911 -0.05923245 1.35165445] [ 0.11254376 0.9933459 -0.02445044 -0.05438282] [ 0.06162124 0.0175821 0.99794473 -0.0772749 ] [ 0. 0. 0. 1. ]] SLAMing on 15.121346184 meters Centerline goodness : 0.919896 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.05, Z:-0.08 [[ 0.99194386 -0.11089119 -0.06124154 1.35513775] [ 0.109884 0.99375141 -0.01958666 -0.05134635] [ 0.06303086 0.0126994 0.99793078 -0.07729516] [ 0. 0. 0. 1. ]] SLAMing on 15.181346184 meters Centerline goodness : 0.919664 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.05, Z:-0.08 [[ 0.99195235 -0.11026042 -0.06223477 1.35751282] [ 0.10937306 0.99384672 -0.01749971 -0.04884215] [ 0.06378135 0.01055207 0.99790811 -0.07800137] [ 0. 0. 0. 1. ]] SLAMing on 15.241346184000001 meters Centerline goodness : 0.917880 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.05, Z:-0.08 [[ 0.99183418 -0.11079888 -0.06315514 1.36139772] [ 0.10981908 0.99377396 -0.0187906 -0.04524858] [ 0.06484391 0.01170152 0.99782681 -0.08101922] [ 0. 0. 0. 1. ]] SLAMing on 15.301346184 meters Centerline goodness : 0.920193 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.08 [[ 0.99181759 -0.10967014 -0.06534779 1.36576375] [ 0.10895858 0.99394248 -0.0143657 -0.04258437] [ 0.06652743 0.00712795 0.99775914 -0.08081415] [ 0. 0. 0. 1. ]] SLAMing on 15.361346184 meters Centerline goodness : 0.920716 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.08 [[ 0.99173542 -0.1095397 -0.0667976 1.36756158] [ 0.10903994 0.99397547 -0.01109323 -0.03983825] [ 0.06761032 0.00371794 0.99770488 -0.07907512] [ 0. 0. 0. 1. ]] SLAMing on 15.421346184 meters Centerline goodness : 0.924183 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.08 [[ 0.99165218 -0.10982325 -0.06756338 1.36997757] [ 0.10938823 0.99394762 -0.01011628 -0.03944892] [ 0.06826546 0.00264119 0.9976637 -0.07996338] [ 0. 0. 0. 1. ]] SLAMing on 15.481346184 meters Centerline goodness : 0.925406 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.08 [[ 0.99160954 -0.11007063 -0.06778632 1.36998859] [ 0.10962657 0.99392002 -0.01024771 -0.03751555] [ 0.06850215 0.00273054 0.99764723 -0.07939398] [ 0. 0. 0. 1. ]] SLAMing on 15.541346184 meters Centerline goodness : 0.925904 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:-0.08 [[ 9.91593322e-01 -1.09357076e-01 -6.91644002e-02 1.37227125e+00] [ 1.09113820e-01 9.94002481e-01 -7.29666071e-03 -3.46923165e-02] [ 6.95475269e-02 -3.11471902e-04 9.97578591e-01 -7.89599135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601346184 meters Centerline goodness : 0.922138 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:-0.08 [[ 9.91419885e-01 -1.10789279e-01 -6.93710787e-02 1.37291553e+00] [ 1.10488848e-01 9.93843826e-01 -8.16478403e-03 -3.29017620e-02] [ 6.98485889e-02 4.29998702e-04 9.97557512e-01 -7.89070286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661346184000001 meters Centerline goodness : 0.918716 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.03, Z:-0.08 [[ 9.90874866e-01 -1.14405130e-01 -7.12633604e-02 1.37831898e+00] [ 1.14070763e-01 9.93434027e-01 -8.75762083e-03 -3.01146623e-02] [ 7.17973638e-02 5.48640508e-04 9.97419088e-01 -8.01421100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721346184 meters Centerline goodness : 0.918361 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.03, Z:-0.08 [[ 0.99069811 -0.1146878 -0.07323903 1.3830347 ] [ 0.11456883 0.99339816 -0.00583745 -0.02847239] [ 0.073425 -0.00260776 0.99729733 -0.08076128] [ 0. 0. 0. 1. ]] SLAMing on 15.781346184 meters Centerline goodness : 0.916077 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.03, Z:-0.08 [[ 9.90688367e-01 -1.15282631e-01 -7.24325558e-02 1.38289173e+00] [ 1.14973355e-01 9.93332731e-01 -8.43881528e-03 -2.63882822e-02] [ 7.29224773e-02 3.24221499e-05 9.97337611e-01 -8.30204277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841346184 meters Centerline goodness : 0.918144 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.03, Z:-0.08 [[ 9.90798838e-01 -1.14637889e-01 -7.19431523e-02 1.38126260e+00] [ 1.14281825e-01 9.93407059e-01 -9.05978845e-03 -2.54856024e-02] [ 7.25074303e-02 7.54633167e-04 9.97367587e-01 -8.25082064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901346184 meters Centerline goodness : 0.918550 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.02, Z:-0.09 [[ 9.91136261e-01 -1.15625817e-01 -6.54185254e-02 1.39045602e+00] [ 1.15848961e-01 9.93266767e-01 -3.84830427e-04 -2.06035617e-02] [ 6.50225436e-02 -7.19724882e-03 9.97857840e-01 -8.96372110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961346184 meters Centerline goodness : 0.919194 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.02, Z:-0.09 [[ 9.91356060e-01 -1.14000332e-01 -6.49391004e-02 1.38877175e+00] [ 1.14209317e-01 9.93456584e-01 -4.97097696e-04 -1.93333412e-02] [ 6.45708462e-02 -6.92384953e-03 9.97889105e-01 -8.93949132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021346184 meters Centerline goodness : 0.918586 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.02, Z:-0.09 [[ 9.91450850e-01 -1.13403243e-01 -6.45361616e-02 1.38784847e+00] [ 1.13591107e-01 9.93527291e-01 -7.62632156e-04 -1.90429298e-02] [ 6.42049228e-02 -6.57462172e-03 9.97915078e-01 -8.93916989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081346183999997 meters Centerline goodness : 0.918575 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.02, Z:-0.09 [[ 0.99146872 -0.11197673 -0.06671571 1.39236587] [ 0.11248211 0.99364627 0.00385568 -0.01800403] [ 0.06586007 -0.01132711 0.99776458 -0.08974074] [ 0. 0. 0. 1. ]] SLAMing on 16.141346184 meters Centerline goodness : 0.923406 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.02, Z:-0.09 [[ 0.99133709 -0.11273257 -0.0673954 1.39528952] [ 0.11326647 0.99355602 0.00414154 -0.01710452] [ 0.06649422 -0.0117393 0.99771775 -0.09159653] [ 0. 0. 0. 1. ]] SLAMing on 16.201346184 meters Centerline goodness : 0.919747 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.02, Z:-0.09 [[ 0.99120113 -0.11403373 -0.06720589 1.39596869] [ 0.11447471 0.9934224 0.00273493 -0.01604265] [ 0.06645196 -0.01040424 0.99773538 -0.0927442 ] [ 0. 0. 0. 1. ]] SLAMing on 16.261346183999997 meters Centerline goodness : 0.919321 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:-0.09 [[ 0.99108202 -0.11478448 -0.06768277 1.39821973] [ 0.11521878 0.9933369 0.00253541 -0.01461693] [ 0.06694077 -0.01031112 0.99770367 -0.0942342 ] [ 0. 0. 0. 1. ]] SLAMing on 16.321346184 meters Centerline goodness : 0.916842 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:-0.09 [[ 0.99111151 -0.11442177 -0.06786488 1.39832789] [ 0.11490413 0.99337132 0.00323435 -0.01237596] [ 0.06704494 -0.01100355 0.99768928 -0.09414628] [ 0. 0. 0. 1. ]] SLAMing on 16.381346183999998 meters Centerline goodness : 0.919797 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.02, Z:-0.10 [[ 0.99148126 -0.11239331 -0.06582284 1.39596712] [ 0.11275762 0.99362083 0.00183411 -0.01527292] [ 0.0651968 -0.00924051 0.99782964 -0.09694125] [ 0. 0. 0. 1. ]] SLAMing on 16.441346183999997 meters Centerline goodness : 0.922824 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.02, Z:-0.10 [[ 9.91461209e-01 -1.12876097e-01 -6.52966911e-02 1.39451147e+00] [ 1.13190619e-01 9.93572653e-01 1.12570572e-03 -1.63237347e-02] [ 6.47499413e-02 -8.50706646e-03 9.97865259e-01 -9.61388520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501346184 meters Centerline goodness : 0.924486 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.02, Z:-0.09 [[ 0.99167568 -0.11061788 -0.06590167 1.39290263] [ 0.11123099 0.99377825 0.00569683 -0.01701356] [ 0.06486148 -0.01297971 0.99780986 -0.09262898] [ 0. 0. 0. 1. ]] SLAMing on 16.561346183999998 meters Centerline goodness : 0.928934 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:-0.09 [[ 0.99221336 -0.11182045 -0.05485278 1.39622871] [ 0.11227591 0.99366302 0.00528346 -0.01045127] [ 0.05391438 -0.01140096 0.99848047 -0.0940672 ] [ 0. 0. 0. 1. ]] SLAMing on 16.621346184 meters Centerline goodness : 0.925471 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:-0.10 [[ 0.99232304 -0.11088777 -0.05476208 1.39797831] [ 0.11130493 0.99377557 0.00461793 -0.00901988] [ 0.05390914 -0.01067777 0.99848875 -0.09725437] [ 0. 0. 0. 1. ]] SLAMing on 16.681346184 meters Centerline goodness : 0.926916 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:-0.10 [[ 0.99216049 -0.111908 -0.05562511 1.39970321] [ 0.11235629 0.99365546 0.00498831 -0.00694333] [ 0.05471396 -0.01119903 0.99843926 -0.09694383] [ 0. 0. 0. 1. ]] SLAMing on 16.741346183999998 meters Centerline goodness : 0.921385 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.00, Z:-0.10 [[ 0.99175337 -0.11509668 -0.05637388 1.40210464] [ 0.11549224 0.99330112 0.00379901 -0.00486157] [ 0.05555898 -0.01027842 0.9984025 -0.09719065] [ 0. 0. 0. 1. ]] SLAMing on 16.801346184 meters Centerline goodness : 0.922339 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:-0.10 [[ 0.99131531 -0.11756544 -0.05892639 1.40697189] [ 0.11815071 0.99297416 0.00653635 -0.00269481] [ 0.05774394 -0.01344178 0.99824093 -0.09600061] [ 0. 0. 0. 1. ]] SLAMing on 16.861346184 meters Centerline goodness : 0.924982 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.00, Z:-0.10 [[ 9.91364449e-01 -1.16115340e-01 -6.09406032e-02 1.41001790e+00] [ 1.17007072e-01 9.93067224e-01 1.12620068e-02 -4.11010013e-04] [ 5.92104239e-02 -1.82952347e-02 9.98077858e-01 -9.50186629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921346183999997 meters Centerline goodness : 0.919806 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:-0.10 [[ 9.91364233e-01 -1.15207445e-01 -6.26434503e-02 1.41356042e+00] [ 1.16358079e-01 9.93093616e-01 1.50288656e-02 7.74010567e-04] [ 6.04793733e-02 -2.21881514e-02 9.97922808e-01 -9.53636881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981346184 meters Centerline goodness : 0.917472 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:0.00, Z:-0.10 [[ 0.99118527 -0.1166828 -0.06274455 1.41461472] [ 0.1177009 0.99296698 0.01276974 0.00436173] [ 0.06081325 -0.02004226 0.99794792 -0.09671059] [ 0. 0. 0. 1. ]] SLAMing on 17.041346184 meters Centerline goodness : 0.915879 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:-0.10 [[ 0.99107124 -0.11746965 -0.06307679 1.41447899] [ 0.11841762 0.99289735 0.01149391 0.00804475] [ 0.06127859 -0.01886069 0.99794249 -0.09596773] [ 0. 0. 0. 1. ]] SLAMing on 17.101346183999997 meters Centerline goodness : 0.913866 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.01, Z:-0.10 [[ 0.99113244 -0.11651842 -0.06387444 1.41700144] [ 0.1174992 0.99300279 0.01180692 0.01254573] [ 0.06205177 -0.01920742 0.9978881 -0.09841332] [ 0. 0. 0. 1. ]] SLAMing on 17.161346184 meters Centerline goodness : 0.910248 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.01, Z:-0.10 [[ 0.99132893 -0.1148522 -0.06384297 1.41781193] [ 0.11585323 0.9931915 0.01219294 0.01363527] [ 0.06200791 -0.01948363 0.99788547 -0.10036954] [ 0. 0. 0. 1. ]] SLAMing on 17.221346183999998 meters Centerline goodness : 0.915573 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:-0.10 [[ 0.99177585 -0.11595611 -0.05417416 1.42166419] [ 0.11689836 0.9930373 0.01454985 0.02213565] [ 0.05210982 -0.02076306 0.99842549 -0.09949771] [ 0. 0. 0. 1. ]] SLAMing on 17.281346184 meters Centerline goodness : 0.914679 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:-0.10 [[ 0.99208705 -0.11303658 -0.05464453 1.42168496] [ 0.11407847 0.99333754 0.01632904 0.02458249] [ 0.05243469 -0.02243359 0.99837234 -0.09952313] [ 0. 0. 0. 1. ]] SLAMing on 17.341346184 meters Centerline goodness : 0.908009 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.03, Z:-0.10 [[ 0.99259541 -0.10835853 -0.05488881 1.42388856] [ 0.10945375 0.9938405 0.0173477 0.02938674] [ 0.05267095 -0.02322704 0.99834176 -0.10420107] [ 0. 0. 0. 1. ]] SLAMing on 17.401346183999998 meters Centerline goodness : 0.905992 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.10 [[ 0.99252781 -0.10813767 -0.05652251 1.42643147] [ 0.10932906 0.99383493 0.01841977 0.03668162] [ 0.05418218 -0.02446168 0.99823139 -0.10441592] [ 0. 0. 0. 1. ]] SLAMing on 17.461346184 meters Centerline goodness : 0.903709 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.11 [[ 0.99227796 -0.10965181 -0.05797351 1.4300102 ] [ 0.1109042 0.99365259 0.01883605 0.04009599] [ 0.05554012 -0.02512011 0.99814041 -0.10509698] [ 0. 0. 0. 1. ]] SLAMing on 17.521346184 meters Centerline goodness : 0.901704 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.10 [[ 0.99198868 -0.11130726 -0.05974237 1.43058837] [ 0.11270716 0.99341495 0.02058734 0.04458589] [ 0.05705744 -0.0271558 0.99800151 -0.1008904 ] [ 0. 0. 0. 1. ]] SLAMing on 17.581346183999997 meters Centerline goodness : 0.900395 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.10 [[ 0.99193948 -0.11060662 -0.06182423 1.4337456 ] [ 0.11230539 0.99336664 0.02470266 0.04705391] [ 0.05868185 -0.03144674 0.99778131 -0.09991271] [ 0. 0. 0. 1. ]] SLAMing on 17.641346184 meters Centerline goodness : 0.901424 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.05, Z:-0.10 [[ 0.99174527 -0.11198889 -0.06244844 1.43540757] [ 0.1136176 0.9932546 0.02315883 0.05290155] [ 0.05943366 -0.0300629 0.99777947 -0.10104044] [ 0. 0. 0. 1. ]] SLAMing on 17.701346184 meters Centerline goodness : 0.901684 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.10 [[ 0.99142554 -0.11384456 -0.06414688 1.43940489] [ 0.11553066 0.99303278 0.02320718 0.05601399] [ 0.06105794 -0.03041912 0.99767059 -0.10176999] [ 0. 0. 0. 1. ]] SLAMing on 17.761346183999997 meters Centerline goodness : 0.898582 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.10 [[ 0.99109887 -0.11586013 -0.0655702 1.44186759] [ 0.11755266 0.99281039 0.02255862 0.06129238] [ 0.06248513 -0.03006577 0.99759293 -0.10156071] [ 0. 0. 0. 1. ]] SLAMing on 17.821346184 meters Centerline goodness : 0.898294 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.10 [[ 0.99097243 -0.11649352 -0.06635442 1.44358052] [ 0.11820383 0.9927356 0.0224472 0.06477121] [ 0.06325744 -0.0300879 0.99754359 -0.10222199] [ 0. 0. 0. 1. ]] SLAMing on 17.881346183999998 meters Centerline goodness : 0.897997 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.10 [[ 0.99102012 -0.11539493 -0.06755102 1.44584761] [ 0.11718178 0.99284173 0.02310255 0.06955235] [ 0.06440155 -0.03081084 0.99744831 -0.10327063] [ 0. 0. 0. 1. ]] SLAMing on 17.941346183999997 meters Centerline goodness : 0.898906 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.10 [[ 0.99100854 -0.11538004 -0.06774597 1.44558634] [ 0.11710941 0.99287258 0.02212313 0.07254807] [ 0.06471054 -0.0298579 0.99745729 -0.1027062 ] [ 0. 0. 0. 1. ]] SLAMing on 18.001346184 meters Centerline goodness : 0.898131 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.11 [[ 0.99145476 -0.11142115 -0.06784385 1.44716032] [ 0.11320879 0.99330291 0.02308899 0.0776265 ] [ 0.06481689 -0.03057221 0.99742875 -0.106587 ] [ 0. 0. 0. 1. ]] SLAMing on 18.061346183999998 meters Centerline goodness : 0.897164 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.11 [[ 0.99175909 -0.10831964 -0.06841614 1.44702723] [ 0.11026263 0.99358091 0.02528117 0.08049984] [ 0.06523852 -0.03261658 0.9973365 -0.10606877] [ 0. 0. 0. 1. ]] SLAMing on 18.121346184 meters Centerline goodness : 0.897714 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.11 [[ 0.99203085 -0.10469926 -0.07009178 1.44840958] [ 0.10692731 0.99384911 0.02881827 0.08762369] [ 0.0666434 -0.03608333 0.99712419 -0.10553843] [ 0. 0. 0. 1. ]] SLAMing on 18.181346184 meters Centerline goodness : 0.897026 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.11 [[ 0.99236824 -0.10852313 -0.05854925 1.45120204] [ 0.11011298 0.99361365 0.02463833 0.09805083] [ 0.0555015 -0.03089733 0.99798043 -0.10867678] [ 0. 0. 0. 1. ]] SLAMing on 18.241346183999998 meters Centerline goodness : 0.897504 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.11 [[ 0.99246679 -0.10782594 -0.05816558 1.45040174] [ 0.10928309 0.99375662 0.02247185 0.10290555] [ 0.05537938 -0.02865907 0.998054 -0.10929447] [ 0. 0. 0. 1. ]] SLAMing on 18.301346184 meters Centerline goodness : 0.897314 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.11 [[ 0.99235623 -0.10867199 -0.05847653 1.44985099] [ 0.11009804 0.99368306 0.02173461 0.10682716] [ 0.0557452 -0.02800662 0.99805215 -0.10794832] [ 0. 0. 0. 1. ]] SLAMing on 18.361346184 meters Centerline goodness : 0.896035 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.11 [[ 0.99225199 -0.10820041 -0.06106282 1.45452695] [ 0.10983169 0.9936601 0.0240127 0.1139534 ] [ 0.05807751 -0.03053328 0.99784504 -0.10902928] [ 0. 0. 0. 1. ]] SLAMing on 18.421346183999997 meters Centerline goodness : 0.893651 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:0.12, Z:-0.10 [[ 0.99245406 -0.10658631 -0.06061594 1.47022621] [ 0.10762051 0.99409275 0.01405121 0.12287874] [ 0.0587602 -0.0204687 0.99806226 -0.104219 ] [ 0. 0. 0. 1. ]] SLAMing on 18.481346184 meters Centerline goodness : 0.895705 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.14, Z:-0.10 [[ 9.93070608e-01 -1.02482663e-01 -5.75158425e-02 1.49267837e+00] [ 1.02716117e-01 9.94710093e-01 1.10955846e-03 1.35478166e-01] [ 5.70978785e-02 -7.00967389e-03 9.98343977e-01 -9.72814546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541346184 meters Centerline goodness : 0.893563 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.14, Z:-0.09 [[ 0.99328095 -0.10123085 -0.05608275 1.50519403] [ 0.10090689 0.99485883 -0.00858574 0.14438387] [ 0.05666356 0.00286892 0.99838921 -0.09229486] [ 0. 0. 0. 1. ]] SLAMing on 18.601346183999997 meters Centerline goodness : 0.895798 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.15, Z:-0.09 [[ 0.99287632 -0.105159 -0.05601968 1.50571858] [ 0.10437783 0.99439748 -0.01670067 0.15313869] [ 0.05746205 0.01073449 0.99828998 -0.08587416] [ 0. 0. 0. 1. ]] SLAMing on 18.661346184 meters Centerline goodness : 0.893296 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.16, Z:-0.08 [[ 0.99244553 -0.10889423 -0.0565147 1.50739233] [ 0.10766905 0.99388982 -0.0242981 0.16043485] [ 0.05881531 0.01802966 0.99810605 -0.0797938 ] [ 0. 0. 0. 1. ]] SLAMing on 18.721346183999998 meters Centerline goodness : 0.893284 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.17, Z:-0.08 [[ 0.99210416 -0.11160485 -0.05721619 1.5108063 ] [ 0.11004955 0.9934835 -0.02965872 0.1661722 ] [ 0.0601534 0.02312792 0.99792117 -0.07753974] [ 0. 0. 0. 1. ]] SLAMing on 18.781346183999997 meters Centerline goodness : 0.894076 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:-0.08 [[ 0.99219311 -0.11003693 -0.05869164 1.51829684] [ 0.10844113 0.99365838 -0.0297244 0.16647016] [ 0.06159022 0.02312776 0.99783353 -0.08015711] [ 0. 0. 0. 1. ]] SLAMing on 18.841346184 meters Centerline goodness : 0.893296 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.18, Z:-0.07 [[ 0.99327719 -0.10347367 -0.05190004 1.55520412] [ 0.10086448 0.99361242 -0.05060357 0.17659794] [ 0.05680466 0.0450285 0.99736937 -0.06560897] [ 0. 0. 0. 1. ]] SLAMing on 18.901346183999998 meters Centerline goodness : 0.897072 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:0.20, Z:-0.03 [[ 0.99500522 -0.08975507 -0.04368791 1.60735899] [ 0.08576864 0.99260798 -0.08586699 0.19572458] [ 0.05107197 0.08169105 0.99534829 -0.02955144] [ 0. 0. 0. 1. ]] SLAMing on 18.961346184 meters Centerline goodness : 0.897160 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:0.02 [[ 0.99672613 -0.07504193 -0.03009538 1.65092801] [ 0.07031236 0.98827149 -0.13555679 0.21780902] [ 0.03991485 0.13299692 0.99031239 0.01726077] [ 0. 0. 0. 1. ]] SLAMing on 19.021346184 meters Centerline goodness : 0.895157 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:0.24, Z:0.06 [[ 0.99711815 -0.07281507 -0.02129244 1.68933396] [ 0.06758698 0.98010143 -0.18663653 0.23632128] [ 0.0344587 0.18465958 0.98219827 0.06483627] [ 0. 0. 0. 1. ]] SLAMing on 19.081346183999997 meters Centerline goodness : 0.893084 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:0.24, Z:0.07 [[ 0.99679496 -0.07721461 -0.0209216 1.72306996] [ 0.0717494 0.97855695 -0.19307597 0.23580621] [ 0.03538126 0.19095604 0.98096073 0.06842382] [ 0. 0. 0. 1. ]] SLAMing on 19.141346184 meters Centerline goodness : 0.894650 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.23, Z:0.07 [[ 0.99660896 -0.0804603 -0.01722561 1.7442045 ] [ 0.07576099 0.97896203 -0.18945608 0.23250068] [ 0.03210691 0.1875086 0.98173809 0.06706559] [ 0. 0. 0. 1. ]] SLAMing on 19.201346184 meters Centerline goodness : 0.898707 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.23, Z:0.06 [[ 0.9960846 -0.08690321 -0.0162264 1.75064038] [ 0.08270365 0.98086166 -0.17626827 0.2264238 ] [ 0.03123414 0.17423613 0.98420841 0.05965481] [ 0. 0. 0. 1. ]] SLAMing on 19.261346183999997 meters Centerline goodness : 0.894202 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.22, Z:0.05 [[ 0.99564625 -0.09233784 -0.01273829 1.76290987] [ 0.08897056 0.9821779 -0.16556212 0.22138958] [ 0.02779892 0.16370797 0.98611709 0.04976634] [ 0. 0. 0. 1. ]] SLAMing on 19.321346184 meters Centerline goodness : 0.892368 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:0.21, Z:0.04 [[ 0.99474297 -0.10173902 -0.01164493 1.76754324] [ 0.09878836 0.98335057 -0.15252057 0.21413022] [ 0.02696835 0.15056838 0.98823169 0.03757375] [ 0. 0. 0. 1. ]] SLAMing on 19.381346183999998 meters Centerline goodness : 0.894974 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.21, Z:0.03 [[ 0.99431463 -0.10624011 -0.00717352 1.77545615] [ 0.10419984 0.98466641 -0.13990874 0.20927557] [ 0.02192745 0.13836583 0.99013842 0.02842362] [ 0. 0. 0. 1. ]] SLAMing on 19.441346183999997 meters Centerline goodness : 0.894258 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.20, Z:0.02 [[ 0.99381556 -0.11096563 -0.00415407 1.78056903] [ 0.10957039 0.98601935 -0.12553956 0.2044824 ] [ 0.01802657 0.12430801 0.99207992 0.02028012] [ 0. 0. 0. 1. ]] SLAMing on 19.501346184 meters Centerline goodness : 0.895323 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.20, Z:0.01 [[ 0.99324108 -0.11605264 -0.00198756 1.78691874] [ 0.11512465 0.9871906 -0.11045825 0.1968564 ] [ 0.01478108 0.10948285 0.99387878 0.01024887] [ 0. 0. 0. 1. ]] SLAMing on 19.561346183999998 meters Centerline goodness : 0.892452 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.19, Z:0.00 [[ 9.93201500e-01 -1.16402804e-01 1.08103929e-03 1.80120406e+00] [ 1.15969632e-01 9.88615124e-01 -9.58706438e-02 1.91118696e-01] [ 1.00908799e-02 9.53442349e-02 9.95393214e-01 1.73366845e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621346184 meters Centerline goodness : 0.891620 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.18, Z:-0.01 [[ 0.99359117 -0.11297985 0.00348483 1.81478719] [ 0.11291462 0.99065966 -0.07644431 0.18491714] [ 0.00518438 0.07634788 0.99706776 -0.01125184] [ 0. 0. 0. 1. ]] SLAMing on 19.681346184 meters Centerline goodness : 0.893588 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.18, Z:-0.01 [[ 9.93652893e-01 -1.12483976e-01 1.13301394e-03 1.84778012e+00] [ 1.12264797e-01 9.90979550e-01 -7.31856959e-02 1.83231803e-01] [ 7.10942442e-03 7.28483760e-02 9.97317688e-01 -1.49095509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741346183999998 meters Centerline goodness : 0.893847 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.19, Z:-0.01 [[ 0.99446279 -0.10503269 0.00344864 1.8823323 ] [ 0.10493402 0.99067538 -0.08689736 0.18685761] [ 0.00571058 0.08677807 0.9962113 -0.00944339] [ 0. 0. 0. 1. ]] SLAMing on 19.801346184 meters Centerline goodness : 0.892321 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.18, Z:-0.02 [[ 0.99457073 -0.10391536 0.00553662 1.90451935] [ 0.10403338 0.99161799 -0.07662128 0.1838147 ] [ 0.00247191 0.07678128 0.9970449 -0.01554821] [ 0. 0. 0. 1. ]] SLAMing on 19.861346184 meters Centerline goodness : 0.891343 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.18, Z:-0.03 [[ 9.94444538e-01 -1.05035632e-01 6.89763651e-03 1.92632159e+00] [ 1.05261871e-01 9.92307099e-01 -6.51656299e-02 1.75494826e-01] [ 1.39442342e-07 6.55296628e-02 9.97850622e-01 -2.58375267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921346183999997 meters Centerline goodness : 0.891561 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.17, Z:-0.02 [[ 0.99499835 -0.09961142 -0.00747349 1.92929129] [ 0.09901169 0.99337909 -0.05826385 0.16519515] [ 0.01322775 0.05723247 0.99827324 -0.02324128] [ 0. 0. 0. 1. ]] SLAMing on 19.981346184 meters Centerline goodness : 0.895134 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.16, Z:-0.02 [[ 0.99562094 -0.09132105 -0.01998541 1.92837087] [ 0.09022543 0.99465666 -0.05017474 0.15502546] [ 0.02446063 0.04815183 0.99854047 -0.0213183 ] [ 0. 0. 0. 1. ]] SLAMing on 20.041346184 meters Centerline goodness : 0.895713 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.15, Z:-0.02 [[ 0.99640027 -0.07915153 -0.03035692 1.92659019] [ 0.0777751 0.99599423 -0.04411953 0.14536759] [ 0.03372745 0.0415997 0.99856493 -0.02438259] [ 0. 0. 0. 1. ]] SLAMing on 20.101346183999997 meters Centerline goodness : 0.898802 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.14, Z:-0.03 [[ 0.99695374 -0.0723507 -0.029131 1.92613835] [ 0.07113356 0.99662996 -0.04085033 0.14324647] [ 0.03198838 0.0386537 0.99874052 -0.02847094] [ 0. 0. 0. 1. ]] SLAMing on 20.161346184 meters Centerline goodness : 0.903432 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.14, Z:-0.03 [[ 0.9973954 -0.06605943 -0.02895793 1.92453072] [ 0.06499672 0.9972279 -0.03622086 0.14266943] [ 0.03127039 0.03424435 0.99892417 -0.02773225] [ 0. 0. 0. 1. ]] SLAMing on 20.221346183999998 meters Centerline goodness : 0.904678 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.14, Z:-0.03 [[ 0.99773713 -0.06166521 -0.02679605 1.9209943 ] [ 0.06068192 0.99750492 -0.03607822 0.13858491] [ 0.02895396 0.03437054 0.99898966 -0.02914039] [ 0. 0. 0. 1. ]] SLAMing on 20.281346183999997 meters Centerline goodness : 0.905623 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.13, Z:-0.03 [[ 0.99772731 -0.06265466 -0.02479145 1.91753442] [ 0.06166669 0.99734279 -0.03878896 0.13401878] [ 0.02715589 0.03717199 0.99893984 -0.02915638] [ 0. 0. 0. 1. ]] SLAMing on 20.341346184 meters Centerline goodness : 0.899932 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.13, Z:-0.03 [[ 0.99773736 -0.06251457 -0.02474041 1.91814373] [ 0.06160435 0.99745171 -0.035986 0.12697246] [ 0.02692701 0.03438046 0.999046 -0.02967369] [ 0. 0. 0. 1. ]] SLAMing on 20.401346183999998 meters Centerline goodness : 0.904229 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:-0.03 [[ 0.99749482 -0.06765888 -0.02064836 1.91135613] [ 0.06664495 0.99669856 -0.04637279 0.11778969] [ 0.02371772 0.04488051 0.99871077 -0.03014759] [ 0. 0. 0. 1. ]] SLAMing on 20.461346184 meters Centerline goodness : 0.909638 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:-0.03 [[ 0.99702399 -0.07474429 -0.01887976 1.90736855] [ 0.07369216 0.99595847 -0.05134377 0.10956032] [ 0.02264111 0.04979968 0.99850256 -0.02695469] [ 0. 0. 0. 1. ]] SLAMing on 20.521346184 meters Centerline goodness : 0.908166 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.09, Z:-0.02 [[ 0.99610255 -0.08217722 -0.03204096 1.90750334] [ 0.08064548 0.99565851 -0.04648052 0.08987667] [ 0.0357215 0.04371541 0.9984052 -0.02031424] [ 0. 0. 0. 1. ]] SLAMing on 20.581346183999997 meters Centerline goodness : 0.914597 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.08, Z:-0.02 [[ 0.9953472 -0.09114123 -0.03126073 1.90802045] [ 0.08950759 0.99472079 -0.05018913 0.0794391 ] [ 0.03567 0.04715754 0.99825038 -0.02000356] [ 0. 0. 0. 1. ]] SLAMing on 20.641346184 meters Centerline goodness : 0.916655 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:-0.01 [[ 0.9944045 -0.09689993 -0.04207254 1.90299349] [ 0.09473633 0.99421092 -0.05069189 0.06146664] [ 0.04674102 0.04642244 0.99782776 -0.01356502] [ 0. 0. 0. 1. ]] SLAMing on 20.701346184 meters Centerline goodness : 0.917704 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.05, Z:-0.01 [[ 0.99418502 -0.09989002 -0.04022604 1.89875673] [ 0.0977168 0.99381329 -0.052788 0.05285856] [ 0.04525017 0.04855028 0.99779522 -0.01110744] [ 0. 0. 0. 1. ]] SLAMing on 20.761346183999997 meters Centerline goodness : 0.919262 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.05, Z:-0.01 [[ 0.9944379 -0.09753366 -0.03975491 1.89935238] [ 0.09544302 0.99410312 -0.05147438 0.04967174] [ 0.04454097 0.04739374 0.99788273 -0.01379585] [ 0. 0. 0. 1. ]] SLAMing on 20.821346184 meters Centerline goodness : 0.919518 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.05, Z:-0.02 [[ 0.99517079 -0.0902525 -0.03859506 1.8989864 ] [ 0.08836612 0.99492743 -0.04807113 0.04668195] [ 0.04273782 0.04442849 0.99809799 -0.01860027] [ 0. 0. 0. 1. ]] SLAMing on 20.881346183999998 meters Centerline goodness : 0.920444 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.05, Z:-0.02 [[ 0.99547819 -0.0869832 -0.03817187 1.89993809] [ 0.08513995 0.99523534 -0.04751629 0.04572063] [ 0.04212312 0.04405148 0.99814083 -0.02223391] [ 0. 0. 0. 1. ]] SLAMing on 20.941346183999997 meters Centerline goodness : 0.918098 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.04, Z:-0.02 [[ 0.99565401 -0.08494004 -0.03818736 1.90092476] [ 0.08315084 0.9954642 -0.04622742 0.04432748] [ 0.04194071 0.04285121 0.99820076 -0.02401169] [ 0. 0. 0. 1. ]] SLAMing on 21.001346184 meters Centerline goodness : 0.918413 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.04, Z:-0.02 [[ 0.99560332 -0.08506343 -0.03922039 1.90306923] [ 0.08336265 0.99558527 -0.04313505 0.04103777] [ 0.04271646 0.03967589 0.99829912 -0.02360705] [ 0. 0. 0. 1. ]] SLAMing on 21.061346183999998 meters Centerline goodness : 0.911479 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.04, Z:-0.03 [[ 0.9952544 -0.08953499 -0.03810719 1.90469187] [ 0.0875892 0.99490159 -0.04998963 0.03875162] [ 0.04238873 0.04641462 0.99802248 -0.02822203] [ 0. 0. 0. 1. ]] SLAMing on 21.121346183999997 meters Centerline goodness : 0.912951 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.04, Z:-0.03 [[ 0.99512631 -0.09054023 -0.0390653 1.90780914] [ 0.08860957 0.99487965 -0.04860887 0.03710394] [ 0.04326633 0.04491041 0.99805365 -0.02917407] [ 0. 0. 0. 1. ]] SLAMing on 21.181346184 meters Centerline goodness : 0.908921 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.04, Z:-0.03 [[ 0.99495188 -0.09190546 -0.04030066 1.91169761] [ 0.08994202 0.99478512 -0.04809363 0.03757227] [ 0.04451056 0.04422612 0.99802949 -0.03071906] [ 0. 0. 0. 1. ]] SLAMing on 21.241346183999998 meters Centerline goodness : 0.905168 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.04, Z:-0.03 [[ 0.99480844 -0.09309189 -0.04111041 1.9153804 ] [ 0.09109538 0.99468328 -0.04802911 0.03778962] [ 0.04536296 0.04403479 0.99799957 -0.0331302 ] [ 0. 0. 0. 1. ]] SLAMing on 21.301346184 meters Centerline goodness : 0.907009 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.04, Z:-0.03 [[ 0.99467929 -0.09334685 -0.04358307 1.92071899] [ 0.09143972 0.99484348 -0.04387743 0.03962372] [ 0.04745415 0.03965875 0.99808581 -0.0332273 ] [ 0. 0. 0. 1. ]] SLAMing on 21.361346184 meters Centerline goodness : 0.905615 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.03 [[ 0.99439987 -0.09471562 -0.04688121 1.92744527] [ 0.09286207 0.99486489 -0.04025527 0.04336139] [ 0.05045328 0.03567635 0.99808901 -0.03297116] [ 0. 0. 0. 1. ]] SLAMing on 21.421346183999997 meters Centerline goodness : 0.907661 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.03 [[ 0.9942328 -0.09504566 -0.04967365 1.93306644] [ 0.09334512 0.99500052 -0.03550575 0.04644099] [ 0.05279997 0.03066419 0.99813419 -0.03239275] [ 0. 0. 0. 1. ]] SLAMing on 21.481346184 meters Centerline goodness : 0.908368 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:-0.03 [[ 0.99409548 -0.09501305 -0.05240886 1.93909475] [ 0.09339115 0.99509633 -0.03257895 0.05234601] [ 0.05524729 0.02749207 0.99809415 -0.03331881] [ 0. 0. 0. 1. ]] SLAMing on 21.541346184 meters Centerline goodness : 0.904559 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.06, Z:-0.03 [[ 0.99369593 -0.0975724 -0.05520887 1.94561985] [ 0.09585753 0.99485097 -0.03290701 0.06084439] [ 0.05813542 0.02740738 0.99793242 -0.03450062] [ 0. 0. 0. 1. ]] SLAMing on 21.601346183999997 meters Centerline goodness : 0.900264 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:-0.04 [[ 0.99343929 -0.09945934 -0.05644662 1.95039197] [ 0.09762709 0.99463025 -0.03434541 0.06527428] [ 0.05955949 0.02860936 0.9978147 -0.03727638] [ 0. 0. 0. 1. ]] SLAMing on 21.661346184 meters Centerline goodness : 0.903344 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.07, Z:-0.04 [[ 0.9930303 -0.10169209 -0.05957808 1.9555644 ] [ 0.09997111 0.99450119 -0.03119542 0.07038285] [ 0.0624228 0.02502191 0.99773609 -0.03503034] [ 0. 0. 0. 1. ]] SLAMing on 21.721346183999998 meters Centerline goodness : 0.899146 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.07, Z:-0.04 [[ 0.99281003 -0.10289481 -0.06116287 1.95936242] [ 0.101251 0.99442635 -0.02940196 0.07225167] [ 0.06384728 0.02299776 0.99769466 -0.03512933] [ 0. 0. 0. 1. ]] SLAMing on 21.781346183999997 meters Centerline goodness : 0.899844 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:0.07, Z:-0.04 [[ 0.99253036 -0.10484477 -0.06237831 1.96250249] [ 0.10319852 0.99423614 -0.02906131 0.07425586] [ 0.0650657 0.02240688 0.99762938 -0.03547722] [ 0. 0. 0. 1. ]] SLAMing on 21.841346184 meters Centerline goodness : 0.896099 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.08, Z:-0.04 [[ 0.9922157 -0.1064137 -0.06468478 1.96707175] [ 0.10482817 0.99411172 -0.02743995 0.07779142] [ 0.06722389 0.02044556 0.99752841 -0.03518326] [ 0. 0. 0. 1. ]] SLAMing on 21.901346183999998 meters Centerline goodness : 0.892744 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.08, Z:-0.04 [[ 0.99226802 -0.10495788 -0.06624207 1.97079724] [ 0.10348481 0.99430921 -0.02529991 0.08260789] [ 0.06852053 0.01824924 0.99748278 -0.03684334] [ 0. 0. 0. 1. ]] SLAMing on 21.961346184 meters Centerline goodness : 0.892190 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.09, Z:-0.04 [[ 0.99250931 -0.10237714 -0.06666473 1.97184735] [ 0.10098956 0.99460107 -0.02387072 0.08623838] [ 0.06874863 0.01695947 0.99748985 -0.03816852] [ 0. 0. 0. 1. ]] SLAMing on 22.021346184 meters Centerline goodness : 0.890598 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.05 [[ 0.99288168 -0.10483908 -0.056522 1.97870626] [ 0.10384632 0.99438755 -0.02023225 0.09262857] [ 0.0583259 0.01421863 0.99819633 -0.05049999] [ 0. 0. 0. 1. ]] SLAMing on 22.081346183999997 meters Centerline goodness : 0.890160 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.05 [[ 0.99308 -0.10161644 -0.05887449 1.9822692 ] [ 0.10093831 0.99478865 -0.01438759 0.09722293] [ 0.06002969 0.00834533 0.99816171 -0.05013347] [ 0. 0. 0. 1. ]] SLAMing on 22.141346184 meters Centerline goodness : 0.887691 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.10, Z:-0.05 [[ 0.99294071 -0.10174979 -0.06095675 1.98663099] [ 0.10115834 0.99478902 -0.01271962 0.10242711] [ 0.06193332 0.00646354 0.99805936 -0.05100516] [ 0. 0. 0. 1. ]] SLAMing on 22.201346184 meters Centerline goodness : 0.886658 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.11, Z:-0.05 [[ 0.99260341 -0.10405649 -0.06253573 1.99098668] [ 0.10342637 0.994549 -0.01323901 0.10669143] [ 0.06357245 0.00667324 0.99795491 -0.05237475] [ 0. 0. 0. 1. ]] SLAMing on 22.261346183999997 meters Centerline goodness : 0.888636 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.11, Z:-0.05 [[ 0.99204528 -0.10890443 -0.06313472 1.99409034] [ 0.10803981 0.99400187 -0.01696102 0.10837563] [ 0.06460316 0.01000504 0.99786088 -0.05383137] [ 0. 0. 0. 1. ]] SLAMing on 22.321346184 meters Centerline goodness : 0.883840 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.11, Z:-0.05 [[ 0.99164782 -0.11097911 -0.06571327 1.99791081] [ 0.11031845 0.99380311 -0.01360953 0.11064673] [ 0.06681642 0.00624647 0.99774573 -0.05161964] [ 0. 0. 0. 1. ]] SLAMing on 22.381346183999998 meters Centerline goodness : 0.884199 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.11, Z:-0.05 [[ 0.99177828 -0.10935362 -0.06646521 1.99864473] [ 0.1089194 0.99399894 -0.01013288 0.11056404] [ 0.06717441 0.00281022 0.99773729 -0.05106563] [ 0. 0. 0. 1. ]] SLAMing on 22.441346183999997 meters Centerline goodness : 0.882057 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.11, Z:-0.05 [[ 9.91774890e-01 -1.07889026e-01 -6.88659979e-02 2.00342293e+00] [ 1.07655094e-01 9.94162877e-01 -7.11011297e-03 1.14496908e-01] [ 6.92311218e-02 -3.62144000e-04 9.97600582e-01 -5.21749824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501346184 meters Centerline goodness : 0.879775 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.12, Z:-0.05 [[ 9.91827704e-01 -1.06679936e-01 -6.99799705e-02 2.00660361e+00] [ 1.06552179e-01 9.94291530e-01 -5.56663442e-03 1.16874097e-01] [ 7.01743401e-02 -1.93537614e-03 9.97532865e-01 -5.40772919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561346183999998 meters Centerline goodness : 0.880279 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.12, Z:-0.06 [[ 0.99220648 -0.10328109 -0.06970883 2.00692372] [ 0.1032645 0.99464648 -0.00385126 0.11752311] [ 0.0697334 -0.0033772 0.99755995 -0.05627475] [ 0. 0. 0. 1. ]] SLAMing on 22.621346183999997 meters Centerline goodness : 0.882894 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.12, Z:-0.05 [[ 0.99176155 -0.10752623 -0.06962137 2.0067608 ] [ 0.10705623 0.99419796 -0.01045815 0.12189058] [ 0.07034195 0.00291859 0.99751867 -0.05176453] [ 0. 0. 0. 1. ]] SLAMing on 22.681346184 meters Centerline goodness : 0.881657 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.13, Z:-0.05 [[ 0.99225439 -0.10658582 -0.06380191 2.01692191] [ 0.10663436 0.99429476 -0.00265363 0.12543079] [ 0.06372074 -0.0041704 0.99795905 -0.04846066] [ 0. 0. 0. 1. ]] SLAMing on 22.741346183999998 meters Centerline goodness : 0.878702 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.13, Z:-0.04 [[ 0.99225648 -0.10552384 -0.06551186 2.02888623] [ 0.10508373 0.99441171 -0.01013751 0.12755445] [ 0.06621551 0.00317478 0.99780029 -0.04217222] [ 0. 0. 0. 1. ]] SLAMing on 22.801346184 meters Centerline goodness : 0.881460 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.13, Z:-0.04 [[ 0.99246224 -0.10263828 -0.06696331 2.03963195] [ 0.10192934 0.99469413 -0.01392815 0.13152176] [ 0.06803757 0.00699764 0.99765822 -0.03948015] [ 0. 0. 0. 1. ]] SLAMing on 22.861346184 meters Centerline goodness : 0.883080 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.13, Z:-0.04 [[ 0.99253327 -0.10157398 -0.06753091 2.04108234] [ 0.10098005 0.99481414 -0.01216002 0.13201757] [ 0.06841585 0.00524995 0.99764308 -0.04012531] [ 0. 0. 0. 1. ]] SLAMing on 22.921346183999997 meters Centerline goodness : 0.879502 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.13, Z:-0.04 [[ 0.99236554 -0.10406518 -0.06618973 2.04011785] [ 0.10327971 0.99453637 -0.01518929 0.12963909] [ 0.06740877 0.00823727 0.99769144 -0.04144344] [ 0. 0. 0. 1. ]] SLAMing on 22.981346184 meters Centerline goodness : 0.880540 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.13, Z:-0.04 [[ 0.99203845 -0.10763682 -0.06537604 2.03874038] [ 0.10673442 0.9941396 -0.01715273 0.12673638] [ 0.06683918 0.0100383 0.99771326 -0.0402503 ] [ 0. 0. 0. 1. ]] SLAMing on 23.041346184 meters Centerline goodness : 0.879151 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.13, Z:-0.04 [[ 0.99210698 -0.10701183 -0.06536215 2.03954833] [ 0.106179 0.99421676 -0.01609535 0.12546702] [ 0.06670654 0.00902822 0.99773179 -0.04131098] [ 0. 0. 0. 1. ]] SLAMing on 23.101346183999997 meters Centerline goodness : 0.879867 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.13, Z:-0.04 [[ 0.99278819 -0.10092114 -0.06470336 2.03896509] [ 0.10028612 0.99487375 -0.01299656 0.12636584] [ 0.0656833 0.00641398 0.99781991 -0.04409204] [ 0. 0. 0. 1. ]] SLAMing on 23.161346184 meters Centerline goodness : 0.880422 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.13, Z:-0.05 [[ 0.99323209 -0.09714996 -0.06365457 2.03815401] [ 0.09653269 0.99524867 -0.01270915 0.12647229] [ 0.06458682 0.00647839 0.99789106 -0.04673578] [ 0. 0. 0. 1. ]] SLAMing on 23.221346183999998 meters Centerline goodness : 0.882697 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.12, Z:-0.05 [[ 9.93885210e-01 -9.06937110e-02 -6.29828524e-02 2.03670243e+00] [ 9.03851161e-02 9.95876830e-01 -7.73758777e-03 1.24695643e-01] [ 6.34249140e-02 1.99756162e-03 9.97984614e-01 -4.79380194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281346183999997 meters Centerline goodness : 0.879351 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.12, Z:-0.05 [[ 0.9938251 -0.09247311 -0.06132206 2.03380415] [ 0.09200114 0.99570373 -0.01048203 0.12158279] [ 0.06202791 0.0047756 0.99806299 -0.04763522] [ 0. 0. 0. 1. ]] SLAMing on 23.341346184 meters Centerline goodness : 0.883931 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.12, Z:-0.05 [[ 0.99382628 -0.09943581 -0.04921221 2.03529551] [ 0.09920368 0.99504151 -0.00714318 0.12330796] [ 0.04967848 0.00221705 0.9987628 -0.05338394] [ 0. 0. 0. 1. ]] SLAMing on 23.401346183999998 meters Centerline goodness : 0.881198 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.12, Z:-0.05 [[ 9.93911165e-01 -9.87460647e-02 -4.88856826e-02 2.03334397e+00] [ 9.85551768e-02 9.95111609e-01 -6.30582725e-03 1.22046105e-01] [ 4.92693859e-02 1.44949502e-03 9.98784475e-01 -5.14284385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461346184 meters Centerline goodness : 0.882919 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.12, Z:-0.06 [[ 9.94511917e-01 -9.30471530e-02 -4.78359038e-02 2.03368519e+00] [ 9.29647238e-02 9.95661568e-01 -3.94992998e-03 1.19608754e-01] [ 4.79959008e-02 -5.18799152e-04 9.98847398e-01 -5.59699750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521346184 meters Centerline goodness : 0.886382 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.12, Z:-0.06 [[ 9.94847284e-01 -9.01367582e-02 -4.64138510e-02 2.03042513e+00] [ 9.00574020e-02 9.95929318e-01 -3.80227693e-03 1.18612545e-01] [ 4.65676399e-02 -3.97225964e-04 9.98915060e-01 -5.58184576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581346183999997 meters Centerline goodness : 0.889394 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.12, Z:-0.05 [[ 9.94688285e-01 -9.15239788e-02 -4.71017765e-02 2.03096921e+00] [ 9.14768908e-02 9.95802189e-01 -3.15883690e-03 1.17525014e-01] [ 4.71931615e-02 -1.16666601e-03 9.98885101e-01 -5.41629467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641346184 meters Centerline goodness : 0.889935 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.12, Z:-0.05 [[ 0.99412539 -0.09737907 -0.04724427 2.0326402 ] [ 0.09716826 0.99524512 -0.0067439 0.11633483] [ 0.04767634 0.00211364 0.9988606 -0.05438391] [ 0. 0. 0. 1. ]] SLAMing on 23.701346184 meters Centerline goodness : 0.891334 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.06 [[ 0.99332132 -0.10521848 -0.04734787 2.03539178] [ 0.10472106 0.99441831 -0.01287313 0.11483498] [ 0.04843808 0.00782884 0.99879551 -0.05568787] [ 0. 0. 0. 1. ]] SLAMing on 23.761346183999997 meters Centerline goodness : 0.894889 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.05 [[ 0.99246588 -0.11253458 -0.04845049 2.03759369] [ 0.11190709 0.99359804 -0.01548321 0.11323385] [ 0.04988271 0.0099446 0.99870557 -0.05337124] [ 0. 0. 0. 1. ]] SLAMing on 23.821346184 meters Centerline goodness : 0.899098 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.05 [[ 0.99241198 -0.11255422 -0.04949751 2.03874912] [ 0.11201895 0.99361481 -0.01346726 0.11171195] [ 0.05069725 0.00782041 0.99868345 -0.05174759] [ 0. 0. 0. 1. ]] SLAMing on 23.881346183999998 meters Centerline goodness : 0.894396 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.05 [[ 0.99278939 -0.10935401 -0.04910112 2.03827966] [ 0.10886649 0.99397774 -0.01250383 0.11094988] [ 0.05017276 0.00706821 0.99871554 -0.0530442 ] [ 0. 0. 0. 1. ]] SLAMing on 23.941346183999997 meters Centerline goodness : 0.897847 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.05 [[ 9.93164208e-01 -1.05018441e-01 -5.09507905e-02 2.04068988e+00] [ 1.04824079e-01 9.94469673e-01 -6.47942451e-03 1.11142593e-01] [ 5.13494750e-02 1.09426283e-03 9.98680146e-01 -5.26523082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001346184 meters Centerline goodness : 0.894210 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.05 [[ 9.93089576e-01 -1.05775854e-01 -5.08385978e-02 2.04012805e+00] [ 1.05536529e-01 9.94388066e-01 -7.37667557e-03 1.11652572e-01] [ 5.13335691e-02 1.96037047e-03 9.98679639e-01 -5.18876263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061346183999998 meters Centerline goodness : 0.897943 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.06 [[ 0.99322662 -0.10484785 -0.05007807 2.04118648] [ 0.10459501 0.99448547 -0.00765049 0.10895488] [ 0.05060405 0.00236075 0.998716 -0.05561396] [ 0. 0. 0. 1. ]] SLAMing on 24.121346183999997 meters Centerline goodness : 0.894643 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.05 [[ 0.99365448 -0.1004839 -0.05053476 2.0405605 ] [ 0.10047359 0.99493592 -0.00275077 0.10790946] [ 0.05055526 -0.0023441 0.99871851 -0.05444445] [ 0. 0. 0. 1. ]] SLAMing on 24.181346184 meters Centerline goodness : 0.895025 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.05 [[ 9.94194440e-01 -9.47900252e-02 -5.09143152e-02 2.04043013e+00] [ 9.49902072e-02 9.95477045e-01 1.52101848e-03 1.09944666e-01] [ 5.05398546e-02 -6.34854947e-03 9.98701867e-01 -5.48419273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241346183999998 meters Centerline goodness : 0.894291 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.06 [[ 9.94225966e-01 -9.46323851e-02 -5.05909112e-02 2.04066809e+00] [ 9.47009832e-02 9.95505215e-01 -1.04477981e-03 1.12933380e-01] [ 5.04623859e-02 -3.75226182e-03 9.98718913e-01 -5.66273611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301346184 meters Centerline goodness : 0.890288 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.06 [[ 0.99407819 -0.09605502 -0.05081328 2.04243908] [ 0.09606548 0.99537249 -0.00224206 0.11403121] [ 0.0507935 -0.00265262 0.99870565 -0.05813634] [ 0. 0. 0. 1. ]] SLAMing on 24.361346184 meters Centerline goodness : 0.891807 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 9.93815332e-01 -9.83634755e-02 -5.15336107e-02 2.04552149e+00] [ 9.83173213e-02 9.95149184e-01 -3.43602914e-03 1.15826421e-01] [ 5.16216103e-02 -1.65186811e-03 9.98665350e-01 -6.01130897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421346183999997 meters Centerline goodness : 0.888588 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 9.93680929e-01 -9.87375197e-02 -5.33770865e-02 2.04976937e+00] [ 9.88360456e-02 9.95103412e-01 -7.97142271e-04 1.17637440e-01] [ 5.31944287e-02 -4.48347508e-03 9.98574109e-01 -6.09537764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481346184 meters Centerline goodness : 0.891561 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 0.9938583 -0.09650479 -0.05415267 2.05091794] [ 0.09679622 0.99530034 0.00277881 0.11974749] [ 0.05363001 -0.00800352 0.9985288 -0.06104864] [ 0. 0. 0. 1. ]] SLAMing on 24.541346184 meters Centerline goodness : 0.890930 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 0.99383712 -0.09698234 -0.05368613 2.05107381] [ 0.09725858 0.99525588 0.0025509 0.11818876] [ 0.05318405 -0.00775662 0.9985546 -0.06216596] [ 0. 0. 0. 1. ]] SLAMing on 24.601346183999997 meters Centerline goodness : 0.891381 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 0.99360471 -0.09863321 -0.05496514 2.05041591] [ 0.09907317 0.99506587 0.00533107 0.11898129] [ 0.05416811 -0.01074254 0.99847404 -0.05709135] [ 0. 0. 0. 1. ]] SLAMing on 24.661346184 meters Centerline goodness : 0.893239 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 0.99298677 -0.10408059 -0.05607592 2.05308273] [ 0.10450012 0.99451426 0.00459387 0.11781034] [ 0.05529017 -0.01042159 0.99841594 -0.05615202] [ 0. 0. 0. 1. ]] SLAMing on 24.721346183999998 meters Centerline goodness : 0.891803 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 9.92468145e-01 -1.10102410e-01 -5.37069949e-02 2.05234275e+00] [ 1.10032009e-01 9.93918851e-01 -4.27500089e-03 1.16037836e-01] [ 5.38510826e-02 -1.66668634e-03 9.98547587e-01 -5.96995196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781346183999997 meters Centerline goodness : 0.902763 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.11, Z:-0.06 [[ 9.91968303e-01 -1.14641194e-01 -5.34442077e-02 2.05208398e+00] [ 1.14439957e-01 9.93406752e-01 -6.82069071e-03 1.14930513e-01] [ 5.38737689e-02 6.49756162e-04 9.98547543e-01 -5.83835537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841346184 meters Centerline goodness : 0.901219 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.05 [[ 9.92203941e-01 -1.11669518e-01 -5.53286341e-02 2.05252895e+00] [ 1.11779517e-01 9.93732410e-01 -1.11229723e-03 1.16930207e-01] [ 5.51060666e-02 -5.08098230e-03 9.98467578e-01 -5.48186754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901346183999998 meters Centerline goodness : 0.900861 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.11, Z:-0.06 [[ 0.99287545 -0.10700455 -0.05242488 2.04845132] [ 0.10701696 0.99425385 -0.0025785 0.11499251] [ 0.05239955 -0.00305022 0.99862154 -0.05795289] [ 0. 0. 0. 1. ]] SLAMing on 24.961346184 meters Centerline goodness : 0.900592 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 0.9934788 -0.10091764 -0.05306136 2.04832278] [ 0.10123145 0.99485758 0.00325325 0.11720032] [ 0.05246018 -0.00860351 0.99858595 -0.05784565] [ 0. 0. 0. 1. ]] SLAMing on 25.021346184 meters Centerline goodness : 0.900733 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 0.99340205 -0.10083071 -0.05464002 2.05079945] [ 0.10126127 0.99484647 0.00516247 0.12227349] [ 0.0538379 -0.01066133 0.99849277 -0.05746236] [ 0. 0. 0. 1. ]] SLAMing on 25.081346183999997 meters Centerline goodness : 0.899360 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.06 [[ 9.93048154e-01 -1.04524156e-01 -5.41300662e-02 2.05273088e+00] [ 1.04697037e-01 9.94504098e-01 3.60210948e-04 1.23299356e-01] [ 5.37949219e-02 -6.02496438e-03 9.98533828e-01 -6.07299189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141346184 meters Centerline goodness : 0.903385 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.06 [[ 9.92456532e-01 -1.09130095e-01 -5.58628089e-02 2.05531178e+00] [ 1.09375453e-01 9.93999599e-01 1.34457442e-03 1.23104346e-01] [ 5.53808761e-02 -7.44445168e-03 9.98437549e-01 -5.82116508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201346184 meters Centerline goodness : 0.898237 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.05 [[ 0.99202756 -0.11213298 -0.05751107 2.05683527] [ 0.1124994 0.99364676 0.00316335 0.12387619] [ 0.05679097 -0.0096081 0.99833986 -0.05487388] [ 0. 0. 0. 1. ]] SLAMing on 25.261346183999997 meters Centerline goodness : 0.900665 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.06 [[ 0.99170105 -0.11438886 -0.05868753 2.06006122] [ 0.11482766 0.99337677 0.00414861 0.12190432] [ 0.05782427 -0.01085313 0.99826778 -0.05532734] [ 0. 0. 0. 1. ]] SLAMing on 25.321346184 meters Centerline goodness : 0.900848 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.05 [[ 0.99158063 -0.11538128 -0.05877931 2.05962221] [ 0.11584085 0.99325777 0.00446048 0.12189887] [ 0.05786835 -0.01123197 0.99826104 -0.05405216] [ 0. 0. 0. 1. ]] SLAMing on 25.381346183999998 meters Centerline goodness : 0.899595 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.06 [[ 9.91351147e-01 -1.17795705e-01 -5.78539069e-02 2.05959064e+00] [ 1.18025739e-01 9.93010376e-01 5.63389542e-04 1.21479891e-01] [ 5.73831650e-02 -7.38676697e-03 9.98324901e-01 -5.55603690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441346183999997 meters Centerline goodness : 0.904700 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.05 [[ 9.90718097e-01 -1.22609989e-01 -5.86893761e-02 2.06080181e+00] [ 1.22800661e-01 9.92431291e-01 -3.60417641e-04 1.20695116e-01] [ 5.82893641e-02 -6.85002189e-03 9.98276228e-01 -5.31175631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501346184 meters Centerline goodness : 0.902025 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.05 [[ 9.90396474e-01 -1.24261255e-01 -6.06132325e-02 2.06353820e+00] [ 1.24561505e-01 9.92211180e-01 1.18569967e-03 1.21031151e-01] [ 5.99937904e-02 -8.72438826e-03 9.98160623e-01 -5.11013298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561346183999998 meters Centerline goodness : 0.905777 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.05 [[ 9.90428856e-01 -1.24276174e-01 -6.00509287e-02 2.06333381e+00] [ 1.24500408e-01 9.92219557e-01 -7.54866461e-06 1.20531941e-01] [ 5.95846440e-02 -7.46888870e-03 9.98195315e-01 -5.21442106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621346183999997 meters Centerline goodness : 0.904944 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.05 [[ 0.99107755 -0.11921043 -0.05961679 2.06264787] [ 0.11959314 0.99281881 0.0028804 0.11856065] [ 0.0588453 -0.00998445 0.99821718 -0.05339559] [ 0. 0. 0. 1. ]] SLAMing on 25.681346184 meters Centerline goodness : 0.906849 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.05 [[ 0.99149336 -0.11477816 -0.06137504 2.0634662 ] [ 0.11552538 0.99326593 0.00875618 0.12207103] [ 0.05995672 -0.01577207 0.99807637 -0.05163667] [ 0. 0. 0. 1. ]] SLAMing on 25.741346183999998 meters Centerline goodness : 0.906250 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.12, Z:-0.06 [[ 0.99165197 -0.11358564 -0.06103006 2.06478271] [ 0.11423166 0.99342811 0.00719125 0.12471044] [ 0.05981215 -0.01410278 0.99811002 -0.05511892] [ 0. 0. 0. 1. ]] SLAMing on 25.801346184 meters Centerline goodness : 0.907614 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.06 [[ 0.99177935 -0.11249753 -0.06097559 2.06616192] [ 0.11311765 0.9935583 0.00680419 0.12593306] [ 0.05981735 -0.01364567 0.99811607 -0.05760925] [ 0. 0. 0. 1. ]] SLAMing on 25.861346184 meters Centerline goodness : 0.908014 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.05 [[ 0.99158167 -0.11367432 -0.06199944 2.06588435] [ 0.1143395 0.99341508 0.007277 0.12771812] [ 0.06076397 -0.01430473 0.99804966 -0.05428259] [ 0. 0. 0. 1. ]] SLAMing on 25.921346183999997 meters Centerline goodness : 0.911336 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.05 [[ 0.99114923 -0.11565603 -0.06516808 2.07098297] [ 0.11659543 0.9931209 0.01078839 0.13020379] [ 0.06347204 -0.01829121 0.99781598 -0.05275388] [ 0. 0. 0. 1. ]] SLAMing on 25.981346184 meters Centerline goodness : 0.908740 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.05 [[ 0.99082463 -0.1187814 -0.06447897 2.0717007 ] [ 0.11944822 0.99281867 0.00657344 0.13102345] [ 0.06323512 -0.01421502 0.99789742 -0.05474751] [ 0. 0. 0. 1. ]] SLAMing on 26.041346184 meters Centerline goodness : 0.909708 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.06 [[ 0.99066046 -0.12072627 -0.06338002 2.0709556 ] [ 0.12115239 0.99262966 0.0029096 0.13244443] [ 0.06256162 -0.01056107 0.99798522 -0.05626313] [ 0. 0. 0. 1. ]] SLAMing on 26.101346183999997 meters Centerline goodness : 0.915588 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.05 [[ 0.99097574 -0.11753903 -0.0644333 2.07109898] [ 0.11833362 0.99293627 0.00864434 0.1308968 ] [ 0.06296212 -0.01619096 0.99788457 -0.0543362 ] [ 0. 0. 0. 1. ]] SLAMing on 26.161346184 meters Centerline goodness : 0.914534 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.05 [[ 0.99125236 -0.11538662 -0.06406785 2.0688508 ] [ 0.11628861 0.99315975 0.01052034 0.13009754] [ 0.06241571 -0.01787868 0.99789009 -0.05253216] [ 0. 0. 0. 1. ]] SLAMing on 26.221346183999998 meters Centerline goodness : 0.914443 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.05 [[ 0.99098215 -0.11859091 -0.06237441 2.06727763] [ 0.11911676 0.99286881 0.00476757 0.12890598] [ 0.06136421 -0.01215441 0.99804143 -0.05350305] [ 0. 0. 0. 1. ]] SLAMing on 26.281346183999997 meters Centerline goodness : 0.915678 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.05 [[ 0.99082802 -0.1194405 -0.06319652 2.06829583] [ 0.12004858 0.99275048 0.00590029 0.13026405] [ 0.06203364 -0.01343282 0.99798366 -0.0525568 ] [ 0. 0. 0. 1. ]] SLAMing on 26.341346184 meters Centerline goodness : 0.913880 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.13, Z:-0.06 [[ 0.99127974 -0.11572555 -0.06302444 2.06979862] [ 0.11644942 0.99316502 0.00792354 0.13026003] [ 0.06167671 -0.01519361 0.99798053 -0.05606871] [ 0. 0. 0. 1. ]] SLAMing on 26.401346183999998 meters Centerline goodness : 0.917912 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.13, Z:-0.06 [[ 0.99263293 -0.10452315 -0.06127624 2.06475995] [ 0.10545453 0.99434979 0.01215909 0.13024877] [ 0.05965911 -0.01853137 0.99804678 -0.05695885] [ 0. 0. 0. 1. ]] SLAMing on 26.461346183999996 meters Centerline goodness : 0.921508 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.14, Z:-0.06 [[ 0.99345502 -0.10250083 -0.05040539 2.06496167] [ 0.10330111 0.9945581 0.01352986 0.13999378] [ 0.04874427 -0.01864824 0.99863719 -0.05576705] [ 0. 0. 0. 1. ]] SLAMing on 26.521346184 meters Centerline goodness : 0.915601 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.14, Z:-0.06 [[ 0.99372738 -0.09947112 -0.05110175 2.06906136] [ 0.10030877 0.99485657 0.01409096 0.14461174] [ 0.04943727 -0.01912853 0.99859404 -0.06120328] [ 0. 0. 0. 1. ]] SLAMing on 26.581346183999997 meters Centerline goodness : 0.911730 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.06 [[ 0.99302802 -0.10607652 -0.05141125 2.06975295] [ 0.10668349 0.99425045 0.00920165 0.14677885] [ 0.05013958 -0.01462223 0.99863518 -0.0597477 ] [ 0. 0. 0. 1. ]] SLAMing on 26.641346184 meters Centerline goodness : 0.911598 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.06 [[ 0.99263533 -0.10902671 -0.05280421 2.07206224] [ 0.10969714 0.99391515 0.00996062 0.14796071] [ 0.05139693 -0.01567973 0.99855521 -0.05848523] [ 0. 0. 0. 1. ]] SLAMing on 26.701346184 meters Centerline goodness : 0.909697 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.06 [[ 0.99231702 -0.11176056 -0.05307073 2.07315747] [ 0.11234448 0.99363598 0.00814048 0.14910598] [ 0.0518232 -0.01404014 0.99855757 -0.05882875] [ 0. 0. 0. 1. ]] SLAMing on 26.761346183999997 meters Centerline goodness : 0.906973 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.06 [[ 0.99236129 -0.11080488 -0.05423427 2.07479439] [ 0.11150188 0.99371401 0.00998965 0.15107484] [ 0.05278645 -0.01596057 0.99847827 -0.05829597] [ 0. 0. 0. 1. ]] SLAMing on 26.821346184 meters Centerline goodness : 0.903545 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.06 [[ 0.99274681 -0.1067054 -0.05538704 2.07646295] [ 0.10759934 0.99410392 0.01340819 0.1557609 ] [ 0.05362975 -0.01927055 0.99837493 -0.05929783] [ 0. 0. 0. 1. ]] SLAMing on 26.881346183999998 meters Centerline goodness : 0.905112 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.06 [[ 0.99287993 -0.10583206 -0.05467195 2.07647235] [ 0.10657463 0.99424559 0.01084211 0.16080031] [ 0.0532099 -0.01659155 0.99844551 -0.06208199] [ 0. 0. 0. 1. ]] SLAMing on 26.941346183999997 meters Centerline goodness : 0.903306 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.06 [[ 0.99263508 -0.10722739 -0.05637272 2.08019649] [ 0.10806906 0.99406985 0.01209137 0.16273392] [ 0.05474189 -0.01809447 0.99833657 -0.06276618] [ 0. 0. 0. 1. ]] SLAMing on 27.001346184 meters Centerline goodness : 0.905196 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.06 [[ 0.99199669 -0.11191658 -0.05845716 2.08248541] [ 0.11279228 0.99354743 0.01189145 0.16571493] [ 0.05674911 -0.0183898 0.99821909 -0.05958555] [ 0. 0. 0. 1. ]] SLAMing on 27.061346183999998 meters Centerline goodness : 0.905737 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.06 [[ 0.99170631 -0.11441646 -0.05854467 2.08350067] [ 0.11517075 0.99329869 0.00966517 0.16650407] [ 0.05704649 -0.01632765 0.998238 -0.05987993] [ 0. 0. 0. 1. ]] SLAMing on 27.121346183999997 meters Centerline goodness : 0.905396 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.06 [[ 0.99179645 -0.11365092 -0.05850865 2.08343293] [ 0.11435695 0.99340028 0.00885277 0.16940309] [ 0.05711639 -0.01547101 0.99824765 -0.06036926] [ 0. 0. 0. 1. ]] SLAMing on 27.181346184 meters Centerline goodness : 0.905995 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.06 [[ 0.99219589 -0.10976097 -0.05915952 2.08283515] [ 0.11062605 0.99379508 0.01154163 0.17275414] [ 0.05752562 -0.01799614 0.99818182 -0.05905873] [ 0. 0. 0. 1. ]] SLAMing on 27.241346183999998 meters Centerline goodness : 0.905000 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:-0.05 [[ 0.99316587 -0.10355275 -0.05383663 2.11807148] [ 0.10323327 0.99461922 -0.00868917 0.18915654] [ 0.05444673 0.00307206 0.99851195 -0.0454724 ] [ 0. 0. 0. 1. ]] SLAMing on 27.301346184 meters Centerline goodness : 0.904644 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.20, Z:-0.04 [[ 0.99375298 -0.09946596 -0.05061165 2.140436 ] [ 0.09850255 0.99491112 -0.02119235 0.20087629] [ 0.05246201 0.01607458 0.99849354 -0.03916151] [ 0. 0. 0. 1. ]] SLAMing on 27.361346184 meters Centerline goodness : 0.904181 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.21, Z:-0.04 [[ 0.99340907 -0.10267123 -0.05096111 2.14288435] [ 0.10137284 0.99446981 -0.02744721 0.20735569] [ 0.05349733 0.02210024 0.9983234 -0.03615929] [ 0. 0. 0. 1. ]] SLAMing on 27.421346183999997 meters Centerline goodness : 0.901775 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.21, Z:-0.03 [[ 0.99360527 -0.10204453 -0.04832682 2.16616126] [ 0.10001224 0.99406701 -0.04275909 0.21308452] [ 0.05240343 0.03765238 0.99791592 -0.02940924] [ 0. 0. 0. 1. ]] SLAMing on 27.481346184 meters Centerline goodness : 0.902837 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.21, Z:-0.03 [[ 0.9936968 -0.10252987 -0.04532432 2.18959224] [ 0.10092466 0.99422816 -0.0363949 0.21297181] [ 0.04879428 0.03159116 0.99830913 -0.03299295] [ 0. 0. 0. 1. ]] SLAMing on 27.541346184 meters Centerline goodness : 0.903800 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:-0.03 [[ 0.99387814 -0.10215622 -0.0420756 2.21294574] [ 0.10091525 0.99442321 -0.03063658 0.21403152] [ 0.04497068 0.02620296 0.9986446 -0.03438713] [ 0. 0. 0. 1. ]] SLAMing on 27.601346183999997 meters Centerline goodness : 0.902990 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:-0.03 [[ 0.99405065 -0.10044803 -0.0421129 2.22499854] [ 0.09879241 0.99431538 -0.03971133 0.21908088] [ 0.04586243 0.03531464 0.99832335 -0.02605095] [ 0. 0. 0. 1. ]] SLAMing on 27.661346184 meters Centerline goodness : 0.901530 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:-0.02 [[ 0.9940395 -0.10048051 -0.0422983 2.225081 ] [ 0.09877152 0.99427644 -0.04072526 0.22131051] [ 0.0461483 0.03630465 0.99827467 -0.02444421] [ 0. 0. 0. 1. ]] SLAMing on 27.721346183999998 meters Centerline goodness : 0.897592 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.22, Z:-0.02 [[ 0.99430181 -0.09752835 -0.04303651 2.24901176] [ 0.0953106 0.99414615 -0.05088535 0.22318715] [ 0.04774734 0.04649356 0.9977768 -0.02107368] [ 0. 0. 0. 1. ]] SLAMing on 27.781346183999997 meters Centerline goodness : 0.901169 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:0.22, Z:-0.03 [[ 0.99452408 -0.09646952 -0.04019302 2.26938717] [ 0.09483918 0.99466148 -0.04067038 0.22229082] [ 0.0439019 0.0366358 0.99836388 -0.02644973] [ 0. 0. 0. 1. ]] SLAMing on 27.841346184 meters Centerline goodness : 0.898785 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:-0.03 [[ 0.99441058 -0.09923687 -0.03605045 2.28259131] [ 0.09816949 0.99470939 -0.03026517 0.21839793] [ 0.03886314 0.02655695 0.99889158 -0.0328025 ] [ 0. 0. 0. 1. ]] SLAMing on 27.901346183999998 meters Centerline goodness : 0.899961 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.22, Z:-0.04 [[ 0.99415784 -0.10336116 -0.03109112 2.29782294] [ 0.10264018 0.99442998 -0.02395836 0.21601168] [ 0.0333943 0.0206272 0.99922937 -0.03733035] [ 0. 0. 0. 1. ]] SLAMing on 27.961346183999996 meters Centerline goodness : 0.898768 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.21, Z:-0.04 [[ 0.99402202 -0.10477923 -0.03068433 2.29608977] [ 0.10407997 0.99428969 -0.02356645 0.21358373] [ 0.03297839 0.02023195 0.99925127 -0.03826367] [ 0. 0. 0. 1. ]] SLAMing on 28.021346184 meters Centerline goodness : 0.898466 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.21, Z:-0.04 [[ 0.9937635 -0.10846629 -0.02586847 2.30957255] [ 0.10810115 0.99402486 -0.01512316 0.2107648 ] [ 0.02735425 0.01223243 0.99955096 -0.0438416 ] [ 0. 0. 0. 1. ]] SLAMing on 28.081346183999997 meters Centerline goodness : 0.894787 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.21, Z:-0.05 [[ 0.99327737 -0.11404343 -0.0198533 2.31913761] [ 0.11387667 0.99345098 -0.00934075 0.20960512] [ 0.02078853 0.00701713 0.99975927 -0.04516793] [ 0. 0. 0. 1. ]] SLAMing on 28.141346184 meters Centerline goodness : 0.894654 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.21, Z:-0.05 [[ 0.99288106 -0.11736884 -0.02029202 2.32211555] [ 0.11711795 0.99303104 -0.01314322 0.21022148] [ 0.02169321 0.01067309 0.9997077 -0.04606066] [ 0. 0. 0. 1. ]] SLAMing on 28.201346184 meters Centerline goodness : 0.892450 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.21, Z:-0.05 [[ 0.99296529 -0.11650978 -0.02110463 2.3249056 ] [ 0.11626222 0.99313857 -0.01260439 0.20977357] [ 0.02242836 0.01006205 0.99969782 -0.04718094] [ 0. 0. 0. 1. ]] SLAMing on 28.261346183999997 meters Centerline goodness : 0.895447 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.21, Z:-0.05 [[ 0.99320704 -0.11429338 -0.0218356 2.32818035] [ 0.11403237 0.99339392 -0.01285073 0.21443817] [ 0.02316011 0.01027347 0.99967898 -0.04712088] [ 0. 0. 0. 1. ]] SLAMing on 28.321346184 meters Centerline goodness : 0.894179 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.22, Z:-0.04 [[ 0.99326761 -0.11362289 -0.02256756 2.32949783] [ 0.11330551 0.99344875 -0.01488061 0.21941335] [ 0.02411049 0.0122234 0.99963457 -0.04348796] [ 0. 0. 0. 1. ]] SLAMing on 28.381346183999998 meters Centerline goodness : 0.894290 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.22, Z:-0.04 [[ 0.99332287 -0.11311131 -0.02270471 2.32971323] [ 0.11277132 0.99349632 -0.01573839 0.22067912] [ 0.02433723 0.01307287 0.99961833 -0.04140549] [ 0. 0. 0. 1. ]] SLAMing on 28.441346183999997 meters Centerline goodness : 0.891653 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:-0.04 [[ 0.99311184 -0.11469418 -0.02396076 2.33688504] [ 0.11427392 0.99328195 -0.01823286 0.21963233] [ 0.02589099 0.01536918 0.99954662 -0.04494687] [ 0. 0. 0. 1. ]] SLAMing on 28.501346184 meters Centerline goodness : 0.893836 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:-0.04 [[ 0.99273452 -0.11777337 -0.0246495 2.3400944 ] [ 0.11721716 0.99284193 -0.02291394 0.22279355] [ 0.02717171 0.01985811 0.99943352 -0.04400192] [ 0. 0. 0. 1. ]] SLAMing on 28.561346183999998 meters Centerline goodness : 0.894856 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.23, Z:-0.03 [[ 0.99257451 -0.11905445 -0.02493754 2.34503178] [ 0.11824933 0.99248103 -0.03159917 0.22980809] [ 0.02851206 0.02841569 0.99918948 -0.03486449] [ 0. 0. 0. 1. ]] SLAMing on 28.621346183999997 meters Centerline goodness : 0.893313 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.23, Z:-0.03 [[ 0.99217638 -0.12228574 -0.02514401 2.34680221] [ 0.12132359 0.99193152 -0.03677552 0.23225807] [ 0.02943825 0.03343724 0.99900718 -0.03241062] [ 0. 0. 0. 1. ]] SLAMing on 28.681346184 meters Centerline goodness : 0.891911 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.23, Z:-0.03 [[ 0.99188036 -0.1245003 -0.02594289 2.35140803] [ 0.12340003 0.99153409 -0.04040515 0.23413959] [ 0.03075371 0.03687572 0.99884653 -0.03309723] [ 0. 0. 0. 1. ]] SLAMing on 28.741346183999998 meters Centerline goodness : 0.894226 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.23, Z:-0.03 [[ 0.9915785 -0.1264198 -0.02810897 2.366335 ] [ 0.12499872 0.99101467 -0.04759456 0.2309141 ] [ 0.0338733 0.04368016 0.99847115 -0.0331863 ] [ 0. 0. 0. 1. ]] SLAMing on 28.801346183999996 meters Centerline goodness : 0.892456 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.23, Z:-0.03 [[ 0.99172675 -0.12588388 -0.02512559 2.38924122] [ 0.12476847 0.99130106 -0.04189327 0.23053471] [ 0.03018071 0.0384118 0.99880612 -0.03285086] [ 0. 0. 0. 1. ]] SLAMing on 28.861346184 meters Centerline goodness : 0.894464 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.23, Z:-0.04 [[ 0.99183912 -0.12580693 -0.0206825 2.40376105] [ 0.12512552 0.99164152 -0.03147544 0.22637804] [ 0.02446946 0.02863067 0.99929051 -0.03615917] [ 0. 0. 0. 1. ]] SLAMing on 28.921346183999997 meters Centerline goodness : 0.894692 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.22, Z:-0.04 [[ 0.99149459 -0.12840657 -0.02121844 2.4074121 ] [ 0.12761721 0.99120175 -0.03511322 0.22491235] [ 0.02554052 0.03210673 0.99915807 -0.03609346] [ 0. 0. 0. 1. ]] SLAMing on 28.981346184 meters Centerline goodness : 0.892945 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.22, Z:-0.04 [[ 0.99107865 -0.13145414 -0.02197536 2.41094661] [ 0.13054005 0.99068158 -0.03884962 0.22479502] [ 0.02687753 0.03563437 0.9990034 -0.03598135] [ 0. 0. 0. 1. ]] SLAMing on 29.041346184 meters Centerline goodness : 0.893485 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:-0.03 [[ 0.99068389 -0.13428533 -0.02264702 2.41380067] [ 0.13319461 0.99010121 -0.04425828 0.2276738 ] [ 0.02836608 0.0408295 0.99876339 -0.03269552] [ 0. 0. 0. 1. ]] SLAMing on 29.101346183999997 meters Centerline goodness : 0.890657 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.22, Z:-0.04 [[ 0.99070304 -0.13488981 -0.01766966 2.42809376] [ 0.13423264 0.99035886 -0.03421895 0.22395301] [ 0.02211509 0.03152897 0.99925815 -0.03761071] [ 0. 0. 0. 1. ]] SLAMing on 29.161346184 meters Centerline goodness : 0.892438 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.22, Z:-0.04 [[ 0.99050894 -0.13681263 -0.01320424 2.44449311] [ 0.13641459 0.99027256 -0.02741013 0.22380997] [ 0.01682585 0.02534873 0.99953706 -0.04041268] [ 0. 0. 0. 1. ]] SLAMing on 29.221346183999998 meters Centerline goodness : 0.888189 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.23, Z:-0.03 [[ 0.99054175 -0.13657017 -0.01325265 2.45906576] [ 0.13598234 0.98997755 -0.0381216 0.2259088 ] [ 0.0183261 0.03595891 0.99918522 -0.03379285] [ 0. 0. 0. 1. ]] SLAMing on 29.281346183999997 meters Centerline goodness : 0.887451 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.03 [[ 0.99044978 -0.13703071 -0.01522555 2.46876318] [ 0.13624762 0.98969188 -0.04412001 0.22701384] [ 0.0211144 0.04162421 0.99891021 -0.02966669] [ 0. 0. 0. 1. ]] SLAMing on 29.341346184 meters Centerline goodness : 0.886534 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:-0.02 [[ 0.99016379 -0.13896036 -0.01629969 2.47426754] [ 0.13798375 0.98914084 -0.05060511 0.23118332] [ 0.02315479 0.04785825 0.99858572 -0.02498271] [ 0. 0. 0. 1. ]] SLAMing on 29.401346183999998 meters Centerline goodness : 0.887891 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:-0.02 [[ 0.99014649 -0.13891325 -0.01769259 2.48440948] [ 0.13766814 0.98874078 -0.05864424 0.23463687] [ 0.02563985 0.05563068 0.99812215 -0.01740656] [ 0. 0. 0. 1. ]] SLAMing on 29.461346183999996 meters Centerline goodness : 0.883889 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:-0.02 [[ 0.98989899 -0.14118471 -0.01291749 2.50217853] [ 0.14032267 0.98869283 -0.05287756 0.22931277] [ 0.02023693 0.05053082 0.99851745 -0.01977081] [ 0. 0. 0. 1. ]] SLAMing on 29.521346184 meters Centerline goodness : 0.887814 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.02 [[ 0.9900307 -0.14052207 -0.00963147 2.52511805] [ 0.13993052 0.98906123 -0.04666198 0.22698613] [ 0.01608315 0.04484906 0.9988643 -0.0208691 ] [ 0. 0. 0. 1. ]] SLAMing on 29.581346183999997 meters Centerline goodness : 0.886245 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.23, Z:-0.02 [[ 0.98977149 -0.14221899 -0.01123224 2.53198306] [ 0.14147336 0.98862065 -0.05113225 0.22886687] [ 0.0183764 0.04902018 0.99862872 -0.01977866] [ 0. 0. 0. 1. ]] SLAMing on 29.641346184 meters Centerline goodness : 0.885516 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.21, Z:-0.01 [[ 0.99014979 -0.13547989 -0.03533537 2.5334792 ] [ 0.13336475 0.98945021 -0.0565873 0.21470801] [ 0.04262903 0.05131741 0.99777216 -0.01413188] [ 0. 0. 0. 1. ]] SLAMing on 29.701346184 meters Centerline goodness : 0.889789 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.01 [[ 0.99017138 -0.13090176 -0.04924808 2.53511131] [ 0.12846397 0.9904635 -0.04979017 0.20544393] [ 0.05529605 0.04297419 0.99754477 -0.01185974] [ 0. 0. 0. 1. ]] SLAMing on 29.761346183999997 meters Centerline goodness : 0.888362 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.01 [[ 0.98997127 -0.13123048 -0.05230141 2.53900219] [ 0.12903663 0.99069249 -0.04333529 0.20299698] [ 0.05750152 0.0361519 0.99769064 -0.00922263] [ 0. 0. 0. 1. ]] SLAMing on 29.821346184 meters Centerline goodness : 0.893165 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.20, Z:-0.01 [[ 0.98968147 -0.12681968 -0.06668849 2.54268286] [ 0.12422233 0.991375 -0.04176627 0.19697294] [ 0.07141009 0.0330511 0.9968993 -0.00713122] [ 0. 0. 0. 1. ]] SLAMing on 29.881346183999998 meters Centerline goodness : 0.890908 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.01 [[ 0.98888195 -0.13305118 -0.06640681 2.54583489] [ 0.13003688 0.99035449 -0.04783717 0.19886286] [ 0.07213108 0.03866998 0.99664524 -0.01040477] [ 0. 0. 0. 1. ]] SLAMing on 29.941346183999997 meters Centerline goodness : 0.890082 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.01 [[ 0.98818776 -0.13616983 -0.07030457 2.55068139] [ 0.13339134 0.99013752 -0.04283038 0.19868313] [ 0.0754434 0.03294643 0.99660565 -0.00665043] [ 0. 0. 0. 1. ]] SLAMing on 30.001346184 meters Centerline goodness : 0.888363 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.20, Z:-0.01 [[ 0.98828214 -0.13451065 -0.07214773 2.55409123] [ 0.13203563 0.99051388 -0.03806375 0.19703135] [ 0.07658331 0.02809165 0.99666737 -0.00708357] [ 0. 0. 0. 1. ]] SLAMing on 30.061346183999998 meters Centerline goodness : 0.890769 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.20, Z:-0.00 [[ 9.87928565e-01 -1.36608351e-01 -7.30432047e-02 2.55874968e+00] [ 1.33586555e-01 9.90024469e-01 -4.47904240e-02 2.02605268e-01] [ 7.84333059e-02 3.44921491e-02 9.96322492e-01 -2.18170805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121346183999997 meters Centerline goodness : 0.887727 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.20, Z:-0.00 [[ 0.98792057 -0.13529366 -0.07555508 2.56417797] [ 0.13246474 0.99032698 -0.04129858 0.20480213] [ 0.08041167 0.03079133 0.99628603 -0.00379067] [ 0. 0. 0. 1. ]] SLAMing on 30.181346184 meters Centerline goodness : 0.883822 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.21, Z:-0.01 [[ 0.98808169 -0.13436316 -0.07510735 2.56686165] [ 0.13136686 0.99037783 -0.04352579 0.20730358] [ 0.08023292 0.03314042 0.99622507 -0.00899474] [ 0. 0. 0. 1. ]] SLAMing on 30.241346183999998 meters Centerline goodness : 0.883453 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:0.21, Z:-0.00 [[ 0.98780215 -0.13575625 -0.0762702 2.57362632] [ 0.13213018 0.98993215 -0.05075383 0.21220981] [ 0.08239248 0.04005715 0.99579461 -0.00293549] [ 0. 0. 0. 1. ]] SLAMing on 30.301346183999996 meters Centerline goodness : 0.883423 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:-0.00 [[ 0.98757276 -0.13631999 -0.0782106 2.57713057] [ 0.13281668 0.98995842 -0.04839479 0.21296259] [ 0.08402242 0.0374057 0.99576154 -0.00257977] [ 0. 0. 0. 1. ]] SLAMing on 30.361346184 meters Centerline goodness : 0.885854 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.00 [[ 9.86989720e-01 -1.38302180e-01 -8.19987787e-02 2.60602308e+00] [ 1.34874879e-01 9.89795016e-01 -4.59847016e-02 2.16852267e-01] [ 8.75217670e-02 3.43268524e-02 9.95570996e-01 -1.58333857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421346183999997 meters Centerline goodness : 0.881678 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.00 [[ 0.98639557 -0.14226093 -0.08237482 2.60985893] [ 0.13846991 0.98910031 -0.05006659 0.21895925] [ 0.08859948 0.03797903 0.99534302 -0.00455193] [ 0. 0. 0. 1. ]] SLAMing on 30.481346184 meters Centerline goodness : 0.881459 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:-0.00 [[ 0.98591765 -0.14550263 -0.082434 2.61225764] [ 0.14129679 0.98845085 -0.05477356 0.22274871] [ 0.08945165 0.04235456 0.99509019 -0.00398115] [ 0. 0. 0. 1. ]] SLAMing on 30.541346184 meters Centerline goodness : 0.882518 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:-0.00 [[ 0.98673144 -0.14151916 -0.07958265 2.63455333] [ 0.13816276 0.98932972 -0.04623579 0.22595643] [ 0.08527673 0.03462695 0.99575542 -0.0035969 ] [ 0. 0. 0. 1. ]] SLAMing on 30.601346183999997 meters Centerline goodness : 0.881416 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.23, Z:-0.00 [[ 0.98757797 -0.13730813 -0.07639519 2.65100458] [ 0.13493635 0.99022129 -0.03541145 0.23421109] [ 0.08051042 0.02466308 0.9964486 -0.00424813] [ 0. 0. 0. 1. ]] SLAMing on 30.661346184 meters Centerline goodness : 0.878864 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.24, Z:-0.00 [[ 9.87368863e-01 -1.38406973e-01 -7.71118600e-02 2.66101366e+00] [ 1.35399739e-01 9.89858624e-01 -4.29745836e-02 2.38049624e-01] [ 8.22778217e-02 3.19908400e-02 9.96095852e-01 -9.23650865e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721346183999998 meters Centerline goodness : 0.878384 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.25, Z:0.00 [[ 9.86729772e-01 -1.42943262e-01 -7.70167504e-02 2.66188806e+00] [ 1.39360068e-01 9.88974886e-01 -5.00744068e-02 2.46736096e-01] [ 8.33254310e-02 3.86768485e-02 9.95771547e-01 2.42581215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781346183999997 meters Centerline goodness : 0.881666 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.25, Z:-0.00 [[ 0.98652912 -0.14608724 -0.07361261 2.67478484] [ 0.14349036 0.98886554 -0.03943923 0.24641813] [ 0.07855454 0.02834525 0.99650676 -0.00415703] [ 0. 0. 0. 1. ]] SLAMing on 30.841346184 meters Centerline goodness : 0.882849 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.24, Z:-0.01 [[ 0.98652884 -0.14815889 -0.06935261 2.68875643] [ 0.14637499 0.98876925 -0.03016192 0.24484788] [ 0.07304248 0.01960412 0.99713614 -0.00845726] [ 0. 0. 0. 1. ]] SLAMing on 30.901346183999998 meters Centerline goodness : 0.880388 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:-0.00 [[ 0.98658704 -0.14775966 -0.06937651 2.68884326] [ 0.14575583 0.98876552 -0.03313576 0.2511109 ] [ 0.07349323 0.02257928 0.99704008 -0.00412416] [ 0. 0. 0. 1. ]] SLAMing on 30.961346183999996 meters Centerline goodness : 0.876218 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:-0.01 [[ 0.98736007 -0.14177541 -0.07085078 2.69366636] [ 0.14010038 0.98973843 -0.02810193 0.25230493] [ 0.07410791 0.0178205 0.99709099 -0.00760502] [ 0. 0. 0. 1. ]] SLAMing on 31.021346184 meters Centerline goodness : 0.875674 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.27, Z:0.01 [[ 0.98928692 -0.1306523 -0.06512571 2.74092647] [ 0.12747393 0.99054037 -0.05079541 0.26926131] [ 0.07114618 0.04194941 0.9965834 0.01016004] [ 0. 0. 0. 1. ]] SLAMing on 31.081346183999997 meters Centerline goodness : 0.879539 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.27, Z:0.01 [[ 0.98991573 -0.12687985 -0.06299481 2.76801025] [ 0.12425059 0.99127262 -0.04404973 0.27277733] [ 0.06803405 0.03577838 0.99704126 0.0102991 ] [ 0. 0. 0. 1. ]] SLAMing on 31.141346184 meters Centerline goodness : 0.882921 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:0.02 [[ 0.99016823 -0.12562194 -0.06153055 2.78124206] [ 0.12226756 0.99094097 -0.05555747 0.28040869] [ 0.06795238 0.04748805 0.99655775 0.02029119] [ 0. 0. 0. 1. ]] SLAMing on 31.201346184 meters Centerline goodness : 0.877242 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.28, Z:0.02 [[ 0.98992584 -0.12732074 -0.06193756 2.78685879] [ 0.12369735 0.99055256 -0.05919965 0.28246269] [ 0.06888975 0.05094175 0.99632281 0.01850451] [ 0. 0. 0. 1. ]] SLAMing on 31.261346183999997 meters Centerline goodness : 0.880591 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.28, Z:0.02 [[ 0.99025405 -0.12656844 -0.05811496 2.81170334] [ 0.12344081 0.99084929 -0.05458984 0.28355834] [ 0.06449252 0.04688405 0.99681623 0.01770012] [ 0. 0. 0. 1. ]] SLAMing on 31.321346184 meters Centerline goodness : 0.879738 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.28, Z:0.01 [[ 0.99050644 -0.12628226 -0.05431184 2.82575061] [ 0.12407467 0.991372 -0.04227334 0.28277887] [ 0.05918161 0.03513329 0.99762878 0.01191585] [ 0. 0. 0. 1. ]] SLAMing on 31.381346183999998 meters Centerline goodness : 0.880623 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.28, Z:0.01 [[ 0.98992122 -0.13252697 -0.04992568 2.83616766] [ 0.13091684 0.99080117 -0.03426121 0.28005168] [ 0.05400696 0.02737979 0.99816511 0.00735053] [ 0. 0. 0. 1. ]] SLAMing on 31.441346183999997 meters Centerline goodness : 0.874963 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.27, Z:-0.00 [[ 9.88753162e-01 -1.42449312e-01 -4.55563272e-02 2.84890595e+00] [ 1.41234430e-01 9.89554986e-01 -2.88749859e-02 2.74140170e-01] [ 4.91937126e-02 2.21161117e-02 9.98544369e-01 -3.91498229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501346184 meters Centerline goodness : 0.879901 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.28, Z:-0.00 [[ 9.88887929e-01 -1.41087227e-01 -4.68514584e-02 2.85345159e+00] [ 1.39883326e-01 9.89770119e-01 -2.80671917e-02 2.75342380e-01] [ 5.03320958e-02 2.12015693e-02 9.98507473e-01 -2.55658323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561346183999998 meters Centerline goodness : 0.875955 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.27, Z:-0.00 [[ 0.98896088 -0.14037983 -0.0474329 2.85604126] [ 0.13921754 0.98989382 -0.02699455 0.27416471] [ 0.05074303 0.02009306 0.9985096 -0.00483412] [ 0. 0. 0. 1. ]] SLAMing on 31.621346183999997 meters Centerline goodness : 0.879543 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.00 [[ 0.98895145 -0.14025679 -0.04799031 2.85684332] [ 0.13905056 0.98989979 -0.0276289 0.27671038] [ 0.05138073 0.02065056 0.99846561 -0.0036635 ] [ 0. 0. 0. 1. ]] SLAMing on 31.681346184 meters Centerline goodness : 0.875654 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.00 [[ 9.88996009e-01 -1.39721563e-01 -4.86289877e-02 2.85813762e+00] [ 1.38449111e-01 9.89955483e-01 -2.86353868e-02 2.80406331e-01] [ 5.21415141e-02 2.15876432e-02 9.98406348e-01 -2.05673323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741346183999998 meters Centerline goodness : 0.877549 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:0.00 [[ 9.89083247e-01 -1.38961023e-01 -4.90322719e-02 2.85942817e+00] [ 1.37598624e-01 9.90028724e-01 -3.01619732e-02 2.84247866e-01] [ 5.27346962e-02 2.30859292e-02 9.98341671e-01 3.04321259e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801346183999996 meters Centerline goodness : 0.874502 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.00 [[ 9.89712737e-01 -1.34222636e-01 -4.95275833e-02 2.86027073e+00] [ 1.33111130e-01 9.90782940e-01 -2.51115950e-02 2.81315275e-01] [ 5.24416291e-02 1.82605929e-02 9.98457023e-01 -1.37031349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861346184 meters Centerline goodness : 0.873412 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.00 [[ 9.89718458e-01 -1.34080746e-01 -4.97968549e-02 2.86087222e+00] [ 1.32959489e-01 9.90801055e-01 -2.52000582e-02 2.81109061e-01] [ 5.27176190e-02 1.83199984e-02 9.98441401e-01 -9.17200952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921346183999997 meters Centerline goodness : 0.875645 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.00 [[ 9.89732613e-01 -1.33693414e-01 -5.05512149e-02 2.86248305e+00] [ 1.32593673e-01 9.90866858e-01 -2.45313778e-02 2.80076750e-01] [ 5.33692071e-02 1.75767334e-02 9.98420145e-01 -1.17384963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981346184 meters Centerline goodness : 0.873741 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.00 [[ 9.89714648e-01 -1.33772924e-01 -5.06924065e-02 2.86266545e+00] [ 1.32741744e-01 9.90878976e-01 -2.32052507e-02 2.75979524e-01] [ 5.33342741e-02 1.62375781e-02 9.98444689e-01 -2.25070483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041346184 meters Centerline goodness : 0.875498 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.28, Z:-0.00 [[ 9.89248380e-01 -1.37034015e-01 -5.10815150e-02 2.86545996e+00] [ 1.35798052e-01 9.90370065e-01 -2.69448418e-02 2.75232112e-01] [ 5.42819632e-02 1.97183708e-02 9.98330934e-01 -2.19224986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101346184 meters Centerline goodness : 0.873400 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.27, Z:-0.00 [[ 9.88754709e-01 -1.40497570e-01 -5.12304514e-02 2.86745615e+00] [ 1.39058722e-01 9.89809325e-01 -3.06622143e-02 2.74305261e-01] [ 5.50163451e-02 2.31933676e-02 9.98216043e-01 -1.96520783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161346183999996 meters Centerline goodness : 0.876242 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.27, Z:-0.00 [[ 0.98859413 -0.14333652 -0.04622003 2.87952707] [ 0.14245106 0.98955886 -0.02193073 0.269942 ] [ 0.04888091 0.0150965 0.99869052 -0.00464657] [ 0. 0. 0. 1. ]] SLAMing on 32.221346184 meters Centerline goodness : 0.874319 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.27, Z:-0.01 [[ 0.9884411 -0.14580444 -0.04153614 2.89352471] [ 0.14537544 0.98928871 -0.01318434 0.26722272] [ 0.04301357 0.00699361 0.99905001 -0.00858183] [ 0. 0. 0. 1. ]] SLAMing on 32.281346184 meters Centerline goodness : 0.877420 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.27, Z:-0.01 [[ 0.98741727 -0.15262526 -0.0413843 2.89719398] [ 0.15188427 0.98818541 -0.02051264 0.26538581] [ 0.04402611 0.01396891 0.99893272 -0.00877082] [ 0. 0. 0. 1. ]] SLAMing on 32.341346183999995 meters Centerline goodness : 0.872103 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.26, Z:-0.01 [[ 0.98685539 -0.15624792 -0.04126784 2.89854531] [ 0.15535247 0.98756508 -0.02410029 0.26391999] [ 0.04452029 0.01737244 0.99885742 -0.00860118] [ 0. 0. 0. 1. ]] SLAMing on 32.401346184 meters Centerline goodness : 0.877349 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.26, Z:-0.01 [[ 0.9874256 -0.15513523 -0.03039325 2.90773945] [ 0.154417 0.98769654 -0.02471692 0.26002921] [ 0.03385377 0.01971288 0.99923237 -0.01366287] [ 0. 0. 0. 1. ]] SLAMing on 32.461346184 meters Centerline goodness : 0.880968 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.26, Z:-0.01 [[ 0.98749224 -0.15455678 -0.03116542 2.9091379 ] [ 0.15382289 0.98778903 -0.02472535 0.25963766] [ 0.03460633 0.01962214 0.99920837 -0.01235771] [ 0. 0. 0. 1. ]] SLAMing on 32.521346183999995 meters Centerline goodness : 0.883955 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.25, Z:-0.01 [[ 0.98785421 -0.15198287 -0.03233064 2.91401346] [ 0.15129863 0.98822823 -0.02266491 0.25474567] [ 0.03539472 0.01749804 0.99922021 -0.01431223] [ 0. 0. 0. 1. ]] SLAMing on 32.581346184 meters Centerline goodness : 0.881565 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.26, Z:-0.01 [[ 0.98897511 -0.1443925 -0.03284859 2.92681279] [ 0.14356974 0.98929405 -0.0261728 0.2566253 ] [ 0.03627607 0.02116818 0.99911759 -0.00647876] [ 0. 0. 0. 1. ]] SLAMing on 32.641346184 meters Centerline goodness : 0.884334 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.26, Z:0.00 [[ 9.89885909e-01 -1.38446857e-01 -3.09572943e-02 2.95043422e+00] [ 1.37277396e-01 9.89835093e-01 -3.71672565e-02 2.58254972e-01] [ 3.57883062e-02 3.25416067e-02 9.98829435e-01 1.68903691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701346183999995 meters Centerline goodness : 0.888109 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.24, Z:-0.00 [[ 9.90424790e-01 -1.31961220e-01 -4.05582576e-02 2.94810270e+00] [ 1.30469788e-01 9.90744350e-01 -3.74602165e-02 2.44718556e-01] [ 4.51261604e-02 3.18098998e-02 9.98474717e-01 -1.10444871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761346184 meters Centerline goodness : 0.886615 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.23, Z:-0.00 [[ 9.90664200e-01 -1.26387767e-01 -5.10937800e-02 2.94596126e+00] [ 1.24584170e-01 9.91516040e-01 -3.70773224e-02 2.33319122e-01] [ 5.53464224e-02 3.03656998e-02 9.98005360e-01 -1.79407981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821346184 meters Centerline goodness : 0.892158 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.22, Z:0.00 [[ 0.99117347 -0.11894649 -0.05853954 2.93672046] [ 0.11685628 0.99242418 -0.03793218 0.22048477] [ 0.06260796 0.03075665 0.99756417 0.00447977] [ 0. 0. 0. 1. ]] SLAMing on 32.881346183999995 meters Centerline goodness : 0.894286 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.21, Z:0.00 [[ 0.99144317 -0.11826076 -0.05527046 2.93113708] [ 0.11610176 0.99239999 -0.04077544 0.21216246] [ 0.05967254 0.03400954 0.99763848 0.00444233] [ 0. 0. 0. 1. ]] SLAMing on 32.941346184 meters Centerline goodness : 0.899677 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.20, Z:0.01 [[ 0.99145432 -0.12004284 -0.05106896 2.92350083] [ 0.11775366 0.99199059 -0.04570276 0.19889199] [ 0.05614622 0.03929865 0.99764885 0.00590373] [ 0. 0. 0. 1. ]] SLAMing on 33.001346184 meters Centerline goodness : 0.907021 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.18, Z:0.01 [[ 0.99162485 -0.11998213 -0.04779591 2.91522598] [ 0.11782306 0.9919828 -0.04569293 0.18470712] [ 0.05289505 0.03967878 0.99781146 0.01022319] [ 0. 0. 0. 1. ]] SLAMing on 33.061346184 meters Centerline goodness : 0.910639 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.18, Z:0.01 [[ 0.99164324 -0.11986896 -0.04769825 2.91382241] [ 0.11789141 0.99212423 -0.04232183 0.1786725 ] [ 0.05239566 0.03634495 0.9979648 0.01303597] [ 0. 0. 0. 1. ]] SLAMing on 33.121346184 meters Centerline goodness : 0.908344 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.16, Z:0.01 [[ 0.99086427 -0.12183295 -0.05783366 2.91051396] [ 0.11943016 0.99189617 -0.04334072 0.16427048] [ 0.06264531 0.03603769 0.99738501 0.01439787] [ 0. 0. 0. 1. ]] SLAMing on 33.181346184 meters Centerline goodness : 0.911538 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.16, Z:0.01 [[ 0.99033486 -0.12603498 -0.05789683 2.91344635] [ 0.12349476 0.99129926 -0.04555021 0.16091993] [ 0.06313401 0.03796 0.99728288 0.01258663] [ 0. 0. 0. 1. ]] SLAMing on 33.241346184 meters Centerline goodness : 0.909931 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.15, Z:0.01 [[ 0.98830239 -0.13966175 -0.06126155 2.92213789] [ 0.13704355 0.98953967 -0.04505893 0.15365859] [ 0.06691375 0.03613635 0.99710416 0.01167269] [ 0. 0. 0. 1. ]] SLAMing on 33.301346183999996 meters Centerline goodness : 0.910239 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:0.01 [[ 0.98734761 -0.14594779 -0.06199953 2.92572623] [ 0.1432562 0.98862233 -0.04586449 0.14903498] [ 0.06798794 0.03640238 0.99702182 0.01186475] [ 0. 0. 0. 1. ]] SLAMing on 33.361346184 meters Centerline goodness : 0.910095 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.14, Z:0.01 [[ 0.98663145 -0.15089664 -0.06155153 2.92718822] [ 0.14817708 0.9878619 -0.04660928 0.1410348 ] [ 0.0678376 0.03686566 0.99701504 0.01168763] [ 0. 0. 0. 1. ]] SLAMing on 33.421346184 meters Centerline goodness : 0.909493 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.14, Z:0.01 [[ 0.98661648 -0.15088014 -0.06183123 2.92929237] [ 0.14823683 0.98791202 -0.04533971 0.13785908] [ 0.06792467 0.03556724 0.99705627 0.01006223] [ 0. 0. 0. 1. ]] SLAMing on 33.481346183999996 meters Centerline goodness : 0.910883 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.14, Z:0.01 [[ 0.98680633 -0.14908758 -0.06313598 2.93198686] [ 0.14666841 0.98831963 -0.04138465 0.13662383] [ 0.06856846 0.03157858 0.99714651 0.00940233] [ 0. 0. 0. 1. ]] SLAMing on 33.541346184 meters Centerline goodness : 0.904768 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.13, Z:0.00 [[ 0.98693656 -0.14835349 -0.06282894 2.93472303] [ 0.14589813 0.98840601 -0.0420393 0.13472623] [ 0.06833718 0.0323235 0.99713852 0.00483204] [ 0. 0. 0. 1. ]] SLAMing on 33.601346184 meters Centerline goodness : 0.912027 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.13, Z:0.00 [[ 0.98721207 -0.14654742 -0.06273896 2.93478114] [ 0.14422645 0.98873295 -0.04007345 0.13184873] [ 0.06790473 0.03051237 0.99722512 0.00425918] [ 0. 0. 0. 1. ]] SLAMing on 33.661346183999996 meters Centerline goodness : 0.913012 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.13, Z:0.00 [[ 9.87644514e-01 -1.43918444e-01 -6.20144803e-02 2.93439565e+00] [ 1.41672134e-01 9.89135771e-01 -3.92355953e-02 1.28996681e-01] [ 6.69874666e-02 2.99650966e-02 9.97303751e-01 2.13981550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721346184 meters Centerline goodness : 0.913406 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.13, Z:0.00 [[ 9.88034813e-01 -1.40749222e-01 -6.30623900e-02 2.93547601e+00] [ 1.38757760e-01 9.89709803e-01 -3.49397971e-02 1.28887088e-01] [ 6.73312149e-02 2.57713399e-02 9.97397787e-01 2.54285439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781346184 meters Centerline goodness : 0.914558 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.13, Z:0.00 [[ 9.88578407e-01 -1.36501509e-01 -6.38754428e-02 2.93721559e+00] [ 1.34765474e-01 9.90399945e-01 -3.07606336e-02 1.28623747e-01] [ 6.74611079e-02 2.18010938e-02 9.97483690e-01 8.27993075e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841346183999995 meters Centerline goodness : 0.910047 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.13, Z:-0.00 [[ 9.88719806e-01 -1.35187641e-01 -6.44782673e-02 2.94042835e+00] [ 1.33406540e-01 9.90570426e-01 -3.11917574e-02 1.30936225e-01] [ 6.80870048e-02 2.22380858e-02 9.97431515e-01 -2.75293508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901346184 meters Centerline goodness : 0.906939 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.13, Z:-0.01 [[ 0.98866451 -0.13529914 -0.06508945 2.94344821] [ 0.13345857 0.99054215 -0.03186002 0.13304274] [ 0.06878447 0.02281213 0.99737069 -0.00553714] [ 0. 0. 0. 1. ]] SLAMing on 33.961346184 meters Centerline goodness : 0.906848 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.14, Z:-0.01 [[ 0.98850023 -0.13525592 -0.06762493 2.94820184] [ 0.13359314 0.9906248 -0.02855483 0.13700218] [ 0.07085315 0.01919223 0.99730211 -0.00554325] [ 0. 0. 0. 1. ]] SLAMing on 34.021346183999995 meters Centerline goodness : 0.906672 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.14, Z:-0.01 [[ 0.98822513 -0.13609813 -0.06991702 2.95372036] [ 0.1344571 0.99053256 -0.02768636 0.14198075] [ 0.07302315 0.01795952 0.99716853 -0.00731532] [ 0. 0. 0. 1. ]] SLAMing on 34.081346184 meters Centerline goodness : 0.905366 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.15, Z:-0.01 [[ 0.9878269 -0.13761251 -0.07253151 2.95882763] [ 0.13610155 0.99036919 -0.02540165 0.14607559] [ 0.07532856 0.01522078 0.99704259 -0.00707548] [ 0. 0. 0. 1. ]] SLAMing on 34.141346184 meters Centerline goodness : 0.903479 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.15, Z:-0.01 [[ 0.98728382 -0.13971284 -0.07583523 2.96543191] [ 0.13832784 0.99011368 -0.02324457 0.15215617] [ 0.07833306 0.01245886 0.99684939 -0.0071906 ] [ 0. 0. 0. 1. ]] SLAMing on 34.201346183999995 meters Centerline goodness : 0.904883 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.16, Z:-0.01 [[ 0.98696249 -0.14017637 -0.07909259 2.97093583] [ 0.13909835 0.99009617 -0.01900601 0.1564245 ] [ 0.08097346 0.00775657 0.99668608 -0.00611596] [ 0. 0. 0. 1. ]] SLAMing on 34.261346184 meters Centerline goodness : 0.908598 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.16, Z:-0.01 [[ 0.98633578 -0.14344072 -0.08103386 2.97606546] [ 0.14230714 0.98962797 -0.01962549 0.16038159] [ 0.08300847 0.00782563 0.99651812 -0.00712713] [ 0. 0. 0. 1. ]] SLAMing on 34.321346184 meters Centerline goodness : 0.901762 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.16, Z:-0.01 [[ 0.98555977 -0.14710622 -0.08385522 2.98175032] [ 0.14604036 0.98910113 -0.01873971 0.16392206] [ 0.08569802 0.00622285 0.99630172 -0.00643732] [ 0. 0. 0. 1. ]] SLAMing on 34.381346183999995 meters Centerline goodness : 0.904418 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.17, Z:-0.00 [[ 0.98511374 -0.14891666 -0.0858764 2.98386116] [ 0.14808773 0.98884513 -0.01597939 0.16562967] [ 0.08729805 0.00302428 0.99617765 -0.00344893] [ 0. 0. 0. 1. ]] SLAMing on 34.441346184 meters Centerline goodness : 0.905016 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.17, Z:-0.01 [[ 9.85387470e-01 -1.52490847e-01 -7.58819880e-02 2.98857707e+00] [ 1.52131287e-01 9.88304194e-01 -1.05305566e-02 1.70653063e-01] [ 7.66003004e-02 -1.16734596e-03 9.97061197e-01 -1.02406264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501346184 meters Centerline goodness : 0.903673 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.17, Z:-0.01 [[ 9.85888327e-01 -1.49394590e-01 -7.55345193e-02 2.98869887e+00] [ 1.49157504e-01 9.88774270e-01 -8.80239416e-03 1.69866182e-01] [ 7.60016192e-02 -2.58836271e-03 9.97104335e-01 -1.22980423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561346184 meters Centerline goodness : 0.903768 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.17, Z:-0.02 [[ 0.98641898 -0.14563051 -0.07595619 2.99029398] [ 0.14552236 0.9893303 -0.0069863 0.17390409] [ 0.07616318 -0.0041619 0.99708668 -0.01529742] [ 0. 0. 0. 1. ]] SLAMing on 34.621346184 meters Centerline goodness : 0.903200 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.18, Z:-0.02 [[ 0.98702157 -0.14137218 -0.07617307 2.99027831] [ 0.1412864 0.98994715 -0.00654125 0.17955987] [ 0.07633206 -0.00430586 0.99707315 -0.01712733] [ 0. 0. 0. 1. ]] SLAMing on 34.681346184 meters Centerline goodness : 0.899516 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:0.18, Z:-0.02 [[ 9.87164337e-01 -1.40311639e-01 -7.62837805e-02 2.99279771e+00] [ 1.40117937e-01 9.90103207e-01 -7.91219983e-03 1.83154182e-01] [ 7.66389894e-02 -2.87808447e-03 9.97054754e-01 -2.10740567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741346184 meters Centerline goodness : 0.896006 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.19, Z:-0.02 [[ 0.98681727 -0.14164916 -0.07827641 2.99602108] [ 0.14163487 0.9899022 -0.00576265 0.18680981] [ 0.07830227 -0.00539999 0.99691504 -0.02020494] [ 0. 0. 0. 1. ]] SLAMing on 34.801346183999996 meters Centerline goodness : 0.897539 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.19, Z:-0.02 [[ 0.98625963 -0.14449213 -0.08008726 2.99882923] [ 0.14458836 0.98948107 -0.00462697 0.18960371] [ 0.07991339 -0.00701629 0.99677712 -0.01857031] [ 0. 0. 0. 1. ]] SLAMing on 34.861346184 meters Centerline goodness : 0.895969 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.19, Z:-0.02 [[ 0.98504974 -0.15176076 -0.08152109 3.00113035] [ 0.15168053 0.98840326 -0.00721244 0.19234312] [ 0.08167027 -0.00526055 0.99664552 -0.01582275] [ 0. 0. 0. 1. ]] SLAMing on 34.921346184 meters Centerline goodness : 0.894528 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.19, Z:-0.02 [[ 0.98475391 -0.15321808 -0.08236482 3.00284016] [ 0.15312924 0.98817822 -0.00743217 0.19469682] [ 0.08252987 -0.00529361 0.99657453 -0.01570086] [ 0. 0. 0. 1. ]] SLAMing on 34.981346183999996 meters Centerline goodness : 0.893502 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.01 [[ 9.84762335e-01 -1.51572810e-01 -8.52574173e-02 3.00679778e+00] [ 1.51882915e-01 9.88394311e-01 -2.87517541e-03 1.98584613e-01] [ 8.47037446e-02 -1.01177806e-02 9.96354809e-01 -1.48820190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041346184 meters Centerline goodness : 0.893197 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.02 [[ 9.84771852e-01 -1.51350815e-01 -8.55413993e-02 3.00745075e+00] [ 1.51716032e-01 9.88421554e-01 -2.25305662e-03 1.99018015e-01] [ 8.48919648e-02 -1.07592549e-02 9.96332070e-01 -1.50312984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101346184 meters Centerline goodness : 0.894784 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.01 [[ 9.84647000e-01 -1.52023194e-01 -8.57859765e-02 3.00744779e+00] [ 1.52423559e-01 9.88313433e-01 -1.90199829e-03 1.99735939e-01] [ 8.50725808e-02 -1.12030069e-02 9.96311773e-01 -1.43541501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161346183999996 meters Centerline goodness : 0.894409 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.01 [[ 9.84521646e-01 -1.52835381e-01 -8.57815573e-02 3.00774644e+00] [ 1.53232967e-01 9.88188130e-01 -1.96938642e-03 1.99517789e-01] [ 8.50693086e-02 -1.12056590e-02 9.96312022e-01 -1.44442822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221346184 meters Centerline goodness : 0.891295 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.01 [[ 9.84392598e-01 -1.53353726e-01 -8.63356671e-02 3.00737126e+00] [ 1.53807607e-01 9.88099809e-01 -1.40981437e-03 2.01484512e-01] [ 8.55244565e-02 -1.18912715e-02 9.96265108e-01 -1.25879154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281346184 meters Centerline goodness : 0.894007 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.01 [[ 9.84807156e-01 -1.50584957e-01 -8.64814224e-02 3.00864384e+00] [ 1.51183002e-01 9.88505722e-01 3.70136956e-04 2.01910053e-01] [ 8.54316439e-02 -1.34390345e-02 9.96253395e-01 -1.49908404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341346183999995 meters Centerline goodness : 0.893283 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.02 [[ 9.85424076e-01 -1.46504542e-01 -8.64627588e-02 3.00897195e+00] [ 1.47296252e-01 9.89088416e-01 2.81424634e-03 2.02270206e-01] [ 8.51070133e-02 -1.55088664e-02 9.96251109e-01 -1.68992564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401346184 meters Centerline goodness : 0.892972 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:-0.02 [[ 0.98593906 -0.14292936 -0.08657573 3.00883453] [ 0.1438309 0.98959322 0.00423411 0.20467591] [ 0.08506958 -0.01662684 0.99623627 -0.01797272] [ 0. 0. 0. 1. ]] SLAMing on 35.461346184 meters Centerline goodness : 0.890457 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.21, Z:-0.02 [[ 0.98599482 -0.14193986 -0.08756306 3.01000375] [ 0.14306322 0.98969116 0.00665772 0.20687034] [ 0.08571539 -0.01909153 0.99613673 -0.01765416] [ 0. 0. 0. 1. ]] SLAMing on 35.521346183999995 meters Centerline goodness : 0.889594 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.21, Z:-0.02 [[ 0.98630816 -0.14091516 -0.08566874 3.00748512] [ 0.14177561 0.98989068 0.00401359 0.20789309] [ 0.08423711 -0.01610437 0.99631559 -0.01949065] [ 0. 0. 0. 1. ]] SLAMing on 35.581346184 meters Centerline goodness : 0.888340 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.21, Z:-0.02 [[ 0.98685249 -0.13736007 -0.08517256 3.00668215] [ 0.13839996 0.99035575 0.00639901 0.20781767] [ 0.08347217 -0.01810276 0.99634567 -0.02083634] [ 0. 0. 0. 1. ]] SLAMing on 35.641346184 meters Centerline goodness : 0.891020 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.98750509 -0.1390453 -0.07416266 3.00741201] [ 0.13996777 0.99012868 0.0073641 0.2161406 ] [ 0.07240663 -0.01765247 0.99721897 -0.01991151] [ 0. 0. 0. 1. ]] SLAMing on 35.701346183999995 meters Centerline goodness : 0.888414 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.98773842 -0.13719539 -0.0744999 3.00723453] [ 0.13823454 0.99035907 0.00895114 0.21801456] [ 0.0725536 -0.01913984 0.99718085 -0.01971035] [ 0. 0. 0. 1. ]] SLAMing on 35.761346184 meters Centerline goodness : 0.887718 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.98766251 -0.13809891 -0.073834 3.00834734] [ 0.13898994 0.99026874 0.0070445 0.21736604] [ 0.07214266 -0.01721977 0.99724566 -0.02235673] [ 0. 0. 0. 1. ]] SLAMing on 35.821346184 meters Centerline goodness : 0.884523 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.98680306 -0.14361731 -0.07479159 3.00857343] [ 0.14436584 0.98951336 0.00467165 0.21764839] [ 0.07333634 -0.01540735 0.99718824 -0.01841464] [ 0. 0. 0. 1. ]] SLAMing on 35.881346183999995 meters Centerline goodness : 0.886577 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.98654755 -0.14487872 -0.07572376 3.01108106] [ 0.14572073 0.98930943 0.00568567 0.2173404 ] [ 0.0740905 -0.0166437 0.99711262 -0.01891609] [ 0. 0. 0. 1. ]] SLAMing on 35.941346184 meters Centerline goodness : 0.887893 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.9866598 -0.14433085 -0.07530639 3.0111229 ] [ 0.14519024 0.98938535 0.00603584 0.2165437 ] [ 0.07363588 -0.01688908 0.99714217 -0.02013637] [ 0. 0. 0. 1. ]] SLAMing on 36.001346184 meters Centerline goodness : 0.888739 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.98741168 -0.13882128 -0.07580778 3.00937687] [ 0.14006059 0.99007893 0.01125799 0.21638414] [ 0.07349284 -0.02173395 0.99705889 -0.01827262] [ 0. 0. 0. 1. ]] SLAMing on 36.061346183999994 meters Centerline goodness : 0.887931 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.98752538 -0.13838481 -0.07512169 3.0088427 ] [ 0.1395348 0.99016405 0.01025651 0.21547908] [ 0.07296345 -0.02061065 0.99712163 -0.01911354] [ 0. 0. 0. 1. ]] SLAMing on 36.121346184 meters Centerline goodness : 0.891552 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.21, Z:-0.02 [[ 0.9876745 -0.1382124 -0.07346034 3.00679981] [ 0.13920836 0.99022585 0.00859037 0.21243442] [ 0.07155503 -0.01871078 0.99726114 -0.02014486] [ 0. 0. 0. 1. ]] SLAMing on 36.181346184 meters Centerline goodness : 0.894046 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.02 [[ 0.98786372 -0.13787833 -0.0715181 3.00425738] [ 0.13861227 0.99033212 0.005379 0.21088167] [ 0.07008503 -0.015227 0.9974248 -0.02154676] [ 0. 0. 0. 1. ]] SLAMing on 36.241346184 meters Centerline goodness : 0.895356 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.02 [[ 0.9882074 -0.13557584 -0.07117108 3.0035726 ] [ 0.13636442 0.99063859 0.00631819 0.21132264] [ 0.06964822 -0.01594889 0.99744411 -0.02211521] [ 0. 0. 0. 1. ]] SLAMing on 36.301346183999996 meters Centerline goodness : 0.897102 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.02 [[ 0.98890774 -0.13026095 -0.07136926 3.00185234] [ 0.13134581 0.99127882 0.01070451 0.21137067] [ 0.06935245 -0.01995983 0.99739252 -0.02091405] [ 0. 0. 0. 1. ]] SLAMing on 36.361346184 meters Centerline goodness : 0.893491 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.02 [[ 0.98933882 -0.12737988 -0.07059087 2.99967993] [ 0.12846631 0.99165229 0.01105177 0.21207567] [ 0.06859383 -0.0200025 0.99744413 -0.02110006] [ 0. 0. 0. 1. ]] SLAMing on 36.421346184 meters Centerline goodness : 0.896759 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.02 [[ 0.98916184 -0.12872173 -0.07063694 3.00124175] [ 0.1297498 0.99149487 0.01014501 0.21312295] [ 0.06873028 -0.01920019 0.9974505 -0.0226655 ] [ 0. 0. 0. 1. ]] SLAMing on 36.481346183999996 meters Centerline goodness : 0.899978 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.02 [[ 0.98857841 -0.13307685 -0.07073384 3.00106509] [ 0.13397313 0.99095218 0.00806053 0.21444145] [ 0.06902118 -0.0174449 0.99746266 -0.02096428] [ 0. 0. 0. 1. ]] SLAMing on 36.541346184 meters Centerline goodness : 0.897645 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.22, Z:-0.02 [[ 0.98810651 -0.13614763 -0.07147977 3.00260144] [ 0.13705795 0.990531 0.00796595 0.21524879] [ 0.06971839 -0.01766807 0.99741024 -0.02011419] [ 0. 0. 0. 1. ]] SLAMing on 36.601346184 meters Centerline goodness : 0.898952 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.02 [[ 0.98729505 -0.14211525 -0.07107562 3.00183416] [ 0.1428332 0.98973365 0.00509683 0.21333065] [ 0.0696216 -0.01518404 0.99745791 -0.01781656] [ 0. 0. 0. 1. ]] SLAMing on 36.661346183999996 meters Centerline goodness : 0.902096 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.02 [[ 0.9861744 -0.14823134 -0.07407781 3.00715511] [ 0.14906745 0.98880968 0.00585767 0.21502173] [ 0.07238057 -0.01681927 0.99723526 -0.01561647] [ 0. 0. 0. 1. ]] SLAMing on 36.721346184 meters Centerline goodness : 0.902677 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.21, Z:-0.02 [[ 9.85532826e-01 -1.52840830e-01 -7.32443127e-02 3.00714889e+00] [ 1.53364046e-01 9.88168557e-01 1.54003418e-03 2.14594936e-01] [ 7.21423468e-02 -1.27507984e-02 9.97312839e-01 -1.57250297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781346184 meters Centerline goodness : 0.901085 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.01 [[ 9.84866719e-01 -1.56048605e-01 -7.54080790e-02 3.01139355e+00] [ 1.56709596e-01 9.87640488e-01 2.89286452e-03 2.15352133e-01] [ 7.40246445e-02 -1.46662556e-02 9.97148561e-01 -1.48549799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841346183999995 meters Centerline goodness : 0.902053 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.01 [[ 0.98491067 -0.1549319 -0.07711731 3.01271566] [ 0.15587585 0.98775632 0.00633876 0.21631809] [ 0.07519103 -0.01826384 0.99700188 -0.01282152] [ 0. 0. 0. 1. ]] SLAMing on 36.901346184 meters Centerline goodness : 0.902893 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.22, Z:-0.01 [[ 0.98471645 -0.15560086 -0.07824248 3.0151266 ] [ 0.15665178 0.98762587 0.00744026 0.21672847] [ 0.07611659 -0.01958337 0.99690659 -0.01293294] [ 0. 0. 0. 1. ]] SLAMing on 36.961346184 meters Centerline goodness : 0.903500 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.22, Z:-0.01 [[ 0.98459224 -0.15631848 -0.07837512 3.01563953] [ 0.15734721 0.9875179 0.00708824 0.21620553] [ 0.07628881 -0.01931113 0.99689874 -0.01269966] [ 0. 0. 0. 1. ]] SLAMing on 37.021346183999995 meters Centerline goodness : 0.905110 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.22, Z:-0.01 [[ 0.98439265 -0.15769243 -0.07812938 3.0151976 ] [ 0.1586106 0.98732505 0.00564986 0.21699586] [ 0.07624816 -0.01795383 0.99692722 -0.01216105] [ 0. 0. 0. 1. ]] SLAMing on 37.081346184 meters Centerline goodness : 0.908991 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.22, Z:-0.01 [[ 0.98441996 -0.15724549 -0.07868415 3.01829454] [ 0.15818032 0.98739348 0.00575326 0.21675372] [ 0.07678755 -0.01810991 0.99688299 -0.014755 ] [ 0. 0. 0. 1. ]] SLAMing on 37.141346184 meters Centerline goodness : 0.900924 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.22, Z:-0.01 [[ 0.98483066 -0.1538895 -0.08016599 3.0192902 ] [ 0.15510028 0.98785715 0.0090645 0.21899881] [ 0.07779762 -0.02136077 0.99674031 -0.01386505] [ 0. 0. 0. 1. ]] SLAMing on 37.201346183999995 meters Centerline goodness : 0.904870 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.22, Z:-0.02 [[ 0.98548713 -0.14926256 -0.08084431 3.02112072] [ 0.15071781 0.98850187 0.01217328 0.22023116] [ 0.07809774 -0.02418129 0.9966524 -0.01644828] [ 0. 0. 0. 1. ]] SLAMing on 37.261346184 meters Centerline goodness : 0.904553 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.22, Z:-0.02 [[ 0.98590173 -0.14652466 -0.0807979 3.02220115] [ 0.14803752 0.9888959 0.0130302 0.22246392] [ 0.07799146 -0.02480762 0.99664533 -0.01913719] [ 0. 0. 0. 1. ]] SLAMing on 37.321346184 meters Centerline goodness : 0.904369 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98602897 -0.14621026 -0.07980871 3.02102346] [ 0.14747276 0.98901425 0.01012903 0.22588149] [ 0.07745099 -0.02175713 0.99675873 -0.02034402] [ 0. 0. 0. 1. ]] SLAMing on 37.381346183999995 meters Centerline goodness : 0.906240 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98614965 -0.14594032 -0.07880543 3.02004598] [ 0.14701421 0.98910227 0.00797042 0.22713172] [ 0.07678342 -0.01944555 0.99685815 -0.02171653] [ 0. 0. 0. 1. ]] SLAMing on 37.441346184 meters Centerline goodness : 0.905840 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98614195 -0.14481245 -0.08095308 3.02151149] [ 0.14628905 0.98916183 0.01258525 0.2279955 ] [ 0.0782532 -0.02425339 0.99663846 -0.01888604] [ 0. 0. 0. 1. ]] SLAMing on 37.501346184 meters Centerline goodness : 0.909403 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98606473 -0.14569477 -0.08030806 3.01891463] [ 0.1471334 0.98904061 0.01226536 0.2277646 ] [ 0.07764093 -0.02391043 0.99669463 -0.01672127] [ 0. 0. 0. 1. ]] SLAMing on 37.561346183999994 meters Centerline goodness : 0.908981 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98596549 -0.14670552 -0.07968398 3.01868633] [ 0.14801489 0.98892671 0.01074963 0.22773271] [ 0.07722459 -0.02239318 0.99676221 -0.01748451] [ 0. 0. 0. 1. ]] SLAMing on 37.621346184 meters Centerline goodness : 0.912610 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98615393 -0.14515283 -0.08019407 3.01835801] [ 0.14664598 0.98910331 0.013023 0.2279475 ] [ 0.0774299 -0.02460282 0.99669419 -0.01643223] [ 0. 0. 0. 1. ]] SLAMing on 37.681346184 meters Centerline goodness : 0.911444 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.01 [[ 0.9863253 -0.14303863 -0.08186786 3.01883451] [ 0.14490711 0.98929358 0.01732485 0.22939491] [ 0.07851323 -0.02895117 0.9964926 -0.0136637 ] [ 0. 0. 0. 1. ]] SLAMing on 37.741346184 meters Centerline goodness : 0.913277 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98658151 -0.14168848 -0.08112517 3.01848252] [ 0.14353812 0.98949161 0.01741129 0.22900018] [ 0.07780569 -0.02882221 0.99655183 -0.01513729] [ 0. 0. 0. 1. ]] SLAMing on 37.801346183999996 meters Centerline goodness : 0.915147 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.01 [[ 0.987255 -0.13722278 -0.08060689 3.01607143] [ 0.1392247 0.99006411 0.01973698 0.22964782] [ 0.07709763 -0.0307079 0.99655054 -0.01454828] [ 0. 0. 0. 1. ]] SLAMing on 37.861346184 meters Centerline goodness : 0.913444 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.02 [[ 0.98748581 -0.13562892 -0.0804772 3.01693758] [ 0.13753214 0.99032319 0.01857144 0.23401701] [ 0.07717962 -0.02940723 0.99658342 -0.01675844] [ 0. 0. 0. 1. ]] SLAMing on 37.921346184 meters Centerline goodness : 0.907904 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.24, Z:-0.02 [[ 0.98766413 -0.13569299 -0.07814715 3.01819938] [ 0.13703857 0.99049185 0.01209615 0.23623528] [ 0.07576276 -0.02265611 0.99686845 -0.02436236] [ 0. 0. 0. 1. ]] SLAMing on 37.981346183999996 meters Centerline goodness : 0.911776 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.24, Z:-0.02 [[ 0.98775459 -0.13354748 -0.08065944 3.02109535] [ 0.13538277 0.99063516 0.0177056 0.23872361] [ 0.07753954 -0.02840869 0.99658445 -0.02301476] [ 0. 0. 0. 1. ]] SLAMing on 38.041346184 meters Centerline goodness : 0.912513 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.24, Z:-0.02 [[ 0.98793567 -0.13207889 -0.08085965 3.02032362] [ 0.13404892 0.99078449 0.01941625 0.23963599] [ 0.07755001 -0.03002115 0.99653636 -0.02213103] [ 0. 0. 0. 1. ]] SLAMing on 38.101346184 meters Centerline goodness : 0.910049 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.24, Z:-0.02 [[ 0.98818311 -0.13136334 -0.07897978 3.01770001] [ 0.13311158 0.99095057 0.01727072 0.24032417] [ 0.07599632 -0.02757976 0.9967266 -0.02349485] [ 0. 0. 0. 1. ]] SLAMing on 38.161346183999996 meters Centerline goodness : 0.908467 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.24, Z:-0.02 [[ 0.98813187 -0.13212601 -0.07834617 3.01782197] [ 0.13369389 0.99090773 0.01509339 0.2411662 ] [ 0.0756396 -0.02538867 0.99681195 -0.02492593] [ 0. 0. 0. 1. ]] SLAMing on 38.221346184 meters Centerline goodness : 0.915385 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.25, Z:-0.01 [[ 9.87994978e-01 -1.34203137e-01 -7.65208519e-02 3.02294183e+00] [ 1.34771229e-01 9.90874105e-01 2.28544898e-03 2.49588824e-01] [ 7.55158162e-02 -1.25708214e-02 9.97065362e-01 -1.18590024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281346184 meters Centerline goodness : 0.910932 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.25, Z:-0.00 [[ 9.86818709e-01 -1.42764502e-01 -7.62045498e-02 3.02365666e+00] [ 1.42458724e-01 9.89755520e-01 -9.46164231e-03 2.54670929e-01] [ 7.67746605e-02 -1.51907726e-03 9.97047313e-01 -4.97828329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341346183999995 meters Centerline goodness : 0.911623 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:0.25, Z:-0.01 [[ 0.98599497 -0.14867616 -0.07556005 3.02453838] [ 0.14798774 0.98888052 -0.01466107 0.25328535] [ 0.07689962 0.00327378 0.99703347 -0.00540493] [ 0. 0. 0. 1. ]] SLAMing on 38.401346184 meters Centerline goodness : 0.908460 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.26, Z:-0.00 [[ 0.98475646 -0.15658934 -0.07572647 3.02696278] [ 0.1552438 0.98759956 -0.02337668 0.25712358] [ 0.07844797 0.01126427 0.99685457 -0.00344154] [ 0. 0. 0. 1. ]] SLAMing on 38.461346184 meters Centerline goodness : 0.908469 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.26, Z:-0.00 [[ 9.84648734e-01 -1.57160409e-01 -7.59439030e-02 3.02730595e+00] [ 1.55780462e-01 9.87504886e-01 -2.38022642e-02 2.56711354e-01] [ 7.87357489e-02 1.16062930e-02 9.96827957e-01 -2.90512277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521346183999995 meters Centerline goodness : 0.908626 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.26, Z:-0.00 [[ 0.98494008 -0.15491984 -0.0767651 3.02863332] [ 0.1537464 0.98788709 -0.02100327 0.25595738] [ 0.07908908 0.00888461 0.99682796 -0.00320697] [ 0. 0. 0. 1. ]] SLAMing on 38.581346184 meters Centerline goodness : 0.912901 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.25, Z:-0.00 [[ 0.98567273 -0.14950673 -0.07808337 3.03009101] [ 0.14877631 0.98875524 -0.01512236 0.25374367] [ 0.07946623 0.00328874 0.99683213 -0.00339577] [ 0. 0. 0. 1. ]] SLAMing on 38.641346184 meters Centerline goodness : 0.912030 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.25, Z:-0.01 [[ 0.98597239 -0.14763742 -0.07785647 3.03232226] [ 0.1468761 0.98903427 -0.01544739 0.25438774] [ 0.07928333 0.00379545 0.9968449 -0.00746929] [ 0. 0. 0. 1. ]] SLAMing on 38.701346183999995 meters Centerline goodness : 0.909565 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:-0.01 [[ 0.98621299 -0.14613932 -0.07763526 3.03526367] [ 0.14521457 0.98924617 -0.01745684 0.25736167] [ 0.07935152 0.00594239 0.99682898 -0.01287216] [ 0. 0. 0. 1. ]] SLAMing on 38.761346184 meters Centerline goodness : 0.908008 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.27, Z:-0.00 [[ 0.98736104 -0.13875814 -0.0765791 3.05327215] [ 0.13723844 0.99022782 -0.02478854 0.26513961] [ 0.07927037 0.01396564 0.99675532 -0.00465848] [ 0. 0. 0. 1. ]] SLAMing on 38.821346184 meters Centerline goodness : 0.906629 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:0.01 [[ 0.98816346 -0.13570203 -0.07153972 3.07352725] [ 0.13311887 0.99030307 -0.03973914 0.27012407] [ 0.07623869 0.02974548 0.99664581 0.00715666] [ 0. 0. 0. 1. ]] SLAMing on 38.881346183999995 meters Centerline goodness : 0.904212 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.00 [[ 0.98821626 -0.13536235 -0.07145394 3.07517134] [ 0.13281111 0.99036012 -0.03934515 0.26797244] [ 0.07609098 0.02939164 0.99666759 0.00493835] [ 0. 0. 0. 1. ]] SLAMing on 38.941346184 meters Centerline goodness : 0.907297 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.01 [[ 0.987656 -0.13876048 -0.0726716 3.07947852] [ 0.13574769 0.98972561 -0.04489752 0.27037045] [ 0.07815495 0.0344783 0.99634485 0.00797405] [ 0. 0. 0. 1. ]] SLAMing on 39.001346184 meters Centerline goodness : 0.904527 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.27, Z:0.01 [[ 0.98632139 -0.14670671 -0.07514829 3.10493268] [ 0.14372279 0.98865203 -0.043714 0.2703157 ] [ 0.08070865 0.03231553 0.99621374 0.00574854] [ 0. 0. 0. 1. ]] SLAMing on 39.061346183999994 meters Centerline goodness : 0.897874 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:0.00 [[ 9.85377443e-01 -1.56148181e-01 -6.81838772e-02 3.11650012e+00] [ 1.53587889e-01 9.87270062e-01 -4.13350321e-02 2.64825673e-01] [ 7.37702908e-02 3.02583905e-02 9.96816118e-01 1.86480304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121346184 meters Centerline goodness : 0.900742 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:0.01 [[ 0.98503187 -0.15662144 -0.07198565 3.12061488] [ 0.15452079 0.98740732 -0.03391314 0.26209519] [ 0.07639068 0.02228225 0.99682895 0.00599896] [ 0. 0. 0. 1. ]] SLAMing on 39.181346184 meters Centerline goodness : 0.901223 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:0.01 [[ 0.98440001 -0.15935827 -0.07457592 3.12474531] [ 0.15729067 0.98700551 -0.03285988 0.26225939] [ 0.07884334 0.02061717 0.9966738 0.00799549] [ 0. 0. 0. 1. ]] SLAMing on 39.241346184 meters Centerline goodness : 0.898889 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:0.00 [[ 0.98433688 -0.15979547 -0.07447355 3.12788569] [ 0.1575926 0.98689752 -0.03461016 0.26178943] [ 0.0790283 0.02233157 0.99662221 0.00417687] [ 0. 0. 0. 1. ]] SLAMing on 39.301346183999996 meters Centerline goodness : 0.902985 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:0.00 [[ 0.98447243 -0.15826562 -0.0759344 3.13012927] [ 0.15612521 0.98717312 -0.03337879 0.26487369] [ 0.08024311 0.02100523 0.99655397 0.00391673] [ 0. 0. 0. 1. ]] SLAMing on 39.361346184 meters Centerline goodness : 0.902431 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:0.00 [[ 9.84882528e-01 -1.54613413e-01 -7.81095239e-02 3.13480792e+00] [ 1.52743631e-01 9.87828232e-01 -2.94069254e-02 2.66923015e-01] [ 8.17054980e-02 1.70316347e-02 9.96510981e-01 1.84937607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421346184 meters Centerline goodness : 0.899039 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:-0.00 [[ 9.85914143e-01 -1.49279760e-01 -7.54245065e-02 3.13169456e+00] [ 1.47335499e-01 9.88608547e-01 -3.07472192e-02 2.66438746e-01] [ 7.91552493e-02 1.92014110e-02 9.96677356e-01 -2.11707343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481346183999996 meters Centerline goodness : 0.896331 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:-0.00 [[ 9.87153924e-01 -1.40443790e-01 -7.61752670e-02 3.13002398e+00] [ 1.39184605e-01 9.90030391e-01 -2.16210781e-02 2.64042035e-01] [ 7.84523755e-02 1.07409077e-02 9.96859999e-01 -5.51737460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541346184 meters Centerline goodness : 0.898916 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.27, Z:0.01 [[ 0.98777811 -0.13742629 -0.07354192 3.15429789] [ 0.13519456 0.99021709 -0.03453326 0.2701087 ] [ 0.07756825 0.02416873 0.99669405 0.00624043] [ 0. 0. 0. 1. ]] SLAMing on 39.601346184 meters Centerline goodness : 0.897991 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:0.00 [[ 9.87876386e-01 -1.37243606e-01 -7.25564559e-02 3.15652235e+00] [ 1.34830664e-01 9.90170409e-01 -3.71921248e-02 2.71512241e-01] [ 7.69476369e-02 2.69583867e-02 9.96670611e-01 6.23103914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661346183999996 meters Centerline goodness : 0.897851 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.00 [[ 9.87921251e-01 -1.36566090e-01 -7.32209331e-02 3.15927037e+00] [ 1.34185077e-01 9.90282753e-01 -3.65299148e-02 2.73258389e-01] [ 7.74981748e-02 2.62635226e-02 9.96646507e-01 -1.62994981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721346184 meters Centerline goodness : 0.896279 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.00 [[ 9.87958578e-01 -1.36080343e-01 -7.36205748e-02 3.16085255e+00] [ 1.33767897e-01 9.90376590e-01 -3.55015559e-02 2.73502622e-01] [ 7.77431577e-02 2.52259972e-02 9.96654228e-01 -2.73550866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781346184 meters Centerline goodness : 0.898329 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:-0.00 [[ 9.88012307e-01 -1.34189809e-01 -7.63202289e-02 3.16415700e+00] [ 1.32370103e-01 9.90792131e-01 -2.84448328e-02 2.72307355e-01] [ 7.94344889e-02 1.80013283e-02 9.96677538e-01 -9.67776288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841346183999995 meters Centerline goodness : 0.895784 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:-0.00 [[ 9.87829558e-01 -1.34963724e-01 -7.73146638e-02 3.16722766e+00] [ 1.33237516e-01 9.90713826e-01 -2.70902115e-02 2.71190534e-01] [ 8.02529022e-02 1.64592979e-02 9.96638632e-01 -2.13903577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901346184 meters Centerline goodness : 0.901352 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:-0.00 [[ 0.98769997 -0.13620136 -0.07679821 3.16825816] [ 0.13442466 0.99053175 -0.02787224 0.26936897] [ 0.0798673 0.01720584 0.996657 -0.00407811] [ 0. 0. 0. 1. ]] SLAMing on 39.961346184 meters Centerline goodness : 0.898817 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:-0.00 [[ 0.98771213 -0.13596728 -0.07705616 3.16849374] [ 0.13430957 0.99058966 -0.02632609 0.26859392] [ 0.07991052 0.01565322 0.99667913 -0.0037866 ] [ 0. 0. 0. 1. ]] SLAMing on 40.021346183999995 meters Centerline goodness : 0.904101 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:-0.01 [[ 0.98700668 -0.14079506 -0.07742461 3.17185831] [ 0.13886546 0.98986301 -0.02979263 0.2677814 ] [ 0.08083441 0.01865392 0.99655297 -0.00582144] [ 0. 0. 0. 1. ]] SLAMing on 40.081346184 meters Centerline goodness : 0.901327 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:-0.01 [[ 0.98698623 -0.14093352 -0.07743337 3.17318126] [ 0.13906408 0.9898571 -0.02905342 0.26563893] [ 0.08074257 0.01790713 0.99657412 -0.00709676] [ 0. 0. 0. 1. ]] SLAMing on 40.141346184 meters Centerline goodness : 0.899058 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.01 [[ 0.98744061 -0.13742426 -0.07794617 3.17251184] [ 0.13599489 0.99043352 -0.02338437 0.26221936] [ 0.08041408 0.01249039 0.99668328 -0.00551691] [ 0. 0. 0. 1. ]] SLAMing on 40.201346183999995 meters Centerline goodness : 0.902085 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.01 [[ 0.9875825 -0.13691991 -0.07703078 3.17145132] [ 0.13542545 0.99048887 -0.02432594 0.26016171] [ 0.07962884 0.01359195 0.99673191 -0.00612154] [ 0. 0. 0. 1. ]] SLAMing on 40.261346184 meters Centerline goodness : 0.906906 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.01 [[ 0.9875725 -0.13745273 -0.07620561 3.17194361] [ 0.13576037 0.99037413 -0.02698515 0.25943415] [ 0.07918124 0.01630409 0.9967269 -0.00863591] [ 0. 0. 0. 1. ]] SLAMing on 40.321346184 meters Centerline goodness : 0.908575 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.01 [[ 0.98765414 -0.13665485 -0.07658162 3.17422646] [ 0.13502747 0.99049898 -0.02606429 0.25880582] [ 0.07941582 0.01540188 0.99672258 -0.01082538] [ 0. 0. 0. 1. ]] SLAMing on 40.381346183999995 meters Centerline goodness : 0.911294 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.01 [[ 0.98774941 -0.13630633 -0.07597162 3.17298286] [ 0.13475852 0.99055887 -0.02516462 0.25568539] [ 0.07868446 0.01461852 0.99679238 -0.01022957] [ 0. 0. 0. 1. ]] SLAMing on 40.441346184 meters Centerline goodness : 0.909358 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:-0.01 [[ 0.98786188 -0.13637865 -0.0743624 3.1724236 ] [ 0.1347191 0.99051815 -0.02691776 0.25207576] [ 0.07732832 0.01657299 0.99686793 -0.01289043] [ 0. 0. 0. 1. ]] SLAMing on 40.501346184 meters Centerline goodness : 0.915108 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:-0.01 [[ 0.98820878 -0.13443535 -0.07328394 3.17057791] [ 0.13279871 0.99078096 -0.02678804 0.24959576] [ 0.07620959 0.01674017 0.99695128 -0.01329356] [ 0. 0. 0. 1. ]] SLAMing on 40.561346183999994 meters Centerline goodness : 0.917456 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:-0.01 [[ 0.98852003 -0.13174837 -0.0739629 3.16925117] [ 0.13044491 0.99120683 -0.02220679 0.24727027] [ 0.07623824 0.01230377 0.99701371 -0.0102719 ] [ 0. 0. 0. 1. ]] SLAMing on 40.621346184 meters Centerline goodness : 0.915899 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:-0.01 [[ 0.98870958 -0.13138955 -0.07204269 3.16727857] [ 0.12998624 0.99122883 -0.0238535 0.24367345] [ 0.07454489 0.01421962 0.99711627 -0.01208934] [ 0. 0. 0. 1. ]] SLAMing on 40.681346184 meters Centerline goodness : 0.920177 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-0.01 [[ 0.98879926 -0.13208132 -0.06950208 3.16390454] [ 0.13042709 0.99106685 -0.02784387 0.23963525] [ 0.07255886 0.01846705 0.99719315 -0.01322377] [ 0. 0. 0. 1. ]] SLAMing on 40.741346184 meters Centerline goodness : 0.925501 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-0.01 [[ 0.9885948 -0.1333642 -0.06995928 3.16257465] [ 0.13180814 0.99092292 -0.02642686 0.23674474] [ 0.07284866 0.01690425 0.99719974 -0.00961953] [ 0. 0. 0. 1. ]] SLAMing on 40.801346183999996 meters Centerline goodness : 0.922617 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-0.01 [[ 0.98847026 -0.13401205 -0.07047912 3.16492927] [ 0.13251519 0.99085231 -0.02552281 0.23547212] [ 0.07325476 0.01588899 0.99718668 -0.01084189] [ 0. 0. 0. 1. ]] SLAMing on 40.861346184 meters Centerline goodness : 0.922014 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.01 [[ 0.98801156 -0.13875273 -0.0676819 3.16313276] [ 0.13688221 0.9900846 -0.03155554 0.22965892] [ 0.07138923 0.02191279 0.99720781 -0.01328119] [ 0. 0. 0. 1. ]] SLAMing on 40.921346184 meters Centerline goodness : 0.926569 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.01 [[ 0.98788686 -0.13917596 -0.0686266 3.16581191] [ 0.13751467 0.99009284 -0.02838819 0.22473192] [ 0.07189766 0.01860715 0.99723844 -0.01344836] [ 0. 0. 0. 1. ]] SLAMing on 40.981346183999996 meters Centerline goodness : 0.930207 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.01 [[ 0.98849037 -0.13490729 -0.06846022 3.16126184] [ 0.13373896 0.99078567 -0.02139244 0.21809733] [ 0.07071541 0.01199043 0.99742446 -0.00800207] [ 0. 0. 0. 1. ]] SLAMing on 41.041346184 meters Centerline goodness : 0.929489 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.21, Z:-0.01 [[ 0.98871029 -0.13496267 -0.06509259 3.15823509] [ 0.13349979 0.99069867 -0.0263429 0.21454568] [ 0.06804245 0.01735565 0.99753146 -0.01209105] [ 0. 0. 0. 1. ]] SLAMing on 41.101346184 meters Centerline goodness : 0.931450 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.21, Z:-0.01 [[ 0.98844863 -0.13742824 -0.06389661 3.15904766] [ 0.1357817 0.99030084 -0.02945476 0.21120746] [ 0.06732478 0.02043853 0.99752175 -0.01496717] [ 0. 0. 0. 1. ]] SLAMing on 41.161346183999996 meters Centerline goodness : 0.932848 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.21, Z:-0.01 [[ 0.98817579 -0.13801085 -0.06679535 3.16200211] [ 0.1368561 0.99035569 -0.02158743 0.20857323] [ 0.06913045 0.01219082 0.99753314 -0.01051689] [ 0. 0. 0. 1. ]] SLAMing on 41.221346184 meters Centerline goodness : 0.932040 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.20, Z:-0.01 [[ 0.98728678 -0.14503908 -0.06502682 3.16295677] [ 0.1434968 0.98925977 -0.02781673 0.20208934] [ 0.06836293 0.01813195 0.99749574 -0.01295948] [ 0. 0. 0. 1. ]] SLAMing on 41.281346184 meters Centerline goodness : 0.927958 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:0.20, Z:-0.01 [[ 0.98663713 -0.14917129 -0.06553698 3.16422544] [ 0.1475957 0.98864321 -0.02828614 0.1995892 ] [ 0.06901217 0.01823518 0.99744915 -0.01125151] [ 0. 0. 0. 1. ]] SLAMing on 41.341346183999995 meters Centerline goodness : 0.930861 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:-0.01 [[ 0.9856683 -0.15414423 -0.0685387 3.17056929] [ 0.15265463 0.98792435 -0.0264961 0.19979195] [ 0.07179527 0.01565362 0.99729655 -0.01004346] [ 0. 0. 0. 1. ]] SLAMing on 41.401346184 meters Centerline goodness : 0.928639 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:-0.01 [[ 0.98515212 -0.15740506 -0.06854885 3.17358655] [ 0.15569231 0.9873595 -0.02968354 0.19905351] [ 0.0723547 0.01857027 0.99720607 -0.01246509] [ 0. 0. 0. 1. ]] SLAMing on 41.461346184 meters Centerline goodness : 0.929926 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:-0.01 [[ 0.98444538 -0.16187927 -0.06828175 3.17581615] [ 0.15995561 0.98657934 -0.03279337 0.19671859] [ 0.07267393 0.02136123 0.99712697 -0.01394076] [ 0. 0. 0. 1. ]] SLAMing on 41.521346183999995 meters Centerline goodness : 0.935015 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:-0.01 [[ 0.98449521 -0.1597708 -0.07240494 3.18081222] [ 0.15846234 0.98708517 -0.02350631 0.19750411] [ 0.07522547 0.01166839 0.99709828 -0.01073273] [ 0. 0. 0. 1. ]] SLAMing on 41.581346184 meters Centerline goodness : 0.931516 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:-0.01 [[ 0.98446692 -0.16004658 -0.07218021 3.18178271] [ 0.15868373 0.98703104 -0.02427342 0.19788557] [ 0.07512899 0.01244255 0.99709619 -0.01236324] [ 0. 0. 0. 1. ]] SLAMing on 41.641346184 meters Centerline goodness : 0.932697 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:-0.01 [[ 0.98349176 -0.16041267 -0.08373606 3.18226232] [ 0.15897381 0.9870002 -0.02362067 0.19161953] [ 0.08643657 0.00991889 0.99620798 -0.01401663] [ 0. 0. 0. 1. ]] SLAMing on 41.701346183999995 meters Centerline goodness : 0.938745 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:-0.01 [[ 9.82871296e-01 -1.61627396e-01 -8.85471639e-02 3.18842090e+00] [ 1.60842248e-01 9.86850771e-01 -1.59789626e-02 1.94352361e-01] [ 8.99654751e-02 1.46313887e-03 9.95943810e-01 -9.42698141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761346184 meters Centerline goodness : 0.931718 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:-0.01 [[ 0.9822412 -0.16519725 -0.08894992 3.19173815] [ 0.16412824 0.98625113 -0.01925187 0.19608569] [ 0.09090732 0.00431078 0.99585003 -0.01155785] [ 0. 0. 0. 1. ]] SLAMing on 41.821346184 meters Centerline goodness : 0.933203 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:-0.01 [[ 0.98204995 -0.16736334 -0.08699084 3.1881836 ] [ 0.16591741 0.98585611 -0.02364604 0.19618547] [ 0.08971794 0.00878829 0.99592844 -0.01088779] [ 0. 0. 0. 1. ]] SLAMing on 41.881346183999995 meters Centerline goodness : 0.934210 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:0.20, Z:-0.01 [[ 0.980927 -0.16919105 -0.09569016 3.20259901] [ 0.16878908 0.98557496 -0.01233878 0.1984751 ] [ 0.09639743 -0.00404801 0.99533469 -0.01107893] [ 0. 0. 0. 1. ]] SLAMing on 41.941346184 meters Centerline goodness : 0.931915 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.01 [[ 9.79976497e-01 -1.74122212e-01 -9.65790919e-02 3.20603929e+00] [ 1.73565748e-01 9.84719929e-01 -1.41983054e-02 2.00193948e-01] [ 9.75755969e-02 -2.84881670e-03 9.95224039e-01 -1.13942896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001346184 meters Centerline goodness : 0.931792 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.01 [[ 0.9793774 -0.17657698 -0.09818594 3.21044327] [ 0.17602114 0.98428158 -0.01436403 0.20283977] [ 0.09917897 -0.003215 0.99506442 -0.01236145] [ 0. 0. 0. 1. ]] SLAMing on 42.061346183999994 meters Centerline goodness : 0.931138 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:0.21, Z:-0.01 [[ 0.97943393 -0.17582071 -0.09897607 3.21275134] [ 0.17535508 0.98441333 -0.01345312 0.20514628] [ 0.0997987 -0.00417952 0.99499887 -0.01377492] [ 0. 0. 0. 1. ]] SLAMing on 42.121346184 meters Centerline goodness : 0.934191 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:0.21, Z:-0.01 [[ 0.97996908 -0.1718749 -0.10059638 3.21498606] [ 0.17180321 0.98508605 -0.00944096 0.20884907] [ 0.10071875 -0.00803093 0.99488252 -0.01464715] [ 0. 0. 0. 1. ]] SLAMing on 42.181346184 meters Centerline goodness : 0.930671 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:0.22, Z:-0.02 [[ 0.98005341 -0.17613171 -0.09204856 3.22114827] [ 0.17644567 0.98429877 -0.00478061 0.21676124] [ 0.0914453 -0.01155631 0.99574304 -0.0215741 ] [ 0. 0. 0. 1. ]] SLAMing on 42.241346183999994 meters Centerline goodness : 0.936236 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:0.22, Z:-0.02 [[ 0.97989902 -0.17678826 -0.09243283 3.22229655] [ 0.17707653 0.98418367 -0.00513884 0.21868446] [ 0.09187937 -0.01133215 0.99570566 -0.02207892] [ 0. 0. 0. 1. ]] SLAMing on 42.301346183999996 meters Centerline goodness : 0.929808 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.22, Z:-0.02 [[ 9.79682571e-01 -1.76100053e-01 -9.59730805e-02 3.22691794e+00] [ 1.76930047e-01 9.84223419e-01 1.40526102e-04 2.23299759e-01] [ 9.44342068e-02 -1.71181926e-02 9.95383920e-01 -2.02574059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361346184 meters Centerline goodness : 0.926988 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.23, Z:-0.02 [[ 0.97944394 -0.17788044 -0.09512163 3.22777701] [ 0.17837272 0.98395722 -0.00337109 0.22500704] [ 0.09419526 -0.01366531 0.99545995 -0.02281581] [ 0. 0. 0. 1. ]] SLAMing on 42.421346184 meters Centerline goodness : 0.926470 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.23, Z:-0.02 [[ 9.79437222e-01 -1.77612683e-01 -9.56894071e-02 3.22953809e+00] [ 1.78134030e-01 9.84001239e-01 -3.13515261e-03 2.26826595e-01] [ 9.47153380e-02 -1.39748546e-02 9.95406303e-01 -2.40714869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481346183999996 meters Centerline goodness : 0.926427 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.23, Z:-0.02 [[ 9.79460995e-01 -1.76423350e-01 -9.76266424e-02 3.23128954e+00] [ 1.77269605e-01 9.84162328e-01 -5.65079375e-06 2.30212730e-01] [ 9.60814606e-02 -1.73007016e-02 9.95223110e-01 -2.25375960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541346184 meters Centerline goodness : 0.926408 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.23, Z:-0.02 [[ 9.80281137e-01 -1.72417105e-01 -9.65465358e-02 3.22955462e+00] [ 1.73319756e-01 9.84865120e-01 9.78756209e-04 2.30055059e-01] [ 9.49165612e-02 -1.76928783e-02 9.95327990e-01 -2.44603907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601346184 meters Centerline goodness : 0.930267 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.24, Z:-0.03 [[ 9.81110379e-01 -1.72770006e-01 -8.70226974e-02 3.23436979e+00] [ 1.73561979e-01 9.84821712e-01 1.56057702e-03 2.39194067e-01] [ 8.54322210e-02 -1.66349299e-02 9.96205107e-01 -2.55335884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661346183999996 meters Centerline goodness : 0.930708 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.24, Z:-0.03 [[ 9.81238966e-01 -1.71869583e-01 -8.73552399e-02 3.23499240e+00] [ 1.72658439e-01 9.84980617e-01 1.49939896e-03 2.40538426e-01] [ 8.57855170e-02 -1.65538881e-02 9.96176096e-01 -2.59261933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721346184 meters Centerline goodness : 0.922467 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.03 [[ 9.81612159e-01 -1.70480825e-01 -8.58711628e-02 3.23618059e+00] [ 1.70983723e-01 9.85272683e-01 -1.51854385e-03 2.41742430e-01] [ 8.48653936e-02 -1.31919500e-02 9.96305093e-01 -3.17927922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781346184 meters Centerline goodness : 0.921769 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.03 [[ 9.82517067e-01 -1.65485751e-01 -8.52917305e-02 3.23534988e+00] [ 1.66044022e-01 9.86118184e-01 -5.56007019e-04 2.43741921e-01] [ 8.41997377e-02 -1.36158956e-02 9.96355866e-01 -3.43228361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841346183999995 meters Centerline goodness : 0.922794 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-0.03 [[ 0.9837144 -0.15746042 -0.08667287 3.23467587] [ 0.15862584 0.98731614 0.00668386 0.24575362] [ 0.08452108 -0.02032357 0.9962144 -0.03320687] [ 0. 0. 0. 1. ]] SLAMing on 42.901346184 meters Centerline goodness : 0.922683 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-0.04 [[ 0.98500124 -0.14986453 -0.08551713 3.23223972] [ 0.15117041 0.98846704 0.00896765 0.24770659] [ 0.08318693 -0.02176081 0.99629634 -0.03584723] [ 0. 0. 0. 1. ]] SLAMing on 42.961346184 meters Centerline goodness : 0.920853 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.04 [[ 0.98598578 -0.14968279 -0.07366881 3.23320481] [ 0.15048981 0.98859628 0.00549701 0.25624738] [ 0.07200591 -0.01650638 0.99726761 -0.03840726] [ 0. 0. 0. 1. ]] SLAMing on 43.021346183999995 meters Centerline goodness : 0.921091 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.04 [[ 0.98658628 -0.14638381 -0.07224465 3.23068031] [ 0.14704093 0.98912298 0.00383378 0.25801614] [ 0.07089764 -0.01440528 0.99737957 -0.03986327] [ 0. 0. 0. 1. ]] SLAMing on 43.081346184 meters Centerline goodness : 0.922405 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.04 [[ 0.98782892 -0.1384997 -0.07079447 3.22744988] [ 0.13922145 0.99024687 0.00534054 0.25985027] [ 0.06936434 -0.01513165 0.99747663 -0.04200986] [ 0. 0. 0. 1. ]] SLAMing on 43.141346184 meters Centerline goodness : 0.923916 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.04 [[ 0.98845313 -0.13359895 -0.0714964 3.22632002] [ 0.13460893 0.99085347 0.00947794 0.26132493] [ 0.06957622 -0.01899255 0.99739583 -0.04037236] [ 0. 0. 0. 1. ]] SLAMing on 43.201346183999995 meters Centerline goodness : 0.926075 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.04 [[ 0.9890032 -0.13497012 -0.06046262 3.23012424] [ 0.13570227 0.99071612 0.00815223 0.26381659] [ 0.05880099 -0.01626749 0.99813717 -0.04283479] [ 0. 0. 0. 1. ]] SLAMing on 43.261346184 meters Centerline goodness : 0.927113 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.04 [[ 0.98871664 -0.13719569 -0.06013948 3.2298295 ] [ 0.13775244 0.99045308 0.00519192 0.2629543 ] [ 0.05885303 -0.0134177 0.99817648 -0.04228464] [ 0. 0. 0. 1. ]] SLAMing on 43.321346184 meters Centerline goodness : 0.925073 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-0.04 [[ 9.87981218e-01 -1.42055496e-01 -6.09372592e-02 3.23250849e+00] [ 1.42474159e-01 9.89795214e-01 2.55907496e-03 2.63024465e-01] [ 5.99518768e-02 -1.12103027e-02 9.98138318e-01 -4.23811211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381346183999995 meters Centerline goodness : 0.927124 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-0.04 [[ 0.98694021 -0.14300504 -0.07415241 3.23252974] [ 0.14365362 0.98962198 0.00346047 0.25471136] [ 0.07288799 -0.01406754 0.99724092 -0.03791546] [ 0. 0. 0. 1. ]] SLAMing on 43.441346184 meters Centerline goodness : 0.927567 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-0.04 [[ 9.86497197e-01 -1.46222831e-01 -7.37710197e-02 3.23329719e+00] [ 1.46706004e-01 9.89179477e-01 1.14460372e-03 2.52775035e-01] [ 7.28054115e-02 -1.19517999e-02 9.97274549e-01 -3.83032523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501346184 meters Centerline goodness : 0.929137 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-0.03 [[ 9.86670784e-01 -1.48975401e-01 -6.54759050e-02 3.23817912e+00] [ 1.49446607e-01 9.88767049e-01 2.33114692e-03 2.57260074e-01] [ 6.43931338e-02 -1.20852264e-02 9.97851428e-01 -3.48540616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561346183999994 meters Centerline goodness : 0.925428 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-0.04 [[ 9.86541852e-01 -1.49545569e-01 -6.61157839e-02 3.24109038e+00] [ 1.49990225e-01 9.88685868e-01 1.78540393e-03 2.57182758e-01] [ 6.51007419e-02 -1.16780970e-02 9.97810360e-01 -3.67507726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621346184 meters Centerline goodness : 0.927477 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-0.04 [[ 0.98599494 -0.15406868 -0.06385004 3.23973209] [ 0.15408485 0.98804644 -0.00470045 0.25163517] [ 0.06381099 -0.0052037 0.99794843 -0.03821743] [ 0. 0. 0. 1. ]] SLAMing on 43.681346184 meters Centerline goodness : 0.930491 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-0.03 [[ 9.85646286e-01 -1.54306593e-01 -6.84899616e-02 3.24520867e+00] [ 1.54883854e-01 9.87927608e-01 3.16764910e-03 2.51445046e-01] [ 6.71743348e-02 -1.37301708e-02 9.97646777e-01 -3.34572063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741346183999994 meters Centerline goodness : 0.926103 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-0.03 [[ 9.84930812e-01 -1.58315961e-01 -6.96229250e-02 3.24854221e+00] [ 1.58839504e-01 9.87302363e-01 2.01370222e-03 2.51110817e-01] [ 6.84200772e-02 -1.30422283e-02 9.97571347e-01 -3.33822760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801346183999996 meters Centerline goodness : 0.925502 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-0.04 [[ 0.9844286 -0.16262515 -0.06673382 3.24899602] [ 0.16255413 0.98667802 -0.00652926 0.24666952] [ 0.06690661 -0.00442027 0.99774945 -0.03849709] [ 0. 0. 0. 1. ]] SLAMing on 43.861346184 meters Centerline goodness : 0.928505 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-0.03 [[ 0.9839792 -0.1630116 -0.07219522 3.25306347] [ 0.16374184 0.98649396 0.00427464 0.24654022] [ 0.07052333 -0.01602753 0.99738136 -0.03007899] [ 0. 0. 0. 1. ]] SLAMing on 43.921346184 meters Centerline goodness : 0.925990 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:0.24, Z:-0.03 [[ 9.82788573e-01 -1.69864404e-01 -7.26133982e-02 3.25679420e+00] [ 1.70343270e-01 9.85384698e-01 4.08121372e-04 2.44631974e-01] [ 7.14828062e-02 -1.27703007e-02 9.97360079e-01 -3.08574065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981346183999996 meters Centerline goodness : 0.927049 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:0.24, Z:-0.03 [[ 0.98146999 -0.17805854 -0.0707942 3.25698632] [ 0.17795748 0.9840074 -0.00778305 0.2409731 ] [ 0.07104785 -0.00495953 0.99746058 -0.03133566] [ 0. 0. 0. 1. ]] SLAMing on 44.041346184 meters Centerline goodness : 0.930053 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:0.24, Z:-0.03 [[ 9.79667295e-01 -1.84812513e-01 -7.80789795e-02 3.26726765e+00] [ 1.85426174e-01 9.82658002e-01 6.20710450e-04 2.37088867e-01] [ 7.66102189e-02 -1.50859762e-02 9.96946983e-01 -2.56693596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101346184 meters Centerline goodness : 0.929865 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:0.24, Z:-0.02 [[ 9.78727232e-01 -1.89256395e-01 -7.92150428e-02 3.26936402e+00] [ 1.89793598e-01 9.81823717e-01 -7.60637766e-04 2.36317896e-01] [ 7.79191634e-02 -1.42900511e-02 9.96857261e-01 -2.33805581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161346183999996 meters Centerline goodness : 0.928592 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:0.24, Z:-0.03 [[ 0.97786067 -0.19349101 -0.07968529 3.27370503] [ 0.19380015 0.98103324 -0.00390999 0.23561382] [ 0.07893047 -0.0116196 0.9968124 -0.02557213] [ 0. 0. 0. 1. ]] SLAMing on 44.221346184 meters Centerline goodness : 0.929652 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:0.24, Z:-0.02 [[ 9.77938261e-01 -1.91672302e-01 -8.30571279e-02 3.27532042e+00] [ 1.92528373e-01 9.81288598e-01 2.34799907e-03 2.37122881e-01] [ 8.10529662e-02 -1.82870519e-02 9.96542021e-01 -2.06162017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281346184 meters Centerline goodness : 0.932320 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:0.24, Z:-0.02 [[ 9.77730327e-01 -1.92870223e-01 -8.27314075e-02 3.27725060e+00] [ 1.93505921e-01 9.81099048e-01 -3.40677944e-04 2.37187621e-01] [ 8.12334118e-02 -1.56759260e-02 9.96571823e-01 -2.30082212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341346183999995 meters Centerline goodness : 0.929709 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:0.24, Z:-0.02 [[ 9.76700815e-01 -1.97093432e-01 -8.49099336e-02 3.28342075e+00] [ 1.97749550e-01 9.80252330e-01 -6.96612451e-04 2.37616631e-01] [ 8.33704580e-02 -1.61105192e-02 9.96388387e-01 -2.36541766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401346184 meters Centerline goodness : 0.930299 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:0.24, Z:-0.02 [[ 9.76117362e-01 -1.98548674e-01 -8.81664295e-02 3.28905503e+00] [ 1.99576993e-01 9.79877808e-01 2.91639681e-03 2.38899860e-01] [ 8.58132810e-02 -2.04427364e-02 9.96101488e-01 -2.22914230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461346184 meters Centerline goodness : 0.931544 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:0.24, Z:-0.02 [[ 9.75646102e-01 -2.00465899e-01 -8.90399139e-02 3.29291848e+00] [ 2.01540674e-01 9.79475061e-01 3.15616116e-03 2.37353692e-01] [ 8.65796724e-02 -2.10244606e-02 9.96023058e-01 -2.36531089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521346183999995 meters Centerline goodness : 0.934561 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:0.24, Z:-0.02 [[ 0.97556506 -0.19959344 -0.09184369 3.29365079] [ 0.20119068 0.97951626 0.0083793 0.23684871] [ 0.08828994 -0.02665264 0.99573818 -0.01799954] [ 0. 0. 0. 1. ]] SLAMing on 44.581346184 meters Centerline goodness : 0.933066 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:0.24, Z:-0.02 [[ 0.9755154 -0.19943976 -0.09270101 3.29573868] [ 0.20109175 0.97953342 0.00873987 0.23738625] [ 0.08906066 -0.02716729 0.99565563 -0.01837774] [ 0. 0. 0. 1. ]] SLAMing on 44.641346184 meters Centerline goodness : 0.934029 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:0.24, Z:-0.02 [[ 0.97554793 -0.19952124 -0.09218195 3.29775608] [ 0.20089852 0.97959479 0.00581644 0.23845858] [ 0.08914046 -0.02419344 0.99572519 -0.02173406] [ 0. 0. 0. 1. ]] SLAMing on 44.701346183999995 meters Centerline goodness : 0.928505 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:0.24, Z:-0.02 [[ 0.97482215 -0.20259003 -0.09316149 3.30265197] [ 0.20378476 0.97900983 0.00339476 0.24024296] [ 0.09051827 -0.02229418 0.99564522 -0.02421614] [ 0. 0. 0. 1. ]] SLAMing on 44.761346184 meters Centerline goodness : 0.929073 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.24, Z:-0.02 [[ 0.97455907 -0.20321547 -0.09454147 3.30574918] [ 0.20455723 0.9788437 0.0046215 0.24008022] [ 0.09160217 -0.02384307 0.9955102 -0.02405805] [ 0. 0. 0. 1. ]] SLAMing on 44.821346184 meters Centerline goodness : 0.935562 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.24, Z:-0.02 [[ 0.97497893 -0.19999956 -0.09703748 3.30626128] [ 0.20201819 0.97931608 0.01134302 0.23822698] [ 0.09276176 -0.03066254 0.99521609 -0.01962642] [ 0. 0. 0. 1. ]] SLAMing on 44.881346183999995 meters Centerline goodness : 0.939580 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.24, Z:-0.02 [[ 0.97498199 -0.20039697 -0.09618302 3.30700521] [ 0.20227386 0.97927715 0.01007666 0.23557412] [ 0.0921705 -0.02927987 0.99531266 -0.02144576] [ 0. 0. 0. 1. ]] SLAMing on 44.941346184 meters Centerline goodness : 0.934854 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.24, Z:-0.02 [[ 0.97406211 -0.20491377 -0.09598617 3.30874399] [ 0.20641263 0.97844756 0.00584821 0.23539564] [ 0.09271906 -0.02550928 0.99536549 -0.02182168] [ 0. 0. 0. 1. ]] SLAMing on 45.001346184 meters Centerline goodness : 0.933263 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.23, Z:-0.02 [[ 0.97334743 -0.20759475 -0.09746382 3.31189383] [ 0.20918263 0.9778566 0.00625343 0.23476457] [ 0.09400746 -0.0264745 0.99521942 -0.02087117] [ 0. 0. 0. 1. ]] SLAMing on 45.061346183999994 meters Centerline goodness : 0.938190 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.23, Z:-0.02 [[ 0.97335302 -0.20744899 -0.09771806 3.31217198] [ 0.20920155 0.97784038 0.00793064 0.23051763] [ 0.09390746 -0.02816208 0.99518254 -0.01942024] [ 0. 0. 0. 1. ]] SLAMing on 45.121346184 meters Centerline goodness : 0.943209 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.22, Z:-0.02 [[ 0.97412796 -0.20444916 -0.09630811 3.30997415] [ 0.20634527 0.97842762 0.01005101 0.22266388] [ 0.09217559 -0.02966369 0.99530082 -0.01940406] [ 0. 0. 0. 1. ]] SLAMing on 45.181346184 meters Centerline goodness : 0.940079 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.22, Z:-0.02 [[ 0.97464212 -0.20129955 -0.09773041 3.31240514] [ 0.20364259 0.97893764 0.01451887 0.22026536] [ 0.09274933 -0.03405278 0.99510701 -0.01967742] [ 0. 0. 0. 1. ]] SLAMing on 45.241346183999994 meters Centerline goodness : 0.936654 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.22, Z:-0.02 [[ 0.97468902 -0.2021887 -0.09539942 3.31144411] [ 0.20396315 0.97893601 0.00912844 0.21940033] [ 0.09154426 -0.02835536 0.99539722 -0.0232885 ] [ 0. 0. 0. 1. ]] SLAMing on 45.301346183999996 meters Centerline goodness : 0.935187 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.21, Z:-0.03 [[ 0.97496187 -0.20089063 -0.09535358 3.31440311] [ 0.20276945 0.97917191 0.01034065 0.21412885] [ 0.09129021 -0.02941653 0.99538976 -0.02658889] [ 0. 0. 0. 1. ]] SLAMing on 45.361346184 meters Centerline goodness : 0.939499 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.21, Z:-0.02 [[ 0.97490658 -0.20140745 -0.09482721 3.3128514 ] [ 0.20330867 0.97905586 0.01073342 0.21047974] [ 0.09067935 -0.02974328 0.99543588 -0.0247338 ] [ 0. 0. 0. 1. ]] SLAMing on 45.421346184 meters Centerline goodness : 0.937093 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.20, Z:-0.02 [[ 0.9745998 -0.20310191 -0.09436545 3.3139264 ] [ 0.20498127 0.97870886 0.01056605 0.20464573] [ 0.09021032 -0.02964082 0.99548155 -0.02497659] [ 0. 0. 0. 1. ]] SLAMing on 45.481346183999996 meters Centerline goodness : 0.935648 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-0.02 [[ 0.974525 -0.20250402 -0.09640093 3.31759962] [ 0.20476387 0.97871052 0.01405277 0.20438381] [ 0.09150286 -0.0334342 0.99524338 -0.02480975] [ 0. 0. 0. 1. ]] SLAMing on 45.541346184 meters Centerline goodness : 0.928220 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-0.03 [[ 0.9745618 -0.2020133 -0.09705632 3.32152592] [ 0.20416694 0.97885381 0.01269174 0.20595233] [ 0.09244005 -0.03218458 0.99519797 -0.02866874] [ 0. 0. 0. 1. ]] SLAMing on 45.601346184 meters Centerline goodness : 0.925854 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-0.03 [[ 0.97466528 -0.20112539 -0.0978579 3.32461188] [ 0.20340461 0.97899755 0.01379695 0.20448652] [ 0.09302773 -0.03335216 0.99510476 -0.03070387] [ 0. 0. 0. 1. ]] SLAMing on 45.661346183999996 meters Centerline goodness : 0.919847 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.20, Z:-0.03 [[ 0.97458757 -0.19995451 -0.10098152 3.32923465] [ 0.20284466 0.97902448 0.01910772 0.20473226] [ 0.0950427 -0.03910571 0.99470479 -0.0292982 ] [ 0. 0. 0. 1. ]] SLAMing on 45.721346184 meters Centerline goodness : 0.914687 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.20, Z:-0.03 [[ 0.97426343 -0.20090872 -0.10220785 3.33217801] [ 0.20399155 0.97875687 0.02055338 0.20328929] [ 0.09590728 -0.04087395 0.99455071 -0.02912259] [ 0. 0. 0. 1. ]] SLAMing on 45.781346184 meters Centerline goodness : 0.906053 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-0.03 [[ 0.97377453 -0.20202355 -0.10464054 3.33647832] [ 0.20538084 0.97842903 0.02225639 0.20518828] [ 0.09788703 -0.04316387 0.99426104 -0.02851856] [ 0. 0. 0. 1. ]] SLAMing on 45.841346183999995 meters Centerline goodness : 0.908297 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-0.03 [[ 0.97336962 -0.20309282 -0.10632447 3.3412971 ] [ 0.20657323 0.97816786 0.02269686 0.20745582] [ 0.09939361 -0.04405622 0.99407241 -0.03022713] [ 0. 0. 0. 1. ]] SLAMing on 45.901346184 meters Centerline goodness : 0.897070 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-0.03 [[ 0.97276942 -0.20638608 -0.10547251 3.3425693 ] [ 0.20952302 0.97761005 0.01945989 0.20613369] [ 0.09909474 -0.04102891 0.99423179 -0.03186645] [ 0. 0. 0. 1. ]] SLAMing on 45.961346184 meters Centerline goodness : 0.896627 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-0.03 [[ 0.97249452 -0.20583943 -0.10901625 3.3449057 ] [ 0.20974446 0.97742288 0.02552989 0.20768646] [ 0.10129992 -0.04769323 0.99371207 -0.02667344] [ 0. 0. 0. 1. ]] SLAMing on 46.021346183999995 meters Centerline goodness : 0.892286 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-0.03 [[ 0.97233538 -0.20491125 -0.11213959 3.34891256] [ 0.20940713 0.97737515 0.0297736 0.21001006] [ 0.1035015 -0.05243275 0.99324632 -0.02531693] [ 0. 0. 0. 1. ]] SLAMing on 46.081346184 meters Centerline goodness : 0.893752 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-0.03 [[ 0.97179895 -0.20771754 -0.11162538 3.3534696 ] [ 0.2117674 0.97698454 0.02560809 0.21057147] [ 0.10373702 -0.04852453 0.99342035 -0.03003936] [ 0. 0. 0. 1. ]] SLAMing on 46.141346184 meters Centerline goodness : 0.892487 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:-0.03 [[ 0.97061999 -0.21239515 -0.11307135 3.35581573] [ 0.21631202 0.97604295 0.02343636 0.21516057] [ 0.10538472 -0.04720649 0.99331043 -0.0283002 ] [ 0. 0. 0. 1. ]] SLAMing on 46.201346183999995 meters Centerline goodness : 0.891295 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:-0.03 [[ 0.97021076 -0.21371042 -0.11410059 3.35631525] [ 0.21773137 0.9757166 0.02387813 0.21717025] [ 0.10622684 -0.0480101 0.9931822 -0.02593987] [ 0. 0. 0. 1. ]] SLAMing on 46.261346184 meters Centerline goodness : 0.893433 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:-0.03 [[ 0.97033807 -0.21282281 -0.11467553 3.35716397] [ 0.21699293 0.97585163 0.0250534 0.21503735] [ 0.10657437 -0.04919404 0.99308703 -0.02543659] [ 0. 0. 0. 1. ]] SLAMing on 46.321346184 meters Centerline goodness : 0.893248 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:-0.02 [[ 0.96999007 -0.21409734 -0.11524582 3.35621397] [ 0.21826827 0.97557543 0.02472927 0.21596717] [ 0.10713652 -0.04914165 0.99302914 -0.02287669] [ 0. 0. 0. 1. ]] SLAMing on 46.381346183999995 meters Centerline goodness : 0.893356 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:-0.02 [[ 0.96933431 -0.21741391 -0.1145521 3.35768208] [ 0.22119266 0.97499915 0.02122403 0.21565927] [ 0.1070738 -0.04591126 0.99319049 -0.02389314] [ 0. 0. 0. 1. ]] SLAMing on 46.441346184 meters Centerline goodness : 0.899293 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.96927097 -0.21706785 -0.11573823 3.35872866] [ 0.22110069 0.97497808 0.02307007 0.21374603] [ 0.10783447 -0.04795095 0.9930118 -0.02213456] [ 0. 0. 0. 1. ]] SLAMing on 46.501346184 meters Centerline goodness : 0.899310 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.96919247 -0.2172286 -0.11609349 3.35952824] [ 0.22130952 0.97492417 0.02334422 0.21396436] [ 0.10811132 -0.04831764 0.99296392 -0.0218258 ] [ 0. 0. 0. 1. ]] SLAMing on 46.561346183999994 meters Centerline goodness : 0.899267 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.96963442 -0.21596366 -0.11475533 3.35630067] [ 0.21985226 0.9752798 0.02223272 0.21071345] [ 0.1071171 -0.04678683 0.99314496 -0.02145572] [ 0. 0. 0. 1. ]] SLAMing on 46.621346184 meters Centerline goodness : 0.895539 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.96975801 -0.21565122 -0.1142977 3.35635702] [ 0.21955514 0.97533843 0.02259392 0.20882044] [ 0.10660653 -0.04700528 0.99318958 -0.02162257] [ 0. 0. 0. 1. ]] SLAMing on 46.681346184 meters Centerline goodness : 0.902141 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.97038745 -0.21095141 -0.11767621 3.35979896] [ 0.21581295 0.9759713 0.0300796 0.21022098] [ 0.10850327 -0.05458492 0.99259636 -0.02026274] [ 0. 0. 0. 1. ]] SLAMing on 46.741346183999994 meters Centerline goodness : 0.901007 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.97048512 -0.21174964 -0.11541543 3.35898785] [ 0.21591728 0.97609802 0.0247463 0.21101072] [ 0.10741675 -0.0489361 0.99300901 -0.02455439] [ 0. 0. 0. 1. ]] SLAMing on 46.801346183999996 meters Centerline goodness : 0.902993 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.03 [[ 0.97011586 -0.21466213 -0.11311674 3.35975171] [ 0.21823441 0.97569022 0.0200582 0.21065396] [ 0.10606116 -0.04414474 0.99337922 -0.02839589] [ 0. 0. 0. 1. ]] SLAMing on 46.861346184 meters Centerline goodness : 0.900863 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.97050618 -0.21030606 -0.1178521 3.35887083] [ 0.21515959 0.97611949 0.02995166 0.21345477] [ 0.10873872 -0.05442528 0.99257936 -0.01941236] [ 0. 0. 0. 1. ]] SLAMing on 46.921346184 meters Centerline goodness : 0.901504 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.97075832 -0.20925493 -0.1176463 3.36077372] [ 0.21424878 0.97627444 0.0313954 0.21319256] [ 0.10828543 -0.05568293 0.99255916 -0.0214052 ] [ 0. 0. 0. 1. ]] SLAMing on 46.981346183999996 meters Centerline goodness : 0.899818 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.03 [[ 0.97008621 -0.21449295 -0.11369047 3.36225381] [ 0.21838473 0.97559608 0.0228123 0.20889108] [ 0.1060229 -0.04695816 0.99325429 -0.02859514] [ 0. 0. 0. 1. ]] SLAMing on 47.041346184 meters Centerline goodness : 0.904964 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.96892564 -0.21813424 -0.11662144 3.3645442 ] [ 0.22253567 0.97457789 0.02599619 0.21095617] [ 0.10798602 -0.0511408 0.99283616 -0.02265529] [ 0. 0. 0. 1. ]] SLAMing on 47.101346184 meters Centerline goodness : 0.907477 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:-0.02 [[ 0.96907905 -0.21734531 -0.11681953 3.36553848] [ 0.22193279 0.97466974 0.02765392 0.21025054] [ 0.10785001 -0.05272492 0.99276808 -0.02273138] [ 0. 0. 0. 1. ]] SLAMing on 47.161346183999996 meters Centerline goodness : 0.912773 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.20, Z:-0.03 [[ 0.96981997 -0.21660548 -0.11194326 3.36034091] [ 0.22032339 0.97518249 0.02183388 0.20336333] [ 0.10443577 -0.04583865 0.9934747 -0.02699412] [ 0. 0. 0. 1. ]] SLAMing on 47.221346184 meters Centerline goodness : 0.912132 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.20, Z:-0.02 [[ 0.96914122 -0.21881344 -0.11351637 3.36218862] [ 0.22274123 0.97460628 0.02299897 0.20456109] [ 0.10560128 -0.04757402 0.99326989 -0.02423102] [ 0. 0. 0. 1. ]] SLAMing on 47.281346184 meters Centerline goodness : 0.912196 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.02 [[ 0.96866918 -0.22028574 -0.11469184 3.36409301] [ 0.22441918 0.9741895 0.02430761 0.20646882] [ 0.10637697 -0.04928508 0.99310368 -0.0227168 ] [ 0. 0. 0. 1. ]] SLAMing on 47.341346183999995 meters Centerline goodness : 0.910256 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.20, Z:-0.03 [[ 0.9684232 -0.22265085 -0.11217444 3.36402263] [ 0.22621031 0.97387502 0.01990835 0.20139897] [ 0.10481127 -0.04465472 0.99348908 -0.02628189] [ 0. 0. 0. 1. ]] SLAMing on 47.401346184 meters Centerline goodness : 0.913160 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.20, Z:-0.03 [[ 0.9683536 -0.22319829 -0.1116863 3.36465525] [ 0.22688454 0.97368874 0.02129889 0.19769025] [ 0.10399382 -0.04596475 0.99351524 -0.02609441] [ 0. 0. 0. 1. ]] SLAMing on 47.461346184 meters Centerline goodness : 0.915774 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.20, Z:-0.02 [[ 0.96836217 -0.22217991 -0.11362566 3.36324483] [ 0.22646369 0.97366902 0.02613122 0.19909829] [ 0.10482795 -0.05103657 0.99317993 -0.0203273 ] [ 0. 0. 0. 1. ]] SLAMing on 47.521346183999995 meters Centerline goodness : 0.917182 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.20, Z:-0.03 [[ 0.96829922 -0.22314797 -0.11225683 3.36570817] [ 0.22701308 0.97362593 0.02275087 0.19892387] [ 0.10421935 -0.04751341 0.99341874 -0.02526351] [ 0. 0. 0. 1. ]] SLAMing on 47.581346184 meters Centerline goodness : 0.914619 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.20, Z:-0.03 [[ 0.96816585 -0.22469728 -0.11029968 3.36485655] [ 0.22808583 0.97345629 0.01896586 0.19620698] [ 0.10311034 -0.04351989 0.9937174 -0.02744699] [ 0. 0. 0. 1. ]] SLAMing on 47.641346184 meters Centerline goodness : 0.919748 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.02 [[ 0.96898349 -0.22030532 -0.11196677 3.36534678] [ 0.22444703 0.97414782 0.02568194 0.19329234] [ 0.10341432 -0.05001598 0.99338003 -0.0248988 ] [ 0. 0. 0. 1. ]] SLAMing on 47.701346183999995 meters Centerline goodness : 0.918467 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.03 [[ 0.96917617 -0.21930039 -0.11227154 3.36780057] [ 0.22366188 0.97427327 0.02769409 0.19123363] [ 0.10330984 -0.05195132 0.99329157 -0.02626367] [ 0. 0. 0. 1. ]] SLAMing on 47.761346184 meters Centerline goodness : 0.919442 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.03 [[ 0.9696469 -0.21790548 -0.11091483 3.36763689] [ 0.2220459 0.97468129 0.026306 0.18614617] [ 0.10237439 -0.05013572 0.9934817 -0.02882489] [ 0. 0. 0. 1. ]] SLAMing on 47.821346184 meters Centerline goodness : 0.919533 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.03 [[ 0.97016407 -0.21528547 -0.11150713 3.3680314 ] [ 0.21965995 0.97516277 0.028409 0.18587361] [ 0.10262156 -0.05205504 0.99335748 -0.02913496] [ 0. 0. 0. 1. ]] SLAMing on 47.881346183999995 meters Centerline goodness : 0.919974 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:-0.03 [[ 0.97099049 -0.21283002 -0.10899935 3.3663418 ] [ 0.2168566 0.97584677 0.02638738 0.18325783] [ 0.10075064 -0.04925912 0.99369153 -0.03287563] [ 0. 0. 0. 1. ]] SLAMing on 47.941346184 meters Centerline goodness : 0.918760 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:-0.03 [[ 0.9720758 -0.2076726 -0.10927367 3.36715911] [ 0.21210198 0.97677217 0.03047749 0.17904477] [ 0.10040614 -0.05280359 0.99354436 -0.03443729] [ 0. 0. 0. 1. ]] SLAMing on 48.001346184 meters Centerline goodness : 0.920512 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:-0.03 [[ 0.97224495 -0.20588955 -0.11112715 3.36713955] [ 0.21091111 0.97686499 0.03537365 0.1805297 ] [ 0.10127315 -0.0578298 0.99317645 -0.0305115 ] [ 0. 0. 0. 1. ]] SLAMing on 48.061346183999994 meters Centerline goodness : 0.920065 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.18, Z:-0.03 [[ 0.97303491 -0.20321268 -0.10912227 3.36387498] [ 0.20779198 0.97764108 0.03225543 0.18178401] [ 0.1001277 -0.05406039 0.99350487 -0.03336807] [ 0. 0. 0. 1. ]] SLAMing on 48.121346184 meters Centerline goodness : 0.916589 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:-0.04 [[ 0.97347258 -0.2017314 -0.10796099 3.36604137] [ 0.2060216 0.97808548 0.03006477 0.17979599] [ 0.09953007 -0.05150952 0.99370043 -0.03904912] [ 0. 0. 0. 1. ]] SLAMing on 48.181346184 meters Centerline goodness : 0.916913 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:-0.03 [[ 0.97315579 -0.20102608 -0.11205501 3.36920919] [ 0.20638783 0.97771719 0.03838167 0.18327879] [ 0.1018424 -0.06047814 0.99296048 -0.03315317] [ 0. 0. 0. 1. ]] SLAMing on 48.241346183999994 meters Centerline goodness : 0.916576 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:-0.03 [[ 0.97230935 -0.2038515 -0.11427639 3.37386346] [ 0.20947644 0.9770171 0.03946134 0.18294427] [ 0.10360574 -0.06230684 0.99266495 -0.03216243] [ 0. 0. 0. 1. ]] SLAMing on 48.301346183999996 meters Centerline goodness : 0.919480 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.18, Z:-0.04 [[ 0.97111912 -0.21047422 -0.11237555 3.37675159] [ 0.21524512 0.97603491 0.03202177 0.17812686] [ 0.1029427 -0.05528524 0.99314971 -0.03617353] [ 0. 0. 0. 1. ]] SLAMing on 48.361346184 meters Centerline goodness : 0.918329 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.18, Z:-0.03 [[ 0.97084618 -0.20967894 -0.11615698 3.38153983] [ 0.21536439 0.97576929 0.03863242 0.18287425] [ 0.10524201 -0.06252222 0.99247927 -0.03334078] [ 0. 0. 0. 1. ]] SLAMing on 48.421346184 meters Centerline goodness : 0.920599 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:-0.03 [[ 0.97047663 -0.21017558 -0.11832727 3.38283359] [ 0.21632875 0.9754311 0.0416658 0.18635338] [ 0.10666297 -0.06603327 0.9921001 -0.02999409] [ 0. 0. 0. 1. ]] SLAMing on 48.481346183999996 meters Centerline goodness : 0.918536 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:-0.03 [[ 0.96962425 -0.21438382 -0.11776415 3.38665277] [ 0.22004033 0.97478181 0.03718445 0.18793477] [ 0.1068226 -0.06196781 0.99234516 -0.0338198 ] [ 0. 0. 0. 1. ]] SLAMing on 48.541346184 meters Centerline goodness : 0.921924 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:-0.03 [[ 0.96844164 -0.21968673 -0.11772223 3.38885854] [ 0.22501872 0.9737634 0.03393243 0.18683909] [ 0.1071791 -0.05935128 0.99246666 -0.03387662] [ 0. 0. 0. 1. ]] SLAMing on 48.601346184 meters Centerline goodness : 0.925026 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:-0.03 [[ 0.96789123 -0.22001066 -0.12158073 3.388822 ] [ 0.22633362 0.97319774 0.04073386 0.18950885] [ 0.10936021 -0.06694376 0.99174537 -0.02534634] [ 0. 0. 0. 1. ]] SLAMing on 48.661346183999996 meters Centerline goodness : 0.923650 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:-0.03 [[ 0.96742147 -0.22164 -0.12235767 3.39467335] [ 0.22794861 0.97284925 0.04004715 0.1912147 ] [ 0.11015952 -0.06663374 0.99167778 -0.0293803 ] [ 0. 0. 0. 1. ]] SLAMing on 48.721346184 meters Centerline goodness : 0.923677 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:-0.03 [[ 0.96678782 -0.22469508 -0.12179255 3.39851291] [ 0.23054004 0.97239471 0.03605306 0.19255844] [ 0.11032949 -0.06293372 0.99190058 -0.03358278] [ 0. 0. 0. 1. ]] SLAMing on 48.781346184 meters Centerline goodness : 0.922887 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:-0.04 [[ 0.96725729 -0.22190049 -0.12318081 3.40145738] [ 0.22818344 0.97282438 0.03930715 0.19407287] [ 0.11111102 -0.06612795 0.99160548 -0.03504003] [ 0. 0. 0. 1. ]] SLAMing on 48.841346183999995 meters Centerline goodness : 0.926671 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:-0.03 [[ 0.96846013 -0.21529928 -0.12542407 3.39913987] [ 0.22250222 0.97382719 0.04640445 0.19597908] [ 0.11215053 -0.07284799 0.99101737 -0.03101642] [ 0. 0. 0. 1. ]] SLAMing on 48.901346184 meters Centerline goodness : 0.923326 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:-0.04 [[ 0.96918803 -0.21215653 -0.12515658 3.40110725] [ 0.21936262 0.97452219 0.04676051 0.19768245] [ 0.11204732 -0.07277441 0.99103445 -0.03560617] [ 0. 0. 0. 1. ]] SLAMing on 48.961346184 meters Centerline goodness : 0.924655 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:-0.04 [[ 0.9691603 -0.21264611 -0.12453893 3.40121217] [ 0.21966383 0.9745155 0.04546796 0.19900163] [ 0.11169654 -0.07142244 0.9911724 -0.03691059] [ 0. 0. 0. 1. ]] SLAMing on 49.021346183999995 meters Centerline goodness : 0.925036 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:-0.03 [[ 0.96865332 -0.21410758 -0.12597101 3.40057482] [ 0.22137025 0.97407423 0.04663258 0.20241774] [ 0.11272072 -0.07305704 0.99093729 -0.03315889] [ 0. 0. 0. 1. ]] SLAMing on 49.081346184 meters Centerline goodness : 0.926716 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:-0.03 [[ 0.96889198 -0.21177481 -0.12806159 3.4011767 ] [ 0.2197404 0.97419857 0.05149087 0.20450679] [ 0.11385294 -0.0780294 0.99042865 -0.03043808] [ 0. 0. 0. 1. ]] SLAMing on 49.141346184 meters Centerline goodness : 0.926509 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:-0.03 [[ 0.96878008 -0.21266709 -0.12742787 3.40215811] [ 0.22038416 0.97414537 0.04971535 0.20683396] [ 0.11356046 -0.07624632 0.99060109 -0.03287701] [ 0. 0. 0. 1. ]] SLAMing on 49.201346183999995 meters Centerline goodness : 0.925480 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.04 [[ 0.96791012 -0.21685573 -0.12697873 3.40778254] [ 0.2240366 0.97353523 0.0451304 0.20892124] [ 0.11383148 -0.07213006 0.99087822 -0.03840918] [ 0. 0. 0. 1. ]] SLAMing on 49.261346184 meters Centerline goodness : 0.932815 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.03 [[ 0.96782808 -0.21556636 -0.12976881 3.40738104] [ 0.22358964 0.97336712 0.05063713 0.21204932] [ 0.11539703 -0.078023 0.99025044 -0.03259407] [ 0. 0. 0. 1. ]] SLAMing on 49.321346184 meters Centerline goodness : 0.931890 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:-0.03 [[ 0.96827382 -0.21283268 -0.13095062 3.40403637] [ 0.22127939 0.97373765 0.05357624 0.21498763] [ 0.11610877 -0.08085314 0.98994016 -0.02850148] [ 0. 0. 0. 1. ]] SLAMing on 49.381346183999995 meters Centerline goodness : 0.932289 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:-0.03 [[ 0.96736187 -0.21885464 -0.12772496 3.40591702] [ 0.22601189 0.97311441 0.0443506 0.21451524] [ 0.11458466 -0.07177044 0.99081752 -0.03499562] [ 0. 0. 0. 1. ]] SLAMing on 49.441346184 meters Centerline goodness : 0.934182 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.22, Z:-0.03 [[ 0.96672838 -0.21943348 -0.13147316 3.40675311] [ 0.22750754 0.97250586 0.04972607 0.21945346] [ 0.11694685 -0.07798274 0.99007178 -0.02811633] [ 0. 0. 0. 1. ]] SLAMing on 49.501346184 meters Centerline goodness : 0.935133 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.22, Z:-0.03 [[ 0.96794794 -0.2139143 -0.13159579 3.40604928] [ 0.22225333 0.97359263 0.05216173 0.2223085 ] [ 0.11696256 -0.07973744 0.98993015 -0.03016814] [ 0. 0. 0. 1. ]] SLAMing on 49.561346183999994 meters Centerline goodness : 0.931739 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.22, Z:-0.04 [[ 0.96845119 -0.21409069 -0.12754399 3.40227695] [ 0.22124482 0.97419416 0.04468187 0.22180027] [ 0.11468664 -0.07149066 0.99082595 -0.03503625] [ 0. 0. 0. 1. ]] SLAMing on 49.621346184 meters Centerline goodness : 0.934563 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.23, Z:-0.03 [[ 0.96831496 -0.21840945 -0.12109271 3.41085625] [ 0.22532676 0.97317023 0.04655694 0.23428676] [ 0.10767534 -0.07236721 0.99154879 -0.03381834] [ 0. 0. 0. 1. ]] SLAMing on 49.681346184 meters Centerline goodness : 0.928913 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.24, Z:-0.03 [[ 0.96809564 -0.2188139 -0.12211189 3.41115346] [ 0.22581117 0.97305664 0.0465842 0.23858001] [ 0.10862852 -0.07267219 0.99142251 -0.03284428] [ 0. 0. 0. 1. ]] SLAMing on 49.741346183999994 meters Centerline goodness : 0.930804 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.24, Z:-0.04 [[ 0.96769721 -0.22223114 -0.11906061 3.4096569 ] [ 0.22829431 0.9727785 0.03979563 0.23754742] [ 0.10697577 -0.06569098 0.99208915 -0.03583362] [ 0. 0. 0. 1. ]] SLAMing on 49.801346183999996 meters Centerline goodness : 0.934285 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.24, Z:-0.03 [[ 0.96774659 -0.22128183 -0.1204196 3.40780269] [ 0.22777252 0.97276727 0.04293613 0.23971894] [ 0.10763926 -0.06897957 0.99179414 -0.03155847] [ 0. 0. 0. 1. ]] SLAMing on 49.861346184 meters Centerline goodness : 0.933480 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.25, Z:-0.03 [[ 0.96768717 -0.2204267 -0.12244842 3.40903824] [ 0.22722784 0.97282436 0.04450035 0.2454719 ] [ 0.10931174 -0.07088611 0.99147673 -0.03042436] [ 0. 0. 0. 1. ]] SLAMing on 49.921346184 meters Centerline goodness : 0.930689 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.25, Z:-0.03 [[ 0.96743311 -0.22216038 -0.12131752 3.41058131] [ 0.22851436 0.97267376 0.04107232 0.24668502] [ 0.10887772 -0.06745752 0.99176364 -0.03374925] [ 0. 0. 0. 1. ]] SLAMing on 49.981346183999996 meters Centerline goodness : 0.934523 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.25, Z:-0.03 [[ 0.96719646 -0.22317798 -0.12133668 3.40901791] [ 0.22953375 0.97243565 0.04102643 0.24619248] [ 0.10883592 -0.06753148 0.9917632 -0.03134449] [ 0. 0. 0. 1. ]] SLAMing on 50.041346184 meters Centerline goodness : 0.934040 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.25, Z:-0.03 [[ 0.96653305 -0.22530731 -0.12268042 3.41241747] [ 0.23184363 0.97185815 0.04171644 0.2463017 ] [ 0.10982895 -0.068763 0.99156909 -0.03094395] [ 0. 0. 0. 1. ]] SLAMing on 50.101346184 meters Centerline goodness : 0.932018 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.25, Z:-0.03 [[ 0.96534265 -0.23072445 -0.12198281 3.41284366] [ 0.23671003 0.97087953 0.03689576 0.24681012] [ 0.10991786 -0.0644916 0.99184621 -0.03057905] [ 0. 0. 0. 1. ]] SLAMing on 50.161346183999996 meters Centerline goodness : 0.931278 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:-0.03 [[ 0.96483757 -0.23216587 -0.12323743 3.41570406] [ 0.23825105 0.9704995 0.03697502 0.24773101] [ 0.11101753 -0.06503634 0.99168815 -0.03025032] [ 0. 0. 0. 1. ]] SLAMing on 50.221346184 meters Centerline goodness : 0.930066 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:-0.03 [[ 0.96461663 -0.23302699 -0.12334172 3.41634132] [ 0.23910873 0.97029377 0.03683769 0.24640809] [ 0.11109353 -0.06502633 0.99168029 -0.02989347] [ 0. 0. 0. 1. ]] SLAMing on 50.281346184 meters Centerline goodness : 0.929360 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:-0.03 [[ 0.9644808 -0.23355698 -0.12340145 3.41666761] [ 0.23962834 0.97017147 0.03668202 0.24609093] [ 0.11115323 -0.06494959 0.99167863 -0.0296203 ] [ 0. 0. 0. 1. ]] SLAMing on 50.341346183999995 meters Centerline goodness : 0.932384 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.96431531 -0.23384231 -0.12415213 3.41800632] [ 0.24011204 0.97000161 0.03798808 0.24495454] [ 0.11154454 -0.06644291 0.99153576 -0.02891502] [ 0. 0. 0. 1. ]] SLAMing on 50.401346184 meters Centerline goodness : 0.927671 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.96446123 -0.23350578 -0.12365106 3.4179053 ] [ 0.23968443 0.97012658 0.03749403 0.24384945] [ 0.11120211 -0.06579877 0.99161717 -0.02952174] [ 0. 0. 0. 1. ]] SLAMing on 50.461346184 meters Centerline goodness : 0.927612 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.9640015 -0.23577929 -0.12291961 3.41818436] [ 0.24156471 0.96977864 0.03429095 0.24338094] [ 0.11111972 -0.06274957 0.99182403 -0.03012932] [ 0. 0. 0. 1. ]] SLAMing on 50.521346183999995 meters Centerline goodness : 0.929414 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.02 [[ 0.96421867 -0.23369858 -0.12516918 3.4172599 ] [ 0.24022517 0.96990682 0.03965635 0.24282829] [ 0.11213481 -0.06830618 0.99134255 -0.02495988] [ 0. 0. 0. 1. ]] SLAMing on 50.581346184 meters Centerline goodness : 0.926075 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.96442023 -0.23296358 -0.12498636 3.41979863] [ 0.23946131 0.97009998 0.03955127 0.24126485] [ 0.11203526 -0.06807345 0.99136981 -0.02789654] [ 0. 0. 0. 1. ]] SLAMing on 50.641346184 meters Centerline goodness : 0.927239 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.96393187 -0.23598655 -0.12306784 3.41989283] [ 0.24187913 0.96966945 0.03515179 0.23843139] [ 0.11103978 -0.06365147 0.99177551 -0.03008424] [ 0. 0. 0. 1. ]] SLAMing on 50.701346183999995 meters Centerline goodness : 0.928428 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.02 [[ 0.96496765 -0.22881484 -0.12837914 3.42027039] [ 0.23637184 0.97053075 0.04688721 0.24164937] [ 0.11386741 -0.07558986 0.99061616 -0.023001 ] [ 0. 0. 0. 1. ]] SLAMing on 50.761346184 meters Centerline goodness : 0.922896 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.96585894 -0.22652041 -0.12571801 3.42000916] [ 0.23348531 0.97138442 0.04355366 0.24094778] [ 0.11225473 -0.07142 0.99110951 -0.02919955] [ 0. 0. 0. 1. ]] SLAMing on 50.821346184 meters Centerline goodness : 0.932457 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.96603694 -0.22649391 -0.12439108 3.42006556] [ 0.23296998 0.97165855 0.04005801 0.24155309] [ 0.11179276 -0.0676769 0.99142434 -0.0323421 ] [ 0. 0. 0. 1. ]] SLAMing on 50.881346183999995 meters Centerline goodness : 0.923618 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:-0.03 [[ 0.96607415 -0.22333876 -0.12969399 3.42211518] [ 0.23111257 0.97173437 0.04815898 0.24780919] [ 0.11527234 -0.07649905 0.99038386 -0.02581218] [ 0. 0. 0. 1. ]] SLAMing on 50.941346184 meters Centerline goodness : 0.921692 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:-0.03 [[ 0.96645814 -0.22389749 -0.1258117 3.41892751] [ 0.23075197 0.97207721 0.04265479 0.24576829] [ 0.11274838 -0.07025537 0.99113671 -0.02964385] [ 0. 0. 0. 1. ]] SLAMing on 51.001346184 meters Centerline goodness : 0.932130 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.24, Z:-0.03 [[ 0.96659523 -0.22434029 -0.12395602 3.42014068] [ 0.23076308 0.97218906 0.03996029 0.24202472] [ 0.11154398 -0.0672299 0.99148277 -0.03372426] [ 0. 0. 0. 1. ]] SLAMing on 51.061346183999994 meters Centerline goodness : 0.920500 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:-0.02 [[ 0.9655679 -0.2243829 -0.13164706 3.42358068] [ 0.23236548 0.9714144 0.04858342 0.2497611 ] [ 0.11698256 -0.07750083 0.9901054 -0.02228747] [ 0. 0. 0. 1. ]] SLAMing on 51.121346184 meters Centerline goodness : 0.919816 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.03 [[ 0.9641832 -0.23106329 -0.13023255 3.42947855] [ 0.23787304 0.9705049 0.03920013 0.25226253] [ 0.11733362 -0.06877492 0.99070825 -0.02978952] [ 0. 0. 0. 1. ]] SLAMing on 51.181346184 meters Centerline goodness : 0.920589 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.03 [[ 0.96320198 -0.23664685 -0.12743708 3.43068391] [ 0.24248001 0.96962306 0.03216473 0.24899159] [ 0.11595424 -0.06188208 0.99132498 -0.03341804] [ 0. 0. 0. 1. ]] SLAMing on 51.241346183999994 meters Centerline goodness : 0.921654 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96294301 -0.23345003 -0.1350624 3.43183006] [ 0.24141235 0.9693459 0.04570119 0.25122324] [ 0.12025324 -0.07661337 0.98978258 -0.02020149] [ 0. 0. 0. 1. ]] SLAMing on 51.301346183999996 meters Centerline goodness : 0.920392 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96290552 -0.23374345 -0.13482196 3.43153525] [ 0.24156298 0.96935678 0.04466281 0.252304 ] [ 0.12025094 -0.07557406 0.98986275 -0.02026687] [ 0. 0. 0. 1. ]] SLAMing on 51.361346184 meters Centerline goodness : 0.922826 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96257299 -0.23404072 -0.13666817 3.42913737] [ 0.24050727 0.97009776 0.03265882 0.24768793] [ 0.12493799 -0.06430618 0.99007839 -0.02153931] [ 0. 0. 0. 1. ]] SLAMing on 51.421346183999994 meters Centerline goodness : 0.924434 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.01 [[ 0.96242471 -0.23207783 -0.14099133 3.42915865] [ 0.23977795 0.96999951 0.04009355 0.24992023] [ 0.1274567 -0.07239363 0.98919864 -0.01368959] [ 0. 0. 0. 1. ]] SLAMing on 51.481346183999996 meters Centerline goodness : 0.924595 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96241795 -0.23293165 -0.13962282 3.42962827] [ 0.24024096 0.96997819 0.0377703 0.24850634] [ 0.12663319 -0.06989394 0.98948414 -0.0162126 ] [ 0. 0. 0. 1. ]] SLAMing on 51.541346184 meters Centerline goodness : 0.926745 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96206276 -0.23419009 -0.1399652 3.43340077] [ 0.24145666 0.96969949 0.03716956 0.24693834] [ 0.12701944 -0.06955498 0.98945852 -0.01863743] [ 0. 0. 0. 1. ]] SLAMing on 51.601346184 meters Centerline goodness : 0.925518 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96258968 -0.23100841 -0.14161997 3.4332475 ] [ 0.23888454 0.97017524 0.04116051 0.24898012] [ 0.12788777 -0.0734515 0.98906501 -0.01686805] [ 0. 0. 0. 1. ]] SLAMing on 51.661346183999996 meters Centerline goodness : 0.924558 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96361704 -0.22778382 -0.13984536 3.43078024] [ 0.23531745 0.97110695 0.03971137 0.24916581] [ 0.1267592 -0.07117461 0.98937671 -0.01968914] [ 0. 0. 0. 1. ]] SLAMing on 51.721346184 meters Centerline goodness : 0.926590 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96411394 -0.22621612 -0.13896253 3.4285468 ] [ 0.23368778 0.97149592 0.0398209 0.24874551] [ 0.1259934 -0.07086573 0.9894967 -0.01941398] [ 0. 0. 0. 1. ]] SLAMing on 51.781346184 meters Centerline goodness : 0.926230 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.26, Z:-0.02 [[ 0.96459937 -0.22954887 -0.12982826 3.43396828] [ 0.23646856 0.9707966 0.04045473 0.25700431] [ 0.11675049 -0.06972291 0.99071088 -0.01900196] [ 0. 0. 0. 1. ]] SLAMing on 51.841346183999995 meters Centerline goodness : 0.926746 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.26, Z:-0.02 [[ 0.96448528 -0.23005443 -0.12978096 3.43513093] [ 0.23687966 0.9707294 0.03965415 0.25828313] [ 0.11685958 -0.06898831 0.99074944 -0.02016516] [ 0. 0. 0. 1. ]] SLAMing on 51.901346184 meters Centerline goodness : 0.921758 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.03 [[ 0.96479432 -0.23102306 -0.12569911 3.43405278] [ 0.23676968 0.97101629 0.03267236 0.25429671] [ 0.11450781 -0.06128385 0.99153026 -0.02625606] [ 0. 0. 0. 1. ]] SLAMing on 51.961346184 meters Centerline goodness : 0.930846 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:-0.03 [[ 0.96517589 -0.22866981 -0.12706537 3.43575482] [ 0.23491602 0.97133534 0.03636088 0.25398353] [ 0.11510845 -0.06494433 0.99122766 -0.02590314] [ 0. 0. 0. 1. ]] SLAMing on 52.021346183999995 meters Centerline goodness : 0.923185 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.26, Z:-0.02 [[ 0.96546467 -0.22588555 -0.12982177 3.43536058] [ 0.23290331 0.97161447 0.04148951 0.25863449] [ 0.11676483 -0.07029257 0.99066893 -0.02164387] [ 0. 0. 0. 1. ]] SLAMing on 52.081346184 meters Centerline goodness : 0.922609 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.26, Z:-0.03 [[ 0.96554865 -0.22711493 -0.12702207 3.43634136] [ 0.23341345 0.97167637 0.03692135 0.25567523] [ 0.11503896 -0.06529802 0.99121249 -0.02723697] [ 0. 0. 0. 1. ]] SLAMing on 52.141346184 meters Centerline goodness : 0.923980 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.03 [[ 0.96541583 -0.22800238 -0.12644046 3.43497912] [ 0.23431913 0.9714414 0.03736504 0.25177113] [ 0.11431019 -0.06570022 0.99127023 -0.0255342 ] [ 0. 0. 0. 1. ]] SLAMing on 52.201346183999995 meters Centerline goodness : 0.925951 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:-0.02 [[ 0.96514481 -0.22805854 -0.12839315 3.43654259] [ 0.23484827 0.97119671 0.04028947 0.2531808 ] [ 0.11550665 -0.06903808 0.99090462 -0.02302087] [ 0. 0. 0. 1. ]] SLAMing on 52.261346184 meters Centerline goodness : 0.921988 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:-0.02 [[ 0.96487692 -0.22905551 -0.12863167 3.43585631] [ 0.23580501 0.97098718 0.03974796 0.25476703] [ 0.11579522 -0.06868388 0.99089555 -0.02156058] [ 0. 0. 0. 1. ]] SLAMing on 52.321346184 meters Centerline goodness : 0.922989 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:-0.03 [[ 0.96363734 -0.23645164 -0.12447365 3.43594463] [ 0.24177806 0.9698872 0.02936321 0.24958151] [ 0.11378242 -0.05839048 0.99178834 -0.02602083] [ 0. 0. 0. 1. ]] SLAMing on 52.381346183999995 meters Centerline goodness : 0.923686 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:-0.02 [[ 0.9633166 -0.23566431 -0.12838794 3.43679674] [ 0.24205394 0.96957791 0.03644944 0.25097756] [ 0.11589228 -0.06618915 0.99105397 -0.01864773] [ 0. 0. 0. 1. ]] SLAMing on 52.441346184 meters Centerline goodness : 0.925504 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.25, Z:-0.02 [[ 0.96416289 -0.23240965 -0.12796752 3.43188121] [ 0.239139 0.97016961 0.03979271 0.24922894] [ 0.11490199 -0.06896867 0.99097975 -0.01500365] [ 0. 0. 0. 1. ]] SLAMing on 52.501346184 meters Centerline goodness : 0.923280 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.24, Z:-0.02 [[ 0.96385692 -0.22873408 -0.13660368 3.43015238] [ 0.23550569 0.9712266 0.03543949 0.23977878] [ 0.12456691 -0.06632954 0.98999165 -0.01957361] [ 0. 0. 0. 1. ]] SLAMing on 52.561346183999994 meters Centerline goodness : 0.925639 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.24, Z:-0.02 [[ 0.96346494 -0.22900839 -0.13889014 3.43107997] [ 0.23631938 0.97091513 0.03843124 0.2430543 ] [ 0.12604947 -0.06984958 0.98956181 -0.01600986] [ 0. 0. 0. 1. ]] SLAMing on 52.621346184 meters Centerline goodness : 0.916396 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.24, Z:-0.01 [[ 0.9630337 -0.23192553 -0.1370279 3.42803364] [ 0.23885566 0.97037727 0.03627571 0.23953019] [ 0.1245555 -0.06766462 0.98990274 -0.01426818] [ 0. 0. 0. 1. ]] SLAMing on 52.681346184 meters Centerline goodness : 0.918395 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.23, Z:-0.02 [[ 0.96284395 -0.23450465 -0.1339369 3.42627789] [ 0.24077061 0.97003957 0.03244613 0.23370073] [ 0.12231532 -0.06348862 0.99045856 -0.01607712] [ 0. 0. 0. 1. ]] SLAMing on 52.741346183999994 meters Centerline goodness : 0.922039 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.23, Z:-0.01 [[ 0.9628248 -0.2332606 -0.13622737 3.42500817] [ 0.24038315 0.96992693 0.03817973 0.23228121] [ 0.12322477 -0.06950716 0.98994162 -0.00959951] [ 0. 0. 0. 1. ]] SLAMing on 52.801346183999996 meters Centerline goodness : 0.921359 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.23, Z:-0.01 [[ 0.96197844 -0.23835709 -0.13335434 3.42475056] [ 0.24424474 0.96926647 0.02944516 0.23220667] [ 0.12223743 -0.0608967 0.99063091 -0.01342334] [ 0. 0. 0. 1. ]] SLAMing on 52.861346184 meters Centerline goodness : 0.919571 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.23, Z:-0.02 [[ 0.96132934 -0.24166517 -0.13207516 3.42640884] [ 0.24705521 0.96865724 0.02582399 0.23010188] [ 0.1216948 -0.05745522 0.99090326 -0.0156809 ] [ 0. 0. 0. 1. ]] SLAMing on 52.921346183999994 meters Centerline goodness : 0.924889 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.23, Z:-0.01 [[ 0.96135985 -0.24118484 -0.13272947 3.42392066] [ 0.24712424 0.96851897 0.03001016 0.22626267] [ 0.12131301 -0.06165123 0.99069787 -0.01036517] [ 0. 0. 0. 1. ]] SLAMing on 52.981346183999996 meters Centerline goodness : 0.926565 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.22, Z:-0.01 [[ 0.96145482 -0.24079713 -0.1327455 3.42502528] [ 0.24691844 0.96852374 0.03151279 0.22207162] [ 0.12097898 -0.06307544 0.99064907 -0.01044632] [ 0. 0. 0. 1. ]] SLAMing on 53.041346184 meters Centerline goodness : 0.926428 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.22, Z:-0.01 [[ 0.96142869 -0.2412925 -0.13203333 3.42729078] [ 0.24724503 0.9684738 0.03046958 0.21890478] [ 0.12051874 -0.06193891 0.99077687 -0.01320532] [ 0. 0. 0. 1. ]] SLAMing on 53.101346184 meters Centerline goodness : 0.926968 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.22, Z:-0.01 [[ 0.96114393 -0.24181579 -0.13314458 3.42995773] [ 0.24804526 0.96821562 0.03212574 0.21736029] [ 0.12114415 -0.06390334 0.99057582 -0.01306693] [ 0. 0. 0. 1. ]] SLAMing on 53.161346183999996 meters Centerline goodness : 0.933304 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.01 [[ 0.96072566 -0.24462919 -0.13100673 3.42631437] [ 0.25040319 0.96769742 0.02932476 0.21317087] [ 0.11960118 -0.06097756 0.99094768 -0.01095047] [ 0. 0. 0. 1. ]] SLAMing on 53.221346184 meters Centerline goodness : 0.929367 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.01 [[ 0.96061028 -0.24523152 -0.13072643 3.42577374] [ 0.25109639 0.96749122 0.03018852 0.20982024] [ 0.11907349 -0.06182433 0.99095876 -0.00948125] [ 0. 0. 0. 1. ]] SLAMing on 53.281346184 meters Centerline goodness : 0.930738 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.01 [[ 0.96067563 -0.24463915 -0.13135456 3.42875175] [ 0.2507394 0.9675306 0.0318479 0.20609843] [ 0.11929832 -0.06353126 0.99082374 -0.01065106] [ 0. 0. 0. 1. ]] SLAMing on 53.341346183999995 meters Centerline goodness : 0.933448 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.01 [[ 0.96064289 -0.24468053 -0.13151682 3.42828589] [ 0.25082585 0.96749878 0.03213248 0.20620436] [ 0.11938017 -0.06385566 0.99079303 -0.00951395] [ 0. 0. 0. 1. ]] SLAMing on 53.401346184 meters Centerline goodness : 0.933820 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.01 [[ 0.96073717 -0.24433956 -0.13146205 3.42917751] [ 0.25042692 0.96761635 0.03170113 0.20666941] [ 0.11945899 -0.06337809 0.99081419 -0.01090309] [ 0. 0. 0. 1. ]] SLAMing on 53.461346184 meters Centerline goodness : 0.930216 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.02 [[ 0.96137187 -0.24262553 -0.12998837 3.43002461] [ 0.24841877 0.968184 0.03013084 0.20533207] [ 0.11854215 -0.0612585 0.99105759 -0.01571461] [ 0. 0. 0. 1. ]] SLAMing on 53.521346183999995 meters Centerline goodness : 0.932188 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.02 [[ 0.96209361 -0.23871944 -0.131867 3.43292356] [ 0.24518084 0.96884849 0.03491365 0.20534615] [ 0.11942458 -0.06592147 0.99065238 -0.01652016] [ 0. 0. 0. 1. ]] SLAMing on 53.581346184 meters Centerline goodness : 0.934739 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:-0.01 [[ 0.96270866 -0.23487807 -0.13425471 3.43402905] [ 0.24213763 0.96940271 0.04034538 0.20765602] [ 0.12067064 -0.07134897 0.99012521 -0.01463357] [ 0. 0. 0. 1. ]] SLAMing on 53.641346184 meters Centerline goodness : 0.930761 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.21, Z:-0.02 [[ 0.96299876 -0.23369356 -0.13424122 3.43544594] [ 0.24091807 0.96971531 0.04013355 0.20853645] [ 0.12079681 -0.07098969 0.99013564 -0.01708089] [ 0. 0. 0. 1. ]] SLAMing on 53.701346183999995 meters Centerline goodness : 0.936366 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.21, Z:-0.02 [[ 0.96292457 -0.23351521 -0.13508114 3.43843077] [ 0.24079098 0.96974964 0.04006673 0.21094515] [ 0.12163869 -0.07110756 0.99002411 -0.0191834 ] [ 0. 0. 0. 1. ]] SLAMing on 53.761346184 meters Centerline goodness : 0.937783 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.21, Z:-0.02 [[ 0.96270835 -0.23367134 -0.13634641 3.43926769] [ 0.2411765 0.96960771 0.04116785 0.21478298] [ 0.12258279 -0.07251618 0.98980547 -0.01807923] [ 0. 0. 0. 1. ]] SLAMing on 53.821346184 meters Centerline goodness : 0.938393 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:-0.02 [[ 0.96346092 -0.22996071 -0.13733582 3.43731304] [ 0.23797258 0.97023521 0.04486306 0.21804449] [ 0.1229313 -0.07590596 0.98950805 -0.01612121] [ 0. 0. 0. 1. ]] SLAMing on 53.881346183999995 meters Centerline goodness : 0.940030 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:-0.02 [[ 0.96383349 -0.2288145 -0.13663427 3.43639674] [ 0.23661829 0.97062018 0.04368349 0.22054033] [ 0.12262457 -0.07443378 0.98965794 -0.01790579] [ 0. 0. 0. 1. ]] SLAMing on 53.941346184 meters Centerline goodness : 0.938960 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:-0.02 [[ 0.96323197 -0.230724 -0.13766117 3.43737065] [ 0.23846538 0.97022276 0.04245059 0.22695591] [ 0.12376764 -0.07371719 0.98956927 -0.01753664] [ 0. 0. 0. 1. ]] SLAMing on 54.001346184 meters Centerline goodness : 0.942386 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.24, Z:-0.02 [[ 0.96237604 -0.23606205 -0.13456253 3.45153332] [ 0.24369386 0.96889177 0.04315131 0.23834012] [ 0.12019014 -0.07431985 0.9899651 -0.0165924 ] [ 0. 0. 0. 1. ]] SLAMing on 54.061346183999994 meters Centerline goodness : 0.935417 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.24, Z:-0.02 [[ 0.96205132 -0.23742901 -0.13447945 3.45426399] [ 0.24474973 0.96873725 0.04056731 0.24239517] [ 0.12064339 -0.07194165 0.99008564 -0.02047029] [ 0. 0. 0. 1. ]] SLAMing on 54.121346184 meters Centerline goodness : 0.936176 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.24, Z:-0.02 [[ 0.96199292 -0.23788476 -0.13409126 3.45469803] [ 0.24507829 0.96868895 0.03972843 0.24245332] [ 0.12044194 -0.07108132 0.9901723 -0.02155423] [ 0. 0. 0. 1. ]] SLAMing on 54.181346184 meters Centerline goodness : 0.940784 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.25, Z:-0.02 [[ 0.96206878 -0.24106254 -0.12772043 3.46231804] [ 0.24879371 0.96735334 0.04826175 0.24956306] [ 0.11191669 -0.07820716 0.9906353 -0.02339128] [ 0. 0. 0. 1. ]] SLAMing on 54.241346183999994 meters Centerline goodness : 0.939250 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.25, Z:-0.02 [[ 0.96176976 -0.24077746 -0.13048046 3.46320796] [ 0.2490781 0.96712355 0.05130448 0.25408447] [ 0.11383777 -0.08184292 0.99012257 -0.01961151] [ 0. 0. 0. 1. ]] SLAMing on 54.301346183999996 meters Centerline goodness : 0.937565 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.26, Z:-0.02 [[ 0.96018024 -0.24721211 -0.13015406 3.46745162] [ 0.2547743 0.96596192 0.04480662 0.25747292] [ 0.11464712 -0.07618234 0.99048084 -0.02314002] [ 0. 0. 0. 1. ]] SLAMing on 54.361346184 meters Centerline goodness : 0.939133 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.26, Z:-0.02 [[ 0.95956338 -0.24861059 -0.1320261 3.47080711] [ 0.25635293 0.96553384 0.04502859 0.26003249] [ 0.11628108 -0.07705307 0.99022297 -0.02272828] [ 0. 0. 0. 1. ]] SLAMing on 54.421346183999994 meters Centerline goodness : 0.936110 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:-0.02 [[ 0.95954836 -0.24682062 -0.13544933 3.4710027 ] [ 0.25541058 0.96554256 0.04993004 0.2650985 ] [ 0.11845833 -0.08250548 0.98952538 -0.01775155] [ 0. 0. 0. 1. ]] SLAMing on 54.481346183999996 meters Centerline goodness : 0.939627 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:-0.02 [[ 0.95977538 -0.2464799 -0.13445769 3.47198072] [ 0.25470045 0.9658506 0.04754259 0.26506242] [ 0.11814775 -0.07987664 0.98977817 -0.02095681] [ 0. 0. 0. 1. ]] SLAMing on 54.541346184 meters Centerline goodness : 0.937549 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:-0.02 [[ 0.96023211 -0.24349457 -0.13661878 3.47349599] [ 0.2522654 0.96632435 0.05078806 0.2686576 ] [ 0.11965143 -0.08323252 0.98932092 -0.02037238] [ 0. 0. 0. 1. ]] SLAMing on 54.601346184 meters Centerline goodness : 0.939187 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:-0.02 [[ 0.96035195 -0.24197615 -0.13846181 3.47435734] [ 0.25109465 0.96654169 0.05242747 0.27393696] [ 0.12114291 -0.08511584 0.98897911 -0.01945184] [ 0. 0. 0. 1. ]] SLAMing on 54.661346183999996 meters Centerline goodness : 0.938587 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:-0.02 [[ 0.95990137 -0.24458327 -0.13699777 3.47256852] [ 0.25309431 0.9662337 0.04832908 0.27519429] [ 0.12055138 -0.08106451 0.98939169 -0.01950756] [ 0. 0. 0. 1. ]] SLAMing on 54.721346184 meters Centerline goodness : 0.942739 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.27, Z:-0.02 [[ 0.95899728 -0.24752531 -0.13804147 3.47641643] [ 0.25603299 0.96550336 0.04743805 0.2747872 ] [ 0.12153738 -0.08083613 0.98928974 -0.0201559 ] [ 0. 0. 0. 1. ]] SLAMing on 54.781346184 meters Centerline goodness : 0.942108 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.02 [[ 0.95840429 -0.24958961 -0.13844217 3.47621661] [ 0.25810369 0.96496806 0.04710757 0.27525248] [ 0.12183471 -0.08088053 0.98924954 -0.01809196] [ 0. 0. 0. 1. ]] SLAMing on 54.841346183999995 meters Centerline goodness : 0.940295 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:-0.02 [[ 0.95807096 -0.25165812 -0.13699718 3.47352215] [ 0.25973577 0.96465903 0.04438796 0.27409712] [ 0.12098497 -0.07810988 0.98957642 -0.01653718] [ 0. 0. 0. 1. ]] SLAMing on 54.901346184 meters Centerline goodness : 0.940416 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.27, Z:-0.01 [[ 0.95856429 -0.24814926 -0.13991583 3.475288 ] [ 0.2571628 0.96506189 0.05022794 0.27417883] [ 0.1225634 -0.08412785 0.98888863 -0.01382059] [ 0. 0. 0. 1. ]] SLAMing on 54.961346184 meters Centerline goodness : 0.937953 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95842827 -0.24868763 -0.13989181 3.47505433] [ 0.25754727 0.96502379 0.04897429 0.27602728] [ 0.12281962 -0.0829671 0.9889549 -0.01375902] [ 0. 0. 0. 1. ]] SLAMing on 55.021346183999995 meters Centerline goodness : 0.937259 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.02 [[ 0.95823454 -0.25027176 -0.13838571 3.47871476] [ 0.25838749 0.96504423 0.04388093 0.27658038] [ 0.12256618 -0.07780536 0.98940581 -0.02024671] [ 0. 0. 0. 1. ]] SLAMing on 55.081346184 meters Centerline goodness : 0.941402 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.02 [[ 0.95885289 -0.24668856 -0.14052005 3.47697452] [ 0.25560117 0.96553547 0.04908459 0.27853093] [ 0.12356848 -0.08298199 0.98886036 -0.01589864] [ 0. 0. 0. 1. ]] SLAMing on 55.141346184 meters Centerline goodness : 0.938608 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95949971 -0.24294265 -0.1426155 3.47779474] [ 0.25260301 0.96607337 0.05379563 0.279073 ] [ 0.12470778 -0.087642 0.98831516 -0.01403508] [ 0. 0. 0. 1. ]] SLAMing on 55.201346183999995 meters Centerline goodness : 0.937309 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.02 [[ 0.95874499 -0.24803271 -0.13888062 3.47610095] [ 0.2563613 0.96551392 0.0454065 0.27714893] [ 0.12282887 -0.07913687 0.98926762 -0.01686675] [ 0. 0. 0. 1. ]] SLAMing on 55.261346184 meters Centerline goodness : 0.935500 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95771586 -0.25101083 -0.14061966 3.47771289] [ 0.25950499 0.96467248 0.04543322 0.27918612] [ 0.12424769 -0.08000361 0.98902069 -0.01397442] [ 0. 0. 0. 1. ]] SLAMing on 55.321346184 meters Centerline goodness : 0.932120 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95691902 -0.25289842 -0.14264774 3.48159254] [ 0.26159227 0.96410128 0.04558735 0.28226097] [ 0.1259979 -0.08093895 0.98872312 -0.01385071] [ 0. 0. 0. 1. ]] SLAMing on 55.381346183999995 meters Centerline goodness : 0.931053 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.955818 -0.25879818 -0.13941107 3.47721793] [ 0.26648999 0.96303452 0.03933946 0.27938062] [ 0.1240767 -0.07475302 0.98945286 -0.01183524] [ 0. 0. 0. 1. ]] SLAMing on 55.441346184 meters Centerline goodness : 0.931504 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95477207 -0.26047289 -0.14340211 3.48045447] [ 0.26903003 0.96214528 0.04358097 0.28028552] [ 0.126622 -0.08018937 0.98870447 -0.0064543 ] [ 0. 0. 0. 1. ]] SLAMing on 55.501346184 meters Centerline goodness : 0.929724 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95424293 -0.2622195 -0.14374061 3.48077143] [ 0.27068889 0.96172491 0.0425762 0.28201541] [ 0.12707462 -0.07953702 0.9886991 -0.00565417] [ 0. 0. 0. 1. ]] SLAMing on 55.561346183999994 meters Centerline goodness : 0.932723 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95375765 -0.26460547 -0.14258431 3.48363973] [ 0.27251952 0.96136694 0.0388165 0.28119625] [ 0.12680478 -0.07587854 0.98902123 -0.00973488] [ 0. 0. 0. 1. ]] SLAMing on 55.621346184 meters Centerline goodness : 0.930610 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.95328065 -0.26503873 -0.14494994 3.48564626] [ 0.27333207 0.96107563 0.04028914 0.28449485] [ 0.12862967 -0.07802632 0.98861838 -0.00741625] [ 0. 0. 0. 1. ]] SLAMing on 55.681346184 meters Centerline goodness : 0.933200 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.95295433 -0.26580865 -0.14568396 3.48732308] [ 0.27418227 0.96082847 0.04040711 0.28382569] [ 0.12923674 -0.07845009 0.98850566 -0.00699044] [ 0. 0. 0. 1. ]] SLAMing on 55.741346183999994 meters Centerline goodness : 0.931937 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.95343186 -0.26506105 -0.14391082 3.48554594] [ 0.27308457 0.96120568 0.0388389 0.28060465] [ 0.12803322 -0.07633007 0.9888282 -0.00790669] [ 0. 0. 0. 1. ]] SLAMing on 55.801346183999996 meters Centerline goodness : 0.934052 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95392261 -0.26233458 -0.14564419 3.48494771] [ 0.2709762 0.96163841 0.04270213 0.28205358] [ 0.1288548 -0.08020063 0.98841504 -0.00531877] [ 0. 0. 0. 1. ]] SLAMing on 55.861346184 meters Centerline goodness : 0.930310 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95469091 -0.26022998 -0.14438012 3.48340986] [ 0.2686397 0.96233178 0.04183612 0.28318713] [ 0.12805457 -0.07872679 0.98863751 -0.00740468] [ 0. 0. 0. 1. ]] SLAMing on 55.921346183999994 meters Centerline goodness : 0.934366 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95487311 -0.26061733 -0.14246383 3.48415151] [ 0.26849207 0.96249893 0.03883064 0.28043197] [ 0.12700135 -0.07532874 0.98903804 -0.01098022] [ 0. 0. 0. 1. ]] SLAMing on 55.981346183999996 meters Centerline goodness : 0.933549 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95500321 -0.25867652 -0.14510451 3.48419465] [ 0.2673908 0.962591 0.04382623 0.28090852] [ 0.12833948 -0.0806538 0.98844521 -0.00644562] [ 0. 0. 0. 1. ]] SLAMing on 56.041346184 meters Centerline goodness : 0.937410 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95486598 -0.25883614 -0.14572169 3.48467495] [ 0.2675818 0.96254514 0.04366741 0.28228213] [ 0.12896099 -0.080689 0.98836145 -0.00566615] [ 0. 0. 0. 1. ]] SLAMing on 56.101346184 meters Centerline goodness : 0.938085 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.95496168 -0.26022107 -0.1425945 3.48523317] [ 0.26798958 0.96267401 0.03795182 0.28148233] [ 0.12739615 -0.07445638 0.98905332 -0.01184143] [ 0. 0. 0. 1. ]] SLAMing on 56.161346183999996 meters Centerline goodness : 0.936658 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.95464085 -0.26119806 -0.14295599 3.48540847] [ 0.26895717 0.96241774 0.03760496 0.28189899] [ 0.12776104 -0.07434827 0.98901438 -0.01084155] [ 0. 0. 0. 1. ]] SLAMing on 56.221346184 meters Centerline goodness : 0.936096 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95469156 -0.26102458 -0.14293426 3.48162764] [ 0.26888974 0.96240317 0.03845043 0.28275768] [ 0.12752388 -0.07514186 0.98898502 -0.00679343] [ 0. 0. 0. 1. ]] SLAMing on 56.281346184 meters Centerline goodness : 0.937976 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95498567 -0.25998587 -0.14286255 3.48187003] [ 0.26791795 0.96264892 0.03907733 0.28091736] [ 0.12736693 -0.07559373 0.98897081 -0.00719406] [ 0. 0. 0. 1. ]] SLAMing on 56.341346183999995 meters Centerline goodness : 0.944339 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95426281 -0.26318426 -0.14183276 3.48132584] [ 0.27072552 0.96196652 0.03644324 0.27965682] [ 0.12684708 -0.07317417 0.98921957 -0.00660597] [ 0. 0. 0. 1. ]] SLAMing on 56.401346184 meters Centerline goodness : 0.943198 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-0.01 [[ 0.95366681 -0.26436767 -0.1436292 3.4831776 ] [ 0.27213197 0.96154641 0.03704985 0.28285441] [ 0.12831136 -0.07441931 0.98893779 -0.00512671] [ 0. 0. 0. 1. ]] SLAMing on 56.461346184 meters Centerline goodness : 0.940130 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.95342666 -0.26500153 -0.1440548 3.48534619] [ 0.27275778 0.96138253 0.03669918 0.28264242] [ 0.12876643 -0.07428204 0.98888897 -0.00615808] [ 0. 0. 0. 1. ]] SLAMing on 56.521346183999995 meters Centerline goodness : 0.936609 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.9521982 -0.27011821 -0.14267002 3.48688672] [ 0.2771822 0.96029015 0.03182551 0.28141803] [ 0.12840796 -0.06984978 0.98925851 -0.00776193] [ 0. 0. 0. 1. ]] SLAMing on 56.581346184 meters Centerline goodness : 0.942085 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.00 [[ 9.51658462e-01 -2.69671115e-01 -1.47049859e-01 3.48990807e+00] [ 2.77776428e-01 9.59921256e-01 3.73019896e-02 2.83795351e-01] [ 1.31097016e-01 -7.63457386e-02 9.88425465e-01 -2.82453881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641346184 meters Centerline goodness : 0.941175 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.00 [[ 9.52278829e-01 -2.67471405e-01 -1.47051278e-01 3.48812408e+00] [ 2.75734026e-01 9.60457372e-01 3.86313725e-02 2.83917809e-01] [ 1.30903697e-01 -7.73348791e-02 9.88374190e-01 -1.69169743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701346183999995 meters Centerline goodness : 0.941157 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.01 [[ 0.953279 -0.26416651 -0.14654418 3.48990848] [ 0.27232858 0.96143831 0.03838646 0.28392977] [ 0.13075278 -0.07650117 0.98845904 -0.00617175] [ 0. 0. 0. 1. ]] SLAMing on 56.761346184 meters Centerline goodness : 0.934754 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-0.00 [[ 0.95294056 -0.26509547 -0.14706696 3.48935401] [ 0.27316379 0.96124361 0.03731315 0.28761462] [ 0.13147562 -0.07573058 0.9884225 -0.00486707] [ 0. 0. 0. 1. ]] SLAMing on 56.821346184 meters Centerline goodness : 0.937799 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-0.01 [[ 0.95361886 -0.26109499 -0.14980143 3.49406659] [ 0.26983258 0.96203603 0.04095184 0.29099089] [ 0.13342206 -0.07947375 0.98786764 -0.00723288] [ 0. 0. 0. 1. ]] SLAMing on 56.881346183999995 meters Centerline goodness : 0.935154 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-0.01 [[ 0.9542745 -0.25971931 -0.14800693 3.49247164] [ 0.26809709 0.96258452 0.03943348 0.28942611] [ 0.13222754 -0.07731059 0.98819985 -0.00929384] [ 0. 0. 0. 1. ]] SLAMing on 56.941346184 meters Centerline goodness : 0.940663 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-0.01 [[ 0.95467976 -0.25674773 -0.15055616 3.49583407] [ 0.2659579 0.96296766 0.04426829 0.2885038 ] [ 0.13361493 -0.08230364 0.98760982 -0.0088288 ] [ 0. 0. 0. 1. ]] SLAMing on 57.001346184 meters Centerline goodness : 0.937158 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-0.01 [[ 0.95420296 -0.25822906 -0.1510446 3.49497639] [ 0.2675216 0.96252479 0.04447712 0.28855558] [ 0.13389888 -0.08284789 0.98752586 -0.00618557] [ 0. 0. 0. 1. ]] SLAMing on 57.061346183999994 meters Centerline goodness : 0.936543 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-0.01 [[ 0.95359799 -0.259822 -0.15212954 3.49876889] [ 0.26921393 0.96205511 0.04442775 0.28790108] [ 0.1348137 -0.08332161 0.98736152 -0.00710955] [ 0. 0. 0. 1. ]] SLAMing on 57.121346184 meters Centerline goodness : 0.938224 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-0.01 [[ 0.95267618 -0.26416668 -0.15041296 3.4973076 ] [ 0.27292476 0.96118106 0.04053449 0.28587447] [ 0.13386623 -0.07966767 0.98779193 -0.00622913] [ 0. 0. 0. 1. ]] SLAMing on 57.181346184 meters Centerline goodness : 0.940625 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.52345174e-01 -2.65241780e-01 -1.50616953e-01 3.49555761e+00] [ 2.74128826e-01 9.60806076e-01 4.12924975e-02 2.83663136e-01] [ 1.33761189e-01 -8.06131594e-02 9.87729448e-01 -2.58984244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241346183999994 meters Centerline goodness : 0.938024 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:0.00 [[ 9.52592516e-01 -2.63346015e-01 -1.52369205e-01 3.49508530e+00] [ 2.72823365e-01 9.61026319e-01 4.46746743e-02 2.84974811e-01] [ 1.34665919e-01 -8.41266397e-02 9.87313425e-01 2.94325553e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301346183999996 meters Centerline goodness : 0.939274 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.52351270e-01 -2.65256913e-01 -1.50551746e-01 3.49525602e+00] [ 2.74041442e-01 9.60861599e-01 4.05743118e-02 2.84497250e-01] [ 1.33896775e-01 -7.98984150e-02 9.87769152e-01 -2.28582231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361346184 meters Centerline goodness : 0.940067 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.52491574e-01 -2.64284659e-01 -1.51371797e-01 3.49767738e+00] [ 2.73251169e-01 9.61047882e-01 4.14821299e-02 2.83430618e-01] [ 1.34512454e-01 -8.08738996e-02 9.87606102e-01 -3.12406587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421346183999994 meters Centerline goodness : 0.937989 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-0.00 [[ 9.52548488e-01 -2.62617130e-01 -1.53894836e-01 3.49948933e+00] [ 2.72258781e-01 9.61173096e-01 4.49603790e-02 2.85730789e-01] [ 1.36112211e-01 -8.47261615e-02 9.87063799e-01 -1.16598630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481346183999996 meters Centerline goodness : 0.940025 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.53636002e-01 -2.59444250e-01 -1.52535425e-01 3.49808275e+00] [ 2.68948386e-01 9.62101872e-01 4.50194713e-02 2.84531817e-01] [ 1.35074575e-01 -8.39563449e-02 9.87272096e-01 -3.43956514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541346184 meters Centerline goodness : 0.939449 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 0.95422263 -0.25806731 -0.1511967 3.49659433] [ 0.26727881 0.96262346 0.04379616 0.28371126] [ 0.13424314 -0.08220296 0.98753301 -0.00487199] [ 0. 0. 0. 1. ]] SLAMing on 57.60134618399999 meters Centerline goodness : 0.943757 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.54166605e-01 -2.56641288e-01 -1.53952390e-01 3.49932955e+00] [ 2.66776070e-01 9.62517576e-01 4.88921722e-02 2.82595680e-01] [ 1.35634132e-01 -8.77220917e-02 9.86867882e-01 -2.50084062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661346183999996 meters Centerline goodness : 0.939957 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.53023537e-01 -2.61531901e-01 -1.52797914e-01 3.49756005e+00] [ 2.71058679e-01 9.61515770e-01 4.48844768e-02 2.82887092e-01] [ 1.35178882e-01 -8.41931637e-02 9.87237652e-01 -3.54421612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721346184 meters Centerline goodness : 0.940271 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.52568808e-01 -2.63685549e-01 -1.51929583e-01 3.50027920e+00] [ 2.72786610e-01 9.61149976e-01 4.21685914e-02 2.80470206e-01] [ 1.34907866e-01 -8.16128406e-02 9.87491373e-01 -3.25514306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781346184 meters Centerline goodness : 0.938458 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:0.00 [[ 9.52145484e-01 -2.65022835e-01 -1.52255951e-01 3.49861416e+00] [ 2.74244008e-01 9.60709043e-01 4.27593133e-02 2.80222708e-01] [ 1.34941475e-01 -8.24683694e-02 9.87415701e-01 1.50236144e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841346183999995 meters Centerline goodness : 0.939860 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:0.00 [[ 9.52449827e-01 -2.63884187e-01 -1.52330112e-01 3.49773335e+00] [ 2.73201668e-01 9.60973054e-01 4.34929652e-02 2.80723817e-01] [ 1.34908027e-01 -8.30417079e-02 9.87372219e-01 7.54625890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901346184 meters Centerline goodness : 0.940138 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 9.53266936e-01 -2.61335187e-01 -1.51611575e-01 3.49816447e+00] [ 2.70588354e-01 9.61705801e-01 4.36336435e-02 2.79858172e-01] [ 1.34402725e-01 -8.26188361e-02 9.87476600e-01 -2.19733599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961346184 meters Centerline goodness : 0.938755 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-0.00 [[ 0.9538409 -0.26016518 -0.15000538 3.49710753] [ 0.26900712 0.96223669 0.04166192 0.27928493] [ 0.1335017 -0.08009136 0.987807 -0.00468466] [ 0. 0. 0. 1. ]] SLAMing on 58.021346183999995 meters Centerline goodness : 0.940683 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-0.00 [[ 9.56569385e-01 -2.49319441e-01 -1.51045784e-01 3.49272180e+00] [ 2.59073440e-01 9.64641803e-01 4.84473374e-02 2.82771585e-01] [ 1.33626214e-01 -8.54751905e-02 9.87338861e-01 -3.37324197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081346184 meters Centerline goodness : 0.934159 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-0.01 [[ 0.95943263 -0.24552405 -0.13858919 3.49166277] [ 0.25435122 0.96583014 0.04977543 0.29130958] [ 0.12163255 -0.0830065 0.9890983 -0.00774063] [ 0. 0. 0. 1. ]] SLAMing on 58.141346184 meters Centerline goodness : 0.932527 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-0.01 [[ 0.96147858 -0.24017234 -0.13370189 3.48622881] [ 0.24795953 0.96773586 0.04475917 0.29217069] [ 0.1186382 -0.07618764 0.99001031 -0.01419187] [ 0. 0. 0. 1. ]] SLAMing on 58.201346183999995 meters Centerline goodness : 0.935837 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.30, Z:-0.01 [[ 0.96207788 -0.23690537 -0.13521093 3.48548162] [ 0.24516192 0.96830082 0.04784519 0.29581439] [ 0.11959007 -0.07917937 0.98966097 -0.01243388] [ 0. 0. 0. 1. ]] SLAMing on 58.261346184 meters Centerline goodness : 0.928526 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.30, Z:-0.01 [[ 0.96250002 -0.23463334 -0.13616499 3.48466346] [ 0.24333134 0.96860328 0.05096613 0.2964774 ] [ 0.11993151 -0.08218811 0.98937432 -0.01076064] [ 0. 0. 0. 1. ]] SLAMing on 58.321346184 meters Centerline goodness : 0.932487 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.30, Z:-0.01 [[ 0.96185982 -0.23830924 -0.13429219 3.48478058] [ 0.24624709 0.96812756 0.04573192 0.29686632] [ 0.11911363 -0.07705675 0.98988595 -0.01330282] [ 0. 0. 0. 1. ]] SLAMing on 58.381346183999995 meters Centerline goodness : 0.925988 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.30, Z:-0.02 [[ 0.96088694 -0.24497387 -0.12916693 3.49398986] [ 0.25334057 0.96594328 0.05265115 0.30338085] [ 0.11186977 -0.08331503 0.9902241 -0.01590667] [ 0. 0. 0. 1. ]] SLAMing on 58.441346184 meters Centerline goodness : 0.929720 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.30, Z:-0.01 [[ 0.96051684 -0.24579077 -0.13036216 3.49583659] [ 0.25439644 0.96560126 0.05382071 0.30303497] [ 0.11264923 -0.08485937 0.99000456 -0.01477616] [ 0. 0. 0. 1. ]] SLAMing on 58.501346184 meters Centerline goodness : 0.926832 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.30, Z:-0.01 [[ 0.96023898 -0.2473721 -0.12941463 3.49388968] [ 0.25568965 0.96536377 0.05191922 0.30331316] [ 0.11208883 -0.08294484 0.9902304 -0.01383459] [ 0. 0. 0. 1. ]] SLAMing on 58.561346183999994 meters Centerline goodness : 0.925271 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.31, Z:-0.01 [[ 0.96034288 -0.24624564 -0.13078466 3.49601072] [ 0.25473592 0.96558601 0.05247162 0.30706207] [ 0.11336293 -0.0837063 0.99002126 -0.01469576] [ 0. 0. 0. 1. ]] SLAMing on 58.621346184 meters Centerline goodness : 0.925164 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:-0.02 [[ 0.9608302 -0.24479112 -0.12993319 3.49358518] [ 0.25296533 0.96616154 0.05040256 0.31148427] [ 0.11319835 -0.08129689 0.99024085 -0.01536032] [ 0. 0. 0. 1. ]] SLAMing on 58.681346184 meters Centerline goodness : 0.927254 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:-0.02 [[ 0.96158241 -0.24079651 -0.13181922 3.49455799] [ 0.24947285 0.96689835 0.05358061 0.31493353] [ 0.11455376 -0.08440748 0.98982464 -0.01514617] [ 0. 0. 0. 1. ]] SLAMing on 58.741346183999994 meters Centerline goodness : 0.929058 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:-0.01 [[ 0.96194436 -0.23871275 -0.13296346 3.49313305] [ 0.24790939 0.9670871 0.05730158 0.31553794] [ 0.11490863 -0.08808382 0.98946311 -0.01238179] [ 0. 0. 0. 1. ]] SLAMing on 58.801346183999996 meters Centerline goodness : 0.928347 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.32, Z:-0.01 [[ 0.96124121 -0.24127299 -0.13342666 3.4952945 ] [ 0.25030412 0.96658048 0.05540776 0.31774899] [ 0.11559921 -0.08665746 0.98950862 -0.01337422] [ 0. 0. 0. 1. ]] SLAMing on 58.861346184 meters Centerline goodness : 0.922243 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.32, Z:-0.01 [[ 0.95964443 -0.24686804 -0.13468012 3.49795097] [ 0.25562698 0.96538171 0.05189422 0.32423267] [ 0.1172067 -0.08422787 0.98952931 -0.01305013] [ 0. 0. 0. 1. ]] SLAMing on 58.921346183999994 meters Centerline goodness : 0.923562 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.33, Z:-0.01 [[ 0.95892867 -0.24905085 -0.13575522 3.50009798] [ 0.25775583 0.96488636 0.05055929 0.32824705] [ 0.11839653 -0.08347446 0.9894515 -0.01328317] [ 0. 0. 0. 1. ]] SLAMing on 58.981346183999996 meters Centerline goodness : 0.924524 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.33, Z:-0.01 [[ 0.95854694 -0.24895276 -0.13860121 3.5000364 ] [ 0.2583904 0.96449743 0.05458127 0.33109567] [ 0.12009235 -0.08813193 0.98884306 -0.00810899] [ 0. 0. 0. 1. ]] SLAMing on 59.041346184 meters Centerline goodness : 0.920776 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.33, Z:-0.01 [[ 0.95809091 -0.2498752 -0.14008637 3.50074803] [ 0.25952873 0.96415627 0.05520438 0.33321445] [ 0.12127094 -0.08924725 0.98859915 -0.00590663] [ 0. 0. 0. 1. ]] SLAMing on 59.10134618399999 meters Centerline goodness : 0.915189 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:-0.01 [[ 0.95645994 -0.25561943 -0.14086552 3.50560727] [ 0.26459832 0.96311905 0.04888173 0.3420097 ] [ 0.12317514 -0.0840262 0.98882126 -0.00942058] [ 0. 0. 0. 1. ]] SLAMing on 59.161346183999996 meters Centerline goodness : 0.917814 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.35, Z:-0.01 [[ 0.95589982 -0.25367601 -0.14800002 3.5113603 ] [ 0.26403736 0.96295254 0.05483312 0.35320307] [ 0.12860715 -0.09149251 0.98746611 -0.00519098] [ 0. 0. 0. 1. ]] SLAMing on 59.221346184 meters Centerline goodness : 0.910637 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:-0.01 [[ 0.9566917 -0.24915603 -0.1505399 3.51286945] [ 0.26012974 0.9638352 0.05791565 0.35976678] [ 0.13066562 -0.09456732 0.98690603 -0.00525724] [ 0. 0. 0. 1. ]] SLAMing on 59.281346184 meters Centerline goodness : 0.913882 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.37, Z:-0.01 [[ 0.9571713 -0.24691709 -0.15117888 3.51235686] [ 0.25788658 0.96445983 0.05754785 0.36727311] [ 0.13159641 -0.09407015 0.98682987 -0.00642183] [ 0. 0. 0. 1. ]] SLAMing on 59.341346183999995 meters Centerline goodness : 0.908979 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.38, Z:-0.00 [[ 9.56760782e-01 -2.45593642e-01 -1.55860737e-01 3.51452935e+00] [ 2.57361801e-01 9.64442106e-01 6.01359152e-02 3.77292464e-01] [ 1.35549659e-01 -9.76482852e-02 9.85946805e-01 -2.12635856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401346184 meters Centerline goodness : 0.900908 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.39, Z:-0.00 [[ 9.56525955e-01 -2.45000780e-01 -1.58217304e-01 3.51576182e+00] [ 2.56878854e-01 9.64624442e-01 5.92700681e-02 3.88428544e-01] [ 1.38099066e-01 -9.73360381e-02 9.85623835e-01 -1.66122245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461346184 meters Centerline goodness : 0.902571 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.40, Z:0.00 [[ 9.55921190e-01 -2.49089596e-01 -1.55463990e-01 3.51127765e+00] [ 2.59478922e-01 9.64441593e-01 5.02304929e-02 4.04583706e-01] [ 1.37424045e-01 -8.83560212e-02 9.86563655e-01 2.61254637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521346183999995 meters Centerline goodness : 0.896237 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.41, Z:0.00 [[ 9.55555238e-01 -2.50506309e-01 -1.55437368e-01 3.51033695e+00] [ 2.60502156e-01 9.64312106e-01 4.73369695e-02 4.14600610e-01] [ 1.38031926e-01 -8.57248588e-02 9.86710918e-01 2.83292936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581346184 meters Centerline goodness : 0.897631 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.43, Z:0.01 [[ 0.95646655 -0.24955649 -0.15130529 3.50141942] [ 0.25689734 0.9659489 0.03076493 0.42926582] [ 0.13847559 -0.06829555 0.98800821 0.00616527] [ 0. 0. 0. 1. ]] SLAMing on 59.641346184 meters Centerline goodness : 0.898412 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:0.01 [[ 0.9563131 -0.25117858 -0.14958133 3.49629186] [ 0.25765692 0.96590489 0.0253111 0.44110299] [ 0.13812374 -0.062746 0.9884254 0.01142862] [ 0. 0. 0. 1. ]] SLAMing on 59.701346183999995 meters Centerline goodness : 0.900199 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.46, Z:0.02 [[ 0.95672843 -0.25018571 -0.14858604 3.48810994] [ 0.25613918 0.96638795 0.0220692 0.45856944] [ 0.13807037 -0.05917293 0.98865319 0.01768286] [ 0. 0. 0. 1. ]] SLAMing on 59.761346184 meters Centerline goodness : 0.900116 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.47, Z:0.02 [[ 0.95768277 -0.24868322 -0.14491502 3.48004284] [ 0.25220911 0.96765295 0.00619171 0.47340826] [ 0.13868768 -0.04247858 0.98942473 0.02048354] [ 0. 0. 0. 1. ]] SLAMing on 59.821346184 meters Centerline goodness : 0.897184 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:0.02 [[ 0.95749868 -0.2496122 -0.1445338 3.47854968] [ 0.25287609 0.96748881 0.00436929 0.47853394] [ 0.13874421 -0.04073273 0.98949022 0.02138936] [ 0. 0. 0. 1. ]] SLAMing on 59.881346183999995 meters Centerline goodness : 0.904486 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.02 [[ 9.57884680e-01 -2.48663814e-01 -1.43607962e-01 3.47197738e+00] [ 2.51607473e-01 9.67826339e-01 2.42016324e-03 4.94216738e-01] [ 1.38385761e-01 -3.84510736e-02 9.89631697e-01 2.46571386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941346184 meters Centerline goodness : 0.907230 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:0.03 [[ 0.96102125 -0.23939201 -0.13830987 3.46923407] [ 0.24073849 0.9705636 -0.00716053 0.5061282 ] [ 0.1359527 -0.02641509 0.99036312 0.02704412] [ 0. 0. 0. 1. ]] SLAMing on 60.001346184 meters Centerline goodness : 0.904910 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.52, Z:0.03 [[ 0.96471012 -0.22581101 -0.13543918 3.46367867] [ 0.22608034 0.97401381 -0.01359313 0.51985917] [ 0.13498911 -0.01750671 0.99069241 0.03001903] [ 0. 0. 0. 1. ]] SLAMing on 60.061346183999994 meters Centerline goodness : 0.907411 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.53, Z:0.03 [[ 0.96556058 -0.22179935 -0.13600668 3.46325349] [ 0.22237858 0.97489705 -0.01111374 0.52553022] [ 0.13505753 -0.01951399 0.99064558 0.02992684] [ 0. 0. 0. 1. ]] SLAMing on 60.121346184 meters Centerline goodness : 0.908581 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.53, Z:0.03 [[ 0.9682538 -0.21372165 -0.12964429 3.45629505] [ 0.21396619 0.97676483 -0.01220427 0.53372162] [ 0.1292403 -0.01592266 0.99148546 0.02872143] [ 0. 0. 0. 1. ]] SLAMing on 60.181346184 meters Centerline goodness : 0.909203 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:0.03 [[ 0.96915784 -0.20886002 -0.13080742 3.45820331] [ 0.20956701 0.9777574 -0.00849275 0.53744572] [ 0.12967172 -0.0191821 0.99137142 0.02716439] [ 0. 0. 0. 1. ]] SLAMing on 60.241346183999994 meters Centerline goodness : 0.909859 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:0.03 [[ 0.97000408 -0.20469771 -0.13111418 3.45696666] [ 0.20571787 0.97859378 -0.00586304 0.54167633] [ 0.12950767 -0.02128536 0.99134994 0.02790061] [ 0. 0. 0. 1. ]] SLAMing on 60.301346183999996 meters Centerline goodness : 0.912995 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:0.03 [[ 0.97235729 -0.19907872 -0.12202034 3.44485134] [ 0.19931688 0.97988016 -0.01037582 0.54367335] [ 0.12163091 -0.01423171 0.99247336 0.0271525 ] [ 0. 0. 0. 1. ]] SLAMing on 60.361346184 meters Centerline goodness : 0.915465 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.55, Z:0.03 [[ 0.97231802 -0.19858385 -0.12313457 3.44718849] [ 0.19868424 0.97999504 -0.01158831 0.54785268] [ 0.12297252 -0.01319737 0.99232232 0.02895373] [ 0. 0. 0. 1. ]] SLAMing on 60.421346183999994 meters Centerline goodness : 0.913559 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.55, Z:0.03 [[ 0.97243881 -0.19750349 -0.12391581 3.45085002] [ 0.1976872 0.98020416 -0.01093508 0.54740147] [ 0.12362251 -0.01386287 0.99223248 0.02722649] [ 0. 0. 0. 1. ]] SLAMing on 60.481346183999996 meters Centerline goodness : 0.912196 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.55, Z:0.03 [[ 0.97244745 -0.19753329 -0.1238005 3.45051563] [ 0.19764724 0.98020594 -0.01148418 0.54789433] [ 0.1236185 -0.01330107 0.99224067 0.02810831] [ 0. 0. 0. 1. ]] SLAMing on 60.541346184 meters Centerline goodness : 0.916134 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.55, Z:0.03 [[ 0.97233177 -0.19836669 -0.1233758 3.44809973] [ 0.19835839 0.98005016 -0.01247521 0.54728195] [ 0.12338914 -0.01234258 0.9922816 0.03072883] [ 0. 0. 0. 1. ]] SLAMing on 60.60134618399999 meters Centerline goodness : 0.916258 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:0.03 [[ 0.97218619 -0.19915207 -0.12325776 3.44701798] [ 0.19915241 0.97988952 -0.01244388 0.54455845] [ 0.12325721 -0.01244931 0.99229667 0.03143439] [ 0. 0. 0. 1. ]] SLAMing on 60.661346183999996 meters Centerline goodness : 0.913557 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:0.03 [[ 0.97138066 -0.2034813 -0.12253556 3.44739295] [ 0.20305766 0.97903492 -0.01606894 0.54149057] [ 0.12323632 -0.00927273 0.99233403 0.03181276] [ 0. 0. 0. 1. ]] SLAMing on 60.721346184 meters Centerline goodness : 0.913045 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:0.04 [[ 9.70576758e-01 -2.07247719e-01 -1.22593393e-01 3.44922468e+00] [ 2.06020002e-01 9.78283335e-01 -2.27480763e-02 5.44795635e-01] [ 1.24645560e-01 -3.17793686e-03 9.92196243e-01 3.73994363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781346184 meters Centerline goodness : 0.917079 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.55, Z:0.04 [[ 9.70189901e-01 -2.09579163e-01 -1.21688665e-01 3.44263196e+00] [ 2.08067068e-01 9.77791248e-01 -2.51469904e-02 5.45095236e-01] [ 1.24256396e-01 -9.22047469e-04 9.92249715e-01 4.36054357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841346183999995 meters Centerline goodness : 0.917595 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:0.04 [[ 9.70141002e-01 -2.09900957e-01 -1.21523766e-01 3.44261798e+00] [ 2.08406682e-01 9.77722090e-01 -2.50233782e-02 5.42325355e-01] [ 1.24068901e-01 -1.05015955e-03 9.92273050e-01 4.35701838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901346184 meters Centerline goodness : 0.917320 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:0.04 [[ 9.69563969e-01 -2.12765939e-01 -1.21146045e-01 3.44618955e+00] [ 2.10907457e-01 9.77101706e-01 -2.81122755e-02 5.41847903e-01] [ 1.24353342e-01 1.70604513e-03 9.92236532e-01 4.15489713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961346184 meters Centerline goodness : 0.918674 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:0.04 [[ 9.70086033e-01 -2.10625805e-01 -1.20705673e-01 3.44070884e+00] [ 2.09148061e-01 9.77566183e-01 -2.49288341e-02 5.41185217e-01] [ 1.23248440e-01 -1.06224361e-03 9.92375279e-01 4.30224632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021346183999995 meters Centerline goodness : 0.919018 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:0.05 [[ 9.69925935e-01 -2.11599865e-01 -1.20287895e-01 3.43821218e+00] [ 2.09988007e-01 9.77356381e-01 -2.60680020e-02 5.42690685e-01] [ 1.23080128e-01 2.50158468e-05 9.92396736e-01 4.52728014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081346184 meters Centerline goodness : 0.918531 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.54, Z:0.04 [[ 0.97214487 -0.20606656 -0.11167327 3.43188173] [ 0.20420294 0.978528 -0.02800183 0.53954288] [ 0.11504567 0.00441783 0.99335038 0.03670751] [ 0. 0. 0. 1. ]] SLAMing on 61.141346184 meters Centerline goodness : 0.917057 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.54, Z:0.03 [[ 9.72989193e-01 -2.01536385e-01 -1.12583812e-01 3.43314871e+00] [ 2.00147095e-01 9.79480922e-01 -2.36275928e-02 5.39921369e-01] [ 1.15035516e-01 4.56069526e-04 9.93361275e-01 3.48369887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201346183999995 meters Centerline goodness : 0.915850 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.54, Z:0.03 [[ 0.97382574 -0.19710303 -0.11319815 3.43362916] [ 0.1962013 0.98037636 -0.01916353 0.53988865] [ 0.11475398 -0.00354768 0.99338761 0.03304662] [ 0. 0. 0. 1. ]] SLAMing on 61.261346184 meters Centerline goodness : 0.917993 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.54, Z:0.03 [[ 0.9745714 -0.19340545 -0.11315882 3.43142723] [ 0.19289059 0.98109647 -0.01558657 0.54096231] [ 0.11403424 -0.00663704 0.99345465 0.03296172] [ 0. 0. 0. 1. ]] SLAMing on 61.321346184 meters Centerline goodness : 0.919079 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.55, Z:0.04 [[ 0.97459177 -0.19341256 -0.11297104 3.43074236] [ 0.19255972 0.98111052 -0.01851782 0.54564293] [ 0.11441865 -0.00370636 0.99342571 0.03777403] [ 0. 0. 0. 1. ]] SLAMing on 61.381346183999995 meters Centerline goodness : 0.919097 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.55, Z:0.04 [[ 9.74643787e-01 -1.93340883e-01 -1.12644531e-01 3.43019108e+00] [ 1.92408802e-01 9.81127155e-01 -1.91926533e-02 5.48160084e-01] [ 1.14229333e-01 -2.96779898e-03 9.93449974e-01 3.82367107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441346184 meters Centerline goodness : 0.914888 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.55, Z:0.04 [[ 9.74635755e-01 -1.93096425e-01 -1.13132289e-01 3.43120740e+00] [ 1.92038979e-01 9.81177819e-01 -2.02760330e-02 5.51943763e-01] [ 1.14918122e-01 -1.96406262e-03 9.93373025e-01 3.94090296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501346184 meters Centerline goodness : 0.916059 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.55, Z:0.04 [[ 9.74672659e-01 -1.92818295e-01 -1.13288630e-01 3.43178478e+00] [ 1.91732486e-01 9.81232950e-01 -2.05073776e-02 5.53754063e-01] [ 1.15116734e-01 -1.73313043e-03 9.93350459e-01 3.94914558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561346183999994 meters Centerline goodness : 0.918192 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.74867152e-01 -1.91389782e-01 -1.14035024e-01 3.43556405e+00] [ 1.90277896e-01 9.81512874e-01 -2.06591313e-02 5.55357480e-01] [ 1.15880791e-01 -1.55843586e-03 9.93261906e-01 3.89851615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621346184 meters Centerline goodness : 0.913686 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.74963399e-01 -1.90590352e-01 -1.14549939e-01 3.43838645e+00] [ 1.89537085e-01 9.81667420e-01 -2.01188979e-02 5.56123862e-01] [ 1.16284411e-01 -2.09627233e-03 9.93213744e-01 3.70562941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681346184 meters Centerline goodness : 0.916475 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.74867206e-01 -1.91302835e-01 -1.14180368e-01 3.43634766e+00] [ 1.90042962e-01 9.81531007e-01 -2.19215709e-02 5.59191331e-01] [ 1.16265230e-01 -3.28554716e-04 9.93218147e-01 4.00315371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741346183999994 meters Centerline goodness : 0.920003 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.74815546e-01 -1.91663222e-01 -1.14016928e-01 3.43530431e+00] [ 1.90287441e-01 9.81460531e-01 -2.29328372e-02 5.61086588e-01] [ 1.16298496e-01 6.59296787e-04 9.93214088e-01 4.17138829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801346183999996 meters Centerline goodness : 0.918413 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.74918067e-01 -1.91052863e-01 -1.14164646e-01 3.43707050e+00] [ 1.89716179e-01 9.81579691e-01 -2.25628492e-02 5.61067469e-01] [ 1.16372394e-01 3.38048990e-04 9.93205594e-01 4.03246574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861346184 meters Centerline goodness : 0.913022 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.74997525e-01 -1.90227130e-01 -1.14862815e-01 3.43969807e+00] [ 1.88942286e-01 9.81740091e-01 -2.20727514e-02 5.62639816e-01] [ 1.16964266e-01 -1.81564827e-04 9.93136107e-01 3.87713601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921346183999994 meters Centerline goodness : 0.910432 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.75113211e-01 -1.89409102e-01 -1.15232018e-01 3.44240239e+00] [ 1.88210210e-01 9.81897828e-01 -2.12972374e-02 5.61821023e-01] [ 1.17179959e-01 -9.20624863e-04 9.93110271e-01 3.67365198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981346183999996 meters Centerline goodness : 0.908497 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.75097185e-01 -1.89856798e-01 -1.14629301e-01 3.44065424e+00] [ 1.88577395e-01 9.81811780e-01 -2.20044412e-02 5.62365996e-01] [ 1.16722090e-01 -1.60026155e-04 9.93164603e-01 3.78321596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041346184 meters Centerline goodness : 0.907868 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.75072529e-01 -1.90250708e-01 -1.14185078e-01 3.43920067e+00] [ 1.88965516e-01 9.81735537e-01 -2.20764239e-02 5.61734008e-01] [ 1.16299604e-01 -5.09276406e-05 9.93214176e-01 3.81947669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10134618399999 meters Centerline goodness : 0.906495 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.75066608e-01 -1.90342595e-01 -1.14082456e-01 3.43952834e+00] [ 1.89075630e-01 9.81717709e-01 -2.19259179e-02 5.60741538e-01] [ 1.16170203e-01 -1.90981807e-04 9.93229303e-01 3.76377839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161346183999996 meters Centerline goodness : 0.904903 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.56, Z:0.04 [[ 9.74421119e-01 -1.93625910e-01 -1.14072304e-01 3.44290979e+00] [ 1.92116500e-01 9.81074042e-01 -2.41862354e-02 5.57792435e-01] [ 1.16596459e-01 1.65240669e-03 9.93177998e-01 3.50087486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221346184 meters Centerline goodness : 0.904107 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.56, Z:0.03 [[ 0.97375753 -0.19661292 -0.11462826 3.44735368] [ 0.19475223 0.98047184 -0.02732295 0.55705575] [ 0.11776182 0.00428182 0.99303264 0.03398736] [ 0. 0. 0. 1. ]] SLAMing on 62.281346184 meters Centerline goodness : 0.902353 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.56, Z:0.03 [[ 0.97312985 -0.19895608 -0.11590846 3.45363175] [ 0.19677957 0.97998732 -0.03004409 0.55577705] [ 0.11956627 0.00642838 0.99280541 0.03302356] [ 0. 0. 0. 1. ]] SLAMing on 62.341346183999995 meters Centerline goodness : 0.903438 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.55, Z:0.03 [[ 0.97326507 -0.19768439 -0.11694433 3.45819561] [ 0.19578188 0.98025748 -0.02765366 0.54873714] [ 0.12010226 0.00401876 0.99275339 0.02987712] [ 0. 0. 0. 1. ]] SLAMing on 62.401346184 meters Centerline goodness : 0.896201 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:0.03 [[ 9.73433719e-01 -1.96189295e-01 -1.18053190e-01 3.46294649e+00] [ 1.94481793e-01 9.80563390e-01 -2.59281860e-02 5.44717531e-01] [ 1.20845468e-01 2.28017444e-03 9.92668713e-01 2.75282684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461346184 meters Centerline goodness : 0.896895 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.54, Z:0.03 [[ 0.97286602 -0.19851714 -0.11883879 3.46765594] [ 0.19645273 0.98008553 -0.02896011 0.54185669] [ 0.12222125 0.0048281 0.99249114 0.02824299] [ 0. 0. 0. 1. ]] SLAMing on 62.521346183999995 meters Centerline goodness : 0.895103 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.54, Z:0.03 [[ 0.97287827 -0.19793671 -0.11970352 3.47008833] [ 0.19600005 0.98020803 -0.02786017 0.53712202] [ 0.1228489 0.00364266 0.9924187 0.02788343] [ 0. 0. 0. 1. ]] SLAMing on 62.581346184 meters Centerline goodness : 0.894050 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.53, Z:0.02 [[ 0.97151856 -0.20392576 -0.12068961 3.47895945] [ 0.20146144 0.97896007 -0.03241082 0.52833607] [ 0.12475971 0.00717341 0.99216105 0.02458944] [ 0. 0. 0. 1. ]] SLAMing on 62.641346184 meters Centerline goodness : 0.891929 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.52, Z:0.03 [[ 0.97062372 -0.20802529 -0.12089279 3.4799578 ] [ 0.20526231 0.97808045 -0.03501448 0.52129333] [ 0.12552677 0.00917115 0.99204784 0.0260425 ] [ 0. 0. 0. 1. ]] SLAMing on 62.701346183999995 meters Centerline goodness : 0.885956 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.51, Z:0.03 [[ 0.96972868 -0.21230667 -0.12063234 3.48170534] [ 0.20918812 0.9771329 -0.03810012 0.5127277 ] [ 0.12596274 0.01171193 0.99196584 0.02694831] [ 0. 0. 0. 1. ]] SLAMing on 62.761346184 meters Centerline goodness : 0.883340 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.49, Z:0.02 [[ 0.96838918 -0.21902148 -0.11938171 3.46445421] [ 0.21530915 0.97558485 -0.04331471 0.49226143] [ 0.12595384 0.01624152 0.99190314 0.02048671] [ 0. 0. 0. 1. ]] SLAMing on 62.821346184 meters Centerline goodness : 0.885410 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:0.02 [[ 0.96689083 -0.22541114 -0.11963253 3.46863625] [ 0.22118098 0.97406521 -0.04770686 0.48066787] [ 0.12728355 0.01966689 0.99167137 0.02106534] [ 0. 0. 0. 1. ]] SLAMing on 62.881346183999995 meters Centerline goodness : 0.886069 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.47, Z:0.02 [[ 0.96620238 -0.22792303 -0.12043275 3.47382793] [ 0.22360557 0.973477 -0.04840543 0.47197209] [ 0.12827122 0.01984001 0.99154065 0.01884145] [ 0. 0. 0. 1. ]] SLAMing on 62.941346184 meters Centerline goodness : 0.885546 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.46, Z:0.02 [[ 0.96534849 -0.23086937 -0.12166196 3.47944558] [ 0.22645938 0.97278234 -0.04909853 0.45738825] [ 0.12968596 0.0198457 0.9913565 0.01822764] [ 0. 0. 0. 1. ]] SLAMing on 63.001346184 meters Centerline goodness : 0.884992 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.45, Z:0.02 [[ 0.96422413 -0.23476344 -0.12311768 3.49173103] [ 0.2297655 0.97177247 -0.05353582 0.4502649 ] [ 0.13221062 0.02333233 0.990947 0.01537499] [ 0. 0. 0. 1. ]] SLAMing on 63.061346183999994 meters Centerline goodness : 0.884343 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.44, Z:0.02 [[ 0.96389621 -0.23773435 -0.11994361 3.48920894] [ 0.23226577 0.97092839 -0.05788497 0.44142147] [ 0.1302179 0.0279363 0.99109175 0.01541123] [ 0. 0. 0. 1. ]] SLAMing on 63.121346184 meters Centerline goodness : 0.885658 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.43, Z:0.02 [[ 0.96383592 -0.23809354 -0.11971539 3.48872399] [ 0.23273978 0.97086263 -0.05707838 0.43378813] [ 0.12981719 0.02715166 0.99116612 0.01730586] [ 0. 0. 0. 1. ]] SLAMing on 63.181346184 meters Centerline goodness : 0.889367 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:0.02 [[ 0.96328291 -0.23513027 -0.12961402 3.48629097] [ 0.22979753 0.97168973 -0.05488317 0.4115514 ] [ 0.1388493 0.02308304 0.99004447 0.01903915] [ 0. 0. 0. 1. ]] SLAMing on 63.241346183999994 meters Centerline goodness : 0.895599 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:0.02 [[ 0.96178827 -0.24115418 -0.12964561 3.48550783] [ 0.23615203 0.97027535 -0.05289573 0.39763814] [ 0.13854797 0.02025842 0.9901485 0.02444763] [ 0. 0. 0. 1. ]] SLAMing on 63.301346183999996 meters Centerline goodness : 0.897342 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.39, Z:0.02 [[ 0.96011579 -0.248485 -0.12819078 3.48786807] [ 0.24302429 0.96835202 -0.05686442 0.39006612] [ 0.13826375 0.02344295 0.99011795 0.0233651 ] [ 0. 0. 0. 1. ]] SLAMing on 63.361346184 meters Centerline goodness : 0.899054 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.37, Z:0.03 [[ 0.95824887 -0.25102016 -0.13692328 3.48320461] [ 0.24501372 0.96770051 -0.05936329 0.37289889] [ 0.14740211 0.02333672 0.9888013 0.02603945] [ 0. 0. 0. 1. ]] SLAMing on 63.421346183999994 meters Centerline goodness : 0.906461 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.37, Z:0.03 [[ 0.95815305 -0.25128897 -0.13710062 3.48265263] [ 0.24572059 0.96769793 -0.05641026 0.36563591] [ 0.14684727 0.02036121 0.9889496 0.0282535 ] [ 0. 0. 0. 1. ]] SLAMing on 63.481346183999996 meters Centerline goodness : 0.910385 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.36, Z:0.03 [[ 0.95894278 -0.24857167 -0.13653155 3.4834318 ] [ 0.24352076 0.96845753 -0.05279828 0.35653918] [ 0.14534917 0.01738226 0.98922772 0.02637745] [ 0. 0. 0. 1. ]] SLAMing on 63.541346184 meters Centerline goodness : 0.910647 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.35, Z:0.03 [[ 0.96053266 -0.24318316 -0.13505166 3.47929582] [ 0.23856435 0.96985712 -0.0496408 0.34976358] [ 0.14305263 0.0154631 0.98959428 0.02663685] [ 0. 0. 0. 1. ]] SLAMing on 63.60134618399999 meters Centerline goodness : 0.912834 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.35, Z:0.03 [[ 0.96140116 -0.2402562 -0.13410729 3.47784252] [ 0.23580916 0.97059572 -0.04835264 0.34656508] [ 0.14178099 0.01486256 0.98978647 0.02561077] [ 0. 0. 0. 1. ]] SLAMing on 63.661346183999996 meters Centerline goodness : 0.914434 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.35, Z:0.02 [[ 0.96212362 -0.24458623 -0.12039818 3.47911017] [ 0.2402796 0.96945097 -0.04930036 0.34976552] [ 0.12877832 0.01850381 0.99150076 0.0207918 ] [ 0. 0. 0. 1. ]] SLAMing on 63.721346184 meters Centerline goodness : 0.912914 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.35, Z:0.02 [[ 0.96323597 -0.24105533 -0.1186119 3.47743236] [ 0.23678157 0.97032113 -0.04910601 0.34560657] [ 0.1269289 0.01921557 0.99172568 0.01802143] [ 0. 0. 0. 1. ]] SLAMing on 63.781346184 meters Centerline goodness : 0.912656 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.34, Z:0.02 [[ 0.96429839 -0.23631505 -0.1195149 3.47963492] [ 0.23253628 0.97155377 -0.04483478 0.34353591] [ 0.12671029 0.01544255 0.99181956 0.01578723] [ 0. 0. 0. 1. ]] SLAMing on 63.841346183999995 meters Centerline goodness : 0.914338 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.34, Z:0.01 [[ 0.96589323 -0.23033074 -0.11831319 3.47715768] [ 0.22680484 0.97300666 -0.04263331 0.34046882] [ 0.12493928 0.01434522 0.99206068 0.01385914] [ 0. 0. 0. 1. ]] SLAMing on 63.901346184 meters Centerline goodness : 0.916319 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.34, Z:0.01 [[ 0.96584206 -0.22944316 -0.12043649 3.48096418] [ 0.22636374 0.97326805 -0.03884268 0.34046605] [ 0.12612917 0.01025344 0.99196084 0.01377022] [ 0. 0. 0. 1. ]] SLAMing on 63.961346184 meters Centerline goodness : 0.912713 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.34, Z:0.01 [[ 0.96536693 -0.23136565 -0.1205679 3.48381116] [ 0.22824341 0.97281122 -0.03928455 0.33901533] [ 0.1263789 0.01040517 0.99192747 0.01210409] [ 0. 0. 0. 1. ]] SLAMing on 64.021346184 meters Centerline goodness : 0.917158 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:0.02 [[ 0.96338859 -0.23858357 -0.12231236 3.48730867] [ 0.23545478 0.97107657 -0.03964003 0.33665558] [ 0.12823213 0.00938972 0.99169973 0.01552442] [ 0. 0. 0. 1. ]] SLAMing on 64.081346184 meters Centerline goodness : 0.913163 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.34, Z:0.02 [[ 9.60688142e-01 -2.44528159e-01 -1.31469667e-01 3.50342763e+00] [ 2.42538671e-01 9.69640282e-01 -3.11883916e-02 3.37890780e-01] [ 1.35104725e-01 -1.92416032e-03 9.90829456e-01 1.57749513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141346184 meters Centerline goodness : 0.910397 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:0.02 [[ 9.57516043e-01 -2.55341125e-01 -1.34029613e-01 3.50895815e+00] [ 2.53049517e-01 9.66850267e-01 -3.41541080e-02 3.40218685e-01] [ 1.38307516e-01 -1.21302259e-03 9.90388590e-01 1.94921808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201346184 meters Centerline goodness : 0.907261 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:0.02 [[ 9.56924679e-01 -2.56970455e-01 -1.35134544e-01 3.51161591e+00] [ 2.54754557e-01 9.66416895e-01 -3.37416796e-02 3.40764566e-01] [ 1.39266921e-01 -2.13789489e-03 9.90252571e-01 1.96668356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26134618399999 meters Centerline goodness : 0.907429 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.35, Z:0.02 [[ 0.9571683 -0.25317579 -0.1404666 3.5144868 ] [ 0.25225706 0.96734734 -0.02460705 0.34572336] [ 0.1421099 -0.0118806 0.98977959 0.02464139] [ 0. 0. 0. 1. ]] SLAMing on 64.32134618399999 meters Centerline goodness : 0.902449 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.35, Z:0.02 [[ 0.95734687 -0.25129285 -0.14261444 3.51988884] [ 0.25048653 0.96782561 -0.02387665 0.35240111] [ 0.14402594 -0.01286476 0.98949029 0.0207439 ] [ 0. 0. 0. 1. ]] SLAMing on 64.381346184 meters Centerline goodness : 0.900424 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.35, Z:0.02 [[ 0.95697624 -0.25208554 -0.14369886 3.52465315] [ 0.25124782 0.96761899 -0.0242491 0.35453956] [ 0.14515859 -0.01289821 0.98932432 0.01791886] [ 0. 0. 0. 1. ]] SLAMing on 64.441346184 meters Centerline goodness : 0.903554 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.36, Z:0.02 [[ 0.95655925 -0.25141458 -0.14759777 3.52983706] [ 0.25133157 0.96770416 -0.01952198 0.35814449] [ 0.14773909 -0.01842205 0.98885479 0.01909556] [ 0. 0. 0. 1. ]] SLAMing on 64.501346184 meters Centerline goodness : 0.895508 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.36, Z:0.02 [[ 0.95642641 -0.2515697 -0.14819313 3.53324406] [ 0.25137579 0.96767565 -0.02034798 0.36126373] [ 0.14852182 -0.01779082 0.98874909 0.01618465] [ 0. 0. 0. 1. ]] SLAMing on 64.561346184 meters Centerline goodness : 0.899127 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.36, Z:0.02 [[ 0.95651528 -0.24982578 -0.150551 3.53625782] [ 0.25018019 0.96805192 -0.01689229 0.36409099] [ 0.14996131 -0.02150715 0.98845791 0.01638473] [ 0. 0. 0. 1. ]] SLAMing on 64.621346184 meters Centerline goodness : 0.896145 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.37, Z:0.01 [[ 0.95640647 -0.25154964 -0.14835578 3.54664969] [ 0.25344348 0.9673296 -0.00631206 0.3729659 ] [ 0.14509674 -0.03156291 0.98891391 0.01188674] [ 0. 0. 0. 1. ]] SLAMing on 64.68134618399999 meters Centerline goodness : 0.895007 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.37, Z:0.01 [[ 9.56741199e-01 -2.49518229e-01 -1.49622629e-01 3.54830636e+00] [ 2.51858217e-01 9.67758138e-01 -3.40967500e-03 3.74541113e-01] [ 1.45649293e-01 -3.44215120e-02 9.88737297e-01 1.14322618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741346184 meters Centerline goodness : 0.892491 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.38, Z:0.01 [[ 0.95605794 -0.25130167 -0.15099899 3.55170181] [ 0.25359051 0.96730245 -0.00422188 0.37881717] [ 0.14712266 -0.03425555 0.9885249 0.01053086] [ 0. 0. 0. 1. ]] SLAMing on 64.801346184 meters Centerline goodness : 0.892383 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.39, Z:0.01 [[ 0.95559032 -0.2520003 -0.15278411 3.55679751] [ 0.25423902 0.96712835 -0.00502861 0.38532293] [ 0.14902906 -0.03403839 0.9882468 0.00774722] [ 0. 0. 0. 1. ]] SLAMing on 64.861346184 meters Centerline goodness : 0.892507 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.39, Z:0.01 [[ 9.56088286e-01 -2.48047388e-01 -1.56101513e-01 3.56001955e+00] [ 2.51127895e-01 9.67953914e-01 1.28029925e-05 3.89671153e-01] [ 1.51095895e-01 -3.92136853e-02 9.87741017e-01 8.25611347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921346184 meters Centerline goodness : 0.893969 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.39, Z:0.01 [[ 9.56891460e-01 -2.44690249e-01 -1.56478164e-01 3.55878782e+00] [ 2.48023341e-01 9.68752318e-01 1.83521300e-03 3.92758113e-01] [ 1.51139525e-01 -4.05663366e-02 9.87679713e-01 8.20722391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981346184 meters Centerline goodness : 0.887966 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.40, Z:0.01 [[ 9.56557263e-01 -2.45228558e-01 -1.57674208e-01 3.56276398e+00] [ 2.48621543e-01 9.68598928e-01 1.85588076e-03 3.95344123e-01] [ 1.52267954e-01 -4.09764612e-02 9.87489443e-01 6.27685516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04134618399999 meters Centerline goodness : 0.889971 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.40, Z:0.01 [[ 9.55913083e-01 -2.46484860e-01 -1.59610121e-01 3.56635943e+00] [ 2.50085080e-01 9.68220492e-01 2.55564460e-03 3.97422356e-01] [ 1.53907862e-01 -4.23590839e-02 9.87176822e-01 6.40237548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101346184 meters Centerline goodness : 0.891447 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.40, Z:0.01 [[ 0.95648887 -0.24322514 -0.16115388 3.56604768] [ 0.24754779 0.9688504 0.00699911 0.39823634] [ 0.15443164 -0.04658786 0.98690447 0.00815339] [ 0. 0. 0. 1. ]] SLAMing on 65.161346184 meters Centerline goodness : 0.891270 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.40, Z:0.01 [[ 0.95609044 -0.2446418 -0.1613737 3.56597966] [ 0.24887434 0.96851568 0.00623993 0.39938019] [ 0.15476641 -0.04612771 0.98687365 0.00920284] [ 0. 0. 0. 1. ]] SLAMing on 65.221346184 meters Centerline goodness : 0.892212 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.40, Z:0.01 [[ 9.53783965e-01 -2.54085773e-01 -1.60426206e-01 3.56962520e+00] [ 2.57252456e-01 9.66343644e-01 -1.06531128e-03 3.99634472e-01] [ 1.55297525e-01 -4.02539588e-02 9.87047262e-01 7.81266909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281346184 meters Centerline goodness : 0.893311 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.40, Z:0.01 [[ 0.95225908 -0.2594502 -0.16089826 3.57298053] [ 0.26220242 0.96500349 -0.00426176 0.40058993] [ 0.15637309 -0.03812961 0.9869618 0.00760036] [ 0. 0. 0. 1. ]] SLAMing on 65.341346184 meters Centerline goodness : 0.892753 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.40, Z:0.01 [[ 9.51842908e-01 -2.59122111e-01 -1.63862168e-01 3.57338427e+00] [ 2.62671702e-01 9.64885266e-01 -5.55683949e-06 3.99796388e-01] [ 1.58109632e-01 -4.30366653e-02 9.86483244e-01 1.28042500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40134618399999 meters Centerline goodness : 0.893338 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.40, Z:0.01 [[ 9.52809737e-01 -2.55293643e-01 -1.64252126e-01 3.57498082e+00] [ 2.59291076e-01 9.65794542e-01 3.00668507e-03 3.98039020e-01] [ 1.57866219e-01 -4.54539092e-02 9.86413807e-01 1.08904689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46134618399999 meters Centerline goodness : 0.893780 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.01 [[ 0.95438562 -0.24912846 -0.16456946 3.57717454] [ 0.25381274 0.96722247 0.00773281 0.3943155 ] [ 0.15724882 -0.04914991 0.98633518 0.00735871] [ 0. 0. 0. 1. ]] SLAMing on 65.521346184 meters Centerline goodness : 0.896717 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.40, Z:0.01 [[ 0.95446441 -0.24854834 -0.16498915 3.5758938 ] [ 0.25328654 0.96735833 0.00798646 0.39606852] [ 0.15761861 -0.04941233 0.98626305 0.00917066] [ 0. 0. 0. 1. ]] SLAMing on 65.581346184 meters Centerline goodness : 0.898358 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.40, Z:0.01 [[ 0.95585161 -0.24075059 -0.16848397 3.57874303] [ 0.24698731 0.9688735 0.0167752 0.39658359] [ 0.15920102 -0.057648 0.98556164 0.00953809] [ 0. 0. 0. 1. ]] SLAMing on 65.641346184 meters Centerline goodness : 0.900181 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.40, Z:0.01 [[ 0.95596436 -0.24176027 -0.16638543 3.57877984] [ 0.24730496 0.96884865 0.01313586 0.39553777] [ 0.15802657 -0.05370535 0.98597329 0.00637037] [ 0. 0. 0. 1. ]] SLAMing on 65.701346184 meters Centerline goodness : 0.901174 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.40, Z:0.01 [[ 0.95638731 -0.24032423 -0.16603488 3.57693622] [ 0.24598796 0.96917001 0.01412186 0.39535755] [ 0.1575222 -0.05434855 0.98601876 0.00715134] [ 0. 0. 0. 1. ]] SLAMing on 65.76134618399999 meters Centerline goodness : 0.896914 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.40, Z:0.01 [[ 0.95617176 -0.24113221 -0.16610486 3.57741891] [ 0.24673888 0.96898554 0.01367283 0.39579199] [ 0.15765624 -0.0540581 0.9860133 0.00702837] [ 0. 0. 0. 1. ]] SLAMing on 65.82134618399999 meters Centerline goodness : 0.894612 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.00 [[ 9.56110150e-01 -2.43409750e-01 -1.63110621e-01 3.57635720e+00] [ 2.48055391e-01 9.68709171e-01 8.42998554e-03 3.94995140e-01] [ 1.55954814e-01 -4.85204637e-02 9.86571772e-01 3.52706557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881346184 meters Centerline goodness : 0.897730 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.01 [[ 0.95643725 -0.24081603 -0.16503157 3.57669261] [ 0.24633221 0.96909137 0.0135039 0.39300951] [ 0.15667871 -0.05356823 0.98619584 0.00620074] [ 0. 0. 0. 1. ]] SLAMing on 65.941346184 meters Centerline goodness : 0.893830 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.39, Z:0.01 [[ 0.95587645 -0.24367962 -0.16407454 3.57432965] [ 0.24887427 0.96846676 0.01156453 0.39076861] [ 0.1560827 -0.05188819 0.98638015 0.00885476] [ 0. 0. 0. 1. ]] SLAMing on 66.001346184 meters Centerline goodness : 0.893477 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.39, Z:0.01 [[ 0.95520708 -0.2470479 -0.16293181 3.57463899] [ 0.2516927 0.96777265 0.00817791 0.39028907] [ 0.15566062 -0.04882035 0.98660344 0.00806665] [ 0. 0. 0. 1. ]] SLAMing on 66.061346184 meters Centerline goodness : 0.891491 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.01 [[ 0.95508059 -0.2475651 -0.16288827 3.57691292] [ 0.25215601 0.9676551 0.00780709 0.38966333] [ 0.1556869 -0.04852965 0.98661363 0.00588928] [ 0. 0. 0. 1. ]] SLAMing on 66.121346184 meters Centerline goodness : 0.894392 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.01 [[ 0.95587913 -0.24407652 -0.16346788 3.57700598] [ 0.24911971 0.96841275 0.01077592 0.38961128] [ 0.15567423 -0.05102354 0.9864898 0.00547081] [ 0. 0. 0. 1. ]] SLAMing on 66.18134618399999 meters Centerline goodness : 0.888452 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.39, Z:0.01 [[ 0.95734244 -0.23889203 -0.16256091 3.57366088] [ 0.24427989 0.96960792 0.01370498 0.38786043] [ 0.15434633 -0.05283072 0.98660333 0.00537795] [ 0. 0. 0. 1. ]] SLAMing on 66.241346184 meters Centerline goodness : 0.889764 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.01 [[ 0.95757739 -0.23681167 -0.16421258 3.57513548] [ 0.24287495 0.96989813 0.01758916 0.38745736] [ 0.15510415 -0.0567261 0.98626814 0.00625133] [ 0. 0. 0. 1. ]] SLAMing on 66.301346184 meters Centerline goodness : 0.890574 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.01 [[ 0.95594963 -0.24218335 -0.16585394 3.57726648] [ 0.24808594 0.96861355 0.01552926 0.39165252] [ 0.15688745 -0.05599122 0.98602805 0.00850107] [ 0. 0. 0. 1. ]] SLAMing on 66.361346184 meters Centerline goodness : 0.886897 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:-0.00 [[ 9.54608935e-01 -2.47524779e-01 -1.65690271e-01 3.58441042e+00] [ 2.53310859e-01 9.67277599e-01 1.44102339e-02 3.86877507e-01] [ 1.56701597e-01 -5.57272829e-02 9.86072553e-01 -1.18115617e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421346184 meters Centerline goodness : 0.889126 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.39, Z:0.00 [[ 9.53725535e-01 -2.51445185e-01 -1.64872443e-01 3.58224633e+00] [ 2.56765425e-01 9.66406084e-01 1.14366375e-02 3.86913822e-01] [ 1.56458045e-01 -5.32409563e-02 9.86248590e-01 2.58191068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481346184 meters Centerline goodness : 0.886504 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.39, Z:0.00 [[ 9.55133695e-01 -2.47456684e-01 -1.62741559e-01 3.59025142e+00] [ 2.55237420e-01 9.66459956e-01 2.84431585e-02 3.91866158e-01] [ 1.50244751e-01 -6.87047548e-02 9.86258674e-01 2.89324482e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54134618399999 meters Centerline goodness : 0.883229 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.39, Z:-0.00 [[ 9.55917872e-01 -2.44222338e-01 -1.63022914e-01 3.59168818e+00] [ 2.52257947e-01 9.67187543e-01 3.02354867e-02 3.92002919e-01] [ 1.50289551e-01 -7.00264679e-02 9.86158884e-01 -1.89384273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601346184 meters Centerline goodness : 0.881229 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.39, Z:-0.00 [[ 9.55767150e-01 -2.46270048e-01 -1.60811126e-01 3.58938477e+00] [ 2.53516758e-01 9.66984420e-01 2.58918022e-02 3.93795487e-01] [ 1.49125478e-01 -6.55148493e-02 9.86645527e-01 -3.18360260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661346184 meters Centerline goodness : 0.880951 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.40, Z:-0.00 [[ 0.9552084 -0.2467129 -0.16343091 3.59399698] [ 0.25429891 0.96675113 0.02691335 0.39910404] [ 0.15135715 -0.06726816 0.98618761 -0.00412659] [ 0. 0. 0. 1. ]] SLAMing on 66.721346184 meters Centerline goodness : 0.880484 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.40, Z:-0.00 [[ 0.95501242 -0.24672305 -0.16455706 3.59630443] [ 0.25440112 0.9667217 0.02700402 0.40198018] [ 0.15241836 -0.06765268 0.98599785 -0.00480297] [ 0. 0. 0. 1. ]] SLAMing on 66.781346184 meters Centerline goodness : 0.881700 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.41, Z:-0.00 [[ 9.55058453e-01 -2.44739114e-01 -1.67230731e-01 3.59551269e+00] [ 2.53010919e-01 9.67005721e-01 2.97558566e-02 4.08281077e-01] [ 1.54430652e-01 -7.07297834e-02 9.85468656e-01 -8.72133719e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841346184 meters Centerline goodness : 0.879583 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.41, Z:-0.00 [[ 9.54840655e-01 -2.45806964e-01 -1.66907941e-01 3.59715312e+00] [ 2.53756071e-01 9.66869830e-01 2.77594629e-02 4.10850311e-01] [ 1.54554783e-01 -6.88597670e-02 9.85581631e-01 -3.46179876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90134618399999 meters Centerline goodness : 0.881129 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.41, Z:-0.00 [[ 9.53641072e-01 -2.51108129e-01 -1.65871675e-01 3.59567671e+00] [ 2.58219341e-01 9.65825705e-01 2.24383325e-02 4.14384346e-01] [ 1.54568680e-01 -6.42293900e-02 9.85892037e-01 -2.24321454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96134618399999 meters Centerline goodness : 0.875744 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:0.00 [[ 0.95342902 -0.24872675 -0.17061098 3.59583497] [ 0.25716673 0.96593376 0.0289352 0.41882386] [ 0.15760195 -0.07146313 0.98491352 0.00467843] [ 0. 0. 0. 1. ]] SLAMing on 67.021346184 meters Centerline goodness : 0.876245 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:0.00 [[ 9.52414049e-01 -2.52943266e-01 -1.70079933e-01 3.59994091e+00] [ 2.60726677e-01 9.65095993e-01 2.47249503e-02 4.19112227e-01] [ 1.57889452e-01 -6.78927658e-02 9.85120040e-01 1.41021050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081346184 meters Centerline goodness : 0.876078 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:0.00 [[ 9.51180523e-01 -2.57566997e-01 -1.70043684e-01 3.60155894e+00] [ 2.64691105e-01 9.64120614e-01 2.02499319e-02 4.22448541e-01] [ 1.58726907e-01 -6.42703916e-02 9.85228443e-01 1.26424638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141346184 meters Centerline goodness : 0.876629 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.43, Z:0.00 [[ 0.95094262 -0.25584838 -0.17392451 3.60421462] [ 0.26384668 0.96426258 0.02413711 0.42722359] [ 0.16153345 -0.06884241 0.98446314 0.004175 ] [ 0. 0. 0. 1. ]] SLAMing on 67.201346184 meters Centerline goodness : 0.876676 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.43, Z:0.00 [[ 0.95193026 -0.25661839 -0.16725959 3.59507628] [ 0.26342597 0.9644828 0.01948547 0.42812816] [ 0.15631867 -0.06260933 0.98572032 0.00484697] [ 0. 0. 0. 1. ]] SLAMing on 67.26134618399999 meters Centerline goodness : 0.873061 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:0.00 [[ 0.95255276 -0.25869803 -0.16037012 3.5856814 ] [ 0.26434391 0.96431864 0.01455499 0.42745916] [ 0.15088255 -0.05625726 0.98694963 0.00453002] [ 0. 0. 0. 1. ]] SLAMing on 67.32134618399999 meters Centerline goodness : 0.876024 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:0.00 [[ 0.95256683 -0.25838007 -0.16079853 3.58740435] [ 0.26404495 0.96440072 0.01454326 0.42812286] [ 0.15131653 -0.05631147 0.9868801 0.00391575] [ 0. 0. 0. 1. ]] SLAMing on 67.381346184 meters Centerline goodness : 0.878325 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.00 [[ 9.55207413e-01 -2.52691003e-01 -1.54032645e-01 3.58085739e+00] [ 2.57781575e-01 9.66106246e-01 1.36887535e-02 4.26391869e-01] [ 1.45352876e-01 -5.27823766e-02 9.87970932e-01 -2.23179788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441346184 meters Centerline goodness : 0.876053 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.00 [[ 9.55241960e-01 -2.52362200e-01 -1.54357111e-01 3.58183194e+00] [ 2.57430484e-01 9.66203291e-01 1.34442233e-02 4.27341614e-01] [ 1.45747534e-01 -5.25787119e-02 9.87923648e-01 -2.11463492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501346184 meters Centerline goodness : 0.875684 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.00 [[ 0.95710235 -0.24643081 -0.15240393 3.57879404] [ 0.25194907 0.96757833 0.01771566 0.42700909] [ 0.14309705 -0.05535373 0.9881595 -0.00421883] [ 0. 0. 0. 1. ]] SLAMing on 67.561346184 meters Centerline goodness : 0.874916 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.00 [[ 0.95807575 -0.24191327 -0.15352145 3.57873961] [ 0.24794696 0.96854246 0.02116121 0.42863919] [ 0.14357286 -0.05833922 0.98791871 -0.00369707] [ 0. 0. 0. 1. ]] SLAMing on 67.621346184 meters Centerline goodness : 0.872790 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:0.00 [[ 9.58812531e-01 -2.38281571e-01 -1.54597621e-01 3.57276888e+00] [ 2.42240831e-01 9.70190769e-01 7.01798383e-03 4.33586300e-01] [ 1.48316929e-01 -4.41787870e-02 9.87952592e-01 2.25467817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68134618399999 meters Centerline goodness : 0.879284 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:0.00 [[ 0.95938096 -0.23696396 -0.15308904 3.56930649] [ 0.24081503 0.97054685 0.00685049 0.43532959] [ 0.14695677 -0.04343837 0.98818865 0.00395358] [ 0. 0. 0. 1. ]] SLAMing on 67.741346184 meters Centerline goodness : 0.880730 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:0.00 [[ 0.9602877 -0.23257436 -0.15413206 3.5697594 ] [ 0.23694924 0.97146649 0.01038876 0.43530376] [ 0.14731797 -0.04649768 0.98799564 0.00414518] [ 0. 0. 0. 1. ]] SLAMing on 67.801346184 meters Centerline goodness : 0.869933 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:0.01 [[ 0.95953175 -0.23621387 -0.15330306 3.56863719] [ 0.24004053 0.97073987 0.00668152 0.43620433] [ 0.14723913 -0.04321008 0.98815663 0.00544566] [ 0. 0. 0. 1. ]] SLAMing on 67.861346184 meters Centerline goodness : 0.874579 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:0.01 [[ 0.95903823 -0.23753713 -0.15434307 3.56847907] [ 0.24171031 0.9703105 0.00858257 0.43370029] [ 0.14772203 -0.04553732 0.98798004 0.0085824 ] [ 0. 0. 0. 1. ]] SLAMing on 67.921346184 meters Centerline goodness : 0.873939 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:0.01 [[ 9.57389993e-01 -2.45575333e-01 -1.51977491e-01 3.56731150e+00] [ 2.48780945e-01 9.68557393e-01 2.14888536e-03 4.29557875e-01] [ 1.46671210e-01 -3.98664252e-02 9.88381619e-01 9.52299314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981346184 meters Centerline goodness : 0.878170 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:0.01 [[ 9.55956877e-01 -2.50289002e-01 -1.53303178e-01 3.56922738e+00] [ 2.53264753e-01 9.67396997e-01 -1.21635621e-04 4.30553275e-01] [ 1.48335478e-01 -3.87100131e-02 9.88179195e-01 1.23606415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04134618399999 meters Centerline goodness : 0.882537 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:0.01 [[ 0.9562154 -0.2478432 -0.15564656 3.57116839] [ 0.25159518 0.96782178 0.00456891 0.42863838] [ 0.14950576 -0.04352878 0.98780224 0.01416917] [ 0. 0. 0. 1. ]] SLAMing on 68.101346184 meters Centerline goodness : 0.881219 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:0.01 [[ 9.56376283e-01 -2.48399102e-01 -1.53760499e-01 3.57308849e+00] [ 2.51685881e-01 9.67806958e-01 1.97728210e-03 4.24624235e-01] [ 1.48319326e-01 -4.05903723e-02 9.88106168e-01 9.96031446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161346184 meters Centerline goodness : 0.888181 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:0.01 [[ 0.95691065 -0.24667561 -0.15320952 3.57270002] [ 0.25017677 0.9681931 0.00370206 0.42052329] [ 0.14742319 -0.04187201 0.98818679 0.00921325] [ 0. 0. 0. 1. ]] SLAMing on 68.221346184 meters Centerline goodness : 0.888936 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:0.01 [[ 0.95971014 -0.23306026 -0.15696927 3.57209276] [ 0.23846121 0.97101632 0.01623455 0.42200236] [ 0.1486361 -0.05301155 0.98747004 0.01138032] [ 0. 0. 0. 1. ]] SLAMing on 68.281346184 meters Centerline goodness : 0.887918 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:0.00 [[ 0.96150546 -0.22834057 -0.15286543 3.56946531] [ 0.23303657 0.97237705 0.01329802 0.42181231] [ 0.14560635 -0.04840936 0.98815754 0.0044175 ] [ 0. 0. 0. 1. ]] SLAMing on 68.341346184 meters Centerline goodness : 0.888000 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:-0.00 [[ 9.62839068e-01 -2.24462334e-01 -1.50191843e-01 3.56710835e+00] [ 2.28748558e-01 9.73415574e-01 1.16711868e-02 4.22699337e-01] [ 1.43579337e-01 -4.55936422e-02 9.88587980e-01 -1.18236608e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40134618399999 meters Centerline goodness : 0.888966 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:-0.00 [[ 9.63349074e-01 -2.28257975e-01 -1.40914369e-01 3.57117391e+00] [ 2.31950516e-01 9.72674758e-01 1.01376772e-02 4.32269333e-01] [ 1.34749844e-01 -4.24512824e-02 9.89969882e-01 -1.96659285e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46134618399999 meters Centerline goodness : 0.892583 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:-0.00 [[ 9.63167883e-01 -2.30509974e-01 -1.38465810e-01 3.56907835e+00] [ 2.33548099e-01 9.72327442e-01 5.88488208e-03 4.30684560e-01] [ 1.33277583e-01 -3.80065562e-02 9.90349730e-01 -1.32488367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521346184 meters Centerline goodness : 0.897579 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:0.00 [[ 9.62208444e-01 -2.34458442e-01 -1.38506856e-01 3.56724667e+00] [ 2.37345752e-01 9.71414937e-01 4.47381578e-03 4.28586308e-01] [ 1.33498705e-01 -3.71787572e-02 9.90351370e-01 3.08918841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581346184 meters Centerline goodness : 0.894571 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.43, Z:0.01 [[ 9.60881148e-01 -2.39641490e-01 -1.38850190e-01 3.56741065e+00] [ 2.42299749e-01 9.70198677e-01 2.31475298e-03 4.28368904e-01] [ 1.34157560e-01 -3.58675687e-02 9.90310692e-01 6.03573194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641346184 meters Centerline goodness : 0.892640 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:0.01 [[ 9.59464482e-01 -2.45682716e-01 -1.38086603e-01 3.56930023e+00] [ 2.47877421e-01 9.68790473e-01 -1.34331135e-03 4.24023358e-01] [ 1.34107014e-01 -3.29396915e-02 9.90419247e-01 6.11120372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701346184 meters Centerline goodness : 0.894749 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:0.01 [[ 9.58806057e-01 -2.47281705e-01 -1.39795221e-01 3.57041326e+00] [ 2.49927346e-01 9.68263557e-01 1.41628461e-03 4.18279833e-01] [ 1.35008397e-01 -3.62965908e-02 9.90179423e-01 1.01781991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76134618399999 meters Centerline goodness : 0.897392 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.42, Z:0.01 [[ 9.58385829e-01 -2.48160825e-01 -1.41112745e-01 3.57076340e+00] [ 2.51006876e-01 9.67982195e-01 2.45316534e-03 4.18352058e-01] [ 1.35985845e-01 -3.77713483e-02 9.89990492e-01 1.31514085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82134618399999 meters Centerline goodness : 0.891359 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.42, Z:0.01 [[ 9.56743084e-01 -2.54065373e-01 -1.41751393e-01 3.57642976e+00] [ 2.56437734e-01 9.66559458e-01 -1.58206921e-03 4.17542510e-01] [ 1.37413098e-01 -3.48367721e-02 9.89901025e-01 1.10464564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881346184 meters Centerline goodness : 0.895200 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.41, Z:0.01 [[ 0.95565487 -0.25831721 -0.14140715 3.57927709] [ 0.26030421 0.96551577 -0.00458498 0.41492784] [ 0.13771521 -0.03242722 0.98994091 0.010177 ] [ 0. 0. 0. 1. ]] SLAMing on 68.941346184 meters Centerline goodness : 0.893702 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.41, Z:0.02 [[ 9.56348358e-01 -2.54300707e-01 -1.43975586e-01 3.57835820e+00] [ 2.57447750e-01 9.66286411e-01 3.35067460e-03 4.09583388e-01] [ 1.38269573e-01 -4.02706028e-02 9.89575567e-01 1.54173617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001346184 meters Centerline goodness : 0.893590 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.41, Z:0.01 [[ 0.95763075 -0.24894662 -0.14480651 3.5804415 ] [ 0.25258773 0.96754846 0.00702906 0.40822757] [ 0.13835746 -0.04330759 0.98943502 0.01259368] [ 0. 0. 0. 1. ]] SLAMing on 69.061346184 meters Centerline goodness : 0.895454 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.41, Z:0.01 [[ 0.95764688 -0.24914007 -0.14436647 3.58255936] [ 0.25246781 0.96759283 0.00491023 0.41050652] [ 0.13846463 -0.04115015 0.98951211 0.00932078] [ 0. 0. 0. 1. ]] SLAMing on 69.121346184 meters Centerline goodness : 0.901473 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.41, Z:0.01 [[ 0.95736238 -0.24856172 -0.14722212 3.58743248] [ 0.2524331 0.96758193 0.00792087 0.41250603] [ 0.14048064 -0.04474688 0.98907174 0.00892319] [ 0. 0. 0. 1. ]] SLAMing on 69.18134618399999 meters Centerline goodness : 0.899037 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.41, Z:0.01 [[ 0.95742248 -0.2483229 -0.14723429 3.58661531] [ 0.2522994 0.96761033 0.0086754 0.41144387] [ 0.14031112 -0.04545315 0.9890636 0.01013968] [ 0. 0. 0. 1. ]] SLAMing on 69.241346184 meters Centerline goodness : 0.902305 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.41, Z:0.01 [[ 0.95750633 -0.2480038 -0.14722682 3.58755988] [ 0.25197302 0.9676956 0.00865044 0.41008974] [ 0.1403254 -0.04538004 0.98906493 0.00927587] [ 0. 0. 0. 1. ]] SLAMing on 69.301346184 meters Centerline goodness : 0.905585 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.41, Z:0.01 [[ 0.95757279 -0.2466107 -0.14912249 3.58975419] [ 0.25093175 0.96794684 0.01059109 0.41433174] [ 0.14173077 -0.04756131 0.98876201 0.00917177] [ 0. 0. 0. 1. ]] SLAMing on 69.361346184 meters Centerline goodness : 0.907111 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:0.01 [[ 0.95778243 -0.24579378 -0.14912488 3.58983716] [ 0.25008598 0.96816723 0.01045081 0.4150035 ] [ 0.14180908 -0.04730364 0.98876314 0.00889083] [ 0. 0. 0. 1. ]] SLAMing on 69.421346184 meters Centerline goodness : 0.904535 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.41, Z:0.01 [[ 0.95850643 -0.24503663 -0.14567939 3.58751629] [ 0.2487022 0.9685531 0.00721909 0.4115829 ] [ 0.13932928 -0.04315033 0.98930551 0.00501055] [ 0. 0. 0. 1. ]] SLAMing on 69.481346184 meters Centerline goodness : 0.904437 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.41, Z:0.01 [[ 0.95846181 -0.24404497 -0.14762457 3.5878921 ] [ 0.24830989 0.96861934 0.01089836 0.41167958] [ 0.14033232 -0.0471023 0.98898342 0.00819568] [ 0. 0. 0. 1. ]] SLAMing on 69.54134618399999 meters Centerline goodness : 0.903087 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:0.01 [[ 0.95878311 -0.2412548 -0.15010355 3.59059892] [ 0.24600522 0.96917245 0.01364489 0.41565319] [ 0.14218433 -0.05000875 0.98857612 0.00840028] [ 0. 0. 0. 1. ]] SLAMing on 69.601346184 meters Centerline goodness : 0.903765 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:0.00 [[ 9.58776052e-01 -2.43200024e-01 -1.46976971e-01 3.59064408e+00] [ 2.46835498e-01 9.69033944e-01 6.74177652e-03 4.17881890e-01] [ 1.40786074e-01 -4.27429876e-02 9.89116939e-01 2.81497354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661346184 meters Centerline goodness : 0.900217 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:0.01 [[ 0.96025815 -0.23600846 -0.14901103 3.58864437] [ 0.24074473 0.97048271 0.0143275 0.41820084] [ 0.14123122 -0.04963172 0.98873173 0.00557927] [ 0. 0. 0. 1. ]] SLAMing on 69.721346184 meters Centerline goodness : 0.901417 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:0.01 [[ 0.96179479 -0.23512925 -0.14023206 3.59234972] [ 0.23998243 0.97060054 0.01852126 0.42577802] [ 0.13175442 -0.05146688 0.98994542 0.00586115] [ 0. 0. 0. 1. ]] SLAMing on 69.781346184 meters Centerline goodness : 0.900520 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:0.00 [[ 9.61777356e-01 -2.36246149e-01 -1.38463262e-01 3.59220598e+00] [ 2.40390962e-01 9.70578419e-01 1.37738368e-02 4.28332525e-01] [ 1.31135438e-01 -4.65326811e-02 9.90271784e-01 2.70799837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841346184 meters Centerline goodness : 0.899496 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.44, Z:0.00 [[ 9.60961040e-01 -2.38027229e-01 -1.41056437e-01 3.59826758e+00] [ 2.42079894e-01 9.70181489e-01 1.20500391e-02 4.35446739e-01] [ 1.33982106e-01 -4.57265454e-02 9.89928219e-01 3.53269028e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90134618399999 meters Centerline goodness : 0.897647 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.44, Z:0.00 [[ 9.60763872e-01 -2.38206769e-01 -1.42092634e-01 3.59862236e+00] [ 2.42211301e-01 9.70157375e-01 1.13293227e-02 4.39817604e-01] [ 1.35153495e-01 -4.53012455e-02 9.89788528e-01 1.57161090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96134618399999 meters Centerline goodness : 0.899087 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.44, Z:-0.00 [[ 9.62236174e-01 -2.32545483e-01 -1.41506693e-01 3.59763637e+00] [ 2.36818531e-01 9.71454352e-01 1.39077213e-02 4.39426835e-01] [ 1.34233115e-01 -4.68939197e-02 9.89839599e-01 -9.80181526e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021346184 meters Centerline goodness : 0.897702 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.44, Z:0.00 [[ 9.62826717e-01 -2.29663439e-01 -1.42195001e-01 3.59600989e+00] [ 2.34384629e-01 9.71992405e-01 1.71642002e-02 4.38790903e-01] [ 1.34270471e-01 -4.98544729e-02 9.89689836e-01 1.22747497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081346184 meters Centerline goodness : 0.900165 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.44, Z:0.01 [[ 0.96284095 -0.22790892 -0.14489592 3.59402809] [ 0.2335377 0.97207868 0.02287339 0.43851864] [ 0.13563718 -0.0558621 0.98918248 0.0081411 ] [ 0. 0. 0. 1. ]] SLAMing on 70.141346184 meters Centerline goodness : 0.901875 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.44, Z:0.00 [[ 9.62300994e-01 -2.32281524e-01 -1.41499437e-01 3.59529713e+00] [ 2.36790252e-01 9.71434426e-01 1.56695045e-02 4.35640433e-01] [ 1.33817687e-01 -4.85844670e-02 9.89814314e-01 2.28061829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201346184 meters Centerline goodness : 0.904028 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.44, Z:0.00 [[ 9.62586633e-01 -2.30296660e-01 -1.42795033e-01 3.59631090e+00] [ 2.35161604e-01 9.71790503e-01 1.79509713e-02 4.37007454e-01] [ 1.34632809e-01 -5.08592741e-02 9.89589481e-01 2.73044092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26134618399999 meters Centerline goodness : 0.904862 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.44, Z:0.01 [[ 0.96524549 -0.21943535 -0.14194811 3.58734567] [ 0.22460906 0.97421583 0.02131403 0.44377393] [ 0.13361104 -0.0524561 0.98964461 0.01009365] [ 0. 0. 0. 1. ]] SLAMing on 70.32134618399999 meters Centerline goodness : 0.901116 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.44, Z:0.00 [[ 9.66042026e-01 -2.18406819e-01 -1.38062544e-01 3.58598309e+00] [ 2.22525257e-01 9.74812400e-01 1.49430467e-02 4.44751373e-01] [ 1.31321416e-01 -4.51580142e-02 9.90310779e-01 3.21470257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381346184 meters Centerline goodness : 0.902211 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.45, Z:0.00 [[ 9.65871203e-01 -2.19207958e-01 -1.37988009e-01 3.58625586e+00] [ 2.23260389e-01 9.74652232e-01 1.44161465e-02 4.45258612e-01] [ 1.31330187e-01 -4.47313974e-02 9.90328978e-01 3.06437695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441346184 meters Centerline goodness : 0.904527 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.45, Z:0.00 [[ 0.96699732 -0.22217787 -0.12471241 3.58180914] [ 0.22597386 0.97398529 0.01698419 0.44718833] [ 0.11769454 -0.04460541 0.99204756 0.00359237] [ 0. 0. 0. 1. ]] SLAMing on 70.501346184 meters Centerline goodness : 0.907651 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.45, Z:0.00 [[ 0.96763953 -0.21975557 -0.1240211 3.57998897] [ 0.22357049 0.97452964 0.01755614 0.44625895] [ 0.11700418 -0.04471547 0.99212426 0.00384629] [ 0. 0. 0. 1. ]] SLAMing on 70.561346184 meters Centerline goodness : 0.911531 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.44, Z:0.00 [[ 9.68845240e-01 -2.16290612e-01 -1.20653520e-01 3.57667824e+00] [ 2.19656618e-01 9.75459262e-01 1.51722727e-02 4.43385502e-01] [ 1.14410973e-01 -4.12019282e-02 9.92578728e-01 3.75471607e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62134618399999 meters Centerline goodness : 0.914744 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:0.00 [[ 9.70446215e-01 -2.09462937e-01 -1.19830801e-01 3.57286623e+00] [ 2.13176166e-01 9.76830733e-01 1.89114021e-02 4.41292039e-01] [ 1.13093171e-01 -4.38975693e-02 9.92614194e-01 1.02956129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68134618399999 meters Centerline goodness : 0.915852 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:-0.00 [[ 9.71374508e-01 -2.06260726e-01 -1.17847688e-01 3.57033692e+00] [ 2.09748539e-01 9.77592113e-01 1.78664982e-02 4.39448003e-01] [ 1.11521814e-01 -4.20734413e-02 9.92870944e-01 -7.33624743e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741346184 meters Centerline goodness : 0.918841 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.44, Z:-0.00 [[ 9.73593021e-01 -2.01187167e-01 -1.07890469e-01 3.55581567e+00] [ 2.03444876e-01 9.79032964e-01 1.02292947e-02 4.35301490e-01] [ 1.03570323e-01 -3.19089331e-02 9.94110159e-01 -1.46145284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801346184 meters Centerline goodness : 0.922981 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.43, Z:0.00 [[ 0.97555299 -0.19503031 -0.10128944 3.54269735] [ 0.1968188 0.98040824 0.00787685 0.4315994 ] [ 0.09776878 -0.02761995 0.99482582 0.00355436] [ 0. 0. 0. 1. ]] SLAMing on 70.861346184 meters Centerline goodness : 0.925685 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.43, Z:0.00 [[ 9.75615961e-01 -1.95892667e-01 -9.89927235e-02 3.53995118e+00] [ 1.97383963e-01 9.80311353e-01 5.40584608e-03 4.26965569e-01] [ 9.59847251e-02 -2.48136058e-02 9.95073473e-01 3.37786315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921346184 meters Centerline goodness : 0.927740 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.42, Z:0.01 [[ 9.75002695e-01 -2.00921093e-01 -9.48707510e-02 3.53421722e+00] [ 2.01807012e-01 9.79425271e-01 -2.61564410e-04 4.15799594e-01] [ 9.29713648e-02 -1.88905568e-02 9.95489564e-01 5.86982243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981346184 meters Centerline goodness : 0.931626 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.41, Z:0.01 [[ 0.97290671 -0.21128107 -0.09387676 3.53360712] [ 0.21166136 0.97732464 -0.00600179 0.40685211] [ 0.09301614 -0.0140309 0.99556573 0.01082814] [ 0. 0. 0. 1. ]] SLAMing on 71.04134618399999 meters Centerline goodness : 0.930181 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.40, Z:0.02 [[ 0.97122924 -0.21274265 -0.1070249 3.53441845] [ 0.21340907 0.97694844 -0.00532094 0.39536331] [ 0.1056898 -0.01767223 0.9942421 0.01574859] [ 0. 0. 0. 1. ]] SLAMing on 71.101346184 meters Centerline goodness : 0.938068 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.38, Z:0.02 [[ 0.96867458 -0.22577486 -0.10341792 3.53364068] [ 0.22531879 0.97414998 -0.01622538 0.38353757] [ 0.10440785 -0.00758488 0.99450564 0.01737842] [ 0. 0. 0. 1. ]] SLAMing on 71.161346184 meters Centerline goodness : 0.940008 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.37, Z:0.02 [[ 0.96695345 -0.22737239 -0.11533784 3.53239448] [ 0.22687993 0.9737645 -0.01755559 0.37042997] [ 0.11630355 -0.00919241 0.99317118 0.02216714] [ 0. 0. 0. 1. ]] SLAMing on 71.221346184 meters Centerline goodness : 0.942891 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.36, Z:0.03 [[ 0.9661709 -0.23224392 -0.11214521 3.52819197] [ 0.23148388 0.9726345 -0.0199336 0.35808871] [ 0.11370576 -0.00670054 0.99349187 0.02513431] [ 0. 0. 0. 1. ]] SLAMing on 71.281346184 meters Centerline goodness : 0.943923 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.35, Z:0.02 [[ 0.96639449 -0.23098761 -0.1128114 3.53001941] [ 0.23053952 0.97291125 -0.01718203 0.35403052] [ 0.11372431 -0.00940286 0.99346785 0.02499886] [ 0. 0. 0. 1. ]] SLAMing on 71.341346184 meters Centerline goodness : 0.945716 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:0.03 [[ 0.96708458 -0.22942971 -0.11004287 3.52536264] [ 0.22891745 0.97328962 -0.01743882 0.34452355] [ 0.11110457 -0.00832592 0.99377384 0.02591042] [ 0. 0. 0. 1. ]] SLAMing on 71.40134618399999 meters Centerline goodness : 0.943125 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:0.02 [[ 0.96760468 -0.22776451 -0.10892435 3.52513407] [ 0.2272344 0.97368425 -0.01742163 0.33921498] [ 0.11002595 -0.00789411 0.99389737 0.02429575] [ 0. 0. 0. 1. ]] SLAMing on 71.46134618399999 meters Centerline goodness : 0.942506 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.33, Z:0.03 [[ 0.96658504 -0.22665915 -0.11974554 3.52344945] [ 0.22642714 0.97390122 -0.01572113 0.32771018] [ 0.12018367 -0.01191784 0.99268014 0.02510177] [ 0. 0. 0. 1. ]] SLAMing on 71.521346184 meters Centerline goodness : 0.942412 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:0.02 [[ 0.9648494 -0.23442972 -0.11877855 3.52771652] [ 0.23354193 0.97210816 -0.02153805 0.32312913] [ 0.12051475 -0.0069588 0.99268715 0.02285159] [ 0. 0. 0. 1. ]] SLAMing on 71.581346184 meters Centerline goodness : 0.944302 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.32, Z:0.02 [[ 0.96210639 -0.24292688 -0.12384596 3.53812255] [ 0.24264129 0.96995612 -0.01761602 0.31600379] [ 0.12440455 -0.01310165 0.99214508 0.02334403] [ 0. 0. 0. 1. ]] SLAMing on 71.641346184 meters Centerline goodness : 0.950020 with order 1 Centerline is valid? [False, True] Translation: X:3.55, Y:0.31, Z:0.03 [[ 0.96140767 -0.24227738 -0.1303724 3.54713655] [ 0.24364763 0.96984777 -0.00557992 0.30733583] [ 0.12779327 -0.02640035 0.99144939 0.02541541] [ 0. 0. 0. 1. ]] SLAMing on 71.701346184 meters Centerline goodness : 0.948769 with order 1 Centerline is valid? [True, False] Translation: X:3.55, Y:0.31, Z:0.03 [[ 9.61485615e-01 -2.40693424e-01 -1.32710539e-01 3.55131746e+00] [ 2.42698629e-01 9.70101113e-01 -1.09800912e-03 3.05894065e-01] [ 1.29006926e-01 -3.11529460e-02 9.91154230e-01 2.55173772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76134618399999 meters Centerline goodness : 0.946494 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.31, Z:0.02 [[ 9.61335864e-01 -2.40700581e-01 -1.33778122e-01 3.55499479e+00] [ 2.42829081e-01 9.70068999e-01 -4.17615572e-04 3.06552397e-01] [ 1.29874530e-01 -3.20837496e-02 9.91011221e-01 2.37807365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82134618399999 meters Centerline goodness : 0.946279 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.31, Z:0.02 [[ 9.60602763e-01 -2.42669834e-01 -1.35475767e-01 3.55995944e+00] [ 2.44994551e-01 9.69524325e-01 5.02934124e-04 3.05874151e-01] [ 1.31225004e-01 -3.36739446e-02 9.90780533e-01 2.30102205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881346184 meters Centerline goodness : 0.946347 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:0.02 [[ 9.58804517e-01 -2.48611865e-01 -1.37426483e-01 3.56545393e+00] [ 2.50824523e-01 9.68031757e-01 -1.25517820e-03 3.08155489e-01] [ 1.33345252e-01 -3.32664615e-02 9.90511174e-01 2.34596687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941346184 meters Centerline goodness : 0.949526 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:0.03 [[ 9.57996106e-01 -2.50716829e-01 -1.39228348e-01 3.56836484e+00] [ 2.53182481e-01 9.67418540e-01 -1.98993167e-06 3.08723174e-01] [ 1.34692584e-01 -3.52482724e-02 9.90260303e-01 2.52121300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001346184 meters Centerline goodness : 0.947501 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:0.03 [[ 9.56744976e-01 -2.54480592e-01 -1.40991770e-01 3.57143296e+00] [ 2.57124582e-01 9.66378105e-01 5.54502244e-04 3.09788725e-01] [ 1.36110249e-01 -3.67829671e-02 9.90010613e-01 2.72828647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061346184 meters Centerline goodness : 0.947351 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.31, Z:0.03 [[ 9.55783219e-01 -2.57119399e-01 -1.42716685e-01 3.57692905e+00] [ 2.59768688e-01 9.65670867e-01 -7.11937874e-05 3.12943570e-01] [ 1.37835650e-01 -3.70052801e-02 9.89763579e-01 2.56360474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12134618399999 meters Centerline goodness : 0.948592 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.32, Z:0.02 [[ 0.95409922 -0.26298536 -0.1432947 3.581301 ] [ 0.26513731 0.96420147 -0.0042121 0.3168394 ] [ 0.13927268 -0.03397401 0.9896711 0.02417846] [ 0. 0. 0. 1. ]] SLAMing on 72.18134618399999 meters Centerline goodness : 0.951568 with order 1 Centerline is valid? [False, True] Translation: X:3.59, Y:0.32, Z:0.03 [[ 9.52812034e-01 -2.64103022e-01 -1.49662358e-01 3.58649383e+00] [ 2.67537720e-01 9.63542932e-01 2.93032179e-03 3.22529009e-01] [ 1.43432200e-01 -4.28323719e-02 9.88732821e-01 3.09263150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241346184 meters Centerline goodness : 0.948578 with order 1 Centerline is valid? [True, False] Translation: X:3.59, Y:0.33, Z:0.03 [[ 9.52547130e-01 -2.64796176e-01 -1.50123117e-01 3.59048320e+00] [ 2.68023710e-01 9.63411417e-01 1.31595876e-03 3.25530138e-01] [ 1.44281864e-01 -4.14900673e-02 9.88666434e-01 2.73584784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301346184 meters Centerline goodness : 0.947249 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.33, Z:0.02 [[ 0.95422173 -0.25811525 -0.15112049 3.59133328] [ 0.26182882 0.96510207 0.00486496 0.32843694] [ 0.14459098 -0.04420995 0.98850338 0.02467829] [ 0. 0. 0. 1. ]] SLAMing on 72.361346184 meters Centerline goodness : 0.950549 with order 1 Centerline is valid? [False, True] Translation: X:3.59, Y:0.34, Z:0.02 [[ 0.95590753 -0.24988929 -0.15426 3.59209767] [ 0.25474425 0.96693115 0.01222745 0.33549387] [ 0.14610329 -0.05098516 0.98795463 0.02481384] [ 0. 0. 0. 1. ]] SLAMing on 72.421346184 meters Centerline goodness : 0.951465 with order 1 Centerline is valid? [True, True] Translation: X:3.64, Y:0.37, Z:0.05 [[ 0.9581961 -0.2452428 -0.14736421 3.64084725] [ 0.24401883 0.96940527 -0.02661279 0.37315148] [ 0.14938223 -0.01045937 0.9887242 0.0485936 ] [ 0. 0. 0. 1. ]] SLAMing on 72.481346184 meters Centerline goodness : 0.951733 with order 1 Centerline is valid? [True, True] Translation: X:3.70, Y:0.39, Z:0.06 [[ 0.95931899 -0.24081448 -0.1473617 3.69675322] [ 0.23953662 0.97052214 -0.02662668 0.38941136] [ 0.14942988 -0.00975504 0.9887242 0.05825336] [ 0. 0. 0. 1. ]] SLAMing on 72.54134618399999 meters Centerline goodness : 0.952809 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:0.40, Z:0.06 [[ 0.96014849 -0.23748988 -0.14735482 3.75343507] [ 0.23616742 0.97134646 -0.02666467 0.40428109] [ 0.14946517 -0.00919837 0.9887242 0.06346089] [ 0. 0. 0. 1. ]] SLAMing on 72.601346184 meters Centerline goodness : 0.952867 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:0.42, Z:0.07 [[ 0.96182043 -0.23062963 -0.14734801 3.80980005] [ 0.22922152 0.97300796 -0.02670225 0.42381566] [ 0.14952912 -0.00809257 0.9887242 0.06575472] [ 0. 0. 0. 1. ]] SLAMing on 72.661346184 meters Centerline goodness : 0.949247 with order 1 Centerline is valid? [True, False] Translation: X:3.81, Y:0.43, Z:0.06 [[ 0.96370182 -0.22973067 -0.13602433 3.81348127] [ 0.22807633 0.9732452 -0.02783837 0.43416765] [ 0.13878035 -0.00419604 0.9903143 0.06114005] [ 0. 0. 0. 1. ]] SLAMing on 72.721346184 meters Centerline goodness : 0.950270 with order 1 Centerline is valid? [False, True] Translation: X:3.81, Y:0.44, Z:0.06 [[ 9.66303076e-01 -2.25477859e-01 -1.24169644e-01 3.81362929e+00] [ 2.24072839e-01 9.74242615e-01 -2.53513276e-02 4.41981978e-01] [ 1.26687522e-01 -3.32597882e-03 9.91937100e-01 5.79020247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781346184 meters Centerline goodness : 0.947905 with order 1 Centerline is valid? [True, False] Translation: X:3.82, Y:0.44, Z:0.06 [[ 0.96735107 -0.21914143 -0.12731437 3.81527899] [ 0.21874819 0.97562909 -0.01723657 0.4442187 ] [ 0.12798885 -0.01117598 0.99171264 0.05951039] [ 0. 0. 0. 1. ]] SLAMing on 72.841346184 meters Centerline goodness : 0.950332 with order 1 Centerline is valid? [False, True] Translation: X:3.82, Y:0.45, Z:0.06 [[ 0.96695091 -0.22113282 -0.12691029 3.81790351] [ 0.22038271 0.97520637 -0.02009982 0.44564517] [ 0.12820845 -0.0085333 0.99171053 0.05641948] [ 0. 0. 0. 1. ]] SLAMing on 72.90134618399999 meters Centerline goodness : 0.944666 with order 1 Centerline is valid? [True, False] Translation: X:3.82, Y:0.45, Z:0.05 [[ 0.96642728 -0.22352468 -0.12670841 3.82163179] [ 0.22235089 0.97468305 -0.02351662 0.44727876] [ 0.12875709 -0.00544662 0.99166121 0.05270067] [ 0. 0. 0. 1. ]] SLAMing on 72.96134618399999 meters Centerline goodness : 0.942613 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.05 [[ 0.96685139 -0.22201782 -0.12612092 3.81952221] [ 0.22081273 0.9750298 -0.02363523 0.44864459] [ 0.1282191 -0.00499735 0.99173328 0.0529659 ] [ 0. 0. 0. 1. ]] SLAMing on 73.021346184 meters Centerline goodness : 0.942572 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.05 [[ 0.96790407 -0.21715538 -0.12651187 3.81728384] [ 0.21659921 0.976089 -0.01830435 0.44631254] [ 0.12746173 -0.00968551 0.9917962 0.05474239] [ 0. 0. 0. 1. ]] SLAMing on 73.081346184 meters Centerline goodness : 0.942461 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.05 [[ 0.96789222 -0.22275742 -0.11646365 3.82249041] [ 0.22250607 0.9748109 -0.01532206 0.44932195] [ 0.11694313 -0.01108377 0.99307676 0.04884309] [ 0. 0. 0. 1. ]] SLAMing on 73.141346184 meters Centerline goodness : 0.939786 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.05 [[ 0.96707276 -0.22660564 -0.11584538 3.82494886] [ 0.22590865 0.97395756 -0.01928586 0.44977752] [ 0.11719876 -0.00751965 0.99308001 0.04639865] [ 0. 0. 0. 1. ]] SLAMing on 73.201346184 meters Centerline goodness : 0.936272 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:0.45, Z:0.04 [[ 0.96604298 -0.23113657 -0.11548524 3.82943261] [ 0.23002045 0.97291197 -0.02308425 0.44858095] [ 0.11769259 -0.00426359 0.99304092 0.04283346] [ 0. 0. 0. 1. ]] SLAMing on 73.26134618399999 meters Centerline goodness : 0.939368 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:0.44, Z:0.04 [[ 0.96578424 -0.23199408 -0.11592908 3.83046555] [ 0.23119265 0.97269199 -0.02050009 0.44277827] [ 0.11751919 -0.00700329 0.99304592 0.04416818] [ 0. 0. 0. 1. ]] SLAMing on 73.32134618399999 meters Centerline goodness : 0.939177 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:0.44, Z:0.05 [[ 0.96593971 -0.23043688 -0.11772565 3.83155255] [ 0.2302446 0.97301064 -0.01541833 0.4393061 ] [ 0.11810126 -0.01221252 0.99292646 0.04677128] [ 0. 0. 0. 1. ]] SLAMing on 73.381346184 meters Centerline goodness : 0.941745 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:0.43, Z:0.04 [[ 0.96573644 -0.23228394 -0.11574667 3.83170321] [ 0.23182574 0.97259822 -0.01759343 0.43297469] [ 0.11666168 -0.00984244 0.99312294 0.0446011 ] [ 0. 0. 0. 1. ]] SLAMing on 73.441346184 meters Centerline goodness : 0.938221 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:0.04 [[ 0.96501302 -0.23452658 -0.11724826 3.83673865] [ 0.23412374 0.9720512 -0.01739375 0.43291202] [ 0.11805061 -0.0106654 0.9929503 0.04305576] [ 0. 0. 0. 1. ]] SLAMing on 73.501346184 meters Centerline goodness : 0.933274 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:0.04 [[ 0.96466234 -0.23652344 -0.11611734 3.83925191] [ 0.2357004 0.97159954 -0.02096809 0.43178346] [ 0.117779 -0.00714178 0.99301415 0.03905968] [ 0. 0. 0. 1. ]] SLAMing on 73.561346184 meters Centerline goodness : 0.937075 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:0.04 [[ 0.9643964 -0.23702187 -0.11730397 3.84140343] [ 0.23655012 0.97145011 -0.01813098 0.42764534] [ 0.11825239 -0.01026282 0.99293053 0.04034693] [ 0. 0. 0. 1. ]] SLAMing on 73.62134618399999 meters Centerline goodness : 0.937430 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:0.04 [[ 0.96468453 -0.23577 -0.11745752 3.83895119] [ 0.23571896 0.97171269 -0.0145267 0.42244183] [ 0.11755993 -0.01367329 0.99297165 0.04415259] [ 0. 0. 0. 1. ]] SLAMing on 73.68134618399999 meters Centerline goodness : 0.936243 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:0.04 [[ 0.96432958 -0.23758347 -0.11671573 3.84139046] [ 0.2371561 0.97130958 -0.01773935 0.42215205] [ 0.11758169 -0.01057327 0.99300693 0.04090199] [ 0. 0. 0. 1. ]] SLAMing on 73.741346184 meters Centerline goodness : 0.931838 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.04 [[ 0.96303103 -0.24292249 -0.116447 3.84713844] [ 0.24191569 0.97002654 -0.0229198 0.42241795] [ 0.11852442 -0.00609788 0.99293241 0.03623374] [ 0. 0. 0. 1. ]] SLAMing on 73.801346184 meters Centerline goodness : 0.931902 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.04 [[ 0.96299299 -0.24143141 -0.11981394 3.85072559] [ 0.24120053 0.97033254 -0.01664529 0.42169814] [ 0.12027806 -0.01286989 0.99265682 0.03901863] [ 0. 0. 0. 1. ]] SLAMing on 73.861346184 meters Centerline goodness : 0.930063 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.04 [[ 0.96345768 -0.23867662 -0.12158439 3.85216048] [ 0.23914138 0.97092277 -0.01097152 0.41912028] [ 0.12066769 -0.01850526 0.99252046 0.04050719] [ 0. 0. 0. 1. ]] SLAMing on 73.921346184 meters Centerline goodness : 0.925999 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.04 [[ 0.96351653 -0.23832052 -0.12181633 3.85344292] [ 0.23883037 0.97100329 -0.01061434 0.41873536] [ 0.12081367 -0.01886635 0.9924959 0.03957863] [ 0. 0. 0. 1. ]] SLAMing on 73.981346184 meters Centerline goodness : 0.925815 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.42, Z:0.04 [[ 0.96232234 -0.24266357 -0.12267885 3.85867096] [ 0.24279777 0.96997468 -0.01408389 0.42318011] [ 0.12241303 -0.01623291 0.99234648 0.03666067] [ 0. 0. 0. 1. ]] SLAMing on 74.04134618399999 meters Centerline goodness : 0.923275 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.43, Z:0.04 [[ 0.96168455 -0.24442544 -0.12417339 3.86242328] [ 0.24456752 0.96952629 -0.01433548 0.42692261] [ 0.12389332 -0.01658257 0.99215697 0.03576238] [ 0. 0. 0. 1. ]] SLAMing on 74.101346184 meters Centerline goodness : 0.922460 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.43, Z:0.04 [[ 0.9614067 -0.24486652 -0.1254494 3.86510645] [ 0.24513524 0.96939445 -0.01353199 0.42869439] [ 0.12492348 -0.01774232 0.99200773 0.03553835] [ 0. 0. 0. 1. ]] SLAMing on 74.161346184 meters Centerline goodness : 0.920758 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.43, Z:0.04 [[ 0.96134333 -0.24401241 -0.1275811 3.86858182] [ 0.24467382 0.96954635 -0.01070536 0.43115767] [ 0.12630803 -0.02092423 0.99177037 0.03520841] [ 0. 0. 0. 1. ]] SLAMing on 74.221346184 meters Centerline goodness : 0.923359 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.43, Z:0.04 [[ 0.96102096 -0.24376679 -0.13044721 3.87302785] [ 0.24493574 0.96951216 -0.00725572 0.43360581] [ 0.12823886 -0.02497828 0.99142871 0.03578316] [ 0. 0. 0. 1. ]] SLAMing on 74.281346184 meters Centerline goodness : 0.918760 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.44, Z:0.04 [[ 0.9588305 -0.25148947 -0.13189813 3.87821183] [ 0.25233955 0.96758171 -0.01050627 0.43602118] [ 0.13026444 -0.02320938 0.9912076 0.03626749] [ 0. 0. 0. 1. ]] SLAMing on 74.341346184 meters Centerline goodness : 0.916765 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.44, Z:0.04 [[ 0.95739172 -0.25615616 -0.13336082 3.88237445] [ 0.25693397 0.96635886 -0.01164002 0.43762953] [ 0.13185607 -0.02312087 0.99099919 0.03662624] [ 0. 0. 0. 1. ]] SLAMing on 74.40134618399999 meters Centerline goodness : 0.912054 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.44, Z:0.04 [[ 0.95768308 -0.25392227 -0.13552341 3.88463456] [ 0.25524629 0.96684453 -0.00780898 0.43940855] [ 0.13301295 -0.02711332 0.99074337 0.03723604] [ 0. 0. 0. 1. ]] SLAMing on 74.46134618399999 meters Centerline goodness : 0.916753 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.45, Z:0.04 [[ 0.95790361 -0.25173838 -0.13801617 3.88644685] [ 0.25358899 0.96730251 -0.00429921 0.44554647] [ 0.13458566 -0.03088115 0.99042065 0.03796583] [ 0. 0. 0. 1. ]] SLAMing on 74.521346184 meters Centerline goodness : 0.912807 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.45, Z:0.04 [[ 0.9568154 -0.25521496 -0.13917477 3.89157426] [ 0.25684727 0.96643075 -0.00641035 0.44932604] [ 0.13613879 -0.02961314 0.99024709 0.0356499 ] [ 0. 0. 0. 1. ]] SLAMing on 74.581346184 meters Centerline goodness : 0.903597 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.45, Z:0.04 [[ 0.95450131 -0.26283547 -0.14087144 3.89655675] [ 0.26417651 0.9644282 -0.00943491 0.45302083] [ 0.13834022 -0.02820929 0.98998294 0.03657669] [ 0. 0. 0. 1. ]] SLAMing on 74.641346184 meters Centerline goodness : 0.895350 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.46, Z:0.03 [[ 9.53757156e-01 -2.64893811e-01 -1.42051248e-01 3.91057766e+00] [ 2.67810479e-01 9.63470491e-01 1.46982546e-03 4.60931259e-01] [ 1.36472838e-01 -3.94446692e-02 9.89858213e-01 3.29158926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701346184 meters Centerline goodness : 0.889067 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.47, Z:0.03 [[ 9.54567210e-01 -2.61402416e-01 -1.43074170e-01 3.91287823e+00] [ 2.64481552e-01 9.64387235e-01 2.60189849e-03 4.66799384e-01] [ 1.37298761e-01 -4.03241656e-02 9.89708549e-01 2.94262253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76134618399999 meters Centerline goodness : 0.880741 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.47, Z:0.03 [[ 0.95625117 -0.25390206 -0.14531843 3.91573574] [ 0.25775807 0.96617609 0.0080331 0.47157561] [ 0.13836358 -0.04513867 0.98935232 0.02619649] [ 0. 0. 0. 1. ]] SLAMing on 74.82134618399999 meters Centerline goodness : 0.876830 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.03 [[ 0.95658509 -0.25091276 -0.14828269 3.91724754] [ 0.2555788 0.96670104 0.01298355 0.47639764] [ 0.14008729 -0.05031778 0.98885978 0.02800076] [ 0. 0. 0. 1. ]] SLAMing on 74.881346184 meters Centerline goodness : 0.872607 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.03 [[ 0.95716613 -0.24794605 -0.14951844 3.91936809] [ 0.25297177 0.96735299 0.01528012 0.47951346] [ 0.14084847 -0.05244955 0.98864086 0.02611191] [ 0. 0. 0. 1. ]] SLAMing on 74.941346184 meters Centerline goodness : 0.872568 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.48, Z:0.02 [[ 0.95659759 -0.2496897 -0.15025345 3.92392841] [ 0.25453271 0.96696854 0.01359899 0.48222128] [ 0.14189483 -0.05125318 0.98855398 0.02297106] [ 0. 0. 0. 1. ]] SLAMing on 75.001346184 meters Centerline goodness : 0.866248 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.49, Z:0.02 [[ 0.95543361 -0.25120591 -0.15505547 3.92912602] [ 0.2567358 0.96634245 0.01640107 0.49374748] [ 0.14571664 -0.05547842 0.98776961 0.02475961] [ 0. 0. 0. 1. ]] SLAMing on 75.061346184 meters Centerline goodness : 0.866290 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.50, Z:0.02 [[ 0.9554855 -0.25081029 -0.15537587 3.93047085] [ 0.25628246 0.96647085 0.01591838 0.49642864] [ 0.14617375 -0.05502989 0.98772716 0.02328341] [ 0. 0. 0. 1. ]] SLAMing on 75.12134618399999 meters Centerline goodness : 0.863181 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.50, Z:0.02 [[ 0.955943 -0.24955848 -0.1545754 3.93103479] [ 0.25474038 0.96690297 0.01435186 0.49877763] [ 0.14587778 -0.05309615 0.98787675 0.02005266] [ 0. 0. 0. 1. ]] SLAMing on 75.18134618399999 meters Centerline goodness : 0.861261 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.50, Z:0.03 [[ 0.9557776 -0.24707672 -0.15950632 3.93078644] [ 0.2535498 0.96708853 0.02126661 0.50478821] [ 0.14900225 -0.06076894 0.98696781 0.02737438] [ 0. 0. 0. 1. ]] SLAMing on 75.241346184 meters Centerline goodness : 0.860224 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.51, Z:0.03 [[ 0.95494024 -0.24970411 -0.16042757 3.93434347] [ 0.25606594 0.96645346 0.01994839 0.50677165] [ 0.15006458 -0.06012956 0.98684601 0.02608592] [ 0. 0. 0. 1. ]] SLAMing on 75.301346184 meters Centerline goodness : 0.856528 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.51, Z:0.02 [[ 0.9534757 -0.25369504 -0.16285859 3.94027819] [ 0.25985117 0.96549332 0.01732122 0.51403277] [ 0.15284457 -0.05883436 0.98649737 0.02458132] [ 0. 0. 0. 1. ]] SLAMing on 75.361346184 meters Centerline goodness : 0.856268 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.52, Z:0.03 [[ 0.9543483 -0.24790914 -0.16661446 3.94246178] [ 0.25523351 0.96658791 0.02374153 0.51964902] [ 0.15516178 -0.06518329 0.98573625 0.02567244] [ 0. 0. 0. 1. ]] SLAMing on 75.421346184 meters Centerline goodness : 0.854512 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.03 [[ 0.95469909 -0.24754547 -0.16513901 3.93964191] [ 0.25411023 0.96697773 0.01954624 0.53076384] [ 0.15484716 -0.06062429 0.98607659 0.02903071] [ 0. 0. 0. 1. ]] SLAMing on 75.481346184 meters Centerline goodness : 0.855910 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.53, Z:0.03 [[ 0.95537718 -0.24345105 -0.16729025 3.94136382] [ 0.25077879 0.96775079 0.02384114 0.53386664] [ 0.15609112 -0.06473013 0.98561939 0.02888744] [ 0. 0. 0. 1. ]] SLAMing on 75.54134618399999 meters Centerline goodness : 0.852740 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.54, Z:0.03 [[ 0.95511365 -0.24505098 -0.16645701 3.93817785] [ 0.25193298 0.96751165 0.02123641 0.54160019] [ 0.1558451 -0.0622192 0.98582 0.0298585 ] [ 0. 0. 0. 1. ]] SLAMing on 75.601346184 meters Centerline goodness : 0.851943 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.55, Z:0.03 [[ 0.95495881 -0.24592178 -0.16606069 3.93716052] [ 0.25252582 0.96739234 0.01956459 0.5465681 ] [ 0.15583448 -0.06061799 0.98592143 0.02988063] [ 0. 0. 0. 1. ]] SLAMing on 75.661346184 meters Centerline goodness : 0.849580 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:0.03 [[ 0.95658135 -0.24242159 -0.16181438 3.93181779] [ 0.24724438 0.968901 0.01005377 0.55204774] [ 0.15434486 -0.04962495 0.98677 0.02638977] [ 0. 0. 0. 1. ]] SLAMing on 75.721346184 meters Centerline goodness : 0.848896 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.56, Z:0.03 [[ 9.56809112e-01 -2.38679814e-01 -1.65976713e-01 3.92882363e+00] [ 2.41670486e-01 9.70355789e-01 -2.24017255e-03 5.61301698e-01] [ 1.61591148e-01 -3.79682552e-02 9.86127128e-01 2.81168890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781346184 meters Centerline goodness : 0.845926 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.57, Z:0.03 [[ 0.95677576 -0.23879071 -0.16600948 3.92821956] [ 0.24140352 0.97041412 -0.00455906 0.56867824] [ 0.1621866 -0.03571328 0.98611362 0.02999753] [ 0. 0. 0. 1. ]] SLAMing on 75.841346184 meters Centerline goodness : 0.847078 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.58, Z:0.04 [[ 0.9565729 -0.2409364 -0.16406687 3.92175612] [ 0.24279341 0.97003678 -0.00894494 0.57505944] [ 0.16130606 -0.03127787 0.98640866 0.03530268] [ 0. 0. 0. 1. ]] SLAMing on 75.90134618399999 meters Centerline goodness : 0.847036 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.59, Z:0.04 [[ 0.95651468 -0.24197881 -0.16286779 3.91757626] [ 0.24296851 0.96993139 -0.01412126 0.58560961] [ 0.16138763 -0.02606455 0.98654684 0.04171665] [ 0. 0. 0. 1. ]] SLAMing on 75.96134618399999 meters Centerline goodness : 0.848324 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.59, Z:0.04 [[ 0.95652186 -0.24182424 -0.1630551 3.91877695] [ 0.24273485 0.96998248 -0.01462133 0.58813941] [ 0.16169638 -0.02559353 0.98650862 0.04101239] [ 0. 0. 0. 1. ]] SLAMing on 76.021346184 meters Centerline goodness : 0.844691 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.59, Z:0.04 [[ 0.95663916 -0.24125965 -0.16320327 3.92085503] [ 0.2421492 0.97012728 -0.01472493 0.5925068 ] [ 0.16188048 -0.0254331 0.98648257 0.03860062] [ 0. 0. 0. 1. ]] SLAMing on 76.081346184 meters Centerline goodness : 0.842093 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.60, Z:0.04 [[ 0.95655152 -0.24151228 -0.16334325 3.921262 ] [ 0.24225632 0.97008598 -0.01565432 0.59777376] [ 0.16223771 -0.02459677 0.9864451 0.03806483] [ 0. 0. 0. 1. ]] SLAMing on 76.141346184 meters Centerline goodness : 0.843601 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.60, Z:0.04 [[ 0.95629833 -0.24292422 -0.16273084 3.91899245] [ 0.24345152 0.96976402 -0.01700286 0.60064195] [ 0.16194092 -0.02335726 0.98652399 0.03872901] [ 0. 0. 0. 1. ]] SLAMing on 76.201346184 meters Centerline goodness : 0.844841 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.61, Z:0.04 [[ 0.95506902 -0.24859156 -0.16138588 3.91638765] [ 0.24796043 0.96846366 -0.02436744 0.60701472] [ 0.1623539 -0.01674472 0.98659051 0.04324295] [ 0. 0. 0. 1. ]] SLAMing on 76.26134618399999 meters Centerline goodness : 0.849238 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.61, Z:0.05 [[ 0.95461218 -0.2512763 -0.15992441 3.91033428] [ 0.25004384 0.96782613 -0.02811875 0.61358804] [ 0.1618446 -0.01314561 0.9867287 0.04731089] [ 0. 0. 0. 1. ]] SLAMing on 76.32134618399999 meters Centerline goodness : 0.847796 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.62, Z:0.04 [[ 0.9546514 -0.25105012 -0.16004544 3.91233041] [ 0.24973651 0.96789126 -0.02860383 0.61903723] [ 0.16208758 -0.01266251 0.98669513 0.04490645] [ 0. 0. 0. 1. ]] SLAMing on 76.381346184 meters Centerline goodness : 0.843053 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.62, Z:0.05 [[ 0.95449122 -0.25196347 -0.15956481 3.91092029] [ 0.2504823 0.96766658 -0.02966491 0.62223138] [ 0.16188001 -0.01165327 0.98674164 0.04501406] [ 0. 0. 0. 1. ]] SLAMing on 76.441346184 meters Centerline goodness : 0.843262 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.63, Z:0.04 [[ 0.95437976 -0.25257202 -0.15926911 3.9101563 ] [ 0.25095301 0.96751753 -0.03053559 0.6277248 ] [ 0.16180809 -0.01082652 0.98676285 0.04421887] [ 0. 0. 0. 1. ]] SLAMing on 76.501346184 meters Centerline goodness : 0.841904 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.63, Z:0.04 [[ 0.95427244 -0.25328385 -0.15878101 3.90911342] [ 0.25153124 0.96734038 -0.03137883 0.63058947] [ 0.16154303 -0.00999443 0.98681506 0.04391617] [ 0. 0. 0. 1. ]] SLAMing on 76.561346184 meters Centerline goodness : 0.844108 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.63, Z:0.04 [[ 0.95404861 -0.25453454 -0.15812471 3.90669327] [ 0.25262614 0.96702145 -0.03239685 0.63234398] [ 0.1611561 -0.00903826 0.98688754 0.04468518] [ 0. 0. 0. 1. ]] SLAMing on 76.62134618399999 meters Centerline goodness : 0.841063 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.04 [[ 0.95370705 -0.25621993 -0.15746176 3.90400372] [ 0.25410878 0.9665868 -0.03374449 0.63656459] [ 0.16084647 -0.00783006 0.98694838 0.04496074] [ 0. 0. 0. 1. ]] SLAMing on 76.68134618399999 meters Centerline goodness : 0.840770 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.04 [[ 0.95366173 -0.25657746 -0.15715379 3.90341482] [ 0.25435628 0.96649734 -0.03443494 0.63847246] [ 0.16072395 -0.00713377 0.98697362 0.04498871] [ 0. 0. 0. 1. ]] SLAMing on 76.741346184 meters Centerline goodness : 0.841208 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.04 [[ 0.95480676 -0.25202854 -0.15756165 3.90307414] [ 0.2503811 0.9676652 -0.03055107 0.64067491] [ 0.16016666 -0.01028009 0.98703645 0.04335137] [ 0. 0. 0. 1. ]] SLAMing on 76.801346184 meters Centerline goodness : 0.841107 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.65, Z:0.04 [[ 0.95568208 -0.24824508 -0.15825973 3.90114525] [ 0.24704313 0.968613 -0.02754157 0.64500683] [ 0.16012949 -0.01277599 0.98701333 0.04387337] [ 0. 0. 0. 1. ]] SLAMing on 76.861346184 meters Centerline goodness : 0.835976 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.04 [[ 0.95485316 -0.25154896 -0.15804607 3.90432896] [ 0.2498549 0.96779238 -0.03082912 0.64392321] [ 0.16071081 -0.0100513 0.98695036 0.0431359 ] [ 0. 0. 0. 1. ]] SLAMing on 76.921346184 meters Centerline goodness : 0.838513 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.65, Z:0.04 [[ 0.95473058 -0.25214432 -0.15783779 3.9030366 ] [ 0.2503031 0.96764614 -0.03176963 0.64614059] [ 0.16074166 -0.00917585 0.98695386 0.04421112] [ 0. 0. 0. 1. ]] SLAMing on 76.981346184 meters Centerline goodness : 0.836313 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.65, Z:0.04 [[ 0.95471065 -0.25210497 -0.15802106 3.90326849] [ 0.25020412 0.96765942 -0.03214264 0.64754729] [ 0.16101389 -0.0088506 0.98691246 0.04459365] [ 0. 0. 0. 1. ]] SLAMing on 77.04134618399999 meters Centerline goodness : 0.834515 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.65, Z:0.04 [[ 0.95484637 -0.25129647 -0.15848816 3.90555637] [ 0.24944887 0.9678665 -0.03177584 0.64748504] [ 0.16138054 -0.00919365 0.98684943 0.04364094] [ 0. 0. 0. 1. ]] SLAMing on 77.101346184 meters Centerline goodness : 0.835016 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.65, Z:0.04 [[ 0.95483073 -0.25158075 -0.158131 3.90439665] [ 0.24964367 0.96779802 -0.03232698 0.64837897] [ 0.16117171 -0.00860961 0.98688883 0.04434309] [ 0. 0. 0. 1. ]] SLAMing on 77.161346184 meters Centerline goodness : 0.834006 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.65, Z:0.04 [[ 0.95493564 -0.25111852 -0.15823218 3.90594758] [ 0.24934696 0.9679089 -0.03128029 0.64650287] [ 0.16100939 -0.00958405 0.98690634 0.0424228 ] [ 0. 0. 0. 1. ]] SLAMing on 77.221346184 meters Centerline goodness : 0.830875 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.65, Z:0.04 [[ 0.95487131 -0.25150441 -0.15800731 3.90462075] [ 0.24965194 0.9678135 -0.03179527 0.64829297] [ 0.16091825 -0.00908644 0.98692591 0.04324129] [ 0. 0. 0. 1. ]] SLAMing on 77.281346184 meters Centerline goodness : 0.834617 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.65, Z:0.05 [[ 0.95464064 -0.25292427 -0.15713231 3.90086827] [ 0.25095096 0.96745044 -0.03260767 0.64706176] [ 0.160265 -0.0083039 0.9870391 0.0452998 ] [ 0. 0. 0. 1. ]] SLAMing on 77.341346184 meters Centerline goodness : 0.832113 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.05 [[ 0.95367714 -0.25702228 -0.15633125 3.90191186] [ 0.25450846 0.96639134 -0.03623843 0.6446746 ] [ 0.16039125 -0.00522786 0.98703967 0.04558272] [ 0. 0. 0. 1. ]] SLAMing on 77.40134618399999 meters Centerline goodness : 0.835948 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.65, Z:0.04 [[ 0.95389086 -0.25532696 -0.15779849 3.90669763] [ 0.25297896 0.96683356 -0.03513569 0.64765786] [ 0.16153597 -0.00640408 0.98684605 0.04308606] [ 0. 0. 0. 1. ]] SLAMing on 77.46134618399999 meters Centerline goodness : 0.831918 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.65, Z:0.04 [[ 0.95411012 -0.25413753 -0.15839189 3.90967403] [ 0.25183842 0.96714473 -0.03476309 0.64887174] [ 0.16202249 -0.00672134 0.98676417 0.04173477] [ 0. 0. 0. 1. ]] SLAMing on 77.521346184 meters Centerline goodness : 0.833268 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.04 [[ 9.55849580e-01 -2.53561423e-01 -1.48519981e-01 3.89866668e+00] [ 2.50344731e-01 9.67318384e-01 -4.02822543e-02 6.41942824e-01] [ 1.53880134e-01 1.32258125e-03 9.88088637e-01 3.84357463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581346184 meters Centerline goodness : 0.837427 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.04 [[ 0.95683411 -0.25217622 -0.14448406 3.9029508 ] [ 0.25094149 0.96762532 -0.02701142 0.64431942] [ 0.14661808 -0.01041159 0.98913838 0.03908744] [ 0. 0. 0. 1. ]] SLAMing on 77.641346184 meters Centerline goodness : 0.835774 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.64, Z:0.03 [[ 0.95878597 -0.24960256 -0.1357499 3.89460291] [ 0.24774042 0.96833935 -0.03071781 0.63883193] [ 0.13911922 -0.00417893 0.99026682 0.03411815] [ 0. 0. 0. 1. ]] SLAMing on 77.701346184 meters Centerline goodness : 0.830917 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.03 [[ 9.58217123e-01 -2.51570872e-01 -1.36132438e-01 3.90198305e+00] [ 2.49453949e-01 9.67835254e-01 -3.26748970e-02 6.36725491e-01] [ 1.39973825e-01 -2.64912844e-03 9.90151660e-01 2.98402700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76134618399999 meters Centerline goodness : 0.833559 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.64, Z:0.03 [[ 9.58207553e-01 -2.51353837e-01 -1.36599905e-01 3.90351897e+00] [ 2.49312911e-01 9.67889755e-01 -3.21324533e-02 6.36736980e-01] [ 1.40290264e-01 -3.26656048e-03 9.90105031e-01 2.87490842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82134618399999 meters Centerline goodness : 0.835396 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.9591993 -0.24703473 -0.13751562 3.9025211 ] [ 0.24554204 0.9689819 -0.02798541 0.63464309] [ 0.14016352 -0.00692228 0.99010417 0.02968696] [ 0. 0. 0. 1. ]] SLAMing on 77.881346184 meters Centerline goodness : 0.834433 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.96002752 -0.24383455 -0.13744774 3.89878296] [ 0.24276651 0.96976918 -0.02474182 0.63423448] [ 0.13932549 -0.00961488 0.99019996 0.03102287] [ 0. 0. 0. 1. ]] SLAMing on 77.941346184 meters Centerline goodness : 0.833234 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.95940314 -0.24634459 -0.13733153 3.9030362 ] [ 0.24488685 0.96915648 -0.02767933 0.63322948] [ 0.13991439 -0.00707505 0.99013833 0.02948437] [ 0. 0. 0. 1. ]] SLAMing on 78.001346184 meters Centerline goodness : 0.831477 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.95918571 -0.24732252 -0.13709245 3.90103073] [ 0.24575178 0.96891262 -0.02853779 0.63449142] [ 0.13988864 -0.00631767 0.99014709 0.03092262] [ 0. 0. 0. 1. ]] SLAMing on 78.061346184 meters Centerline goodness : 0.831184 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.95898506 -0.24838946 -0.13656623 3.8990112 ] [ 0.24676658 0.96864211 -0.02896049 0.63358536] [ 0.13947728 -0.0059273 0.99020753 0.03171367] [ 0. 0. 0. 1. ]] SLAMing on 78.12134618399999 meters Centerline goodness : 0.824983 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 9.58113067e-01 -2.52354850e-01 -1.35411895e-01 3.89968274e+00] [ 2.50252754e-01 9.67631154e-01 -3.26114720e-02 6.32585452e-01] [ 1.39258432e-01 -2.64172230e-03 9.90252549e-01 3.12098317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18134618399999 meters Centerline goodness : 0.829746 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.64, Z:0.03 [[ 0.95880393 -0.24980083 -0.13525738 3.8945711 ] [ 0.24801657 0.96828618 -0.03016053 0.63580506] [ 0.13850198 -0.00462804 0.99035134 0.03313269] [ 0. 0. 0. 1. ]] SLAMing on 78.241346184 meters Centerline goodness : 0.827061 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.95883816 -0.24960168 -0.13538235 3.89553681] [ 0.24785929 0.96833603 -0.02985141 0.63399068] [ 0.13854657 -0.0049331 0.99034363 0.03273974] [ 0. 0. 0. 1. ]] SLAMing on 78.301346184 meters Centerline goodness : 0.827054 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.63, Z:0.03 [[ 0.95836418 -0.25159343 -0.13505124 3.89313413] [ 0.24974152 0.96782371 -0.03076432 0.63199611] [ 0.13844589 -0.00424448 0.9903609 0.03433097] [ 0. 0. 0. 1. ]] SLAMing on 78.361346184 meters Centerline goodness : 0.825687 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.95843955 -0.25094719 -0.13571709 3.89648607] [ 0.24924621 0.96798574 -0.02966372 0.63041264] [ 0.13881624 -0.00539609 0.99030346 0.0317779 ] [ 0. 0. 0. 1. ]] SLAMing on 78.421346184 meters Centerline goodness : 0.824684 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.63, Z:0.03 [[ 0.95856099 -0.25017503 -0.13628385 3.89962185] [ 0.24863932 0.96817807 -0.02845556 0.62792374] [ 0.1390659 -0.00660914 0.99026107 0.02943248] [ 0. 0. 0. 1. ]] SLAMing on 78.481346184 meters Centerline goodness : 0.826855 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 9.60580431e-01 -2.46971199e-01 -1.27634097e-01 3.88716361e+00] [ 2.45095613e-01 9.69020683e-01 -3.04475906e-02 6.21180615e-01] [ 1.31199758e-01 -2.03519747e-03 9.91353863e-01 2.64787155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54134618399999 meters Centerline goodness : 0.828908 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 9.60619210e-01 -2.46723660e-01 -1.27820849e-01 3.88666943e+00] [ 2.44810205e-01 9.69084238e-01 -3.07197488e-02 6.20668127e-01] [ 1.31448459e-01 -1.78186749e-03 9.91321405e-01 2.83558734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601346184 meters Centerline goodness : 0.831768 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 0.96169462 -0.24158661 -0.12953518 3.88823585] [ 0.24021935 0.97036187 -0.02631552 0.62127491] [ 0.13205347 -0.00580936 0.99122557 0.02814355] [ 0. 0. 0. 1. ]] SLAMing on 78.661346184 meters Centerline goodness : 0.831600 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 0.96194039 -0.24018581 -0.13031295 3.89236456] [ 0.23897302 0.97070172 -0.02510092 0.61772835] [ 0.13252389 -0.00699569 0.99115512 0.02625435] [ 0. 0. 0. 1. ]] SLAMing on 78.721346184 meters Centerline goodness : 0.832633 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 0.96200266 -0.24002295 -0.13015324 3.89212895] [ 0.23878545 0.97074359 -0.02526636 0.61761385] [ 0.13240993 -0.00677239 0.99117191 0.02662427] [ 0. 0. 0. 1. ]] SLAMing on 78.781346184 meters Centerline goodness : 0.840131 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 0.96281772 -0.23643037 -0.13070088 3.88917721] [ 0.23542679 0.97161269 -0.02330258 0.6220104 ] [ 0.13250008 -0.00833435 0.99114795 0.02971079] [ 0. 0. 0. 1. ]] SLAMing on 78.841346184 meters Centerline goodness : 0.837797 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 0.96215221 -0.23906403 -0.13081096 3.89386126] [ 0.23773434 0.97098428 -0.02592133 0.61839713] [ 0.13321224 -0.00615799 0.9910684 0.02822185] [ 0. 0. 0. 1. ]] SLAMing on 78.90134618399999 meters Centerline goodness : 0.838985 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.62, Z:0.03 [[ 0.96220977 -0.23874055 -0.13097827 3.89542696] [ 0.23753533 0.97105762 -0.02498133 0.61500109] [ 0.1331515 -0.00707468 0.99107044 0.02694909] [ 0. 0. 0. 1. ]] SLAMing on 78.96134618399999 meters Centerline goodness : 0.842113 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.62, Z:0.03 [[ 0.96165534 -0.24104001 -0.13083854 3.89110035] [ 0.2397244 0.97049403 -0.02595289 0.61564686] [ 0.1332337 -0.00640746 0.99106394 0.0300822 ] [ 0. 0. 0. 1. ]] SLAMing on 79.021346184 meters Centerline goodness : 0.843173 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.61, Z:0.03 [[ 0.96149752 -0.2419071 -0.13039733 3.88963763] [ 0.24055587 0.9702801 -0.02625647 0.6117886 ] [ 0.13287356 -0.00612231 0.99111409 0.03141003] [ 0. 0. 0. 1. ]] SLAMing on 79.081346184 meters Centerline goodness : 0.838727 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.60, Z:0.02 [[ 9.63043122e-01 -2.40082390e-01 -1.22099922e-01 3.88617752e+00] [ 2.38106593e-01 9.70752369e-01 -3.07422931e-02 6.03953726e-01] [ 1.25909472e-01 5.33357461e-04 9.92041592e-01 2.22740500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141346184 meters Centerline goodness : 0.843712 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.61, Z:0.02 [[ 9.63783206e-01 -2.36703533e-01 -1.22855071e-01 3.88303471e+00] [ 2.35068968e-01 9.71579777e-01 -2.78445394e-02 6.07511600e-01] [ 1.25954403e-01 -2.04331510e-03 9.92033927e-01 2.46626291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201346184 meters Centerline goodness : 0.841420 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.60, Z:0.02 [[ 9.63973084e-01 -2.35745842e-01 -1.23206294e-01 3.88548570e+00] [ 2.34240518e-01 9.71809954e-01 -2.67729858e-02 6.03162297e-01] [ 1.26044723e-01 -3.05146854e-03 9.92019867e-01 2.35856060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26134618399999 meters Centerline goodness : 0.843184 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.60, Z:0.02 [[ 9.64006821e-01 -2.35545238e-01 -1.23325952e-01 3.88628531e+00] [ 2.34091949e-01 9.71857211e-01 -2.63537634e-02 6.00891170e-01] [ 1.26062719e-01 -3.46440472e-03 9.92016224e-01 2.32314708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32134618399999 meters Centerline goodness : 0.843536 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.03 [[ 0.96468464 -0.23252128 -0.12376345 3.88304602] [ 0.23140345 0.97257319 -0.02353364 0.60240196] [ 0.12584109 -0.00593675 0.99203265 0.0253973 ] [ 0. 0. 0. 1. ]] SLAMing on 79.381346184 meters Centerline goodness : 0.842107 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.60, Z:0.02 [[ 0.96493974 -0.23110234 -0.12443076 3.88719111] [ 0.23014511 0.97290278 -0.02221274 0.59866374] [ 0.12619244 -0.00720317 0.99197963 0.02306471] [ 0. 0. 0. 1. ]] SLAMing on 79.441346184 meters Centerline goodness : 0.845226 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96478275 -0.23219616 -0.12360898 3.88408329] [ 0.2310868 0.97265077 -0.02343856 0.60039361] [ 0.12567071 -0.00595128 0.99205416 0.02479201] [ 0. 0. 0. 1. ]] SLAMing on 79.501346184 meters Centerline goodness : 0.847816 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.03 [[ 0.96461974 -0.23329874 -0.12280253 3.88103805] [ 0.23208589 0.9723919 -0.0242924 0.60140383] [ 0.12507957 -0.00506781 0.99213377 0.02607532] [ 0. 0. 0. 1. ]] SLAMing on 79.561346184 meters Centerline goodness : 0.849269 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 9.63731110e-01 -2.37193723e-01 -1.22317153e-01 3.88345287e+00] [ 2.35655188e-01 9.71458616e-01 -2.71069901e-02 5.98953257e-01] [ 1.25255660e-01 -2.70082204e-03 9.92120822e-01 2.41696954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62134618399999 meters Centerline goodness : 0.845911 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 9.63539286e-01 -2.38023670e-01 -1.22216107e-01 3.88319581e+00] [ 2.36562616e-01 9.71253623e-01 -2.65429678e-02 5.96898690e-01] [ 1.25020691e-01 -3.33656960e-03 9.92148524e-01 2.31511249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68134618399999 meters Centerline goodness : 0.847710 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 9.62442757e-01 -2.42928846e-01 -1.21200314e-01 3.88257657e+00] [ 2.40998400e-01 9.70044088e-01 -3.05653159e-02 5.96115462e-01] [ 1.24994845e-01 2.08285137e-04 9.92157369e-01 2.37131069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741346184 meters Centerline goodness : 0.844675 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.59, Z:0.02 [[ 9.62348177e-01 -2.43580883e-01 -1.20641366e-01 3.88176280e+00] [ 2.41649481e-01 9.69880538e-01 -3.06148724e-02 5.92749632e-01] [ 1.24464911e-01 3.09243090e-04 9.92223962e-01 2.37606210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801346184 meters Centerline goodness : 0.848436 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.59, Z:0.02 [[ 9.63104261e-01 -2.40419091e-01 -1.20949752e-01 3.87954959e+00] [ 2.38910018e-01 9.70665002e-01 -2.70454572e-02 5.91721867e-01] [ 1.23903936e-01 -2.84851237e-03 9.92290129e-01 2.41030838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861346184 meters Centerline goodness : 0.847953 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.59, Z:0.02 [[ 0.96407586 -0.23611226 -0.12169115 3.87891432] [ 0.23506386 0.97170519 -0.02310857 0.59205326] [ 0.12370414 -0.00632677 0.99229898 0.02396123] [ 0. 0. 0. 1. ]] SLAMing on 79.921346184 meters Centerline goodness : 0.847050 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.59, Z:0.03 [[ 0.9640827 -0.23627666 -0.12131731 3.87777289] [ 0.23515406 0.9716692 -0.02369648 0.59269427] [ 0.12347922 -0.00568289 0.99233089 0.02501357] [ 0. 0. 0. 1. ]] SLAMing on 79.981346184 meters Centerline goodness : 0.846100 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.03 [[ 0.96475762 -0.23362499 -0.12108715 3.87291976] [ 0.2327537 0.97229824 -0.02149075 0.59566017] [ 0.1227536 -0.00745012 0.99240921 0.0273171 ] [ 0. 0. 0. 1. ]] SLAMing on 80.04134618399999 meters Centerline goodness : 0.845348 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96474414 -0.23336124 -0.12170157 3.88052146] [ 0.23242097 0.97236493 -0.02206646 0.59620809] [ 0.12348779 -0.00699751 0.99232142 0.02248549] [ 0. 0. 0. 1. ]] SLAMing on 80.101346184 meters Centerline goodness : 0.849450 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96480905 -0.23276595 -0.12232545 3.88271831] [ 0.23183676 0.97250645 -0.02197569 0.59935602] [ 0.12407748 -0.00715719 0.99224672 0.02116883] [ 0. 0. 0. 1. ]] SLAMing on 80.161346184 meters Centerline goodness : 0.849889 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96463825 -0.23384809 -0.12160641 3.87990526] [ 0.23281942 0.97225263 -0.02280225 0.59982238] [ 0.12356441 -0.00631642 0.99231645 0.02256113] [ 0. 0. 0. 1. ]] SLAMing on 80.221346184 meters Centerline goodness : 0.849924 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96451961 -0.23473885 -0.12082878 3.87743241] [ 0.23365183 0.97204136 -0.02328993 0.59804821] [ 0.12291762 -0.00576827 0.99240011 0.023891 ] [ 0. 0. 0. 1. ]] SLAMing on 80.281346184 meters Centerline goodness : 0.851056 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96441409 -0.23510658 -0.12095599 3.87667456] [ 0.23395743 0.971955 -0.02382003 0.6003374 ] [ 0.12316403 -0.00532618 0.99237203 0.02475795] [ 0. 0. 0. 1. ]] SLAMing on 80.341346184 meters Centerline goodness : 0.851224 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96431523 -0.23558185 -0.12081945 3.8769254 ] [ 0.23450819 0.97183644 -0.02323472 0.59923175] [ 0.12289042 -0.00592756 0.99240254 0.02296952] [ 0. 0. 0. 1. ]] SLAMing on 80.40134618399999 meters Centerline goodness : 0.847779 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 9.63345971e-01 -2.40013370e-01 -1.19825385e-01 3.87726503e+00] [ 2.38452969e-01 9.70767163e-01 -2.74098046e-02 5.99393509e-01] [ 1.22901269e-01 -2.16759405e-03 9.92416535e-01 2.29697395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46134618399999 meters Centerline goodness : 0.846875 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 9.63158121e-01 -2.41032082e-01 -1.19289432e-01 3.87611989e+00] [ 2.39455103e-01 9.70515122e-01 -2.75980300e-02 5.96960105e-01] [ 1.22424209e-01 -1.98319656e-03 9.92475884e-01 2.28936942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521346184 meters Centerline goodness : 0.849643 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.60, Z:0.02 [[ 0.96397502 -0.23731243 -0.12014566 3.87503712] [ 0.23614224 0.97141975 -0.02409378 0.59853297] [ 0.12242962 -0.00514566 0.99246386 0.02326936] [ 0. 0. 0. 1. ]] SLAMing on 80.581346184 meters Centerline goodness : 0.850207 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.9649749 -0.23286682 -0.12081591 3.87476756] [ 0.23217091 0.9724693 -0.02000345 0.59913304] [ 0.1221479 -0.00874711 0.99247336 0.02245516] [ 0. 0. 0. 1. ]] SLAMing on 80.641346184 meters Centerline goodness : 0.847658 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96497059 -0.23306154 -0.12047442 3.87388787] [ 0.23231571 0.97242652 -0.02039774 0.59794088] [ 0.12190645 -0.00830488 0.99250685 0.02346903] [ 0. 0. 0. 1. ]] SLAMing on 80.701346184 meters Centerline goodness : 0.850866 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96580396 -0.22925462 -0.12109924 3.87296321] [ 0.22894423 0.97329696 -0.01666052 0.59833055] [ 0.12168502 -0.01163417 0.99250058 0.02315428] [ 0. 0. 0. 1. ]] SLAMing on 80.76134618399999 meters Centerline goodness : 0.851727 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96579483 -0.22910465 -0.12145534 3.87356257] [ 0.22872695 0.97333808 -0.01723242 0.60105971] [ 0.12216513 -0.01113713 0.9924473 0.02357981] [ 0. 0. 0. 1. ]] SLAMing on 80.82134618399999 meters Centerline goodness : 0.850058 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96579996 -0.22926117 -0.12111872 3.87260364] [ 0.22880409 0.97330868 -0.0178577 0.60219203] [ 0.12197998 -0.01046549 0.99247738 0.02430113] [ 0. 0. 0. 1. ]] SLAMing on 80.881346184 meters Centerline goodness : 0.851577 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96584825 -0.22901859 -0.12119256 3.87361028] [ 0.22856718 0.97336535 -0.01780267 0.60206534] [ 0.12204178 -0.01050597 0.99246936 0.02365343] [ 0. 0. 0. 1. ]] SLAMing on 80.941346184 meters Centerline goodness : 0.853402 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96665295 -0.22543829 -0.12148927 3.87193179] [ 0.22540397 0.9741618 -0.01420668 0.60376452] [ 0.12155294 -0.01365123 0.99249107 0.02307294] [ 0. 0. 0. 1. ]] SLAMing on 81.001346184 meters Centerline goodness : 0.854364 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96669547 -0.22506738 -0.12183821 3.87359351] [ 0.22508827 0.97424103 -0.01377292 0.60311732] [ 0.12179961 -0.01411014 0.99245441 0.02203524] [ 0. 0. 0. 1. ]] SLAMing on 81.061346184 meters Centerline goodness : 0.856909 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:0.02 [[ 0.96652396 -0.22610323 -0.12127969 3.87115035] [ 0.2259954 0.97401554 -0.01482598 0.6053518 ] [ 0.12148051 -0.01307899 0.99250765 0.02325363] [ 0. 0. 0. 1. ]] SLAMing on 81.12134618399999 meters Centerline goodness : 0.855667 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:0.02 [[ 0.96624652 -0.22775853 -0.12038985 3.8681668 ] [ 0.22754989 0.97364045 -0.01566269 0.60645466] [ 0.12078374 -0.01226068 0.99260312 0.02359344] [ 0. 0. 0. 1. ]] SLAMing on 81.18134618399999 meters Centerline goodness : 0.858286 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:0.02 [[ 0.96525947 -0.23236351 -0.11950465 3.86835369] [ 0.23161629 0.97259541 -0.02029937 0.60801809] [ 0.12094651 -0.00808506 0.9926261 0.02400963] [ 0. 0. 0. 1. ]] SLAMing on 81.241346184 meters Centerline goodness : 0.854148 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:0.02 [[ 0.96509493 -0.23343188 -0.11874902 3.86608569] [ 0.23253574 0.97234922 -0.02154327 0.61140821] [ 0.1204944 -0.00682209 0.99269057 0.02447956] [ 0. 0. 0. 1. ]] SLAMing on 81.301346184 meters Centerline goodness : 0.857925 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.03 [[ 0.96497562 -0.23409945 -0.11840401 3.86472297] [ 0.23311178 0.97219375 -0.0223205 0.61346389] [ 0.12033685 -0.00606263 0.9927146 0.02505721] [ 0. 0. 0. 1. ]] SLAMing on 81.361346184 meters Centerline goodness : 0.859048 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.03 [[ 0.96497349 -0.23408043 -0.11845893 3.86449716] [ 0.23302503 0.97220154 -0.02288028 0.61708565] [ 0.12052178 -0.00552503 0.99269531 0.02523268] [ 0. 0. 0. 1. ]] SLAMing on 81.421346184 meters Centerline goodness : 0.860611 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.03 [[ 0.96488249 -0.23466167 -0.11804946 3.86323342] [ 0.2334974 0.97206621 -0.0237962 0.62016117] [ 0.12033594 -0.00460371 0.99272255 0.02551153] [ 0. 0. 0. 1. ]] SLAMing on 81.481346184 meters Centerline goodness : 0.861420 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.02 [[ 0.9649375 -0.2344996 -0.11792181 3.86388149] [ 0.23335137 0.97210487 -0.02364884 0.61966935] [ 0.12017801 -0.00469756 0.99274124 0.02461711] [ 0. 0. 0. 1. ]] SLAMing on 81.54134618399999 meters Centerline goodness : 0.863348 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.03 [[ 0.96570176 -0.23114568 -0.11828685 3.86127659] [ 0.23029856 0.97289404 -0.02097046 0.62395296] [ 0.1199278 -0.00699008 0.99275801 0.0255794 ] [ 0. 0. 0. 1. ]] SLAMing on 81.601346184 meters Centerline goodness : 0.861864 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.02 [[ 0.96580676 -0.23071087 -0.11827845 3.86277721] [ 0.22995924 0.9729916 -0.02015202 0.62261191] [ 0.11973323 -0.00773626 0.99277596 0.02350176] [ 0. 0. 0. 1. ]] SLAMing on 81.661346184 meters Centerline goodness : 0.859316 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.02 [[ 0.96573118 -0.23129051 -0.11776242 3.86141995] [ 0.23050134 0.97285675 -0.02046672 0.62250379] [ 0.11929972 -0.00737905 0.99283086 0.02377429] [ 0. 0. 0. 1. ]] SLAMing on 81.721346184 meters Centerline goodness : 0.857389 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.03 [[ 0.96627403 -0.22918177 -0.11743177 3.85631393] [ 0.22870086 0.97333514 -0.01773764 0.62265419] [ 0.11836561 -0.00971733 0.99292253 0.0256856 ] [ 0. 0. 0. 1. ]] SLAMing on 81.781346184 meters Centerline goodness : 0.857047 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.03 [[ 0.96631001 -0.22901976 -0.11745173 3.85704301] [ 0.22859236 0.97336885 -0.01728045 0.62080738] [ 0.11828142 -0.01015029 0.99292823 0.02503236] [ 0. 0. 0. 1. ]] SLAMing on 81.841346184 meters Centerline goodness : 0.856002 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.02 [[ 0.96628778 -0.22903953 -0.11759597 3.85846634] [ 0.22870855 0.97335535 -0.01648507 0.61931384] [ 0.1182384 -0.01096589 0.99292469 0.02294933] [ 0. 0. 0. 1. ]] SLAMing on 81.90134618399999 meters Centerline goodness : 0.849751 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.02 [[ 0.9662796 -0.2288489 -0.11803355 3.86058345] [ 0.22862214 0.97338957 -0.01564154 0.6167356 ] [ 0.11847217 -0.01187098 0.99288641 0.0212606 ] [ 0. 0. 0. 1. ]] SLAMing on 81.96134618399999 meters Centerline goodness : 0.850957 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96630356 -0.2288604 -0.11781485 3.86087758] [ 0.22867263 0.97338326 -0.01529267 0.61462206] [ 0.11817889 -0.01216367 0.99291782 0.02058523] [ 0. 0. 0. 1. ]] SLAMing on 82.021346184 meters Centerline goodness : 0.854740 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.62, Z:0.02 [[ 0.96698435 -0.22597113 -0.11780624 3.85660203] [ 0.22608885 0.97402596 -0.01254065 0.61666422] [ 0.11758016 -0.01450807 0.99295741 0.02260851] [ 0. 0. 0. 1. ]] SLAMing on 82.081346184 meters Centerline goodness : 0.852594 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.9670288 -0.22595023 -0.11748101 3.85593394] [ 0.22608352 0.97402941 -0.01236709 0.61325519] [ 0.11722431 -0.01460119 0.99299812 0.02344541] [ 0. 0. 0. 1. ]] SLAMing on 82.141346184 meters Centerline goodness : 0.852708 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96632755 -0.22910472 -0.1171413 3.8588232 ] [ 0.22895623 0.97332259 -0.01490577 0.60923171] [ 0.11743126 -0.01241637 0.99300339 0.02216353] [ 0. 0. 0. 1. ]] SLAMing on 82.201346184 meters Centerline goodness : 0.857047 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96710448 -0.22538752 -0.11793807 3.8570083 ] [ 0.22560137 0.97414933 -0.01170957 0.61204912] [ 0.11752849 -0.01528261 0.99295191 0.02343387] [ 0. 0. 0. 1. ]] SLAMing on 82.26134618399999 meters Centerline goodness : 0.855384 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.60, Z:0.02 [[ 0.96925384 -0.21988754 -0.1104376 3.85379316] [ 0.21966412 0.97547019 -0.01433795 0.60390041] [ 0.11088133 -0.01036206 0.99377963 0.01537326] [ 0. 0. 0. 1. ]] SLAMing on 82.32134618399999 meters Centerline goodness : 0.858605 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 0.97026743 -0.21485083 -0.11144612 3.85418767] [ 0.21505915 0.97654679 -0.01029203 0.60513837] [ 0.1110436 -0.01398149 0.99371718 0.01542426] [ 0. 0. 0. 1. ]] SLAMing on 82.381346184 meters Centerline goodness : 0.858992 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.01 [[ 0.9713811 -0.2087916 -0.11324674 3.85777696] [ 0.20951409 0.97778949 -0.00561795 0.60749725] [ 0.11190446 -0.01826962 0.99355101 0.01376466] [ 0. 0. 0. 1. ]] SLAMing on 82.441346184 meters Centerline goodness : 0.853506 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.01 [[ 0.97173055 -0.20455804 -0.11788019 3.85506993] [ 0.20410348 0.97881781 -0.01604568 0.60599515] [ 0.1186655 -0.00846768 0.99289818 0.01490914] [ 0. 0. 0. 1. ]] SLAMing on 82.501346184 meters Centerline goodness : 0.854300 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 0.97152368 -0.20580716 -0.11741019 3.85168112] [ 0.20512455 0.97857034 -0.01800034 0.60941123] [ 0.11859872 -0.00659596 0.99292036 0.0184073 ] [ 0. 0. 0. 1. ]] SLAMing on 82.561346184 meters Centerline goodness : 0.852525 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 0.97142307 -0.20642942 -0.11714993 3.8498853 ] [ 0.20562198 0.97844568 -0.01906996 0.61003782] [ 0.11856144 -0.0055636 0.99293113 0.02069686] [ 0. 0. 0. 1. ]] SLAMing on 82.62134618399999 meters Centerline goodness : 0.852726 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 0.97138979 -0.20680418 -0.1167643 3.84905261] [ 0.20593607 0.97836946 -0.01958385 0.61056049] [ 0.11828865 -0.00502243 0.99296655 0.02090635] [ 0. 0. 0. 1. ]] SLAMing on 82.68134618399999 meters Centerline goodness : 0.851508 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 0.97133525 -0.20699999 -0.11687105 3.8492547 ] [ 0.20608692 0.97832975 -0.0199772 0.61194712] [ 0.11847371 -0.00468103 0.99294616 0.02107937] [ 0. 0. 0. 1. ]] SLAMing on 82.741346184 meters Centerline goodness : 0.848140 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 0.97121763 -0.20755671 -0.11686118 3.84971392] [ 0.20668446 0.97820994 -0.01966821 0.61096921] [ 0.11839704 -0.00505127 0.99295349 0.01974531] [ 0. 0. 0. 1. ]] SLAMing on 82.801346184 meters Centerline goodness : 0.850169 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 0.97099903 -0.2089748 -0.11614826 3.84739586] [ 0.20805891 0.97790994 -0.02009101 0.60858862] [ 0.11778105 -0.00465733 0.99302867 0.02040003] [ 0. 0. 0. 1. ]] SLAMing on 82.861346184 meters Centerline goodness : 0.851475 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.61, Z:0.02 [[ 9.70721945e-01 -2.10437998e-01 -1.15822083e-01 3.84429441e+00] [ 2.09385228e-01 9.77600745e-01 -2.13215585e-02 6.10870207e-01] [ 1.17714621e-01 -3.55412856e-03 9.93041105e-01 2.27576168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921346184 meters Centerline goodness : 0.848617 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 9.70096387e-01 -2.13109275e-01 -1.16178469e-01 3.84927160e+00] [ 2.11743608e-01 9.77027629e-01 -2.41175618e-02 6.10666091e-01] [ 1.18649250e-01 -1.20368853e-03 9.92935500e-01 2.05744965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981346184 meters Centerline goodness : 0.850742 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.61, Z:0.02 [[ 9.70017001e-01 -2.13512756e-01 -1.16100477e-01 3.84815987e+00] [ 2.12027147e-01 9.76940250e-01 -2.51443274e-02 6.14425879e-01] [ 1.18791864e-01 -2.26027810e-04 9.92919152e-01 2.17406811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04134618399999 meters Centerline goodness : 0.843265 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 9.70874729e-01 -2.09340519e-01 -1.16528138e-01 3.84758144e+00] [ 2.08270177e-01 9.77836651e-01 -2.14247009e-02 6.15616175e-01] [ 1.18430542e-01 -3.46863527e-03 9.92956281e-01 2.09653479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101346184 meters Centerline goodness : 0.844281 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 9.70875771e-01 -2.09495909e-01 -1.16239845e-01 3.84736434e+00] [ 2.08392345e-01 9.77804447e-01 -2.17047157e-02 6.15295879e-01] [ 1.18206886e-01 -3.15091136e-03 9.92983990e-01 2.10196822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161346184 meters Centerline goodness : 0.845670 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 9.70784682e-01 -2.09760846e-01 -1.16522483e-01 3.84736177e+00] [ 2.08599010e-01 9.77748886e-01 -2.22163972e-02 6.19059816e-01] [ 1.18589858e-01 -2.73913640e-03 9.92939546e-01 2.13089688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221346184 meters Centerline goodness : 0.846913 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 9.70609781e-01 -2.10767687e-01 -1.16162108e-01 3.84617451e+00] [ 2.09600214e-01 9.77532485e-01 -2.23157328e-02 6.16984313e-01] [ 1.18255670e-01 -2.68773424e-03 9.92979543e-01 2.11996255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281346184 meters Centerline goodness : 0.842709 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 9.69787852e-01 -2.14730302e-01 -1.15768822e-01 3.84807977e+00] [ 2.13122784e-01 9.76673079e-01 -2.62369290e-02 6.17179213e-01] [ 1.18702155e-01 7.71281388e-04 9.92929607e-01 2.08176137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341346184 meters Centerline goodness : 0.844700 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 9.70411068e-01 -2.11657867e-01 -1.16203726e-01 3.84597223e+00] [ 2.10424070e-01 9.77341337e-01 -2.29264269e-02 6.20216463e-01] [ 1.18423263e-01 -2.20400243e-03 9.92960761e-01 2.06820714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40134618399999 meters Centerline goodness : 0.840794 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 9.70476161e-01 -2.11520581e-01 -1.15909725e-01 3.84647927e+00] [ 2.10366133e-01 9.77369548e-01 -2.22453908e-02 6.16461877e-01] [ 1.17991994e-01 -2.79485928e-03 9.93010613e-01 1.94422928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46134618399999 meters Centerline goodness : 0.840261 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:0.02 [[ 9.70341917e-01 -2.12466276e-01 -1.15302411e-01 3.84424486e+00] [ 2.11251624e-01 9.77165838e-01 -2.27964062e-02 6.17416539e-01] [ 1.17513045e-01 -2.23751322e-03 9.93068818e-01 2.00839070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521346184 meters Centerline goodness : 0.840417 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.62, Z:0.02 [[ 0.97065656 -0.21373156 -0.1102028 3.85425086] [ 0.21347638 0.97684432 -0.01424829 0.6166232 ] [ 0.11069629 -0.0096955 0.99380699 0.02103709] [ 0. 0. 0. 1. ]] SLAMing on 83.581346184 meters Centerline goodness : 0.842218 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96995398 -0.21694852 -0.11010279 3.85780972] [ 0.21637345 0.97615757 -0.01728981 0.61485741] [ 0.11122867 -0.007053 0.99376981 0.01955909] [ 0. 0. 0. 1. ]] SLAMing on 83.641346184 meters Centerline goodness : 0.838966 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96922866 -0.22010121 -0.11023281 3.8620253 ] [ 0.21927089 0.97546408 -0.01975085 0.61416857] [ 0.11187533 -0.00502776 0.99370953 0.01664092] [ 0. 0. 0. 1. ]] SLAMing on 83.701346184 meters Centerline goodness : 0.837434 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96923457 -0.2201533 -0.11007671 3.86201016] [ 0.21936017 0.97545074 -0.01941594 0.6117743 ] [ 0.11164889 -0.00532785 0.99373343 0.01654468] [ 0. 0. 0. 1. ]] SLAMing on 83.76134618399999 meters Centerline goodness : 0.836792 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96980359 -0.21779803 -0.10974977 3.85642299] [ 0.21724777 0.97596682 -0.01709324 0.61117825] [ 0.11083501 -0.0072658 0.99381226 0.02020115] [ 0. 0. 0. 1. ]] SLAMing on 83.82134618399999 meters Centerline goodness : 0.837104 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.97001346 -0.21652332 -0.11041534 3.86003666] [ 0.21610337 0.97624099 -0.01590141 0.60916395] [ 0.111235 -0.00843654 0.99375832 0.01806922] [ 0. 0. 0. 1. ]] SLAMing on 83.881346184 meters Centerline goodness : 0.837626 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.97013992 -0.21553717 -0.11123065 3.86300573] [ 0.21521815 0.97645062 -0.01501099 0.60961152] [ 0.11184666 -0.00937609 0.99368124 0.01637863] [ 0. 0. 0. 1. ]] SLAMing on 83.941346184 meters Centerline goodness : 0.840128 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.96977979 -0.21765669 -0.1102394 3.86111047] [ 0.2171175 0.97599711 -0.01701877 0.60597421] [ 0.11129759 -0.00743044 0.99375934 0.01830967] [ 0. 0. 0. 1. ]] SLAMing on 84.001346184 meters Centerline goodness : 0.842060 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.96978879 -0.21774694 -0.10998172 3.86084997] [ 0.21723093 0.97597567 -0.01679908 0.60359026] [ 0.11099743 -0.00759987 0.99379163 0.01838258] [ 0. 0. 0. 1. ]] SLAMing on 84.061346184 meters Centerline goodness : 0.838423 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.61, Z:0.02 [[ 0.97064511 -0.21351119 -0.11072958 3.86018852] [ 0.21339488 0.976879 -0.01303988 0.60504144] [ 0.11095357 -0.01097203 0.99376502 0.01856219] [ 0. 0. 0. 1. ]] SLAMing on 84.12134618399999 meters Centerline goodness : 0.835935 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.97097672 -0.21160272 -0.11148321 3.86425078] [ 0.21160065 0.9772827 -0.01198717 0.60441379] [ 0.11148713 -0.01195066 0.99369402 0.01667346] [ 0. 0. 0. 1. ]] SLAMing on 84.18134618399999 meters Centerline goodness : 0.836952 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:0.02 [[ 0.97127684 -0.20997066 -0.11195368 3.8668818 ] [ 0.21002394 0.97762918 -0.01145165 0.60589321] [ 0.11185369 -0.01239023 0.99364744 0.01554361] [ 0. 0. 0. 1. ]] SLAMing on 84.241346184 meters Centerline goodness : 0.837963 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.97103703 -0.21142274 -0.11129923 3.86369731] [ 0.21139405 0.97732484 -0.01219456 0.60444793] [ 0.11135371 -0.01168663 0.99371212 0.01752293] [ 0. 0. 0. 1. ]] SLAMing on 84.301346184 meters Centerline goodness : 0.838291 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.97012186 -0.21599284 -0.11050193 3.86401334] [ 0.21553931 0.97636115 -0.01617735 0.60275974] [ 0.11138399 -0.0081235 0.99374424 0.01783377] [ 0. 0. 0. 1. ]] SLAMing on 84.361346184 meters Centerline goodness : 0.836464 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.96918674 -0.22060054 -0.10960139 3.86405008] [ 0.21973332 0.97535329 -0.02008044 0.60251605] [ 0.11132983 -0.00462138 0.99377277 0.01763967] [ 0. 0. 0. 1. ]] SLAMing on 84.421346184 meters Centerline goodness : 0.838196 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.9691823 -0.22061856 -0.10960436 3.86483853] [ 0.21980505 0.97534686 -0.01960188 0.60086523] [ 0.1112268 -0.0050938 0.99378199 0.01657081] [ 0. 0. 0. 1. ]] SLAMing on 84.48134618399999 meters Centerline goodness : 0.838407 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.96916316 -0.22077232 -0.1094639 3.86431662] [ 0.21996593 0.97531183 -0.0195405 0.59925946] [ 0.11107543 -0.0051404 0.99379868 0.01699778] [ 0. 0. 0. 1. ]] SLAMing on 84.54134618399999 meters Centerline goodness : 0.842363 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.96965706 -0.21854671 -0.10955598 3.85987559] [ 0.21799376 0.97579951 -0.01714726 0.60052874] [ 0.11065215 -0.00725556 0.99383271 0.01977342] [ 0. 0. 0. 1. ]] SLAMing on 84.601346184 meters Centerline goodness : 0.839828 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.96963228 -0.21863717 -0.1095948 3.85985095] [ 0.21806071 0.97578069 -0.01736595 0.60008411] [ 0.11073733 -0.00705974 0.99382463 0.02028883] [ 0. 0. 0. 1. ]] SLAMing on 84.661346184 meters Centerline goodness : 0.841633 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.96900285 -0.22146931 -0.1094752 3.86466118] [ 0.22064425 0.97515442 -0.01974762 0.59595986] [ 0.11112872 -0.00501958 0.99379334 0.01733197] [ 0. 0. 0. 1. ]] SLAMing on 84.721346184 meters Centerline goodness : 0.843877 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:0.02 [[ 0.96900745 -0.2212427 -0.10989189 3.8660138 ] [ 0.22044481 0.97520428 -0.01951157 0.59733208] [ 0.11148383 -0.00531824 0.99375202 0.01626042] [ 0. 0. 0. 1. ]] SLAMing on 84.781346184 meters Centerline goodness : 0.846203 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.02 [[ 0.96973491 -0.21776268 -0.11042469 3.8635544 ] [ 0.21728211 0.97596914 -0.01651452 0.59900293] [ 0.11136733 -0.0079786 0.99374728 0.01819088] [ 0. 0. 0. 1. ]] SLAMing on 84.841346184 meters Centerline goodness : 0.847516 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.60, Z:0.02 [[ 9.71805855e-01 -2.13026081e-01 -1.01060721e-01 3.85031308e+00] [ 2.12066490e-01 9.77044978e-01 -2.02710463e-02 5.97059995e-01] [ 1.03059132e-01 -1.73207091e-03 9.94673723e-01 1.67278242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90134618399999 meters Centerline goodness : 0.844283 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.60, Z:0.02 [[ 9.71846607e-01 -2.12822688e-01 -1.01097361e-01 3.85168476e+00] [ 2.11896457e-01 9.77088698e-01 -1.99391069e-02 5.96122818e-01] [ 1.03024583e-01 -2.04441912e-03 9.94676709e-01 1.53083536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96134618399999 meters Centerline goodness : 0.844629 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.60, Z:0.01 [[ 9.71968752e-01 -2.11860978e-01 -1.01939542e-01 3.85554009e+00] [ 2.11037622e-01 9.77294821e-01 -1.89196694e-02 5.95455641e-01] [ 1.03633326e-01 -3.12375103e-03 9.94610666e-01 1.24786598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021346184 meters Centerline goodness : 0.845803 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.60, Z:0.01 [[ 9.71803012e-01 -2.12581811e-01 -1.02019014e-01 3.85421584e+00] [ 2.11689337e-01 9.77140004e-01 -1.96223849e-02 5.96673942e-01] [ 1.03858222e-01 -2.52724463e-03 9.94588901e-01 1.42887560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081346184 meters Centerline goodness : 0.843001 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.60, Z:0.02 [[ 9.71587279e-01 -2.13931532e-01 -1.01249484e-01 3.85075012e+00] [ 2.12947294e-01 9.76847370e-01 -2.05588467e-02 5.95268255e-01] [ 1.03303477e-01 -1.58608956e-03 9.94648619e-01 1.68403240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141346184 meters Centerline goodness : 0.842729 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.59, Z:0.02 [[ 9.71534973e-01 -2.14219553e-01 -1.01142374e-01 3.85094795e+00] [ 2.13246380e-01 9.76784082e-01 -2.04655418e-02 5.94282620e-01] [ 1.03178380e-01 -1.68525561e-03 9.94661441e-01 1.61955091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201346184 meters Centerline goodness : 0.843606 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.59, Z:0.01 [[ 9.70965873e-01 -2.16722123e-01 -1.01275839e-01 3.85538730e+00] [ 2.15471484e-01 9.76233034e-01 -2.32616025e-02 5.93346415e-01] [ 1.03910124e-01 7.64166711e-04 9.94586398e-01 1.42086638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26134618399999 meters Centerline goodness : 0.844256 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.59, Z:0.02 [[ 9.71752801e-01 -2.12840982e-01 -1.01956904e-01 3.85399449e+00] [ 2.11976086e-01 9.77082870e-01 -1.93701719e-02 5.92000518e-01] [ 1.03743111e-01 -2.78940663e-03 9.94600214e-01 1.52699709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32134618399999 meters Centerline goodness : 0.844945 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.60, Z:0.02 [[ 0.97246745 -0.20908699 -0.10290622 3.85208941] [ 0.20840636 0.97788677 -0.01744304 0.59643378] [ 0.10427774 -0.00448353 0.99453811 0.01902136] [ 0. 0. 0. 1. ]] SLAMing on 85.381346184 meters Centerline goodness : 0.845556 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.59, Z:0.02 [[ 0.9738135 -0.20693429 -0.0941566 3.85200464] [ 0.20512625 0.97831761 -0.02859855 0.59195972] [ 0.09803308 0.00853567 0.99514655 0.01739238] [ 0. 0. 0. 1. ]] SLAMing on 85.441346184 meters Centerline goodness : 0.846053 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.59, Z:0.02 [[ 0.97393256 -0.20602281 -0.09492084 3.85471868] [ 0.20427811 0.97851662 -0.02785096 0.59300709] [ 0.09861955 0.0077347 0.99509515 0.01585729] [ 0. 0. 0. 1. ]] SLAMing on 85.501346184 meters Centerline goodness : 0.846647 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.59, Z:0.02 [[ 0.97393344 -0.20595169 -0.0950661 3.85532361] [ 0.20430947 0.97853935 -0.02680251 0.5894704 ] [ 0.09854594 0.00668096 0.99511008 0.01505882] [ 0. 0. 0. 1. ]] SLAMing on 85.561346184 meters Centerline goodness : 0.844252 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:0.59, Z:0.02 [[ 0.97321531 -0.20941155 -0.09486186 3.85731357] [ 0.20742411 0.9777768 -0.03045937 0.58756051] [ 0.09913227 0.00996688 0.99502435 0.01547328] [ 0. 0. 0. 1. ]] SLAMing on 85.62134618399999 meters Centerline goodness : 0.842707 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.59, Z:0.02 [[ 9.73865984e-01 -2.08284725e-01 -9.05677528e-02 3.86876910e+00] [ 2.07290228e-01 9.78067671e-01 -2.03566296e-02 5.88665358e-01] [ 9.28213661e-02 1.05081900e-03 9.95682223e-01 1.59756779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68134618399999 meters Centerline goodness : 0.840298 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.59, Z:0.01 [[ 9.73709998e-01 -2.08417676e-01 -9.19288418e-02 3.87830219e+00] [ 2.07327871e-01 9.78038374e-01 -2.13563375e-02 5.85694245e-01] [ 9.43609732e-02 1.73546827e-03 9.95536536e-01 1.15537411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741346184 meters Centerline goodness : 0.843701 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.59, Z:0.01 [[ 9.73634184e-01 -2.08602793e-01 -9.23111598e-02 3.87872850e+00] [ 2.07510228e-01 9.77999025e-01 -2.13871933e-02 5.86847008e-01] [ 9.47416525e-02 1.66779270e-03 9.95500496e-01 1.17032928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801346184 meters Centerline goodness : 0.842983 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.59, Z:0.01 [[ 9.73257134e-01 -2.12702027e-01 -8.67663417e-02 3.89085249e+00] [ 2.12075001e-01 9.77114277e-01 -1.64888804e-02 5.85739257e-01] [ 8.82878495e-02 -2.35305153e-03 9.96092224e-01 1.25099939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861346184 meters Centerline goodness : 0.838769 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.58, Z:0.01 [[ 0.97409975 -0.21217492 -0.07817601 3.88288789] [ 0.21111061 0.97722057 -0.02173181 0.57725646] [ 0.08100615 0.00466517 0.99670268 0.00736211] [ 0. 0. 0. 1. ]] SLAMing on 85.921346184 meters Centerline goodness : 0.838442 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.58, Z:0.01 [[ 9.74692919e-01 -2.09215211e-01 -7.87572749e-02 3.88034307e+00] [ 2.08421137e-01 9.77868638e-01 -1.82635374e-02 5.77335515e-01] [ 8.08352789e-02 1.38665981e-03 9.96726510e-01 9.12396129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98134618399999 meters Centerline goodness : 0.839394 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.58, Z:0.01 [[ 9.74920238e-01 -2.07751571e-01 -7.98111131e-02 3.88325816e+00] [ 2.06995687e-01 9.78181329e-01 -1.77221350e-02 5.78069679e-01] [ 8.17515420e-02 7.57111908e-04 9.96652453e-01 9.03899812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04134618399999 meters Centerline goodness : 0.835274 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.58, Z:0.01 [[ 9.75329164e-01 -2.05533553e-01 -8.05542058e-02 3.88700829e+00] [ 2.04881274e-01 9.78649922e-01 -1.63705215e-02 5.75626641e-01] [ 8.21990587e-02 -5.37401213e-04 9.96615787e-01 7.62614692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101346184 meters Centerline goodness : 0.837539 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.58, Z:0.01 [[ 9.75404503e-01 -2.04951677e-01 -8.11225377e-02 3.88805993e+00] [ 2.04237989e-01 9.78772088e-01 -1.70892908e-02 5.78899856e-01] [ 8.29029545e-02 1.00667187e-04 9.96557620e-01 8.81348215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161346184 meters Centerline goodness : 0.835265 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:0.00 [[ 9.75908009e-01 -2.01779531e-01 -8.29974601e-02 3.89659303e+00] [ 2.01297836e-01 9.79426877e-01 -1.42188157e-02 5.73192559e-01] [ 8.41590091e-02 -2.83095301e-03 9.96448316e-01 4.22294259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221346184 meters Centerline goodness : 0.839149 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.58, Z:0.00 [[ 9.76024506e-01 -2.00867428e-01 -8.38357909e-02 3.89889341e+00] [ 2.00376699e-01 9.79614353e-01 -1.43142527e-02 5.76567121e-01] [ 8.50020112e-02 -2.82767766e-03 9.96376767e-01 4.13292650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281346184 meters Centerline goodness : 0.836118 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.58, Z:0.01 [[ 9.76011226e-01 -2.00796636e-01 -8.41593573e-02 3.89818679e+00] [ 1.99973924e-01 9.79632519e-01 -1.81812153e-02 5.84598405e-01] [ 8.60959701e-02 9.15393305e-04 9.96286428e-01 1.07958417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341346184 meters Centerline goodness : 0.834689 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:0.58, Z:0.01 [[ 0.97507807 -0.2068474 -0.08023034 3.89540064] [ 0.20550117 0.97834312 -0.02477923 0.5805194 ] [ 0.08361832 0.00767425 0.9964683 0.01084717] [ 0. 0. 0. 1. ]] SLAMing on 86.40134618399999 meters Centerline goodness : 0.836350 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.58, Z:0.01 [[ 9.74996328e-01 -2.08825738e-01 -7.59866596e-02 3.90808957e+00] [ 2.08278884e-01 9.77952288e-01 -1.51403041e-02 5.80786101e-01] [ 7.74730128e-02 -1.06467573e-03 9.96993881e-01 6.52350235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46134618399999 meters Centerline goodness : 0.835392 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.58, Z:0.00 [[ 9.74586496e-01 -2.10577164e-01 -7.64095566e-02 3.90810292e+00] [ 2.10080831e-01 9.77575480e-01 -1.45679599e-02 5.79008031e-01] [ 7.77637887e-02 -1.85444611e-03 9.96970087e-01 4.92440673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521346184 meters Centerline goodness : 0.834685 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.58, Z:0.00 [[ 9.73791875e-01 -2.14344588e-01 -7.60643229e-02 3.90972732e+00] [ 2.13572665e-01 9.76756932e-01 -1.82376740e-02 5.78136227e-01] [ 7.82055014e-02 1.51443856e-03 9.96936109e-01 4.75714738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581346184 meters Centerline goodness : 0.838378 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.58, Z:0.01 [[ 0.97264628 -0.22005788 -0.07438912 3.90609558] [ 0.21892775 0.9754671 -0.02312109 0.57692172] [ 0.07765211 0.0062028 0.99696122 0.00740612] [ 0. 0. 0. 1. ]] SLAMing on 86.641346184 meters Centerline goodness : 0.837897 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.58, Z:0.01 [[ 0.97265665 -0.21990172 -0.07471467 3.90705485] [ 0.21876539 0.97550239 -0.02316877 0.57902601] [ 0.07797919 0.00619028 0.99693577 0.00693855] [ 0. 0. 0. 1. ]] SLAMing on 86.701346184 meters Centerline goodness : 0.838421 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.58, Z:0.01 [[ 0.9728794 -0.21879938 -0.07505003 3.90918196] [ 0.21768479 0.97575222 -0.02282395 0.58006695] [ 0.0782241 0.0058677 0.99691853 0.00560266] [ 0. 0. 0. 1. ]] SLAMing on 86.76134618399999 meters Centerline goodness : 0.836806 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.58, Z:0.01 [[ 0.97355279 -0.21571616 -0.07524292 3.90564883] [ 0.2147395 0.97644698 -0.02093416 0.58326626] [ 0.07798655 0.00422288 0.99694547 0.00893053] [ 0. 0. 0. 1. ]] SLAMing on 86.82134618399999 meters Centerline goodness : 0.836619 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.59, Z:0.01 [[ 0.97363522 -0.21524367 -0.07552894 3.90674639] [ 0.21420573 0.97654793 -0.02168063 0.58595823] [ 0.07842425 0.0049303 0.99690788 0.00946541] [ 0. 0. 0. 1. ]] SLAMing on 86.881346184 meters Centerline goodness : 0.838397 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.59, Z:0.01 [[ 0.97390549 -0.21375808 -0.0762599 3.91032422] [ 0.21277367 0.97687789 -0.02090351 0.58950293] [ 0.07896491 0.00413195 0.99686883 0.00647141] [ 0. 0. 0. 1. ]] SLAMing on 86.941346184 meters Centerline goodness : 0.835615 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.59, Z:0.01 [[ 0.97401206 -0.21319283 -0.07648093 3.91110425] [ 0.21213236 0.97699717 -0.02182649 0.59214085] [ 0.07937491 0.00503518 0.99683212 0.00749634] [ 0. 0. 0. 1. ]] SLAMing on 87.001346184 meters Centerline goodness : 0.837312 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.60, Z:0.01 [[ 0.97408056 -0.21267758 -0.07704102 3.91259279] [ 0.21155146 0.97710577 -0.02258955 0.59538908] [ 0.08008152 0.0057059 0.99677199 0.00809928] [ 0. 0. 0. 1. ]] SLAMing on 87.061346184 meters Centerline goodness : 0.835512 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.60, Z:0.01 [[ 0.97420641 -0.2117543 -0.07798705 3.91599929] [ 0.21065329 0.97730921 -0.02217864 0.59991559] [ 0.08091388 0.00517834 0.99670764 0.00569884] [ 0. 0. 0. 1. ]] SLAMing on 87.12134618399999 meters Centerline goodness : 0.829608 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.60, Z:0.00 [[ 9.73460625e-01 -2.15261594e-01 -7.76972204e-02 3.91904747e+00] [ 2.13903616e-01 9.76522001e-01 -2.54955666e-02 5.99720897e-01] [ 8.13612615e-02 8.19921373e-03 9.96650951e-01 3.58063065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18134618399999 meters Centerline goodness : 0.832269 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.60, Z:0.00 [[ 9.72943513e-01 -2.19475295e-01 -7.21908239e-02 3.92752724e+00] [ 2.18795800e-01 9.75617520e-01 -1.72873696e-02 6.01028659e-01] [ 7.42247832e-02 1.02458511e-03 9.97241010e-01 6.47694966e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241346184 meters Centerline goodness : 0.829229 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.60, Z:-0.00 [[ 9.73717768e-01 -2.20013921e-01 -5.88861934e-02 3.93079801e+00] [ 2.19485936e-01 9.75494598e-01 -1.53692347e-02 6.03678675e-01] [ 6.08246091e-02 2.04060568e-03 9.98146383e-01 -3.12519313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301346184 meters Centerline goodness : 0.829886 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.60, Z:-0.01 [[ 0.9730384 -0.22307696 -0.05859125 3.93463229] [ 0.22237416 0.97478895 -0.01833649 0.60207808] [ 0.06120455 0.00481293 0.99811364 -0.00598045] [ 0. 0. 0. 1. ]] SLAMing on 87.361346184 meters Centerline goodness : 0.832793 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.60, Z:-0.01 [[ 9.73574012e-01 -2.20542583e-01 -5.92841650e-02 3.93310724e+00] [ 2.20053222e-01 9.75376472e-01 -1.47416683e-02 6.03107988e-01] [ 6.10755453e-02 1.30643360e-03 9.98132291e-01 -6.47748691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421346184 meters Centerline goodness : 0.831472 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.61, Z:-0.01 [[ 9.74270676e-01 -2.17352476e-01 -5.96200612e-02 3.93073539e+00] [ 2.17033238e-01 9.76092197e-01 -1.18573538e-02 6.05459496e-01] [ 6.07719017e-02 -1.38726289e-03 9.98150716e-01 -5.10494100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48134618399999 meters Centerline goodness : 0.833716 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.61, Z:-0.01 [[ 0.97645149 -0.20990309 -0.04983159 3.91838027] [ 0.2093562 0.97770836 -0.01601057 0.60614743] [ 0.05208144 0.00520099 0.9986293 -0.00680735] [ 0. 0. 0. 1. ]] SLAMing on 87.54134618399999 meters Centerline goodness : 0.831652 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.61, Z:-0.01 [[ 0.97669951 -0.20867899 -0.05011141 3.92090648] [ 0.20813179 0.9779706 -0.01595835 0.60921371] [ 0.05233765 0.00515674 0.99861613 -0.00878183] [ 0. 0. 0. 1. ]] SLAMing on 87.601346184 meters Centerline goodness : 0.832362 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.61, Z:-0.01 [[ 9.77578340e-01 -2.04262672e-01 -5.11600492e-02 3.92174247e+00] [ 2.03900839e-01 9.78914898e-01 -1.22503555e-02 6.14506113e-01] [ 5.25836247e-02 1.54410522e-03 9.98615330e-01 -1.02560730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661346184 meters Centerline goodness : 0.831050 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.62, Z:-0.01 [[ 9.77462895e-01 -2.04934278e-01 -5.06777196e-02 3.91976676e+00] [ 2.04508932e-01 9.78771650e-01 -1.34964406e-02 6.17487305e-01] [ 5.23677985e-02 2.82822353e-03 9.98623861e-01 -8.60172078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721346184 meters Centerline goodness : 0.829537 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.62, Z:-0.01 [[ 0.97654199 -0.20952592 -0.04964501 3.91954091] [ 0.20887789 0.97777682 -0.01795872 0.61852576] [ 0.05230455 0.0071677 0.99860546 -0.00877356] [ 0. 0. 0. 1. ]] SLAMing on 87.781346184 meters Centerline goodness : 0.830082 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:0.62, Z:-0.01 [[ 0.97594635 -0.21218072 -0.05008056 3.924416 ] [ 0.21139805 0.97718504 -0.02050025 0.62188846] [ 0.05328773 0.00942021 0.99853477 -0.01315558] [ 0. 0. 0. 1. ]] SLAMing on 87.841346184 meters Centerline goodness : 0.827600 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.62, Z:-0.01 [[ 0.97592776 -0.21224481 -0.05017115 3.92540742] [ 0.21147028 0.9771729 -0.02033356 0.62262981] [ 0.05334158 0.00923438 0.99853363 -0.01469797] [ 0. 0. 0. 1. ]] SLAMing on 87.90134618399999 meters Centerline goodness : 0.829565 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.63, Z:-0.01 [[ 9.76001868e-01 -2.13150692e-01 -4.45773021e-02 3.93492124e+00] [ 2.12808284e-01 9.77015974e-01 -1.23459264e-02 6.26354024e-01] [ 4.61842789e-02 2.56322805e-03 9.98929648e-01 -1.38520770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96134618399999 meters Centerline goodness : 0.825285 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.63, Z:-0.01 [[ 0.9758743 -0.21387287 -0.04390613 3.93256621] [ 0.2134659 0.97685287 -0.0138121 0.62889111] [ 0.04584386 0.00410641 0.99894018 -0.0117189 ] [ 0. 0. 0. 1. ]] SLAMing on 88.021346184 meters Centerline goodness : 0.820466 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.63, Z:-0.01 [[ 0.97598539 -0.21333211 -0.04406738 3.93401532] [ 0.21292402 0.97697115 -0.01381025 0.62980766] [ 0.04599873 0.0040956 0.9989331 -0.0128753 ] [ 0. 0. 0. 1. ]] SLAMing on 88.081346184 meters Centerline goodness : 0.820337 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.63, Z:-0.01 [[ 9.76931017e-01 -2.08709505e-01 -4.52341691e-02 3.93536575e+00] [ 2.08470369e-01 9.77977623e-01 -9.99369924e-03 6.33512752e-01] [ 4.63237852e-02 3.33170854e-04 9.98926422e-01 -1.42773571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141346184 meters Centerline goodness : 0.823635 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.64, Z:-0.01 [[ 9.77671536e-01 -2.05139669e-01 -4.55640594e-02 3.93306512e+00] [ 2.04968914e-01 9.78732104e-01 -8.43881838e-03 6.39264971e-01] [ 4.63261441e-02 -1.08882323e-03 9.98925774e-01 -1.10247341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201346184 meters Centerline goodness : 0.820702 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.64, Z:-0.01 [[ 9.78513553e-01 -2.01048610e-01 -4.57239765e-02 3.93152094e+00] [ 2.00974651e-01 9.79576463e-01 -6.25637762e-03 6.43000103e-01] [ 4.60479672e-02 -3.06740993e-03 9.98934520e-01 -8.97183692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26134618399999 meters Centerline goodness : 0.820205 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.64, Z:-0.01 [[ 9.78619054e-01 -2.00415866e-01 -4.62409780e-02 3.93455572e+00] [ 2.00362526e-01 9.79704462e-01 -5.83319078e-03 6.44290264e-01] [ 4.64715564e-02 -3.55648753e-03 9.98913282e-01 -1.19546338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32134618399999 meters Centerline goodness : 0.822259 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.64, Z:-0.01 [[ 0.9785529 -0.2006762 -0.04651112 3.93570322] [ 0.2006425 0.97964942 -0.00544016 0.64475707] [ 0.04665631 -0.00400862 0.99890296 -0.01384793] [ 0. 0. 0. 1. ]] SLAMing on 88.381346184 meters Centerline goodness : 0.817784 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.65, Z:-0.01 [[ 9.77665439e-01 -2.05109483e-01 -4.58300001e-02 3.93542499e+00] [ 2.04854654e-01 9.78738838e-01 -1.02400519e-02 6.46316723e-01] [ 4.69559327e-02 6.22856070e-04 9.98896768e-01 -1.23376438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441346184 meters Centerline goodness : 0.818820 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.65, Z:-0.01 [[ 0.97678248 -0.20943666 -0.0450808 3.9345832 ] [ 0.20890007 0.97780023 -0.01635477 0.65075158] [ 0.0475053 0.00655768 0.99884946 -0.00854333] [ 0. 0. 0. 1. ]] SLAMing on 88.501346184 meters Centerline goodness : 0.815615 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.65, Z:-0.01 [[ 0.97684084 -0.20917941 -0.04501048 3.93444064] [ 0.20856444 0.97784291 -0.01800338 0.6548061 ] [ 0.04777911 0.00819885 0.99882428 -0.00651568] [ 0. 0. 0. 1. ]] SLAMing on 88.561346184 meters Centerline goodness : 0.816740 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.66, Z:-0.01 [[ 0.97705629 -0.20805925 -0.04552321 3.93651868] [ 0.20743476 0.97808159 -0.01808936 0.65662745] [ 0.04828907 0.00823122 0.99879949 -0.00676039] [ 0. 0. 0. 1. ]] SLAMing on 88.62134618399999 meters Centerline goodness : 0.813680 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.66, Z:-0.01 [[ 0.97707874 -0.20794253 -0.04557458 3.93708776] [ 0.20733523 0.97810941 -0.01772263 0.65616214] [ 0.04826221 0.00786719 0.99880372 -0.00772009] [ 0. 0. 0. 1. ]] SLAMing on 88.68134618399999 meters Centerline goodness : 0.816580 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.66, Z:-0.01 [[ 0.97686512 -0.20909371 -0.04488156 3.93402516] [ 0.20846698 0.97785874 -0.01827001 0.65545131] [ 0.04770797 0.00849101 0.99882524 -0.00578807] [ 0. 0. 0. 1. ]] SLAMing on 88.741346184 meters Centerline goodness : 0.819415 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.66, Z:-0.00 [[ 0.97674463 -0.20981315 -0.04414032 3.93143271] [ 0.20915329 0.97769587 -0.01912307 0.65669299] [ 0.04716808 0.00944626 0.9988423 -0.00413748] [ 0. 0. 0. 1. ]] SLAMing on 88.801346184 meters Centerline goodness : 0.817552 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.65, Z:-0.01 [[ 0.97675564 -0.20979276 -0.04399328 3.93200408] [ 0.20915741 0.97770448 -0.0186312 0.65447215] [ 0.04692112 0.00899661 0.99885808 -0.00528779] [ 0. 0. 0. 1. ]] SLAMing on 88.861346184 meters Centerline goodness : 0.817475 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.65, Z:-0.01 [[ 0.97596003 -0.2135117 -0.04375817 3.93405851] [ 0.21271156 0.97686177 -0.02224595 0.65411473] [ 0.04749545 0.01240329 0.99879444 -0.00613332] [ 0. 0. 0. 1. ]] SLAMing on 88.921346184 meters Centerline goodness : 0.816067 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.65, Z:-0.01 [[ 0.97586568 -0.21394467 -0.04374768 3.93343749] [ 0.21316268 0.9767718 -0.02187502 0.6516597 ] [ 0.04741154 0.0120217 0.9988031 -0.00564238] [ 0. 0. 0. 1. ]] SLAMing on 88.98134618399999 meters Centerline goodness : 0.817636 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.65, Z:-0.01 [[ 0.97599185 -0.21326632 -0.0442424 3.9361328 ] [ 0.21254712 0.97693736 -0.02042327 0.64813003] [ 0.04757765 0.01052935 0.99881204 -0.00822387] [ 0. 0. 0. 1. ]] SLAMing on 89.04134618399999 meters Centerline goodness : 0.820054 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.64, Z:-0.01 [[ 0.97598834 -0.21327859 -0.04426074 3.93670725] [ 0.21259772 0.97694294 -0.01961379 0.64486987] [ 0.04742342 0.0097331 0.99882746 -0.00918576] [ 0. 0. 0. 1. ]] SLAMing on 89.101346184 meters Centerline goodness : 0.822667 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.64, Z:-0.01 [[ 0.97592785 -0.2136399 -0.04385004 3.93457554] [ 0.21292762 0.97685556 -0.02037249 0.64425147] [ 0.04718753 0.0105452 0.99883038 -0.00635261] [ 0. 0. 0. 1. ]] SLAMing on 89.161346184 meters Centerline goodness : 0.822985 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.64, Z:-0.01 [[ 0.97599431 -0.21327388 -0.04415145 3.93557507] [ 0.21256232 0.97693698 -0.02028314 0.64392197] [ 0.04745904 0.0104113 0.99881892 -0.00636225] [ 0. 0. 0. 1. ]] SLAMing on 89.221346184 meters Centerline goodness : 0.823742 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.64, Z:-0.01 [[ 0.97548822 -0.21551632 -0.04444609 3.94049536] [ 0.21470035 0.9764222 -0.0224374 0.64092951] [ 0.04823378 0.01234483 0.99875978 -0.0091981 ] [ 0. 0. 0. 1. ]] SLAMing on 89.281346184 meters Centerline goodness : 0.824842 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.64, Z:-0.01 [[ 0.97528397 -0.21663133 -0.04349758 3.93704798] [ 0.21580195 0.97616645 -0.02299084 0.63935932] [ 0.04744141 0.01303574 0.99878896 -0.00692766] [ 0. 0. 0. 1. ]] SLAMing on 89.341346184 meters Centerline goodness : 0.826281 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.64, Z:-0.00 [[ 0.97519356 -0.21712513 -0.04306036 3.93492136] [ 0.21626053 0.97604389 -0.02386848 0.63887669] [ 0.04721125 0.01396413 0.99878732 -0.00414648] [ 0. 0. 0. 1. ]] SLAMing on 89.40134618399999 meters Centerline goodness : 0.826308 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.64, Z:-0.00 [[ 0.97532573 -0.21647496 -0.04333958 3.93620486] [ 0.21563687 0.97619761 -0.02321566 0.63646696] [ 0.0473336 0.01329722 0.99879063 -0.00451772] [ 0. 0. 0. 1. ]] SLAMing on 89.46134618399999 meters Centerline goodness : 0.823651 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.63, Z:-0.00 [[ 0.97541977 -0.21599684 -0.04360775 3.9373401 ] [ 0.21518321 0.97631175 -0.02261739 0.63400176] [ 0.04746004 0.01267779 0.99879268 -0.00482723] [ 0. 0. 0. 1. ]] SLAMing on 89.521346184 meters Centerline goodness : 0.822294 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.63, Z:-0.01 [[ 0.97555298 -0.21523975 -0.04436473 3.93981529] [ 0.21445099 0.97648947 -0.02188792 0.63449202] [ 0.04803284 0.01183877 0.9987756 -0.00635598] [ 0. 0. 0. 1. ]] SLAMing on 89.581346184 meters Centerline goodness : 0.822339 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.63, Z:-0.01 [[ 0.97473838 -0.21904391 -0.04364463 3.94118212] [ 0.21814903 0.97561123 -0.02436657 0.62975165] [ 0.04791754 0.01423 0.99874993 -0.0080554 ] [ 0. 0. 0. 1. ]] SLAMing on 89.641346184 meters Centerline goodness : 0.822672 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.63, Z:-0.01 [[ 0.9738615 -0.22301842 -0.04308796 3.94256469] [ 0.22198542 0.97466232 -0.02749248 0.62579559] [ 0.04812754 0.01720897 0.99869294 -0.00871663] [ 0. 0. 0. 1. ]] SLAMing on 89.701346184 meters Centerline goodness : 0.825733 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.62, Z:-0.01 [[ 0.97367226 -0.22389731 -0.04280577 3.94112421] [ 0.22288396 0.97446547 -0.02719899 0.62348744] [ 0.04780253 0.01694218 0.99871311 -0.00831084] [ 0. 0. 0. 1. ]] SLAMing on 89.76134618399999 meters Centerline goodness : 0.825543 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.62, Z:-0.01 [[ 0.97390581 -0.22278127 -0.04331254 3.94311225] [ 0.22178256 0.97473057 -0.02669874 0.62290346] [ 0.04816604 0.01639609 0.99870476 -0.00869304] [ 0. 0. 0. 1. ]] SLAMing on 89.82134618399999 meters Centerline goodness : 0.824477 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97408837 -0.22186485 -0.04390707 3.94543595] [ 0.22087553 0.9749476 -0.02629011 0.62257525] [ 0.04863995 0.01591089 0.99868964 -0.00948319] [ 0. 0. 0. 1. ]] SLAMing on 89.881346184 meters Centerline goodness : 0.824198 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:0.62, Z:-0.01 [[ 0.97410226 -0.22179111 -0.04397139 3.94480072] [ 0.22076084 0.97495124 -0.02710581 0.62499488] [ 0.04888179 0.01669667 0.998665 -0.00762578] [ 0. 0. 0. 1. ]] SLAMing on 89.941346184 meters Centerline goodness : 0.824867 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97422787 -0.22115247 -0.04440321 3.94659344] [ 0.22014748 0.97510834 -0.02643522 0.62326797] [ 0.04914415 0.01597867 0.99866387 -0.0085062 ] [ 0. 0. 0. 1. ]] SLAMing on 90.001346184 meters Centerline goodness : 0.825272 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97418095 -0.22143425 -0.04402666 3.94529865] [ 0.22044477 0.97504627 -0.02624633 0.62075649] [ 0.04873986 0.01586323 0.99868553 -0.00756871] [ 0. 0. 0. 1. ]] SLAMing on 90.061346184 meters Centerline goodness : 0.823955 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97412401 -0.22167307 -0.04408467 3.94522751] [ 0.22070989 0.97500103 -0.02569302 0.61973065] [ 0.04867805 0.01529826 0.99869736 -0.00813406] [ 0. 0. 0. 1. ]] SLAMing on 90.12134618399999 meters Centerline goodness : 0.822415 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97416272 -0.22150938 -0.04405216 3.94600966] [ 0.22058708 0.97505043 -0.02485943 0.6161109 ] [ 0.04845968 0.0144998 0.99871989 -0.00913789] [ 0. 0. 0. 1. ]] SLAMing on 90.18134618399999 meters Centerline goodness : 0.822158 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.61, Z:-0.01 [[ 0.97335782 -0.22508861 -0.04369977 3.9478042 ] [ 0.22401215 0.97417821 -0.02820234 0.61432656] [ 0.04891939 0.01766169 0.99864656 -0.00965924] [ 0. 0. 0. 1. ]] SLAMing on 90.241346184 meters Centerline goodness : 0.821847 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.61, Z:-0.01 [[ 0.97316623 -0.22583225 -0.04412796 3.94839557] [ 0.22481512 0.97403122 -0.02685789 0.61096894] [ 0.04904739 0.01621655 0.9986648 -0.01148441] [ 0. 0. 0. 1. ]] SLAMing on 90.301346184 meters Centerline goodness : 0.823331 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.61, Z:-0.01 [[ 0.97317002 -0.22579245 -0.04424801 3.9489423 ] [ 0.22479632 0.97404834 -0.02639032 0.61018356] [ 0.04905844 0.01573547 0.99867195 -0.0122297 ] [ 0. 0. 0. 1. ]] SLAMing on 90.361346184 meters Centerline goodness : 0.817950 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.61, Z:-0.01 [[ 0.97259435 -0.22827489 -0.04416792 3.95194019] [ 0.22708514 0.97340128 -0.03036933 0.61239989] [ 0.04992567 0.01950716 0.99856242 -0.01243107] [ 0. 0. 0. 1. ]] SLAMing on 90.421346184 meters Centerline goodness : 0.817893 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.61, Z:-0.01 [[ 0.97279594 -0.22735027 -0.04449625 3.95437519] [ 0.22617721 0.97362735 -0.02989402 0.61273565] [ 0.05011918 0.01901674 0.99856218 -0.01452471] [ 0. 0. 0. 1. ]] SLAMing on 90.48134618399999 meters Centerline goodness : 0.816000 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97351982 -0.22404365 -0.04542679 3.95253149] [ 0.22294593 0.97442844 -0.02800599 0.61938443] [ 0.05053972 0.01713667 0.99857502 -0.01181522] [ 0. 0. 0. 1. ]] SLAMing on 90.54134618399999 meters Centerline goodness : 0.814717 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97340282 -0.22453244 -0.04552069 3.95129784] [ 0.22334942 0.97428711 -0.02965919 0.62276335] [ 0.05100967 0.01870332 0.99852301 -0.00887177] [ 0. 0. 0. 1. ]] SLAMing on 90.601346184 meters Centerline goodness : 0.818131 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.97250937 -0.22857573 -0.04448204 3.95161648] [ 0.2272156 0.97326415 -0.03361503 0.62244892] [ 0.05097635 0.02258392 0.99844448 -0.00927733] [ 0. 0. 0. 1. ]] SLAMing on 90.661346184 meters Centerline goodness : 0.819621 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.62, Z:-0.01 [[ 0.9714791 -0.23303228 -0.04386704 3.95280834] [ 0.23150758 0.97212226 -0.03718261 0.62288015] [ 0.05130888 0.02596658 0.9983452 -0.01099993] [ 0. 0. 0. 1. ]] SLAMing on 90.721346184 meters Centerline goodness : 0.820475 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.63, Z:-0.01 [[ 0.97061645 -0.23663332 -0.04368499 3.95421113] [ 0.2348843 0.97113075 -0.04164649 0.62667792] [ 0.05227878 0.03016185 0.99817693 -0.01028777] [ 0. 0. 0. 1. ]] SLAMing on 90.781346184 meters Centerline goodness : 0.818513 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.63, Z:-0.01 [[ 0.97064871 -0.23645692 -0.04392272 3.95464797] [ 0.23463544 0.97113713 -0.04288226 0.63024328] [ 0.05279479 0.03131778 0.99811418 -0.00897221] [ 0. 0. 0. 1. ]] SLAMing on 90.841346184 meters Centerline goodness : 0.819543 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.63, Z:-0.01 [[ 0.9717721 -0.23157416 -0.04508217 3.95689346] [ 0.22998308 0.97245924 -0.03782613 0.6285395 ] [ 0.05260012 0.02639024 0.99826689 -0.01170535] [ 0. 0. 0. 1. ]] SLAMing on 90.90134618399999 meters Centerline goodness : 0.820271 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.63, Z:-0.01 [[ 0.97293444 -0.226317 -0.04668191 3.95974849] [ 0.22495381 0.97382036 -0.0327062 0.62986491] [ 0.05286176 0.02131972 0.99837423 -0.01468148] [ 0. 0. 0. 1. ]] SLAMing on 90.96134618399999 meters Centerline goodness : 0.817980 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.63, Z:-0.02 [[ 0.97359988 -0.22414051 -0.04317759 3.97092243] [ 0.22346999 0.97450891 -0.01983821 0.63238582] [ 0.04652349 0.00966558 0.99887043 -0.01692108] [ 0. 0. 0. 1. ]] SLAMing on 91.021346184 meters Centerline goodness : 0.815768 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.63, Z:-0.02 [[ 0.97365635 -0.22394203 -0.04293353 3.97143747] [ 0.22327666 0.97455452 -0.01977428 0.63079772] [ 0.04626936 0.00966729 0.99888222 -0.01753126] [ 0. 0. 0. 1. ]] SLAMing on 91.081346184 meters Centerline goodness : 0.815608 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.63, Z:-0.02 [[ 0.97388448 -0.22290996 -0.04312962 3.97396567] [ 0.22225612 0.974794 -0.01946458 0.63289619] [ 0.04638134 0.00937043 0.99887986 -0.0201972 ] [ 0. 0. 0. 1. ]] SLAMing on 91.141346184 meters Centerline goodness : 0.815077 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.64, Z:-0.02 [[ 0.9745901 -0.21973731 -0.04347007 3.97137151] [ 0.21922738 0.97553883 -0.0162282 0.63501979] [ 0.04597268 0.00628601 0.99892292 -0.01898663] [ 0. 0. 0. 1. ]] SLAMing on 91.201346184 meters Centerline goodness : 0.816478 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.63, Z:-0.02 [[ 0.9744809 -0.2202789 -0.04317626 3.97021546] [ 0.21978612 0.97541842 -0.01590517 0.63160593] [ 0.04561849 0.00600974 0.99894086 -0.01826453] [ 0. 0. 0. 1. ]] SLAMing on 91.26134618399999 meters Centerline goodness : 0.821009 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.63, Z:-0.02 [[ 0.9738587 -0.22314329 -0.04250076 3.96683118] [ 0.22262915 0.97476307 -0.01652924 0.62845252] [ 0.04511656 0.00663524 0.99895969 -0.01726933] [ 0. 0. 0. 1. ]] SLAMing on 91.32134618399999 meters Centerline goodness : 0.820223 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.63, Z:-0.02 [[ 0.97311958 -0.22635358 -0.04245405 3.96993348] [ 0.22568345 0.97399481 -0.02002713 0.6286129 ] [ 0.04588323 0.00990761 0.99889768 -0.01854073] [ 0. 0. 0. 1. ]] SLAMing on 91.381346184 meters Centerline goodness : 0.816636 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.62, Z:-0.03 [[ 0.97462839 -0.22112187 -0.03470752 3.96622279] [ 0.22045427 0.97514789 -0.02205682 0.62109224] [ 0.03872222 0.01384578 0.99915408 -0.02833226] [ 0. 0. 0. 1. ]] SLAMing on 91.441346184 meters Centerline goodness : 0.818412 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.62, Z:-0.03 [[ 0.97616634 -0.2140327 -0.0359065 3.96316425] [ 0.21363189 0.97680369 -0.01469555 0.62180556] [ 0.03821893 0.00667453 0.9992471 -0.02654586] [ 0. 0. 0. 1. ]] SLAMing on 91.501346184 meters Centerline goodness : 0.818128 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.62, Z:-0.02 [[ 9.77086453e-01 -2.09571673e-01 -3.71722568e-02 3.96312059e+00] [ 2.09278341e-01 9.77786619e-01 -1.16577631e-02 6.24638289e-01] [ 3.87896722e-02 3.61129415e-03 9.99240872e-01 -2.42913309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561346184 meters Centerline goodness : 0.818399 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.62, Z:-0.02 [[ 0.9764091 -0.21293406 -0.03583788 3.96266936] [ 0.21248412 0.97703398 -0.01597173 0.62378366] [ 0.03841575 0.00797996 0.99922998 -0.02289339] [ 0. 0. 0. 1. ]] SLAMing on 91.62134618399999 meters Centerline goodness : 0.819681 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.63, Z:-0.02 [[ 0.97634606 -0.21322416 -0.03583063 3.96222621] [ 0.21274364 0.9769641 -0.0167716 0.62669825] [ 0.03858135 0.00875215 0.99921713 -0.02228147] [ 0. 0. 0. 1. ]] SLAMing on 91.68134618399999 meters Centerline goodness : 0.817888 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.63, Z:-0.02 [[ 0.97565806 -0.21641581 -0.03543382 3.96454405] [ 0.21581081 0.97622754 -0.02013667 0.62576584] [ 0.03894937 0.01199951 0.99916913 -0.02354187] [ 0. 0. 0. 1. ]] SLAMing on 91.741346184 meters Centerline goodness : 0.817103 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:0.62, Z:-0.02 [[ 0.97555259 -0.21694053 -0.0351277 3.96425175] [ 0.21635129 0.97611414 -0.01983205 0.62078118] [ 0.03859102 0.01174729 0.99918604 -0.02337665] [ 0. 0. 0. 1. ]] SLAMing on 91.801346184 meters Centerline goodness : 0.818894 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.62, Z:-0.03 [[ 9.75487789e-01 -2.17805626e-01 -3.13732877e-02 3.97285758e+00] [ 2.17705754e-01 9.75992090e-01 -6.60638634e-03 6.19068252e-01] [ 3.20589888e-02 -3.85696048e-04 9.99485904e-01 -2.67853438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861346184 meters Centerline goodness : 0.818910 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.62, Z:-0.03 [[ 9.74800576e-01 -2.20860254e-01 -3.13781036e-02 3.97590609e+00] [ 2.20670432e-01 9.75302822e-01 -9.43219934e-03 6.15732547e-01] [ 3.26863509e-02 2.27029366e-03 9.99463080e-01 -2.77866088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921346184 meters Centerline goodness : 0.817820 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.61, Z:-0.03 [[ 0.97412295 -0.22382808 -0.03139223 3.97987963] [ 0.22355207 0.97461703 -0.01208754 0.61304825] [ 0.03330094 0.00475695 0.99943405 -0.03035234] [ 0. 0. 0. 1. ]] SLAMing on 91.98134618399999 meters Centerline goodness : 0.816600 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.61, Z:-0.03 [[ 0.97403725 -0.22420336 -0.03137337 3.97970355] [ 0.22393079 0.97453126 -0.01199273 0.61274286] [ 0.03326314 0.0046559 0.99943578 -0.03059841] [ 0. 0. 0. 1. ]] SLAMing on 92.04134618399999 meters Centerline goodness : 0.814348 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.61, Z:-0.03 [[ 9.74172386e-01 -2.23574108e-01 -3.16667235e-02 3.98149076e+00] [ 2.23327280e-01 9.74679476e-01 -1.11734106e-02 6.09544788e-01] [ 3.33629907e-02 3.81278486e-03 9.99436028e-01 -3.16787932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101346184 meters Centerline goodness : 0.817484 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.61, Z:-0.03 [[ 9.74244317e-01 -2.23257074e-01 -3.16905191e-02 3.98175181e+00] [ 2.23032925e-01 9.74754520e-01 -1.04852418e-02 6.05436534e-01] [ 3.32313811e-02 3.14715810e-03 9.99442730e-01 -3.12934955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161346184 meters Centerline goodness : 0.821825 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.61, Z:-0.03 [[ 9.74099719e-01 -2.23876208e-01 -3.17676178e-02 3.98072431e+00] [ 2.23639477e-01 9.74611379e-01 -1.08647824e-02 6.06567987e-01] [ 3.33934481e-02 3.47888803e-03 9.99436229e-01 -3.00887635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221346184 meters Centerline goodness : 0.821067 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.61, Z:-0.03 [[ 9.73961551e-01 -2.24517345e-01 -3.14779007e-02 3.97893660e+00] [ 2.24269554e-01 9.74462342e-01 -1.12388398e-02 6.05623991e-01] [ 3.31973433e-02 3.88666312e-03 9.99441259e-01 -2.82001020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281346184 meters Centerline goodness : 0.821440 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.60, Z:-0.03 [[ 0.97327393 -0.22752751 -0.03113021 3.98114982] [ 0.22717035 0.9737454 -0.01461238 0.60329194] [ 0.03363762 0.00714998 0.99940852 -0.02835381] [ 0. 0. 0. 1. ]] SLAMing on 92.341346184 meters Centerline goodness : 0.822026 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.60, Z:-0.03 [[ 0.97273354 -0.2299156 -0.03046767 3.98356162] [ 0.22945375 0.97315454 -0.01792234 0.60298921] [ 0.03377038 0.01044274 0.99937506 -0.02956179] [ 0. 0. 0. 1. ]] SLAMing on 92.40134618399999 meters Centerline goodness : 0.824272 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.60, Z:-0.03 [[ 0.97362228 -0.22601556 -0.03125092 3.98337585] [ 0.22568733 0.97410338 -0.01370519 0.60315942] [ 0.03353921 0.00629074 0.9994176 -0.03041707] [ 0. 0. 0. 1. ]] SLAMing on 92.46134618399999 meters Centerline goodness : 0.824837 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.60, Z:-0.03 [[ 0.97386431 -0.22484157 -0.03216484 3.98714711] [ 0.22456034 0.97438443 -0.01215074 0.59947337] [ 0.03407291 0.00461022 0.99940872 -0.03287281] [ 0. 0. 0. 1. ]] SLAMing on 92.521346184 meters Centerline goodness : 0.831624 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.59, Z:-0.03 [[ 9.74493823e-01 -2.20101547e-01 -4.37846726e-02 3.98313840e+00] [ 2.20059956e-01 9.75468942e-01 -5.82748745e-03 5.87160859e-01] [ 4.39932273e-02 -3.95640262e-03 9.99023995e-01 -2.79118993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581346184 meters Centerline goodness : 0.830156 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.59, Z:-0.03 [[ 9.74284145e-01 -2.21062716e-01 -4.36082697e-02 3.98087602e+00] [ 2.20961647e-01 9.75256032e-01 -7.18483091e-03 5.89357726e-01] [ 4.41175263e-02 -2.63568826e-03 9.99022871e-01 -2.50278018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641346184 meters Centerline goodness : 0.830615 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.59, Z:-0.03 [[ 9.74434237e-01 -2.20364512e-01 -4.37881127e-02 3.98294775e+00] [ 2.20303472e-01 9.75411198e-01 -6.27492074e-03 5.86970251e-01] [ 4.40941853e-02 -3.53217565e-03 9.99021134e-01 -2.71548509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701346184 meters Centerline goodness : 0.829265 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.58, Z:-0.03 [[ 9.74638768e-01 -2.17496625e-01 -5.26734201e-02 3.97980541e+00] [ 2.17215790e-01 9.76060854e-01 -1.10684202e-02 5.83028849e-01] [ 5.38198075e-02 -6.53787144e-04 9.98550450e-01 -3.01625649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76134618399999 meters Centerline goodness : 0.828859 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.58, Z:-0.02 [[ 0.97535202 -0.20916234 -0.07028193 3.98549777] [ 0.20932292 0.97783298 -0.00515497 0.57794081] [ 0.06980221 -0.00968371 0.99751385 -0.02365525] [ 0. 0. 0. 1. ]] SLAMing on 92.82134618399999 meters Centerline goodness : 0.830460 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.57, Z:-0.02 [[ 9.75721659e-01 -2.01287851e-01 -8.63159560e-02 3.98876285e+00] [ 2.01957904e-01 9.79393704e-01 -9.88845418e-04 5.72812060e-01] [ 8.47363464e-02 -1.64673517e-02 9.96267323e-01 -1.76609133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881346184 meters Centerline goodness : 0.834244 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.57, Z:-0.01 [[ 9.76020569e-01 -1.92658486e-01 -1.01324017e-01 3.99118779e+00] [ 1.94002022e-01 9.80994944e-01 3.48351355e-03 5.66270475e-01] [ 9.87272200e-02 -2.30570451e-02 9.94847380e-01 -1.32274049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941346184 meters Centerline goodness : 0.834682 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.57, Z:-0.02 [[ 9.76583082e-01 -1.90669475e-01 -9.96525729e-02 3.98919137e+00] [ 1.91749744e-01 9.81443008e-01 1.28780144e-03 5.68202651e-01] [ 9.75577765e-02 -2.03660004e-02 9.95021460e-01 -1.53780478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001346184 meters Centerline goodness : 0.836091 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.57, Z:-0.02 [[ 9.77138716e-01 -1.88432725e-01 -9.84532259e-02 3.98675962e+00] [ 1.89331070e-01 9.81913284e-01 -2.22205539e-04 5.70833703e-01] [ 9.67144011e-02 -1.84231290e-02 9.95141655e-01 -1.61176375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061346184 meters Centerline goodness : 0.836041 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.57, Z:-0.02 [[ 0.97758737 -0.1849254 -0.10062566 3.99011759] [ 0.18632831 0.98247656 0.00464434 0.57109269] [ 0.0980035 -0.02328966 0.99491352 -0.01666312] [ 0. 0. 0. 1. ]] SLAMing on 93.12134618399999 meters Centerline goodness : 0.834377 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.57, Z:-0.01 [[ 0.97782636 -0.18310783 -0.10162249 3.98965593] [ 0.18489381 0.98272293 0.00836208 0.57042585] [ 0.09833559 -0.02696603 0.99478789 -0.01451132] [ 0. 0. 0. 1. ]] SLAMing on 93.18134618399999 meters Centerline goodness : 0.836324 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.58, Z:-0.01 [[ 9.76888859e-01 -1.88444185e-01 -1.00880854e-01 3.98797897e+00] [ 1.89604865e-01 9.81858528e-01 1.95627017e-03 5.76135681e-01] [ 9.86820795e-02 -2.10385594e-02 9.94896591e-01 -1.12472592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241346184 meters Centerline goodness : 0.835993 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.58, Z:-0.01 [[ 0.97533064 -0.19692844 -0.09974632 3.98932686] [ 0.19719481 0.98033729 -0.00728002 0.58124153] [ 0.09921868 -0.01256903 0.99498627 -0.01072483] [ 0. 0. 0. 1. ]] SLAMing on 93.301346184 meters Centerline goodness : 0.833765 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.58, Z:-0.01 [[ 0.97448893 -0.20155579 -0.09872478 3.98992893] [ 0.20141052 0.97943894 -0.01153984 0.58149435] [ 0.09902081 -0.00863877 0.99504786 -0.01190169] [ 0. 0. 0. 1. ]] SLAMing on 93.361346184 meters Centerline goodness : 0.834119 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.59, Z:-0.01 [[ 0.97419219 -0.20307578 -0.09853833 3.98685041] [ 0.20269852 0.97914209 -0.01393087 0.58711064] [ 0.09931205 -0.00640223 0.99503574 -0.00821647] [ 0. 0. 0. 1. ]] SLAMing on 93.421346184 meters Centerline goodness : 0.834537 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.59, Z:-0.01 [[ 0.97410222 -0.20350107 -0.09855039 3.98616024] [ 0.20305478 0.97905786 -0.01464439 0.58882908] [ 0.09946668 -0.00574599 0.9950243 -0.0072283 ] [ 0. 0. 0. 1. ]] SLAMing on 93.48134618399999 meters Centerline goodness : 0.835842 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.59, Z:-0.01 [[ 9.73356853e-01 -2.07330886e-01 -9.79302803e-02 3.98801886e+00] [ 2.06570412e-01 9.78266998e-01 -1.79539736e-02 5.86465188e-01] [ 9.95243746e-02 -2.75387511e-03 9.95031314e-01 -8.57749619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54134618399999 meters Centerline goodness : 0.835408 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.59, Z:-0.01 [[ 9.72550744e-01 -2.11342567e-01 -9.73620570e-02 3.98809412e+00] [ 2.10127292e-01 9.77410730e-01 -2.26889031e-02 5.89707968e-01] [ 9.99578502e-02 1.60768420e-03 9.94990374e-01 -7.15222452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601346184 meters Centerline goodness : 0.835603 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.60, Z:-0.00 [[ 9.73334392e-01 -2.07364604e-01 -9.80820155e-02 3.98576120e+00] [ 2.06134759e-01 9.78262069e-01 -2.26226572e-02 5.98404269e-01] [ 1.00641054e-01 1.80129757e-03 9.94921170e-01 -7.64498001e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661346184 meters Centerline goodness : 0.834279 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.59, Z:-0.01 [[ 0.97511831 -0.20240291 -0.09042863 3.98222563] [ 0.20063964 0.97925693 -0.02827718 0.5916466 ] [ 0.09427624 0.00943003 0.99550141 -0.00952623] [ 0. 0. 0. 1. ]] SLAMing on 93.721346184 meters Centerline goodness : 0.836211 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:0.58, Z:-0.01 [[ 9.75526709e-01 -1.94039731e-01 -1.03422544e-01 3.98151293e+00] [ 1.92845135e-01 9.80993106e-01 -2.15239207e-02 5.83503024e-01] [ 1.05633298e-01 1.05262513e-03 9.94404595e-01 -8.51185864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781346184 meters Centerline goodness : 0.839387 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:0.59, Z:-0.01 [[ 0.9764031 -0.19098494 -0.1008055 3.9957399 ] [ 0.19107732 0.98153528 -0.0088286 0.58618573] [ 0.10063028 -0.01064138 0.99486698 -0.01028657] [ 0. 0. 0. 1. ]] SLAMing on 93.841346184 meters Centerline goodness : 0.842178 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:0.58, Z:-0.02 [[ 0.97688556 -0.18981054 -0.09831862 3.99534007] [ 0.1895167 0.98179913 -0.01240552 0.58483968] [ 0.09888384 -0.00651425 0.99507766 -0.01532583] [ 0. 0. 0. 1. ]] SLAMing on 93.90134618399999 meters Centerline goodness : 0.845103 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:0.58, Z:-0.02 [[ 0.97676974 -0.19106028 -0.09704038 3.99580646] [ 0.19052883 0.98157002 -0.01480049 0.58050503] [ 0.09807972 -0.00403232 0.99517039 -0.01729647] [ 0. 0. 0. 1. ]] SLAMing on 93.96134618399999 meters Centerline goodness : 0.846186 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:0.58, Z:-0.01 [[ 0.97638083 -0.18955223 -0.10368423 4.0012309 ] [ 0.19015587 0.98174526 -0.00412273 0.5833072 ] [ 0.10257297 -0.01569081 0.99460172 -0.01055079] [ 0. 0. 0. 1. ]] SLAMing on 94.021346184 meters Centerline goodness : 0.846398 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.59, Z:-0.02 [[ 0.97579094 -0.19264995 -0.10352792 4.00665485] [ 0.19269348 0.98121129 -0.00967617 0.58597549] [ 0.10344687 -0.01050723 0.99457948 -0.01632384] [ 0. 0. 0. 1. ]] SLAMing on 94.081346184 meters Centerline goodness : 0.847508 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.59, Z:-0.02 [[ 0.97536646 -0.19575501 -0.10168703 4.0067279 ] [ 0.1952597 0.98063839 -0.0148998 0.58616837] [ 0.10263492 -0.00532261 0.99470485 -0.01908236] [ 0. 0. 0. 1. ]] SLAMing on 94.141346184 meters Centerline goodness : 0.848377 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.59, Z:-0.02 [[ 0.97509049 -0.1948875 -0.10591222 4.01124733] [ 0.19510063 0.98074686 -0.00844601 0.58837722] [ 0.1055191 -0.01242791 0.99433961 -0.01602599] [ 0. 0. 0. 1. ]] SLAMing on 94.201346184 meters Centerline goodness : 0.846568 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.59, Z:-0.01 [[ 0.97527977 -0.19291023 -0.10777297 4.01165237] [ 0.1935576 0.9810785 -0.00452125 0.59016948] [ 0.10660594 -0.0164508 0.99416525 -0.01347206] [ 0. 0. 0. 1. ]] SLAMing on 94.26134618399999 meters Centerline goodness : 0.849339 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.59, Z:-0.02 [[ 0.97528613 -0.19406577 -0.10561936 4.01368746] [ 0.19408984 0.98093125 -0.01015007 0.59159281] [ 0.10557511 -0.01060042 0.99435483 -0.02010129] [ 0. 0. 0. 1. ]] SLAMing on 94.32134618399999 meters Centerline goodness : 0.847248 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.9747437 -0.19493528 -0.10897224 4.01789628] [ 0.19546641 0.9806927 -0.00589102 0.59364969] [ 0.10801665 -0.01555817 0.99402734 -0.01823033] [ 0. 0. 0. 1. ]] SLAMing on 94.381346184 meters Centerline goodness : 0.849374 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.02 [[ 0.97454545 -0.19592844 -0.10896424 4.01614166] [ 0.19629154 0.98051697 -0.00748996 0.59793429] [ 0.10830879 -0.01408945 0.99401745 -0.01596256] [ 0. 0. 0. 1. ]] SLAMing on 94.441346184 meters Centerline goodness : 0.848047 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.02 [[ 0.97437044 -0.19665604 -0.10921832 4.01713743] [ 0.19704224 0.98036743 -0.00735268 0.59693902] [ 0.10852004 -0.01435639 0.99399059 -0.01608214] [ 0. 0. 0. 1. ]] SLAMing on 94.501346184 meters Centerline goodness : 0.850840 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.02 [[ 0.97353492 -0.20116171 -0.10846071 4.01728992] [ 0.2010476 0.97950674 -0.01210017 0.59770154] [ 0.10867209 -0.01002583 0.99402709 -0.01512487] [ 0. 0. 0. 1. ]] SLAMing on 94.561346184 meters Centerline goodness : 0.854475 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.02 [[ 0.97348828 -0.20082023 -0.10950706 4.01947518] [ 0.2008665 0.97955993 -0.01072316 0.59683102] [ 0.10942215 -0.01155743 0.99392818 -0.01526318] [ 0. 0. 0. 1. ]] SLAMing on 94.62134618399999 meters Centerline goodness : 0.852668 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.01 [[ 0.97342548 -0.20081934 -0.11006556 4.01967627] [ 0.20075209 0.97957092 -0.0118074 0.6008343 ] [ 0.11018818 -0.01060226 0.99385419 -0.01340127] [ 0. 0. 0. 1. ]] SLAMing on 94.68134618399999 meters Centerline goodness : 0.857143 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.01 [[ 0.97264607 -0.20459646 -0.10999958 4.02117133] [ 0.20404615 0.9788246 -0.01635786 0.60132903] [ 0.11101706 -0.00653458 0.99379702 -0.01153548] [ 0. 0. 0. 1. ]] SLAMing on 94.741346184 meters Centerline goodness : 0.859171 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.01 [[ 0.97191546 -0.2028148 -0.11935866 4.01865726] [ 0.2022829 0.97918501 -0.01668359 0.59024311] [ 0.12025789 -0.00792918 0.99271102 -0.01297732] [ 0. 0. 0. 1. ]] SLAMing on 94.801346184 meters Centerline goodness : 0.860875 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.01 [[ 0.97180514 -0.20320005 -0.11960144 4.01748799] [ 0.20289229 0.97908808 -0.01487421 0.58830005] [ 0.12012278 -0.00981138 0.99271056 -0.01070688] [ 0. 0. 0. 1. ]] SLAMing on 94.861346184 meters Centerline goodness : 0.862086 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97246842 -0.20038036 -0.11896586 4.01986628] [ 0.19989571 0.97968463 -0.01611633 0.59209773] [ 0.11977842 -0.00810814 0.99276754 -0.01633351] [ 0. 0. 0. 1. ]] SLAMing on 94.921346184 meters Centerline goodness : 0.862487 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97315858 -0.19830664 -0.11677694 4.01946431] [ 0.19747713 0.9801282 -0.01874831 0.59231646] [ 0.11817429 -0.0048157 0.99298119 -0.02124942] [ 0. 0. 0. 1. ]] SLAMing on 94.98134618399999 meters Centerline goodness : 0.863876 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97378095 -0.19352657 -0.11957477 4.02057528] [ 0.1936628 0.98101097 -0.01059202 0.59370888] [ 0.119354 -0.01284288 0.9927687 -0.01891448] [ 0. 0. 0. 1. ]] SLAMing on 95.04134618399999 meters Centerline goodness : 0.863483 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97383024 -0.1944274 -0.1176973 4.01911417] [ 0.19416577 0.98087171 -0.01379668 0.59395594] [ 0.11812841 -0.00941717 0.99295367 -0.02088339] [ 0. 0. 0. 1. ]] SLAMing on 95.101346184 meters Centerline goodness : 0.865890 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97383 -0.1944036 -0.11773853 4.02153431] [ 0.19409242 0.98088025 -0.01421481 0.59413196] [ 0.11825081 -0.00900935 0.99294289 -0.02361245] [ 0. 0. 0. 1. ]] SLAMing on 95.161346184 meters Centerline goodness : 0.860219 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97398461 -0.19400584 -0.11711413 4.019972 ] [ 0.19363341 0.98096442 -0.01465978 0.59452438] [ 0.11772888 -0.00839881 0.99301026 -0.02313919] [ 0. 0. 0. 1. ]] SLAMing on 95.221346184 meters Centerline goodness : 0.856099 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97433686 -0.19137678 -0.11850157 4.02068805] [ 0.19159616 0.98142645 -0.00964574 0.5938217 ] [ 0.11814654 -0.01330624 0.99290701 -0.02198096] [ 0. 0. 0. 1. ]] SLAMing on 95.281346184 meters Centerline goodness : 0.858105 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.9745235 -0.19045895 -0.11844554 4.02045698] [ 0.19082372 0.98158872 -0.00835955 0.5933084 ] [ 0.11785696 -0.01445565 0.99292536 -0.02224058] [ 0. 0. 0. 1. ]] SLAMing on 95.341346184 meters Centerline goodness : 0.857125 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.59, Z:-0.02 [[ 0.97402611 -0.19281401 -0.11872611 4.02106573] [ 0.19307707 0.98113864 -0.00939276 0.59491676] [ 0.11829783 -0.01377449 0.99288262 -0.02175654] [ 0. 0. 0. 1. ]] SLAMing on 95.40134618399999 meters Centerline goodness : 0.857322 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.03 [[ 9.72814927e-01 -2.00785650e-01 -1.15396018e-01 4.02141876e+00] [ 1.99854687e-01 9.79627451e-01 -1.97018286e-02 5.95176510e-01] [ 1.17000952e-01 -3.89620207e-03 9.93124160e-01 -2.63270776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46134618399999 meters Centerline goodness : 0.856418 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:0.60, Z:-0.03 [[ 9.71560810e-01 -2.06726207e-01 -1.15472369e-01 4.02350209e+00] [ 2.05321330e-01 9.78398776e-01 -2.40621226e-02 5.97390602e-01] [ 1.17952295e-01 -3.31124988e-04 9.93019207e-01 -2.65394228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521346184 meters Centerline goodness : 0.856396 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.02 [[ 0.97088931 -0.20751361 -0.11963299 4.02770056] [ 0.20680041 0.97820854 -0.01848385 0.59925306] [ 0.12086166 -0.00679438 0.99264611 -0.02271353] [ 0. 0. 0. 1. ]] SLAMing on 95.581346184 meters Centerline goodness : 0.857375 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.02 [[ 0.97044581 -0.21034631 -0.11827663 4.02709114] [ 0.20932704 0.97761764 -0.02111754 0.59669182] [ 0.12007132 -0.00426507 0.99275611 -0.02333162] [ 0. 0. 0. 1. ]] SLAMing on 95.641346184 meters Centerline goodness : 0.857371 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.02 [[ 0.96992688 -0.21228113 -0.11907377 4.026609 ] [ 0.21136713 0.97719382 -0.02040033 0.59697916] [ 0.12068876 -0.00538146 0.99267581 -0.02027573] [ 0. 0. 0. 1. ]] SLAMing on 95.701346184 meters Centerline goodness : 0.859189 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.02 [[ 0.9693254 -0.21417511 -0.12057068 4.02934843] [ 0.21336732 0.97677294 -0.01972354 0.59767552] [ 0.12199447 -0.00660732 0.99250879 -0.01965717] [ 0. 0. 0. 1. ]] SLAMing on 95.76134618399999 meters Centerline goodness : 0.853142 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.03 [[ 9.69850005e-01 -2.13280547e-01 -1.17908338e-01 4.03144486e+00] [ 2.11881019e-01 9.76990143e-01 -2.44273185e-02 5.97851660e-01] [ 1.20405156e-01 -1.29170380e-03 9.92723995e-01 -2.80736680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82134618399999 meters Centerline goodness : 0.855158 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.03 [[ 0.97085436 -0.20807025 -0.1189478 4.03209292] [ 0.2071892 0.9780992 -0.01986424 0.59892736] [ 0.12047591 -0.00535941 0.99270178 -0.02889291] [ 0. 0. 0. 1. ]] SLAMing on 95.881346184 meters Centerline goodness : 0.858186 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.03 [[ 0.9714588 -0.20435705 -0.12044081 4.03029258] [ 0.20407717 0.97884312 -0.01478672 0.59969511] [ 0.12091443 -0.01021453 0.99261038 -0.0250624 ] [ 0. 0. 0. 1. ]] SLAMing on 95.941346184 meters Centerline goodness : 0.854248 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.03 [[ 0.97088238 -0.20849766 -0.11796667 4.02977991] [ 0.20760841 0.97800928 -0.01991496 0.59741778] [ 0.11952472 -0.00515579 0.99281784 -0.02774043] [ 0. 0. 0. 1. ]] SLAMing on 96.001346184 meters Centerline goodness : 0.853084 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.60, Z:-0.03 [[ 0.97063669 -0.20907885 -0.11895566 4.03249961] [ 0.20834214 0.97787653 -0.0187362 0.59559999] [ 0.12024129 -0.00659743 0.99272277 -0.02812595] [ 0. 0. 0. 1. ]] SLAMing on 96.061346184 meters Centerline goodness : 0.855562 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:0.59, Z:-0.03 [[ 0.96961849 -0.21397895 -0.11854532 4.03186137] [ 0.21297351 0.97682717 -0.02123581 0.59407916] [ 0.12034231 -0.00465638 0.99272154 -0.0258671 ] [ 0. 0. 0. 1. ]] SLAMing on 96.12134618399999 meters Centerline goodness : 0.855775 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.59, Z:-0.02 [[ 0.9680826 -0.2202127 -0.1196764 4.03547723] [ 0.21909815 0.97544203 -0.02255767 0.59061103] [ 0.12170487 -0.00438318 0.99255665 -0.02473907] [ 0. 0. 0. 1. ]] SLAMing on 96.18134618399999 meters Centerline goodness : 0.859429 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.59, Z:-0.03 [[ 9.66812687e-01 -2.26220446e-01 -1.18733057e-01 4.03811275e+00] [ 2.24687714e-01 9.74075351e-01 -2.63180961e-02 5.85554917e-01] [ 1.21608635e-01 -1.23318993e-03 9.92577362e-01 -2.65624333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241346184 meters Centerline goodness : 0.861639 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.58, Z:-0.02 [[ 0.96613141 -0.22810913 -0.12064956 4.03958903] [ 0.22696787 0.9736234 -0.02330386 0.58252752] [ 0.12278306 -0.00486898 0.99242159 -0.0231024 ] [ 0. 0. 0. 1. ]] SLAMing on 96.301346184 meters Centerline goodness : 0.858671 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.58, Z:-0.03 [[ 0.96644396 -0.22724113 -0.11978126 4.04070083] [ 0.22614863 0.9738255 -0.02281856 0.5785805 ] [ 0.12183136 -0.00503551 0.99253804 -0.02616661] [ 0. 0. 0. 1. ]] SLAMing on 96.361346184 meters Centerline goodness : 0.857492 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.58, Z:-0.03 [[ 9.66855872e-01 -2.26541457e-01 -1.17765407e-01 4.04199980e+00] [ 2.25079085e-01 9.74000192e-01 -2.57493974e-02 5.76499469e-01] [ 1.20536835e-01 -1.61057401e-03 9.92707549e-01 -3.18478194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421346184 meters Centerline goodness : 0.867018 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.58, Z:-0.03 [[ 0.96776084 -0.22219831 -0.1186038 4.04374988] [ 0.221143 0.97498973 -0.02215389 0.57548565] [ 0.12056004 -0.00478873 0.99269449 -0.03398061] [ 0. 0. 0. 1. ]] SLAMing on 96.48134618399999 meters Centerline goodness : 0.865241 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.58, Z:-0.03 [[ 0.96859658 -0.2182621 -0.11908958 4.04353143] [ 0.21751231 0.9758644 -0.01941848 0.57535191] [ 0.1204536 -0.00709478 0.99269361 -0.03426384] [ 0. 0. 0. 1. ]] SLAMing on 96.54134618399999 meters Centerline goodness : 0.869357 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.57, Z:-0.04 [[ 0.97000827 -0.21215271 -0.11863891 4.0415508 ] [ 0.21184588 0.97718272 -0.01533817 0.57373086] [ 0.11918593 -0.01025501 0.99281899 -0.03523296] [ 0. 0. 0. 1. ]] SLAMing on 96.601346184 meters Centerline goodness : 0.868313 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.57, Z:-0.04 [[ 0.97099186 -0.20782534 -0.11825155 4.04115933] [ 0.20780277 0.97808884 -0.01265813 0.57278722] [ 0.1182912 -0.01228206 0.99290299 -0.03735117] [ 0. 0. 0. 1. ]] SLAMing on 96.661346184 meters Centerline goodness : 0.868994 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.58, Z:-0.04 [[ 0.97118989 -0.21297971 -0.10691046 4.04357359] [ 0.21322779 0.97695883 -0.00923889 0.57917528] [ 0.10641481 -0.01382356 0.99422573 -0.0430473 ] [ 0. 0. 0. 1. ]] SLAMing on 96.721346184 meters Centerline goodness : 0.868650 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:0.58, Z:-0.05 [[ 0.97094964 -0.21389479 -0.10726521 4.04761656] [ 0.21388805 0.97678807 -0.01170327 0.58261602] [ 0.10727865 -0.01157946 0.99416156 -0.04722943] [ 0. 0. 0. 1. ]] SLAMing on 96.781346184 meters Centerline goodness : 0.866428 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:0.58, Z:-0.05 [[ 0.97057764 -0.2161696 -0.10606479 4.04943276] [ 0.2157143 0.97632731 -0.0158847 0.58353078] [ 0.10698774 -0.00746236 0.99423234 -0.05108933] [ 0. 0. 0. 1. ]] SLAMing on 96.841346184 meters Centerline goodness : 0.868712 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 0.97012674 -0.21516928 -0.11205485 4.0557706 ] [ 0.21571101 0.97642912 -0.00741183 0.58771039] [ 0.11100842 -0.01698105 0.99367438 -0.04701004] [ 0. 0. 0. 1. ]] SLAMing on 96.90134618399999 meters Centerline goodness : 0.867067 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 0.97022488 -0.21416588 -0.11312233 4.05791109] [ 0.21491189 0.97661679 -0.0057029 0.58823054] [ 0.11169853 -0.01877824 0.9935647 -0.04765262] [ 0. 0. 0. 1. ]] SLAMing on 96.96134618399999 meters Centerline goodness : 0.866239 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 9.71231676e-01 -2.09535445e-01 -1.13154446e-01 4.05735772e+00] [ 2.10565825e-01 9.77575371e-01 -2.90302986e-03 5.87345472e-01] [ 1.11225287e-01 -2.10069448e-02 9.93573170e-01 -4.86530536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021346184 meters Centerline goodness : 0.866938 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 9.71622994e-01 -2.06349301e-01 -1.15623197e-01 4.05987089e+00] [ 2.07983517e-01 9.78130034e-01 2.11997327e-03 5.89366200e-01] [ 1.12657066e-01 -2.61075338e-02 9.93290885e-01 -4.78899589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081346184 meters Centerline goodness : 0.862652 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 9.71991771e-01 -2.04824683e-01 -1.15233874e-01 4.06225252e+00] [ 2.06236689e-01 9.78502077e-01 3.38324713e-04 5.92585018e-01] [ 1.12687288e-01 -2.40943015e-02 9.93338331e-01 -5.26626679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141346184 meters Centerline goodness : 0.864255 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 0.97145469 -0.20827243 -0.11357107 4.06207906] [ 0.20905881 0.9778899 -0.00507473 0.59374596] [ 0.11211693 -0.01881317 0.99351691 -0.05471286] [ 0. 0. 0. 1. ]] SLAMing on 97.201346184 meters Centerline goodness : 0.864231 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.60, Z:-0.05 [[ 0.97129245 -0.20580547 -0.11931084 4.066201 ] [ 0.20788325 0.97814034 0.00510265 0.59671942] [ 0.11565259 -0.02975889 0.99284384 -0.04900367] [ 0. 0. 0. 1. ]] SLAMing on 97.26134618399999 meters Centerline goodness : 0.862705 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.60, Z:-0.05 [[ 9.71304771e-01 -2.07466559e-01 -1.16295607e-01 4.06291922e+00] [ 2.08962729e-01 9.77923363e-01 6.88764101e-04 5.95339238e-01] [ 1.13585296e-01 -2.49704473e-02 9.93214407e-01 -5.05077201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32134618399999 meters Centerline goodness : 0.865610 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 9.71255860e-01 -2.08885585e-01 -1.14144063e-01 4.06267216e+00] [ 2.09923270e-01 9.77713299e-01 -2.98752383e-03 5.92955947e-01] [ 1.12224219e-01 -2.10598450e-02 9.93459716e-01 -5.38510100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381346184 meters Centerline goodness : 0.866557 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 9.71111146e-01 -2.08347018e-01 -1.16338565e-01 4.06194963e+00] [ 2.09946862e-01 9.77711595e-01 1.53381470e-03 5.93683927e-01] [ 1.13425998e-01 -2.59144211e-02 9.93208430e-01 -4.85784639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441346184 meters Centerline goodness : 0.865065 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.59, Z:-0.05 [[ 9.70781143e-01 -2.10454541e-01 -1.15294659e-01 4.06547939e+00] [ 2.11531926e-01 9.77366638e-01 -2.94933414e-03 5.94963599e-01] [ 1.13305854e-01 -2.15253433e-02 9.93326957e-01 -5.43123515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501346184 meters Centerline goodness : 0.867974 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.06 [[ 0.97068572 -0.21248791 -0.11233042 4.06475563] [ 0.21292688 0.97703361 -0.00821457 0.59215896] [ 0.1114961 -0.0159444 0.99363695 -0.05839156] [ 0. 0. 0. 1. ]] SLAMing on 97.561346184 meters Centerline goodness : 0.870622 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 9.70639795e-01 -2.11095291e-01 -1.15313337e-01 4.06483211e+00] [ 2.12447021e-01 9.77172414e-01 -5.80692761e-04 5.89670629e-01] [ 1.12803594e-01 -2.39343315e-02 9.93328997e-01 -5.22113299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62134618399999 meters Centerline goodness : 0.872551 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.59, Z:-0.05 [[ 9.70200896e-01 -2.12573347e-01 -1.16287543e-01 4.06425337e+00] [ 2.14174307e-01 9.76794588e-01 1.30374732e-03 5.88734465e-01] [ 1.13311900e-01 -2.61707007e-02 9.93214734e-01 -4.84501852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68134618399999 meters Centerline goodness : 0.870710 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.59, Z:-0.06 [[ 0.96919215 -0.21983959 -0.11107263 4.06617672] [ 0.21982005 0.97545939 -0.01257485 0.58685747] [ 0.11111129 -0.01222854 0.99373273 -0.05815084] [ 0. 0. 0. 1. ]] SLAMing on 97.741346184 meters Centerline goodness : 0.873094 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.59, Z:-0.06 [[ 0.96915217 -0.2190446 -0.11297584 4.06831329] [ 0.21934502 0.97559694 -0.00991844 0.58974365] [ 0.11239146 -0.01516821 0.99354823 -0.05750278] [ 0. 0. 0. 1. ]] SLAMing on 97.801346184 meters Centerline goodness : 0.874494 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.59, Z:-0.06 [[ 0.96982619 -0.21499384 -0.11495568 4.06937892] [ 0.21579394 0.97642294 -0.00558736 0.59454952] [ 0.11344661 -0.01938797 0.99335491 -0.05725254] [ 0. 0. 0. 1. ]] SLAMing on 97.861346184 meters Centerline goodness : 0.876159 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.59, Z:-0.06 [[ 0.97059156 -0.21255975 -0.11300609 4.06900458] [ 0.21314725 0.97699502 -0.00699876 0.5936476 ] [ 0.11189404 -0.017294 0.99356965 -0.0620055 ] [ 0. 0. 0. 1. ]] SLAMing on 97.921346184 meters Centerline goodness : 0.874656 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.59, Z:-0.06 [[ 0.97080749 -0.2113781 -0.11336721 4.07032638] [ 0.21208891 0.97723261 -0.005893 0.59315803] [ 0.11203178 -0.01832296 0.99353568 -0.06308252] [ 0. 0. 0. 1. ]] SLAMing on 97.98134618399999 meters Centerline goodness : 0.873967 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.59, Z:-0.06 [[ 9.70562458e-01 -2.11971204e-01 -1.14353503e-01 4.06980590e+00] [ 2.12918004e-01 9.77061835e-01 -4.01170495e-03 5.93322055e-01] [ 1.12580810e-01 -2.04543095e-02 9.93432022e-01 -6.00195453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04134618399999 meters Centerline goodness : 0.874149 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:0.60, Z:-0.06 [[ 9.69662380e-01 -2.14846349e-01 -1.16601523e-01 4.07165458e+00] [ 2.16134564e-01 9.76362221e-01 -1.63207486e-03 5.95616583e-01] [ 1.14195967e-01 -2.36190577e-02 9.93177437e-01 -5.66100741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101346184 meters Centerline goodness : 0.868660 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.59, Z:-0.06 [[ 0.9684185 -0.22080327 -0.11580816 4.07560449] [ 0.22149272 0.97513659 -0.00704354 0.59483743] [ 0.11448401 -0.01882957 0.99324663 -0.06031701] [ 0. 0. 0. 1. ]] SLAMing on 98.161346184 meters Centerline goodness : 0.871776 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.60, Z:-0.06 [[ 0.96813177 -0.22182032 -0.11626104 4.07686928] [ 0.22247469 0.97490975 -0.00748299 0.59692042] [ 0.1150039 -0.01862062 0.9931905 -0.0608083 ] [ 0. 0. 0. 1. ]] SLAMing on 98.221346184 meters Centerline goodness : 0.869140 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.60, Z:-0.06 [[ 0.96800329 -0.22208488 -0.11682435 4.07766039] [ 0.22270471 0.97485404 -0.00788745 0.59826139] [ 0.11563837 -0.01838226 0.99312127 -0.06030505] [ 0. 0. 0. 1. ]] SLAMing on 98.281346184 meters Centerline goodness : 0.871065 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.60, Z:-0.06 [[ 0.96802826 -0.22101327 -0.11863569 4.08090685] [ 0.22202111 0.97502995 -0.00482023 0.59819106] [ 0.11673868 -0.02167351 0.99292615 -0.06080097] [ 0. 0. 0. 1. ]] SLAMing on 98.341346184 meters Centerline goodness : 0.867497 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.60, Z:-0.06 [[ 0.96779569 -0.222956 -0.1168851 4.0796312 ] [ 0.22355011 0.97465819 -0.00817089 0.598031 ] [ 0.11574477 -0.01822192 0.99311183 -0.0621536 ] [ 0. 0. 0. 1. ]] SLAMing on 98.40134618399999 meters Centerline goodness : 0.868260 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.60, Z:-0.06 [[ 0.96705267 -0.22491805 -0.11925189 4.08364625] [ 0.22585997 0.9741429 -0.00573436 0.59660875] [ 0.11745814 -0.02138879 0.99284747 -0.06063796] [ 0. 0. 0. 1. ]] SLAMing on 98.46134618399999 meters Centerline goodness : 0.864893 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.59, Z:-0.06 [[ 0.96658634 -0.2276928 -0.11775752 4.08245247] [ 0.22825255 0.97356135 -0.0088921 0.59444524] [ 0.11666884 -0.01828347 0.99300257 -0.06063941] [ 0. 0. 0. 1. ]] SLAMing on 98.521346184 meters Centerline goodness : 0.865969 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.59, Z:-0.06 [[ 0.96652238 -0.2287943 -0.11613637 4.08117691] [ 0.22909717 0.97334236 -0.01091511 0.59156321] [ 0.11553776 -0.01605682 0.9931733 -0.06145606] [ 0. 0. 0. 1. ]] SLAMing on 98.581346184 meters Centerline goodness : 0.863144 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:0.59, Z:-0.06 [[ 0.96634755 -0.22908069 -0.11702331 4.08420722] [ 0.22955051 0.9732491 -0.00963059 0.59001475] [ 0.11609902 -0.01755626 0.99308247 -0.0627067 ] [ 0. 0. 0. 1. ]] SLAMing on 98.641346184 meters Centerline goodness : 0.864165 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.59, Z:-0.06 [[ 0.96596883 -0.23033 -0.11769582 4.08571881] [ 0.2307862 0.97295386 -0.00992545 0.59128923] [ 0.11679873 -0.01757489 0.99300009 -0.06259479] [ 0. 0. 0. 1. ]] SLAMing on 98.701346184 meters Centerline goodness : 0.862466 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.59, Z:-0.06 [[ 0.96481356 -0.23596951 -0.11598788 4.08690103] [ 0.23571076 0.97168921 -0.01614035 0.5906841 ] [ 0.1165128 -0.01176716 0.99311948 -0.06473189] [ 0. 0. 0. 1. ]] SLAMing on 98.76134618399999 meters Centerline goodness : 0.860173 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.59, Z:-0.07 [[ 0.96411495 -0.23911163 -0.11536029 4.08804065] [ 0.23856959 0.97094557 -0.01868816 0.58913857] [ 0.11647712 -0.00950393 0.9931479 -0.06555012] [ 0. 0. 0. 1. ]] SLAMing on 98.82134618399999 meters Centerline goodness : 0.864329 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.59, Z:-0.07 [[ 0.96439778 -0.2378534 -0.11559703 4.08862948] [ 0.23757457 0.97123108 -0.01638648 0.58568244] [ 0.11616901 -0.01165983 0.99316102 -0.06573232] [ 0. 0. 0. 1. ]] SLAMing on 98.881346184 meters Centerline goodness : 0.861927 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.59, Z:-0.06 [[ 0.96579491 -0.23110343 -0.11760697 4.08820942] [ 0.23168392 0.9727504 -0.00890093 0.5860153 ] [ 0.11645927 -0.01865117 0.99302033 -0.06407739] [ 0. 0. 0. 1. ]] SLAMing on 98.941346184 meters Centerline goodness : 0.864464 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.58, Z:-0.07 [[ 0.96640547 -0.22910891 -0.11648852 4.08978343] [ 0.22952903 0.97325067 -0.00997773 0.58483259] [ 0.11565852 -0.01709496 0.99314192 -0.06907789] [ 0. 0. 0. 1. ]] SLAMing on 99.001346184 meters Centerline goodness : 0.860950 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.58, Z:-0.07 [[ 0.96677307 -0.22812214 -0.11536954 4.0895338 ] [ 0.22845342 0.97349799 -0.01052121 0.58301944] [ 0.11471214 -0.01618494 0.99326692 -0.07142555] [ 0. 0. 0. 1. ]] SLAMing on 99.061346184 meters Centerline goodness : 0.861901 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.58, Z:-0.07 [[ 0.96616845 -0.22979204 -0.11710744 4.09197182] [ 0.23035008 0.97306683 -0.00893221 0.5836362 ] [ 0.11600592 -0.01834569 0.99307908 -0.06990628] [ 0. 0. 0. 1. ]] SLAMing on 99.12134618399999 meters Centerline goodness : 0.860471 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.58, Z:-0.07 [[ 0.96575638 -0.23120164 -0.11773024 4.0958884 ] [ 0.23173484 0.97273425 -0.00932938 0.5830349 ] [ 0.11667721 -0.01827229 0.99300179 -0.07241479] [ 0. 0. 0. 1. ]] SLAMing on 99.18134618399999 meters Centerline goodness : 0.861334 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.58, Z:-0.07 [[ 0.96536476 -0.23349804 -0.11640252 4.09617745] [ 0.23358995 0.97224769 -0.01304458 0.58304646] [ 0.11621796 -0.01459768 0.99311645 -0.07449783] [ 0. 0. 0. 1. ]] SLAMing on 99.241346184 meters Centerline goodness : 0.862731 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.59, Z:-0.07 [[ 0.96542868 -0.23187256 -0.11909065 4.09693 ] [ 0.23255097 0.97254826 -0.00836242 0.58608095] [ 0.11776042 -0.01962133 0.99284817 -0.07080641] [ 0. 0. 0. 1. ]] SLAMing on 99.301346184 meters Centerline goodness : 0.861648 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.59, Z:-0.07 [[ 0.965641 -0.23048583 -0.12005725 4.09814061] [ 0.23143748 0.97283035 -0.00614782 0.58718857] [ 0.11821233 -0.02184916 0.99274793 -0.07106438] [ 0. 0. 0. 1. ]] SLAMing on 99.361346184 meters Centerline goodness : 0.862736 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.59, Z:-0.07 [[ 0.96598553 -0.229473 -0.11922294 4.0991387 ] [ 0.23022332 0.97310792 -0.00762934 0.58806539] [ 0.11776751 -0.02007807 0.9928382 -0.07484667] [ 0. 0. 0. 1. ]] SLAMing on 99.421346184 meters Centerline goodness : 0.864882 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.59, Z:-0.08 [[ 9.66746731e-01 -2.25181378e-01 -1.21219247e-01 4.10182548e+00] [ 2.26458807e-01 9.74015105e-01 -3.31425778e-03 5.90149299e-01] [ 1.18815687e-01 -2.42471182e-02 9.92620224e-01 -7.60207856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48134618399999 meters Centerline goodness : 0.861790 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.59, Z:-0.07 [[ 9.67151808e-01 -2.22468951e-01 -1.22983522e-01 4.10172314e+00] [ 2.24198341e-01 9.74543509e-01 2.28961935e-04 5.93183617e-01] [ 1.19801857e-01 -2.77941426e-02 9.92408686e-01 -7.38026440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54134618399999 meters Centerline goodness : 0.860863 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.59, Z:-0.08 [[ 9.67903660e-01 -2.18863153e-01 -1.23537142e-01 4.10489444e+00] [ 2.20747544e-01 9.75329655e-01 1.60787758e-03 5.94955473e-01] [ 1.20137533e-01 -2.88267912e-02 9.92338646e-01 -7.82615973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601346184 meters Centerline goodness : 0.863202 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.60, Z:-0.08 [[ 9.69020025e-01 -2.20277095e-01 -1.11705832e-01 4.10662656e+00] [ 2.21588273e-01 9.75140070e-01 -6.94217446e-04 6.03748423e-01] [ 1.09081753e-01 -2.40799918e-02 9.93741075e-01 -8.07621787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661346184 meters Centerline goodness : 0.863052 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.61, Z:-0.08 [[ 9.69356374e-01 -2.17651973e-01 -1.13911539e-01 4.10853858e+00] [ 2.19497047e-01 9.75605919e-01 3.76001756e-03 6.05905943e-01] [ 1.10314396e-01 -2.86480434e-02 9.93483781e-01 -7.96852901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721346184 meters Centerline goodness : 0.861259 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.61, Z:-0.08 [[ 9.69781216e-01 -2.15955994e-01 -1.13522692e-01 4.10753944e+00] [ 2.17810097e-01 9.75982801e-01 4.04152114e-03 6.06473335e-01] [ 1.09923404e-01 -2.86457797e-02 9.93527184e-01 -8.00135624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781346184 meters Centerline goodness : 0.864696 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.61, Z:-0.08 [[ 9.69314564e-01 -2.18345293e-01 -1.12936301e-01 4.10942976e+00] [ 2.19829188e-01 9.75538125e-01 7.03720869e-04 6.06827309e-01] [ 1.10020014e-01 -2.55088223e-02 9.93601981e-01 -8.25141452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841346184 meters Centerline goodness : 0.863507 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.61, Z:-0.08 [[ 0.9686361 -0.21962365 -0.11623066 4.113527 ] [ 0.22164067 0.97511774 0.00456196 0.60819164] [ 0.11233667 -0.03018032 0.99321177 -0.07978605] [ 0. 0. 0. 1. ]] SLAMing on 99.90134618399999 meters Centerline goodness : 0.861776 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.96769517 -0.2229339 -0.11775624 4.11638677] [ 0.22497033 0.97435689 0.00412312 0.61061089] [ 0.11381742 -0.03048158 0.99303397 -0.07889787] [ 0. 0. 0. 1. ]] SLAMing on 99.96134618399999 meters Centerline goodness : 0.863836 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 9.67139202e-01 -2.25546687e-01 -1.17347589e-01 4.11750171e+00] [ 2.27255784e-01 9.73834342e-01 1.21747667e-03 6.11246108e-01] [ 1.14002514e-01 -2.78453877e-02 9.93090158e-01 -7.99368864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021346184 meters Centerline goodness : 0.861249 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.96781718 -0.22191653 -0.11867164 4.11970374] [ 0.22402859 0.97457175 0.00459371 0.61135037] [ 0.11463461 -0.03103171 0.99292293 -0.08123329] [ 0. 0. 0. 1. ]] SLAMing on 100.081346184 meters Centerline goodness : 0.861992 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.9686567 -0.21809234 -0.11891142 4.12066638] [ 0.22046144 0.97537068 0.0069848 0.61168081] [ 0.11445938 -0.03298126 0.9928803 -0.08372249] [ 0. 0. 0. 1. ]] SLAMing on 100.141346184 meters Centerline goodness : 0.864727 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.96942572 -0.21404918 -0.11998635 4.12113783] [ 0.21677545 0.97617033 0.00999483 0.61331453] [ 0.11498773 -0.03569934 0.99272523 -0.0837553 ] [ 0. 0. 0. 1. ]] SLAMing on 100.201346184 meters Centerline goodness : 0.859914 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.97030417 -0.20974199 -0.12049118 4.12032426] [ 0.21280434 0.97700848 0.01299044 0.61545429] [ 0.11499626 -0.03824572 0.9926294 -0.08386711] [ 0. 0. 0. 1. ]] SLAMing on 100.26134618399999 meters Centerline goodness : 0.863353 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.97113723 -0.20528548 -0.12145105 4.11979438] [ 0.20898536 0.97774537 0.01841506 0.61400465] [ 0.11496786 -0.04326504 0.99242659 -0.08285304] [ 0. 0. 0. 1. ]] SLAMing on 100.32134618399999 meters Centerline goodness : 0.862494 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.97136012 -0.20343318 -0.1227781 4.119928 ] [ 0.20758226 0.9779731 0.02186831 0.61584646] [ 0.11562494 -0.04672856 0.99219318 -0.08139111] [ 0. 0. 0. 1. ]] SLAMing on 100.381346184 meters Centerline goodness : 0.859258 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.97120981 -0.20579977 -0.11999148 4.1174617 ] [ 0.20923243 0.97772486 0.01660983 0.61650717] [ 0.11390036 -0.04123774 0.99263596 -0.08374118] [ 0. 0. 0. 1. ]] SLAMing on 100.441346184 meters Centerline goodness : 0.860739 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.97069912 -0.20801973 -0.12029547 4.11719227] [ 0.21139498 0.97727187 0.01586995 0.61739693] [ 0.11426011 -0.0408348 0.99261128 -0.08215141] [ 0. 0. 0. 1. ]] SLAMing on 100.501346184 meters Centerline goodness : 0.859417 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.97022706 -0.20964816 -0.12127287 4.11724169] [ 0.21307717 0.9769062 0.01588688 0.61961577] [ 0.11514157 -0.04125436 0.99249206 -0.07973903] [ 0. 0. 0. 1. ]] SLAMing on 100.561346184 meters Centerline goodness : 0.858960 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:-0.08 [[ 0.96996179 -0.21236412 -0.11864066 4.1147281 ] [ 0.21525933 0.97648323 0.01199694 0.61664585] [ 0.11330289 -0.03717508 0.99286478 -0.08086774] [ 0. 0. 0. 1. ]] SLAMing on 100.62134618399999 meters Centerline goodness : 0.859260 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.96955927 -0.21327056 -0.12029333 4.1167087 ] [ 0.2163527 0.97622848 0.0130179 0.6170807 ] [ 0.11465744 -0.03864741 0.99265304 -0.07900303] [ 0. 0. 0. 1. ]] SLAMing on 100.68134618399999 meters Centerline goodness : 0.860646 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.96836908 -0.2191119 -0.1193788 4.11659919] [ 0.22168692 0.97508023 0.00857006 0.61657304] [ 0.1145261 -0.0347637 0.99281179 -0.0783184 ] [ 0. 0. 0. 1. ]] SLAMing on 100.741346184 meters Centerline goodness : 0.863740 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.96753892 -0.22324825 -0.11844263 4.11812115] [ 0.22532162 0.97427521 0.00423999 0.61556577] [ 0.11444915 -0.03079004 0.99295184 -0.07982231] [ 0. 0. 0. 1. ]] SLAMing on 100.801346184 meters Centerline goodness : 0.859959 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.96833262 -0.21925791 -0.1194065 4.11898904] [ 0.22183992 0.97504506 0.00861335 0.61417705] [ 0.11453817 -0.03482972 0.99280809 -0.0804318 ] [ 0. 0. 0. 1. ]] SLAMing on 100.861346184 meters Centerline goodness : 0.859359 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.96900689 -0.21678544 -0.11844711 4.11655445] [ 0.21928734 0.97562454 0.00835605 0.61545808] [ 0.11374844 -0.03407102 0.9929252 -0.0808393 ] [ 0. 0. 0. 1. ]] SLAMing on 100.921346184 meters Centerline goodness : 0.860257 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:-0.09 [[ 0.97003577 -0.21369963 -0.11559876 4.1142326 ] [ 0.21582473 0.97641342 0.0060426 0.61511541] [ 0.11158088 -0.0308106 0.99327761 -0.08544846] [ 0. 0. 0. 1. ]] SLAMing on 100.98134618399999 meters Centerline goodness : 0.865007 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.61, Z:-0.09 [[ 0.97049313 -0.21198611 -0.11491291 4.1125684 ] [ 0.21420016 0.97676376 0.00713092 0.61366805] [ 0.11073111 -0.03153488 0.99334997 -0.08547164] [ 0. 0. 0. 1. ]] SLAMing on 101.04134618399999 meters Centerline goodness : 0.865291 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.97062088 -0.21565846 -0.10670775 4.11719683] [ 0.21801933 0.97588428 0.01083718 0.61930289] [ 0.10179728 -0.03378315 0.99423137 -0.08201535] [ 0. 0. 0. 1. ]] SLAMing on 101.101346184 meters Centerline goodness : 0.863537 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:-0.08 [[ 0.97007918 -0.21851369 -0.10582133 4.11757029] [ 0.22046497 0.97537004 0.00696243 0.61921709] [ 0.10169357 -0.030084 0.99436079 -0.0827281 ] [ 0. 0. 0. 1. ]] SLAMing on 101.161346184 meters Centerline goodness : 0.865827 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.96855524 -0.21918162 -0.1177292 4.1170431 ] [ 0.2213838 0.97516949 0.00580326 0.61369703] [ 0.11353396 -0.03168412 0.99302878 -0.0811527 ] [ 0. 0. 0. 1. ]] SLAMing on 101.221346184 meters Centerline goodness : 0.869934 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.96737464 -0.22350411 -0.11929883 4.11650973] [ 0.22596608 0.97410744 0.00734993 0.61330771] [ 0.11456714 -0.03406762 0.99283119 -0.07532306] [ 0. 0. 0. 1. ]] SLAMing on 101.281346184 meters Centerline goodness : 0.870513 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 9.66673572e-01 -2.26948846e-01 -1.18475427e-01 4.11792814e+00] [ 2.28991719e-01 9.73421175e-01 3.74281321e-03 6.12977890e-01] [ 1.14477062e-01 -3.07479703e-02 9.92949931e-01 -7.70532054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34134618399999 meters Centerline goodness : 0.868592 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 9.66105733e-01 -2.30487260e-01 -1.16255473e-01 4.11565536e+00] [ 2.31943030e-01 9.72728823e-01 -1.03314935e-03 6.12561933e-01] [ 1.13323177e-01 -2.59665152e-02 9.93218807e-01 -7.73382605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40134618399999 meters Centerline goodness : 0.866763 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 9.66289990e-01 -2.28774253e-01 -1.18093166e-01 4.11647772e+00] [ 2.30692118e-01 9.73023191e-01 2.64901321e-03 6.13077693e-01] [ 1.14301363e-01 -2.98028774e-02 9.92998986e-01 -7.52126594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46134618399999 meters Centerline goodness : 0.867214 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 0.96651619 -0.22740057 -0.11889253 4.11912983] [ 0.22952811 0.97329238 0.00433493 0.61175162] [ 0.11473143 -0.03147896 0.99289767 -0.07674435] [ 0. 0. 0. 1. ]] SLAMing on 101.521346184 meters Centerline goodness : 0.866729 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:-0.08 [[ 9.66568684e-01 -2.28402005e-01 -1.16522541e-01 4.11790811e+00] [ 2.30115778e-01 9.73162402e-01 1.29125491e-03 6.08431230e-01] [ 1.13100431e-01 -2.80617617e-02 9.93187208e-01 -7.92091153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581346184 meters Centerline goodness : 0.869847 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.60, Z:-0.08 [[ 9.66407402e-01 -2.29517052e-01 -1.15666140e-01 4.11576619e+00] [ 2.31266904e-01 9.72888752e-01 1.75928144e-03 6.03713860e-01] [ 1.12126502e-01 -2.84499327e-02 9.93286590e-01 -7.69823676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641346184 meters Centerline goodness : 0.873469 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.60, Z:-0.07 [[ 0.96679743 -0.22720548 -0.11696321 4.11505135] [ 0.2294671 0.97329751 0.00606757 0.60215117] [ 0.11246142 -0.03270533 0.99311771 -0.07400489] [ 0. 0. 0. 1. ]] SLAMing on 101.701346184 meters Centerline goodness : 0.872935 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.60, Z:-0.08 [[ 9.67465995e-01 -2.26537433e-01 -1.12651410e-01 4.11115457e+00] [ 2.28054127e-01 9.73648275e-01 5.93263833e-04 5.98378300e-01] [ 1.09548454e-01 -2.62645815e-02 9.93634394e-01 -7.76730450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76134618399999 meters Centerline goodness : 0.873420 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.60, Z:-0.08 [[ 9.67607357e-01 -2.25919031e-01 -1.12679166e-01 4.11347073e+00] [ 2.27497493e-01 9.73777948e-01 1.18280251e-03 5.96769909e-01] [ 1.09457269e-01 -2.67787160e-02 9.93630719e-01 -8.01886988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82134618399999 meters Centerline goodness : 0.880743 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.59, Z:-0.08 [[ 0.96795432 -0.22356011 -0.11439104 4.11233418] [ 0.22582233 0.97414301 0.0070476 0.59457598] [ 0.10985767 -0.0326538 0.9934108 -0.07566942] [ 0. 0. 0. 1. ]] SLAMing on 101.881346184 meters Centerline goodness : 0.879786 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.59, Z:-0.07 [[ 0.96817328 -0.22256589 -0.11447676 4.1109766 ] [ 0.22490317 0.97435023 0.00775802 0.59486019] [ 0.10981379 -0.0332573 0.99339563 -0.07401114] [ 0. 0. 0. 1. ]] SLAMing on 101.941346184 meters Centerline goodness : 0.881023 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.59, Z:-0.08 [[ 9.68425468e-01 -2.24212201e-01 -1.09000006e-01 4.10710597e+00] [ 2.25460834e-01 9.74251825e-01 -8.91115959e-04 5.90801501e-01] [ 1.06393254e-01 -2.37122529e-02 9.94041350e-01 -7.98249874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001346184 meters Centerline goodness : 0.884400 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.59, Z:-0.08 [[ 9.68220923e-01 -2.24345746e-01 -1.10531579e-01 4.10643290e+00] [ 2.25935762e-01 9.74140324e-01 1.91343026e-03 5.90127242e-01] [ 1.07243998e-01 -2.68256598e-02 9.93870771e-01 -7.53166940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061346184 meters Centerline goodness : 0.886691 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.59, Z:-0.07 [[ 0.96797395 -0.22355066 -0.11424336 4.11028073] [ 0.22588589 0.97412291 0.00775402 0.59125789] [ 0.10955366 -0.03331165 0.99342253 -0.07209075] [ 0. 0. 0. 1. ]] SLAMing on 102.12134618399999 meters Centerline goodness : 0.886612 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.59, Z:-0.07 [[ 9.66935181e-01 -2.29619433e-01 -1.10956168e-01 4.10943290e+00] [ 2.31096443e-01 9.72930737e-01 4.63940898e-04 5.87516162e-01] [ 1.07846136e-01 -2.60901765e-02 9.93825193e-01 -7.47739755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18134618399999 meters Centerline goodness : 0.885641 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:0.58, Z:-0.08 [[ 9.65833436e-01 -2.34239635e-01 -1.10894402e-01 4.11337049e+00] [ 2.35432555e-01 9.71887730e-01 -2.39861821e-03 5.84613292e-01] [ 1.08338760e-01 -2.37914866e-02 9.93829300e-01 -7.66308352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241346184 meters Centerline goodness : 0.888933 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.59, Z:-0.07 [[ 9.64939788e-01 -2.36393475e-01 -1.14058456e-01 4.11650276e+00] [ 2.38088529e-01 9.71242617e-01 1.27721407e-03 5.85028249e-01] [ 1.10476509e-01 -2.83884448e-02 9.93473219e-01 -7.24946965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301346184 meters Centerline goodness : 0.887301 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.58, Z:-0.07 [[ 9.65210733e-01 -2.35427352e-01 -1.13763804e-01 4.11713779e+00] [ 2.37121313e-01 9.71479039e-01 1.40026177e-03 5.84158745e-01] [ 1.10189491e-01 -2.83273703e-02 9.93506837e-01 -7.40514799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361346184 meters Centerline goodness : 0.887620 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.59, Z:-0.08 [[ 9.65098304e-01 -2.35699894e-01 -1.14152634e-01 4.11985643e+00] [ 2.37320640e-01 9.71431172e-01 6.26559922e-04 5.85364438e-01] [ 1.10743747e-01 -2.76954681e-02 9.93463026e-01 -7.65649456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421346184 meters Centerline goodness : 0.891261 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.59, Z:-0.08 [[ 9.64862506e-01 -2.35778404e-01 -1.15969344e-01 4.12433026e+00] [ 2.37547929e-01 9.71374688e-01 1.48242758e-03 5.87240145e-01] [ 1.12300161e-01 -2.89786162e-02 9.93251687e-01 -7.80758905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48134618399999 meters Centerline goodness : 0.888927 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.59, Z:-0.08 [[ 9.65273054e-01 -2.34310016e-01 -1.15528123e-01 4.12662023e+00] [ 2.35919120e-01 9.71772659e-01 2.62295186e-04 5.88177376e-01] [ 1.12205613e-01 -2.75084797e-02 9.93304175e-01 -8.27455754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54134618399999 meters Centerline goodness : 0.889210 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.59, Z:-0.08 [[ 9.65683128e-01 -2.31759260e-01 -1.17233702e-01 4.12733634e+00] [ 2.33764021e-01 9.72287213e-01 3.45809875e-03 5.90202734e-01] [ 1.13183383e-01 -3.07444491e-02 9.93098334e-01 -8.13257285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601346184 meters Centerline goodness : 0.893152 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.59, Z:-0.08 [[ 0.96620443 -0.22777716 -0.12069198 4.12708056] [ 0.23073455 0.97295529 0.01093486 0.59353504] [ 0.11493719 -0.03841312 0.99262978 -0.07594149] [ 0. 0. 0. 1. ]] SLAMing on 102.661346184 meters Centerline goodness : 0.890082 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.59, Z:-0.08 [[ 0.96639105 -0.22717832 -0.12032604 4.12823743] [ 0.23000029 0.97313998 0.00992235 0.59405266] [ 0.11483994 -0.03726389 0.99268484 -0.07845052] [ 0. 0. 0. 1. ]] SLAMing on 102.721346184 meters Centerline goodness : 0.895763 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.59, Z:-0.08 [[ 0.96623429 -0.22858927 -0.11890433 4.12864303] [ 0.2309669 0.97294037 0.00642875 0.59331195] [ 0.11421728 -0.03367465 0.9928849 -0.08126271] [ 0. 0. 0. 1. ]] SLAMing on 102.781346184 meters Centerline goodness : 0.891521 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:-0.08 [[ 0.9659542 -0.22962552 -0.11918306 4.12845696] [ 0.23193365 0.97271502 0.00568118 0.59561398] [ 0.11462661 -0.03313032 0.99285604 -0.08040665] [ 0. 0. 0. 1. ]] SLAMing on 102.84134618399999 meters Centerline goodness : 0.886151 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:-0.08 [[ 0.96656516 -0.22629104 -0.12059917 4.13020508] [ 0.22880193 0.97344628 0.00721237 0.60191248] [ 0.11576472 -0.03456454 0.99267508 -0.08227948] [ 0. 0. 0. 1. ]] SLAMing on 102.90134618399999 meters Centerline goodness : 0.885035 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:-0.09 [[ 0.96764489 -0.2217242 -0.12042316 4.13253845] [ 0.22425081 0.97450121 0.00767836 0.60405145] [ 0.11565004 -0.03443492 0.99269296 -0.08790564] [ 0. 0. 0. 1. ]] SLAMing on 102.96134618399999 meters Centerline goodness : 0.886793 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:0.61, Z:-0.09 [[ 0.9680568 -0.22566503 -0.10927639 4.13435603] [ 0.22755984 0.97375112 0.00502646 0.61329024] [ 0.10527371 -0.02973282 0.99399869 -0.08807382] [ 0. 0. 0. 1. ]] SLAMing on 103.021346184 meters Centerline goodness : 0.887568 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:0.62, Z:-0.09 [[ 0.96768496 -0.22582653 -0.11219716 4.13688494] [ 0.22819269 0.97357849 0.00854545 0.61635021] [ 0.10730296 -0.03387187 0.99364922 -0.08511912] [ 0. 0. 0. 1. ]] SLAMing on 103.081346184 meters Centerline goodness : 0.880383 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:0.62, Z:-0.09 [[ 0.96674527 -0.22935012 -0.11314634 4.14062356] [ 0.23148282 0.97282106 0.00590643 0.62088373] [ 0.1087165 -0.03190145 0.99356078 -0.08697097] [ 0. 0. 0. 1. ]] SLAMing on 103.141346184 meters Centerline goodness : 0.877532 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:0.62, Z:-0.09 [[ 9.66016107e-01 -2.32778246e-01 -1.12370680e-01 4.14399375e+00] [ 2.34322913e-01 9.72158663e-01 5.54584663e-04 6.23386633e-01] [ 1.09113035e-01 -2.68667627e-02 9.93666203e-01 -9.12976488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201346184 meters Centerline goodness : 0.880910 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.63, Z:-0.09 [[ 0.96615147 -0.2304428 -0.11596318 4.14532376] [ 0.23287123 0.9724774 0.00766166 0.62535138] [ 0.11100599 -0.03440681 0.99322396 -0.08660926] [ 0. 0. 0. 1. ]] SLAMing on 103.26134618399999 meters Centerline goodness : 0.883033 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.63, Z:-0.08 [[ 0.96638531 -0.23277296 -0.1091613 4.15050437] [ 0.23544611 0.97181217 0.01209274 0.63471689] [ 0.10326942 -0.03738785 0.99395049 -0.0820752 ] [ 0. 0. 0. 1. ]] SLAMing on 103.32134618399999 meters Centerline goodness : 0.883561 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.63, Z:-0.08 [[ 0.96606923 -0.23498969 -0.10719182 4.14989989] [ 0.2370035 0.97148857 0.00626905 0.63496122] [ 0.10266246 -0.03146118 0.99421859 -0.08404715] [ 0. 0. 0. 1. ]] SLAMing on 103.381346184 meters Centerline goodness : 0.884349 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.64, Z:-0.09 [[ 9.65661900e-01 -2.36853430e-01 -1.06759301e-01 4.15086999e+00] [ 2.38523179e-01 9.71132273e-01 2.96682864e-03 6.36496215e-01] [ 1.02974699e-01 -2.83295213e-02 9.94280468e-01 -8.53600848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441346184 meters Centerline goodness : 0.883562 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.64, Z:-0.08 [[ 0.96515097 -0.23680162 -0.11139391 4.15702174] [ 0.23903727 0.9709854 0.00696746 0.64112355] [ 0.10651195 -0.03335195 0.99375191 -0.08333224] [ 0. 0. 0. 1. ]] SLAMing on 103.501346184 meters Centerline goodness : 0.878818 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.64, Z:-0.09 [[ 9.64850194e-01 -2.39058907e-01 -1.09155589e-01 4.15686746e+00] [ 2.40584908e-01 9.70627737e-01 8.35405666e-04 6.41032921e-01] [ 1.05749731e-01 -2.70672286e-02 9.94024325e-01 -8.62911905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561346184 meters Centerline goodness : 0.883332 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.64, Z:-0.08 [[ 0.96479956 -0.23777492 -0.1123606 4.15729346] [ 0.23999385 0.97075295 0.0064547 0.64058287] [ 0.10753962 -0.03319334 0.99364653 -0.08016622] [ 0. 0. 0. 1. ]] SLAMing on 103.62134618399999 meters Centerline goodness : 0.883726 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.64, Z:-0.08 [[ 0.96450482 -0.23773494 -0.11494586 4.15962191] [ 0.24040602 0.97062337 0.00975838 0.64119725] [ 0.10924923 -0.03704568 0.99332383 -0.07712288] [ 0. 0. 0. 1. ]] SLAMing on 103.68134618399999 meters Centerline goodness : 0.883826 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.64, Z:-0.08 [[ 0.96429446 -0.23839953 -0.11533366 4.16111023] [ 0.24110576 0.97044829 0.00990631 0.63997044] [ 0.1095637 -0.03736021 0.99327741 -0.07718029] [ 0. 0. 0. 1. ]] SLAMing on 103.741346184 meters Centerline goodness : 0.879310 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.64, Z:-0.08 [[ 9.63287909e-01 -2.44343121e-01 -1.11233285e-01 4.16106360e+00] [ 2.45777137e-01 9.69325995e-01 -8.45022393e-04 6.37366776e-01] [ 1.08027790e-01 -2.65245984e-02 9.93793964e-01 -8.19441054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801346184 meters Centerline goodness : 0.877355 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.64, Z:-0.08 [[ 9.62835395e-01 -2.45454305e-01 -1.12695102e-01 4.16267370e+00] [ 2.46981004e-01 9.69020227e-01 -4.27112288e-04 6.38445528e-01] [ 1.09308670e-01 -2.74223106e-02 9.93629524e-01 -8.01758875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861346184 meters Centerline goodness : 0.876702 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.96296395 -0.24237471 -0.11813098 4.16849157] [ 0.24490534 0.96952043 0.0071766 0.64177078] [ 0.11279097 -0.03584172 0.99297209 -0.07746575] [ 0. 0. 0. 1. ]] SLAMing on 103.921346184 meters Centerline goodness : 0.876191 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.63, Z:-0.08 [[ 0.96337487 -0.23669999 -0.1260237 4.16385744] [ 0.23925465 0.9709423 0.00531558 0.63356387] [ 0.12110355 -0.03527265 0.99201299 -0.08149641] [ 0. 0. 0. 1. ]] SLAMing on 103.98134618399999 meters Centerline goodness : 0.877081 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:0.63, Z:-0.08 [[ 0.96324617 -0.23705653 -0.1263369 4.16468872] [ 0.23963646 0.97084764 0.0054072 0.63386944] [ 0.12137207 -0.03548339 0.99197266 -0.08154485] [ 0. 0. 0. 1. ]] SLAMing on 104.04134618399999 meters Centerline goodness : 0.875966 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.963262 -0.24173832 -0.11699958 4.16724538] [ 0.24408377 0.969736 0.00593395 0.64384281] [ 0.11202424 -0.03427365 0.99311424 -0.07941321] [ 0. 0. 0. 1. ]] SLAMing on 104.101346184 meters Centerline goodness : 0.871921 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.96318687 -0.2418878 -0.11730879 4.16896972] [ 0.24415314 0.96972316 0.00512235 0.6449702 ] [ 0.11251802 -0.03357509 0.99308228 -0.08072249] [ 0. 0. 0. 1. ]] SLAMing on 104.161346184 meters Centerline goodness : 0.874049 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 9.63688866e-01 -2.40696243e-01 -1.15624769e-01 4.16967699e+00] [ 2.42638790e-01 9.70112610e-01 2.81807467e-03 6.41927502e-01] [ 1.11490747e-01 -3.07708012e-02 9.93288967e-01 -8.47883266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221346184 meters Centerline goodness : 0.877198 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.96439692 -0.2366933 -0.11796128 4.16868678] [ 0.23930227 0.97090997 0.00826113 0.64364107] [ 0.11257443 -0.03619541 0.99298383 -0.08042912] [ 0. 0. 0. 1. ]] SLAMing on 104.281346184 meters Centerline goodness : 0.874836 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.96461543 -0.23557814 -0.11840612 4.17037057] [ 0.23822852 0.97117151 0.00854793 0.64319056] [ 0.11297895 -0.03645318 0.99292846 -0.0814863 ] [ 0. 0. 0. 1. ]] SLAMing on 104.34134618399999 meters Centerline goodness : 0.876572 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.96418834 -0.23669619 -0.11964844 4.17181868] [ 0.23952745 0.97084159 0.0096539 0.64402042] [ 0.11387464 -0.03796727 0.99276939 -0.08023026] [ 0. 0. 0. 1. ]] SLAMing on 104.40134618399999 meters Centerline goodness : 0.875770 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.96366836 -0.23851998 -0.12021446 4.17225031] [ 0.24135143 0.97039268 0.00935568 0.6440674 ] [ 0.11442372 -0.0380297 0.99270386 -0.07852842] [ 0. 0. 0. 1. ]] SLAMing on 104.46134618399999 meters Centerline goodness : 0.876649 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.64, Z:-0.08 [[ 0.96360101 -0.23938741 -0.11902418 4.17101703] [ 0.24183479 0.97029668 0.0063469 0.64412041] [ 0.1139694 -0.03490006 0.99287107 -0.07895385] [ 0. 0. 0. 1. ]] SLAMing on 104.521346184 meters Centerline goodness : 0.876324 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96374786 -0.23820077 -0.12021006 4.17387033] [ 0.24077742 0.97055387 0.0071712 0.64687629] [ 0.11496216 -0.03585509 0.99272258 -0.08080818] [ 0. 0. 0. 1. ]] SLAMing on 104.581346184 meters Centerline goodness : 0.873188 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.9642269 -0.23673824 -0.11925384 4.17319866] [ 0.23907544 0.97098553 0.00548041 0.64848617] [ 0.11449634 -0.03379502 0.99284867 -0.08283923] [ 0. 0. 0. 1. ]] SLAMing on 104.641346184 meters Centerline goodness : 0.873245 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96461027 -0.23421852 -0.1211145 4.17384697] [ 0.23703785 0.97145672 0.00921434 0.64960908] [ 0.11549932 -0.03759696 0.99259578 -0.080782 ] [ 0. 0. 0. 1. ]] SLAMing on 104.701346184 meters Centerline goodness : 0.872891 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96436837 -0.23508305 -0.12136558 4.17453721] [ 0.23779859 0.97127996 0.00818997 0.65135769] [ 0.11595463 -0.03675871 0.99257409 -0.08089384] [ 0. 0. 0. 1. ]] SLAMing on 104.76134618399999 meters Centerline goodness : 0.873947 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96418437 -0.23624603 -0.12056661 4.17357697] [ 0.23875726 0.97105674 0.00661641 0.64986005] [ 0.11551392 -0.03516559 0.99268319 -0.08030629] [ 0. 0. 0. 1. ]] SLAMing on 104.82134618399999 meters Centerline goodness : 0.875538 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96375111 -0.2377097 -0.12115237 4.1737278 ] [ 0.24027801 0.97068005 0.00683552 0.6492531 ] [ 0.11597532 -0.03569799 0.99261039 -0.07830042] [ 0. 0. 0. 1. ]] SLAMing on 104.881346184 meters Centerline goodness : 0.873136 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.9638341 -0.23756912 -0.12076731 4.17474321] [ 0.23991089 0.97078192 0.00502194 0.65184392] [ 0.11604566 -0.03381371 0.99266814 -0.08080073] [ 0. 0. 0. 1. ]] SLAMing on 104.941346184 meters Centerline goodness : 0.870682 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96456587 -0.23512965 -0.11969432 4.17293225] [ 0.2373524 0.97141337 0.00446085 0.65250348] [ 0.11522379 -0.03271252 0.99280077 -0.081984 ] [ 0. 0. 0. 1. ]] SLAMing on 105.001346184 meters Centerline goodness : 0.873522 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96630397 -0.22688005 -0.12158162 4.17127396] [ 0.22993132 0.97313896 0.01149621 0.6547423 ] [ 0.11570755 -0.03906426 0.99251486 -0.07997834] [ 0. 0. 0. 1. ]] SLAMing on 105.061346184 meters Centerline goodness : 0.871590 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.9669437 -0.22490049 -0.12016512 4.16866079] [ 0.22778073 0.97365457 0.01061671 0.65418127] [ 0.11461162 -0.03763706 0.99269715 -0.08040325] [ 0. 0. 0. 1. ]] SLAMing on 105.12134618399999 meters Centerline goodness : 0.871172 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96716071 -0.22397927 -0.12013925 4.16915971] [ 0.22691915 0.97384923 0.01119738 0.65303056] [ 0.11448954 -0.03809156 0.9926939 -0.08127867] [ 0. 0. 0. 1. ]] SLAMing on 105.18134618399999 meters Centerline goodness : 0.873584 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96637593 -0.22673644 -0.12127713 4.16980573] [ 0.22969081 0.97320399 0.01077583 0.65486204] [ 0.11558412 -0.03826974 0.99256019 -0.07852783] [ 0. 0. 0. 1. ]] SLAMing on 105.241346184 meters Centerline goodness : 0.874021 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 0.96568684 -0.23055044 -0.11956349 4.16919242] [ 0.23293381 0.97247306 0.00616428 0.65321421] [ 0.1148511 -0.03380314 0.99280742 -0.07916499] [ 0. 0. 0. 1. ]] SLAMing on 105.301346184 meters Centerline goodness : 0.880609 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.08 [[ 9.64231979e-01 -2.36593481e-01 -1.19499859e-01 4.16859521e+00] [ 2.38737770e-01 9.71076832e-01 3.75016754e-03 6.51526902e-01] [ 1.15156279e-01 -3.21451613e-02 9.92827135e-01 -7.53790712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361346184 meters Centerline goodness : 0.881342 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.07 [[ 0.96277832 -0.2411981 -0.12198928 4.17161954] [ 0.24351111 0.96988903 0.00419562 0.6538162 ] [ 0.11730409 -0.03374519 0.99252255 -0.07187168] [ 0. 0. 0. 1. ]] SLAMing on 105.421346184 meters Centerline goodness : 0.877905 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.65, Z:-0.07 [[ 0.96093722 -0.24987142 -0.11901235 4.17199454] [ 0.25098076 0.96797459 -0.00581813 0.65464236] [ 0.11665471 -0.02427896 0.99287573 -0.07454597] [ 0. 0. 0. 1. ]] SLAMing on 105.48134618399999 meters Centerline goodness : 0.879112 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.66, Z:-0.07 [[ 9.60459160e-01 -2.50535726e-01 -1.21449792e-01 4.17608168e+00] [ 2.51952525e-01 9.67732140e-01 -3.79879795e-03 6.56609012e-01] [ 1.18482602e-01 -2.69509915e-02 9.92590307e-01 -7.44090097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54134618399999 meters Centerline goodness : 0.882906 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.66, Z:-0.07 [[ 9.60629541e-01 -2.49546297e-01 -1.22137347e-01 4.17495185e+00] [ 2.51131222e-01 9.67949846e-01 -2.49087945e-03 6.57065413e-01] [ 1.18844416e-01 -2.82796888e-02 9.92510083e-01 -7.18075237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601346184 meters Centerline goodness : 0.885854 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.66, Z:-0.07 [[ 9.61969477e-01 -2.44202418e-01 -1.22392415e-01 4.17338909e+00] [ 2.46221351e-01 9.69212588e-01 1.41647840e-03 6.56929366e-01] [ 1.18278362e-01 -3.14982348e-02 9.92480776e-01 -7.18777282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661346184 meters Centerline goodness : 0.883404 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.66, Z:-0.07 [[ 9.62383648e-01 -2.42528972e-01 -1.22463920e-01 4.17372351e+00] [ 2.44520005e-01 9.69643417e-01 1.26922002e-03 6.58535824e-01] [ 1.18438511e-01 -3.11663549e-02 9.92472154e-01 -7.28302196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721346184 meters Centerline goodness : 0.882520 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.66, Z:-0.07 [[ 0.96330353 -0.23835227 -0.1234281 4.17396564] [ 0.2407455 0.97057723 0.00463186 0.65971209] [ 0.11869248 -0.03417665 0.99234271 -0.0731568 ] [ 0. 0. 0. 1. ]] SLAMing on 105.781346184 meters Centerline goodness : 0.882744 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.66, Z:-0.07 [[ 0.9647278 -0.23262706 -0.12322711 4.17233951] [ 0.23522236 0.97191818 0.00674433 0.66090332] [ 0.11819776 -0.03549222 0.99235558 -0.07432326] [ 0. 0. 0. 1. ]] SLAMing on 105.84134618399999 meters Centerline goodness : 0.884807 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.66, Z:-0.07 [[ 0.9653167 -0.22957141 -0.12434083 4.17254454] [ 0.23246378 0.9725627 0.00907648 0.66276524] [ 0.11884555 -0.03766642 0.99219805 -0.07362439] [ 0. 0. 0. 1. ]] SLAMing on 105.90134618399999 meters Centerline goodness : 0.884291 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.66, Z:-0.08 [[ 0.96617258 -0.22689609 -0.12259162 4.17297611] [ 0.22950328 0.9732798 0.00739363 0.66295216] [ 0.11763837 -0.03527871 0.99242966 -0.07905048] [ 0. 0. 0. 1. ]] SLAMing on 105.96134618399999 meters Centerline goodness : 0.883284 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.67, Z:-0.08 [[ 0.96682022 -0.23008926 -0.11098461 4.17427955] [ 0.23207705 0.97268372 0.00516018 0.67120038] [ 0.10676562 -0.03074595 0.99380873 -0.08007596] [ 0. 0. 0. 1. ]] SLAMing on 106.021346184 meters Centerline goodness : 0.883099 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.67, Z:-0.08 [[ 0.96790824 -0.22563202 -0.11065185 4.17310346] [ 0.22777541 0.97368881 0.00696166 0.67177554] [ 0.10616969 -0.03194202 0.99383485 -0.08115894] [ 0. 0. 0. 1. ]] SLAMing on 106.081346184 meters Centerline goodness : 0.880987 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.67, Z:-0.08 [[ 0.96836903 -0.22434926 -0.10921916 4.17189493] [ 0.22630182 0.97404078 0.00566156 0.66979602] [ 0.10511375 -0.03019897 0.99400157 -0.0826363 ] [ 0. 0. 0. 1. ]] SLAMing on 106.141346184 meters Centerline goodness : 0.883666 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.67, Z:-0.08 [[ 0.96837258 -0.2243059 -0.10927675 4.1722585 ] [ 0.22629568 0.97404018 0.00599925 0.66890795] [ 0.10509428 -0.03053837 0.99399326 -0.08260832] [ 0. 0. 0. 1. ]] SLAMing on 106.201346184 meters Centerline goodness : 0.882947 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.67, Z:-0.08 [[ 9.67529989e-01 -2.28512297e-01 -1.08017828e-01 4.17128777e+00] [ 2.30025508e-01 9.73183294e-01 1.59443508e-03 6.69240074e-01] [ 1.04756797e-01 -2.63895194e-02 9.94147679e-01 -8.20811214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26134618399999 meters Centerline goodness : 0.876899 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.67, Z:-0.08 [[ 9.66843089e-01 -2.30672186e-01 -1.09566342e-01 4.17422054e+00] [ 2.32226040e-01 9.72660745e-01 1.46359899e-03 6.71037425e-01] [ 1.06233268e-01 -2.68592282e-02 9.93978408e-01 -8.13956795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32134618399999 meters Centerline goodness : 0.873593 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.67, Z:-0.08 [[ 9.65518781e-01 -2.36046050e-01 -1.09798660e-01 4.17714964e+00] [ 2.37198060e-01 9.71457732e-01 -2.63736078e-03 6.73056807e-01] [ 1.07287296e-01 -2.34976078e-02 9.93950350e-01 -8.21454402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381346184 meters Centerline goodness : 0.869938 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.67, Z:-0.08 [[ 0.96440212 -0.24046436 -0.11002471 4.17978221] [ 0.24137484 0.9704182 -0.00516774 0.67244969] [ 0.10801264 -0.02157342 0.99391542 -0.08253951] [ 0. 0. 0. 1. ]] SLAMing on 106.441346184 meters Centerline goodness : 0.871430 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.67, Z:-0.08 [[ 9.64272809e-01 -2.39828607e-01 -1.12517507e-01 4.18195470e+00] [ 2.41197788e-01 9.70474843e-01 -1.48564863e-03 6.73536748e-01] [ 1.09551711e-01 -2.57064031e-02 9.93648632e-01 -8.02366435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501346184 meters Centerline goodness : 0.867937 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.67, Z:-0.08 [[ 9.64851235e-01 -2.37792327e-01 -1.11878968e-01 4.18256882e+00] [ 2.39114587e-01 9.70989964e-01 -1.64425662e-03 6.72844959e-01] [ 1.09024347e-01 -2.51654302e-02 9.93720480e-01 -8.29861797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561346184 meters Centerline goodness : 0.869791 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.67, Z:-0.08 [[ 9.65024883e-01 -2.37441220e-01 -1.11124443e-01 4.18318697e+00] [ 2.38672554e-01 9.71097422e-01 -2.28215085e-03 6.71058778e-01] [ 1.08454537e-01 -2.43200224e-02 9.93803879e-01 -8.48941191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62134618399999 meters Centerline goodness : 0.868225 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.67, Z:-0.08 [[ 9.64665173e-01 -2.38120396e-01 -1.12782010e-01 4.18570913e+00] [ 2.39622733e-01 9.70866050e-01 -2.42090395e-04 6.70075036e-01] [ 1.09553871e-01 -2.67915973e-02 9.93619726e-01 -8.38734671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68134618399999 meters Centerline goodness : 0.868667 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.67, Z:-0.08 [[ 9.64422479e-01 -2.39215009e-01 -1.12540933e-01 4.18600197e+00] [ 2.40575893e-01 9.70629124e-01 -1.53060014e-03 6.68524214e-01] [ 1.09601650e-01 -2.55984904e-02 9.93645911e-01 -8.35338897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741346184 meters Centerline goodness : 0.869525 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.67, Z:-0.08 [[ 9.64169148e-01 -2.39891440e-01 -1.13269378e-01 4.18458282e+00] [ 2.41475118e-01 9.70406974e-01 2.69558901e-04 6.67181297e-01] [ 1.09852729e-01 -2.76116367e-02 9.93564278e-01 -7.96980643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801346184 meters Centerline goodness : 0.868783 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.67, Z:-0.08 [[ 0.96373456 -0.24262438 -0.11112657 4.18556495] [ 0.2436088 0.9698615 -0.00483979 0.66522562] [ 0.10895163 -0.02240713 0.99379448 -0.08341079] [ 0. 0. 0. 1. ]] SLAMing on 106.861346184 meters Centerline goodness : 0.867606 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.67, Z:-0.09 [[ 0.96291434 -0.24610417 -0.11058347 4.18843745] [ 0.24660746 0.96907065 -0.00931841 0.66540192] [ 0.10945649 -0.01829788 0.99382316 -0.08581483] [ 0. 0. 0. 1. ]] SLAMing on 106.921346184 meters Centerline goodness : 0.869761 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.67, Z:-0.08 [[ 0.96296476 -0.24498375 -0.11261362 4.1905134 ] [ 0.24591587 0.96927409 -0.00575494 0.66643242] [ 0.11056333 -0.02215167 0.99362219 -0.08481748] [ 0. 0. 0. 1. ]] SLAMing on 106.98134618399999 meters Centerline goodness : 0.866981 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.67, Z:-0.08 [[ 0.96282456 -0.24501964 -0.11372879 4.1918497 ] [ 0.24606818 0.96923991 -0.00494436 0.66667282] [ 0.11144195 -0.02322448 0.99349953 -0.08370283] [ 0. 0. 0. 1. ]] SLAMing on 107.04134618399999 meters Centerline goodness : 0.870376 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.66, Z:-0.09 [[ 0.96250934 -0.24720097 -0.11165774 4.19101474] [ 0.24787044 0.96875961 -0.0080666 0.66329114] [ 0.11016358 -0.01991247 0.99371398 -0.085314 ] [ 0. 0. 0. 1. ]] SLAMing on 107.101346184 meters Centerline goodness : 0.871391 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.66, Z:-0.08 [[ 9.61729410e-01 -2.48746234e-01 -1.14899313e-01 4.19424201e+00] [ 2.49952654e-01 9.68249724e-01 -4.01789702e-03 6.63357164e-01] [ 1.12250665e-01 -2.48552586e-02 9.93369017e-01 -8.12205072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161346184 meters Centerline goodness : 0.872744 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:-0.08 [[ 0.96070411 -0.25342149 -0.11324826 4.19583936] [ 0.25404741 0.96714884 -0.00911192 0.6607354 ] [ 0.11183708 -0.02001656 0.99352494 -0.08354697] [ 0. 0. 0. 1. ]] SLAMing on 107.221346184 meters Centerline goodness : 0.867721 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:-0.09 [[ 0.95956911 -0.25791555 -0.11272395 4.20041902] [ 0.25804211 0.96603625 -0.0137197 0.65964393] [ 0.11243395 -0.01592252 0.99353162 -0.08738829] [ 0. 0. 0. 1. ]] SLAMing on 107.281346184 meters Centerline goodness : 0.859912 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.66, Z:-0.09 [[ 0.95964268 -0.25534957 -0.11782412 4.20586879] [ 0.25639703 0.96655011 -0.00643861 0.66414752] [ 0.11552702 -0.02403099 0.99301361 -0.08500007] [ 0. 0. 0. 1. ]] SLAMing on 107.34134618399999 meters Centerline goodness : 0.861985 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:-0.09 [[ 0.96041253 -0.25322803 -0.11611773 4.20456706] [ 0.25396838 0.96717409 -0.00862204 0.66416945] [ 0.11448941 -0.02120952 0.99319803 -0.08756402] [ 0. 0. 0. 1. ]] SLAMing on 107.40134618399999 meters Centerline goodness : 0.863789 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.67, Z:-0.09 [[ 0.96118322 -0.24959026 -0.11760745 4.20644611] [ 0.25067496 0.96805443 -0.00571725 0.66515122] [ 0.11527738 -0.02398592 0.99304371 -0.08816287] [ 0. 0. 0. 1. ]] SLAMing on 107.46134618399999 meters Centerline goodness : 0.864789 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.67, Z:-0.09 [[ 9.61490871e-01 -2.47486452e-01 -1.19523058e-01 4.21043501e+00] [ 2.48959652e-01 9.68510140e-01 -2.68321782e-03 6.66216959e-01] [ 1.16423354e-01 -2.71765295e-02 9.92827799e-01 -8.93640357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521346184 meters Centerline goodness : 0.863397 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.67, Z:-0.09 [[ 9.62391505e-01 -2.43912473e-01 -1.19621476e-01 4.21059842e+00] [ 2.45549602e-01 9.69383420e-01 -1.08556005e-03 6.68852569e-01] [ 1.16223857e-01 -2.83282720e-02 9.92818978e-01 -9.17713292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581346184 meters Centerline goodness : 0.861961 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.67, Z:-0.09 [[ 9.62610859e-01 -2.43027686e-01 -1.19657332e-01 4.21165197e+00] [ 2.44601004e-01 9.69622525e-01 -1.58399434e-03 6.72845631e-01] [ 1.16407399e-01 -2.77435333e-02 9.92813988e-01 -9.36863181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641346184 meters Centerline goodness : 0.861867 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.68, Z:-0.09 [[ 9.62418890e-01 -2.42985613e-01 -1.21276019e-01 4.21241885e+00] [ 2.44827963e-01 9.69566490e-01 2.99713863e-04 6.76553264e-01] [ 1.17512337e-01 -2.99802108e-02 9.92618778e-01 -9.19171781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701346184 meters Centerline goodness : 0.859963 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.68, Z:-0.09 [[ 9.61991085e-01 -2.44232180e-01 -1.22162988e-01 4.21374203e+00] [ 2.46136619e-01 9.69235008e-01 5.14509908e-04 6.78879372e-01] [ 1.18278984e-01 -3.05637386e-02 9.92509919e-01 -9.12443945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76134618399999 meters Centerline goodness : 0.860967 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.68, Z:-0.09 [[ 9.61555079e-01 -2.45347029e-01 -1.23355845e-01 4.21513079e+00] [ 2.47514488e-01 9.68881406e-01 2.32366778e-03 6.80347380e-01] [ 1.18947080e-01 -3.27666934e-02 9.92359782e-01 -9.00110506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82134618399999 meters Centerline goodness : 0.859163 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.68, Z:-0.09 [[ 9.61201880e-01 -2.46453746e-01 -1.23901157e-01 4.21565642e+00] [ 2.48553779e-01 9.68616870e-01 1.54238120e-03 6.84843776e-01] [ 1.19632625e-01 -3.22786404e-02 9.92293366e-01 -8.97126530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881346184 meters Centerline goodness : 0.858488 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.69, Z:-0.10 [[ 9.61460939e-01 -2.46656712e-01 -1.21463288e-01 4.21663927e+00] [ 2.48119605e-01 9.68724220e-01 -3.16986241e-03 6.85657333e-01] [ 1.18446296e-01 -2.70897241e-02 9.92590863e-01 -9.54567859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941346184 meters Centerline goodness : 0.859994 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.69, Z:-0.09 [[ 9.62016444e-01 -2.42971696e-01 -1.24455282e-01 4.21823159e+00] [ 2.45217042e-01 9.69464116e-01 2.81615856e-03 6.90005767e-01] [ 1.19970683e-01 -3.32277469e-02 9.92221221e-01 -9.36314898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001346184 meters Centerline goodness : 0.859313 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.70, Z:-0.09 [[ 0.9629763 -0.24428125 -0.11403211 4.22104339] [ 0.24635755 0.96916962 0.00426653 0.69791348] [ 0.10947422 -0.03220123 0.9934679 -0.09453187] [ 0. 0. 0. 1. ]] SLAMing on 108.061346184 meters Centerline goodness : 0.861626 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.70, Z:-0.10 [[ 0.96405563 -0.2404782 -0.112991 4.21967178] [ 0.24261032 0.97010931 0.00530749 0.69559138] [ 0.10833728 -0.0325295 0.99358184 -0.09633178] [ 0. 0. 0. 1. ]] SLAMing on 108.12134618399999 meters Centerline goodness : 0.863533 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.70, Z:-0.10 [[ 0.96443565 -0.23811656 -0.11473609 4.22082132] [ 0.24080254 0.97052319 0.00994373 0.69707681] [ 0.10898627 -0.03721883 0.99334624 -0.09513872] [ 0. 0. 0. 1. ]] SLAMing on 108.18134618399999 meters Centerline goodness : 0.862100 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.71, Z:-0.09 [[ 0.96428207 -0.23711585 -0.11805156 4.22356017] [ 0.24023185 0.9706325 0.01269714 0.70506964] [ 0.11157398 -0.04060337 0.99292629 -0.09340823] [ 0. 0. 0. 1. ]] SLAMing on 108.241346184 meters Centerline goodness : 0.859422 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.71, Z:-0.10 [[ 9.64034161e-01 -2.40027725e-01 -1.14126366e-01 4.22307764e+00] [ 2.41926844e-01 9.70290205e-01 2.88444164e-03 7.09577823e-01] [ 1.10043349e-01 -3.03909318e-02 9.93462054e-01 -1.00499010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301346184 meters Centerline goodness : 0.859918 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.71, Z:-0.10 [[ 0.96384918 -0.23860144 -0.11859222 4.22786819] [ 0.24132354 0.97040357 0.00893657 0.71391372] [ 0.11295003 -0.0372326 0.99290283 -0.0978435 ] [ 0. 0. 0. 1. ]] SLAMing on 108.361346184 meters Centerline goodness : 0.857647 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.72, Z:-0.09 [[ 0.96404495 -0.23585409 -0.1224344 4.22902722] [ 0.23935306 0.97082446 0.01449091 0.71903632] [ 0.11544457 -0.04327493 0.99237081 -0.09352622] [ 0. 0. 0. 1. ]] SLAMing on 108.421346184 meters Centerline goodness : 0.856124 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.72, Z:-0.10 [[ 0.96401726 -0.23633419 -0.12172456 4.23273906] [ 0.23951337 0.97081926 0.0119716 0.72113819] [ 0.11534325 -0.04069549 0.99249172 -0.0996687 ] [ 0. 0. 0. 1. ]] SLAMing on 108.48134618399999 meters Centerline goodness : 0.860777 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.72, Z:-0.09 [[ 0.96429132 -0.23364305 -0.12471235 4.23239158] [ 0.2375968 0.97120404 0.01762019 0.7237707 ] [ 0.1170043 -0.04662225 0.99203647 -0.09490293] [ 0. 0. 0. 1. ]] SLAMing on 108.54134618399999 meters Centerline goodness : 0.858308 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.73, Z:-0.09 [[ 0.96457283 -0.23099037 -0.12744684 4.2354865 ] [ 0.2356275 0.97158559 0.02238556 0.72649649] [ 0.11865467 -0.05162248 0.99159275 -0.09411327] [ 0. 0. 0. 1. ]] SLAMing on 108.601346184 meters Centerline goodness : 0.854972 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:0.73, Z:-0.10 [[ 0.96494471 -0.23079063 -0.12496954 4.23402162] [ 0.23486634 0.97184734 0.01872274 0.72715012] [ 0.11713028 -0.04741755 0.99198391 -0.09714195] [ 0. 0. 0. 1. ]] SLAMing on 108.661346184 meters Centerline goodness : 0.853143 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:0.74, Z:-0.09 [[ 0.96565321 -0.22934942 -0.12211764 4.25090891] [ 0.23194028 0.97270303 0.00724709 0.73814558] [ 0.11712209 -0.03532218 0.99248917 -0.08966616] [ 0. 0. 0. 1. ]] SLAMing on 108.721346184 meters Centerline goodness : 0.853887 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:0.75, Z:-0.08 [[ 0.96639133 -0.22843813 -0.11791441 4.26745329] [ 0.22922593 0.97334793 -0.00702061 0.74878336] [ 0.11637552 -0.02024438 0.99299894 -0.07769373] [ 0. 0. 0. 1. ]] SLAMing on 108.781346184 meters Centerline goodness : 0.858030 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:0.75, Z:-0.07 [[ 0.9659996 -0.2302553 -0.11758942 4.2711941 ] [ 0.23020014 0.97303915 -0.01423754 0.7534026 ] [ 0.11769738 -0.01331564 0.99296023 -0.0704277 ] [ 0. 0. 0. 1. ]] SLAMing on 108.84134618399999 meters Centerline goodness : 0.859034 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:0.76, Z:-0.06 [[ 9.65997833e-01 -2.31555217e-01 -1.15023340e-01 4.28293712e+00] [ 2.30198097e-01 9.72819268e-01 -2.51298043e-02 7.59193642e-01] [ 1.17715859e-01 -2.20281762e-03 9.93044875e-01 -6.32686167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90134618399999 meters Centerline goodness : 0.857965 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:0.77, Z:-0.05 [[ 0.96566516 -0.23379196 -0.11327898 4.28556472] [ 0.2314501 0.97226677 -0.03358833 0.76657746] [ 0.11799007 0.00621665 0.99299531 -0.0547613 ] [ 0. 0. 0. 1. ]] SLAMing on 108.96134618399999 meters Centerline goodness : 0.858091 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:0.77, Z:-0.05 [[ 0.96485858 -0.23730325 -0.11284982 4.28808247] [ 0.23450393 0.97138546 -0.03765892 0.76628712] [ 0.11855726 0.00987181 0.99289814 -0.05428481] [ 0. 0. 0. 1. ]] SLAMing on 109.021346184 meters Centerline goodness : 0.860015 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:0.77, Z:-0.05 [[ 0.96478319 -0.23766147 -0.11274051 4.28679816] [ 0.23472803 0.97128597 -0.03881121 0.76792707] [ 0.1187272 0.01098105 0.99286619 -0.05176975] [ 0. 0. 0. 1. ]] SLAMing on 109.081346184 meters Centerline goodness : 0.860223 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:0.77, Z:-0.05 [[ 0.96497354 -0.23673478 -0.11306066 4.29656794] [ 0.23316489 0.97144078 -0.04401062 0.77298331] [ 0.12025059 0.01610731 0.99261289 -0.04839804] [ 0. 0. 0. 1. ]] SLAMing on 109.141346184 meters Centerline goodness : 0.858188 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:0.78, Z:-0.05 [[ 0.96497023 -0.23641339 -0.11375925 4.30042021] [ 0.23293238 0.97153431 -0.04316929 0.77597366] [ 0.12072681 0.01515887 0.99257002 -0.05177806] [ 0. 0. 0. 1. ]] SLAMing on 109.201346184 meters Centerline goodness : 0.858648 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:0.78, Z:-0.05 [[ 0.96420472 -0.2401156 -0.11248889 4.30008798] [ 0.23581218 0.97049526 -0.05031458 0.78142582] [ 0.12125125 0.02198731 0.9923783 -0.04583109] [ 0. 0. 0. 1. ]] SLAMing on 109.26134618399999 meters Centerline goodness : 0.858983 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.79, Z:-0.04 [[ 0.9649855 -0.2390968 -0.10786889 4.31593147] [ 0.23369091 0.97043116 -0.0604311 0.78647551] [ 0.11912822 0.03310715 0.99232675 -0.03929343] [ 0. 0. 0. 1. ]] SLAMing on 109.32134618399999 meters Centerline goodness : 0.855737 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:0.79, Z:-0.04 [[ 0.96518015 -0.23973145 -0.10467141 4.33097321] [ 0.23551666 0.97052559 -0.05110753 0.78599652] [ 0.11383837 0.02467611 0.99319279 -0.04127839] [ 0. 0. 0. 1. ]] SLAMing on 109.381346184 meters Centerline goodness : 0.857700 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:0.79, Z:-0.04 [[ 0.96445082 -0.2426277 -0.10472063 4.33489583] [ 0.23796408 0.96970802 -0.05513122 0.78782149] [ 0.11492479 0.02825161 0.99297238 -0.04122487] [ 0. 0. 0. 1. ]] SLAMing on 109.441346184 meters Centerline goodness : 0.858973 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.78, Z:-0.04 [[ 0.96473664 -0.24114105 -0.1055188 4.33895564] [ 0.23666424 0.97013074 -0.05325768 0.78181412] [ 0.11520964 0.02640711 0.99299013 -0.0435541 ] [ 0. 0. 0. 1. ]] SLAMing on 109.501346184 meters Centerline goodness : 0.860824 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.78, Z:-0.04 [[ 0.96474936 -0.24092887 -0.10588647 4.33914026] [ 0.23628456 0.97014865 -0.05460033 0.78258607] [ 0.11588041 0.0276563 0.99287807 -0.03930725] [ 0. 0. 0. 1. ]] SLAMing on 109.561346184 meters Centerline goodness : 0.860862 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.78, Z:-0.04 [[ 0.96494689 -0.23996914 -0.10626526 4.34165833] [ 0.23547006 0.9704233 -0.053221 0.77777894] [ 0.11589368 0.02633315 0.99291249 -0.04033599] [ 0. 0. 0. 1. ]] SLAMing on 109.62134618399999 meters Centerline goodness : 0.863429 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.77, Z:-0.04 [[ 0.9651731 -0.23885465 -0.10672083 4.34430231] [ 0.23459968 0.97075468 -0.05097386 0.77319008] [ 0.11577509 0.02416192 0.99298154 -0.04239787] [ 0. 0. 0. 1. ]] SLAMing on 109.68134618399999 meters Centerline goodness : 0.864339 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.77, Z:-0.04 [[ 0.96491076 -0.24002227 -0.10647313 4.34517239] [ 0.23572352 0.97045676 -0.05145967 0.76990432] [ 0.11567904 0.02455577 0.99298307 -0.0428104 ] [ 0. 0. 0. 1. ]] SLAMing on 109.741346184 meters Centerline goodness : 0.868839 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.77, Z:-0.04 [[ 0.96426672 -0.24300495 -0.10553804 4.34638963] [ 0.23841467 0.96964316 -0.05431938 0.76895834] [ 0.11553411 0.02721655 0.99293058 -0.04444798] [ 0. 0. 0. 1. ]] SLAMing on 109.801346184 meters Centerline goodness : 0.869567 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.77, Z:-0.04 [[ 0.96320911 -0.24655689 -0.10694815 4.34916883] [ 0.24196984 0.96877227 -0.0541377 0.76666566] [ 0.11695643 0.0262677 0.99278961 -0.0426429 ] [ 0. 0. 0. 1. ]] SLAMing on 109.861346184 meters Centerline goodness : 0.873518 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.77, Z:-0.04 [[ 0.96293946 -0.24709633 -0.10812495 4.35144153] [ 0.24270051 0.96869087 -0.05229201 0.76655047] [ 0.11766082 0.02411206 0.99276107 -0.04269299] [ 0. 0. 0. 1. ]] SLAMing on 109.921346184 meters Centerline goodness : 0.872761 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.77, Z:-0.05 [[ 0.9630531 -0.24698197 -0.10737147 4.35274795] [ 0.24249714 0.96869247 -0.05319801 0.76553283] [ 0.11714889 0.02519523 0.99279471 -0.04549766] [ 0. 0. 0. 1. ]] SLAMing on 109.98134618399999 meters Centerline goodness : 0.874233 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.77, Z:-0.05 [[ 0.96259945 -0.24831874 -0.10835173 4.35546096] [ 0.24379642 0.96835678 -0.05337092 0.76570339] [ 0.11817613 0.02495905 0.99267892 -0.04586124] [ 0. 0. 0. 1. ]] SLAMing on 110.04134618399999 meters Centerline goodness : 0.873093 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.77, Z:-0.05 [[ 0.96218406 -0.24900788 -0.11043961 4.35980866] [ 0.24459904 0.96822701 -0.05203619 0.767681 ] [ 0.11988804 0.02305497 0.99251969 -0.04650981] [ 0. 0. 0. 1. ]] SLAMing on 110.101346184 meters Centerline goodness : 0.875281 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.77, Z:-0.05 [[ 0.96197975 -0.24944057 -0.11124013 4.36320595] [ 0.24506487 0.9681308 -0.05163295 0.76725608] [ 0.12057435 0.0224088 0.99245134 -0.04836042] [ 0. 0. 0. 1. ]] SLAMing on 110.161346184 meters Centerline goodness : 0.879149 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.76, Z:-0.05 [[ 0.96182646 -0.2501368 -0.11100194 4.36439147] [ 0.24581785 0.96796044 -0.05124608 0.76319193] [ 0.12026402 0.02200358 0.99249806 -0.04913127] [ 0. 0. 0. 1. ]] SLAMing on 110.221346184 meters Centerline goodness : 0.879153 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.76, Z:-0.05 [[ 0.96154006 -0.25104888 -0.1114234 4.36605871] [ 0.24684687 0.96775054 -0.05025455 0.76153359] [ 0.12044641 0.02081725 0.99250154 -0.04928292] [ 0. 0. 0. 1. ]] SLAMing on 110.281346184 meters Centerline goodness : 0.880198 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.76, Z:-0.05 [[ 0.96187215 -0.24998712 -0.11094323 4.36799864] [ 0.24572358 0.96800835 -0.05079125 0.75991293] [ 0.12009114 0.02159332 0.99252801 -0.05291276] [ 0. 0. 0. 1. ]] SLAMing on 110.34134618399999 meters Centerline goodness : 0.881521 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.76, Z:-0.05 [[ 0.96231062 -0.24796047 -0.11168652 4.36924758] [ 0.24390015 0.96856791 -0.0488765 0.76057225] [ 0.12029542 0.01979401 0.99254078 -0.05406443] [ 0. 0. 0. 1. ]] SLAMing on 110.40134618399999 meters Centerline goodness : 0.883753 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.76, Z:-0.06 [[ 0.9626636 -0.24653694 -0.11179595 4.37240592] [ 0.24253648 0.96893979 -0.0482881 0.76027008] [ 0.12022834 0.0193706 0.99255727 -0.05781775] [ 0. 0. 0. 1. ]] SLAMing on 110.46134618399999 meters Centerline goodness : 0.884930 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.76, Z:-0.06 [[ 0.96292484 -0.24537045 -0.11211198 4.37435399] [ 0.24135702 0.96923462 -0.04828091 0.76250393] [ 0.12050952 0.01943187 0.99252197 -0.06044967] [ 0. 0. 0. 1. ]] SLAMing on 110.521346184 meters Centerline goodness : 0.885383 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.76, Z:-0.06 [[ 0.96293375 -0.24515208 -0.11251243 4.37499313] [ 0.2411777 0.96929896 -0.04788367 0.76497302] [ 0.12079696 0.01897332 0.9924959 -0.06059769] [ 0. 0. 0. 1. ]] SLAMing on 110.581346184 meters Centerline goodness : 0.885418 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.77, Z:-0.06 [[ 0.96287169 -0.24415266 -0.11518501 4.38023378] [ 0.24041119 0.96960216 -0.04554253 0.76979527] [ 0.12280297 0.01615985 0.9922995 -0.06242419] [ 0. 0. 0. 1. ]] SLAMing on 110.641346184 meters Centerline goodness : 0.880235 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.77, Z:-0.07 [[ 0.9631076 -0.24405539 -0.11340515 4.38194822] [ 0.24001189 0.96957023 -0.04824788 0.7694631 ] [ 0.12172941 0.01924931 0.99237665 -0.06785877] [ 0. 0. 0. 1. ]] SLAMing on 110.701346184 meters Centerline goodness : 0.885271 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.77, Z:-0.06 [[ 0.96245333 -0.24472286 -0.11744917 4.38532459] [ 0.24140801 0.96951929 -0.04188697 0.77056322] [ 0.12411994 0.01196109 0.99219513 -0.06350302] [ 0. 0. 0. 1. ]] SLAMing on 110.76134618399999 meters Centerline goodness : 0.881331 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.77, Z:-0.06 [[ 0.96171112 -0.24805106 -0.11654352 4.38454627] [ 0.2444823 0.96864546 -0.04420822 0.77090629] [ 0.12385525 0.01402271 0.99220121 -0.06310177] [ 0. 0. 0. 1. ]] SLAMing on 110.82134618399999 meters Centerline goodness : 0.882079 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.77, Z:-0.07 [[ 0.96140083 -0.24963954 -0.11570887 4.38701726] [ 0.24585295 0.96820796 -0.0461483 0.7698994 ] [ 0.12355069 0.01591964 0.99221056 -0.06644275] [ 0. 0. 0. 1. ]] SLAMing on 110.881346184 meters Centerline goodness : 0.881392 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.77, Z:-0.07 [[ 0.96042359 -0.25171922 -0.11926426 4.39301284] [ 0.24825599 0.96772616 -0.04330181 0.7724656 ] [ 0.12631504 0.01198001 0.99191783 -0.06582058] [ 0. 0. 0. 1. ]] SLAMing on 110.941346184 meters Centerline goodness : 0.880345 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.77, Z:-0.07 [[ 0.96033161 -0.25146892 -0.12052627 4.39782044] [ 0.24812065 0.96780632 -0.04227377 0.77459318] [ 0.12727662 0.01069178 0.99180963 -0.06880962] [ 0. 0. 0. 1. ]] SLAMing on 111.001346184 meters Centerline goodness : 0.881549 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.77, Z:-0.07 [[ 0.96151782 -0.24820193 -0.11781035 4.39581453] [ 0.24464619 0.96861482 -0.04397233 0.77298524] [ 0.12502687 0.01345833 0.99206207 -0.07333904] [ 0. 0. 0. 1. ]] SLAMing on 111.061346184 meters Centerline goodness : 0.882395 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.77, Z:-0.07 [[ 0.96205268 -0.24514124 -0.11983491 4.39760041] [ 0.24215808 0.96944942 -0.03908045 0.77409017] [ 0.12575411 0.00857846 0.99202435 -0.07256109] [ 0. 0. 0. 1. ]] SLAMing on 111.12134618399999 meters Centerline goodness : 0.875708 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.77, Z:-0.08 [[ 0.96242744 -0.24384129 -0.11947736 4.39884068] [ 0.2408869 0.96977737 -0.03879899 0.774236 ] [ 0.12532724 0.00856068 0.99207852 -0.07511852] [ 0. 0. 0. 1. ]] SLAMing on 111.18134618399999 meters Centerline goodness : 0.881653 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.77, Z:-0.08 [[ 0.9629012 -0.24238137 -0.11862781 4.39753026] [ 0.23950845 0.97014559 -0.03812125 0.77299445] [ 0.12432613 0.00829464 0.99220674 -0.0759247 ] [ 0. 0. 0. 1. ]] SLAMing on 111.241346184 meters Centerline goodness : 0.883269 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.77, Z:-0.08 [[ 0.96290193 -0.24158219 -0.12024105 4.40055141] [ 0.23907846 0.97036747 -0.03504951 0.77428985] [ 0.12514534 0.00500219 0.99212581 -0.07649759] [ 0. 0. 0. 1. ]] SLAMing on 111.301346184 meters Centerline goodness : 0.877955 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.77, Z:-0.08 [[ 9.62799740e-01 -2.41868325e-01 -1.20483914e-01 4.40141577e+00] [ 2.39464170e-01 9.70300239e-01 -3.42689088e-02 7.74229099e-01] [ 1.25194134e-01 4.14251602e-03 9.92123615e-01 -7.69617838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361346184 meters Centerline goodness : 0.878154 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.78, Z:-0.08 [[ 9.61999547e-01 -2.44313830e-01 -1.21932868e-01 4.40598087e+00] [ 2.41977821e-01 9.69691417e-01 -3.38421415e-02 7.77247820e-01] [ 1.26505359e-01 3.05107510e-03 9.91961232e-01 -7.83257710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421346184 meters Centerline goodness : 0.873544 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.78, Z:-0.08 [[ 0.96087231 -0.24907201 -0.12119219 4.4085965 ] [ 0.24624981 0.96846217 -0.0379744 0.77886114] [ 0.12682841 0.00664499 0.99190241 -0.08064533] [ 0. 0. 0. 1. ]] SLAMing on 111.48134618399999 meters Centerline goodness : 0.874415 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.78, Z:-0.08 [[ 0.9599923 -0.25173311 -0.12265894 4.41167001] [ 0.24905276 0.96778408 -0.03696891 0.78000503] [ 0.12801367 0.00494132 0.99176009 -0.07992131] [ 0. 0. 0. 1. ]] SLAMing on 111.54134618399999 meters Centerline goodness : 0.875745 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.78, Z:-0.08 [[ 9.58859153e-01 -2.54673366e-01 -1.25421691e-01 4.41632816e+00] [ 2.52252039e-01 9.67025043e-01 -3.50923857e-02 7.83264944e-01] [ 1.30223012e-01 2.01077799e-03 9.91482690e-01 -7.90430608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601346184 meters Centerline goodness : 0.875206 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.78, Z:-0.08 [[ 0.95830688 -0.2570833 -0.12472412 4.4199935 ] [ 0.25421724 0.96637454 -0.0386503 0.78492992] [ 0.13046657 0.00533183 0.99143837 -0.08357809] [ 0. 0. 0. 1. ]] SLAMing on 111.661346184 meters Centerline goodness : 0.873467 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.79, Z:-0.08 [[ 9.58717112e-01 -2.54903205e-01 -1.26039104e-01 4.42210077e+00] [ 2.52396702e-01 9.66963456e-01 -3.57432470e-02 7.87726752e-01] [ 1.30986276e-01 2.45580839e-03 9.91381140e-01 -8.46638846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721346184 meters Centerline goodness : 0.874547 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.79, Z:-0.09 [[ 9.60376594e-01 -2.47679021e-01 -1.27796325e-01 4.42286491e+00] [ 2.45821272e-01 9.68839520e-01 -3.03625956e-02 7.91392661e-01] [ 1.31334308e-01 -2.25552899e-03 9.91335570e-01 -8.60231648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781346184 meters Centerline goodness : 0.873237 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:0.79, Z:-0.09 [[ 9.60876143e-01 -2.46237085e-01 -1.26824036e-01 4.42186702e+00] [ 2.44096443e-01 9.69209610e-01 -3.23984419e-02 7.94363411e-01] [ 1.30896772e-01 1.73593818e-04 9.91395988e-01 -8.76026739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84134618399999 meters Centerline goodness : 0.871503 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.80, Z:-0.09 [[ 9.60610593e-01 -2.45914975e-01 -1.29433821e-01 4.42747775e+00] [ 2.44128413e-01 9.69286677e-01 -2.97431495e-02 7.97618975e-01] [ 1.32772764e-01 -3.02688873e-03 9.91141882e-01 -8.95683633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90134618399999 meters Centerline goodness : 0.870673 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:0.81, Z:-0.09 [[ 9.59912290e-01 -2.53466239e-01 -1.19679831e-01 4.43185795e+00] [ 2.51941144e-01 9.67338560e-01 -2.79601528e-02 8.08080195e-01] [ 1.22857870e-01 -3.31297926e-03 9.92418746e-01 -9.35983800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96134618399999 meters Centerline goodness : 0.869130 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.81, Z:-0.10 [[ 9.59240500e-01 -2.55809062e-01 -1.20080752e-01 4.43720661e+00] [ 2.53910813e-01 9.66727111e-01 -3.11125635e-02 8.12015611e-01] [ 1.24044194e-01 -6.45370368e-04 9.92276484e-01 -9.80063180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021346184 meters Centerline goodness : 0.866640 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:0.82, Z:-0.10 [[ 9.59213585e-01 -2.54656678e-01 -1.22716239e-01 4.44146684e+00] [ 2.53051617e-01 9.67025303e-01 -2.87566060e-02 8.16590952e-01] [ 1.25992770e-01 -3.46981549e-03 9.92025092e-01 -9.88972572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081346184 meters Centerline goodness : 0.864022 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:0.82, Z:-0.10 [[ 0.95919248 -0.25282918 -0.12659854 4.44723174] [ 0.25185308 0.96746968 -0.02392588 0.82134677] [ 0.12852941 -0.00893471 0.99166545 -0.09908743] [ 0. 0. 0. 1. ]] SLAMing on 112.141346184 meters Centerline goodness : 0.863132 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.83, Z:-0.09 [[ 9.59388248e-01 -2.53362624e-01 -1.24022463e-01 4.45919359e+00] [ 2.50828681e-01 9.67365638e-01 -3.58983991e-02 8.32098986e-01] [ 1.29070382e-01 3.33211145e-03 9.91629837e-01 -8.96051635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201346184 meters Centerline goodness : 0.863023 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.84, Z:-0.09 [[ 0.95905962 -0.25479838 -0.12362214 4.45664688] [ 0.25178149 0.96696918 -0.03970748 0.84240047] [ 0.1296562 0.00695608 0.99153461 -0.0854007 ] [ 0. 0. 0. 1. ]] SLAMing on 112.26134618399999 meters Centerline goodness : 0.858888 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.85, Z:-0.09 [[ 0.95897101 -0.25514286 -0.123599 4.4569935 ] [ 0.25199311 0.96687087 -0.04074557 0.84612872] [ 0.12990021 0.00792772 0.99149538 -0.08550993] [ 0. 0. 0. 1. ]] SLAMing on 112.32134618399999 meters Centerline goodness : 0.857902 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.85, Z:-0.08 [[ 0.95853952 -0.25667845 -0.12376659 4.46398317] [ 0.2526123 0.96638775 -0.04776764 0.8540684 ] [ 0.13186744 0.01452221 0.99116098 -0.08165436] [ 0. 0. 0. 1. ]] SLAMing on 112.381346184 meters Centerline goodness : 0.857605 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.86, Z:-0.08 [[ 0.95834953 -0.25755038 -0.12342603 4.46183714] [ 0.25306997 0.96610435 -0.05097033 0.86362103] [ 0.13236985 0.01761197 0.99104391 -0.07794221] [ 0. 0. 0. 1. ]] SLAMing on 112.441346184 meters Centerline goodness : 0.857147 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.87, Z:-0.08 [[ 0.95825724 -0.25779162 -0.12363874 4.46166894] [ 0.25310905 0.96601407 -0.05246541 0.86763539] [ 0.13296191 0.01898128 0.99093937 -0.07582192] [ 0. 0. 0. 1. ]] SLAMing on 112.501346184 meters Centerline goodness : 0.855002 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.87, Z:-0.08 [[ 0.95838388 -0.25740965 -0.12345285 4.46191334] [ 0.25271531 0.96611217 -0.05255711 0.8686468 ] [ 0.13279801 0.01917146 0.99095769 -0.07617723] [ 0. 0. 0. 1. ]] SLAMing on 112.561346184 meters Centerline goodness : 0.853339 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:0.87, Z:-0.08 [[ 0.9593188 -0.25336209 -0.1245596 4.4620282 ] [ 0.24915905 0.96724749 -0.04849798 0.86893861] [ 0.13276751 0.01548987 0.99102616 -0.07685731] [ 0. 0. 0. 1. ]] SLAMing on 112.62134618399999 meters Centerline goodness : 0.850630 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:0.87, Z:-0.08 [[ 0.95970802 -0.25115665 -0.12601923 4.46759811] [ 0.24707545 0.96784157 -0.04729083 0.87143283] [ 0.13384406 0.01424914 0.99089996 -0.07973403] [ 0. 0. 0. 1. ]] SLAMing on 112.68134618399999 meters Centerline goodness : 0.850360 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:0.87, Z:-0.08 [[ 0.95956696 -0.25100757 -0.12738305 4.47906635] [ 0.24622463 0.96780292 -0.05225843 0.87389739] [ 0.13639895 0.01878062 0.99047595 -0.07718551] [ 0. 0. 0. 1. ]] SLAMing on 112.741346184 meters Centerline goodness : 0.850514 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:0.88, Z:-0.07 [[ 0.96049464 -0.24691476 -0.1283867 4.47759279] [ 0.24207491 0.96884836 -0.05227412 0.88203465] [ 0.1372945 0.01912981 0.99034553 -0.07041226] [ 0. 0. 0. 1. ]] SLAMing on 112.801346184 meters Centerline goodness : 0.848988 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:0.89, Z:-0.06 [[ 0.96229836 -0.24348942 -0.12122196 4.50048848] [ 0.23668186 0.96921003 -0.06792353 0.89375462] [ 0.1340282 0.03667167 0.99029876 -0.05630853] [ 0. 0. 0. 1. ]] SLAMing on 112.861346184 meters Centerline goodness : 0.844268 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:0.91, Z:-0.03 [[ 0.963534 -0.24391897 -0.11002621 4.53530282] [ 0.23367791 0.96734847 -0.09814058 0.90856812] [ 0.13037203 0.06885109 0.98907162 -0.03007164] [ 0. 0. 0. 1. ]] SLAMing on 112.921346184 meters Centerline goodness : 0.845972 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:0.91, Z:-0.03 [[ 0.96359457 -0.24509724 -0.10683093 4.552847 ] [ 0.23595602 0.96746276 -0.09132667 0.9135867 ] [ 0.12573886 0.06279448 0.99007403 -0.0304964 ] [ 0. 0. 0. 1. ]] SLAMing on 112.98134618399999 meters Centerline goodness : 0.843760 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.91, Z:-0.04 [[ 0.96362727 -0.24604333 -0.10433198 4.57063344] [ 0.23826793 0.96776723 -0.08157804 0.91308633] [ 0.1210408 0.05375186 0.99119113 -0.03508542] [ 0. 0. 0. 1. ]] SLAMing on 113.04134618399999 meters Centerline goodness : 0.844156 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:0.91, Z:-0.04 [[ 0.96318606 -0.24899399 -0.10136376 4.58939441] [ 0.24231455 0.96738752 -0.0737905 0.91242265] [ 0.11643143 0.04651207 0.99210904 -0.04064233] [ 0. 0. 0. 1. ]] SLAMing on 113.101346184 meters Centerline goodness : 0.843799 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:0.91, Z:-0.04 [[ 0.96333037 -0.24928259 -0.09926122 4.60480302] [ 0.24390781 0.9677353 -0.0632247 0.91351849] [ 0.1118194 0.03669569 0.99305078 -0.04336018] [ 0. 0. 0. 1. ]] SLAMing on 113.161346184 meters Centerline goodness : 0.845363 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:0.92, Z:-0.04 [[ 0.9628767 -0.25080159 -0.09983503 4.61160573] [ 0.24477608 0.96713479 -0.06881106 0.91761792] [ 0.11381185 0.04181934 0.99262178 -0.04004404] [ 0. 0. 0. 1. ]] SLAMing on 113.221346184 meters Centerline goodness : 0.847953 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:0.92, Z:-0.04 [[ 0.96307157 -0.24972086 -0.10066101 4.61467204] [ 0.24372271 0.96744199 -0.06822932 0.91782382] [ 0.11442198 0.04117635 0.99257852 -0.04106753] [ 0. 0. 0. 1. ]] SLAMing on 113.281346184 meters Centerline goodness : 0.844946 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:0.93, Z:-0.03 [[ 0.96478312 -0.24561759 -0.09415696 4.63863927] [ 0.23840589 0.96773238 -0.08158839 0.92829784] [ 0.11115828 0.05626753 0.99220855 -0.02976464] [ 0. 0. 0. 1. ]] SLAMing on 113.34134618399999 meters Centerline goodness : 0.843991 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:0.93, Z:-0.02 [[ 0.9650195 -0.24430719 -0.09513861 4.6520694 ] [ 0.23631802 0.96769188 -0.08789897 0.93135724] [ 0.11353921 0.06234125 0.99157572 -0.02436012] [ 0. 0. 0. 1. ]] SLAMing on 113.40134618399999 meters Centerline goodness : 0.844430 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.93, Z:-0.03 [[ 0.96569419 -0.24223119 -0.09358831 4.67029593] [ 0.23590237 0.96897142 -0.07378657 0.92837495] [ 0.10855781 0.04917756 0.99287299 -0.03250951] [ 0. 0. 0. 1. ]] SLAMing on 113.46134618399999 meters Centerline goodness : 0.844620 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:0.93, Z:-0.04 [[ 0.96622171 -0.24097522 -0.09135948 4.68723486] [ 0.23595478 0.96975713 -0.06242157 0.92650728] [ 0.10363856 0.03875637 0.99385964 -0.03512401] [ 0. 0. 0. 1. ]] SLAMing on 113.521346184 meters Centerline goodness : 0.843112 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:0.93, Z:-0.04 [[ 0.96758945 -0.23950496 -0.08005015 4.69607141] [ 0.23497439 0.97001999 -0.06203435 0.92563774] [ 0.09250778 0.04121405 0.99485864 -0.04008893] [ 0. 0. 0. 1. ]] SLAMing on 113.581346184 meters Centerline goodness : 0.844626 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:0.92, Z:-0.04 [[ 0.96698755 -0.24170893 -0.08069615 4.71158076] [ 0.2363436 0.96909984 -0.07062011 0.92474855] [ 0.09527214 0.04921675 0.99423384 -0.03726196] [ 0. 0. 0. 1. ]] SLAMing on 113.641346184 meters Centerline goodness : 0.849485 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:0.93, Z:-0.03 [[ 0.96682401 -0.24292543 -0.07898462 4.72811326] [ 0.23642259 0.96806349 -0.08341121 0.92793823] [ 0.09672483 0.06197021 0.99338009 -0.02825984] [ 0. 0. 0. 1. ]] SLAMing on 113.701346184 meters Centerline goodness : 0.845334 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:0.92, Z:-0.03 [[ 0.9669884 -0.24291868 -0.07696715 4.74248466] [ 0.23769915 0.96873416 -0.0710861 0.92487933] [ 0.09182885 0.0504444 0.99449627 -0.03160954] [ 0. 0. 0. 1. ]] SLAMing on 113.76134618399999 meters Centerline goodness : 0.844743 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.93, Z:-0.03 [[ 0.96670286 -0.24532925 -0.07279522 4.76593306] [ 0.24044722 0.96815471 -0.06972517 0.92608082] [ 0.08758266 0.04990011 0.99490666 -0.02827692] [ 0. 0. 0. 1. ]] SLAMing on 113.82134618399999 meters Centerline goodness : 0.846946 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.92, Z:-0.03 [[ 0.96563804 -0.24977296 -0.0718098 4.76568212] [ 0.24469662 0.96687936 -0.07258007 0.92063865] [ 0.08755995 0.05251446 0.99477409 -0.0283808 ] [ 0. 0. 0. 1. ]] SLAMing on 113.881346184 meters Centerline goodness : 0.849729 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.91, Z:-0.03 [[ 0.96536519 -0.24647257 -0.08556472 4.76977074] [ 0.24065934 0.96787452 -0.07281474 0.91085151] [ 0.10076275 0.04970087 0.9936683 -0.02696813] [ 0. 0. 0. 1. ]] SLAMing on 113.941346184 meters Centerline goodness : 0.850445 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:0.91, Z:-0.03 [[ 0.96554038 -0.24616546 -0.084465 4.78592141] [ 0.24175805 0.96853458 -0.05910844 0.90728629] [ 0.09635773 0.03665149 0.99467173 -0.03411568] [ 0. 0. 0. 1. ]] SLAMing on 114.001346184 meters Centerline goodness : 0.850858 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:0.91, Z:-0.03 [[ 0.96494079 -0.24824906 -0.08521549 4.79253802] [ 0.24321482 0.96777455 -0.06526074 0.9106694 ] [ 0.0986703 0.04224708 0.99422299 -0.02966154] [ 0. 0. 0. 1. ]] SLAMing on 114.061346184 meters Centerline goodness : 0.852007 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:0.90, Z:-0.03 [[ 0.96426259 -0.25096101 -0.08494837 4.79652462] [ 0.24573219 0.96699078 -0.06741303 0.90490147] [ 0.09906233 0.04412932 0.99410224 -0.03177448] [ 0. 0. 0. 1. ]] SLAMing on 114.12134618399999 meters Centerline goodness : 0.851416 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:0.90, Z:-0.03 [[ 0.96443692 -0.25144574 -0.08146449 4.81224702] [ 0.24726402 0.96720726 -0.05805708 0.90481211] [ 0.09339125 0.03584915 0.99498388 -0.03460729] [ 0. 0. 0. 1. ]] SLAMing on 114.18134618399999 meters Centerline goodness : 0.855167 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.91, Z:-0.03 [[ 0.9648605 -0.24925212 -0.08317207 4.81798988] [ 0.24476592 0.96769117 -0.06052639 0.90726971] [ 0.09557121 0.03804183 0.99469541 -0.028344 ] [ 0. 0. 0. 1. ]] SLAMing on 114.241346184 meters Centerline goodness : 0.852263 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.90, Z:-0.03 [[ 0.96514947 -0.24781386 -0.08411174 4.82162552] [ 0.24341032 0.96811163 -0.05925617 0.90478587] [ 0.09611405 0.03671739 0.99469288 -0.02961801] [ 0. 0. 0. 1. ]] SLAMing on 114.301346184 meters Centerline goodness : 0.850917 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.90, Z:-0.03 [[ 0.96594838 -0.23948078 -0.09794221 4.82243603] [ 0.23513962 0.97046788 -0.0538651 0.89603868] [ 0.10794943 0.02900082 0.9937333 -0.02803882] [ 0. 0. 0. 1. ]] SLAMing on 114.361346184 meters Centerline goodness : 0.850084 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:0.89, Z:-0.02 [[ 0.96562711 -0.23354119 -0.11411748 4.82655814] [ 0.2289547 0.97204969 -0.0519533 0.89008648] [ 0.1230611 0.02403978 0.99210788 -0.02098879] [ 0. 0. 0. 1. ]] SLAMing on 114.421346184 meters Centerline goodness : 0.854813 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:0.89, Z:-0.02 [[ 0.96502327 -0.23610238 -0.11395506 4.83008185] [ 0.23122331 0.97137431 -0.05447685 0.88962996] [ 0.12355514 0.02622236 0.99199119 -0.02383666] [ 0. 0. 0. 1. ]] SLAMing on 114.48134618399999 meters Centerline goodness : 0.855362 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:0.89, Z:-0.02 [[ 0.96393519 -0.23815061 -0.11879917 4.83528349] [ 0.23394008 0.97104474 -0.04841638 0.89065581] [ 0.1268897 0.01887836 0.99173717 -0.01980626] [ 0. 0. 0. 1. ]] SLAMing on 114.54134618399999 meters Centerline goodness : 0.854231 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:0.89, Z:-0.02 [[ 0.96337772 -0.24023959 -0.11911467 4.83787533] [ 0.23593035 0.9705207 -0.04925887 0.89121707] [ 0.12743719 0.01935213 0.99165783 -0.02111792] [ 0. 0. 0. 1. ]] SLAMing on 114.601346184 meters Centerline goodness : 0.858207 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:0.89, Z:-0.02 [[ 0.9635342 -0.2394593 -0.1194198 4.83917401] [ 0.23522736 0.97072621 -0.04856657 0.89236097] [ 0.12755364 0.01870474 0.99165528 -0.02274657] [ 0. 0. 0. 1. ]] SLAMing on 114.661346184 meters Centerline goodness : 0.856752 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:0.90, Z:-0.03 [[ 0.96403908 -0.23671777 -0.12080296 4.84301621] [ 0.23260759 0.97142144 -0.04726627 0.89678562] [ 0.12853935 0.01746684 0.99155058 -0.02612141] [ 0. 0. 0. 1. ]] SLAMing on 114.721346184 meters Centerline goodness : 0.852437 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:0.90, Z:-0.03 [[ 0.96447401 -0.2349643 -0.12075453 4.84328926] [ 0.23085693 0.97184472 -0.04714781 0.90030091] [ 0.1284327 0.01759582 0.99156212 -0.02748892] [ 0. 0. 0. 1. ]] SLAMing on 114.781346184 meters Centerline goodness : 0.850915 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.91, Z:-0.03 [[ 0.96531132 -0.23024 -0.12314058 4.84738301] [ 0.22654913 0.9730336 -0.04337173 0.90575914] [ 0.12980583 0.01396983 0.99144102 -0.03005959] [ 0. 0. 0. 1. ]] SLAMing on 114.84134618399999 meters Centerline goodness : 0.848970 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.91, Z:-0.03 [[ 0.96570942 -0.22725643 -0.12553815 4.8508916 ] [ 0.22409319 0.9737887 -0.038959 0.90937516] [ 0.13110131 0.00949083 0.99132354 -0.03087028] [ 0. 0. 0. 1. ]] SLAMing on 114.90134618399999 meters Centerline goodness : 0.849522 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.91, Z:-0.03 [[ 0.9666716 -0.22269999 -0.12629622 4.85330433] [ 0.21977651 0.97485563 -0.0368074 0.91230487] [ 0.13131759 0.00782372 0.99130948 -0.03442652] [ 0. 0. 0. 1. ]] SLAMing on 114.96134618399999 meters Centerline goodness : 0.847620 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.92, Z:-0.04 [[ 0.96794496 -0.22427641 -0.11306036 4.85384959] [ 0.2219524 0.97450216 -0.03290399 0.92085523] [ 0.11755715 0.00675523 0.99304314 -0.04440363] [ 0. 0. 0. 1. ]] SLAMing on 115.021346184 meters Centerline goodness : 0.846205 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:0.93, Z:-0.05 [[ 0.96917381 -0.21888294 -0.11310346 4.85492206] [ 0.21664745 0.9757304 -0.03184433 0.92654754] [ 0.11732866 0.00635912 0.99307278 -0.04855647] [ 0. 0. 0. 1. ]] SLAMing on 115.081346184 meters Centerline goodness : 0.848176 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.93, Z:-0.05 [[ 0.9692699 -0.21828183 -0.11344116 4.85654425] [ 0.21602544 0.97586426 -0.03196787 0.92897304] [ 0.11768118 0.00647932 0.99303029 -0.04999987] [ 0. 0. 0. 1. ]] SLAMing on 115.141346184 meters Centerline goodness : 0.845154 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.93, Z:-0.05 [[ 9.68865683e-01 -2.19287966e-01 -1.14943800e-01 4.85751135e+00] [ 2.17194724e-01 9.75649015e-01 -3.05851469e-02 9.31415910e-01] [ 1.18851760e-01 4.66771232e-03 9.92901038e-01 -4.84394735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20134618399999 meters Centerline goodness : 0.844656 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.93, Z:-0.05 [[ 9.68714673e-01 -2.19848163e-01 -1.15146286e-01 4.85598161e+00] [ 2.17872387e-01 9.75527403e-01 -2.96295276e-02 9.31506740e-01] [ 1.18842354e-01 3.61536206e-03 9.92906554e-01 -4.61019954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26134618399999 meters Centerline goodness : 0.843014 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.94, Z:-0.03 [[ 0.96874428 -0.22257547 -0.10952026 4.87918496] [ 0.2181829 0.97458843 -0.05073072 0.94390493] [ 0.11802859 0.02524965 0.99268913 -0.03049165] [ 0. 0. 0. 1. ]] SLAMing on 115.32134618399999 meters Centerline goodness : 0.845091 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.95, Z:-0.04 [[ 0.9680303 -0.22631251 -0.10816643 4.88152885] [ 0.22134005 0.97358091 -0.05611414 0.94813436] [ 0.1180081 0.03037862 0.99254785 -0.03515307] [ 0. 0. 0. 1. ]] SLAMing on 115.381346184 meters Centerline goodness : 0.843268 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.95, Z:-0.03 [[ 0.9680038 -0.22535414 -0.11038185 4.88400988] [ 0.22071557 0.97391131 -0.05273901 0.95060348] [ 0.11938708 0.02668857 0.99248901 -0.0346899 ] [ 0. 0. 0. 1. ]] SLAMing on 115.441346184 meters Centerline goodness : 0.843574 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:0.96, Z:-0.02 [[ 0.96862594 -0.22559059 -0.10427215 4.90388477] [ 0.21920833 0.97321921 -0.06922485 0.96060102] [ 0.11709613 0.04419567 0.9921367 -0.02193874] [ 0. 0. 0. 1. ]] SLAMing on 115.501346184 meters Centerline goodness : 0.842520 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.97, Z:-0.01 [[ 0.96945521 -0.22506062 -0.09749008 4.92129704] [ 0.2174338 0.97254238 -0.08296901 0.96607822] [ 0.11348629 0.0592371 0.99177206 -0.01061364] [ 0. 0. 0. 1. ]] SLAMing on 115.561346184 meters Centerline goodness : 0.844549 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.97, Z:-0.00 [[ 9.70353389e-01 -2.23065198e-01 -9.30387990e-02 4.93973138e+00] [ 2.14571256e-01 9.72256247e-01 -9.31502337e-02 9.72241234e-01] [ 1.11236129e-01 7.04251929e-02 9.91295524e-01 -4.31832756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62134618399999 meters Centerline goodness : 0.845380 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:0.98, Z:0.01 [[ 0.97155522 -0.22027834 -0.08693628 4.96772803] [ 0.21053025 0.97151098 -0.10882751 0.9806816 ] [ 0.10843189 0.08742922 0.99025181 0.00666985] [ 0. 0. 0. 1. ]] SLAMing on 115.68134618399999 meters Centerline goodness : 0.848716 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.98, Z:0.00 [[ 9.72037652e-01 -2.19168706e-01 -8.43082514e-02 4.98427864e+00] [ 2.10927553e-01 9.72702404e-01 -9.67450285e-02 9.79310900e-01] [ 1.03210322e-01 7.62568772e-02 9.91732080e-01 2.19779766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741346184 meters Centerline goodness : 0.849467 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.98, Z:0.01 [[ 0.97233774 -0.21924733 -0.08056006 5.01402938] [ 0.21126381 0.97259747 -0.09706578 0.98241862] [ 0.09963393 0.0773613 0.99201225 0.00789151] [ 0. 0. 0. 1. ]] SLAMing on 115.801346184 meters Centerline goodness : 0.848125 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:0.98, Z:0.00 [[ 9.72463817e-01 -2.19799347e-01 -7.74749706e-02 5.03294639e+00] [ 2.13024493e-01 9.73163663e-01 -8.70232802e-02 9.79734266e-01] [ 9.45234864e-02 6.81229250e-02 9.93189095e-01 1.55628337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861346184 meters Centerline goodness : 0.850930 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.98, Z:0.01 [[ 0.97326224 -0.21714636 -0.07488706 5.05601343] [ 0.20951368 0.97287485 -0.09807413 0.98281118] [ 0.09415218 0.07976199 0.99235749 0.00838832] [ 0. 0. 0. 1. ]] SLAMing on 115.921346184 meters Centerline goodness : 0.854006 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.98, Z:0.01 [[ 0.97335701 -0.21621937 -0.07632378 5.06673351] [ 0.20816406 0.97283822 -0.10125967 0.98300828] [ 0.09614499 0.08267394 0.991928 0.00961301] [ 0. 0. 0. 1. ]] SLAMing on 115.98134618399999 meters Centerline goodness : 0.851715 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:0.99, Z:0.02 [[ 0.97433196 -0.21345776 -0.07150535 5.09056864] [ 0.20471672 0.97227932 -0.11297784 0.98643855] [ 0.09363917 0.09543957 0.99102119 0.01597161] [ 0. 0. 0. 1. ]] SLAMing on 116.04134618399999 meters Centerline goodness : 0.856473 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.99, Z:0.02 [[ 0.97567192 -0.20807145 -0.06906931 5.1179778 ] [ 0.20035375 0.97414356 -0.10441597 0.98770205] [ 0.08900941 0.08803743 0.99213242 0.01661564] [ 0. 0. 0. 1. ]] SLAMing on 116.101346184 meters Centerline goodness : 0.854445 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:1.00, Z:0.04 [[ 0.9770397 -0.2053526 -0.05677792 5.15543705] [ 0.19631532 0.97125805 -0.1346035 1.00169333] [ 0.0827872 0.12036659 0.98927153 0.04166574] [ 0. 0. 0. 1. ]] SLAMing on 116.161346184 meters Centerline goodness : 0.858039 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:1.01, Z:0.06 [[ 0.97778192 -0.20397371 -0.04834503 5.18788717] [ 0.19393441 0.96775564 -0.16074346 1.01151024] [ 0.07957362 0.14779628 0.98581149 0.06214486] [ 0. 0. 0. 1. ]] SLAMing on 116.221346184 meters Centerline goodness : 0.860839 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:1.03, Z:0.09 [[ 0.97780352 -0.20569304 -0.03988306 5.2349821 ] [ 0.19488867 0.9627676 -0.18734183 1.02802975] [ 0.07693302 0.17541074 0.98148478 0.09322605] [ 0. 0. 0. 1. ]] SLAMing on 116.281346184 meters Centerline goodness : 0.860827 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:1.02, Z:0.09 [[ 0.97809873 -0.20083519 -0.05466348 5.24065329] [ 0.1879041 0.96496512 -0.1831239 1.02184552] [ 0.08952608 0.16884176 0.98156892 0.09189736] [ 0. 0. 0. 1. ]] SLAMing on 116.34134618399999 meters Centerline goodness : 0.862431 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.02, Z:0.09 [[ 0.97806737 -0.19693817 -0.06782015 5.24851586] [ 0.18202005 0.96642815 -0.18134315 1.01674573] [ 0.10125669 0.16502119 0.98107853 0.08715634] [ 0. 0. 0. 1. ]] SLAMing on 116.40134618399999 meters Centerline goodness : 0.863090 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:1.01, Z:0.09 [[ 0.97799368 -0.19174307 -0.08223717 5.25119933] [ 0.17549651 0.96920902 -0.1727277 1.01103584] [ 0.11282434 0.15449426 0.98153053 0.08668936] [ 0. 0. 0. 1. ]] SLAMing on 116.46134618399999 meters Centerline goodness : 0.860347 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.01, Z:0.08 [[ 0.97792155 -0.19111109 -0.084534 5.25699186] [ 0.17484997 0.96983659 -0.16983663 1.01353583] [ 0.11444183 0.15130613 0.98183987 0.08487147] [ 0. 0. 0. 1. ]] SLAMing on 116.521346184 meters Centerline goodness : 0.865753 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.01, Z:0.08 [[ 0.97827661 -0.18907635 -0.085 5.25976416] [ 0.17284409 0.97032085 -0.16912233 1.01366711] [ 0.11445431 0.15075667 0.98192293 0.08176819] [ 0. 0. 0. 1. ]] SLAMing on 116.581346184 meters Centerline goodness : 0.866040 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:1.02, Z:0.08 [[ 0.97804856 -0.18961093 -0.08642165 5.26443175] [ 0.17331217 0.97046423 -0.16781558 1.01543247] [ 0.11568878 0.14915386 0.98202303 0.07991792] [ 0. 0. 0. 1. ]] SLAMing on 116.641346184 meters Centerline goodness : 0.861436 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:1.02, Z:0.09 [[ 0.97814193 -0.19091938 -0.0823903 5.28440299] [ 0.17541115 0.97037816 -0.16612393 1.01957535] [ 0.11166602 0.14804061 0.98265695 0.08557801] [ 0. 0. 0. 1. ]] SLAMing on 116.70134618399999 meters Centerline goodness : 0.865011 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.02, Z:0.08 [[ 0.9782219 -0.19096424 -0.08133 5.28673264] [ 0.17526169 0.96986547 -0.16924627 1.01917346] [ 0.11119914 0.15130637 0.98221237 0.08053687] [ 0. 0. 0. 1. ]] SLAMing on 116.76134618399999 meters Centerline goodness : 0.868873 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:1.02, Z:0.08 [[ 0.97777047 -0.19242533 -0.08329101 5.29172779] [ 0.17663446 0.96995235 -0.1673102 1.02041629] [ 0.11298303 0.14887891 0.98237971 0.07965815] [ 0. 0. 0. 1. ]] SLAMing on 116.82134618399999 meters Centerline goodness : 0.867942 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.02, Z:0.08 [[ 0.97742995 -0.19250093 -0.08702916 5.29740848] [ 0.17672954 0.97076965 -0.1623975 1.02235771] [ 0.11574694 0.14335156 0.98287994 0.08051363] [ 0. 0. 0. 1. ]] SLAMing on 116.881346184 meters Centerline goodness : 0.869755 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.02, Z:0.08 [[ 0.97742393 -0.19197571 -0.08824843 5.30042987] [ 0.17613612 0.97102463 -0.16151543 1.02120096] [ 0.11669844 0.14232531 0.98291657 0.07901592] [ 0. 0. 0. 1. ]] SLAMing on 116.941346184 meters Centerline goodness : 0.870725 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:1.02, Z:0.08 [[ 0.97734026 -0.19206826 -0.08897076 5.30479462] [ 0.17614862 0.97105634 -0.16131103 1.02250803] [ 0.11737835 0.14198369 0.98288502 0.075787 ] [ 0. 0. 0. 1. ]] SLAMing on 117.001346184 meters Centerline goodness : 0.870237 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.02, Z:0.07 [[ 0.97723342 -0.19183397 -0.09063425 5.30941965] [ 0.17588125 0.97138363 -0.15962339 1.02451362] [ 0.11866181 0.14004845 0.98300855 0.07385808] [ 0. 0. 0. 1. ]] SLAMing on 117.061346184 meters Centerline goodness : 0.869624 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:1.03, Z:0.07 [[ 0.97722332 -0.19111999 -0.0922374 5.31424433] [ 0.1751479 0.9717884 -0.1579573 1.02668932] [ 0.11982403 0.13820437 0.98312855 0.0713373 ] [ 0. 0. 0. 1. ]] SLAMing on 117.12134618399999 meters Centerline goodness : 0.868378 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.03, Z:0.07 [[ 0.97777813 -0.18816586 -0.09243124 5.31637285] [ 0.17231094 0.97246571 -0.15690563 1.0268835 ] [ 0.11941049 0.13749198 0.98327875 0.06809991] [ 0. 0. 0. 1. ]] SLAMing on 117.18134618399999 meters Centerline goodness : 0.869052 with order 1 Centerline is valid? [False, False] Translation: X:5.32, Y:1.03, Z:0.06 [[ 0.9778278 -0.19187279 -0.08389061 5.32394194] [ 0.17808542 0.97267947 -0.14893029 1.03177111] [ 0.11017434 0.13068848 0.98528277 0.05890206] [ 0. 0. 0. 1. ]] SLAMing on 117.241346184 meters Centerline goodness : 0.870043 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:1.03, Z:0.06 [[ 0.97673875 -0.19593459 -0.0871266 5.33055022] [ 0.18202367 0.97237443 -0.14613468 1.03070491] [ 0.11335252 0.1268763 0.98542052 0.05916168] [ 0. 0. 0. 1. ]] SLAMing on 117.301346184 meters Centerline goodness : 0.871503 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.03, Z:0.05 [[ 0.97513625 -0.20185793 -0.09144759 5.34020629] [ 0.18778525 0.97179181 -0.14267929 1.0291082 ] [ 0.11766896 0.12195924 0.98553537 0.05482757] [ 0. 0. 0. 1. ]] SLAMing on 117.361346184 meters Centerline goodness : 0.868644 with order 1 Centerline is valid? [False, False] Translation: X:5.34, Y:1.03, Z:0.05 [[ 0.97430305 -0.20555916 -0.09208148 5.34454477] [ 0.19123099 0.97091766 -0.14404724 1.02886791] [ 0.11901377 0.12273683 0.98527732 0.05280717] [ 0. 0. 0. 1. ]] SLAMing on 117.421346184 meters Centerline goodness : 0.871201 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:1.02, Z:0.05 [[ 0.97335653 -0.20951966 -0.09315885 5.34768812] [ 0.19507355 0.9701879 -0.14381153 1.02441966] [ 0.12051293 0.12180706 0.98521047 0.0530166 ] [ 0. 0. 0. 1. ]] SLAMing on 117.48134618399999 meters Centerline goodness : 0.870440 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.02, Z:0.05 [[ 0.97242751 -0.21133984 -0.09859109 5.35706835] [ 0.19728922 0.97094809 -0.13541334 1.02326723] [ 0.12434506 0.1122287 0.98587171 0.05179513] [ 0. 0. 0. 1. ]] SLAMing on 117.54134618399999 meters Centerline goodness : 0.875072 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:1.02, Z:0.05 [[ 0.97155127 -0.21431319 -0.10078682 5.36173961] [ 0.20032046 0.97066181 -0.13299386 1.02023324] [ 0.12633225 0.10902069 0.98597903 0.05190754] [ 0. 0. 0. 1. ]] SLAMing on 117.601346184 meters Centerline goodness : 0.873886 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.02, Z:0.05 [[ 0.97104973 -0.21736246 -0.09907568 5.36574263] [ 0.20300961 0.96950503 -0.13728473 1.01891139] [ 0.12589492 0.11319698 0.98556426 0.04507287] [ 0. 0. 0. 1. ]] SLAMing on 117.661346184 meters Centerline goodness : 0.879611 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.02, Z:0.04 [[ 0.97075757 -0.21824869 -0.09998625 5.36985642] [ 0.20390931 0.96944689 -0.1363588 1.01857263] [ 0.12669149 0.11198321 0.98560085 0.04255871] [ 0. 0. 0. 1. ]] SLAMing on 117.721346184 meters Centerline goodness : 0.883751 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.02, Z:0.04 [[ 0.9718595 -0.21291811 -0.10077195 5.37072311] [ 0.19918437 0.97116806 -0.13098923 1.01678859] [ 0.12575648 0.10723093 0.98624887 0.04103515] [ 0. 0. 0. 1. ]] SLAMing on 117.781346184 meters Centerline goodness : 0.881468 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:1.02, Z:0.04 [[ 0.9727718 -0.20871833 -0.10075555 5.37231464] [ 0.19539696 0.97236525 -0.12777264 1.01515582] [ 0.12463968 0.10460629 0.98667242 0.03770801] [ 0. 0. 0. 1. ]] SLAMing on 117.84134618399999 meters Centerline goodness : 0.886370 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.01, Z:0.04 [[ 0.97361705 -0.20409023 -0.10206383 5.37510348] [ 0.19122208 0.97379566 -0.12311024 1.01430253] [ 0.12451491 0.10034537 0.98713061 0.03539211] [ 0. 0. 0. 1. ]] SLAMing on 117.90134618399999 meters Centerline goodness : 0.884854 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.02, Z:0.03 [[ 0.97388437 -0.2022911 -0.10308997 5.37940651] [ 0.18945162 0.97427401 -0.12205831 1.01744737] [ 0.12512919 0.09934012 0.98715461 0.03196725] [ 0. 0. 0. 1. ]] SLAMing on 117.96134618399999 meters Centerline goodness : 0.886894 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.02, Z:0.02 [[ 0.97486842 -0.19877747 -0.10059361 5.38045783] [ 0.18571485 0.97450738 -0.12587837 1.02012413] [ 0.123051 0.10403312 0.9869324 0.02418411] [ 0. 0. 0. 1. ]] SLAMing on 118.021346184 meters Centerline goodness : 0.888761 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:1.03, Z:0.01 [[ 0.97579952 -0.2003133 -0.08769193 5.38190831] [ 0.18900463 0.9743127 -0.12244185 1.02702835] [ 0.10996609 0.10290452 0.98859401 0.01499659] [ 0. 0. 0. 1. ]] SLAMing on 118.081346184 meters Centerline goodness : 0.887902 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:1.03, Z:0.01 [[ 0.97702758 -0.19620065 -0.08320104 5.39007865] [ 0.18702771 0.97655367 -0.10659999 1.03147393] [ 0.10216527 0.08859023 0.99081483 0.00703072] [ 0. 0. 0. 1. ]] SLAMing on 118.141346184 meters Centerline goodness : 0.882781 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:1.03, Z:0.00 [[ 9.77085893e-01 -1.96062865e-01 -8.28402743e-02 5.39206820e+00] [ 1.86899123e-01 9.76553695e-01 -1.06825086e-01 1.03070416e+00] [ 1.01842409e-01 8.88945104e-02 9.90820816e-01 3.78761096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20134618399999 meters Centerline goodness : 0.885130 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:1.03, Z:0.00 [[ 9.76387287e-01 -1.98669820e-01 -8.48420159e-02 5.39806142e+00] [ 1.89329987e-01 9.76089380e-01 -1.06788004e-01 1.03224821e+00] [ 1.04028944e-01 8.82033123e-02 9.90655417e-01 2.03228363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26134618399999 meters Centerline goodness : 0.881317 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:1.03, Z:-0.00 [[ 9.76148420e-01 -1.99608870e-01 -8.53847808e-02 5.40220562e+00] [ 1.90012205e-01 9.75739429e-01 -1.08756284e-01 1.03471607e+00] [ 1.05022016e-01 8.99381242e-02 9.90394623e-01 -1.89808166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32134618399999 meters Centerline goodness : 0.881152 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.04, Z:-0.01 [[ 0.97622899 -0.19915135 -0.0855319 5.40551843] [ 0.18945754 0.97575884 -0.1095469 1.03560431] [ 0.10527492 0.0907382 0.99029479 -0.00573709] [ 0. 0. 0. 1. ]] SLAMing on 118.381346184 meters Centerline goodness : 0.881272 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.03, Z:-0.00 [[ 9.76581740e-01 -1.95721150e-01 -8.93383301e-02 5.40983199e+00] [ 1.86620903e-01 9.77235783e-01 -1.00910169e-01 1.03414402e+00] [ 1.07054867e-01 8.18746284e-02 9.90876279e-01 -4.02612258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441346184 meters Centerline goodness : 0.883412 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:1.03, Z:-0.00 [[ 9.76401822e-01 -1.96244908e-01 -9.01521922e-02 5.41138413e+00] [ 1.87418686e-01 9.77402214e-01 -9.77708932e-02 1.02998394e+00] [ 1.07301992e-01 7.85674728e-02 9.91117266e-01 -3.58285829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501346184 meters Centerline goodness : 0.882218 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.03, Z:-0.01 [[ 9.75595503e-01 -1.99695649e-01 -9.12965665e-02 5.41610094e+00] [ 1.90771851e-01 9.76743309e-01 -9.78703680e-02 1.02932540e+00] [ 1.08717597e-01 7.80650759e-02 9.91002688e-01 -5.08356626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561346184 meters Centerline goodness : 0.883398 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.03, Z:-0.01 [[ 0.97439606 -0.20531949 -0.09163088 5.42036204] [ 0.19600344 0.97536366 -0.10123433 1.02797954] [ 0.11015881 0.08068236 0.99063383 -0.00690514] [ 0. 0. 0. 1. ]] SLAMing on 118.62134618399999 meters Centerline goodness : 0.886323 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:1.03, Z:-0.01 [[ 0.97383035 -0.20805313 -0.09147867 5.42385071] [ 0.19855321 0.97466077 -0.10301943 1.02794853] [ 0.11059419 0.08216006 0.99046386 -0.00973682] [ 0. 0. 0. 1. ]] SLAMing on 118.68134618399999 meters Centerline goodness : 0.887154 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.03, Z:-0.01 [[ 0.97330787 -0.20978943 -0.09306012 5.42653756] [ 0.20039276 0.97449927 -0.10096489 1.02664339] [ 0.11186838 0.07962135 0.99052809 -0.00883553] [ 0. 0. 0. 1. ]] SLAMing on 118.741346184 meters Centerline goodness : 0.889685 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:1.02, Z:-0.02 [[ 0.97190942 -0.21494325 -0.09587219 5.43495687] [ 0.2057815 0.97377311 -0.09705617 1.02360112] [ 0.11421933 0.07460109 0.99065061 -0.01505637] [ 0. 0. 0. 1. ]] SLAMing on 118.801346184 meters Centerline goodness : 0.892018 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:1.02, Z:-0.02 [[ 0.97113353 -0.2178907 -0.09707378 5.43843345] [ 0.20885826 0.97329904 -0.09522193 1.02091289] [ 0.11522979 0.07219855 0.9907116 -0.01510237] [ 0. 0. 0. 1. ]] SLAMing on 118.861346184 meters Centerline goodness : 0.891852 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:1.02, Z:-0.01 [[ 0.97071148 -0.21891295 -0.09897647 5.44166196] [ 0.2101159 0.97333144 -0.0920718 1.01970216] [ 0.11649262 0.06857862 0.99082109 -0.01410953] [ 0. 0. 0. 1. ]] SLAMing on 118.921346184 meters Centerline goodness : 0.895188 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.02, Z:-0.02 [[ 0.97052901 -0.21937148 -0.09974769 5.44606118] [ 0.2105445 0.97325659 -0.09188372 1.02057044] [ 0.11723677 0.06817449 0.99076121 -0.01714512] [ 0. 0. 0. 1. ]] SLAMing on 118.98134618399999 meters Centerline goodness : 0.892342 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:1.02, Z:-0.02 [[ 0.97092365 -0.21813399 -0.09861459 5.44414882] [ 0.20933413 0.97347896 -0.09229264 1.02007978] [ 0.11613139 0.06896571 0.99083663 -0.01781598] [ 0. 0. 0. 1. ]] SLAMing on 119.04134618399999 meters Centerline goodness : 0.892652 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.02, Z:-0.02 [[ 0.97141888 -0.21525094 -0.10006198 5.44828748] [ 0.20677765 0.9743677 -0.08860359 1.02022195] [ 0.11656917 0.06538062 0.99102826 -0.02056018] [ 0. 0. 0. 1. ]] SLAMing on 119.101346184 meters Centerline goodness : 0.890539 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.02, Z:-0.02 [[ 0.97209671 -0.21189892 -0.10063216 5.45102729] [ 0.2037096 0.97526607 -0.08578161 1.0208163 ] [ 0.11632016 0.06288828 0.99121879 -0.02394754] [ 0. 0. 0. 1. ]] SLAMing on 119.161346184 meters Centerline goodness : 0.892907 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:1.02, Z:-0.03 [[ 0.97246833 -0.20958286 -0.1018841 5.45452946] [ 0.20166124 0.97595132 -0.08277539 1.02213213] [ 0.11678222 0.05995038 0.99134649 -0.02607959] [ 0. 0. 0. 1. ]] SLAMing on 119.221346184 meters Centerline goodness : 0.889765 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.02, Z:-0.03 [[ 0.97319842 -0.20634239 -0.10152657 5.4557591 ] [ 0.1985212 0.97665979 -0.08200606 1.02328376] [ 0.11607825 0.059653 0.9914471 -0.02986997] [ 0. 0. 0. 1. ]] SLAMing on 119.281346184 meters Centerline goodness : 0.893069 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.02, Z:-0.03 [[ 0.97387085 -0.20227927 -0.10324085 5.4592968 ] [ 0.19477819 0.97771747 -0.07829435 1.02458518] [ 0.11677771 0.05613952 0.99157013 -0.03230731] [ 0. 0. 0. 1. ]] SLAMing on 119.34134618399999 meters Centerline goodness : 0.895336 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.03, Z:-0.04 [[ 0.97439203 -0.20434669 -0.09382217 5.462788 ] [ 0.19832427 0.97765795 -0.06965923 1.0302476 ] [ 0.10596063 0.04926819 0.99314903 -0.03793278] [ 0. 0. 0. 1. ]] SLAMing on 119.40134618399999 meters Centerline goodness : 0.891508 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:1.03, Z:-0.04 [[ 0.97447113 -0.20508262 -0.09136264 5.46170769] [ 0.1986999 0.97724038 -0.07429398 1.03015102] [ 0.10451966 0.05424359 0.99304243 -0.04168327] [ 0. 0. 0. 1. ]] SLAMing on 119.46134618399999 meters Centerline goodness : 0.890525 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:1.03, Z:-0.05 [[ 0.97334074 -0.21042264 -0.09126941 5.46768812] [ 0.20365395 0.97592033 -0.07813183 1.03141719] [ 0.10551238 0.05746151 0.99275642 -0.04649567] [ 0. 0. 0. 1. ]] SLAMing on 119.521346184 meters Centerline goodness : 0.892759 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:1.03, Z:-0.05 [[ 0.97055151 -0.21939601 -0.0994744 5.48301828] [ 0.21314503 0.97452708 -0.06975788 1.03257115] [ 0.1122451 0.04650114 0.9925919 -0.04842987] [ 0. 0. 0. 1. ]] SLAMing on 119.581346184 meters Centerline goodness : 0.895284 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:1.03, Z:-0.05 [[ 0.96817402 -0.22719082 -0.10499236 5.49283448] [ 0.221278 0.97303875 -0.06505099 1.03113183] [ 0.11694062 0.03974818 0.99234317 -0.04624449] [ 0. 0. 0. 1. ]] SLAMing on 119.641346184 meters Centerline goodness : 0.892422 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.03, Z:-0.04 [[ 0.96699145 -0.23136955 -0.10675047 5.49632102] [ 0.22564481 0.9721658 -0.06307195 1.02998001] [ 0.11837208 0.03690235 0.99228336 -0.04448702] [ 0. 0. 0. 1. ]] SLAMing on 119.70134618399999 meters Centerline goodness : 0.892964 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:1.03, Z:-0.04 [[ 0.96606637 -0.23381508 -0.10975554 5.50155313] [ 0.22838702 0.97172954 -0.05984206 1.03231544] [ 0.12064467 0.03274466 0.99215556 -0.04327728] [ 0. 0. 0. 1. ]] SLAMing on 119.76134618399999 meters Centerline goodness : 0.889550 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.04, Z:-0.05 [[ 0.96578727 -0.23544378 -0.10872523 5.50523569] [ 0.22957781 0.97119577 -0.06381848 1.03517294] [ 0.12061914 0.03667417 0.99202118 -0.04903273] [ 0. 0. 0. 1. ]] SLAMing on 119.82134618399999 meters Centerline goodness : 0.892669 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.04, Z:-0.05 [[ 0.96627578 -0.2327848 -0.1101016 5.50846794] [ 0.22734332 0.97197634 -0.05980814 1.03558127] [ 0.12093858 0.03276029 0.99211926 -0.05091924] [ 0. 0. 0. 1. ]] SLAMing on 119.881346184 meters Centerline goodness : 0.897060 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.04, Z:-0.05 [[ 0.96685618 -0.22880913 -0.11329392 5.51018368] [ 0.22430358 0.97317297 -0.05120808 1.0363277 ] [ 0.12197146 0.02409861 0.99224101 -0.04802322] [ 0. 0. 0. 1. ]] SLAMing on 119.941346184 meters Centerline goodness : 0.891822 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.04, Z:-0.05 [[ 0.96697253 -0.22837175 -0.1131833 5.51025253] [ 0.22395556 0.97329122 -0.05047873 1.03684364] [ 0.12168823 0.02346352 0.992291 -0.04818389] [ 0. 0. 0. 1. ]] SLAMing on 120.001346184 meters Centerline goodness : 0.892695 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.04, Z:-0.05 [[ 0.96691538 -0.22870046 -0.11300772 5.51442389] [ 0.22411759 0.97317973 -0.05188944 1.03845195] [ 0.12184396 0.02484568 0.99223825 -0.05316393] [ 0. 0. 0. 1. ]] SLAMing on 120.061346184 meters Centerline goodness : 0.890818 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:1.04, Z:-0.06 [[ 0.96704399 -0.22882901 -0.11163873 5.5146626 ] [ 0.22388361 0.97305387 -0.05515698 1.04116309] [ 0.12125201 0.02834514 0.99221696 -0.05670152] [ 0. 0. 0. 1. ]] SLAMing on 120.12134618399999 meters Centerline goodness : 0.891782 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.04, Z:-0.06 [[ 0.96761831 -0.22595817 -0.11250647 5.51733195] [ 0.22124275 0.97378117 -0.05293277 1.04395774] [ 0.12151727 0.02632748 0.9922401 -0.0594881 ] [ 0. 0. 0. 1. ]] SLAMing on 120.18134618399999 meters Centerline goodness : 0.888991 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.04, Z:-0.06 [[ 0.96872137 -0.22085786 -0.1131402 5.51580114] [ 0.21659593 0.97503965 -0.04882501 1.04431372] [ 0.12109956 0.02279213 0.99237866 -0.058657 ] [ 0. 0. 0. 1. ]] SLAMing on 120.241346184 meters Centerline goodness : 0.887998 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.05, Z:-0.07 [[ 0.9689655 -0.22354355 -0.10551845 5.51969066] [ 0.22031099 0.97454617 -0.04150706 1.05045439] [ 0.11211123 0.01697204 0.99355071 -0.06589876] [ 0. 0. 0. 1. ]] SLAMing on 120.301346184 meters Centerline goodness : 0.885694 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:1.05, Z:-0.07 [[ 0.9684174 -0.22567829 -0.10600497 5.52386278] [ 0.22224728 0.97402879 -0.04329052 1.05430393] [ 0.11302163 0.01836397 0.99342281 -0.06937883] [ 0. 0. 0. 1. ]] SLAMing on 120.361346184 meters Centerline goodness : 0.885871 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.06, Z:-0.07 [[ 0.96777327 -0.22731515 -0.10836388 5.52989829] [ 0.22392669 0.97367289 -0.04263719 1.0586329 ] [ 0.11520305 0.01699756 0.99319653 -0.07113691] [ 0. 0. 0. 1. ]] SLAMing on 120.421346184 meters Centerline goodness : 0.886086 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.06, Z:-0.07 [[ 0.96751578 -0.22837369 -0.10843739 5.53046575] [ 0.22502643 0.97343286 -0.042327 1.05811961] [ 0.11522289 0.01655076 0.99320177 -0.07111766] [ 0. 0. 0. 1. ]] SLAMing on 120.48134618399999 meters Centerline goodness : 0.885272 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:1.06, Z:-0.07 [[ 0.96699106 -0.22943458 -0.11085156 5.53325757] [ 0.22650335 0.97324836 -0.03852104 1.05840005] [ 0.11672416 0.01214125 0.99309016 -0.06848222] [ 0. 0. 0. 1. ]] SLAMing on 120.54134618399999 meters Centerline goodness : 0.886033 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.06, Z:-0.06 [[ 9.65938843e-01 -2.31388758e-01 -1.15850739e-01 5.53917316e+00] [ 2.29247480e-01 9.72853037e-01 -3.16632483e-02 1.05875621e+00] [ 1.20032263e-01 4.02627136e-03 9.92761827e-01 -6.43926782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601346184 meters Centerline goodness : 0.887109 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:1.06, Z:-0.07 [[ 0.96532551 -0.23475793 -0.11417252 5.54220006] [ 0.23215633 0.9720208 -0.03576315 1.05784259] [ 0.11937375 0.00801721 0.99281702 -0.06940252] [ 0. 0. 0. 1. ]] SLAMing on 120.661346184 meters Centerline goodness : 0.886457 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.06, Z:-0.07 [[ 9.65460071e-01 -2.33260531e-01 -1.16087793e-01 5.54617559e+00] [ 2.30992748e-01 9.72402128e-01 -3.28093191e-02 1.05990003e+00] [ 1.20537136e-01 4.86064925e-03 9.92696919e-01 -7.11886074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721346184 meters Centerline goodness : 0.883503 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.06, Z:-0.07 [[ 9.65795231e-01 -2.30884095e-01 -1.18034342e-01 5.54956997e+00] [ 2.29050684e-01 9.72980719e-01 -2.90569159e-02 1.06188705e+00] [ 1.21553919e-01 1.02718402e-03 9.92584299e-01 -7.23199006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781346184 meters Centerline goodness : 0.882908 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.06, Z:-0.07 [[ 9.66182161e-01 -2.29551422e-01 -1.17465639e-01 5.54986511e+00] [ 2.27744654e-01 9.73295981e-01 -2.87629215e-02 1.06211154e+00] [ 1.20931404e-01 1.03805030e-03 9.92660324e-01 -7.41910118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84134618399999 meters Centerline goodness : 0.877608 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.06, Z:-0.08 [[ 9.66110008e-01 -2.29870217e-01 -1.17435670e-01 5.55354918e+00] [ 2.27976716e-01 9.73219769e-01 -2.94940424e-02 1.06258914e+00] [ 1.21070518e-01 1.72189112e-03 9.92642415e-01 -7.80685711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90134618399999 meters Centerline goodness : 0.880644 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.06, Z:-0.08 [[ 9.66510626e-01 -2.26782045e-01 -1.20112918e-01 5.55455917e+00] [ 2.25548260e-01 9.73937553e-01 -2.39504700e-02 1.06482001e+00] [ 1.22414018e-01 -3.94287589e-03 9.92471290e-01 -7.55931755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96134618399999 meters Centerline goodness : 0.875415 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:1.07, Z:-0.08 [[ 9.67180147e-01 -2.24564196e-01 -1.18884333e-01 5.55450301e+00] [ 2.23164772e-01 9.74456756e-01 -2.51299734e-02 1.06771058e+00] [ 1.21490934e-01 -2.22558369e-03 9.92590046e-01 -7.95312092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021346184 meters Centerline goodness : 0.880514 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.07, Z:-0.08 [[ 9.67673236e-01 -2.23276311e-01 -1.17286813e-01 5.55556861e+00] [ 2.21589858e-01 9.74755055e-01 -2.73955639e-02 1.06867058e+00] [ 1.20442694e-01 5.20385840e-04 9.92720145e-01 -8.43419260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081346184 meters Centerline goodness : 0.874864 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.08, Z:-0.09 [[ 0.96760432 -0.22528998 -0.11395749 5.56224242] [ 0.22496215 0.9742378 -0.01589775 1.07647272] [ 0.1146033 -0.01025339 0.99335842 -0.08752241] [ 0. 0. 0. 1. ]] SLAMing on 121.141346184 meters Centerline goodness : 0.873405 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.08, Z:-0.09 [[ 0.96757598 -0.22528009 -0.11421732 5.56284321] [ 0.22506372 0.97422926 -0.01495572 1.07649611] [ 0.11464308 -0.01123538 0.99334321 -0.08783575] [ 0. 0. 0. 1. ]] SLAMing on 121.20134618399999 meters Centerline goodness : 0.873703 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.08, Z:-0.09 [[ 0.96724204 -0.22718999 -0.11325877 5.56171684] [ 0.22678976 0.97380263 -0.01657809 1.07612004] [ 0.11405807 -0.0096509 0.99342721 -0.08710083] [ 0. 0. 0. 1. ]] SLAMing on 121.26134618399999 meters Centerline goodness : 0.875244 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.08, Z:-0.09 [[ 0.96690414 -0.22814782 -0.1142145 5.56280827] [ 0.22779192 0.97357282 -0.0163339 1.07715138] [ 0.11492268 -0.01022382 0.99332183 -0.08582696] [ 0. 0. 0. 1. ]] SLAMing on 121.32134618399999 meters Centerline goodness : 0.873553 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:1.08, Z:-0.09 [[ 0.96658632 -0.22974078 -0.11371041 5.5641221 ] [ 0.22918173 0.97321454 -0.01814387 1.07878391] [ 0.11483301 -0.00852273 0.99334825 -0.08777292] [ 0. 0. 0. 1. ]] SLAMing on 121.381346184 meters Centerline goodness : 0.874356 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96580479 -0.23233984 -0.11506219 5.56733008] [ 0.23185666 0.97258796 -0.01775262 1.07918437] [ 0.11603274 -0.00953236 0.99319965 -0.08772858] [ 0. 0. 0. 1. ]] SLAMing on 121.441346184 meters Centerline goodness : 0.872379 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96559031 -0.23297173 -0.1155834 5.56743956] [ 0.23266889 0.97241949 -0.0162949 1.0786087 ] [ 0.1161918 -0.01115847 0.99316411 -0.08599476] [ 0. 0. 0. 1. ]] SLAMing on 121.501346184 meters Centerline goodness : 0.873929 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96577789 -0.23175971 -0.11644957 5.57035663] [ 0.23163061 0.97269079 -0.01482883 1.0775205 ] [ 0.11670615 -0.01265193 0.9930859 -0.08760228] [ 0. 0. 0. 1. ]] SLAMing on 121.561346184 meters Centerline goodness : 0.873182 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96601319 -0.23057103 -0.11685686 5.56881667] [ 0.23046384 0.97297113 -0.01461483 1.07986474] [ 0.11706811 -0.01281317 0.99304123 -0.08566072] [ 0. 0. 0. 1. ]] SLAMing on 121.62134618399999 meters Centerline goodness : 0.870946 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96668388 -0.22766409 -0.11701 5.56950445] [ 0.22772106 0.9736388 -0.01306139 1.08218948] [ 0.11689909 -0.01401941 0.99304484 -0.0873112 ] [ 0. 0. 0. 1. ]] SLAMing on 121.68134618399999 meters Centerline goodness : 0.871581 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96778913 -0.22485151 -0.1132519 5.56853217] [ 0.22437121 0.97435307 -0.01713646 1.08146255] [ 0.1142005 -0.00882599 0.99341852 -0.09474191] [ 0. 0. 0. 1. ]] SLAMing on 121.741346184 meters Centerline goodness : 0.871233 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96842106 -0.22172641 -0.11400899 5.56738783] [ 0.22173814 0.97502302 -0.01274002 1.08075153] [ 0.11398619 -0.01294244 0.99339803 -0.09281238] [ 0. 0. 0. 1. ]] SLAMing on 121.801346184 meters Centerline goodness : 0.872149 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96931768 -0.21694422 -0.11557872 5.56900395] [ 0.2176 0.97601245 -0.00706644 1.08185553] [ 0.11433929 -0.0183003 0.99327319 -0.0935065 ] [ 0. 0. 0. 1. ]] SLAMing on 121.861346184 meters Centerline goodness : 0.869849 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96961271 -0.21642476 -0.11406806 5.56734926] [ 0.21668892 0.97618712 -0.01022834 1.0833177 ] [ 0.11356543 -0.01479976 0.99342028 -0.09513572] [ 0. 0. 0. 1. ]] SLAMing on 121.921346184 meters Centerline goodness : 0.870254 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.09, Z:-0.10 [[ 0.96932711 -0.21841824 -0.1126873 5.56841437] [ 0.21831131 0.97578662 -0.01344005 1.08504841] [ 0.11289432 -0.01157311 0.9935396 -0.09848947] [ 0. 0. 0. 1. ]] SLAMing on 121.98134618399999 meters Centerline goodness : 0.870755 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96874321 -0.22103573 -0.11260462 5.56887704] [ 0.2208204 0.97520612 -0.01453872 1.08401131] [ 0.11302629 -0.01078112 0.9935335 -0.09806169] [ 0. 0. 0. 1. ]] SLAMing on 122.04134618399999 meters Centerline goodness : 0.872193 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96829986 -0.22265917 -0.11321782 5.56914729] [ 0.22249093 0.97483015 -0.01428164 1.08457974] [ 0.11354809 -0.01136103 0.99346754 -0.09621999] [ 0. 0. 0. 1. ]] SLAMing on 122.101346184 meters Centerline goodness : 0.871549 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96801736 -0.22397921 -0.11302962 5.57158056] [ 0.22373836 0.97453417 -0.01497643 1.08253235] [ 0.11350563 -0.01079161 0.99347874 -0.09824686] [ 0. 0. 0. 1. ]] SLAMing on 122.161346184 meters Centerline goodness : 0.871242 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96720282 -0.22689737 -0.11417658 5.57128344] [ 0.22683425 0.97383676 -0.01371795 1.08202961] [ 0.11430192 -0.01263112 0.99336576 -0.0942991 ] [ 0. 0. 0. 1. ]] SLAMing on 122.221346184 meters Centerline goodness : 0.872556 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96636325 -0.23071771 -0.11362835 5.57245202] [ 0.23034388 0.97296787 -0.01658974 1.08084251] [ 0.11438428 -0.01014188 0.99338481 -0.09444847] [ 0. 0. 0. 1. ]] SLAMing on 122.281346184 meters Centerline goodness : 0.872834 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96572781 -0.23411611 -0.11206893 5.57222543] [ 0.23341882 0.97218096 -0.01948964 1.07731953] [ 0.11351412 -0.00733731 0.99350929 -0.09535195] [ 0. 0. 0. 1. ]] SLAMing on 122.34134618399999 meters Centerline goodness : 0.871816 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.09 [[ 0.96542598 -0.23482238 -0.1131862 5.5729363 ] [ 0.23418917 0.97200441 -0.01904899 1.07924872] [ 0.11449062 -0.00811659 0.99339117 -0.09394575] [ 0. 0. 0. 1. ]] SLAMing on 122.40134618399999 meters Centerline goodness : 0.871327 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96573662 -0.23359415 -0.11307767 5.57489165] [ 0.23297421 0.97230014 -0.01885343 1.07961066] [ 0.11434949 -0.00813674 0.99340726 -0.09667739] [ 0. 0. 0. 1. ]] SLAMing on 122.46134618399999 meters Centerline goodness : 0.870081 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96641121 -0.23103213 -0.11257678 5.5723794 ] [ 0.2304639 0.97291037 -0.01821565 1.07943541] [ 0.11373551 -0.00834107 0.99347605 -0.09566866] [ 0. 0. 0. 1. ]] SLAMing on 122.521346184 meters Centerline goodness : 0.871020 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 0.96687526 -0.22892227 -0.11290187 5.57265493] [ 0.22851457 0.97339699 -0.01671515 1.08040051] [ 0.11372481 -0.00963826 0.99346554 -0.09607236] [ 0. 0. 0. 1. ]] SLAMing on 122.581346184 meters Centerline goodness : 0.870319 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 9.67138540e-01 -2.29416847e-01 -1.09594505e-01 5.57218790e+00] [ 2.28439357e-01 9.73319289e-01 -2.15643695e-02 1.07856271e+00] [ 1.11617675e-01 -4.17996539e-03 9.93742433e-01 -1.01562288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641346184 meters Centerline goodness : 0.871368 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.08, Z:-0.10 [[ 9.66901428e-01 -2.30452592e-01 -1.09513616e-01 5.57102020e+00] [ 2.29505687e-01 9.73073182e-01 -2.13476677e-02 1.07742265e+00] [ 1.11484389e-01 -4.49290743e-03 9.93756029e-01 -9.94852465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70134618399999 meters Centerline goodness : 0.871198 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.10 [[ 0.96662986 -0.23041342 -0.11196593 5.5756933 ] [ 0.22987781 0.97305583 -0.01784798 1.07798692] [ 0.11306152 -0.00848609 0.99355175 -0.09973579] [ 0. 0. 0. 1. ]] SLAMing on 122.76134618399999 meters Centerline goodness : 0.872271 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.10 [[ 0.9661977 -0.23180196 -0.11282661 5.57565985] [ 0.2313615 0.97271642 -0.01716464 1.07854552] [ 0.1137271 -0.0095193 0.99346642 -0.09702643] [ 0. 0. 0. 1. ]] SLAMing on 122.82134618399999 meters Centerline goodness : 0.873225 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.10 [[ 9.66078208e-01 -2.33612253e-01 -1.10082748e-01 5.57758103e+00] [ 2.32610177e-01 9.72320272e-01 -2.20407444e-02 1.07552174e+00] [ 1.12184676e-01 -4.31328481e-03 9.93678013e-01 -1.03575670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881346184 meters Centerline goodness : 0.872973 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.10 [[ 0.96635079 -0.23219715 -0.1106826 5.57671135] [ 0.23151893 0.97264248 -0.01912053 1.07451755] [ 0.11209433 -0.00714798 0.99367186 -0.10181722] [ 0. 0. 0. 1. ]] SLAMing on 122.941346184 meters Centerline goodness : 0.872952 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.10 [[ 0.96624879 -0.23230774 -0.1113391 5.57707439] [ 0.23165313 0.97261365 -0.01896117 1.07637684] [ 0.11269476 -0.00747084 0.99360157 -0.10094216] [ 0. 0. 0. 1. ]] SLAMing on 123.001346184 meters Centerline goodness : 0.872218 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.11 [[ 9.66218181e-01 -2.33488670e-01 -1.09112181e-01 5.57770906e+00] [ 2.32300769e-01 9.72356330e-01 -2.36541824e-02 1.07542172e+00] [ 1.11618904e-01 -2.49174250e-03 9.93747962e-01 -1.05490674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061346184 meters Centerline goodness : 0.873834 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.11 [[ 9.66389028e-01 -2.32642937e-01 -1.09405255e-01 5.57810576e+00] [ 2.31619785e-01 9.72554246e-01 -2.21475422e-02 1.07465748e+00] [ 1.11555015e-01 -3.93727993e-03 9.93750460e-01 -1.05529934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12134618399999 meters Centerline goodness : 0.873768 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.10 [[ 0.96660188 -0.23055947 -0.11190685 5.57766171] [ 0.23027248 0.97300016 -0.01566116 1.07437884] [ 0.11249621 -0.01063096 0.99359528 -0.10068318] [ 0. 0. 0. 1. ]] SLAMing on 123.18134618399999 meters Centerline goodness : 0.872066 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.07, Z:-0.11 [[ 9.66683150e-01 -2.32681992e-01 -1.06690101e-01 5.57455707e+00] [ 2.31311942e-01 9.72552825e-01 -2.52148207e-02 1.07263886e+00] [ 1.09628794e-01 -3.03952151e-04 9.93972553e-01 -1.06522528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241346184 meters Centerline goodness : 0.873925 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.11 [[ 9.66817974e-01 -2.31213772e-01 -1.08642519e-01 5.57831198e+00] [ 2.30168417e-01 9.72896659e-01 -2.22393929e-02 1.07479039e+00] [ 1.10839997e-01 -3.50463170e-03 9.93832085e-01 -1.07953243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301346184 meters Centerline goodness : 0.875297 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.11 [[ 0.96801754 -0.22481213 -0.11136227 5.57947031] [ 0.22463187 0.97433837 -0.01432713 1.07735942] [ 0.11172544 -0.0111466 0.9936766 -0.10715425] [ 0. 0. 0. 1. ]] SLAMing on 123.361346184 meters Centerline goodness : 0.876923 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.11 [[ 0.96878999 -0.22266975 -0.10892265 5.57841528] [ 0.22223794 0.97485714 -0.01624369 1.0762704 ] [ 0.109801 -0.00847002 0.9939175 -0.11170054] [ 0. 0. 0. 1. ]] SLAMing on 123.421346184 meters Centerline goodness : 0.876167 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.11 [[ 0.96874943 -0.22276038 -0.10909791 5.57634353] [ 0.22236747 0.97483309 -0.01591078 1.07565989] [ 0.10989654 -0.00884627 0.99390366 -0.10861831] [ 0. 0. 0. 1. ]] SLAMing on 123.48134618399999 meters Centerline goodness : 0.874238 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.11 [[ 0.9683735 -0.22343518 -0.11103823 5.58004957] [ 0.22332101 0.97464973 -0.01362495 1.07787224] [ 0.11126767 -0.01160313 0.99372273 -0.1092081 ] [ 0. 0. 0. 1. ]] SLAMing on 123.54134618399999 meters Centerline goodness : 0.874577 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.08, Z:-0.11 [[ 9.68391875e-01 -2.24791483e-01 -1.08101641e-01 5.57955568e+00] [ 2.24027437e-01 9.74391321e-01 -1.93199622e-02 1.07684976e+00] [ 1.09676264e-01 -5.50843926e-03 9.93952099e-01 -1.13813964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601346184 meters Centerline goodness : 0.876266 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.11 [[ 0.9684844 -0.22430296 -0.10828734 5.5774692 ] [ 0.22377182 0.97448996 -0.01719006 1.07423833] [ 0.1093807 -0.00758335 0.993971 -0.11074667] [ 0. 0. 0. 1. ]] SLAMing on 123.661346184 meters Centerline goodness : 0.877944 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.11 [[ 0.96841134 -0.22413915 -0.1092754 5.57762241] [ 0.22392138 0.97450053 -0.01441966 1.0731167 ] [ 0.10972095 -0.01050493 0.99390692 -0.10863635] [ 0. 0. 0. 1. ]] SLAMing on 123.721346184 meters Centerline goodness : 0.878393 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.11 [[ 0.96891524 -0.22253913 -0.10807214 5.5771711 ] [ 0.2223193 0.97487002 -0.01423281 1.0702457 ] [ 0.10852365 -0.01023614 0.99404117 -0.1108632 ] [ 0. 0. 0. 1. ]] SLAMing on 123.781346184 meters Centerline goodness : 0.881518 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.07, Z:-0.11 [[ 0.96959114 -0.22061356 -0.10593714 5.57516383] [ 0.22016085 0.97533077 -0.01609615 1.06897653] [ 0.10687478 -0.00771652 0.99424254 -0.11355552] [ 0. 0. 0. 1. ]] SLAMing on 123.84134618399999 meters Centerline goodness : 0.882856 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.07, Z:-0.11 [[ 0.97005701 -0.21919683 -0.10460468 5.57286581] [ 0.21866021 0.97565793 -0.01671295 1.06595921] [ 0.10572181 -0.00666036 0.99437344 -0.11353377] [ 0. 0. 0. 1. ]] SLAMing on 123.90134618399999 meters Centerline goodness : 0.882858 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.06, Z:-0.11 [[ 9.69746660e-01 -2.20927474e-01 -1.03838652e-01 5.57199021e+00] [ 2.20275199e-01 9.75274386e-01 -1.78523917e-02 1.06336818e+00] [ 1.05215262e-01 -5.56078262e-03 9.94433923e-01 -1.12901439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96134618399999 meters Centerline goodness : 0.886783 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.06, Z:-0.11 [[ 9.69474887e-01 -2.22585479e-01 -1.02830677e-01 5.57031607e+00] [ 2.21883727e-01 9.74900268e-01 -1.83597217e-02 1.05927677e+00] [ 1.04336262e-01 -5.01716481e-03 9.94529423e-01 -1.11568626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021346184 meters Centerline goodness : 0.886154 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.05, Z:-0.11 [[ 9.68347862e-01 -2.28373521e-01 -1.00737049e-01 5.56935449e+00] [ 2.27410147e-01 9.73570441e-01 -2.11002793e-02 1.05165540e+00] [ 1.02893358e-01 -2.47621678e-03 9.94689311e-01 -1.11185820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081346184 meters Centerline goodness : 0.887609 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.05, Z:-0.11 [[ 9.67130087e-01 -2.33530237e-01 -1.00613240e-01 5.57117304e+00] [ 2.32418541e-01 9.72348624e-01 -2.27985988e-02 1.04731511e+00] [ 1.03155307e-01 -1.33517157e-03 9.94664365e-01 -1.10246671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141346184 meters Centerline goodness : 0.891779 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.04, Z:-0.11 [[ 9.66496783e-01 -2.35641308e-01 -1.01770051e-01 5.57140751e+00] [ 2.34841637e-01 9.71829082e-01 -1.99409238e-02 1.04202797e+00] [ 1.03602001e-01 -4.62700681e-03 9.94608072e-01 -1.06045805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20134618399999 meters Centerline goodness : 0.892557 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.04, Z:-0.11 [[ 9.67043752e-01 -2.34560077e-01 -9.90351087e-02 5.56855025e+00] [ 2.33439023e-01 9.72101162e-01 -2.29249478e-02 1.03816049e+00] [ 1.01649422e-01 -9.49231525e-04 9.94819830e-01 -1.08233262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26134618399999 meters Centerline goodness : 0.890151 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.04, Z:-0.11 [[ 9.67214537e-01 -2.34787786e-01 -9.68025568e-02 5.56583474e+00] [ 2.33359252e-01 9.72043325e-01 -2.59852604e-02 1.03506790e+00] [ 1.00197301e-01 2.54354945e-03 9.94964337e-01 -1.08947203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32134618399999 meters Centerline goodness : 0.894715 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.03, Z:-0.11 [[ 9.67469787e-01 -2.32500608e-01 -9.97280177e-02 5.56758461e+00] [ 2.31769459e-01 9.72584823e-01 -1.90178681e-02 1.03191984e+00] [ 1.01415622e-01 -4.71469584e-03 9.94832972e-01 -1.05134408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381346184 meters Centerline goodness : 0.889868 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.03, Z:-0.11 [[ 9.67391790e-01 -2.32971194e-01 -9.93858507e-02 5.56896454e+00] [ 2.32226457e-01 9.72473016e-01 -1.91599896e-02 1.03008509e+00] [ 1.01113784e-01 -4.54480734e-03 9.94864487e-01 -1.06734185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441346184 meters Centerline goodness : 0.893707 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:1.03, Z:-0.11 [[ 9.65753681e-01 -2.40364349e-01 -9.76975326e-02 5.57092088e+00] [ 2.39033239e-01 9.70682155e-01 -2.52836894e-02 1.02564478e+00] [ 1.00910549e-01 1.06485845e-03 9.94894933e-01 -1.08200116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501346184 meters Centerline goodness : 0.894625 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.02, Z:-0.11 [[ 9.64584600e-01 -2.43997026e-01 -1.00209781e-01 5.57630902e+00] [ 2.42889913e-01 9.69774173e-01 -2.32925789e-02 1.02497225e+00] [ 1.02864177e-01 -1.87228202e-03 9.94693649e-01 -1.06838965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561346184 meters Centerline goodness : 0.896686 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.02, Z:-0.10 [[ 9.64224022e-01 -2.45419083e-01 -1.00207326e-01 5.57575736e+00] [ 2.44316352e-01 9.69415031e-01 -2.33241696e-02 1.02176746e+00] [ 1.02866684e-01 -1.99256362e-03 9.94693156e-01 -1.04921397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62134618399999 meters Centerline goodness : 0.893699 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.02, Z:-0.11 [[ 9.64218141e-01 -2.45181290e-01 -1.00843992e-01 5.57913463e+00] [ 2.44134931e-01 9.69473620e-01 -2.27823501e-02 1.02131013e+00] [ 1.03351396e-01 -2.65238588e-03 9.94641369e-01 -1.07133154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68134618399999 meters Centerline goodness : 0.899099 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:1.02, Z:-0.11 [[ 9.63897788e-01 -2.46379554e-01 -1.00985991e-01 5.58082068e+00] [ 2.45277704e-01 9.69170849e-01 -2.33819125e-02 1.02065502e+00] [ 1.03633504e-01 -2.23183827e-03 9.94613048e-01 -1.07943849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741346184 meters Centerline goodness : 0.901160 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:1.02, Z:-0.11 [[ 9.62897480e-01 -2.49440483e-01 -1.02994606e-01 5.58563883e+00] [ 2.48469537e-01 9.68381614e-01 -2.23592944e-02 1.02176556e+00] [ 1.05315396e-01 -4.06131384e-03 9.94430577e-01 -1.07814232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801346184 meters Centerline goodness : 0.897726 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:1.02, Z:-0.11 [[ 9.62468954e-01 -2.50724906e-01 -1.03877495e-01 5.58998099e+00] [ 2.49803168e-01 9.68046616e-01 -2.20028690e-02 1.02175349e+00] [ 1.06074925e-01 -4.77184895e-03 9.94346690e-01 -1.09924282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861346184 meters Centerline goodness : 0.901064 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:1.02, Z:-0.11 [[ 0.9616627 -0.25292681 -0.10598525 5.59430027] [ 0.2522045 0.96745918 -0.02038683 1.02218994] [ 0.10769278 -0.0071247 0.99415869 -0.10940026] [ 0. 0. 0. 1. ]] SLAMing on 124.921346184 meters Centerline goodness : 0.901912 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:1.02, Z:-0.11 [[ 0.9598682 -0.25830419 -0.1092336 5.60089391] [ 0.25778952 0.96601321 -0.01905363 1.02435578] [ 0.11044273 -0.00987031 0.99383348 -0.10789809] [ 0. 0. 0. 1. ]] SLAMing on 124.98134618399999 meters Centerline goodness : 0.903537 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:1.03, Z:-0.11 [[ 0.95869723 -0.26179461 -0.11118995 5.60565082] [ 0.26143453 0.96505211 -0.01806709 1.02650811] [ 0.11203396 -0.01174803 0.99363493 -0.10754226] [ 0. 0. 0. 1. ]] SLAMing on 125.04134618399999 meters Centerline goodness : 0.901053 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:1.03, Z:-0.11 [[ 0.95755718 -0.26532748 -0.11263024 5.61091882] [ 0.26497925 0.96407994 -0.01832646 1.02832223] [ 0.11344707 -0.01229604 0.99346795 -0.1087126 ] [ 0. 0. 0. 1. ]] SLAMing on 125.101346184 meters Centerline goodness : 0.900201 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:1.03, Z:-0.11 [[ 0.95717923 -0.26603595 -0.11416127 5.61542663] [ 0.26586641 0.96386014 -0.01699033 1.03049681] [ 0.11455554 -0.01408886 0.99331693 -0.1102865 ] [ 0. 0. 0. 1. ]] SLAMing on 125.161346184 meters Centerline goodness : 0.900979 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:1.04, Z:-0.11 [[ 0.95735454 -0.26364165 -0.11817518 5.62136895] [ 0.26421586 0.96440008 -0.01106643 1.03557508] [ 0.11688572 -0.02062926 0.9929311 -0.11071797] [ 0. 0. 0. 1. ]] SLAMing on 125.221346184 meters Centerline goodness : 0.897207 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:1.04, Z:-0.11 [[ 0.95750736 -0.26281581 -0.11877504 5.62544761] [ 0.26342086 0.96461987 -0.01086036 1.0389033 ] [ 0.11742704 -0.02088894 0.99286179 -0.1146722 ] [ 0. 0. 0. 1. ]] SLAMing on 125.281346184 meters Centerline goodness : 0.895674 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:1.04, Z:-0.12 [[ 0.95810642 -0.25977277 -0.12062423 5.62791771] [ 0.26079497 0.96536498 -0.0075126 1.04195655] [ 0.11839798 -0.02426032 0.99266981 -0.11561487] [ 0. 0. 0. 1. ]] SLAMing on 125.34134618399999 meters Centerline goodness : 0.896146 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:1.05, Z:-0.11 [[ 9.58440384e-01 -2.56828530e-01 -1.24222129e-01 5.63047963e+00] [ 2.58641503e-01 9.65972083e-01 -1.58367935e-03 1.04770364e+00] [ 1.20401842e-01 -3.06111359e-02 9.92253171e-01 -1.13711536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40134618399999 meters Centerline goodness : 0.892187 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:1.05, Z:-0.12 [[ 9.58598357e-01 -2.56295802e-01 -1.24103389e-01 5.63325118e+00] [ 2.58007423e-01 9.66140067e-01 -2.35409898e-03 1.05024776e+00] [ 1.20504602e-01 -2.97629601e-02 9.92266500e-01 -1.17475448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46134618399999 meters Centerline goodness : 0.889805 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:1.05, Z:-0.12 [[ 9.59692671e-01 -2.52250877e-01 -1.23933338e-01 5.63481202e+00] [ 2.54068144e-01 9.67185602e-01 -1.17870088e-03 1.05313022e+00] [ 1.20163869e-01 -3.03563227e-02 9.92289846e-01 -1.21974992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521346184 meters Centerline goodness : 0.888930 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.06, Z:-0.12 [[ 9.60140191e-01 -2.49535585e-01 -1.25947629e-01 5.63816726e+00] [ 2.51793188e-01 9.67778838e-01 2.07627076e-03 1.05758360e+00] [ 1.21371347e-01 -3.37062661e-02 9.92034719e-01 -1.23649763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581346184 meters Centerline goodness : 0.886895 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.13 [[ 9.62473298e-01 -2.47113220e-01 -1.12161523e-01 5.63588225e+00] [ 2.48736102e-01 9.68571169e-01 4.91399757e-04 1.06830078e+00] [ 1.08514986e-01 -2.83715793e-02 9.93689867e-01 -1.28673989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641346184 meters Centerline goodness : 0.883985 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.13 [[ 9.64428017e-01 -2.39182843e-01 -1.12561842e-01 5.63676934e+00] [ 2.41232463e-01 9.70455723e-01 4.75282294e-03 1.06934175e+00] [ 1.08099490e-01 -3.17373259e-02 9.93633354e-01 -1.32672996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70134618399999 meters Centerline goodness : 0.883777 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.13 [[ 9.64943264e-01 -2.37360845e-01 -1.12001461e-01 5.63655018e+00] [ 2.39312016e-01 9.70934000e-01 4.11425860e-03 1.07048688e+00] [ 1.07769462e-01 -3.07733215e-02 9.93699525e-01 -1.34335540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76134618399999 meters Centerline goodness : 0.880655 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.13 [[ 9.64366898e-01 -2.39150929e-01 -1.13151749e-01 5.63823309e+00] [ 2.41218116e-01 9.70459344e-01 4.74153112e-03 1.07351003e+00] [ 1.08675231e-01 -3.18668274e-02 9.93566404e-01 -1.33620925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82134618399999 meters Centerline goodness : 0.878607 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.14 [[ 9.63295996e-01 -2.43375907e-01 -1.13265139e-01 5.64140455e+00] [ 2.45201434e-01 9.69469518e-01 2.26050414e-03 1.07497562e+00] [ 1.09256948e-01 -2.99503091e-02 9.93562227e-01 -1.35347573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881346184 meters Centerline goodness : 0.881789 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.14 [[ 9.62819774e-01 -2.46262955e-01 -1.11052419e-01 5.63993235e+00] [ 2.47587507e-01 9.68863636e-01 -1.91868529e-03 1.07359447e+00] [ 1.08067152e-01 -2.56478434e-02 9.93812698e-01 -1.36275233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941346184 meters Centerline goodness : 0.882357 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.13 [[ 9.62515309e-01 -2.46602253e-01 -1.12923022e-01 5.64122866e+00] [ 2.48326983e-01 9.68675462e-01 1.24838234e-03 1.07294204e+00] [ 1.09077907e-01 -2.92434205e-02 9.93602955e-01 -1.33612069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001346184 meters Centerline goodness : 0.881684 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.13 [[ 9.62105860e-01 -2.46907342e-01 -1.15711187e-01 5.64562926e+00] [ 2.49082823e-01 9.68471710e-01 4.50491028e-03 1.07649226e+00] [ 1.10950715e-01 -3.31558697e-02 9.93272685e-01 -1.33234624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061346184 meters Centerline goodness : 0.881094 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.14 [[ 9.61522586e-01 -2.50800590e-01 -1.12131089e-01 5.64448333e+00] [ 2.51986373e-01 9.67723702e-01 -3.70179070e-03 1.07469199e+00] [ 1.09440324e-01 -2.46961511e-02 9.93686528e-01 -1.37254025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12134618399999 meters Centerline goodness : 0.883560 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.07, Z:-0.13 [[ 9.61491288e-01 -2.49716131e-01 -1.14788313e-01 5.64438031e+00] [ 2.51582493e-01 9.67834120e-01 1.83453122e-03 1.07457627e+00] [ 1.10637934e-01 -3.06426156e-02 9.93388281e-01 -1.32049904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18134618399999 meters Centerline goodness : 0.882417 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.07, Z:-0.13 [[ 9.61662106e-01 -2.48184343e-01 -1.16664157e-01 5.64774998e+00] [ 2.50515110e-01 9.68096933e-01 5.52343671e-03 1.07446410e+00] [ 1.11571382e-01 -3.45378139e-02 9.93156063e-01 -1.32239428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241346184 meters Centerline goodness : 0.883991 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.07, Z:-0.14 [[ 9.62148443e-01 -2.47445998e-01 -1.14196550e-01 5.64611471e+00] [ 2.49323987e-01 9.68417543e-01 2.23859390e-03 1.07320632e+00] [ 1.10036012e-01 -3.06257988e-02 9.93455654e-01 -1.35600374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301346184 meters Centerline goodness : 0.883961 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 9.62492842e-01 -2.45372328e-01 -1.15758148e-01 5.64914966e+00] [ 2.47558699e-01 9.68861598e-01 4.67915006e-03 1.07547274e+00] [ 1.11005490e-01 -3.31605849e-02 9.93266408e-01 -1.36960789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361346184 meters Centerline goodness : 0.882246 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 9.63191515e-01 -2.43408953e-01 -1.14079742e-01 5.64661721e+00] [ 2.45247082e-01 9.69458226e-01 2.14846968e-03 1.07669471e+00] [ 1.10072588e-01 -3.00471116e-02 9.93469273e-01 -1.38765290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421346184 meters Centerline goodness : 0.883578 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:1.08, Z:-0.14 [[ 9.63640717e-01 -2.42208890e-01 -1.12833599e-01 5.64441913e+00] [ 2.43898297e-01 9.69800064e-01 1.20649093e-03 1.07501188e+00] [ 1.09133808e-01 -2.86825463e-02 9.93613166e-01 -1.39136288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48134618399999 meters Centerline goodness : 0.882105 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 9.63822743e-01 -2.40840002e-01 -1.14200760e-01 5.64580009e+00] [ 2.42975139e-01 9.70019882e-01 4.95071030e-03 1.07519110e+00] [ 1.09584679e-01 -3.25195528e-02 9.93445357e-01 -1.38322720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54134618399999 meters Centerline goodness : 0.882193 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 0.96430271 -0.23794863 -0.11619268 5.64892339] [ 0.2406955 0.97054911 0.01000485 1.07543221] [ 0.11039006 -0.03761476 0.9931763 -0.13882941] [ 0. 0. 0. 1. ]] SLAMing on 126.601346184 meters Centerline goodness : 0.880202 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 9.64415043e-01 -2.38862266e-01 -1.13350967e-01 5.64745678e+00] [ 2.40911827e-01 9.70536394e-01 4.53871419e-03 1.07589212e+00] [ 1.08927111e-01 -3.16847927e-02 9.93544643e-01 -1.42715422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661346184 meters Centerline goodness : 0.880800 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 9.63471899e-01 -2.42303427e-01 -1.14065550e-01 5.64978553e+00] [ 2.44202813e-01 9.69720223e-01 2.77046626e-03 1.07878821e+00] [ 1.09940377e-01 -3.05243945e-02 9.93469363e-01 -1.42708676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721346184 meters Centerline goodness : 0.883816 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 9.62755701e-01 -2.44512219e-01 -1.15391657e-01 5.65143961e+00] [ 2.46555290e-01 9.69122204e-01 3.55562902e-03 1.08088316e+00] [ 1.10959222e-01 -3.18736256e-02 9.93313708e-01 -1.41353329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781346184 meters Centerline goodness : 0.882709 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.08, Z:-0.14 [[ 9.62484631e-01 -2.45751406e-01 -1.15019916e-01 5.65111682e+00] [ 2.47713210e-01 9.68829181e-01 2.86058376e-03 1.08072005e+00] [ 1.10731659e-01 -3.12452205e-02 9.93359067e-01 -1.41073368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84134618399999 meters Centerline goodness : 0.880226 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.08, Z:-0.14 [[ 9.62137367e-01 -2.46280411e-01 -1.16780336e-01 5.65513383e+00] [ 2.48540161e-01 9.68608842e-01 4.96994221e-03 1.08252416e+00] [ 1.11890466e-01 -3.38063705e-02 9.93145333e-01 -1.41990091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90134618399999 meters Centerline goodness : 0.879956 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.08, Z:-0.14 [[ 9.61443102e-01 -2.48707603e-01 -1.17352847e-01 5.65628664e+00] [ 2.50893656e-01 9.68006391e-01 4.00012383e-03 1.08391517e+00] [ 1.12603445e-01 -3.32889763e-02 9.93082226e-01 -1.41152628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96134618399999 meters Centerline goodness : 0.878816 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.09, Z:-0.14 [[ 9.60395857e-01 -2.51427776e-01 -1.20099424e-01 5.66154295e+00] [ 2.53852570e-01 9.67229562e-01 5.08394652e-03 1.08707114e+00] [ 1.14885468e-01 -3.53701486e-02 9.92748851e-01 -1.40803066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021346184 meters Centerline goodness : 0.879249 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.09, Z:-0.14 [[ 9.60182744e-01 -2.52275029e-01 -1.20026701e-01 5.66074410e+00] [ 2.54605213e-01 9.67035798e-01 4.23695872e-03 1.08892008e+00] [ 1.15001237e-01 -3.46276784e-02 9.92761623e-01 -1.39880653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081346184 meters Centerline goodness : 0.874434 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.09, Z:-0.14 [[ 0.96068059 -0.24978649 -0.12124159 5.66258991] [ 0.2524406 0.96758851 0.00679841 1.09114873] [ 0.11561382 -0.0371374 0.99259975 -0.1412834 ] [ 0. 0. 0. 1. ]] SLAMing on 127.141346184 meters Centerline goodness : 0.871244 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.10, Z:-0.14 [[ 0.96035026 -0.25051807 -0.12234409 5.66611923] [ 0.25316663 0.96740184 0.00635095 1.09533099] [ 0.11676487 -0.03707257 0.99246743 -0.14330892] [ 0. 0. 0. 1. ]] SLAMing on 127.20134618399999 meters Centerline goodness : 0.873636 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.10, Z:-0.14 [[ 0.96008043 -0.25036501 -0.1247515 5.67049418] [ 0.25335518 0.96733642 0.00845005 1.10021018] [ 0.11856108 -0.03971916 0.99215203 -0.1444527 ] [ 0. 0. 0. 1. ]] SLAMing on 127.26134618399999 meters Centerline goodness : 0.870407 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.10, Z:-0.15 [[ 0.96000927 -0.2504489 -0.12513014 5.6713831 ] [ 0.25333838 0.96734882 0.00747812 1.10408342] [ 0.1191716 -0.03887933 0.99211215 -0.14547754] [ 0. 0. 0. 1. ]] SLAMing on 127.32134618399999 meters Centerline goodness : 0.871547 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.11, Z:-0.14 [[ 0.96037331 -0.24915405 -0.12492141 5.66972237] [ 0.25207263 0.9676763 0.00787178 1.10591724] [ 0.1189222 -0.03904912 0.99213541 -0.14491863] [ 0. 0. 0. 1. ]] SLAMing on 127.381346184 meters Centerline goodness : 0.869757 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.11, Z:-0.14 [[ 0.96116729 -0.24579382 -0.12547047 5.66757746] [ 0.24894123 0.96846894 0.00980697 1.10953599] [ 0.11910376 -0.04066091 0.99204888 -0.14361072] [ 0. 0. 0. 1. ]] SLAMing on 127.441346184 meters Centerline goodness : 0.871010 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.11, Z:-0.14 [[ 0.96123757 -0.24498667 -0.1265064 5.66877962] [ 0.24827063 0.96863236 0.0106322 1.11335915] [ 0.11993345 -0.0416279 0.99190881 -0.14393016] [ 0. 0. 0. 1. ]] SLAMing on 127.501346184 meters Centerline goodness : 0.869558 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.12, Z:-0.15 [[ 0.96048465 -0.24781344 -0.12671911 5.67131085] [ 0.25080462 0.96800496 0.00796528 1.11793308] [ 0.12069083 -0.03943227 0.99190666 -0.14599193] [ 0. 0. 0. 1. ]] SLAMing on 127.561346184 meters Centerline goodness : 0.867786 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.12, Z:-0.15 [[ 9.59459040e-01 -2.52049596e-01 -1.26132280e-01 5.67241130e+00] [ 2.54606562e-01 9.67035115e-01 4.31100767e-03 1.11990066e+00] [ 1.20887756e-01 -3.62503414e-02 9.92004064e-01 -1.46512088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62134618399999 meters Centerline goodness : 0.869326 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.12, Z:-0.14 [[ 0.95862428 -0.25376344 -0.12901013 5.67526968] [ 0.2568236 0.96643008 0.00738479 1.12249664] [ 0.12280528 -0.04021208 0.99161578 -0.14357612] [ 0. 0. 0. 1. ]] SLAMing on 127.68134618399999 meters Centerline goodness : 0.868290 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.12, Z:-0.14 [[ 9.58241434e-01 -2.55448220e-01 -1.28528443e-01 5.67658155e+00] [ 2.58125634e-01 9.66101613e-01 4.33943496e-03 1.12310707e+00] [ 1.23063035e-01 -3.73347123e-02 9.91696329e-01 -1.44593794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741346184 meters Centerline goodness : 0.872959 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.12, Z:-0.14 [[ 0.95817772 -0.25500549 -0.12987554 5.67639247] [ 0.25800583 0.96612123 0.00653872 1.12404077] [ 0.12380811 -0.0397739 0.99150874 -0.14163995] [ 0. 0. 0. 1. ]] SLAMing on 127.801346184 meters Centerline goodness : 0.869638 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.13, Z:-0.14 [[ 0.9584074 -0.25419562 -0.12976846 5.67653463] [ 0.25725216 0.96631839 0.00707779 1.12544735] [ 0.1235985 -0.04016662 0.99151906 -0.14272671] [ 0. 0. 0. 1. ]] SLAMing on 127.861346184 meters Centerline goodness : 0.870404 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.12, Z:-0.14 [[ 0.95904869 -0.25243736 -0.12845619 5.67380597] [ 0.25535617 0.96682514 0.00650978 1.12475743] [ 0.12255136 -0.03904528 0.99169382 -0.14270276] [ 0. 0. 0. 1. ]] SLAMing on 127.921346184 meters Centerline goodness : 0.872819 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.14 [[ 0.95952071 -0.25062665 -0.12847684 5.67431334] [ 0.25344816 0.96733137 0.00583559 1.12809841] [ 0.12281712 -0.03816159 0.99169534 -0.14433217] [ 0. 0. 0. 1. ]] SLAMing on 127.98134618399999 meters Centerline goodness : 0.872989 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.15 [[ 9.60419512e-01 -2.48104434e-01 -1.26643399e-01 5.67124150e+00] [ 2.50580033e-01 9.68088626e-01 3.74967979e-03 1.12976488e+00] [ 1.21671722e-01 -3.53355727e-02 9.91941223e-01 -1.45866799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041346184 meters Centerline goodness : 0.876105 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.15 [[ 9.60458290e-01 -2.48224782e-01 -1.26112371e-01 5.66994522e+00] [ 2.50622943e-01 9.68079278e-01 3.26387666e-03 1.13014831e+00] [ 1.21276598e-01 -3.47414709e-02 9.92010593e-01 -1.45197065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101346184 meters Centerline goodness : 0.872536 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.14 [[ 9.60420450e-01 -2.48233344e-01 -1.26383409e-01 5.66931711e+00] [ 2.50803523e-01 9.68027125e-01 4.59096743e-03 1.13005293e+00] [ 1.21202937e-01 -3.61066634e-02 9.91970845e-01 -1.43777213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161346184 meters Centerline goodness : 0.875513 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.14 [[ 9.60241836e-01 -2.50119361e-01 -1.23999683e-01 5.66722182e+00] [ 2.52232841e-01 9.67665570e-01 1.39220199e-03 1.12643387e+00] [ 1.19642008e-01 -3.26136430e-02 9.92281281e-01 -1.44389395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221346184 meters Centerline goodness : 0.877380 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.14 [[ 9.60100695e-01 -2.50372590e-01 -1.24580182e-01 5.66720313e+00] [ 2.52527515e-01 9.67588458e-01 1.55895074e-03 1.12740506e+00] [ 1.20152027e-01 -3.29566733e-02 9.92208319e-01 -1.42820861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281346184 meters Centerline goodness : 0.873587 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 9.60913049e-01 -2.47753324e-01 -1.23549187e-01 5.66430735e+00] [ 2.49821159e-01 9.68291140e-01 1.28744392e-03 1.12800556e+00] [ 1.19312615e-01 -3.21023228e-02 9.92337614e-01 -1.42662309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341346184 meters Centerline goodness : 0.874991 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 9.61368248e-01 -2.46646616e-01 -1.22215129e-01 5.66380087e+00] [ 2.48460412e-01 9.68641964e-01 -4.11661322e-04 1.12744155e+00] [ 1.18484237e-01 -2.99698632e-02 9.92503548e-01 -1.44590765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401346184 meters Centerline goodness : 0.881184 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 9.61571865e-01 -2.46372529e-01 -1.21161567e-01 5.66079338e+00] [ 2.48102148e-01 9.68733516e-01 -8.35916344e-04 1.12638312e+00] [ 1.17579218e-01 -2.92566515e-02 9.92632448e-01 -1.42979528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461346184 meters Centerline goodness : 0.879207 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 9.61346906e-01 -2.46888602e-01 -1.21893992e-01 5.66335732e+00] [ 2.48645658e-01 9.68594168e-01 -8.21416183e-04 1.12593941e+00] [ 1.18268608e-01 -2.95187459e-02 9.92542785e-01 -1.43563823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52134618399998 meters Centerline goodness : 0.884357 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 9.60849413e-01 -2.48713277e-01 -1.22106968e-01 5.66243612e+00] [ 2.50418414e-01 9.68136657e-01 -1.42542800e-03 1.12518836e+00] [ 1.18570755e-01 -2.92082117e-02 9.92515923e-01 -1.40886050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58134618399998 meters Centerline goodness : 0.883885 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.12, Z:-0.14 [[ 9.60821677e-01 -2.48871347e-01 -1.22003101e-01 5.66317269e+00] [ 2.50545431e-01 9.68103403e-01 -1.66976925e-03 1.12428181e+00] [ 1.18527175e-01 -2.89629690e-02 9.92528315e-01 -1.41529042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64134618399999 meters Centerline goodness : 0.884024 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.12, Z:-0.14 [[ 9.60821227e-01 -2.49476198e-01 -1.20765042e-01 5.66312128e+00] [ 2.50738957e-01 9.68042483e-01 -4.87099842e-03 1.12463578e+00] [ 1.18120890e-01 -2.56003421e-02 9.92669168e-01 -1.43432759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701346184 meters Centerline goodness : 0.885802 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 9.60858744e-01 -2.49058856e-01 -1.21326664e-01 5.66334061e+00] [ 2.50279120e-01 9.68159097e-01 -5.32213091e-03 1.12678842e+00] [ 1.18789038e-01 -2.52517147e-02 9.92598366e-01 -1.42905111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761346184 meters Centerline goodness : 0.886362 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 9.61358374e-01 -2.46539715e-01 -1.22508147e-01 5.66437060e+00] [ 2.47983409e-01 9.68757732e-01 -3.56163175e-03 1.12933450e+00] [ 1.19558798e-01 -2.69559833e-02 9.92461117e-01 -1.43238587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821346184 meters Centerline goodness : 0.887384 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.15 [[ 9.61522814e-01 -2.45837095e-01 -1.22629523e-01 5.66551308e+00] [ 2.47238479e-01 9.68946832e-01 -3.89495235e-03 1.13184144e+00] [ 1.19779012e-01 -2.65736514e-02 9.92444875e-01 -1.45277683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881346184 meters Centerline goodness : 0.886459 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.15 [[ 0.96187914 -0.24495188 -0.12160221 5.6641842 ] [ 0.24604736 0.96923824 -0.00615864 1.1333891 ] [ 0.11937008 -0.02399603 0.99255981 -0.14624725] [ 0. 0. 0. 1. ]] SLAMing on 128.941346184 meters Centerline goodness : 0.887502 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 9.62716987e-01 -2.46267694e-01 -1.11929556e-01 5.66707283e+00] [ 2.47328247e-01 9.68921168e-01 -4.52853626e-03 1.14269282e+00] [ 1.09566149e-01 -2.33236421e-02 9.93705825e-01 -1.46885611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001346184 meters Centerline goodness : 0.889021 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 9.63467485e-01 -2.43270504e-01 -1.12026191e-01 5.66692933e+00] [ 2.44381267e-01 9.69671304e-01 -3.91892003e-03 1.14365353e+00] [ 1.09581941e-01 -2.36013506e-02 9.93697527e-01 -1.47518427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061346184 meters Centerline goodness : 0.889212 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 9.63758611e-01 -2.41620472e-01 -1.13087960e-01 5.66755970e+00] [ 2.42900296e-01 9.70047958e-01 -2.53071525e-03 1.14459114e+00] [ 1.10312218e-01 -2.50301005e-02 9.93581757e-01 -1.46841062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121346184 meters Centerline goodness : 0.887480 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 9.63582109e-01 -2.41806991e-01 -1.14187993e-01 5.66998968e+00] [ 2.43322798e-01 9.69945127e-01 -6.83244189e-04 1.14442078e+00] [ 1.10921301e-01 -2.71261801e-02 9.93458925e-01 -1.47000381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181346184 meters Centerline goodness : 0.885379 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 9.63396542e-01 -2.42496431e-01 -1.14291663e-01 5.66995416e+00] [ 2.44005915e-01 9.69773408e-01 -8.06144148e-04 1.14442631e+00] [ 1.11032503e-01 -2.71112054e-02 9.93446911e-01 -1.46390139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241346184 meters Centerline goodness : 0.891460 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 9.63474124e-01 -2.43091884e-01 -1.12356347e-01 5.66767781e+00] [ 2.44201638e-01 9.69716272e-01 -3.98906469e-03 1.14336745e+00] [ 1.09923487e-01 -2.35942433e-02 9.93659971e-01 -1.46963307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30134618399998 meters Centerline goodness : 0.894207 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 9.63204018e-01 -2.43897010e-01 -1.12925937e-01 5.66826374e+00] [ 2.45003231e-01 9.69513204e-01 -4.19102045e-03 1.14465469e+00] [ 1.10505364e-01 -2.36304117e-02 9.93594569e-01 -1.46050309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36134618399998 meters Centerline goodness : 0.889114 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.15 [[ 0.96340626 -0.24402675 -0.11090229 5.66702541] [ 0.24482442 0.96954511 -0.00657842 1.14197641] [ 0.10913008 -0.02081389 0.99380954 -0.14797801] [ 0. 0. 0. 1. ]] SLAMing on 129.421346184 meters Centerline goodness : 0.891209 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.14, Z:-0.14 [[ 9.63442199e-01 -2.43747541e-01 -1.11203714e-01 5.66516045e+00] [ 2.44726968e-01 9.69579314e-01 -4.96642515e-03 1.13887279e+00] [ 1.09031375e-01 -2.24296842e-02 9.93785223e-01 -1.44671066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481346184 meters Centerline goodness : 0.893163 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.14, Z:-0.14 [[ 9.63424147e-01 -2.43835337e-01 -1.11167626e-01 5.66430070e+00] [ 2.44882226e-01 9.69543081e-01 -4.34851945e-03 1.13700960e+00] [ 1.08842125e-01 -2.30335071e-02 9.93792156e-01 -1.43066570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541346184 meters Centerline goodness : 0.892377 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.15 [[ 0.96281494 -0.24708007 -0.10926494 5.66517119] [ 0.24757033 0.96882556 -0.00927164 1.13327523] [ 0.1081495 -0.01812388 0.99396942 -0.14546929] [ 0. 0. 0. 1. ]] SLAMing on 129.601346184 meters Centerline goodness : 0.893520 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.13, Z:-0.14 [[ 0.96221798 -0.24987312 -0.10816644 5.66395033] [ 0.25006597 0.96815446 -0.01199814 1.13159325] [ 0.10771983 -0.01550392 0.99406039 -0.14435427] [ 0. 0. 0. 1. ]] SLAMing on 129.661346184 meters Centerline goodness : 0.901435 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.13, Z:-0.14 [[ 0.96206195 -0.24980854 -0.10969273 5.66582243] [ 0.25042441 0.96810015 -0.00834965 1.12736765] [ 0.10827936 -0.01943685 0.99393047 -0.14244855] [ 0. 0. 0. 1. ]] SLAMing on 129.721346184 meters Centerline goodness : 0.899477 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.12, Z:-0.14 [[ 0.96203647 -0.25078576 -0.10766767 5.66191782] [ 0.25118985 0.96788603 -0.01001446 1.12105963] [ 0.10672152 -0.01741075 0.9941365 -0.14010056] [ 0. 0. 0. 1. ]] SLAMing on 129.781346184 meters Centerline goodness : 0.900264 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.12, Z:-0.14 [[ 0.96162799 -0.25266843 -0.1069125 5.66158969] [ 0.25291632 0.96742029 -0.01145941 1.1179929 ] [ 0.10632475 -0.01602022 0.99420239 -0.13934015] [ 0. 0. 0. 1. ]] SLAMing on 129.841346184 meters Centerline goodness : 0.900690 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.11, Z:-0.14 [[ 0.96161503 -0.25300689 -0.10622642 5.66068569] [ 0.25322037 0.96733789 -0.01169806 1.11431828] [ 0.10571653 -0.01564966 0.99427315 -0.13865773] [ 0. 0. 0. 1. ]] SLAMing on 129.901346184 meters Centerline goodness : 0.900335 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.11, Z:-0.14 [[ 0.96178779 -0.25343245 -0.10361579 5.6575623 ] [ 0.25328641 0.96727835 -0.01478485 1.11092729] [ 0.10397227 -0.01202458 0.9945075 -0.13909088] [ 0. 0. 0. 1. ]] SLAMing on 129.961346184 meters Centerline goodness : 0.906189 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:1.11, Z:-0.14 [[ 0.96213894 -0.25227672 -0.10317519 5.65486273] [ 0.25230447 0.9675606 -0.0129979 1.10599496] [ 0.10310731 -0.01352578 0.99457827 -0.13626164] [ 0. 0. 0. 1. ]] SLAMing on 130.02134618399998 meters Centerline goodness : 0.903193 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.10, Z:-0.14 [[ 0.96144398 -0.25493649 -0.1031158 5.65607485] [ 0.25493331 0.96686533 -0.01343301 1.10113289] [ 0.10312365 -0.01337256 0.99457865 -0.1353307 ] [ 0. 0. 0. 1. ]] SLAMing on 130.08134618399998 meters Centerline goodness : 0.906449 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.10, Z:-0.14 [[ 0.96065421 -0.25748751 -0.10413291 5.66002305] [ 0.2575984 0.96616972 -0.01261513 1.0980798 ] [ 0.1038583 -0.0147057 0.99448338 -0.13563802] [ 0. 0. 0. 1. ]] SLAMing on 130.14134618399999 meters Centerline goodness : 0.898962 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:1.09, Z:-0.14 [[ 0.95981629 -0.26077455 -0.10367891 5.66282873] [ 0.26072542 0.96530758 -0.01426656 1.09377095] [ 0.1038024 -0.01333845 0.9945085 -0.13728295] [ 0. 0. 0. 1. ]] SLAMing on 130.201346184 meters Centerline goodness : 0.902359 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.09, Z:-0.14 [[ 0.95987026 -0.26024124 -0.10451596 5.66696158] [ 0.2602851 0.96543797 -0.01346064 1.09172671] [ 0.1044067 -0.01428348 0.99443211 -0.13990905] [ 0. 0. 0. 1. ]] SLAMing on 130.261346184 meters Centerline goodness : 0.898899 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.09, Z:-0.14 [[ 0.95981115 -0.25975419 -0.10625589 5.66964411] [ 0.26004452 0.96552983 -0.01135742 1.09042255] [ 0.10554337 -0.01673028 0.99427395 -0.13918523] [ 0. 0. 0. 1. ]] SLAMing on 130.321346184 meters Centerline goodness : 0.901078 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.09, Z:-0.14 [[ 0.95982715 -0.25941768 -0.10693129 5.67140995] [ 0.25978362 0.96560715 -0.01073768 1.08998568] [ 0.10603917 -0.01747268 0.99420843 -0.13947889] [ 0. 0. 0. 1. ]] SLAMing on 130.381346184 meters Centerline goodness : 0.899785 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:1.09, Z:-0.14 [[ 0.96010811 -0.25785773 -0.10817488 5.67393164] [ 0.25847794 0.96597984 -0.00849184 1.08815597] [ 0.10668444 -0.01980773 0.99409561 -0.13998679] [ 0. 0. 0. 1. ]] SLAMing on 130.441346184 meters Centerline goodness : 0.897330 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.09, Z:-0.14 [[ 0.95985234 -0.25844008 -0.1090514 5.67792732] [ 0.25914396 0.96580628 -0.00791478 1.08716381] [ 0.10736803 -0.02066299 0.9940046 -0.14189325] [ 0. 0. 0. 1. ]] SLAMing on 130.501346184 meters Centerline goodness : 0.896334 with order 1 Centerline is valid? [False, False] Translation: X:5.68, Y:1.09, Z:-0.14 [[ 0.95846508 -0.26286237 -0.110671 5.68327597] [ 0.26359819 0.96459777 -0.00819356 1.0857967 ] [ 0.10890678 -0.02131944 0.99382332 -0.14211686] [ 0. 0. 0. 1. ]] SLAMing on 130.561346184 meters Centerline goodness : 0.892034 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:1.09, Z:-0.14 [[ 0.95740859 -0.26574001 -0.1129205 5.68996603] [ 0.26662372 0.96377166 -0.00748183 1.08508221] [ 0.1108178 -0.02294412 0.99357586 -0.14341263] [ 0. 0. 0. 1. ]] SLAMing on 130.621346184 meters Centerline goodness : 0.894761 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.08, Z:-0.14 [[ 0.95668984 -0.2674037 -0.11506441 5.69533667] [ 0.26849186 0.96326183 -0.00622558 1.08468047] [ 0.1125019 -0.02493791 0.99333852 -0.14398275] [ 0. 0. 0. 1. ]] SLAMing on 130.681346184 meters Centerline goodness : 0.889384 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.08, Z:-0.15 [[ 9.56316249e-01 -2.68423108e-01 -1.15794074e-01 5.69956594e+00] [ 2.69615237e-01 9.62952212e-01 -5.53736243e-03 1.08175943e+00] [ 1.12990516e-01 -2.59243770e-02 9.93257806e-01 -1.46099918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741346184 meters Centerline goodness : 0.887159 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.08, Z:-0.15 [[ 9.56314538e-01 -2.68107641e-01 -1.16536673e-01 5.70309083e+00] [ 2.69448343e-01 9.63004838e-01 -4.38992845e-03 1.07872449e+00] [ 1.13402354e-01 -2.72024612e-02 9.93176687e-01 -1.47598353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80134618399998 meters Centerline goodness : 0.889850 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:1.08, Z:-0.14 [[ 9.56630656e-01 -2.65302124e-01 -1.20302003e-01 5.70589004e+00] [ 2.67504062e-01 9.63554126e-01 2.24128166e-03 1.07882437e+00] [ 1.15322875e-01 -3.43253534e-02 9.92734811e-01 -1.44278557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86134618399998 meters Centerline goodness : 0.891080 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.08, Z:-0.15 [[ 9.56429357e-01 -2.67300538e-01 -1.17444915e-01 5.70300372e+00] [ 2.68830942e-01 9.63182988e-01 -2.90796265e-03 1.07890946e+00] [ 1.13898244e-01 -2.87915663e-02 9.93075141e-01 -1.45891092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921346184 meters Centerline goodness : 0.889508 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.08, Z:-0.15 [[ 0.95606699 -0.27000782 -0.11415641 5.70238278] [ 0.27070805 0.96261343 -0.00961951 1.07689914] [ 0.11248584 -0.02170616 0.99341622 -0.14974807] [ 0. 0. 0. 1. ]] SLAMing on 130.981346184 meters Centerline goodness : 0.892986 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.08, Z:-0.14 [[ 9.56546880e-01 -2.67097010e-01 -1.16949790e-01 5.70191370e+00] [ 2.68615881e-01 9.63243100e-01 -2.87019399e-03 1.07554135e+00] [ 1.13417698e-01 -2.86690957e-02 9.93133681e-01 -1.44432202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041346184 meters Centerline goodness : 0.894965 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.07, Z:-0.14 [[ 9.56787491e-01 -2.66487315e-01 -1.16370993e-01 5.69999946e+00] [ 2.67946771e-01 9.63428376e-01 -3.20803570e-03 1.07465993e+00] [ 1.12970018e-01 -2.81118235e-02 9.93200635e-01 -1.43546007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101346184 meters Centerline goodness : 0.894985 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.07, Z:-0.15 [[ 0.95649197 -0.26825269 -0.11473277 5.70064828] [ 0.26931669 0.96303029 -0.00641685 1.07198058] [ 0.11221248 -0.02476178 0.99337567 -0.14595219] [ 0. 0. 0. 1. ]] SLAMing on 131.161346184 meters Centerline goodness : 0.897972 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.07, Z:-0.15 [[ 0.95552929 -0.27175448 -0.11451323 5.70249162] [ 0.2726084 0.96208806 -0.0084395 1.07133946] [ 0.11246528 -0.02315308 0.99338587 -0.1461966 ] [ 0. 0. 0. 1. ]] SLAMing on 131.221346184 meters Centerline goodness : 0.896015 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.07, Z:-0.14 [[ 0.95446369 -0.27551536 -0.1144131 5.70323325] [ 0.27615107 0.9610561 -0.01057176 1.07020807] [ 0.11287009 -0.02150494 0.99337701 -0.14491112] [ 0. 0. 0. 1. ]] SLAMing on 131.281346184 meters Centerline goodness : 0.900851 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.07, Z:-0.14 [[ 0.95498836 -0.27387178 -0.11398015 5.70231813] [ 0.27465295 0.96150035 -0.00910193 1.0663758 ] [ 0.11208471 -0.02261275 0.99344133 -0.14462676] [ 0. 0. 0. 1. ]] SLAMing on 131.341346184 meters Centerline goodness : 0.898914 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.06, Z:-0.14 [[ 0.95597542 -0.27031775 -0.11418977 5.70071272] [ 0.27140508 0.96244516 -0.00621269 1.06402806] [ 0.11158079 -0.02505251 0.99343953 -0.14350091] [ 0. 0. 0. 1. ]] SLAMing on 131.401346184 meters Centerline goodness : 0.901378 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.06, Z:-0.14 [[ 9.56998710e-01 -2.66340419e-01 -1.14961951e-01 5.70022747e+00] [ 2.67798518e-01 9.63470703e-01 -2.85619592e-03 1.06397683e+00] [ 1.11523192e-01 -2.80532643e-02 9.93365790e-01 -1.43373859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461346184 meters Centerline goodness : 0.897097 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:1.06, Z:-0.15 [[ 0.95646222 -0.26861761 -0.11412539 5.70293085] [ 0.269668 0.96293192 -0.00642465 1.06397776] [ 0.11162076 -0.02463103 0.99344558 -0.14675545] [ 0. 0. 0. 1. ]] SLAMing on 131.52134618399998 meters Centerline goodness : 0.896638 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:1.06, Z:-0.15 [[ 0.95492924 -0.27385788 -0.11450768 5.70660483] [ 0.27476042 0.9614783 -0.00813609 1.06125569] [ 0.11232478 -0.02369279 0.99338905 -0.14663552] [ 0. 0. 0. 1. ]] SLAMing on 131.58134618399998 meters Centerline goodness : 0.897399 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:1.06, Z:-0.14 [[ 9.54151453e-01 -2.74858513e-01 -1.18523429e-01 5.71207040e+00] [ 2.76528420e-01 9.61002631e-01 -2.44475250e-03 1.06031140e+00] [ 1.14573288e-01 -3.04424325e-02 9.92948246e-01 -1.43728164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64134618399999 meters Centerline goodness : 0.897184 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:1.06, Z:-0.15 [[ 9.54187250e-01 -2.75138893e-01 -1.17580955e-01 5.71402951e+00] [ 2.76617506e-01 9.60972278e-01 -3.87777032e-03 1.05740430e+00] [ 1.14058963e-01 -2.88248314e-02 9.93055730e-01 -1.46803150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701346184 meters Centerline goodness : 0.898101 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:1.05, Z:-0.15 [[ 9.53491347e-01 -2.77144478e-01 -1.18512403e-01 5.71783528e+00] [ 2.78817292e-01 9.60340757e-01 -2.55890985e-03 1.05327482e+00] [ 1.14521479e-01 -3.06034089e-02 9.92949275e-01 -1.46963598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761346184 meters Centerline goodness : 0.895250 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:1.05, Z:-0.14 [[ 9.53118940e-01 -2.76707296e-01 -1.22463700e-01 5.72216667e+00] [ 2.79267299e-01 9.60205431e-01 3.91220800e-03 1.05303182e+00] [ 1.16507773e-01 -3.79289062e-02 9.92465282e-01 -1.43613178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821346184 meters Centerline goodness : 0.895192 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:1.05, Z:-0.15 [[ 9.52715724e-01 -2.78039287e-01 -1.22584271e-01 5.72638402e+00] [ 2.80525059e-01 9.59841511e-01 3.15688729e-03 1.05154795e+00] [ 1.16783733e-01 -3.73955760e-02 9.92453087e-01 -1.46650825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881346184 meters Centerline goodness : 0.896390 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:1.05, Z:-0.15 [[ 9.50860184e-01 -2.78345819e-01 -1.35604258e-01 5.72950845e+00] [ 2.81390104e-01 9.59587320e-01 3.43298929e-03 1.04567580e+00] [ 1.29168569e-01 -4.14219892e-02 9.90757135e-01 -1.46864141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941346184 meters Centerline goodness : 0.894192 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:1.05, Z:-0.14 [[ 0.9498832 -0.2798247 -0.13935582 5.73263729] [ 0.28369799 0.95887741 0.00834098 1.04830484] [ 0.13129113 -0.04745792 0.99020724 -0.14236357] [ 0. 0. 0. 1. ]] SLAMing on 132.001346184 meters Centerline goodness : 0.896713 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:1.05, Z:-0.14 [[ 0.94953924 -0.28077038 -0.13979709 5.73522991] [ 0.28461428 0.95860963 0.0078917 1.04962584] [ 0.13179508 -0.04728173 0.99014872 -0.14390682] [ 0. 0. 0. 1. ]] SLAMing on 132.061346184 meters Centerline goodness : 0.892702 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:1.05, Z:-0.15 [[ 9.48538494e-01 -2.84333386e-01 -1.39388847e-01 5.73861126e+00] [ 2.87719350e-01 9.57704919e-01 4.34321874e-03 1.05051954e+00] [ 1.32258463e-01 -4.42245787e-02 9.90228199e-01 -1.46599822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121346184 meters Centerline goodness : 0.891906 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:1.05, Z:-0.15 [[ 0.94838171 -0.28287597 -0.14336425 5.74373848] [ 0.28719371 0.95782097 0.00993774 1.05314024] [ 0.13450614 -0.05059808 0.9896201 -0.1451696 ] [ 0. 0. 0. 1. ]] SLAMing on 132.181346184 meters Centerline goodness : 0.890052 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:1.06, Z:-0.15 [[ 0.94838458 -0.28138388 -0.14625254 5.74865314] [ 0.28623354 0.95807431 0.0128053 1.05754482] [ 0.1365176 -0.05400673 0.9891644 -0.14647708] [ 0. 0. 0. 1. ]] SLAMing on 132.241346184 meters Centerline goodness : 0.890226 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:1.06, Z:-0.15 [[ 0.94846592 -0.28124872 -0.14598479 5.74925149] [ 0.28597996 0.95815966 0.01206336 1.05865624] [ 0.13648393 -0.0531904 0.98921328 -0.14797891] [ 0. 0. 0. 1. ]] SLAMing on 132.30134618399998 meters Centerline goodness : 0.892477 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:1.07, Z:-0.16 [[ 0.94894179 -0.2825015 -0.14036519 5.75775029] [ 0.28805489 0.95739373 0.02053331 1.06616599] [ 0.12858406 -0.05991779 0.98988686 -0.15567222] [ 0. 0. 0. 1. ]] SLAMing on 132.36134618399998 meters Centerline goodness : 0.888782 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:1.07, Z:-0.16 [[ 0.94894474 -0.28130537 -0.14272763 5.76274268] [ 0.28731893 0.95755868 0.0230046 1.06988098] [ 0.13019877 -0.06283845 0.98949462 -0.15767409] [ 0. 0. 0. 1. ]] SLAMing on 132.421346184 meters Centerline goodness : 0.885891 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:1.07, Z:-0.16 [[ 0.94922243 -0.27929385 -0.14481616 5.7667774 ] [ 0.28577889 0.95795166 0.02567202 1.07334602] [ 0.13155684 -0.06575385 0.98912549 -0.15973316] [ 0. 0. 0. 1. ]] SLAMing on 132.481346184 meters Centerline goodness : 0.882109 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:1.08, Z:-0.16 [[ 0.94926793 -0.27863285 -0.14578799 5.7686364 ] [ 0.28524409 0.9580975 0.02617246 1.07676351] [ 0.1323866 -0.06642984 0.9889696 -0.16085774] [ 0. 0. 0. 1. ]] SLAMing on 132.541346184 meters Centerline goodness : 0.883287 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:1.08, Z:-0.16 [[ 0.94942285 -0.2771471 -0.14759996 5.76918186] [ 0.28411839 0.95837956 0.02802426 1.0822522 ] [ 0.13368994 -0.06854274 0.98865004 -0.1601117 ] [ 0. 0. 0. 1. ]] SLAMing on 132.601346184 meters Centerline goodness : 0.885502 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:1.09, Z:-0.16 [[ 0.94940722 -0.27641507 -0.14906592 5.77280952] [ 0.28357627 0.95851974 0.02871253 1.08635649] [ 0.13494606 -0.06953144 0.98841031 -0.16256556] [ 0. 0. 0. 1. ]] SLAMing on 132.661346184 meters Centerline goodness : 0.881760 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.09, Z:-0.17 [[ 0.94911881 -0.28192828 -0.14032081 5.78031031] [ 0.28895356 0.95680567 0.03207422 1.09360122] [ 0.12521711 -0.07098844 0.98958644 -0.17030173] [ 0. 0. 0. 1. ]] SLAMing on 132.721346184 meters Centerline goodness : 0.882606 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.10, Z:-0.17 [[ 0.94947622 -0.27976184 -0.14222594 5.78108985] [ 0.28719906 0.95725486 0.03434884 1.09968702] [ 0.12653698 -0.07346056 0.98923806 -0.17016644] [ 0. 0. 0. 1. ]] SLAMing on 132.781346184 meters Centerline goodness : 0.887016 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.10, Z:-0.17 [[ 0.95023874 -0.27699015 -0.14255805 5.78082743] [ 0.28448712 0.95804809 0.03479849 1.10309862] [ 0.12693863 -0.0736228 0.98917454 -0.17146826] [ 0. 0. 0. 1. ]] SLAMing on 132.841346184 meters Centerline goodness : 0.882009 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.11, Z:-0.17 [[ 0.9506957 -0.27492895 -0.14349825 5.7802539 ] [ 0.28255048 0.95860093 0.03534798 1.10867797] [ 0.12783938 -0.07415067 0.9890191 -0.17141348] [ 0. 0. 0. 1. ]] SLAMing on 132.901346184 meters Centerline goodness : 0.889910 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.11, Z:-0.17 [[ 0.95000169 -0.27533783 -0.14726121 5.78564762] [ 0.28378233 0.95808007 0.03937227 1.11404523] [ 0.13024736 -0.07919385 0.9883137 -0.17081417] [ 0. 0. 0. 1. ]] SLAMing on 132.961346184 meters Centerline goodness : 0.882384 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.12, Z:-0.17 [[ 0.94895784 -0.27976706 -0.14563448 5.78468751] [ 0.2872381 0.95730256 0.03265106 1.11971452] [ 0.13028156 -0.07281625 0.98879953 -0.17239344] [ 0. 0. 0. 1. ]] SLAMing on 133.02134618399998 meters Centerline goodness : 0.884065 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.13, Z:-0.17 [[ 0.94967874 -0.28297724 -0.13429135 5.78628889] [ 0.28950976 0.95665685 0.03149239 1.13104209] [ 0.11955911 -0.06878631 0.99044135 -0.17448828] [ 0. 0. 0. 1. ]] SLAMing on 133.08134618399998 meters Centerline goodness : 0.886990 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.14, Z:-0.17 [[ 0.95035192 -0.2798204 -0.13613141 5.78498282] [ 0.28678065 0.95738822 0.0341272 1.13608148] [ 0.12078112 -0.0714727 0.99010281 -0.17224124] [ 0. 0. 0. 1. ]] SLAMing on 133.14134618399999 meters Centerline goodness : 0.879393 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.14, Z:-0.17 [[ 0.95115921 -0.27626706 -0.13774131 5.78673848] [ 0.28348068 0.95832267 0.03544518 1.14196678] [ 0.12220828 -0.07276101 0.98983381 -0.17420269] [ 0. 0. 0. 1. ]] SLAMing on 133.201346184 meters Centerline goodness : 0.882134 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.15, Z:-0.18 [[ 0.95130992 -0.27480778 -0.13960699 5.78930959] [ 0.28236945 0.95858387 0.0372084 1.14611419] [ 0.12359985 -0.07481747 0.98950767 -0.17508211] [ 0. 0. 0. 1. ]] SLAMing on 133.261346184 meters Centerline goodness : 0.875655 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.15, Z:-0.18 [[ 0.95175981 -0.27214847 -0.14173383 5.79094842] [ 0.28029647 0.95904952 0.04071753 1.14988403] [ 0.12484855 -0.0784808 0.98906704 -0.17510658] [ 0. 0. 0. 1. ]] SLAMing on 133.321346184 meters Centerline goodness : 0.870468 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.16, Z:-0.18 [[ 0.95188497 -0.27664902 -0.13183443 5.79661299] [ 0.2839209 0.95802913 0.0396119 1.16091957] [ 0.11534263 -0.07513652 0.99047998 -0.17801699] [ 0. 0. 0. 1. ]] SLAMing on 133.381346184 meters Centerline goodness : 0.869828 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.16, Z:-0.18 [[ 0.95188344 -0.2765584 -0.13203548 5.79659732] [ 0.28367382 0.95816177 0.0381468 1.1641061 ] [ 0.11596154 -0.07376632 0.9905107 -0.17821473] [ 0. 0. 0. 1. ]] SLAMing on 133.441346184 meters Centerline goodness : 0.868351 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.17, Z:-0.18 [[ 0.95263502 -0.27197002 -0.13608393 5.79948961] [ 0.28000227 0.95901422 0.04347942 1.17089459] [ 0.11868132 -0.07952383 0.98974275 -0.17747902] [ 0. 0. 0. 1. ]] SLAMing on 133.501346184 meters Centerline goodness : 0.864612 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.17, Z:-0.18 [[ 0.95322269 -0.26951407 -0.13685277 5.79861431] [ 0.27775362 0.95960624 0.04481949 1.17426284] [ 0.11924529 -0.0807343 0.98957695 -0.17689155] [ 0. 0. 0. 1. ]] SLAMing on 133.561346184 meters Centerline goodness : 0.865900 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.18, Z:-0.18 [[ 0.95391689 -0.26774208 -0.13548709 5.79598412] [ 0.27561053 0.96031837 0.04274874 1.17642469] [ 0.1186651 -0.07812041 0.98985645 -0.17791802] [ 0. 0. 0. 1. ]] SLAMing on 133.621346184 meters Centerline goodness : 0.863878 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.18, Z:-0.18 [[ 0.95382896 -0.26779214 -0.13600615 5.79445509] [ 0.27568587 0.96030278 0.04261299 1.17885847] [ 0.11919567 -0.07814048 0.98979112 -0.17564592] [ 0. 0. 0. 1. ]] SLAMing on 133.681346184 meters Centerline goodness : 0.862759 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.18, Z:-0.17 [[ 0.95329879 -0.26858726 -0.13813868 5.79493319] [ 0.27691506 0.95985287 0.04472711 1.18179571] [ 0.12057968 -0.08089099 0.98940244 -0.17230629] [ 0. 0. 0. 1. ]] SLAMing on 133.741346184 meters Centerline goodness : 0.860232 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.18, Z:-0.17 [[ 0.95344105 -0.26830549 -0.1377038 5.7966253 ] [ 0.27635243 0.96010599 0.04272969 1.18270032] [ 0.12074563 -0.07879502 0.98955133 -0.17491929] [ 0. 0. 0. 1. ]] SLAMing on 133.80134618399998 meters Centerline goodness : 0.860787 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.18, Z:-0.18 [[ 0.95411547 -0.26708032 -0.13539489 5.79446204] [ 0.27459863 0.96072933 0.03993429 1.18295023] [ 0.11941218 -0.07528117 0.9899866 -0.17732763] [ 0. 0. 0. 1. ]] SLAMing on 133.86134618399998 meters Centerline goodness : 0.861287 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.17 [[ 0.95538461 -0.26165609 -0.13702678 5.79233537] [ 0.2698434 0.96186576 0.044708 1.18552391] [ 0.12010325 -0.0796891 0.98955791 -0.17483157] [ 0. 0. 0. 1. ]] SLAMing on 133.921346184 meters Centerline goodness : 0.862598 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.18 [[ 0.9559025 -0.26016711 -0.13624788 5.79041468] [ 0.26823342 0.96233434 0.04431079 1.18687527] [ 0.1195878 -0.07890303 0.98968332 -0.17508597] [ 0. 0. 0. 1. ]] SLAMing on 133.981346184 meters Centerline goodness : 0.863344 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.18 [[ 0.95554617 -0.26256353 -0.1341339 5.78837859] [ 0.26992647 0.96206228 0.03969722 1.18597701] [ 0.11862212 -0.07413881 0.99016778 -0.17548745] [ 0. 0. 0. 1. ]] SLAMing on 134.041346184 meters Centerline goodness : 0.865212 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.17 [[ 0.95421926 -0.26667592 -0.13546054 5.78854045] [ 0.27414849 0.96087429 0.03953725 1.18621512] [ 0.11961691 -0.0748635 0.98999356 -0.17105902] [ 0. 0. 0. 1. ]] SLAMing on 134.101346184 meters Centerline goodness : 0.866385 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.17 [[ 0.95361108 -0.26859354 -0.13595369 5.79011174] [ 0.27605984 0.96034627 0.03906411 1.18604146] [ 0.12007026 -0.07478332 0.98994474 -0.17043709] [ 0. 0. 0. 1. ]] SLAMing on 134.161346184 meters Centerline goodness : 0.866297 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.18, Z:-0.17 [[ 0.95210974 -0.27485805 -0.13394065 5.78717649] [ 0.28163414 0.95891186 0.03420895 1.18248158] [ 0.11903467 -0.07029293 0.99039873 -0.16690154] [ 0. 0. 0. 1. ]] SLAMing on 134.221346184 meters Centerline goodness : 0.865332 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.18, Z:-0.17 [[ 0.95129291 -0.27747965 -0.13433855 5.78800044] [ 0.28417863 0.95819717 0.03317662 1.18347258] [ 0.11951698 -0.06973683 0.99037996 -0.16569664] [ 0. 0. 0. 1. ]] SLAMing on 134.281346184 meters Centerline goodness : 0.865258 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.18, Z:-0.17 [[ 0.95153649 -0.27663749 -0.13435027 5.78711265] [ 0.28323753 0.95850229 0.03240166 1.18466684] [ 0.11981153 -0.0688844 0.99040403 -0.1650395 ] [ 0. 0. 0. 1. ]] SLAMing on 134.341346184 meters Centerline goodness : 0.863923 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.17 [[ 0.95186039 -0.27576838 -0.13384169 5.78629836] [ 0.28224836 0.95881571 0.03175371 1.18535934] [ 0.11957284 -0.0680017 0.99049387 -0.16530308] [ 0. 0. 0. 1. ]] SLAMing on 134.401346184 meters Centerline goodness : 0.863533 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.19, Z:-0.16 [[ 0.95207933 -0.27500203 -0.13386122 5.78455642] [ 0.28151638 0.95902023 0.03207362 1.18574687] [ 0.11955531 -0.06822075 0.99048092 -0.16364745] [ 0. 0. 0. 1. ]] SLAMing on 134.461346184 meters Centerline goodness : 0.864313 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.9517489 -0.27556242 -0.13505328 5.78561098] [ 0.28217625 0.95882288 0.03217536 1.18731027] [ 0.12062585 -0.06873169 0.99031579 -0.16219268] [ 0. 0. 0. 1. ]] SLAMing on 134.52134618399998 meters Centerline goodness : 0.861034 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.19, Z:-0.16 [[ 0.95179192 -0.27629284 -0.13324568 5.78276032] [ 0.28241108 0.95885318 0.02906147 1.18722532] [ 0.11973357 -0.06529052 0.99065686 -0.16175536] [ 0. 0. 0. 1. ]] SLAMing on 134.58134618399998 meters Centerline goodness : 0.856706 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.19, Z:-0.16 [[ 0.95214078 -0.27417408 -0.13511667 5.7843337 ] [ 0.28078799 0.9592287 0.0322243 1.18771884] [ 0.12077272 -0.06862121 0.99030555 -0.16073525] [ 0. 0. 0. 1. ]] SLAMing on 134.64134618399999 meters Centerline goodness : 0.855357 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.19, Z:-0.16 [[ 0.9515019 -0.277098 -0.1336444 5.78375585] [ 0.28314315 0.95866325 0.028191 1.1882125 ] [ 0.1203083 -0.06466429 0.99062831 -0.16119186] [ 0. 0. 0. 1. ]] SLAMing on 134.701346184 meters Centerline goodness : 0.856242 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.95081614 -0.27895652 -0.13465481 5.78631799] [ 0.28495123 0.95815831 0.02711908 1.18897146] [ 0.12145558 -0.06415532 0.9905214 -0.16093857] [ 0. 0. 0. 1. ]] SLAMing on 134.761346184 meters Centerline goodness : 0.854758 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.95058719 -0.27908339 -0.13600164 5.78573329] [ 0.28539561 0.957972 0.02896536 1.19074608] [ 0.12220201 -0.06634837 0.99028509 -0.15783441] [ 0. 0. 0. 1. ]] SLAMing on 134.821346184 meters Centerline goodness : 0.853000 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.95058565 -0.28050697 -0.13305176 5.78577894] [ 0.28594622 0.95796213 0.02330907 1.19023951] [ 0.12092019 -0.06020292 0.99083496 -0.16218773] [ 0. 0. 0. 1. ]] SLAMing on 134.881346184 meters Centerline goodness : 0.853367 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.9505356 -0.27973867 -0.13501238 5.78606758] [ 0.28562668 0.95798785 0.02601303 1.19157037] [ 0.12206337 -0.06328945 0.99050239 -0.15929889] [ 0. 0. 0. 1. ]] SLAMing on 134.941346184 meters Centerline goodness : 0.852683 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.95030428 -0.27961558 -0.1368828 5.786566 ] [ 0.28589103 0.95784838 0.02815651 1.19379747] [ 0.12323997 -0.06589081 0.99018701 -0.15663165] [ 0. 0. 0. 1. ]] SLAMing on 135.001346184 meters Centerline goodness : 0.855612 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.94948989 -0.28357261 -0.13437084 5.786272 ] [ 0.28902966 0.95705337 0.02259879 1.192129 ] [ 0.12219166 -0.06029448 0.99067339 -0.15847907] [ 0. 0. 0. 1. ]] SLAMing on 135.061346184 meters Centerline goodness : 0.858422 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.94879502 -0.28574221 -0.13468259 5.7858191 ] [ 0.29123131 0.95638656 0.02256277 1.1911329 ] [ 0.12236149 -0.06063123 0.99063188 -0.1558693 ] [ 0. 0. 0. 1. ]] SLAMing on 135.121346184 meters Centerline goodness : 0.855988 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.15 [[ 0.94849638 -0.28595854 -0.136317 5.78664232] [ 0.29164299 0.95624339 0.02330121 1.19233452] [ 0.12368905 -0.06185701 0.9903912 -0.15350623] [ 0. 0. 0. 1. ]] SLAMing on 135.181346184 meters Centerline goodness : 0.858634 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.16 [[ 0.94920581 -0.28457768 -0.134253 5.78501736] [ 0.28975107 0.95688683 0.02029581 1.19361781] [ 0.12268919 -0.05816485 0.99073923 -0.15634196] [ 0. 0. 0. 1. ]] SLAMing on 135.241346184 meters Centerline goodness : 0.861604 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:1.19, Z:-0.15 [[ 0.94953355 -0.28308767 -0.13508294 5.78438436] [ 0.28847168 0.95724273 0.0216898 1.19414537] [ 0.12316705 -0.0595628 0.99059687 -0.15439943] [ 0. 0. 0. 1. ]] SLAMing on 135.30134618399998 meters Centerline goodness : 0.863385 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.15 [[ 0.94964289 -0.28140765 -0.1377974 5.78724923] [ 0.28750132 0.95742445 0.0261037 1.19365285] [ 0.12458482 -0.06440613 0.99011639 -0.15304104] [ 0. 0. 0. 1. ]] SLAMing on 135.36134618399998 meters Centerline goodness : 0.860481 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.15 [[ 0.94854888 -0.28500843 -0.13793192 5.79030399] [ 0.29080251 0.95649633 0.0234237 1.19374674] [ 0.12525543 -0.06232947 0.99016469 -0.15394107] [ 0. 0. 0. 1. ]] SLAMing on 135.421346184 meters Centerline goodness : 0.864049 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.19, Z:-0.15 [[ 0.94761801 -0.28894179 -0.13613505 5.78892401] [ 0.29405561 0.95560651 0.01864128 1.19321913] [ 0.12470529 -0.05769609 0.99051489 -0.15356352] [ 0. 0. 0. 1. ]] SLAMing on 135.481346184 meters Centerline goodness : 0.867770 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94692585 -0.29048824 -0.13765181 5.79026894] [ 0.29571403 0.9550932 0.01871329 1.19571529] [ 0.12603432 -0.05842567 0.99030389 -0.1516897 ] [ 0. 0. 0. 1. ]] SLAMing on 135.541346184 meters Centerline goodness : 0.866511 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.9472141 -0.28984099 -0.13703153 5.78887485] [ 0.29488172 0.95537187 0.01758858 1.19647251] [ 0.12581818 -0.05706824 0.99041052 -0.1517474 ] [ 0. 0. 0. 1. ]] SLAMing on 135.601346184 meters Centerline goodness : 0.867532 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94765278 -0.28817401 -0.13751346 5.78931338] [ 0.29332218 0.95583801 0.01832477 1.19680872] [ 0.12615987 -0.05770127 0.99033037 -0.15187111] [ 0. 0. 0. 1. ]] SLAMing on 135.661346184 meters Centerline goodness : 0.869045 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94793274 -0.2874449 -0.13710922 5.78820867] [ 0.29247831 0.95610911 0.01765798 1.19693186] [ 0.12601568 -0.05684005 0.99039853 -0.1514972 ] [ 0. 0. 0. 1. ]] SLAMing on 135.721346184 meters Centerline goodness : 0.871338 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94772906 -0.28791394 -0.13753251 5.78825325] [ 0.29291771 0.9559829 0.0172019 1.19856034] [ 0.12652606 -0.05658844 0.99034787 -0.15061861] [ 0. 0. 0. 1. ]] SLAMing on 135.781346184 meters Centerline goodness : 0.871249 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94790151 -0.28732512 -0.13757543 5.78989195] [ 0.29212482 0.95625249 0.01562918 1.20015986] [ 0.1270662 -0.05500412 0.99036798 -0.15271527] [ 0. 0. 0. 1. ]] SLAMing on 135.841346184 meters Centerline goodness : 0.866651 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94866083 -0.284396 -0.13842527 5.78852757] [ 0.28955589 0.956987 0.01825575 1.20047966] [ 0.12727932 -0.05740037 0.99020461 -0.15108302] [ 0. 0. 0. 1. ]] SLAMing on 135.901346184 meters Centerline goodness : 0.867883 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94822616 -0.28575219 -0.13861038 5.7889014 ] [ 0.29079622 0.95663077 0.01717939 1.20079455] [ 0.1276899 -0.05659732 0.99019798 -0.15018586] [ 0. 0. 0. 1. ]] SLAMing on 135.961346184 meters Centerline goodness : 0.869179 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94675549 -0.29026131 -0.13929258 5.79011819] [ 0.29530389 0.95525999 0.01655195 1.2006668 ] [ 0.12825624 -0.05680429 0.99011293 -0.14813587] [ 0. 0. 0. 1. ]] SLAMing on 136.02134618399998 meters Centerline goodness : 0.868167 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94620628 -0.29130829 -0.14083022 5.79242142] [ 0.29650043 0.9548825 0.01693798 1.20159804] [ 0.12954214 -0.05778304 0.98988886 -0.14689488] [ 0. 0. 0. 1. ]] SLAMing on 136.08134618399998 meters Centerline goodness : 0.869586 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94562759 -0.2940574 -0.13899174 5.79151913] [ 0.2985947 0.9542978 0.01252637 1.20127383] [ 0.12895604 -0.05334748 0.99021431 -0.14755899] [ 0. 0. 0. 1. ]] SLAMing on 136.14134618399999 meters Centerline goodness : 0.871794 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.15 [[ 0.94570304 -0.29402579 -0.13854454 5.79043604] [ 0.29844116 0.95435537 0.01177686 1.2014181 ] [ 0.12875802 -0.05248481 0.99028618 -0.14696046] [ 0. 0. 0. 1. ]] SLAMing on 136.201346184 meters Centerline goodness : 0.869703 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94566611 -0.29266885 -0.14163529 5.79210202] [ 0.29793132 0.95443565 0.01701533 1.20132273] [ 0.13020191 -0.05828842 0.98977266 -0.14365467] [ 0. 0. 0. 1. ]] SLAMing on 136.261346184 meters Centerline goodness : 0.870579 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94514512 -0.29437761 -0.14157165 5.79369377] [ 0.29938584 0.95401432 0.01499318 1.20101478] [ 0.13064772 -0.05655528 0.98981446 -0.14390388] [ 0. 0. 0. 1. ]] SLAMing on 136.321346184 meters Centerline goodness : 0.871090 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94425381 -0.2977908 -0.14037584 5.79366734] [ 0.30231884 0.95313608 0.01161573 1.19872579] [ 0.13033822 -0.05340646 0.99003015 -0.14328178] [ 0. 0. 0. 1. ]] SLAMing on 136.381346184 meters Centerline goodness : 0.870005 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94360484 -0.29940984 -0.14129281 5.79352196] [ 0.30410098 0.95255971 0.01235312 1.19795865] [ 0.13089119 -0.05462375 0.98989077 -0.14010476] [ 0. 0. 0. 1. ]] SLAMing on 136.441346184 meters Centerline goodness : 0.872129 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94318908 -0.30015491 -0.14248293 5.79293055] [ 0.30505397 0.95224134 0.01336058 1.19883666] [ 0.13166789 -0.05606654 0.98970708 -0.1370174 ] [ 0. 0. 0. 1. ]] SLAMing on 136.501346184 meters Centerline goodness : 0.872272 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94307629 -0.30126635 -0.14087475 5.79428501] [ 0.30556394 0.95212497 0.00941895 1.19971659] [ 0.13129275 -0.05192903 0.98998262 -0.14060909] [ 0. 0. 0. 1. ]] SLAMing on 136.561346184 meters Centerline goodness : 0.873302 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94340806 -0.30058092 -0.14011548 5.79215059] [ 0.30468102 0.95241849 0.00827676 1.20121189] [ 0.13096074 -0.05049889 0.99010057 -0.14016547] [ 0. 0. 0. 1. ]] SLAMing on 136.621346184 meters Centerline goodness : 0.871857 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94277771 -0.30206976 -0.14115253 5.79354914] [ 0.3061933 0.95193623 0.00794224 1.20304042] [ 0.1319691 -0.05070772 0.989956 -0.13913237] [ 0. 0. 0. 1. ]] SLAMing on 136.681346184 meters Centerline goodness : 0.871625 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.14 [[ 0.94198072 -0.30448452 -0.14128515 5.7934343 ] [ 0.30851063 0.95119525 0.00698471 1.20298955] [ 0.13226302 -0.05016743 0.9899443 -0.13724405] [ 0. 0. 0. 1. ]] SLAMing on 136.741346184 meters Centerline goodness : 0.869542 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:1.20, Z:-0.13 [[ 0.94115181 -0.3069689 -0.14143327 5.79264862] [ 0.31089375 0.9504258 0.00598905 1.20235134] [ 0.13258337 -0.04960733 0.98992968 -0.13442796] [ 0. 0. 0. 1. ]] SLAMing on 136.80134618399998 meters Centerline goodness : 0.866933 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.20, Z:-0.13 [[ 0.94067142 -0.30767873 -0.14307719 5.79574634] [ 0.31180311 0.95012246 0.00679214 1.20291401] [ 0.13385106 -0.05100108 0.98968823 -0.13415075] [ 0. 0. 0. 1. ]] SLAMing on 136.86134618399998 meters Centerline goodness : 0.867388 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.20, Z:-0.13 [[ 0.94009364 -0.30910778 -0.14379263 5.7985721 ] [ 0.31319082 0.94967058 0.0061069 1.20334054] [ 0.13466794 -0.05077559 0.989589 -0.13491036] [ 0. 0. 0. 1. ]] SLAMing on 136.921346184 meters Centerline goodness : 0.866769 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.20, Z:-0.14 [[ 9.39980016e-01 -3.09853639e-01 -1.42927576e-01 5.79842827e+00] [ 3.13626687e-01 9.49537540e-01 4.09407027e-03 1.20342052e+00] [ 1.34446537e-01 -4.86742464e-02 9.89724682e-01 -1.35665264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981346184 meters Centerline goodness : 0.864740 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.20, Z:-0.14 [[ 0.94150078 -0.30462406 -0.14415433 5.79784935] [ 0.30888543 0.95106878 0.00761296 1.20368229] [ 0.13478159 -0.05169478 0.98952593 -0.13519747] [ 0. 0. 0. 1. ]] SLAMing on 137.041346184 meters Centerline goodness : 0.862081 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.14 [[ 0.94283729 -0.29939673 -0.14635385 5.80026849] [ 0.30430558 0.95250069 0.01185516 1.20503091] [ 0.13585275 -0.05571378 0.98916126 -0.13644458] [ 0. 0. 0. 1. ]] SLAMing on 137.101346184 meters Centerline goodness : 0.861841 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.14 [[ 0.94311607 -0.29980488 -0.14369797 5.79770281] [ 0.30398115 0.95264835 0.00752191 1.20612922] [ 0.13463853 -0.05077551 0.989593 -0.13831615] [ 0. 0. 0. 1. ]] SLAMing on 137.161346184 meters Centerline goodness : 0.865247 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.14 [[ 0.94224863 -0.30160932 -0.14559991 5.80100879] [ 0.30606972 0.95196907 0.00872964 1.20787658] [ 0.13597367 -0.05278922 0.98930504 -0.13781589] [ 0. 0. 0. 1. ]] SLAMing on 137.221346184 meters Centerline goodness : 0.865517 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.14 [[ 0.94077522 -0.30597793 -0.14601194 5.80424162] [ 0.31014909 0.95066807 0.00614424 1.20907901] [ 0.13692889 -0.05106581 0.98926375 -0.13851914] [ 0. 0. 0. 1. ]] SLAMing on 137.281346184 meters Centerline goodness : 0.864008 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.14 [[ 9.39250299e-01 -3.11119021e-01 -1.44961481e-01 5.80393882e+00] [ 3.14781970e-01 9.49160810e-01 2.46325833e-03 1.20857916e+00] [ 1.36825390e-01 -4.79448767e-02 9.89434233e-01 -1.37220756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341346184 meters Centerline goodness : 0.872429 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 0.93916653 -0.30961532 -0.14867612 5.80607417] [ 0.31410952 0.94935974 0.00716203 1.21039433] [ 0.13892965 -0.05342692 0.98886001 -0.1336756 ] [ 0. 0. 0. 1. ]] SLAMing on 137.401346184 meters Centerline goodness : 0.865769 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.14 [[ 0.94018766 -0.30642221 -0.14883745 5.80815076] [ 0.31103828 0.9503619 0.00821273 1.21070465] [ 0.13893288 -0.05401565 0.98882757 -0.13712542] [ 0. 0. 0. 1. ]] SLAMing on 137.461346184 meters Centerline goodness : 0.866728 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.14 [[ 0.94027918 -0.30643131 -0.14823941 5.80871128] [ 0.31073124 0.95047764 0.00619274 1.2112198 ] [ 0.1390006 -0.05188552 0.98893211 -0.1385256 ] [ 0. 0. 0. 1. ]] SLAMing on 137.52134618399998 meters Centerline goodness : 0.868510 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 0.94034463 -0.30484078 -0.1510764 5.80836292] [ 0.30983523 0.95073642 0.01011844 1.21472225] [ 0.14054932 -0.05632361 0.9884703 -0.1346561 ] [ 0. 0. 0. 1. ]] SLAMing on 137.58134618399998 meters Centerline goodness : 0.867387 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.14 [[ 9.40232981e-01 -3.06744319e-01 -1.47884633e-01 5.80593582e+00] [ 3.10841371e-01 9.50449392e-01 4.85754932e-03 1.21444858e+00] [ 1.39066834e-01 -5.05358902e-02 9.88992689e-01 -1.36660516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64134618399999 meters Centerline goodness : 0.869160 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.14 [[ 0.94047077 -0.30574304 -0.14844503 5.80668422] [ 0.31000538 0.95071649 0.00590149 1.21373094] [ 0.1393248 -0.05156893 0.98890305 -0.13652749] [ 0. 0. 0. 1. ]] SLAMing on 137.701346184 meters Centerline goodness : 0.869750 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 0.94059629 -0.3049476 -0.14928354 5.80537813] [ 0.30955141 0.95084851 0.00806473 1.21275937] [ 0.13948671 -0.05379659 0.98876154 -0.13369172] [ 0. 0. 0. 1. ]] SLAMing on 137.761346184 meters Centerline goodness : 0.872724 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.13 [[ 9.40058425e-01 -3.07444710e-01 -1.47539511e-01 5.80286756e+00] [ 3.11521713e-01 9.50226974e-01 4.78755857e-03 1.21207079e+00] [ 1.38724113e-01 -5.04623458e-02 9.89044575e-01 -1.32489152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821346184 meters Centerline goodness : 0.872014 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.13 [[ 9.39468151e-01 -3.10405598e-01 -1.45079145e-01 5.80079285e+00] [ 3.13834838e-01 9.49477261e-01 7.91142388e-04 1.21091297e+00] [ 1.37503774e-01 -4.62741431e-02 9.89419737e-01 -1.32934988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881346184 meters Centerline goodness : 0.876774 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:1.21, Z:-0.13 [[ 9.39058566e-01 -3.11413919e-01 -1.45569163e-01 5.80235667e+00] [ 3.14790994e-01 9.49160998e-01 1.73336876e-04 1.20996593e+00] [ 1.38114593e-01 -4.59866351e-02 9.89348062e-01 -1.32562151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941346184 meters Centerline goodness : 0.875801 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.38893886e-01 -3.10767209e-01 -1.47993287e-01 5.80668834e+00] [ 3.14598460e-01 9.49221231e-01 2.61997190e-03 1.21131013e+00] [ 1.39664169e-01 -4.90183357e-02 9.88984895e-01 -1.32962476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001346184 meters Centerline goodness : 0.877063 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.38511423e-01 -3.11907740e-01 -1.48019832e-01 5.80611283e+00] [ 3.15646098e-01 9.48875158e-01 1.86436748e-03 1.21212511e+00] [ 1.39870831e-01 -4.84716127e-02 9.88982636e-01 -1.31814083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061346184 meters Centerline goodness : 0.877182 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.38746282e-01 -3.11638847e-01 -1.47094004e-01 5.80591363e+00] [ 3.15252498e-01 9.49006908e-01 1.32358791e-03 1.20965501e+00] [ 1.39180745e-01 -4.76142655e-02 9.89121632e-01 -1.32649930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121346184 meters Centerline goodness : 0.879648 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 0.93826286 -0.31130695 -0.15083365 5.80864922] [ 0.31583141 0.94879367 0.00640983 1.20969614] [ 0.14111459 -0.05365211 0.98853838 -0.12878598] [ 0. 0. 0. 1. ]] SLAMing on 138.181346184 meters Centerline goodness : 0.875852 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.37081568e-01 -3.15322416e-01 -1.49832940e-01 5.80844474e+00] [ 3.19350827e-01 9.47631838e-01 2.99141616e-03 1.20980032e+00] [ 1.41043204e-01 -5.06524741e-02 9.88706803e-01 -1.28198371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241346184 meters Centerline goodness : 0.874152 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.36103290e-01 -3.19764309e-01 -1.46497159e-01 5.80962758e+00] [ 3.22647719e-01 9.46509405e-01 -4.28905690e-03 1.20791316e+00] [ 1.40032426e-01 -4.32519737e-02 9.89201793e-01 -1.32265858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30134618399998 meters Centerline goodness : 0.877466 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.35921678e-01 -3.18471455e-01 -1.50421226e-01 5.81121807e+00] [ 3.22333803e-01 9.46625080e-01 1.37033258e-03 1.20589893e+00] [ 1.41956093e-01 -4.97683696e-02 9.88621048e-01 -1.26605108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36134618399998 meters Centerline goodness : 0.874501 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.12 [[ 0.93608075 -0.31625052 -0.15407284 5.81360632] [ 0.3210137 0.94705281 0.00641775 1.20649378] [ 0.14388549 -0.05546703 0.98803865 -0.12347794] [ 0. 0. 0. 1. ]] SLAMing on 138.421346184 meters Centerline goodness : 0.875994 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.20, Z:-0.13 [[ 9.36612694e-01 -3.17086701e-01 -1.49039205e-01 5.81014723e+00] [ 3.20588191e-01 9.47218506e-01 -5.59730557e-04 1.20449544e+00] [ 1.41350176e-01 -4.72559584e-02 9.88831129e-01 -1.27723681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481346184 meters Centerline goodness : 0.874222 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.36785830e-01 -3.16176631e-01 -1.49882107e-01 5.81232398e+00] [ 3.19687545e-01 9.47522757e-01 -7.05829517e-04 1.20693812e+00] [ 1.42239874e-01 -4.72542316e-02 9.88703624e-01 -1.29099610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541346184 meters Centerline goodness : 0.874399 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.36547396e-01 -3.15791344e-01 -1.52167018e-01 5.81426640e+00] [ 3.19729421e-01 9.47507716e-01 1.49192591e-03 1.21005354e+00] [ 1.43708287e-01 -5.00495320e-02 9.88353668e-01 -1.27983019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601346184 meters Centerline goodness : 0.874024 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.35934163e-01 -3.18766142e-01 -1.49717700e-01 5.81279904e+00] [ 3.21989787e-01 9.46738845e-01 -2.85234900e-03 1.20923335e+00] [ 1.42652795e-01 -4.55379596e-02 9.88724671e-01 -1.29006742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661346184 meters Centerline goodness : 0.873255 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.35891269e-01 -3.18589034e-01 -1.50361432e-01 5.81118421e+00] [ 3.22081381e-01 9.46711240e-01 -1.18824816e-03 1.20853282e+00] [ 1.42727420e-01 -4.73165465e-02 9.88630380e-01 -1.26103241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721346184 meters Centerline goodness : 0.872173 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.12 [[ 9.36149651e-01 -3.17386620e-01 -1.51292976e-01 5.80943554e+00] [ 3.21249562e-01 9.46993869e-01 1.15327124e-03 1.20897370e+00] [ 1.42907488e-01 -4.96824369e-02 9.88488293e-01 -1.23254899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781346184 meters Centerline goodness : 0.870667 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.36626880e-01 -3.16976531e-01 -1.49184338e-01 5.80757222e+00] [ 3.20387146e-01 9.47285887e-01 -1.23459318e-03 1.20923563e+00] [ 1.41711555e-01 -4.66403911e-02 9.88808631e-01 -1.25414949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841346184 meters Centerline goodness : 0.868590 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.37405399e-01 -3.14278013e-01 -1.50001498e-01 5.80981155e+00] [ 3.17854671e-01 9.48139435e-01 -1.37947590e-04 1.21006069e+00] [ 1.42265689e-01 -4.75493639e-02 9.88685760e-01 -1.27439672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901346184 meters Centerline goodness : 0.869181 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.37606837e-01 -3.13078428e-01 -1.51245880e-01 5.80900537e+00] [ 3.17020307e-01 9.48416511e-01 2.06059874e-03 1.21127717e+00] [ 1.42798961e-01 -4.98800468e-02 9.88494025e-01 -1.25201501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961346184 meters Centerline goodness : 0.866960 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.37480208e-01 -3.13811680e-01 -1.50509429e-01 5.81090779e+00] [ 3.17243706e-01 9.48343193e-01 -1.27217891e-03 1.21308174e+00] [ 1.43133817e-01 -4.65555267e-02 9.88607755e-01 -1.28029785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02134618399998 meters Centerline goodness : 0.867406 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:1.21, Z:-0.13 [[ 9.37039237e-01 -3.14620765e-01 -1.51562672e-01 5.81193396e+00] [ 3.18177680e-01 9.48030739e-01 -8.25970117e-04 1.21428755e+00] [ 1.43945939e-01 -4.74498929e-02 9.88447305e-01 -1.27084959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08134618399998 meters Centerline goodness : 0.869446 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.22, Z:-0.13 [[ 9.36449195e-01 -3.14898976e-01 -1.54601230e-01 5.81574068e+00] [ 3.19057965e-01 9.47732628e-01 2.20916647e-03 1.21652914e+00] [ 1.45824966e-01 -5.13955259e-02 9.87974483e-01 -1.25922626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14134618399999 meters Centerline goodness : 0.870197 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.22, Z:-0.12 [[ 9.35126160e-01 -3.18826009e-01 -1.54560803e-01 5.81548547e+00] [ 3.22735641e-01 9.46489123e-01 2.14748619e-04 1.21770238e+00] [ 1.46221652e-01 -5.00830970e-02 9.87983255e-01 -1.23868243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201346184 meters Centerline goodness : 0.870977 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.22, Z:-0.12 [[ 9.33485781e-01 -3.23660642e-01 -1.54428256e-01 5.81655486e+00] [ 3.27083151e-01 9.44989368e-01 -3.42162190e-03 1.21971306e+00] [ 1.47040504e-01 -4.73168452e-02 9.87998080e-01 -1.22817022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261346184 meters Centerline goodness : 0.869760 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.22, Z:-0.12 [[ 9.32431012e-01 -3.25376166e-01 -1.57171113e-01 5.81922767e+00] [ 3.29103148e-01 9.44290822e-01 -2.44157872e-03 1.22289432e+00] [ 1.49209671e-01 -4.94489045e-02 9.87568367e-01 -1.20185238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321346184 meters Centerline goodness : 0.868376 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.22, Z:-0.12 [[ 9.32585984e-01 -3.24868928e-01 -1.57300863e-01 5.82004757e+00] [ 3.28548525e-01 9.44483072e-01 -2.75556826e-03 1.22451278e+00] [ 1.49463201e-01 -4.91111621e-02 9.87546883e-01 -1.21317889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381346184 meters Centerline goodness : 0.868052 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.23, Z:-0.12 [[ 9.33660153e-01 -3.20592381e-01 -1.59684824e-01 5.82127102e+00] [ 3.24942680e-01 9.45732954e-01 1.19768720e-03 1.22822992e+00] [ 1.50635231e-01 -5.30066474e-02 9.87167322e-01 -1.21460378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441346184 meters Centerline goodness : 0.869909 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.23, Z:-0.12 [[ 9.34727578e-01 -3.17115808e-01 -1.60380547e-01 5.82123006e+00] [ 3.21727226e-01 9.46827801e-01 2.95077430e-03 1.22991921e+00] [ 1.50917024e-01 -5.43569586e-02 9.87050846e-01 -1.21990789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501346184 meters Centerline goodness : 0.867830 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.23, Z:-0.12 [[ 9.35614839e-01 -3.15111897e-01 -1.59152021e-01 5.81999993e+00] [ 3.19371549e-01 9.47628746e-01 1.25457677e-03 1.23275329e+00] [ 1.50421698e-01 -5.20024281e-02 9.87253291e-01 -1.24489190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561346184 meters Centerline goodness : 0.871839 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.24, Z:-0.12 [[ 9.35597304e-01 -3.15277154e-01 -1.58927660e-01 5.81737122e+00] [ 3.19331164e-01 9.47643185e-01 -3.06431463e-05 1.23617502e+00] [ 1.50616375e-01 -5.07218850e-02 9.87290230e-01 -1.22677420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621346184 meters Centerline goodness : 0.872294 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.24, Z:-0.12 [[ 9.35312348e-01 -3.16114727e-01 -1.58941158e-01 5.81712270e+00] [ 3.20041722e-01 9.47402985e-01 -9.37840985e-04 1.23691530e+00] [ 1.50877793e-01 -4.99906277e-02 9.87287612e-01 -1.21813350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681346184 meters Centerline goodness : 0.875287 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.24, Z:-0.12 [[ 9.34891815e-01 -3.17108819e-01 -1.59434288e-01 5.81706619e+00] [ 3.21158512e-01 9.47025375e-01 -3.86577775e-04 1.23757571e+00] [ 1.51110903e-01 -5.08422703e-02 9.87208468e-01 -1.20523760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74134618399998 meters Centerline goodness : 0.873910 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.24, Z:-0.12 [[ 9.34123810e-01 -3.18677322e-01 -1.60802587e-01 5.82202216e+00] [ 3.22682886e-01 9.46506281e-01 -1.27062671e-03 1.24018467e+00] [ 1.52605579e-01 -5.07013202e-02 9.86985772e-01 -1.22857147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80134618399998 meters Centerline goodness : 0.871650 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.24, Z:-0.12 [[ 9.33346957e-01 -3.20986786e-01 -1.60720071e-01 5.82206889e+00] [ 3.24685117e-01 9.45815965e-01 -3.42558452e-03 1.24307590e+00] [ 1.53111177e-01 -4.89861563e-02 9.86994085e-01 -1.22207179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86134618399998 meters Centerline goodness : 0.871870 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:1.24, Z:-0.12 [[ 9.32999563e-01 -3.22109352e-01 -1.60491061e-01 5.82265851e+00] [ 3.25506034e-01 9.45524590e-01 -5.39173374e-03 1.24473889e+00] [ 1.53484973e-01 -4.72103236e-02 9.87022567e-01 -1.22731325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921346184 meters Centerline goodness : 0.869803 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:1.25, Z:-0.12 [[ 9.33204008e-01 -3.25944963e-01 -1.51294948e-01 5.82786939e+00] [ 3.29039565e-01 9.44303808e-01 -4.82520669e-03 1.25243063e+00] [ 1.44441148e-01 -4.52791217e-02 9.88476887e-01 -1.23810834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981346184 meters Centerline goodness : 0.871642 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:1.25, Z:-0.12 [[ 9.33280634e-01 -3.25410791e-01 -1.51970637e-01 5.82625591e+00] [ 3.28619755e-01 9.44452901e-01 -4.21602557e-03 1.25396537e+00] [ 1.44901050e-01 -4.60058186e-02 9.88376017e-01 -1.21182554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041346184 meters Centerline goodness : 0.867617 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:1.26, Z:-0.12 [[ 9.33046091e-01 -3.24874229e-01 -1.54537142e-01 5.83020250e+00] [ 3.28499549e-01 9.44501580e-01 -2.19366486e-03 1.25624887e+00] [ 1.46673240e-01 -4.87185910e-02 9.87984544e-01 -1.21130815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101346184 meters Centerline goodness : 0.866001 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:1.26, Z:-0.12 [[ 0.93283491 -0.32637093 -0.15264678 5.82849476] [ 0.32932154 0.94419707 -0.00626186 1.25777531] [ 0.14617233 -0.04442859 0.98826097 -0.12174097] [ 0. 0. 0. 1. ]] SLAMing on 140.161346184 meters Centerline goodness : 0.866580 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:1.26, Z:-0.12 [[ 9.33332408e-01 -3.24447454e-01 -1.53702526e-01 5.83006548e+00] [ 3.27527234e-01 9.44825386e-01 -5.55885160e-03 1.25952784e+00] [ 1.47025603e-01 -4.51535067e-02 9.88101530e-01 -1.22388839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221346184 meters Centerline goodness : 0.861738 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:1.26, Z:-0.12 [[ 9.34154371e-01 -3.20002090e-01 -1.57969220e-01 5.83285974e+00] [ 3.23943333e-01 9.46076110e-01 -8.43526730e-04 1.26490073e+00] [ 1.49720835e-01 -5.03850914e-02 9.87443676e-01 -1.20712852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281346184 meters Centerline goodness : 0.861880 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:1.27, Z:-0.12 [[ 9.34060092e-01 -3.20598111e-01 -1.57316864e-01 5.83261769e+00] [ 3.24200168e-01 9.45984020e-01 -2.91291480e-03 1.26728410e+00] [ 1.49753114e-01 -4.82813163e-02 9.87543882e-01 -1.21557178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341346184 meters Centerline goodness : 0.862098 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:1.27, Z:-0.12 [[ 9.33396547e-01 -3.21333588e-01 -1.59736070e-01 5.83792727e+00] [ 3.25018156e-01 9.45702279e-01 -3.22458318e-03 1.27207721e+00] [ 1.52098933e-01 -4.89073082e-02 9.87154491e-01 -1.23030393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401346184 meters Centerline goodness : 0.859870 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:1.28, Z:-0.12 [[ 9.33262897e-01 -3.19762220e-01 -1.63623002e-01 5.84031182e+00] [ 3.24262011e-01 9.45966936e-01 8.38612686e-04 1.27677748e+00] [ 1.54513793e-01 -5.38393698e-02 9.86522585e-01 -1.20525778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461346184 meters Centerline goodness : 0.861279 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:1.28, Z:-0.12 [[ 9.32732247e-01 -3.21699813e-01 -1.62848967e-01 5.84078162e+00] [ 3.25746989e-01 9.45454963e-01 -1.95250945e-03 1.27937441e+00] [ 1.54594486e-01 -5.12263922e-02 9.86649077e-01 -1.21818888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52134618399998 meters Centerline goodness : 0.861048 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:1.28, Z:-0.12 [[ 9.31327813e-01 -3.25077101e-01 -1.64174855e-01 5.84239717e+00] [ 3.29000434e-01 9.44323373e-01 -3.47586686e-03 1.28409675e+00] [ 1.56164078e-01 -5.07764272e-02 9.86425129e-01 -1.20586055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58134618399998 meters Centerline goodness : 0.860443 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:1.29, Z:-0.12 [[ 9.30254349e-01 -3.26938836e-01 -1.66546820e-01 5.84391695e+00] [ 3.31108660e-01 9.43588224e-01 -2.88426167e-03 1.28672808e+00] [ 1.58094595e-01 -5.24619974e-02 9.86029329e-01 -1.17277013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64134618399999 meters Centerline goodness : 0.863176 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:1.29, Z:-0.11 [[ 9.28955859e-01 -3.29094047e-01 -1.69523215e-01 5.84610792e+00] [ 3.33550397e-01 9.42729419e-01 -2.31852942e-03 1.29049652e+00] [ 1.60577537e-01 -5.43907242e-02 9.85523467e-01 -1.13800524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701346184 meters Centerline goodness : 0.861417 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:1.30, Z:-0.11 [[ 9.28243329e-01 -3.30805358e-01 -1.70094496e-01 5.84532873e+00] [ 3.35034516e-01 9.42197115e-01 -4.05832783e-03 1.29529458e+00] [ 1.61605060e-01 -5.32204113e-02 9.85419399e-01 -1.12011119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761346184 meters Centerline goodness : 0.862204 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:1.30, Z:-0.11 [[ 9.28300464e-01 -3.29886181e-01 -1.71561521e-01 5.84800023e+00] [ 3.34155034e-01 9.42508668e-01 -4.22187629e-03 1.29901520e+00] [ 1.63090960e-01 -5.34089763e-02 9.85164362e-01 -1.12569666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821346184 meters Centerline goodness : 0.862383 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:1.30, Z:-0.11 [[ 0.9281882 -0.33022018 -0.17152638 5.84707086] [ 0.33404655 0.94253127 -0.00690726 1.30389247] [ 0.16394989 -0.05088656 0.98515531 -0.10869478] [ 0. 0. 0. 1. ]] SLAMing on 140.881346184 meters Centerline goodness : 0.858917 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.31, Z:-0.10 [[ 0.92883962 -0.33080148 -0.16681531 5.85620002] [ 0.33262088 0.94289377 -0.01773946 1.31440359] [ 0.16315735 -0.03900914 0.98582857 -0.09912429] [ 0. 0. 0. 1. ]] SLAMing on 140.941346184 meters Centerline goodness : 0.861377 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.32, Z:-0.10 [[ 0.92961246 -0.3279933 -0.16805081 5.85586856] [ 0.33010702 0.94380768 -0.01601301 1.31702678] [ 0.16385981 -0.04058886 0.98564827 -0.09847656] [ 0. 0. 0. 1. ]] SLAMing on 141.001346184 meters Centerline goodness : 0.861331 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.32, Z:-0.10 [[ 0.93036143 -0.32545429 -0.16884053 5.8580478 ] [ 0.32763609 0.9446757 -0.01556958 1.31945329] [ 0.16456673 -0.04083291 0.9855204 -0.10054575] [ 0. 0. 0. 1. ]] SLAMing on 141.061346184 meters Centerline goodness : 0.863021 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.32, Z:-0.10 [[ 0.93148892 -0.32275028 -0.16781134 5.85639604] [ 0.32471144 0.9456711 -0.01639047 1.32242941] [ 0.16398436 -0.03922272 0.98568286 -0.10241677] [ 0. 0. 0. 1. ]] SLAMing on 141.121346184 meters Centerline goodness : 0.862341 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.33, Z:-0.10 [[ 0.93155736 -0.32225215 -0.16838776 5.85698434] [ 0.32404544 0.94587985 -0.01748882 1.3264315 ] [ 0.1649104 -0.03827345 0.98556568 -0.10252684] [ 0. 0. 0. 1. ]] SLAMing on 141.181346184 meters Centerline goodness : 0.859568 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.33, Z:-0.10 [[ 0.93098962 -0.3240835 -0.16801254 5.85653393] [ 0.32555914 0.94532124 -0.01946782 1.32797051] [ 0.16513502 -0.03657368 0.98559261 -0.10199167] [ 0. 0. 0. 1. ]] SLAMing on 141.24134618399998 meters Centerline goodness : 0.860213 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.33, Z:-0.10 [[ 0.93032449 -0.32518769 -0.16955622 5.85641511] [ 0.32681598 0.94489671 -0.0190136 1.33053597] [ 0.16639611 -0.03772487 0.98533708 -0.09916344] [ 0. 0. 0. 1. ]] SLAMing on 141.30134618399998 meters Centerline goodness : 0.862357 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.33, Z:-0.10 [[ 0.93051747 -0.32424601 -0.17029905 5.85568158] [ 0.32618136 0.94514919 -0.01728372 1.33132481] [ 0.16656219 -0.03946557 0.98524084 -0.09777586] [ 0. 0. 0. 1. ]] SLAMing on 141.36134618399998 meters Centerline goodness : 0.858238 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:1.33, Z:-0.09 [[ 0.92918876 -0.32826825 -0.16984759 5.85826515] [ 0.3292851 0.94395114 -0.02296868 1.33450951] [ 0.16786772 -0.03458604 0.98520264 -0.09494389] [ 0. 0. 0. 1. ]] SLAMing on 141.421346184 meters Centerline goodness : 0.861151 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:1.34, Z:-0.09 [[ 0.92861543 -0.33119682 -0.16727838 5.86761881] [ 0.33036322 0.94325517 -0.03361298 1.34295666] [ 0.16891871 -0.02404909 0.98533655 -0.08755403] [ 0. 0. 0. 1. ]] SLAMing on 141.481346184 meters Centerline goodness : 0.859737 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:1.35, Z:-0.08 [[ 0.92926926 -0.33124194 -0.16351583 5.87488481] [ 0.3288546 0.94343444 -0.04226244 1.35181643] [ 0.16826556 -0.01449974 0.98563505 -0.07912248] [ 0. 0. 0. 1. ]] SLAMing on 141.541346184 meters Centerline goodness : 0.859777 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:1.37, Z:-0.06 [[ 0.93132113 -0.33123162 -0.15141522 5.89829684] [ 0.32507896 0.94348755 -0.06445856 1.37159207] [ 0.16420909 0.01080972 0.98636632 -0.05754789] [ 0. 0. 0. 1. ]] SLAMing on 141.601346184 meters Centerline goodness : 0.862252 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:1.38, Z:-0.05 [[ 0.9322063 -0.33091552 -0.14658216 5.91262508] [ 0.3233371 0.94342357 -0.07351931 1.37949592] [ 0.16261775 0.02113971 0.98646266 -0.05171886] [ 0. 0. 0. 1. ]] SLAMing on 141.661346184 meters Centerline goodness : 0.860324 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:1.39, Z:-0.04 [[ 0.93305761 -0.33117628 -0.14044843 5.92871652] [ 0.32184086 0.94294124 -0.08532459 1.38963174] [ 0.16069209 0.03441071 0.98640456 -0.04219439] [ 0. 0. 0. 1. ]] SLAMing on 141.721346184 meters Centerline goodness : 0.860742 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:1.39, Z:-0.04 [[ 0.93221094 -0.33347017 -0.14064284 5.93474042] [ 0.32315012 0.94192101 -0.09142653 1.39472393] [ 0.16296247 0.03978006 0.98583 -0.03809474] [ 0. 0. 0. 1. ]] SLAMing on 141.781346184 meters Centerline goodness : 0.861256 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:1.40, Z:-0.03 [[ 0.93327883 -0.33308715 -0.1343264 5.95188344] [ 0.32153734 0.94152714 -0.10069948 1.40199317] [ 0.16001365 0.05078974 0.9858073 -0.03286307] [ 0. 0. 0. 1. ]] SLAMing on 141.841346184 meters Centerline goodness : 0.859699 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:1.41, Z:-0.03 [[ 0.93259561 -0.33513858 -0.13396851 5.9575661 ] [ 0.32254344 0.94045015 -0.10732775 1.40712523] [ 0.16196038 0.05688272 0.98515643 -0.02720913] [ 0. 0. 0. 1. ]] SLAMing on 141.901346184 meters Centerline goodness : 0.858861 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:1.41, Z:-0.03 [[ 0.93288693 -0.33490705 -0.13251126 5.97539961] [ 0.32402743 0.94104096 -0.09720157 1.41097663] [ 0.15725202 0.04774079 0.98640388 -0.03092889] [ 0. 0. 0. 1. ]] SLAMing on 141.961346184 meters Centerline goodness : 0.861047 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:1.42, Z:-0.02 [[ 0.93348121 -0.3350915 -0.12777523 5.99040297] [ 0.32287739 0.9403461 -0.10723525 1.41750511] [ 0.15608656 0.05884636 0.98598889 -0.02349532] [ 0. 0. 0. 1. ]] SLAMing on 142.02134618399998 meters Centerline goodness : 0.860229 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:1.42, Z:-0.03 [[ 0.93472816 -0.33096613 -0.12940123 5.99244527] [ 0.31938376 0.94207147 -0.10244688 1.41577742] [ 0.15581165 0.05443133 0.98628594 -0.0259233 ] [ 0. 0. 0. 1. ]] SLAMing on 142.08134618399998 meters Centerline goodness : 0.864514 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:1.42, Z:-0.03 [[ 0.93613108 -0.32653539 -0.13051143 5.99400186] [ 0.3154407 0.94379318 -0.0987502 1.41591976] [ 0.15542124 0.05127452 0.98651668 -0.02666311] [ 0. 0. 0. 1. ]] SLAMing on 142.14134618399999 meters Centerline goodness : 0.860211 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:1.42, Z:-0.02 [[ 0.93779121 -0.32306683 -0.12718282 6.00821456] [ 0.31127348 0.94458786 -0.10422377 1.4228655 ] [ 0.15380659 0.0581515 0.98638833 -0.02270301] [ 0. 0. 0. 1. ]] SLAMing on 142.201346184 meters Centerline goodness : 0.861245 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:1.44, Z:-0.00 [[ 9.39894847e-01 -3.20345100e-01 -1.18223066e-01 6.02723982e+00] [ 3.06660555e-01 9.44174426e-01 -1.20390852e-01 1.43763254e+00] [ 1.50189815e-01 7.69003905e-02 9.85661884e-01 -4.40821616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261346184 meters Centerline goodness : 0.860962 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:1.44, Z:-0.00 [[ 9.40127419e-01 -3.20334612e-01 -1.16388026e-01 6.04549853e+00] [ 3.07979240e-01 9.44723959e-01 -1.12451900e-01 1.44217772e+00] [ 1.45976792e-01 6.98740184e-02 9.86817307e-01 -4.53346088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321346184 meters Centerline goodness : 0.858709 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:1.44, Z:-0.01 [[ 0.9401815 -0.31995619 -0.11699051 6.04790969] [ 0.30769458 0.94492734 -0.11151847 1.44135375] [ 0.14622856 0.06885026 0.98685199 -0.006448 ] [ 0. 0. 0. 1. ]] SLAMing on 142.381346184 meters Centerline goodness : 0.860699 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:1.45, Z:0.01 [[ 0.94001175 -0.32298285 -0.10981799 6.06866419] [ 0.30847294 0.9422142 -0.13067845 1.45225646] [ 0.14567896 0.0889634 0.98532388 0.0083442 ] [ 0. 0. 0. 1. ]] SLAMing on 142.441346184 meters Centerline goodness : 0.860972 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:1.45, Z:0.01 [[ 0.94011604 -0.32247224 -0.11042415 6.07131025] [ 0.3080518 0.94248759 -0.12969669 1.45061606] [ 0.14589698 0.08791358 0.98538585 0.00662237] [ 0. 0. 0. 1. ]] SLAMing on 142.501346184 meters Centerline goodness : 0.859469 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:1.45, Z:0.00 [[ 9.41289714e-01 -3.18428363e-01 -1.12147459e-01 6.07220586e+00] [ 3.04572879e-01 9.44279838e-01 -1.24783612e-01 1.44812726e+00] [ 1.45633225e-01 8.33004558e-02 9.85825541e-01 4.91303244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561346184 meters Centerline goodness : 0.858880 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:1.46, Z:0.01 [[ 0.94182301 -0.31724126 -0.11102887 6.10235957] [ 0.30378808 0.94481113 -0.122657 1.45640669] [ 0.14381317 0.08179193 0.98621897 0.00927224] [ 0. 0. 0. 1. ]] SLAMing on 142.621346184 meters Centerline goodness : 0.858685 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:1.45, Z:0.01 [[ 0.94207268 -0.31610863 -0.11213565 6.10716042] [ 0.30282529 0.94535359 -0.12084469 1.45248514] [ 0.14420789 0.07988697 0.98631747 0.00621116] [ 0. 0. 0. 1. ]] SLAMing on 142.681346184 meters Centerline goodness : 0.860734 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:1.46, Z:0.01 [[ 0.94210326 -0.31586386 -0.11256761 6.11668406] [ 0.30184564 0.94504878 -0.12558672 1.45706955] [ 0.14605019 0.08433761 0.98567566 0.00897721] [ 0. 0. 0. 1. ]] SLAMing on 142.74134618399998 meters Centerline goodness : 0.860675 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:1.46, Z:0.01 [[ 0.94283624 -0.31319543 -0.11387907 6.12441703] [ 0.29868747 0.94572138 -0.12805026 1.45862878] [ 0.14780262 0.08671618 0.98520794 0.0142791 ] [ 0. 0. 0. 1. ]] SLAMing on 142.80134618399998 meters Centerline goodness : 0.860864 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:1.46, Z:0.02 [[ 0.94332138 -0.31155967 -0.11434747 6.12925418] [ 0.29629849 0.94582791 -0.13272816 1.46125797] [ 0.14950577 0.09132433 0.98453435 0.02406465] [ 0. 0. 0. 1. ]] SLAMing on 142.86134618399998 meters Centerline goodness : 0.860014 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:1.46, Z:0.02 [[ 0.94343416 -0.31179175 -0.11277366 6.14945638] [ 0.29798343 0.94648812 -0.12396014 1.46348289] [ 0.14538867 0.08334355 0.98585799 0.02108216] [ 0. 0. 0. 1. ]] SLAMing on 142.921346184 meters Centerline goodness : 0.858112 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:1.46, Z:0.02 [[ 0.94228435 -0.3152598 -0.11274515 6.153882 ] [ 0.30063758 0.94490201 -0.12952694 1.46434126] [ 0.14736776 0.08815578 0.98514532 0.02497082] [ 0. 0. 0. 1. ]] SLAMing on 142.981346184 meters Centerline goodness : 0.857259 with order 1 Centerline is valid? [False, False] Translation: X:6.18, Y:1.47, Z:0.03 [[ 0.94197281 -0.31723704 -0.10976283 6.1797289 ] [ 0.30322926 0.94438995 -0.12719922 1.46854361] [ 0.14401122 0.0865349 0.98578521 0.02694229] [ 0. 0. 0. 1. ]] SLAMing on 143.041346184 meters Centerline goodness : 0.860468 with order 1 Centerline is valid? [False, False] Translation: X:6.20, Y:1.47, Z:0.02 [[ 0.94142216 -0.31931188 -0.10846312 6.19954164] [ 0.3066914 0.9444202 -0.1183675 1.4691261 ] [ 0.14023091 0.07816908 0.98702831 0.02205411] [ 0. 0. 0. 1. ]] SLAMing on 143.101346184 meters Centerline goodness : 0.859678 with order 1 Centerline is valid? [False, False] Translation: X:6.21, Y:1.47, Z:0.03 [[ 0.94091874 -0.31396056 -0.12688852 6.21056855] [ 0.30020926 0.94674604 -0.11638878 1.46505508] [ 0.15667268 0.07141927 0.98506495 0.02562264] [ 0. 0. 0. 1. ]] SLAMing on 143.161346184 meters Centerline goodness : 0.859460 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.47, Z:0.02 [[ 0.94060382 -0.31390003 -0.12934923 6.21590536] [ 0.30019489 0.94692124 -0.11499217 1.46696876] [ 0.15857958 0.0693321 0.98490892 0.02420083] [ 0. 0. 0. 1. ]] SLAMing on 143.221346184 meters Centerline goodness : 0.860519 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:1.46, Z:0.02 [[ 0.94180524 -0.30955909 -0.13105744 6.2173746 ] [ 0.29653525 0.94868432 -0.10984037 1.46430299] [ 0.15833422 0.06458509 0.98527105 0.0220596 ] [ 0. 0. 0. 1. ]] SLAMing on 143.281346184 meters Centerline goodness : 0.862203 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:1.47, Z:0.02 [[ 0.94241301 -0.30852843 -0.12910433 6.23974236] [ 0.29671471 0.94940202 -0.10293779 1.46846922] [ 0.15433115 0.05870275 0.98627374 0.02266881] [ 0. 0. 0. 1. ]] SLAMing on 143.341346184 meters Centerline goodness : 0.858686 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:1.47, Z:0.02 [[ 0.94256859 -0.30763219 -0.13010339 6.24234372] [ 0.29573591 0.94969634 -0.10303946 1.47150704] [ 0.15525697 0.05864551 0.98613183 0.02272152] [ 0. 0. 0. 1. ]] SLAMing on 143.401346184 meters Centerline goodness : 0.857808 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:1.48, Z:0.03 [[ 0.94332981 -0.30669577 -0.12675398 6.25949846] [ 0.29334608 0.94922971 -0.11362671 1.47953466] [ 0.15516748 0.07000468 0.98540469 0.03066638] [ 0. 0. 0. 1. ]] SLAMing on 143.461346184 meters Centerline goodness : 0.855622 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:1.48, Z:0.03 [[ 0.94446749 -0.302469 -0.12842769 6.2614587 ] [ 0.28973605 0.95090299 -0.1087958 1.47882869] [ 0.15502963 0.06554397 0.98573313 0.02773858] [ 0. 0. 0. 1. ]] SLAMing on 143.52134618399998 meters Centerline goodness : 0.853249 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:1.48, Z:0.03 [[ 0.94557263 -0.2984394 -0.12971629 6.26187243] [ 0.28629586 0.95244416 -0.10433025 1.47849436] [ 0.15468378 0.06151459 0.9860471 0.02614669] [ 0. 0. 0. 1. ]] SLAMing on 143.58134618399998 meters Centerline goodness : 0.853147 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:1.49, Z:0.04 [[ 0.94671906 -0.29797641 -0.12220099 6.2841913 ] [ 0.28413634 0.9514121 -0.11866576 1.48985572] [ 0.1516231 0.0776214 0.98538589 0.03679712] [ 0. 0. 0. 1. ]] SLAMing on 143.64134618399999 meters Centerline goodness : 0.850604 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.49, Z:0.03 [[ 0.94712569 -0.29719701 -0.12094156 6.30053713] [ 0.28530681 0.95251624 -0.10636184 1.49001596] [ 0.14680922 0.06623258 0.98694493 0.03133422] [ 0. 0. 0. 1. ]] SLAMing on 143.701346184 meters Centerline goodness : 0.854113 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:1.49, Z:0.03 [[ 0.94703252 -0.29746786 -0.12100527 6.30067412] [ 0.28557665 0.95243667 -0.10635018 1.49022876] [ 0.14688562 0.0661608 0.98693838 0.03122112] [ 0. 0. 0. 1. ]] SLAMing on 143.761346184 meters Centerline goodness : 0.851781 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.50, Z:0.03 [[ 0.94743104 -0.29716256 -0.11861213 6.3278851 ] [ 0.28585165 0.95267086 -0.10347496 1.49660546] [ 0.14374721 0.06412992 0.98753435 0.03413426] [ 0. 0. 0. 1. ]] SLAMing on 143.821346184 meters Centerline goodness : 0.852684 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:1.50, Z:0.03 [[ 0.94851824 -0.2930415 -0.12016587 6.32902492] [ 0.28230529 0.95423512 -0.09868665 1.49556202] [ 0.14358578 0.05968263 0.98783658 0.03221679] [ 0. 0. 0. 1. ]] SLAMing on 143.881346184 meters Centerline goodness : 0.855083 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:1.50, Z:0.03 [[ 0.94926741 -0.29153511 -0.1178926 6.34518985] [ 0.28245816 0.95524644 -0.08787274 1.49734027] [ 0.13823448 0.050115 0.98913079 0.02986746] [ 0. 0. 0. 1. ]] SLAMing on 143.941346184 meters Centerline goodness : 0.853705 with order 1 Centerline is valid? [False, False] Translation: X:6.36, Y:1.50, Z:0.03 [[ 0.94943259 -0.29216266 -0.11497279 6.36226624] [ 0.28411632 0.95532628 -0.0814225 1.50177921] [ 0.13362514 0.04463953 0.99002608 0.0313054 ] [ 0. 0. 0. 1. ]] SLAMing on 144.001346184 meters Centerline goodness : 0.855023 with order 1 Centerline is valid? [False, False] Translation: X:6.37, Y:1.50, Z:0.03 [[ 0.94948395 -0.29161746 -0.11592878 6.36555402] [ 0.28366956 0.95554956 -0.08035309 1.49978084] [ 0.13420806 0.0434085 0.99000197 0.02931957] [ 0. 0. 0. 1. ]] SLAMing on 144.061346184 meters Centerline goodness : 0.854158 with order 1 Centerline is valid? [False, False] Translation: X:6.37, Y:1.50, Z:0.03 [[ 0.9503395 -0.28835897 -0.11706378 6.36508455] [ 0.2809961 0.95673284 -0.0755213 1.49555543] [ 0.133776 0.03887641 0.99024876 0.02794592] [ 0. 0. 0. 1. ]] SLAMing on 144.121346184 meters Centerline goodness : 0.858928 with order 1 Centerline is valid? [False, False] Translation: X:6.36, Y:1.49, Z:0.03 [[ 0.95141079 -0.28437728 -0.11809767 6.36431215] [ 0.27750929 0.95806891 -0.07136214 1.49415166] [ 0.13343948 0.03512151 0.99043444 0.02830139] [ 0. 0. 0. 1. ]] SLAMing on 144.181346184 meters Centerline goodness : 0.856792 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:1.50, Z:0.04 [[ 0.95232531 -0.28320672 -0.11344803 6.38184644] [ 0.27475697 0.95778764 -0.08456622 1.50069571] [ 0.13260885 0.04936391 0.98993843 0.04094474] [ 0. 0. 0. 1. ]] SLAMing on 144.24134618399998 meters Centerline goodness : 0.858117 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:1.50, Z:0.04 [[ 0.95320547 -0.27933153 -0.11564269 6.38483341] [ 0.27163474 0.95923404 -0.07800398 1.49504883] [ 0.13271737 0.04294125 0.99022328 0.03574217] [ 0. 0. 0. 1. ]] SLAMing on 144.30134618399998 meters Centerline goodness : 0.856111 with order 1 Centerline is valid? [False, False] Translation: X:6.39, Y:1.50, Z:0.04 [[ 0.95301449 -0.27952616 -0.11674117 6.39468576] [ 0.27092425 0.95890087 -0.08431591 1.49946019] [ 0.13551171 0.04872627 0.98957684 0.04178715] [ 0. 0. 0. 1. ]] SLAMing on 144.36134618399998 meters Centerline goodness : 0.858913 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:1.50, Z:0.06 [[ 0.9536237 -0.27939463 -0.11198433 6.40914802] [ 0.26923768 0.95810736 -0.09767989 1.50479157] [ 0.13458425 0.06299946 0.98889744 0.0552022 ] [ 0. 0. 0. 1. ]] SLAMing on 144.421346184 meters Centerline goodness : 0.862311 with order 1 Centerline is valid? [False, False] Translation: X:6.42, Y:1.51, Z:0.06 [[ 0.95324422 -0.28051739 -0.11240755 6.4180499 ] [ 0.26932313 0.95730244 -0.1050576 1.50679978] [ 0.1370785 0.0698716 0.98809283 0.06279201] [ 0. 0. 0. 1. ]] SLAMing on 144.481346184 meters Centerline goodness : 0.859893 with order 1 Centerline is valid? [False, False] Translation: X:6.42, Y:1.50, Z:0.06 [[ 0.95335592 -0.27967364 -0.1135568 6.42167534] [ 0.2686521 0.95769195 -0.10320935 1.50200469] [ 0.13761737 0.06788797 0.9881562 0.06087266] [ 0. 0. 0. 1. ]] SLAMing on 144.541346184 meters Centerline goodness : 0.861013 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:1.50, Z:0.06 [[ 0.95360901 -0.27956537 -0.11168285 6.44384535] [ 0.26981755 0.95823285 -0.09480667 1.50113304] [ 0.13352284 0.0602745 0.98921112 0.05799211] [ 0. 0. 0. 1. ]] SLAMing on 144.601346184 meters Centerline goodness : 0.863186 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:1.52, Z:0.11 [[ 0.95672674 -0.27778846 -0.08664593 6.47672642] [ 0.26386243 0.95372766 -0.14415332 1.52340887] [ 0.12268075 0.11505273 0.98575469 0.10612281] [ 0. 0. 0. 1. ]] SLAMing on 144.661346184 meters Centerline goodness : 0.866065 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:1.52, Z:0.11 [[ 0.95774942 -0.26856496 -0.10290237 6.4826307 ] [ 0.25345949 0.95726113 -0.13931766 1.51522295] [ 0.13592029 0.10734982 0.98488664 0.10815525] [ 0. 0. 0. 1. ]] SLAMing on 144.721346184 meters Centerline goodness : 0.864204 with order 1 Centerline is valid? [False, False] Translation: X:6.51, Y:1.51, Z:0.11 [[ 0.95774611 -0.26915625 -0.10137701 6.51133799] [ 0.25488623 0.95758663 -0.13439072 1.51223312] [ 0.13324937 0.10287259 0.98572909 0.10746542] [ 0. 0. 0. 1. ]] SLAMing on 144.781346184 meters Centerline goodness : 0.865730 with order 1 Centerline is valid? [False, False] Translation: X:6.53, Y:1.51, Z:0.11 [[ 0.9576869 -0.27066731 -0.09785201 6.53147819] [ 0.25750169 0.95765856 -0.12877483 1.51037813] [ 0.12856395 0.09812891 0.98683435 0.1086427 ] [ 0. 0. 0. 1. ]] SLAMing on 144.841346184 meters Centerline goodness : 0.868495 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:1.51, Z:0.11 [[ 0.9569048 -0.27449166 -0.0948026 6.55289997] [ 0.26222569 0.9569969 -0.12407509 1.50737879] [ 0.12478337 0.09386837 0.98773369 0.10729171] [ 0. 0. 0. 1. ]] SLAMing on 144.901346184 meters Centerline goodness : 0.870218 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.50, Z:0.11 [[ 0.95694466 -0.26937625 -0.10813584 6.55548782] [ 0.25620155 0.95894717 -0.12157755 1.49767898] [ 0.13644666 0.08863842 0.98667398 0.10715161] [ 0. 0. 0. 1. ]] SLAMing on 144.961346184 meters Centerline goodness : 0.874484 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.49, Z:0.11 [[ 0.95688378 -0.2684902 -0.11084426 6.55905198] [ 0.25578898 0.95969328 -0.1164509 1.49171638] [ 0.13764241 0.08307724 0.98699176 0.10837168] [ 0. 0. 0. 1. ]] SLAMing on 145.02134618399998 meters Centerline goodness : 0.874345 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.48, Z:0.11 [[ 0.95710294 -0.26231769 -0.12305852 6.55950879] [ 0.24890873 0.96176689 -0.11423171 1.47897669] [ 0.14831861 0.07870117 0.98580308 0.10890801] [ 0. 0. 0. 1. ]] SLAMing on 145.08134618399998 meters Centerline goodness : 0.875806 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.48, Z:0.10 [[ 0.95734635 -0.26172546 -0.12242444 6.56268849] [ 0.2483989 0.96192588 -0.11400259 1.47528863] [ 0.14760062 0.07872987 0.98590855 0.10411742] [ 0. 0. 0. 1. ]] SLAMing on 145.14134618399999 meters Centerline goodness : 0.879491 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.47, Z:0.10 [[ 0.9580775 -0.26006328 -0.12022725 6.559531 ] [ 0.24692793 0.96232196 -0.11385533 1.46950102] [ 0.14530692 0.07939477 0.98619591 0.10345043] [ 0. 0. 0. 1. ]] SLAMing on 145.201346184 meters Centerline goodness : 0.881018 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.47, Z:0.10 [[ 0.95859055 -0.25822855 -0.12009235 6.56021421] [ 0.24541354 0.96296266 -0.11169199 1.46629738] [ 0.14448651 0.07759459 0.98645969 0.10188721] [ 0. 0. 0. 1. ]] SLAMing on 145.261346184 meters Centerline goodness : 0.884445 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.46, Z:0.10 [[ 0.95959236 -0.25583084 -0.11718823 6.55604586] [ 0.24305949 0.96341584 -0.11292476 1.45916303] [ 0.14179064 0.07987803 0.98666859 0.10106179] [ 0. 0. 0. 1. ]] SLAMing on 145.321346184 meters Centerline goodness : 0.888002 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.46, Z:0.10 [[ 0.96019747 -0.25274158 -0.11892228 6.5587441 ] [ 0.24058967 0.96464736 -0.10757362 1.45630433] [ 0.14190639 0.07468045 0.98705897 0.10019691] [ 0. 0. 0. 1. ]] SLAMing on 145.381346184 meters Centerline goodness : 0.891021 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.45, Z:0.10 [[ 0.96061847 -0.2521769 -0.11670033 6.55771776] [ 0.24003733 0.96466255 -0.10866572 1.45132742] [ 0.13997942 0.07637387 0.98720453 0.09721619] [ 0. 0. 0. 1. ]] SLAMing on 145.441346184 meters Centerline goodness : 0.892622 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.45, Z:0.10 [[ 0.9601071 -0.25543729 -0.11378116 6.55563936] [ 0.2430479 0.96350632 -0.11217527 1.44518685] [ 0.13828261 0.080046 0.98715275 0.09583921] [ 0. 0. 0. 1. ]] SLAMing on 145.501346184 meters Centerline goodness : 0.895449 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.44, Z:0.10 [[ 0.95959654 -0.25702299 -0.11451494 6.55760176] [ 0.24482699 0.96325883 -0.11041816 1.44201381] [ 0.13868753 0.07792054 0.987266 0.09610747] [ 0. 0. 0. 1. ]] SLAMing on 145.561346184 meters Centerline goodness : 0.897118 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.44, Z:0.10 [[ 0.95942061 -0.25687216 -0.11631327 6.56213954] [ 0.24482889 0.9634946 -0.10833726 1.44118965] [ 0.13989604 0.07546415 0.98728631 0.09502345] [ 0. 0. 0. 1. ]] SLAMing on 145.621346184 meters Centerline goodness : 0.896721 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:1.43, Z:0.09 [[ 0.95868909 -0.25970979 -0.11604332 6.56426445] [ 0.24772807 0.96277615 -0.10813366 1.434846 ] [ 0.13980711 0.07491937 0.9873404 0.09391062] [ 0. 0. 0. 1. ]] SLAMing on 145.681346184 meters Centerline goodness : 0.896785 with order 1 Centerline is valid? [False, False] Translation: X:6.57, Y:1.43, Z:0.09 [[ 0.9574495 -0.26412643 -0.11630856 6.56856761] [ 0.25193425 0.96151759 -0.10960408 1.43168124] [ 0.14078206 0.07563826 0.98714703 0.09198646] [ 0. 0. 0. 1. ]] SLAMing on 145.74134618399998 meters Centerline goodness : 0.904610 with order 1 Centerline is valid? [False, False] Translation: X:6.57, Y:1.43, Z:0.09 [[ 0.95519803 -0.27153299 -0.11775637 6.57305233] [ 0.25932484 0.95959938 -0.10917724 1.42532734] [ 0.14264416 0.07374873 0.98702268 0.09362817] [ 0. 0. 0. 1. ]] SLAMing on 145.80134618399998 meters Centerline goodness : 0.903434 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:1.42, Z:0.09 [[ 0.95394195 -0.2763467 -0.11673585 6.57631494] [ 0.26400565 0.95813799 -0.11078184 1.41916238] [ 0.14246325 0.07486052 0.98696511 0.09068455] [ 0. 0. 0. 1. ]] SLAMing on 145.86134618399998 meters Centerline goodness : 0.903956 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:1.41, Z:0.09 [[ 0.95299381 -0.27890919 -0.11837425 6.58034 ] [ 0.26680111 0.95763452 -0.10841265 1.41339617] [ 0.14359655 0.0717342 0.98703305 0.09115191] [ 0. 0. 0. 1. ]] SLAMing on 145.921346184 meters Centerline goodness : 0.902223 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:1.41, Z:0.09 [[ 0.95321211 -0.27772082 -0.11940609 6.58332074] [ 0.26587377 0.95815464 -0.1060699 1.4114018 ] [ 0.14386732 0.06936016 0.98716329 0.08962595] [ 0. 0. 0. 1. ]] SLAMing on 145.981346184 meters Centerline goodness : 0.900763 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:1.41, Z:0.08 [[ 0.9549082 -0.27251306 -0.11784295 6.5834022 ] [ 0.26095558 0.9596621 -0.10464629 1.40680097] [ 0.1416069 0.06917582 0.98750301 0.08461598] [ 0. 0. 0. 1. ]] SLAMing on 146.041346184 meters Centerline goodness : 0.904293 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:1.40, Z:0.08 [[ 0.95574866 -0.26989044 -0.11706256 6.58442933] [ 0.25851029 0.9604266 -0.10369749 1.40434655] [ 0.14041696 0.06884686 0.9876959 0.08102064] [ 0. 0. 0. 1. ]] SLAMing on 146.101346184 meters Centerline goodness : 0.901343 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:1.40, Z:0.08 [[ 0.95664189 -0.26569376 -0.11934452 6.58765059] [ 0.25494259 0.96197252 -0.09804667 1.40222719] [ 0.14085654 0.06336955 0.98799987 0.08019054] [ 0. 0. 0. 1. ]] SLAMing on 146.161346184 meters Centerline goodness : 0.903208 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:1.40, Z:0.08 [[ 0.95718217 -0.26372109 -0.11938797 6.58939607] [ 0.25317652 0.96259538 -0.09649755 1.40029611] [ 0.14037075 0.0621395 0.98814712 0.07776786] [ 0. 0. 0. 1. ]] SLAMing on 146.221346184 meters Centerline goodness : 0.900394 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:1.40, Z:0.08 [[ 0.9566218 -0.26631614 -0.11811202 6.5909659 ] [ 0.2555192 0.9617263 -0.09895687 1.3965195 ] [ 0.13994524 0.06448441 0.98805723 0.07527501] [ 0. 0. 0. 1. ]] SLAMing on 146.281346184 meters Centerline goodness : 0.902265 with order 1 Centerline is valid? [False, False] Translation: X:6.60, Y:1.39, Z:0.07 [[ 0.95524147 -0.26963867 -0.1216911 6.59983243] [ 0.25927162 0.9611689 -0.09451224 1.39323382] [ 0.14244985 0.05873096 0.98805805 0.07171562] [ 0. 0. 0. 1. ]] SLAMing on 146.341346184 meters Centerline goodness : 0.905393 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.39, Z:0.07 [[ 0.95431326 -0.27142662 -0.12495519 6.60584092] [ 0.26140684 0.9609377 -0.09091311 1.3931539 ] [ 0.14475039 0.05409545 0.98798836 0.07268324] [ 0. 0. 0. 1. ]] SLAMing on 146.401346184 meters Centerline goodness : 0.904721 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.39, Z:0.07 [[ 0.95250317 -0.27872356 -0.12268209 6.60835661] [ 0.26785362 0.95846807 -0.09794594 1.39106157] [ 0.14488671 0.06043298 0.98760098 0.06951755] [ 0. 0. 0. 1. ]] SLAMing on 146.461346184 meters Centerline goodness : 0.905985 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:1.39, Z:0.07 [[ 0.95127226 -0.28197609 -0.12478209 6.6141886 ] [ 0.27114268 0.95764111 -0.09698014 1.39068186] [ 0.14684254 0.05842076 0.98743318 0.06913249] [ 0. 0. 0. 1. ]] SLAMing on 146.52134618399998 meters Centerline goodness : 0.907095 with order 1 Centerline is valid? [False, False] Translation: X:6.63, Y:1.39, Z:0.07 [[ 0.94959004 -0.2836754 -0.13344298 6.62744087] [ 0.27375473 0.95776719 -0.08797932 1.39225021] [ 0.15276488 0.04701364 0.98714366 0.06917297] [ 0. 0. 0. 1. ]] SLAMing on 146.58134618399998 meters Centerline goodness : 0.908880 with order 1 Centerline is valid? [False, False] Translation: X:6.63, Y:1.39, Z:0.07 [[ 0.94882614 -0.28583105 -0.13427421 6.63211909] [ 0.27583716 0.95713862 -0.08831495 1.39260173] [ 0.15376219 0.04675771 0.98700097 0.06702536] [ 0. 0. 0. 1. ]] SLAMing on 146.64134618399999 meters Centerline goodness : 0.908452 with order 1 Centerline is valid? [False, False] Translation: X:6.64, Y:1.39, Z:0.07 [[ 0.94768238 -0.28863266 -0.13634255 6.63631822] [ 0.27874826 0.95640078 -0.08716051 1.39293729] [ 0.15555549 0.04459523 0.98682002 0.06800072] [ 0. 0. 0. 1. ]] SLAMing on 146.701346184 meters Centerline goodness : 0.909079 with order 1 Centerline is valid? [False, False] Translation: X:6.64, Y:1.39, Z:0.07 [[ 0.9471919 -0.28879596 -0.13937147 6.64250716] [ 0.27938107 0.95655296 -0.08338253 1.39330823] [ 0.15739673 0.04004151 0.98672334 0.06743578] [ 0. 0. 0. 1. ]] SLAMing on 146.761346184 meters Centerline goodness : 0.908048 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:1.39, Z:0.07 [[ 0.94730974 -0.28705432 -0.14214105 6.64772117] [ 0.27814339 0.95724754 -0.07945698 1.39462027] [ 0.15887264 0.03573477 0.98665217 0.06611998] [ 0. 0. 0. 1. ]] SLAMing on 146.821346184 meters Centerline goodness : 0.908444 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:1.40, Z:0.06 [[ 0.94785611 -0.28964917 -0.13293665 6.65624813] [ 0.28175369 0.95653488 -0.0752056 1.39934521] [ 0.14894178 0.0338287 0.98826715 0.05581025] [ 0. 0. 0. 1. ]] SLAMing on 146.881346184 meters Centerline goodness : 0.905023 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:1.40, Z:0.05 [[ 0.94958792 -0.28278126 -0.13534235 6.65988825] [ 0.2755476 0.95874391 -0.06988302 1.40271829] [ 0.14952026 0.02906681 0.98833133 0.0524509 ] [ 0. 0. 0. 1. ]] SLAMing on 146.941346184 meters Centerline goodness : 0.905919 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:1.41, Z:0.05 [[ 0.95066207 -0.27861634 -0.13643523 6.66206736] [ 0.2717216 0.96002895 -0.06716985 1.40531458] [ 0.14969639 0.02678343 0.98836918 0.04970789] [ 0. 0. 0. 1. ]] SLAMing on 147.001346184 meters Centerline goodness : 0.901470 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:1.41, Z:0.05 [[ 0.95107629 -0.27685361 -0.13713483 6.66569885] [ 0.2699085 0.96053395 -0.0672602 1.40876484] [ 0.15034389 0.02695572 0.98826621 0.04575133] [ 0. 0. 0. 1. ]] SLAMing on 147.061346184 meters Centerline goodness : 0.902924 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:1.41, Z:0.04 [[ 0.95097433 -0.27671113 -0.13812592 6.66902602] [ 0.26979564 0.96059222 -0.06687976 1.41102738] [ 0.15118906 0.02633517 0.988154 0.04391277] [ 0. 0. 0. 1. ]] SLAMing on 147.121346184 meters Centerline goodness : 0.904549 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:1.41, Z:0.04 [[ 0.95032497 -0.27724337 -0.14148699 6.67495937] [ 0.27073001 0.96054103 -0.06376665 1.41438644] [ 0.15358294 0.02229426 0.98788423 0.04376707] [ 0. 0. 0. 1. ]] SLAMing on 147.181346184 meters Centerline goodness : 0.902012 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:1.42, Z:0.04 [[ 0.94991708 -0.28313166 -0.13226493 6.68253747] [ 0.27730748 0.95884643 -0.06094338 1.42113181] [ 0.14407675 0.0212131 0.98933912 0.03523245] [ 0. 0. 0. 1. ]] SLAMing on 147.24134618399998 meters Centerline goodness : 0.904095 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:1.42, Z:0.03 [[ 0.94935711 -0.28448917 -0.13336789 6.68742091] [ 0.27848189 0.95843067 -0.06211678 1.42445958] [ 0.14549543 0.02183047 0.98911805 0.03222286] [ 0. 0. 0. 1. ]] SLAMing on 147.30134618399998 meters Centerline goodness : 0.905746 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:1.43, Z:0.03 [[ 0.94889128 -0.2847299 -0.13614042 6.69127533] [ 0.27918268 0.95844546 -0.05864581 1.42624319] [ 0.14718138 0.01764045 0.9889522 0.03334191] [ 0. 0. 0. 1. ]] SLAMing on 147.36134618399998 meters Centerline goodness : 0.902167 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:1.43, Z:0.03 [[ 0.94880219 -0.28747621 -0.1308886 6.70074355] [ 0.28337637 0.95773836 -0.04934634 1.43266984] [ 0.13954293 0.00972918 0.99016822 0.02742741] [ 0. 0. 0. 1. ]] SLAMing on 147.421346184 meters Centerline goodness : 0.901561 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:1.43, Z:0.03 [[ 0.94858304 -0.28748023 -0.13245876 6.70470267] [ 0.28352043 0.9577513 -0.04825575 1.43490975] [ 0.14073512 0.00821982 0.99001316 0.02590252] [ 0. 0. 0. 1. ]] SLAMing on 147.481346184 meters Centerline goodness : 0.900400 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:1.44, Z:0.02 [[ 0.94808218 -0.28887794 -0.13300268 6.70962508] [ 0.28474486 0.95732279 -0.04953221 1.43664293] [ 0.14163526 0.00908877 0.98987719 0.02227587] [ 0. 0. 0. 1. ]] SLAMing on 147.541346184 meters Centerline goodness : 0.901352 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:1.44, Z:0.02 [[ 9.47758158e-01 -2.88840643e-01 -1.35371922e-01 6.71410038e+00] [ 2.84990073e-01 9.57355937e-01 -4.74369932e-02 1.44048518e+00] [ 1.43300844e-01 6.37914339e-03 9.89658615e-01 2.13622707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601346184 meters Centerline goodness : 0.898368 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:1.44, Z:0.02 [[ 9.47843890e-01 -2.87693172e-01 -1.37202767e-01 6.71680584e+00] [ 2.84117336e-01 9.57714069e-01 -4.53993592e-02 1.44442356e+00] [ 1.44462106e-01 4.04982045e-03 9.89502046e-01 2.06256000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661346184 meters Centerline goodness : 0.898969 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:1.45, Z:0.02 [[ 9.48060060e-01 -2.85841889e-01 -1.39558365e-01 6.72139970e+00] [ 2.82652802e-01 9.58276342e-01 -4.25892625e-02 1.44815376e+00] [ 1.45909275e-01 9.30615844e-04 9.89297537e-01 1.87510363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721346184 meters Centerline goodness : 0.896859 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:1.45, Z:0.02 [[ 9.48362697e-01 -2.84748632e-01 -1.39736936e-01 6.72398988e+00] [ 2.81548481e-01 9.58601654e-01 -4.25831060e-02 1.44987414e+00] [ 1.46077539e-01 1.04150729e-03 9.89272595e-01 1.55813115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781346184 meters Centerline goodness : 0.897354 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:1.45, Z:0.01 [[ 9.48803706e-01 -2.81765019e-01 -1.42758544e-01 6.72844325e+00] [ 2.79196722e-01 9.59476401e-01 -3.81343344e-02 1.45268491e+00] [ 1.47718376e-01 -3.67571972e-03 9.89022634e-01 1.48949559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841346184 meters Centerline goodness : 0.896406 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:1.46, Z:0.01 [[ 0.94893011 -0.27960902 -0.14611793 6.73316872] [ 0.27762975 0.96007958 -0.03418941 1.45767647] [ 0.14984451 -0.00812332 0.9886762 0.01426531] [ 0. 0. 0. 1. ]] SLAMing on 147.901346184 meters Centerline goodness : 0.894813 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:1.46, Z:0.01 [[ 9.48201421e-01 -2.81771761e-01 -1.46692672e-01 6.73811434e+00] [ 2.79363391e-01 9.59464496e-01 -3.72018350e-02 1.46490057e+00] [ 1.51228837e-01 -5.70572956e-03 9.88482313e-01 9.82835182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961346184 meters Centerline goodness : 0.891366 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:1.47, Z:-0.00 [[ 9.48402538e-01 -2.87253091e-01 -1.34232215e-01 6.74254607e+00] [ 2.84887288e-01 9.57849321e-01 -3.69311552e-02 1.47266487e+00] [ 1.39182824e-01 -3.21545038e-03 9.90261482e-01 -6.43044260e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02134618399998 meters Centerline goodness : 0.890417 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:1.48, Z:-0.00 [[ 9.49520020e-01 -2.81505413e-01 -1.38442888e-01 6.74596654e+00] [ 2.80125386e-01 9.59501951e-01 -2.97619576e-02 1.47947440e+00] [ 1.41214374e-01 -1.05217929e-02 9.89923125e-01 -5.11719440e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08134618399998 meters Centerline goodness : 0.890279 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:1.48, Z:-0.00 [[ 9.50394225e-01 -2.78429873e-01 -1.38663704e-01 6.74533697e+00] [ 2.77221656e-01 9.60387720e-01 -2.83475000e-02 1.48262414e+00] [ 1.41063709e-01 -1.14992814e-02 9.89933733e-01 -1.70445479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14134618399999 meters Centerline goodness : 0.884402 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:1.49, Z:-0.00 [[ 9.51088722e-01 -2.80956533e-01 -1.28427679e-01 6.74885137e+00] [ 2.79738384e-01 9.59673633e-01 -2.78020651e-02 1.49407661e+00] [ 1.31059830e-01 -9.48392084e-03 9.91329096e-01 -3.33363893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201346184 meters Centerline goodness : 0.885151 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:1.50, Z:-0.01 [[ 9.50859449e-01 -2.80922800e-01 -1.30187130e-01 6.75425432e+00] [ 2.79797041e-01 9.59672658e-01 -2.72397859e-02 1.49897470e+00] [ 1.32589306e-01 -1.05247659e-02 9.91115183e-01 -6.53440351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261346184 meters Centerline goodness : 0.880606 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.51, Z:-0.01 [[ 0.94976549 -0.28356845 -0.13241773 6.75976092] [ 0.28235212 0.95889412 -0.02827281 1.50719571] [ 0.13499186 -0.01053589 0.99079069 -0.00850619] [ 0. 0. 0. 1. ]] SLAMing on 148.321346184 meters Centerline goodness : 0.881889 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.51, Z:-0.01 [[ 0.94956031 -0.2833825 -0.13427426 6.76106785] [ 0.28243427 0.95892159 -0.02646248 1.51161117] [ 0.13625749 -0.01279593 0.99059081 -0.0074898 ] [ 0. 0. 0. 1. ]] SLAMing on 148.381346184 meters Centerline goodness : 0.874197 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.52, Z:-0.01 [[ 0.950176 -0.2800779 -0.13682817 6.76544712] [ 0.2795167 0.95984838 -0.02369582 1.51875803] [ 0.13797097 -0.01573056 0.99031135 -0.01038087] [ 0. 0. 0. 1. ]] SLAMing on 148.441346184 meters Centerline goodness : 0.874543 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.52, Z:-0.01 [[ 0.95083809 -0.27806808 -0.13632705 6.76607487] [ 0.27731742 0.9604568 -0.02485507 1.52276758] [ 0.13784765 -0.01417272 0.99035204 -0.01363647] [ 0. 0. 0. 1. ]] SLAMing on 148.501346184 meters Centerline goodness : 0.868971 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.54, Z:-0.01 [[ 0.95156873 -0.27931974 -0.12844232 6.77100262] [ 0.27877696 0.96009099 -0.0225543 1.53816278] [ 0.12961618 -0.01434479 0.99146047 -0.01446782] [ 0. 0. 0. 1. ]] SLAMing on 148.561346184 meters Centerline goodness : 0.863537 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.54, Z:-0.02 [[ 0.95183764 -0.27791052 -0.12950234 6.77336879] [ 0.27751411 0.96048177 -0.02146382 1.54335886] [ 0.13034966 -0.01550866 0.99134678 -0.01683629] [ 0. 0. 0. 1. ]] SLAMing on 148.621346184 meters Centerline goodness : 0.863147 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.55, Z:-0.02 [[ 0.95148061 -0.27949724 -0.12870875 6.77389616] [ 0.27861882 0.96007238 -0.02515124 1.54840592] [ 0.13059942 -0.01192976 0.99136344 -0.01913164] [ 0. 0. 0. 1. ]] SLAMing on 148.681346184 meters Centerline goodness : 0.864448 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.55, Z:-0.02 [[ 0.95155947 -0.27733049 -0.13274931 6.77830567] [ 0.27723469 0.96060272 -0.01957924 1.5526674 ] [ 0.13294927 -0.01817191 0.99095624 -0.0181452 ] [ 0. 0. 0. 1. ]] SLAMing on 148.74134618399998 meters Centerline goodness : 0.864338 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.56, Z:-0.02 [[ 0.95277361 -0.2725437 -0.13394918 6.77799068] [ 0.27291419 0.96190621 -0.0159466 1.55762626] [ 0.1331927 -0.02136313 0.99085989 -0.01899115] [ 0. 0. 0. 1. ]] SLAMing on 148.80134618399998 meters Centerline goodness : 0.864719 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.56, Z:-0.02 [[ 0.9530528 -0.27184179 -0.13338816 6.77921591] [ 0.27201066 0.96213854 -0.01730989 1.56184775] [ 0.13304344 -0.01978577 0.99091269 -0.02255619] [ 0. 0. 0. 1. ]] SLAMing on 148.86134618399998 meters Centerline goodness : 0.864198 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.95276367 -0.27168664 -0.13574884 6.78064589] [ 0.27227765 0.96210864 -0.01455491 1.56590951] [ 0.13455951 -0.02309399 0.99063636 -0.02060129] [ 0. 0. 0. 1. ]] SLAMing on 148.921346184 meters Centerline goodness : 0.864597 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.95285815 -0.27187607 -0.13470247 6.77895202] [ 0.27215885 0.96210795 -0.01666898 1.56837089] [ 0.13413021 -0.0207773 0.99074588 -0.02095848] [ 0. 0. 0. 1. ]] SLAMing on 148.981346184 meters Centerline goodness : 0.865103 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.95316308 -0.27099752 -0.13431486 6.77902038] [ 0.27128058 0.96235813 -0.01654342 1.56985661] [ 0.13374222 -0.02066844 0.9908006 -0.02223807] [ 0. 0. 0. 1. ]] SLAMing on 149.041346184 meters Centerline goodness : 0.862105 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.95336596 -0.26933847 -0.13619891 6.778106 ] [ 0.2701041 0.96274091 -0.01318009 1.57259807] [ 0.13467417 -0.02422243 0.99059383 -0.01918853] [ 0. 0. 0. 1. ]] SLAMing on 149.101346184 meters Centerline goodness : 0.862820 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.95330093 -0.26992729 -0.13548648 6.77834566] [ 0.27048666 0.96261277 -0.01461605 1.57387969] [ 0.13436628 -0.02271379 0.99067138 -0.02033915] [ 0. 0. 0. 1. ]] SLAMing on 149.161346184 meters Centerline goodness : 0.862689 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.9532988 -0.27118786 -0.1329607 6.7764654 ] [ 0.27126741 0.96233818 -0.01786644 1.5724529 ] [ 0.13279832 -0.01903585 0.99096026 -0.02207342] [ 0. 0. 0. 1. ]] SLAMing on 149.221346184 meters Centerline goodness : 0.862039 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.95345292 -0.26930511 -0.13565504 6.77862213] [ 0.27009952 0.96274644 -0.01286612 1.57387693] [ 0.13406632 -0.02437312 0.99067259 -0.02034171] [ 0. 0. 0. 1. ]] SLAMing on 149.281346184 meters Centerline goodness : 0.862815 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.9542761 -0.26738832 -0.13364358 6.77737902] [ 0.26786178 0.96334425 -0.01476248 1.57318428] [ 0.13269208 -0.02171052 0.9909195 -0.02322257] [ 0. 0. 0. 1. ]] SLAMing on 149.341346184 meters Centerline goodness : 0.860853 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.57, Z:-0.02 [[ 0.95439597 -0.26737317 -0.13281534 6.77712314] [ 0.26766674 0.96337912 -0.01597458 1.57307648] [ 0.1322227 -0.02030418 0.99101206 -0.02400452] [ 0. 0. 0. 1. ]] SLAMing on 149.401346184 meters Centerline goodness : 0.862227 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.57, Z:-0.02 [[ 0.95497479 -0.26490428 -0.1335997 6.77477153] [ 0.26570155 0.96397871 -0.01215422 1.57112003] [ 0.13200697 -0.02389067 0.99096084 -0.02086576] [ 0. 0. 0. 1. ]] SLAMing on 149.461346184 meters Centerline goodness : 0.860958 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.57, Z:-0.02 [[ 0.95498548 -0.26489389 -0.13354384 6.77429318] [ 0.26581627 0.96395861 -0.0112028 1.57064512] [ 0.13169828 -0.02479962 0.99097959 -0.01998396] [ 0. 0. 0. 1. ]] SLAMing on 149.52134618399998 meters Centerline goodness : 0.860051 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.57, Z:-0.02 [[ 0.95455119 -0.26739064 -0.13165966 6.77385234] [ 0.26784382 0.9633519 -0.01458797 1.56926119] [ 0.13073527 -0.02133926 0.99118763 -0.02170894] [ 0. 0. 0. 1. ]] SLAMing on 149.58134618399998 meters Centerline goodness : 0.859919 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.57, Z:-0.02 [[ 0.9538392 -0.27068943 -0.13006928 6.77285135] [ 0.27073503 0.96249168 -0.01767241 1.56939428] [ 0.12997434 -0.01835767 0.9913474 -0.02166036] [ 0. 0. 0. 1. ]] SLAMing on 149.64134618399999 meters Centerline goodness : 0.859823 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.57, Z:-0.02 [[ 0.95288838 -0.27345442 -0.13124943 6.77322402] [ 0.2737302 0.96166854 -0.01629102 1.56842899] [ 0.1306733 -0.02040341 0.99121551 -0.0185058 ] [ 0. 0. 0. 1. ]] SLAMing on 149.701346184 meters Centerline goodness : 0.859736 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.57, Z:-0.02 [[ 0.95221731 -0.27657493 -0.12957045 6.77220779] [ 0.27640196 0.96084064 -0.01967815 1.56681594] [ 0.12993904 -0.01707565 0.99137494 -0.01811565] [ 0. 0. 0. 1. ]] SLAMing on 149.761346184 meters Centerline goodness : 0.861659 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.56, Z:-0.02 [[ 0.95196974 -0.27726239 -0.1299199 6.77164177] [ 0.27722542 0.96062221 -0.01873613 1.5636985 ] [ 0.12999876 -0.01818086 0.99134746 -0.0157663 ] [ 0. 0. 0. 1. ]] SLAMing on 149.821346184 meters Centerline goodness : 0.862346 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.56, Z:-0.02 [[ 0.95186215 -0.27761216 -0.12996126 6.77331057] [ 0.27753949 0.96052557 -0.01903824 1.5638664 ] [ 0.13011636 -0.0179476 0.99133628 -0.016756 ] [ 0. 0. 0. 1. ]] SLAMing on 149.881346184 meters Centerline goodness : 0.860449 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.56, Z:-0.02 [[ 0.95163378 -0.27918789 -0.12824691 6.77126863] [ 0.27861242 0.96013357 -0.02277386 1.56305676] [ 0.12949235 -0.01405881 0.99148075 -0.01646372] [ 0. 0. 0. 1. ]] SLAMing on 149.941346184 meters Centerline goodness : 0.862192 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.56, Z:-0.02 [[ 0.95203687 -0.27802653 -0.1277773 6.76970355] [ 0.27741021 0.96047725 -0.02295716 1.56090418] [ 0.12910989 -0.01359067 0.99153716 -0.01562107] [ 0. 0. 0. 1. ]] SLAMing on 150.001346184 meters Centerline goodness : 0.860278 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.56, Z:-0.02 [[ 0.95256806 -0.27656681 -0.12698385 6.7695054 ] [ 0.27587035 0.96091014 -0.02339326 1.55949865] [ 0.12848987 -0.01274741 0.99162889 -0.01675676] [ 0. 0. 0. 1. ]] SLAMing on 150.061346184 meters Centerline goodness : 0.860999 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.56, Z:-0.02 [[ 0.95396107 -0.27126 -0.12796988 6.76847712] [ 0.27110437 0.96236301 -0.01896993 1.55719954] [ 0.12829927 -0.01659661 0.99159662 -0.01572335] [ 0. 0. 0. 1. ]] SLAMing on 150.121346184 meters Centerline goodness : 0.863599 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.56, Z:-0.02 [[ 0.9543451 -0.27073641 -0.12620314 6.76642738] [ 0.27030982 0.96254817 -0.02082341 1.5561465 ] [ 0.12711426 -0.01424122 0.99178584 -0.01630999] [ 0. 0. 0. 1. ]] SLAMing on 150.181346184 meters Centerline goodness : 0.864712 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.55, Z:-0.02 [[ 0.9543828 -0.27155654 -0.12413908 6.76386769] [ 0.27071597 0.96236211 -0.02391723 1.55200299] [ 0.12596163 -0.01078023 0.99197654 -0.01614274] [ 0. 0. 0. 1. ]] SLAMing on 150.24134618399998 meters Centerline goodness : 0.867483 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.55, Z:-0.02 [[ 0.95419658 -0.27289224 -0.12263245 6.76276582] [ 0.27179489 0.96200616 -0.02591694 1.54972124] [ 0.12504571 -0.00860102 0.9921137 -0.0163405 ] [ 0. 0. 0. 1. ]] SLAMing on 150.30134618399998 meters Centerline goodness : 0.869260 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.55, Z:-0.01 [[ 0.95431402 -0.2728868 -0.12172732 6.76027443] [ 0.27172516 0.9620136 -0.02636789 1.54634364] [ 0.12429878 -0.00791313 0.99221328 -0.01458178] [ 0. 0. 0. 1. ]] SLAMing on 150.36134618399998 meters Centerline goodness : 0.871190 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.55, Z:-0.02 [[ 0.95451925 -0.27191338 -0.12229517 6.76186216] [ 0.27102361 0.96226906 -0.02417575 1.54512427] [ 0.12425456 -0.01006866 0.99219929 -0.01543382] [ 0. 0. 0. 1. ]] SLAMing on 150.421346184 meters Centerline goodness : 0.869836 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.54, Z:-0.02 [[ 0.9543052 -0.27278878 -0.12201588 6.76184211] [ 0.27181299 0.96202797 -0.0248975 1.54412422] [ 0.12417444 -0.00940569 0.99221582 -0.01514141] [ 0. 0. 0. 1. ]] SLAMing on 150.481346184 meters Centerline goodness : 0.867946 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.54, Z:-0.01 [[ 9.53740194e-01 -2.75924205e-01 -1.19354416e-01 6.75873087e+00] [ 2.74381466e-01 9.61168327e-01 -2.95001547e-02 1.54172942e+00] [ 1.22859491e-01 -4.61315620e-03 9.92413354e-01 -1.46244773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541346184 meters Centerline goodness : 0.868641 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.54, Z:-0.01 [[ 9.52854482e-01 -2.78311990e-01 -1.20875027e-01 6.76128774e+00] [ 2.76874000e-01 9.60472278e-01 -2.88754368e-02 1.54219886e+00] [ 1.24133492e-01 -5.95306281e-03 9.92247669e-01 -1.30936959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601346184 meters Centerline goodness : 0.871483 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:1.54, Z:-0.01 [[ 9.51878577e-01 -2.81374965e-01 -1.21471413e-01 6.76419228e+00] [ 2.79994262e-01 9.59574200e-01 -2.86455668e-02 1.54005781e+00] [ 1.24620980e-01 -6.74419740e-03 9.92181499e-01 -1.34317630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661346184 meters Centerline goodness : 0.871930 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.54, Z:-0.02 [[ 9.51240891e-01 -2.83729781e-01 -1.20988339e-01 6.76678729e+00] [ 2.82065496e-01 9.58893199e-01 -3.10304557e-02 1.53965075e+00] [ 1.24819160e-01 -4.60919765e-03 9.92168802e-01 -1.55024011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721346184 meters Centerline goodness : 0.871091 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.54, Z:-0.01 [[ 0.95089016 -0.28367322 -0.12384427 6.76690136] [ 0.28253624 0.95887595 -0.02702185 1.54007681] [ 0.12641667 -0.00929568 0.99193368 -0.01038475] [ 0. 0. 0. 1. ]] SLAMing on 150.781346184 meters Centerline goodness : 0.870912 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.54, Z:-0.01 [[ 0.95096694 -0.28328921 -0.12413344 6.76879419] [ 0.28222604 0.95898353 -0.02643969 1.54028313] [ 0.126532 -0.00989042 0.99191322 -0.01188891] [ 0. 0. 0. 1. ]] SLAMing on 150.841346184 meters Centerline goodness : 0.867419 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.54, Z:-0.01 [[ 9.51131051e-01 -2.84004717e-01 -1.21206619e-01 6.76660073e+00] [ 2.82333644e-01 9.58811700e-01 -3.11100990e-02 1.53694353e+00] [ 1.25049740e-01 -4.63092526e-03 9.92139666e-01 -1.37708810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901346184 meters Centerline goodness : 0.869715 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.54, Z:-0.01 [[ 0.95091948 -0.28378309 -0.12336652 6.77089657] [ 0.28252394 0.95885283 -0.02795498 1.537151 ] [ 0.12622349 -0.00827106 0.99196735 -0.01413327] [ 0. 0. 0. 1. ]] SLAMing on 150.961346184 meters Centerline goodness : 0.868746 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.53, Z:-0.01 [[ 0.95085438 -0.2842406 -0.12281381 6.76848486] [ 0.28297865 0.95871828 -0.02797056 1.53447307] [ 0.12569422 -0.00815776 0.99203549 -0.01171286] [ 0. 0. 0. 1. ]] SLAMing on 151.02134618399998 meters Centerline goodness : 0.873764 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.53, Z:-0.01 [[ 9.51170077e-01 -2.84098895e-01 -1.20678508e-01 6.76607702e+00] [ 2.82472478e-01 9.58782722e-01 -3.07407134e-02 1.53101505e+00] [ 1.24437871e-01 -4.84871040e-03 9.92215554e-01 -1.21814015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08134618399998 meters Centerline goodness : 0.872748 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.53, Z:-0.01 [[ 9.51621804e-01 -2.82419420e-01 -1.21058720e-01 6.76528785e+00] [ 2.80994336e-01 9.59269826e-01 -2.90445099e-02 1.52982261e+00] [ 1.24330711e-01 -6.37742571e-03 9.92220340e-01 -1.07246921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14134618399999 meters Centerline goodness : 0.875547 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.53, Z:-0.01 [[ 9.52069114e-01 -2.81037198e-01 -1.20758008e-01 6.76507948e+00] [ 2.79678541e-01 9.59673304e-01 -2.84088481e-02 1.52674041e+00] [ 1.23872179e-01 -6.72623655e-03 9.92275386e-01 -1.10042684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201346184 meters Centerline goodness : 0.874555 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.53, Z:-0.01 [[ 9.51514945e-01 -2.83476621e-01 -1.19416557e-01 6.76588348e+00] [ 2.81732383e-01 9.58972486e-01 -3.16012014e-02 1.52541527e+00] [ 1.23475395e-01 -3.57449584e-03 9.92341196e-01 -1.26067862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261346184 meters Centerline goodness : 0.877225 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.53, Z:-0.01 [[ 9.51250286e-01 -2.83940820e-01 -1.20418042e-01 6.76881113e+00] [ 2.82322745e-01 9.58829605e-01 -3.06538151e-02 1.52501187e+00] [ 1.24164253e-01 -4.83730178e-03 9.92249887e-01 -1.33320624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321346184 meters Centerline goodness : 0.878077 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.53, Z:-0.01 [[ 9.50819284e-01 -2.85149769e-01 -1.20964040e-01 6.76971026e+00] [ 2.83554004e-01 9.58468714e-01 -3.05753411e-02 1.52540102e+00] [ 1.24658799e-01 -5.22821397e-03 9.92185895e-01 -1.25602879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381346184 meters Centerline goodness : 0.875576 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.52, Z:-0.01 [[ 9.50430228e-01 -2.86507165e-01 -1.20814016e-01 6.77178360e+00] [ 2.84878048e-01 9.58064903e-01 -3.09215008e-02 1.52337660e+00] [ 1.24606900e-01 -5.02853200e-03 9.92193446e-01 -1.40270286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441346184 meters Centerline goodness : 0.878988 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.52, Z:-0.02 [[ 9.50215276e-01 -2.87486535e-01 -1.20176621e-01 6.77274155e+00] [ 2.85741468e-01 9.57776151e-01 -3.18850663e-02 1.52176112e+00] [ 1.24268829e-01 -4.04176707e-03 9.92240355e-01 -1.53326887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501346184 meters Centerline goodness : 0.877873 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.52, Z:-0.02 [[ 0.95050556 -0.28562897 -0.12229172 6.7761599 ] [ 0.28439461 0.95830393 -0.02780812 1.5210688 ] [ 0.12513544 -0.00834734 0.99210455 -0.01594375] [ 0. 0. 0. 1. ]] SLAMing on 151.561346184 meters Centerline goodness : 0.876637 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.52, Z:-0.02 [[ 9.50202563e-01 -2.87731150e-01 -1.19690746e-01 6.77419985e+00] [ 2.85943995e-01 9.57704428e-01 -3.22220398e-02 1.51833790e+00] [ 1.23899642e-01 -3.60738524e-03 9.92288197e-01 -1.69490319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621346184 meters Centerline goodness : 0.880240 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.52, Z:-0.02 [[ 9.49755623e-01 -2.88727763e-01 -1.20832674e-01 6.77786970e+00] [ 2.86970219e-01 9.57402016e-01 -3.20853882e-02 1.51803012e+00] [ 1.24949388e-01 -4.20210117e-03 9.92154218e-01 -1.78367041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681346184 meters Centerline goodness : 0.880861 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.52, Z:-0.02 [[ 9.49671809e-01 -2.88433279e-01 -1.22187144e-01 6.77812112e+00] [ 2.86931974e-01 9.57478082e-01 -3.00959323e-02 1.51801609e+00] [ 1.25672181e-01 -6.47813985e-03 9.92050672e-01 -1.53711936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74134618399998 meters Centerline goodness : 0.883611 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.51, Z:-0.02 [[ 9.50086863e-01 -2.87963429e-01 -1.20050055e-01 6.77571438e+00] [ 2.86248547e-01 9.57631864e-01 -3.16698812e-02 1.51461217e+00] [ 1.24083525e-01 -4.27501566e-03 9.92262568e-01 -1.63395815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80134618399998 meters Centerline goodness : 0.880856 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.51, Z:-0.02 [[ 9.50366419e-01 -2.87050841e-01 -1.20022850e-01 6.77776182e+00] [ 2.85394772e-01 9.57904017e-01 -3.11402846e-02 1.51202840e+00] [ 1.23909215e-01 -4.65921325e-03 9.92282620e-01 -1.82453984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86134618399998 meters Centerline goodness : 0.883655 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.51, Z:-0.02 [[ 9.51422994e-01 -2.84014502e-01 -1.18869883e-01 6.77334673e+00] [ 2.82503036e-01 9.58805395e-01 -2.97363126e-02 1.50904412e+00] [ 1.22418629e-01 -5.28929124e-03 9.92464459e-01 -1.64790786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921346184 meters Centerline goodness : 0.886656 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:1.51, Z:-0.02 [[ 9.51513046e-01 -2.83847798e-01 -1.18546830e-01 6.77424421e+00] [ 2.82392507e-01 9.58852760e-01 -2.92550261e-02 1.50628109e+00] [ 1.21972930e-01 -5.64019755e-03 9.92517402e-01 -1.76817720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981346184 meters Centerline goodness : 0.883818 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.50, Z:-0.02 [[ 9.50969383e-01 -2.86053268e-01 -1.17604256e-01 6.77582019e+00] [ 2.84387551e-01 9.58205789e-01 -3.10706711e-02 1.50343852e+00] [ 1.21576946e-01 -3.89792958e-03 9.92574356e-01 -1.92644292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041346184 meters Centerline goodness : 0.886771 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.50, Z:-0.02 [[ 0.95030546 -0.28751845 -0.11938456 6.77856761] [ 0.28622835 0.95774665 -0.02819013 1.5015957 ] [ 0.12244534 -0.00738201 0.9924478 -0.01768289] [ 0. 0. 0. 1. ]] SLAMing on 152.101346184 meters Centerline goodness : 0.886235 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.50, Z:-0.02 [[ 9.50061622e-01 -2.88804271e-01 -1.18215933e-01 6.77955607e+00] [ 2.87295652e-01 9.57372505e-01 -2.99849208e-02 1.49970156e+00] [ 1.21836457e-01 -5.47540083e-03 9.92535086e-01 -1.96257438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161346184 meters Centerline goodness : 0.890752 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.50, Z:-0.02 [[ 9.49391661e-01 -2.91249683e-01 -1.17597177e-01 6.78021410e+00] [ 2.89585031e-01 9.56637598e-01 -3.13849680e-02 1.49679355e+00] [ 1.21638743e-01 -4.25775531e-03 9.92565307e-01 -1.96648123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221346184 meters Centerline goodness : 0.890955 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.50, Z:-0.02 [[ 9.49377787e-01 -2.91172025e-01 -1.17901102e-01 6.78221009e+00] [ 2.89543519e-01 9.56659580e-01 -3.10965843e-02 1.49528524e+00] [ 1.21845675e-01 -4.61509376e-03 9.92538328e-01 -2.08468519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281346184 meters Centerline goodness : 0.887499 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.49, Z:-0.02 [[ 9.49876008e-01 -2.90457167e-01 -1.15629595e-01 6.77996474e+00] [ 2.88539896e-01 9.56886527e-01 -3.33601904e-02 1.49226193e+00] [ 1.20334108e-01 -1.67570680e-03 9.92732036e-01 -2.22050697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341346184 meters Centerline goodness : 0.891445 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.49, Z:-0.02 [[ 9.50377192e-01 -2.89420066e-01 -1.14101789e-01 6.77873892e+00] [ 2.87361075e-01 9.57202186e-01 -3.44614089e-02 1.48860106e+00] [ 1.19192305e-01 -3.70755368e-05 9.92871187e-01 -2.33524805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401346184 meters Centerline goodness : 0.893345 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.49, Z:-0.02 [[ 9.50363619e-01 -2.88617520e-01 -1.16227877e-01 6.78055644e+00] [ 2.86973880e-01 9.57436575e-01 -3.10031880e-02 1.48800145e+00] [ 1.20228884e-01 -3.89006288e-03 9.92738577e-01 -2.13251826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461346184 meters Centerline goodness : 0.892152 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:1.48, Z:-0.03 [[ 9.50177011e-01 -2.90001783e-01 -1.14291792e-01 6.78219299e+00] [ 2.87990606e-01 9.57025966e-01 -3.40985426e-02 1.48444938e+00] [ 1.19268851e-01 -5.15311024e-04 9.92861861e-01 -2.53951025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52134618399998 meters Centerline goodness : 0.892427 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:1.48, Z:-0.03 [[ 9.49726974e-01 -2.91130501e-01 -1.15159479e-01 6.78705658e+00] [ 2.89238168e-01 9.56681677e-01 -3.31881197e-02 1.48226726e+00] [ 1.19833037e-01 -1.78886404e-03 9.92792447e-01 -2.79351423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58134618399998 meters Centerline goodness : 0.894545 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:1.48, Z:-0.03 [[ 9.49533581e-01 -2.90887033e-01 -1.17348679e-01 6.78972999e+00] [ 2.89516472e-01 9.56735374e-01 -2.89419682e-02 1.47947083e+00] [ 1.20690476e-01 -6.49300488e-03 9.92668953e-01 -2.61729498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64134618399999 meters Centerline goodness : 0.892981 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:1.48, Z:-0.03 [[ 0.94930548 -0.29141615 -0.11788018 6.79356284] [ 0.29014423 0.95656748 -0.0281956 1.47667867] [ 0.120977 -0.00743602 0.99262746 -0.02853435] [ 0. 0. 0. 1. ]] SLAMing on 152.701346184 meters Centerline goodness : 0.891499 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:1.47, Z:-0.03 [[ 0.94940031 -0.29107931 -0.11794863 6.79683826] [ 0.28984713 0.95666759 -0.02785268 1.47482871] [ 0.12094497 -0.00774373 0.99262901 -0.03173302] [ 0. 0. 0. 1. ]] SLAMing on 152.761346184 meters Centerline goodness : 0.894284 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:1.47, Z:-0.03 [[ 0.94955215 -0.29043251 -0.1183202 6.79876911] [ 0.28937373 0.95685167 -0.02641462 1.47230547] [ 0.12088654 -0.0091567 0.9926241 -0.03280957] [ 0. 0. 0. 1. ]] SLAMing on 152.821346184 meters Centerline goodness : 0.894766 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:1.47, Z:-0.03 [[ 0.94932096 -0.29064087 -0.11965617 6.80294019] [ 0.28979452 0.95676747 -0.02480203 1.47124269] [ 0.12169161 -0.01113061 0.99250555 -0.03428854] [ 0. 0. 0. 1. ]] SLAMing on 152.881346184 meters Centerline goodness : 0.894543 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.47, Z:-0.04 [[ 0.94892292 -0.29152359 -0.12066188 6.80738724] [ 0.29077727 0.95648614 -0.02414236 1.46982175] [ 0.12244948 -0.01217649 0.99240005 -0.03633314] [ 0. 0. 0. 1. ]] SLAMing on 152.941346184 meters Centerline goodness : 0.892468 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.47, Z:-0.04 [[ 0.94908803 -0.29066681 -0.1214278 6.81097834] [ 0.29005851 0.95673128 -0.02305049 1.46952286] [ 0.12287378 -0.01334422 0.99233259 -0.03888909] [ 0. 0. 0. 1. ]] SLAMing on 153.001346184 meters Centerline goodness : 0.896842 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:1.47, Z:-0.04 [[ 0.94885121 -0.29097935 -0.12252512 6.81487828] [ 0.29051786 0.95661629 -0.02201474 1.46831883] [ 0.12361536 -0.01470702 0.99222122 -0.04038045] [ 0. 0. 0. 1. ]] SLAMing on 153.061346184 meters Centerline goodness : 0.893090 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.47, Z:-0.04 [[ 0.94800159 -0.29318533 -0.12383596 6.81936597] [ 0.29287816 0.95591711 -0.02109173 1.46660224] [ 0.1245607 -0.01627385 0.99207852 -0.04109608] [ 0. 0. 0. 1. ]] SLAMing on 153.121346184 meters Centerline goodness : 0.897684 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.47, Z:-0.04 [[ 0.94785161 -0.29352772 -0.12417246 6.82257821] [ 0.2932659 0.95580465 -0.0207985 1.46555138] [ 0.12478955 -0.01670166 0.99204265 -0.0432787 ] [ 0. 0. 0. 1. ]] SLAMing on 153.181346184 meters Centerline goodness : 0.895932 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:1.46, Z:-0.04 [[ 0.94789217 -0.29319698 -0.12464333 6.82387427] [ 0.29310367 0.95588172 -0.01950332 1.46418592] [ 0.1248626 -0.01804637 0.99200991 -0.0434313 ] [ 0. 0. 0. 1. ]] SLAMing on 153.24134618399998 meters Centerline goodness : 0.894414 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.46, Z:-0.05 [[ 0.9480663 -0.29225913 -0.12551851 6.82696677] [ 0.29235816 0.95613858 -0.01804759 1.46334421] [ 0.12528766 -0.01958605 0.99192711 -0.04502972] [ 0. 0. 0. 1. ]] SLAMing on 153.30134618399998 meters Centerline goodness : 0.896678 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.46, Z:-0.05 [[ 0.94872616 -0.29022623 -0.12524936 6.82753997] [ 0.29046903 0.9567382 -0.01672626 1.46095604] [ 0.12468525 -0.02051242 0.99198429 -0.04662758] [ 0. 0. 0. 1. ]] SLAMing on 153.36134618399998 meters Centerline goodness : 0.896198 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.46, Z:-0.05 [[ 0.9489601 -0.28937966 -0.12543578 6.82882057] [ 0.28973527 0.95697635 -0.01580312 1.4596333 ] [ 0.12461218 -0.02134664 0.99197587 -0.04761368] [ 0. 0. 0. 1. ]] SLAMing on 153.421346184 meters Centerline goodness : 0.893808 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.46, Z:-0.05 [[ 0.94920224 -0.28831379 -0.12605662 6.82955546] [ 0.28897943 0.95724186 -0.01337577 1.45675155] [ 0.12452309 -0.02373146 0.99193287 -0.04692539] [ 0. 0. 0. 1. ]] SLAMing on 153.481346184 meters Centerline goodness : 0.897933 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.45, Z:-0.05 [[ 0.94844701 -0.29106945 -0.12540674 6.83200356] [ 0.29148403 0.95645105 -0.01544197 1.45341928] [ 0.12444009 -0.02190817 0.99198523 -0.04848027] [ 0. 0. 0. 1. ]] SLAMing on 153.541346184 meters Centerline goodness : 0.894896 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.45, Z:-0.05 [[ 0.9488468 -0.28971165 -0.12552651 6.83476863] [ 0.29034461 0.95682509 -0.01362916 1.44939703] [ 0.12405544 -0.02351396 0.99199664 -0.05075849] [ 0. 0. 0. 1. ]] SLAMing on 153.601346184 meters Centerline goodness : 0.895871 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.45, Z:-0.05 [[ 0.94938081 -0.28731412 -0.12699081 6.83513515] [ 0.28857681 0.95741684 -0.0087415 1.44528193] [ 0.1240947 -0.02834759 0.99186537 -0.04849079] [ 0. 0. 0. 1. ]] SLAMing on 153.661346184 meters Centerline goodness : 0.898771 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.44, Z:-0.05 [[ 0.94967647 -0.28633258 -0.12699709 6.83689731] [ 0.2877608 0.9576741 -0.0073516 1.4420054 ] [ 0.12372682 -0.02956315 0.99187585 -0.04994789] [ 0. 0. 0. 1. ]] SLAMing on 153.721346184 meters Centerline goodness : 0.899679 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.44, Z:-0.05 [[ 0.94967345 -0.28779664 -0.12366665 6.8344253 ] [ 0.28874243 0.95734816 -0.01059759 1.43502718] [ 0.12144199 -0.02564356 0.99226723 -0.05154239] [ 0. 0. 0. 1. ]] SLAMing on 153.781346184 meters Centerline goodness : 0.899802 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:1.43, Z:-0.05 [[ 0.94957532 -0.28811353 -0.1236823 6.83349713] [ 0.28938715 0.95717925 -0.00793476 1.42710117] [ 0.12067224 -0.02825741 0.99229014 -0.04845456] [ 0. 0. 0. 1. ]] SLAMing on 153.841346184 meters Centerline goodness : 0.895676 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:1.42, Z:-0.05 [[ 9.49400407e-01 -2.88167026e-01 -1.24894481e-01 6.83796058e+00] [ 2.89780237e-01 9.57077690e-01 -5.45065310e-03 1.42256713e+00] [ 1.21104420e-01 -3.10171001e-02 9.92155058e-01 -4.93576157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901346184 meters Centerline goodness : 0.895498 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.41, Z:-0.06 [[ 9.49326977e-01 -2.87431584e-01 -1.27127399e-01 6.84748105e+00] [ 2.89765861e-01 9.57097554e-01 -1.37792455e-04 1.41298688e+00] [ 1.21712928e-01 -3.67063701e-02 9.91886387e-01 -5.66984831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961346184 meters Centerline goodness : 0.897622 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.41, Z:-0.06 [[ 9.49689191e-01 -2.85737394e-01 -1.28236429e-01 6.84930768e+00] [ 2.88625303e-01 9.57433215e-01 4.13189037e-03 1.40648356e+00] [ 1.21597181e-01 -4.09362900e-02 9.91735018e-01 -5.53192840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02134618399998 meters Centerline goodness : 0.895907 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:1.40, Z:-0.06 [[ 9.49719089e-01 -2.85192071e-01 -1.29225135e-01 6.85289770e+00] [ 2.88412665e-01 9.57483921e-01 6.53271958e-03 1.40297591e+00] [ 1.21867909e-01 -4.34744141e-02 9.91593762e-01 -5.60405783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08134618399998 meters Centerline goodness : 0.891004 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.40, Z:-0.06 [[ 9.49183338e-01 -2.87636151e-01 -1.27735803e-01 6.85700562e+00] [ 2.90516593e-01 9.56861105e-01 4.11524441e-03 1.39605034e+00] [ 1.21041729e-01 -4.10154918e-02 9.91799692e-01 -5.99046284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14134618399999 meters Centerline goodness : 0.893843 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.39, Z:-0.06 [[ 0.94873151 -0.28839853 -0.12936308 6.86073564] [ 0.2918246 0.95643886 0.00794376 1.38809975] [ 0.1214369 -0.04528783 0.99156547 -0.05774027] [ 0. 0. 0. 1. ]] SLAMing on 154.201346184 meters Centerline goodness : 0.894315 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:1.38, Z:-0.06 [[ 0.94912538 -0.28664331 -0.13037114 6.86211499] [ 0.29053859 0.9567942 0.01149711 1.38278244] [ 0.12144278 -0.04879004 0.9913986 -0.05631012] [ 0. 0. 0. 1. ]] SLAMing on 154.261346184 meters Centerline goodness : 0.894191 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:1.38, Z:-0.06 [[ 0.94907978 -0.28632435 -0.13139994 6.8669703 ] [ 0.29047291 0.95679275 0.01315755 1.37871445] [ 0.12195519 -0.05065568 0.99124212 -0.05800705] [ 0. 0. 0. 1. ]] SLAMing on 154.321346184 meters Centerline goodness : 0.894707 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:1.37, Z:-0.06 [[ 0.94899861 -0.28718672 -0.13009778 6.86916872] [ 0.29107448 0.95663115 0.0115107 1.3729305 ] [ 0.12114987 -0.04879178 0.99143435 -0.06092731] [ 0. 0. 0. 1. ]] SLAMing on 154.381346184 meters Centerline goodness : 0.893917 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:1.37, Z:-0.06 [[ 0.94986571 -0.2833643 -0.13213554 6.87227031] [ 0.28794001 0.95750616 0.01650784 1.37113816] [ 0.12184286 -0.05372734 0.99109419 -0.06127498] [ 0. 0. 0. 1. ]] SLAMing on 154.441346184 meters Centerline goodness : 0.892245 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:1.37, Z:-0.06 [[ 0.94972006 -0.28336758 -0.13317138 6.87635067] [ 0.28815976 0.95741693 0.01779802 1.36835423] [ 0.12245716 -0.05527777 0.9909332 -0.06249386] [ 0. 0. 0. 1. ]] SLAMing on 154.501346184 meters Centerline goodness : 0.892366 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:1.37, Z:-0.06 [[ 0.94849922 -0.2865231 -0.13510638 6.882049 ] [ 0.29160515 0.95634947 0.01902977 1.36556603] [ 0.12375645 -0.05744744 0.99064834 -0.0618688 ] [ 0. 0. 0. 1. ]] SLAMing on 154.561346184 meters Centerline goodness : 0.888334 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:1.36, Z:-0.06 [[ 0.94788933 -0.2880006 -0.13624048 6.88732869] [ 0.29328489 0.95581566 0.02000972 1.36251197] [ 0.12445798 -0.05892427 0.9904737 -0.0633252 ] [ 0. 0. 0. 1. ]] SLAMing on 154.621346184 meters Centerline goodness : 0.886730 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:1.36, Z:-0.07 [[ 0.94683358 -0.28790904 -0.14357767 6.90134325] [ 0.29457745 0.95524292 0.02711253 1.35912141] [ 0.12934561 -0.0679658 0.98926759 -0.06554923] [ 0. 0. 0. 1. ]] SLAMing on 154.681346184 meters Centerline goodness : 0.885027 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:1.36, Z:-0.06 [[ 0.94637975 -0.28899378 -0.14438825 6.90116678] [ 0.29576591 0.95486743 0.02739918 1.36084934] [ 0.12995345 -0.06863515 0.98914171 -0.06334994] [ 0. 0. 0. 1. ]] SLAMing on 154.74134618399998 meters Centerline goodness : 0.885081 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:1.36, Z:-0.07 [[ 0.9459884 -0.28971574 -0.14550166 6.90671736] [ 0.29659478 0.95460548 0.02756665 1.36079457] [ 0.13091019 -0.06923276 0.98897389 -0.06609522] [ 0. 0. 0. 1. ]] SLAMing on 154.80134618399998 meters Centerline goodness : 0.883980 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:1.36, Z:-0.07 [[ 0.94563588 -0.29042814 -0.14637033 6.91126603] [ 0.29744712 0.95432449 0.02810667 1.35907615] [ 0.13152182 -0.07011611 0.98883049 -0.06809441] [ 0. 0. 0. 1. ]] SLAMing on 154.86134618399998 meters Centerline goodness : 0.883574 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:1.36, Z:-0.07 [[ 0.94573546 -0.28865306 -0.14921076 6.91542953] [ 0.29643115 0.95450683 0.03233097 1.36047318] [ 0.13309025 -0.07480726 0.98827671 -0.06745378] [ 0. 0. 0. 1. ]] SLAMing on 154.921346184 meters Centerline goodness : 0.880380 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:1.36, Z:-0.07 [[ 0.94542146 -0.28966188 -0.14924564 6.91658585] [ 0.2972441 0.95430496 0.03078933 1.36343779] [ 0.13350736 -0.07347128 0.98832068 -0.06892084] [ 0. 0. 0. 1. ]] SLAMing on 154.981346184 meters Centerline goodness : 0.876632 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:1.37, Z:-0.07 [[ 0.94508295 -0.29017447 -0.15038949 6.92061046] [ 0.2978457 0.95411783 0.03077515 1.36537924] [ 0.13455913 -0.07387793 0.98814771 -0.07087495] [ 0. 0. 0. 1. ]] SLAMing on 155.041346184 meters Centerline goodness : 0.875818 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:1.37, Z:-0.07 [[ 0.94499118 -0.29052786 -0.15028384 6.92113285] [ 0.29809983 0.95406063 0.03007987 1.36739118] [ 0.13464086 -0.0732248 0.98818519 -0.07179759] [ 0. 0. 0. 1. ]] SLAMing on 155.101346184 meters Centerline goodness : 0.875756 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.37, Z:-0.07 [[ 0.94549885 -0.28774103 -0.15243694 6.92563823] [ 0.29602572 0.95456489 0.03427315 1.36680437] [ 0.13564916 -0.07753048 0.98771875 -0.07298535] [ 0. 0. 0. 1. ]] SLAMing on 155.161346184 meters Centerline goodness : 0.878090 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:1.37, Z:-0.07 [[ 0.94555287 -0.2875062 -0.15254494 6.92449624] [ 0.29579115 0.95463918 0.03422921 1.36921208] [ 0.13578427 -0.07748697 0.9877036 -0.0722516 ] [ 0. 0. 0. 1. ]] SLAMing on 155.221346184 meters Centerline goodness : 0.876438 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.37, Z:-0.07 [[ 0.94521502 -0.28774056 -0.15418801 6.92792419] [ 0.29631321 0.95443664 0.03534363 1.37322344] [ 0.13699289 -0.07909528 0.98740918 -0.07299571] [ 0. 0. 0. 1. ]] SLAMing on 155.281346184 meters Centerline goodness : 0.879246 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.37, Z:-0.07 [[ 0.9453838 -0.28769041 -0.15324393 6.92611691] [ 0.29598253 0.95459278 0.03386696 1.37438427] [ 0.13654234 -0.07737481 0.98760788 -0.07348945] [ 0. 0. 0. 1. ]] SLAMing on 155.341346184 meters Centerline goodness : 0.877585 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:1.38, Z:-0.07 [[ 0.94623158 -0.28430981 -0.15431695 6.92483474] [ 0.29298659 0.95542877 0.03625907 1.37922811] [ 0.13713005 -0.07952227 0.98735584 -0.07310715] [ 0. 0. 0. 1. ]] SLAMing on 155.401346184 meters Centerline goodness : 0.880268 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.38, Z:-0.07 [[ 0.9468718 -0.28157882 -0.15539357 6.925073 ] [ 0.29061977 0.95606663 0.03842855 1.38232504] [ 0.13774594 -0.08154736 0.9871049 -0.07333475] [ 0. 0. 0. 1. ]] SLAMing on 155.461346184 meters Centerline goodness : 0.878318 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.38, Z:-0.08 [[ 0.94672403 -0.28237272 -0.15485239 6.92596445] [ 0.2910909 0.95600346 0.03637948 1.38492108] [ 0.13776685 -0.07951745 0.98726758 -0.07590638] [ 0. 0. 0. 1. ]] SLAMing on 155.52134618399998 meters Centerline goodness : 0.876155 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.39, Z:-0.08 [[ 0.94607654 -0.28427875 -0.15532149 6.92742243] [ 0.29295982 0.95545777 0.03570707 1.38732095] [ 0.13825237 -0.07928458 0.98721843 -0.07573241] [ 0. 0. 0. 1. ]] SLAMing on 155.58134618399998 meters Centerline goodness : 0.877862 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.39, Z:-0.08 [[ 0.94558505 -0.28536471 -0.15631984 6.92986608] [ 0.29421248 0.95505283 0.03623695 1.3880495 ] [ 0.13895296 -0.08025636 0.98704154 -0.07584179] [ 0. 0. 0. 1. ]] SLAMing on 155.64134618399999 meters Centerline goodness : 0.879572 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.39, Z:-0.08 [[ 0.94685398 -0.28844734 -0.14235753 6.92816901] [ 0.29612967 0.9544826 0.03563975 1.39341494] [ 0.12559759 -0.07590193 0.98917346 -0.07931232] [ 0. 0. 0. 1. ]] SLAMing on 155.701346184 meters Centerline goodness : 0.879313 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.39, Z:-0.08 [[ 0.94672669 -0.28884705 -0.14239366 6.92965649] [ 0.2964782 0.9543911 0.03518951 1.39446102] [ 0.12573486 -0.07553147 0.98918438 -0.08054509] [ 0. 0. 0. 1. ]] SLAMing on 155.761346184 meters Centerline goodness : 0.880244 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:1.40, Z:-0.08 [[ 0.94582815 -0.29123512 -0.14349643 6.93248946] [ 0.29893485 0.95363487 0.034907 1.39551176] [ 0.12667705 -0.0759121 0.98903502 -0.08008013] [ 0. 0. 0. 1. ]] SLAMing on 155.821346184 meters Centerline goodness : 0.878591 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:1.40, Z:-0.08 [[ 0.94493431 -0.29316601 -0.1454402 6.93856338] [ 0.30117044 0.95289185 0.03596517 1.39614564] [ 0.12804501 -0.07778701 0.98871313 -0.08106051] [ 0. 0. 0. 1. ]] SLAMing on 155.881346184 meters Centerline goodness : 0.879347 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:1.40, Z:-0.08 [[ 0.94360407 -0.29643819 -0.14743053 6.94407909] [ 0.30464565 0.95178187 0.03608736 1.39861814] [ 0.12962404 -0.07896625 0.98841385 -0.08125388] [ 0. 0. 0. 1. ]] SLAMing on 155.941346184 meters Centerline goodness : 0.878309 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.40, Z:-0.08 [[ 0.94286871 -0.29809434 -0.14878968 6.94667846] [ 0.30651852 0.95115365 0.03678487 1.4007558 ] [ 0.13055649 -0.0802901 0.98818445 -0.08045735] [ 0. 0. 0. 1. ]] SLAMing on 156.001346184 meters Centerline goodness : 0.877360 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.40, Z:-0.08 [[ 0.94217057 -0.30007566 -0.14922873 6.94875271] [ 0.30836701 0.95060933 0.03537926 1.40413853] [ 0.13124177 -0.07935052 0.98816957 -0.08158181] [ 0. 0. 0. 1. ]] SLAMing on 156.061346184 meters Centerline goodness : 0.882711 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.41, Z:-0.08 [[ 0.94187337 -0.30053884 -0.1501698 6.95037059] [ 0.30887515 0.95045423 0.03511267 1.40906376] [ 0.1321768 -0.07945541 0.9880365 -0.08219975] [ 0. 0. 0. 1. ]] SLAMing on 156.121346184 meters Centerline goodness : 0.881621 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.41, Z:-0.08 [[ 0.94163819 -0.30128982 -0.15013984 6.94903986] [ 0.30943287 0.9503262 0.03363663 1.41337476] [ 0.13254745 -0.07813173 0.98809241 -0.08173306] [ 0. 0. 0. 1. ]] SLAMing on 156.181346184 meters Centerline goodness : 0.881125 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.42, Z:-0.08 [[ 0.94154545 -0.30043583 -0.1524155 6.94807498] [ 0.3090778 0.95035432 0.03602194 1.41979629] [ 0.13402644 -0.08102454 0.98765983 -0.07845752] [ 0. 0. 0. 1. ]] SLAMing on 156.24134618399998 meters Centerline goodness : 0.882956 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.42, Z:-0.08 [[ 0.94135127 -0.30130587 -0.15189651 6.94736486] [ 0.30969134 0.95021522 0.03438463 1.42241168] [ 0.13397409 -0.07940905 0.98779813 -0.07904789] [ 0. 0. 0. 1. ]] SLAMing on 156.30134618399998 meters Centerline goodness : 0.881886 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.43, Z:-0.08 [[ 0.94140691 -0.30098924 -0.15217917 6.94795102] [ 0.30931168 0.95036076 0.03377457 1.42663787] [ 0.13445933 -0.07886641 0.98777567 -0.08032488] [ 0. 0. 0. 1. ]] SLAMing on 156.36134618399998 meters Centerline goodness : 0.885009 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.43, Z:-0.08 [[ 0.94170876 -0.2990819 -0.15406045 6.94643614] [ 0.30774433 0.9508151 0.03527152 1.43439561] [ 0.13593393 -0.08062673 0.98743167 -0.07821959] [ 0. 0. 0. 1. ]] SLAMing on 156.421346184 meters Centerline goodness : 0.879993 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.44, Z:-0.08 [[ 0.94237417 -0.30350071 -0.14077732 6.94555983] [ 0.31073632 0.94995416 0.03209411 1.44472021] [ 0.12399141 -0.07398929 0.98952095 -0.08067569] [ 0. 0. 0. 1. ]] SLAMing on 156.481346184 meters Centerline goodness : 0.880301 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:1.45, Z:-0.08 [[ 0.9427354 -0.30265135 -0.14018604 6.94303078] [ 0.30963921 0.9503641 0.03052283 1.44860926] [ 0.12399 -0.07218204 0.9896546 -0.08093243] [ 0. 0. 0. 1. ]] SLAMing on 156.541346184 meters Centerline goodness : 0.883500 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:1.45, Z:-0.08 [[ 0.94297139 -0.30081194 -0.14253817 6.9443777 ] [ 0.30841612 0.9506393 0.03412367 1.4527024 ] [ 0.12523758 -0.07613871 0.98920091 -0.07966047] [ 0. 0. 0. 1. ]] SLAMing on 156.601346184 meters Centerline goodness : 0.882669 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.46, Z:-0.08 [[ 0.94309609 -0.2993968 -0.14467659 6.94570716] [ 0.30739335 0.95090237 0.03597225 1.45874128] [ 0.12680333 -0.07839791 0.9888249 -0.0793921 ] [ 0. 0. 0. 1. ]] SLAMing on 156.661346184 meters Centerline goodness : 0.883953 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.46, Z:-0.08 [[ 0.94328867 -0.29902983 -0.14417919 6.947607 ] [ 0.30680936 0.95114149 0.03461052 1.46072713] [ 0.12678523 -0.07688323 0.98894614 -0.08296475] [ 0. 0. 0. 1. ]] SLAMing on 156.721346184 meters Centerline goodness : 0.882020 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.47, Z:-0.08 [[ 0.94370129 -0.2970604 -0.14554377 6.94759449] [ 0.30512364 0.95162816 0.03610282 1.4654825 ] [ 0.12777883 -0.07847912 0.98869287 -0.08276029] [ 0. 0. 0. 1. ]] SLAMing on 156.781346184 meters Centerline goodness : 0.887481 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.47, Z:-0.08 [[ 0.94456644 -0.29329972 -0.14754499 6.94992601] [ 0.30201586 0.95245867 0.04011106 1.46950232] [ 0.12876595 -0.08244848 0.98824166 -0.08404377] [ 0. 0. 0. 1. ]] SLAMing on 156.841346184 meters Centerline goodness : 0.885578 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:1.47, Z:-0.09 [[ 0.94558902 -0.28889177 -0.14967613 6.9545327 ] [ 0.29810369 0.95357415 0.04278476 1.47467576] [ 0.13036712 -0.08507581 0.98780895 -0.08837989] [ 0. 0. 0. 1. ]] SLAMing on 156.901346184 meters Centerline goodness : 0.886488 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:1.48, Z:-0.10 [[ 0.94686329 -0.28985863 -0.13939828 6.96067072] [ 0.29869777 0.95319603 0.04687188 1.4812557 ] [ 0.11928767 -0.08601921 0.98912646 -0.09786801] [ 0. 0. 0. 1. ]] SLAMing on 156.961346184 meters Centerline goodness : 0.886235 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.49, Z:-0.10 [[ 0.94720864 -0.28723614 -0.14244716 6.96511525] [ 0.29688481 0.95352806 0.0514165 1.48562038] [ 0.12105869 -0.09099256 0.98846606 -0.09866932] [ 0. 0. 0. 1. ]] SLAMing on 157.02134618399998 meters Centerline goodness : 0.887316 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.49, Z:-0.10 [[ 0.94720801 -0.28704211 -0.1428419 6.96538964] [ 0.29674844 0.95356067 0.05159851 1.487764 ] [ 0.12139747 -0.09126263 0.98839961 -0.09880465] [ 0. 0. 0. 1. ]] SLAMing on 157.08134618399998 meters Centerline goodness : 0.883253 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.49, Z:-0.10 [[ 0.9472096 -0.28708592 -0.14274332 6.96565353] [ 0.29666972 0.95363478 0.05067336 1.49146373] [ 0.12157738 -0.09034591 0.98846171 -0.10009791] [ 0. 0. 0. 1. ]] SLAMing on 157.14134618399999 meters Centerline goodness : 0.886085 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:1.49, Z:-0.10 [[ 0.94678432 -0.289146 -0.14140027 6.96490424] [ 0.29813073 0.95338369 0.04666485 1.49475688] [ 0.12131575 -0.08633731 0.98885204 -0.10184331] [ 0. 0. 0. 1. ]] SLAMing on 157.201346184 meters Centerline goodness : 0.885085 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.50, Z:-0.10 [[ 0.94669239 -0.28849865 -0.14332496 6.96714241] [ 0.29800137 0.95328085 0.04950561 1.49797186] [ 0.12234664 -0.08957761 0.98843672 -0.10128292] [ 0. 0. 0. 1. ]] SLAMing on 157.261346184 meters Centerline goodness : 0.884225 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.50, Z:-0.11 [[ 0.94759477 -0.29150311 -0.13072905 6.97098698] [ 0.29996898 0.95263055 0.05013629 1.50434372] [ 0.1099216 -0.08672355 0.99014962 -0.1081331 ] [ 0. 0. 0. 1. ]] SLAMing on 157.321346184 meters Centerline goodness : 0.884270 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.51, Z:-0.11 [[ 0.94802289 -0.28900616 -0.13314672 6.9716622 ] [ 0.29801605 0.95307845 0.05317813 1.50826365] [ 0.11153046 -0.09009394 0.98966865 -0.10648425] [ 0. 0. 0. 1. ]] SLAMing on 157.381346184 meters Centerline goodness : 0.883331 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.51, Z:-0.11 [[ 0.94855215 -0.28708796 -0.13352649 6.97369394] [ 0.29620799 0.95359938 0.05393555 1.51096458] [ 0.11184653 -0.09071229 0.98957649 -0.10924706] [ 0. 0. 0. 1. ]] SLAMing on 157.441346184 meters Centerline goodness : 0.883998 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.51, Z:-0.11 [[ 0.94872269 -0.28633603 -0.13392882 6.97387566] [ 0.29541353 0.9538832 0.05326999 1.5132565 ] [ 0.11249933 -0.09010284 0.98955817 -0.1097432 ] [ 0. 0. 0. 1. ]] SLAMing on 157.501346184 meters Centerline goodness : 0.881909 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:1.52, Z:-0.11 [[ 0.94845349 -0.28645807 -0.13556456 6.97371701] [ 0.29597806 0.95356302 0.05580816 1.51594749] [ 0.11328265 -0.09305558 0.98919548 -0.10670415] [ 0. 0. 0. 1. ]] SLAMing on 157.561346184 meters Centerline goodness : 0.883707 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:1.52, Z:-0.11 [[ 0.94757642 -0.28866975 -0.13699895 6.97949965] [ 0.29835614 0.95281245 0.05596478 1.5182412 ] [ 0.11437897 -0.09390538 0.98898899 -0.10917485] [ 0. 0. 0. 1. ]] SLAMing on 157.621346184 meters Centerline goodness : 0.881643 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:1.52, Z:-0.11 [[ 0.94644276 -0.29211802 -0.13752515 6.98085838] [ 0.30174104 0.95181259 0.05481916 1.51799053] [ 0.1148845 -0.09338017 0.98898013 -0.10770765] [ 0. 0. 0. 1. ]] SLAMing on 157.681346184 meters Centerline goodness : 0.882384 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.94571562 -0.29299149 -0.14063409 6.98743 ] [ 0.30340165 0.95103983 0.05891252 1.5198825 ] [ 0.11648776 -0.09838311 0.98830732 -0.10771667] [ 0. 0. 0. 1. ]] SLAMing on 157.74134618399998 meters Centerline goodness : 0.882887 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.94495487 -0.2952393 -0.14104626 6.98966852] [ 0.30555831 0.95042445 0.05768436 1.52116816] [ 0.11702312 -0.09760697 0.98832104 -0.10837155] [ 0. 0. 0. 1. ]] SLAMing on 157.80134618399998 meters Centerline goodness : 0.882185 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.94453025 -0.29756247 -0.13899348 6.9883407 ] [ 0.30720361 0.95013817 0.05351075 1.52211316] [ 0.11614022 -0.09324182 0.98884651 -0.10963628] [ 0. 0. 0. 1. ]] SLAMing on 157.86134618399998 meters Centerline goodness : 0.880837 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.94499802 -0.29577879 -0.13961968 6.98815828] [ 0.30565944 0.95054366 0.0551277 1.52151511] [ 0.116409 -0.09477164 0.98866945 -0.10911002] [ 0. 0. 0. 1. ]] SLAMing on 157.921346184 meters Centerline goodness : 0.880788 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.94508722 -0.29469687 -0.14129366 6.98978792] [ 0.30509236 0.95054585 0.05814848 1.52298312] [ 0.11716992 -0.098063 0.9882585 -0.10796829] [ 0. 0. 0. 1. ]] SLAMing on 157.981346184 meters Centerline goodness : 0.884070 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.94481667 -0.29579057 -0.14081688 6.98987723] [ 0.30595054 0.95036907 0.05650577 1.52194774] [ 0.11711413 -0.09647059 0.98842183 -0.10810974] [ 0. 0. 0. 1. ]] SLAMing on 158.041346184 meters Centerline goodness : 0.886890 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.9442549 -0.2975577 -0.140862 6.9920584 ] [ 0.30764224 0.94986781 0.05574398 1.52274544] [ 0.11721323 -0.09597163 0.98845865 -0.1091034 ] [ 0. 0. 0. 1. ]] SLAMing on 158.101346184 meters Centerline goodness : 0.889361 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.52, Z:-0.11 [[ 0.94268371 -0.30210529 -0.1417033 6.99434768] [ 0.31210832 0.94850266 0.05413962 1.52367825] [ 0.11805009 -0.09526332 0.98842758 -0.10745833] [ 0. 0. 0. 1. ]] SLAMing on 158.161346184 meters Centerline goodness : 0.890847 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:1.53, Z:-0.10 [[ 0.94104475 -0.30715494 -0.14174139 6.99316532] [ 0.31681521 0.94711628 0.05097914 1.52552658] [ 0.11858709 -0.09287948 0.98859016 -0.10378065] [ 0. 0. 0. 1. ]] SLAMing on 158.221346184 meters Centerline goodness : 0.891865 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:1.53, Z:-0.11 [[ 0.9405976 -0.30816934 -0.14250551 6.99706112] [ 0.31790548 0.94675228 0.0509532 1.52741936] [ 0.1192152 -0.09322974 0.98848164 -0.10599556] [ 0. 0. 0. 1. ]] SLAMing on 158.281346184 meters Centerline goodness : 0.892284 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:1.53, Z:-0.11 [[ 0.94005882 -0.30901865 -0.14421127 6.99982616] [ 0.31898662 0.94636035 0.05147441 1.53175039] [ 0.12056928 -0.09439044 0.98820721 -0.10585718] [ 0. 0. 0. 1. ]] SLAMing on 158.341346184 meters Centerline goodness : 0.892633 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:1.54, Z:-0.11 [[ 0.93952778 -0.31085297 -0.14372888 6.99907058] [ 0.32045 0.94601226 0.04870945 1.53519366] [ 0.12082781 -0.0918218 0.98841762 -0.10598241] [ 0. 0. 0. 1. ]] SLAMing on 158.401346184 meters Centerline goodness : 0.891536 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:1.54, Z:-0.11 [[ 0.93896241 -0.31249712 -0.14385804 7.00028121] [ 0.32191947 0.94559517 0.04709163 1.53792675] [ 0.12131547 -0.09052797 0.98847723 -0.1065988 ] [ 0. 0. 0. 1. ]] SLAMing on 158.461346184 meters Centerline goodness : 0.890736 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:1.54, Z:-0.11 [[ 0.93831658 -0.31340987 -0.1460693 7.00300339] [ 0.3231895 0.94510285 0.04826136 1.54359552] [ 0.12292493 -0.09249249 0.98809645 -0.1061651 ] [ 0. 0. 0. 1. ]] SLAMing on 158.52134618399998 meters Centerline goodness : 0.889160 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:1.55, Z:-0.11 [[ 0.93771613 -0.31481157 -0.14690862 7.00362534] [ 0.32464818 0.94461603 0.04800117 1.54810837] [ 0.12366091 -0.09270509 0.98798469 -0.10540497] [ 0. 0. 0. 1. ]] SLAMing on 158.58134618399998 meters Centerline goodness : 0.887888 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.55, Z:-0.11 [[ 0.93699186 -0.31688766 -0.1470662 7.00594488] [ 0.32637655 0.94416844 0.04499231 1.55193406] [ 0.12459776 -0.09015639 0.98810284 -0.1076634 ] [ 0. 0. 0. 1. ]] SLAMing on 158.64134618399999 meters Centerline goodness : 0.886660 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.56, Z:-0.11 [[ 0.93704037 -0.3145159 -0.15177315 7.01115608] [ 0.32509853 0.94434707 0.05019517 1.56065136] [ 0.12753935 -0.09637613 0.98713999 -0.10787539] [ 0. 0. 0. 1. ]] SLAMing on 158.701346184 meters Centerline goodness : 0.883865 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.57, Z:-0.11 [[ 0.93729986 -0.31289677 -0.1535076 7.01281098] [ 0.32389598 0.94465312 0.05217164 1.56601607] [ 0.1286871 -0.09862096 0.98676924 -0.10857481] [ 0. 0. 0. 1. ]] SLAMing on 158.761346184 meters Centerline goodness : 0.881674 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.57, Z:-0.11 [[ 0.93792161 -0.3108464 -0.15387518 7.01205727] [ 0.32174467 0.9454388 0.05124306 1.57178787] [ 0.12955084 -0.09757049 0.98676065 -0.10987226] [ 0. 0. 0. 1. ]] SLAMing on 158.821346184 meters Centerline goodness : 0.879654 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.58, Z:-0.11 [[ 0.93823268 -0.30976114 -0.15416703 7.01324425] [ 0.32067668 0.94580284 0.05121964 1.57653327] [ 0.12994576 -0.09749371 0.98671631 -0.11234274] [ 0. 0. 0. 1. ]] SLAMing on 158.881346184 meters Centerline goodness : 0.882633 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.58, Z:-0.11 [[ 0.93850169 -0.3084086 -0.15523761 7.01577246] [ 0.31963375 0.94606713 0.05283237 1.58067133] [ 0.13057124 -0.09920244 0.98646339 -0.11458693] [ 0. 0. 0. 1. ]] SLAMing on 158.941346184 meters Centerline goodness : 0.880754 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.59, Z:-0.12 [[ 0.93924783 -0.31137798 -0.14442042 7.01929305] [ 0.3215116 0.94544695 0.05253903 1.59023232] [ 0.12018235 -0.09578001 0.98812064 -0.11728738] [ 0. 0. 0. 1. ]] SLAMing on 159.001346184 meters Centerline goodness : 0.878167 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.60, Z:-0.12 [[ 0.93992544 -0.30870155 -0.14575157 7.01894371] [ 0.31897109 0.9462963 0.05273295 1.59653254] [ 0.12164542 -0.09605557 0.98791483 -0.11749202] [ 0. 0. 0. 1. ]] SLAMing on 159.061346184 meters Centerline goodness : 0.876755 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.60, Z:-0.12 [[ 0.93970374 -0.30986835 -0.14470135 7.01867731] [ 0.31960805 0.94627249 0.04918397 1.60131115] [ 0.12168635 -0.09246607 0.98825222 -0.119645 ] [ 0. 0. 0. 1. ]] SLAMing on 159.121346184 meters Centerline goodness : 0.878115 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.61, Z:-0.12 [[ 0.9389031 -0.31114479 -0.14713905 7.02208015] [ 0.32107248 0.94579811 0.0487688 1.60750503] [ 0.12398968 -0.09303148 0.9879128 -0.11952083] [ 0. 0. 0. 1. ]] SLAMing on 159.181346184 meters Centerline goodness : 0.876285 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.61, Z:-0.12 [[ 0.938505 -0.3123406 -0.1471452 7.02201571] [ 0.32207124 0.94554177 0.04712611 1.61104144] [ 0.12441254 -0.09161933 0.98799161 -0.11947788] [ 0. 0. 0. 1. ]] SLAMing on 159.24134618399998 meters Centerline goodness : 0.878321 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.62, Z:-0.12 [[ 0.93898486 -0.30923045 -0.15061198 7.02344518] [ 0.31990081 0.94601842 0.05208294 1.61659174] [ 0.12637608 -0.09708598 0.98722004 -0.11775492] [ 0. 0. 0. 1. ]] SLAMing on 159.30134618399998 meters Centerline goodness : 0.877218 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.62, Z:-0.12 [[ 0.93945182 -0.30785664 -0.15051435 7.02273324] [ 0.31844819 0.94653354 0.05162362 1.62014076] [ 0.1265742 -0.09642893 0.98725905 -0.11866859] [ 0. 0. 0. 1. ]] SLAMing on 159.36134618399998 meters Centerline goodness : 0.873263 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.63, Z:-0.12 [[ 0.94023795 -0.31060919 -0.13955118 7.0258051 ] [ 0.31986958 0.94618565 0.04915446 1.63052084] [ 0.1167735 -0.09085507 0.98899409 -0.12121761] [ 0. 0. 0. 1. ]] SLAMing on 159.421346184 meters Centerline goodness : 0.874439 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.63, Z:-0.12 [[ 0.9403055 -0.30993924 -0.14058174 7.02771535] [ 0.3192892 0.94638235 0.04914125 1.63473448] [ 0.11781328 -0.09109402 0.98884878 -0.12232229] [ 0. 0. 0. 1. ]] SLAMing on 159.481346184 meters Centerline goodness : 0.874444 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.12 [[ 0.94044013 -0.30881082 -0.14215567 7.0301464 ] [ 0.31840717 0.94663277 0.05003271 1.63802171] [ 0.11911857 -0.09231615 0.98857903 -0.12331711] [ 0. 0. 0. 1. ]] SLAMing on 159.541346184 meters Centerline goodness : 0.868950 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.12 [[ 0.9400337 -0.31013908 -0.1419521 7.02960084] [ 0.31955721 0.94631784 0.0486389 1.63919051] [ 0.11924698 -0.09108402 0.98867783 -0.12257281] [ 0. 0. 0. 1. ]] SLAMing on 159.601346184 meters Centerline goodness : 0.869718 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.12 [[ 0.9391989 -0.31202171 -0.14334528 7.03126513] [ 0.3215649 0.94564483 0.04849606 1.64177644] [ 0.1204219 -0.09164226 0.98848382 -0.12105012] [ 0. 0. 0. 1. ]] SLAMing on 159.661346184 meters Centerline goodness : 0.867768 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.12 [[ 0.93824468 -0.31592036 -0.14103631 7.02923682] [ 0.32468171 0.94481989 0.04355645 1.64175569] [ 0.11949355 -0.08665851 0.9890458 -0.12089384] [ 0. 0. 0. 1. ]] SLAMing on 159.721346184 meters Centerline goodness : 0.866207 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.12 [[ 0.937777 -0.31740034 -0.14082375 7.0291416 ] [ 0.32598036 0.94443759 0.04212408 1.64236359] [ 0.11962904 -0.08540877 0.98913813 -0.1200488 ] [ 0. 0. 0. 1. ]] SLAMing on 159.781346184 meters Centerline goodness : 0.868890 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.12 [[ 0.93722902 -0.31937033 -0.14001559 7.02735531] [ 0.32761991 0.94396896 0.03984707 1.64199952] [ 0.1194444 -0.08321772 0.98934718 -0.11804672] [ 0. 0. 0. 1. ]] SLAMing on 159.841346184 meters Centerline goodness : 0.868883 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.11 [[ 0.93720698 -0.3190746 -0.14083496 7.02591746] [ 0.32749429 0.94397646 0.04069318 1.64217307] [ 0.11996073 -0.08426057 0.98919643 -0.11489292] [ 0. 0. 0. 1. ]] SLAMing on 159.901346184 meters Centerline goodness : 0.865670 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.11 [[ 0.93741271 -0.31857402 -0.14059871 7.02565249] [ 0.32694163 0.94417803 0.04046017 1.64199613] [ 0.11986065 -0.08389545 0.9892396 -0.11473244] [ 0. 0. 0. 1. ]] SLAMing on 159.961346184 meters Centerline goodness : 0.867752 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.64, Z:-0.11 [[ 0.93733765 -0.31989013 -0.13808848 7.022304 ] [ 0.32761163 0.94409733 0.03675389 1.64002064] [ 0.11861176 -0.0796902 0.9897377 -0.11409467] [ 0. 0. 0. 1. ]] SLAMing on 160.02134618399998 meters Centerline goodness : 0.868950 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.64, Z:-0.11 [[ 0.93702342 -0.32056467 -0.13865567 7.02386447] [ 0.32826847 0.94389117 0.03618375 1.64044235] [ 0.11927663 -0.07942131 0.98967941 -0.11403042] [ 0. 0. 0. 1. ]] SLAMing on 160.08134618399998 meters Centerline goodness : 0.870052 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.64, Z:-0.11 [[ 0.93743363 -0.31968874 -0.13790324 7.02092264] [ 0.32737159 0.94418779 0.03656857 1.63815722] [ 0.118516 -0.07942621 0.9897704 -0.11193191] [ 0. 0. 0. 1. ]] SLAMing on 160.14134618399999 meters Centerline goodness : 0.874484 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.64, Z:-0.11 [[ 0.93789351 -0.31872096 -0.13701352 7.01930723] [ 0.32631185 0.94455889 0.03645662 1.63690916] [ 0.11779784 -0.07890156 0.98989808 -0.11172608] [ 0. 0. 0. 1. ]] SLAMing on 160.201346184 meters Centerline goodness : 0.873013 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.63, Z:-0.11 [[ 0.93940799 -0.31549065 -0.13408308 7.01494877] [ 0.32262391 0.94589006 0.03472475 1.63369435] [ 0.11587252 -0.07587911 0.99036151 -0.11283547] [ 0. 0. 0. 1. ]] SLAMing on 160.261346184 meters Centerline goodness : 0.875671 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.63, Z:-0.11 [[ 0.93960208 -0.31477105 -0.13441395 7.01530528] [ 0.32189115 0.94615016 0.03443771 1.63426671] [ 0.11633579 -0.0756244 0.99032668 -0.11263774] [ 0. 0. 0. 1. ]] SLAMing on 160.321346184 meters Centerline goodness : 0.877247 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.63, Z:-0.11 [[ 0.93992499 -0.31437442 -0.13307794 7.01291129] [ 0.32117192 0.94646063 0.03257115 1.63297469] [ 0.1157135 -0.07335534 0.99057023 -0.11200192] [ 0. 0. 0. 1. ]] SLAMing on 160.381346184 meters Centerline goodness : 0.874895 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.63, Z:-0.11 [[ 0.93981692 -0.31513994 -0.13202638 7.01291431] [ 0.32154599 0.94642397 0.02983014 1.6323795 ] [ 0.11555226 -0.07048743 0.99079725 -0.1128597 ] [ 0. 0. 0. 1. ]] SLAMing on 160.441346184 meters Centerline goodness : 0.877497 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:1.63, Z:-0.11 [[ 0.93989943 -0.31501408 -0.1317391 7.0117356 ] [ 0.32131978 0.94652191 0.02915267 1.63163125] [ 0.11551044 -0.06973096 0.99085566 -0.11164546] [ 0. 0. 0. 1. ]] SLAMing on 160.501346184 meters Centerline goodness : 0.873156 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.63, Z:-0.11 [[ 0.93882644 -0.31780008 -0.13269527 7.01555834] [ 0.32402429 0.94564281 0.02771168 1.63245787] [ 0.11667555 -0.06901295 0.99076941 -0.11220736] [ 0. 0. 0. 1. ]] SLAMing on 160.561346184 meters Centerline goodness : 0.873855 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.63, Z:-0.11 [[ 0.93730134 -0.32135745 -0.13489104 7.01914108] [ 0.32772562 0.94437565 0.02739624 1.63337522] [ 0.11858383 -0.06988578 0.99048163 -0.10985559] [ 0. 0. 0. 1. ]] SLAMing on 160.621346184 meters Centerline goodness : 0.872890 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.63, Z:-0.11 [[ 0.93683742 -0.3215553 -0.13761481 7.02353518] [ 0.32836829 0.94409113 0.02943139 1.63484625] [ 0.1204571 -0.07276077 0.99004846 -0.10973702] [ 0. 0. 0. 1. ]] SLAMing on 160.681346184 meters Centerline goodness : 0.877484 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:1.64, Z:-0.11 [[ 0.93643853 -0.32246896 -0.13819061 7.02459171] [ 0.3292301 0.9438165 0.02859984 1.63629143] [ 0.12120402 -0.0722785 0.98999263 -0.10935176] [ 0. 0. 0. 1. ]] SLAMing on 160.74134618399998 meters Centerline goodness : 0.875448 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.11 [[ 0.9359867 -0.32325448 -0.13941104 7.02617003] [ 0.33008551 0.94352415 0.02838544 1.63835157] [ 0.12236196 -0.07258596 0.98982768 -0.10844497] [ 0. 0. 0. 1. ]] SLAMing on 160.80134618399998 meters Centerline goodness : 0.873663 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.11 [[ 0.93506363 -0.3261172 -0.1389373 7.02734269] [ 0.33248945 0.94278163 0.02477011 1.64010044] [ 0.12290957 -0.06935682 0.98999135 -0.10898621] [ 0. 0. 0. 1. ]] SLAMing on 160.86134618399998 meters Centerline goodness : 0.873490 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.11 [[ 0.93401176 -0.32847869 -0.1404414 7.0303955 ] [ 0.33486406 0.94196415 0.02386635 1.64248958] [ 0.12445117 -0.06932023 0.9898013 -0.10829009] [ 0. 0. 0. 1. ]] SLAMing on 160.921346184 meters Centerline goodness : 0.869959 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.11 [[ 0.93315923 -0.33038745 -0.14162622 7.03240591] [ 0.33671495 0.94133492 0.02261879 1.64464341] [ 0.12584474 -0.0687946 0.98966176 -0.10731228] [ 0. 0. 0. 1. ]] SLAMing on 160.981346184 meters Centerline goodness : 0.873757 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.64, Z:-0.11 [[ 0.93280889 -0.33218906 -0.13970686 7.03018035] [ 0.33792617 0.94098346 0.01886895 1.64454644] [ 0.12519379 -0.06481173 0.99001311 -0.10696807] [ 0. 0. 0. 1. ]] SLAMing on 161.041346184 meters Centerline goodness : 0.869972 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.65, Z:-0.10 [[ 0.93181339 -0.3337484 -0.14260369 7.03353731] [ 0.33984481 0.9402678 0.02004905 1.64692836] [ 0.12739432 -0.0671451 0.98957679 -0.10459727] [ 0. 0. 0. 1. ]] SLAMing on 161.101346184 meters Centerline goodness : 0.871367 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:1.65, Z:-0.10 [[ 0.93115429 -0.33521797 -0.14345941 7.03468698] [ 0.34134815 0.93972937 0.01975211 1.64719196] [ 0.12819176 -0.06736187 0.98945907 -0.10297696] [ 0. 0. 0. 1. ]] SLAMing on 161.161346184 meters Centerline goodness : 0.871847 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.65, Z:-0.10 [[ 0.93081865 -0.33546564 -0.14504979 7.03826897] [ 0.34171319 0.93959584 0.01979247 1.64899702] [ 0.12964849 -0.06798863 0.98922637 -0.10365221] [ 0. 0. 0. 1. ]] SLAMing on 161.221346184 meters Centerline goodness : 0.871275 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.65, Z:-0.10 [[ 0.93011091 -0.33740506 -0.14509143 7.0401024 ] [ 0.34336442 0.93904037 0.01743743 1.65076065] [ 0.13036323 -0.06603798 0.98926458 -0.10430806] [ 0. 0. 0. 1. ]] SLAMing on 161.281346184 meters Centerline goodness : 0.870104 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.10 [[ 0.92961126 -0.33794682 -0.1470199 7.03953346] [ 0.34417462 0.93872476 0.01842983 1.6550095 ] [ 0.13178292 -0.06773309 0.98896183 -0.10091665] [ 0. 0. 0. 1. ]] SLAMing on 161.341346184 meters Centerline goodness : 0.871527 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.10 [[ 0.92993201 -0.33700468 -0.14715402 7.03962287] [ 0.34311245 0.93913071 0.01753137 1.65655028] [ 0.1322887 -0.06679336 0.98895821 -0.10117999] [ 0. 0. 0. 1. ]] SLAMing on 161.401346184 meters Centerline goodness : 0.875219 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.10 [[ 0.93076302 -0.33375896 -0.14928218 7.03854808] [ 0.34033978 0.9400858 0.02018742 1.66070491] [ 0.13360032 -0.06959637 0.98858854 -0.0986152 ] [ 0. 0. 0. 1. ]] SLAMing on 161.461346184 meters Centerline goodness : 0.874069 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.10 [[ 0.93150612 -0.3304153 -0.15205944 7.04166405] [ 0.3374839 0.94106144 0.02253868 1.66638092] [ 0.13565015 -0.07231253 0.98811433 -0.09989932] [ 0. 0. 0. 1. ]] SLAMing on 161.52134618399998 meters Centerline goodness : 0.872968 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.10 [[ 0.93106822 -0.33126891 -0.15288189 7.04305409] [ 0.33821645 0.94083047 0.02115821 1.67006432] [ 0.13682689 -0.07140691 0.98801794 -0.09995287] [ 0. 0. 0. 1. ]] SLAMing on 161.58134618399998 meters Centerline goodness : 0.872904 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.10 [[ 0.92998252 -0.33362242 -0.15436511 7.04396377] [ 0.3404755 0.9400506 0.01952709 1.67542693] [ 0.13859634 -0.07071739 0.98782089 -0.09795141] [ 0. 0. 0. 1. ]] SLAMing on 161.64134618399999 meters Centerline goodness : 0.874018 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.68, Z:-0.10 [[ 0.92929457 -0.33493015 -0.15567081 7.04638607] [ 0.34181521 0.93957547 0.01898152 1.67770245] [ 0.13990699 -0.07085007 0.9876266 -0.09753599] [ 0. 0. 0. 1. ]] SLAMing on 161.701346184 meters Centerline goodness : 0.876821 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.68, Z:-0.10 [[ 0.92939539 -0.33373213 -0.15762954 7.04714374] [ 0.34117187 0.93974453 0.02195412 1.67838873] [ 0.1408047 -0.07418282 0.98725425 -0.09578525] [ 0. 0. 0. 1. ]] SLAMing on 161.761346184 meters Centerline goodness : 0.877543 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.68, Z:-0.09 [[ 0.92981391 -0.33154437 -0.15976364 7.04787562] [ 0.33946901 0.94030185 0.02435615 1.68061503] [ 0.1421509 -0.07688149 0.98685478 -0.09409922] [ 0. 0. 0. 1. ]] SLAMing on 161.821346184 meters Centerline goodness : 0.874677 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.68, Z:-0.09 [[ 0.9295845 -0.33310385 -0.15784323 7.04571313] [ 0.340417 0.94003993 0.02100469 1.68034008] [ 0.14138219 -0.07325815 0.98724076 -0.09402222] [ 0. 0. 0. 1. ]] SLAMing on 161.881346184 meters Centerline goodness : 0.876305 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.09 [[ 0.92889894 -0.33564488 -0.15649049 7.04370772] [ 0.34247109 0.93935411 0.01809463 1.67997757] [ 0.14092662 -0.07040155 0.9875137 -0.09253685] [ 0. 0. 0. 1. ]] SLAMing on 161.941346184 meters Centerline goodness : 0.876881 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.09 [[ 0.92815054 -0.33823648 -0.15534692 7.04241301] [ 0.34455678 0.9386471 0.01490776 1.6793373 ] [ 0.14077359 -0.06736248 0.98774748 -0.09096402] [ 0. 0. 0. 1. ]] SLAMing on 162.001346184 meters Centerline goodness : 0.877285 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.09 [[ 0.92742328 -0.34002136 -0.15579325 7.04305471] [ 0.3462681 0.9380306 0.01403563 1.67865399] [ 0.14136643 -0.0669632 0.98768996 -0.08922152] [ 0. 0. 0. 1. ]] SLAMing on 162.061346184 meters Centerline goodness : 0.879652 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.09 [[ 0.92713048 -0.34161912 -0.15403067 7.0405765 ] [ 0.34742967 0.93763329 0.01168061 1.67682704] [ 0.14043396 -0.06434427 0.98799702 -0.08804463] [ 0. 0. 0. 1. ]] SLAMing on 162.121346184 meters Centerline goodness : 0.881221 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.09 [[ 0.92753523 -0.34038611 -0.15432336 7.04128784] [ 0.34636439 0.93801242 0.01282226 1.67355365] [ 0.14039271 -0.06534521 0.98793719 -0.0877439 ] [ 0. 0. 0. 1. ]] SLAMing on 162.181346184 meters Centerline goodness : 0.885830 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.08 [[ 0.9275678 -0.33953527 -0.15599289 7.04050466] [ 0.34598027 0.93811598 0.01536408 1.67200469] [ 0.14112277 -0.06822168 0.98763868 -0.08345692] [ 0. 0. 0. 1. ]] SLAMing on 162.24134618399998 meters Centerline goodness : 0.887900 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.08 [[ 0.92783853 -0.33894116 -0.15567452 7.03952785] [ 0.34530525 0.93837055 0.01499997 1.67113175] [ 0.14099627 -0.06767278 0.98769451 -0.08263005] [ 0. 0. 0. 1. ]] SLAMing on 162.30134618399998 meters Centerline goodness : 0.889612 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.08 [[ 0.92783774 -0.33878229 -0.15602464 7.03873481] [ 0.34516403 0.93842304 0.01496627 1.67127424] [ 0.1413468 -0.06774037 0.98763977 -0.08101757] [ 0. 0. 0. 1. ]] SLAMing on 162.36134618399998 meters Centerline goodness : 0.890259 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.08 [[ 0.92765064 -0.33930281 -0.15600604 7.03746649] [ 0.34567379 0.9382371 0.01485857 1.67080899] [ 0.1413291 -0.06771076 0.98764434 -0.07889592] [ 0. 0. 0. 1. ]] SLAMing on 162.421346184 meters Centerline goodness : 0.894082 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.08 [[ 0.92760209 -0.33915532 -0.15661426 7.03618412] [ 0.34566016 0.9382316 0.01550844 1.66998151] [ 0.14168068 -0.06852097 0.98753808 -0.0759244 ] [ 0. 0. 0. 1. ]] SLAMing on 162.481346184 meters Centerline goodness : 0.893204 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.08 [[ 0.92767338 -0.33925518 -0.15597446 7.03626871] [ 0.34561595 0.93825923 0.01480636 1.66729747] [ 0.14132134 -0.06764273 0.98765011 -0.07584566] [ 0. 0. 0. 1. ]] SLAMing on 162.541346184 meters Centerline goodness : 0.897938 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.07 [[ 0.92668199 -0.34143902 -0.1570983 7.03536981] [ 0.34808874 0.93732338 0.01609688 1.66491428] [ 0.1417558 -0.06960083 0.98745178 -0.07085853] [ 0. 0. 0. 1. ]] SLAMing on 162.601346184 meters Centerline goodness : 0.888542 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.07 [[ 0.92542351 -0.34485339 -0.1570588 7.03752592] [ 0.35128995 0.93615661 0.01435892 1.66225039] [ 0.14207991 -0.06846126 0.98748486 -0.07010593] [ 0. 0. 0. 1. ]] SLAMing on 162.661346184 meters Centerline goodness : 0.891169 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.07 [[ 0.92433351 -0.34823893 -0.15600387 7.0399429 ] [ 0.3542001 0.93510158 0.01128338 1.6591754 ] [ 0.14195015 -0.06568619 0.987692 -0.07116089] [ 0. 0. 0. 1. ]] SLAMing on 162.721346184 meters Centerline goodness : 0.890628 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.07 [[ 0.92361843 -0.34974074 -0.15687704 7.04111935] [ 0.35577671 0.93450302 0.01127087 1.65852657] [ 0.14266018 -0.06622318 0.98755383 -0.06938144] [ 0. 0. 0. 1. ]] SLAMing on 162.781346184 meters Centerline goodness : 0.892130 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.07 [[ 0.9236694 -0.34873957 -0.15879408 7.04212705] [ 0.35527868 0.93465699 0.01390586 1.65791153] [ 0.14356847 -0.06926057 0.98721379 -0.06708684] [ 0. 0. 0. 1. ]] SLAMing on 162.841346184 meters Centerline goodness : 0.894543 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.07 [[ 0.92374125 -0.35004173 -0.15547632 7.03880044] [ 0.35578468 0.93451591 0.00986275 1.65513682] [ 0.14184272 -0.06442672 0.98779038 -0.06758596] [ 0. 0. 0. 1. ]] SLAMing on 162.901346184 meters Centerline goodness : 0.898150 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.65, Z:-0.07 [[ 0.92351435 -0.35065693 -0.15543798 7.03847975] [ 0.35638099 0.93429038 0.00969883 1.65359069] [ 0.14182325 -0.06435215 0.98779804 -0.06618079] [ 0. 0. 0. 1. ]] SLAMing on 162.961346184 meters Centerline goodness : 0.900672 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.65, Z:-0.06 [[ 0.92291492 -0.3514278 -0.15724679 7.03903341] [ 0.35745799 0.93386538 0.01091955 1.65311642] [ 0.1430099 -0.06628694 0.98749897 -0.06245671] [ 0. 0. 0. 1. ]] SLAMing on 163.02134618399998 meters Centerline goodness : 0.900450 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.65, Z:-0.06 [[ 0.92267195 -0.35153117 -0.15843707 7.04128793] [ 0.35775725 0.93374135 0.01169794 1.65247508] [ 0.14382706 -0.06747538 0.98729978 -0.0619334 ] [ 0. 0. 0. 1. ]] SLAMing on 163.08134618399998 meters Centerline goodness : 0.898468 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.65, Z:-0.06 [[ 0.92239175 -0.35261914 -0.15764897 7.0404902 ] [ 0.35852299 0.93346983 0.00976423 1.65356636] [ 0.1437175 -0.06552723 0.98744694 -0.06190294] [ 0. 0. 0. 1. ]] SLAMing on 163.14134618399999 meters Centerline goodness : 0.899030 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.06 [[ 0.92233523 -0.35198189 -0.15939405 7.04224925] [ 0.35806064 0.93364256 0.01020537 1.65732395] [ 0.14522496 -0.06648551 0.98716229 -0.06151602] [ 0. 0. 0. 1. ]] SLAMing on 163.201346184 meters Centerline goodness : 0.903844 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.66, Z:-0.06 [[ 0.92210955 -0.35247933 -0.15960043 7.04026027] [ 0.35841229 0.93351925 0.00907988 1.66106875] [ 0.1457896 -0.0655754 0.98713994 -0.0595485 ] [ 0. 0. 0. 1. ]] SLAMing on 163.261346184 meters Centerline goodness : 0.901059 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.06 [[ 0.92220584 -0.35170866 -0.16074021 7.04036512] [ 0.35760459 0.9338355 0.00838006 1.66681094] [ 0.14715757 -0.06520957 0.98696117 -0.05906875] [ 0. 0. 0. 1. ]] SLAMing on 163.321346184 meters Centerline goodness : 0.896566 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.67, Z:-0.06 [[ 0.92267915 -0.35004846 -0.1616455 7.03824299] [ 0.35600853 0.93444364 0.00854397 1.67184959] [ 0.14805781 -0.06543052 0.9868119 -0.0571754 ] [ 0. 0. 0. 1. ]] SLAMing on 163.381346184 meters Centerline goodness : 0.893383 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.06 [[ 0.92374252 -0.34621907 -0.1638051 7.04052555] [ 0.35269891 0.9356682 0.01133545 1.67724334] [ 0.14934267 -0.06824491 0.98642759 -0.0592111 ] [ 0. 0. 0. 1. ]] SLAMing on 163.441346184 meters Centerline goodness : 0.889701 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.69, Z:-0.06 [[ 0.92613009 -0.34435686 -0.15395262 7.04479812] [ 0.35015667 0.9366215 0.0114229 1.68990909] [ 0.14026178 -0.06448663 0.9880122 -0.06439196] [ 0. 0. 0. 1. ]] SLAMing on 163.501346184 meters Centerline goodness : 0.887870 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.70, Z:-0.06 [[ 0.9268679 -0.34156583 -0.15571987 7.04446536] [ 0.34760115 0.93755955 0.01247138 1.69534422] [ 0.14173685 -0.06568773 0.98772252 -0.06346015] [ 0. 0. 0. 1. ]] SLAMing on 163.561346184 meters Centerline goodness : 0.888994 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.70, Z:-0.06 [[ 0.92740186 -0.33909103 -0.15793373 7.04306427] [ 0.34530984 0.93840002 0.01290388 1.70290979] [ 0.14382943 -0.06650315 0.9873654 -0.06030673] [ 0. 0. 0. 1. ]] SLAMing on 163.621346184 meters Centerline goodness : 0.891747 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.71, Z:-0.06 [[ 0.9266126 -0.33942905 -0.16179313 7.04961048] [ 0.34619489 0.93804648 0.01476159 1.70966334] [ 0.14675897 -0.06969023 0.98671428 -0.06225244] [ 0. 0. 0. 1. ]] SLAMing on 163.681346184 meters Centerline goodness : 0.888698 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.72, Z:-0.06 [[ 0.9254624 -0.34125009 -0.16452272 7.05538856] [ 0.34813708 0.93733746 0.01410918 1.71599138] [ 0.14939855 -0.07033397 0.98627238 -0.06382656] [ 0. 0. 0. 1. ]] SLAMing on 163.74134618399998 meters Centerline goodness : 0.883123 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.72, Z:-0.07 [[ 0.92512069 -0.34134471 -0.16623931 7.0584744 ] [ 0.3481588 0.93734799 0.01281363 1.72361144] [ 0.15145022 -0.06973184 0.98600218 -0.0657131 ] [ 0. 0. 0. 1. ]] SLAMing on 163.80134618399998 meters Centerline goodness : 0.883659 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.73, Z:-0.07 [[ 0.92566021 -0.33942115 -0.16717196 7.05854351] [ 0.34633665 0.93801739 0.01320264 1.72802466] [ 0.15232895 -0.07011894 0.98583935 -0.06601 ] [ 0. 0. 0. 1. ]] SLAMing on 163.86134618399998 meters Centerline goodness : 0.884242 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.74, Z:-0.06 [[ 0.92614188 -0.34137278 -0.16039277 7.0612368 ] [ 0.34831071 0.93723476 0.01645144 1.74057023] [ 0.1447096 -0.07110288 0.98691616 -0.06284182] [ 0. 0. 0. 1. ]] SLAMing on 163.921346184 meters Centerline goodness : 0.881709 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.75, Z:-0.06 [[ 0.92491797 -0.34329702 -0.1633215 7.0633135 ] [ 0.35048663 0.93642175 0.01653542 1.74509302] [ 0.14726124 -0.07253591 0.98643432 -0.05956181] [ 0. 0. 0. 1. ]] SLAMing on 163.981346184 meters Centerline goodness : 0.881185 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.75, Z:-0.06 [[ 0.92361858 -0.34656989 -0.16376213 7.06310467] [ 0.3535885 0.93528239 0.01490083 1.74703599] [ 0.14799966 -0.07166709 0.98638731 -0.05698635] [ 0. 0. 0. 1. ]] SLAMing on 164.041346184 meters Centerline goodness : 0.875051 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.75, Z:-0.06 [[ 0.92139516 -0.35147084 -0.16582886 7.06635503] [ 0.35825745 0.9335463 0.01195437 1.75282749] [ 0.15060731 -0.07042412 0.98608209 -0.05519487] [ 0. 0. 0. 1. ]] SLAMing on 164.101346184 meters Centerline goodness : 0.876058 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.76, Z:-0.06 [[ 0.92118309 -0.35136832 -0.1672185 7.06871091] [ 0.35809132 0.93362298 0.01089673 1.75696316] [ 0.15229027 -0.06991738 0.98585964 -0.0556711 ] [ 0. 0. 0. 1. ]] SLAMing on 164.161346184 meters Centerline goodness : 0.874322 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.76, Z:-0.06 [[ 0.92254087 -0.34825341 -0.16624652 7.06712696] [ 0.35477712 0.9348939 0.01032446 1.75892116] [ 0.15182733 -0.0685052 0.98603017 -0.05727417] [ 0. 0. 0. 1. ]] SLAMing on 164.221346184 meters Centerline goodness : 0.875784 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.76, Z:-0.06 [[ 0.92463533 -0.34108226 -0.16944731 7.06649311] [ 0.34859257 0.93714102 0.01580922 1.76225612] [ 0.15340378 -0.07368584 0.98541244 -0.0552339 ] [ 0. 0. 0. 1. ]] SLAMing on 164.281346184 meters Centerline goodness : 0.872360 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.77, Z:-0.05 [[ 0.92542602 -0.33842671 -0.17045247 7.06589782] [ 0.34610204 0.93804989 0.01660695 1.7655933 ] [ 0.15427268 -0.07436245 0.98522595 -0.05460029] [ 0. 0. 0. 1. ]] SLAMing on 164.341346184 meters Centerline goodness : 0.870208 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.06 [[ 0.92485324 -0.34097583 -0.16846948 7.06488794] [ 0.3478152 0.93748661 0.0119769 1.7678101 ] [ 0.15385405 -0.06967313 0.9856341 -0.0554234 ] [ 0. 0. 0. 1. ]] SLAMing on 164.401346184 meters Centerline goodness : 0.870310 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.77, Z:-0.06 [[ 0.9246709 -0.34201166 -0.16736713 7.06500629] [ 0.34830482 0.93733926 0.00888091 1.76931401] [ 0.15384241 -0.06650669 0.98585464 -0.05662193] [ 0. 0. 0. 1. ]] SLAMing on 164.461346184 meters Centerline goodness : 0.870418 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.77, Z:-0.06 [[ 0.92508603 -0.34000115 -0.16915986 7.06564411] [ 0.34667477 0.93792446 0.01069163 1.77168712] [ 0.15502401 -0.06853414 0.98553063 -0.05539323] [ 0. 0. 0. 1. ]] SLAMing on 164.52134618399998 meters Centerline goodness : 0.869023 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 0.92586531 -0.33729706 -0.17030596 7.06434327] [ 0.34439097 0.93873525 0.01307653 1.77205148] [ 0.15546153 -0.07075894 0.98530446 -0.05330018] [ 0. 0. 0. 1. ]] SLAMing on 164.58134618399998 meters Centerline goodness : 0.870069 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.77, Z:-0.05 [[ 0.92568223 -0.33755986 -0.17077983 7.06580354] [ 0.34460467 0.93866434 0.01252498 1.77217461] [ 0.156077 -0.07044568 0.98522961 -0.05320582] [ 0. 0. 0. 1. ]] SLAMing on 164.64134618399999 meters Centerline goodness : 0.868058 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 0.92461777 -0.34130399 -0.16909632 7.06444496] [ 0.34770999 0.93755984 0.00890569 1.77101547] [ 0.15549837 -0.06703084 0.98555929 -0.05188893] [ 0. 0. 0. 1. ]] SLAMing on 164.701346184 meters Centerline goodness : 0.867847 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 0.92350599 -0.34423299 -0.16923458 7.06360789] [ 0.35050704 0.93652804 0.00774961 1.7713644 ] [ 0.15582526 -0.06647473 0.98554533 -0.04928325] [ 0. 0. 0. 1. ]] SLAMing on 164.761346184 meters Centerline goodness : 0.872454 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 9.23683821e-01 -3.45070681e-01 -1.66536554e-01 7.06149356e+00] [ 3.50640159e-01 9.36500235e-01 4.33459309e-03 1.77004046e+00] [ 1.54465781e-01 -6.23981972e-02 9.86025754e-01 -5.02326302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821346184 meters Centerline goodness : 0.869042 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 9.24674555e-01 -3.42009694e-01 -1.67350939e-01 7.06042077e+00] [ 3.47822970e-01 9.37542143e-01 5.82338704e-03 1.77003702e+00] [ 1.54906903e-01 -6.35932386e-02 9.85880191e-01 -4.87036544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881346184 meters Centerline goodness : 0.868535 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 9.24855901e-01 -3.41591668e-01 -1.67202555e-01 7.06063942e+00] [ 3.47254971e-01 9.37757594e-01 4.96779576e-03 1.76956316e+00] [ 1.55098508e-01 -6.26564136e-02 9.85910050e-01 -4.85573003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941346184 meters Centerline goodness : 0.865802 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 9.24822770e-01 -3.42041514e-01 -1.66464554e-01 7.06145811e+00] [ 3.47413143e-01 9.37706107e-01 3.37110225e-03 1.76788140e+00] [ 1.54941772e-01 -6.09496461e-02 9.86041677e-01 -4.93056964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001346184 meters Centerline goodness : 0.867262 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.77, Z:-0.05 [[ 9.24964317e-01 -3.41726134e-01 -1.66325771e-01 7.06086938e+00] [ 3.47042487e-01 9.37844276e-01 3.10245823e-03 1.76733900e+00] [ 1.54927481e-01 -6.05917723e-02 9.86065978e-01 -4.83880130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061346184 meters Centerline goodness : 0.866564 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.76, Z:-0.05 [[ 9.25056971e-01 -3.43001776e-01 -1.63154475e-01 7.05897156e+00] [ 3.47528778e-01 9.37668935e-01 -8.46995658e-04 1.76441849e+00] [ 1.53275404e-01 -5.59173561e-02 9.86600172e-01 -4.97817882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121346184 meters Centerline goodness : 0.869987 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.76, Z:-0.05 [[ 9.24458987e-01 -3.45857308e-01 -1.60493935e-01 7.05700468e+00] [ 3.49644631e-01 9.36869436e-01 -4.92866216e-03 1.76081506e+00] [ 1.52066476e-01 -5.15594965e-02 9.87024521e-01 -4.90339935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181346184 meters Centerline goodness : 0.869758 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.76, Z:-0.05 [[ 9.24158975e-01 -3.46551331e-01 -1.60724498e-01 7.05664705e+00] [ 3.50462384e-01 9.36567093e-01 -4.26577860e-03 1.75886599e+00] [ 1.52007587e-01 -5.23856333e-02 9.86990091e-01 -4.71456903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24134618399998 meters Centerline goodness : 0.873084 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.75, Z:-0.05 [[ 9.24865490e-01 -3.45494018e-01 -1.58926743e-01 7.05423018e+00] [ 3.49149876e-01 9.37052365e-01 -5.21822712e-03 1.75426106e+00] [ 1.50725546e-01 -5.06630943e-02 9.87276588e-01 -4.65025756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30134618399998 meters Centerline goodness : 0.872816 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.75, Z:-0.05 [[ 0.92484546 -0.34643014 -0.15699373 7.05232209] [ 0.34963157 0.93685609 -0.00764373 1.75215973] [ 0.14972855 -0.04782069 0.98757002 -0.04610998] [ 0. 0. 0. 1. ]] SLAMing on 165.36134618399998 meters Centerline goodness : 0.874520 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.75, Z:-0.04 [[ 9.24465683e-01 -3.46963408e-01 -1.58049344e-01 7.05139950e+00] [ 3.50399895e-01 9.36577713e-01 -6.48858513e-03 1.75086066e+00] [ 1.50276795e-01 -4.93819994e-02 9.87409896e-01 -4.23023018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421346184 meters Centerline goodness : 0.873445 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.75, Z:-0.04 [[ 0.92359419 -0.35019369 -0.1560069 7.05078965] [ 0.35300007 0.93556702 -0.01026143 1.74930603] [ 0.14954839 -0.04559305 0.98770266 -0.04253259] [ 0. 0. 0. 1. ]] SLAMing on 165.481346184 meters Centerline goodness : 0.874288 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.75, Z:-0.04 [[ 0.92160306 -0.3557865 -0.15512499 7.05087334] [ 0.3581022 0.93358165 -0.0137158 1.74636069] [ 0.14970174 -0.04291008 0.98779963 -0.03997479] [ 0. 0. 0. 1. ]] SLAMing on 165.541346184 meters Centerline goodness : 0.873219 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.74, Z:-0.04 [[ 0.92053967 -0.35861061 -0.15493591 7.0517541 ] [ 0.36070288 0.93255401 -0.01537703 1.74383569] [ 0.15000047 -0.04173066 0.98780484 -0.03826724] [ 0. 0. 0. 1. ]] SLAMing on 165.601346184 meters Centerline goodness : 0.876755 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.74, Z:-0.04 [[ 0.91991437 -0.36034425 -0.15462719 7.05242446] [ 0.36236985 0.93189912 -0.01587859 1.7378124 ] [ 0.1498187 -0.04142529 0.98784528 -0.03622791] [ 0. 0. 0. 1. ]] SLAMing on 165.661346184 meters Centerline goodness : 0.878203 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.73, Z:-0.03 [[ 0.92004455 -0.36096395 -0.15239109 7.04965461] [ 0.36272566 0.93173969 -0.01706581 1.73180384] [ 0.14814897 -0.03957485 0.98817292 -0.03495709] [ 0. 0. 0. 1. ]] SLAMing on 165.721346184 meters Centerline goodness : 0.881540 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.73, Z:-0.03 [[ 0.92044532 -0.35986242 -0.15257604 7.04867719] [ 0.36173438 0.93213892 -0.01628727 1.73018045] [ 0.14808324 -0.04020046 0.98815752 -0.03337431] [ 0. 0. 0. 1. ]] SLAMing on 165.781346184 meters Centerline goodness : 0.882702 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.73, Z:-0.04 [[ 0.92121188 -0.35970308 -0.14826448 7.04475963] [ 0.36074849 0.93243278 -0.0207275 1.72589213] [ 0.14570241 -0.03439176 0.98873051 -0.03514237] [ 0. 0. 0. 1. ]] SLAMing on 165.841346184 meters Centerline goodness : 0.883876 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.72, Z:-0.03 [[ 0.92133769 -0.35961535 -0.14769446 7.04418215] [ 0.36060984 0.93248188 -0.02093076 1.72327413] [ 0.14524943 -0.03397577 0.98881153 -0.03458032] [ 0. 0. 0. 1. ]] SLAMing on 165.901346184 meters Centerline goodness : 0.884098 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.72, Z:-0.03 [[ 0.92072731 -0.36136561 -0.14722813 7.04446824] [ 0.3622231 0.93183414 -0.02189876 1.72002272] [ 0.14510566 -0.03316664 0.98886011 -0.03331515] [ 0. 0. 0. 1. ]] SLAMing on 165.961346184 meters Centerline goodness : 0.892346 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.72, Z:-0.03 [[ 0.92009669 -0.36344045 -0.14605865 7.04336803] [ 0.36392494 0.93110988 -0.02435223 1.71830301] [ 0.14484724 -0.03074798 0.98897616 -0.03200849] [ 0. 0. 0. 1. ]] SLAMing on 166.02134618399998 meters Centerline goodness : 0.892705 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.71, Z:-0.03 [[ 0.91986381 -0.36473919 -0.14427716 7.04203497] [ 0.36498844 0.93065734 -0.02569736 1.71247146] [ 0.14364543 -0.02902143 0.98920359 -0.0311134 ] [ 0. 0. 0. 1. ]] SLAMing on 166.08134618399998 meters Centerline goodness : 0.890392 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.71, Z:-0.03 [[ 0.91996858 -0.36419804 -0.14497446 7.04241662] [ 0.3646609 0.93082249 -0.02432949 1.71017441] [ 0.14380624 -0.03048415 0.98913623 -0.02970545] [ 0. 0. 0. 1. ]] SLAMing on 166.14134618399999 meters Centerline goodness : 0.892872 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.71, Z:-0.03 [[ 0.91970295 -0.3658154 -0.14256778 7.04109528] [ 0.36579245 0.93029519 -0.02732671 1.70600364] [ 0.14262665 -0.02701776 0.98940774 -0.02997757] [ 0. 0. 0. 1. ]] SLAMing on 166.201346184 meters Centerline goodness : 0.896177 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.70, Z:-0.03 [[ 0.91843706 -0.36442967 -0.15383234 7.04169491] [ 0.36428571 0.93079921 -0.03014546 1.69748279] [ 0.15417292 -0.02835222 0.98763701 -0.02873838] [ 0. 0. 0. 1. ]] SLAMing on 166.261346184 meters Centerline goodness : 0.895003 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.70, Z:-0.03 [[ 0.91810854 -0.36495335 -0.15455017 7.04469312] [ 0.36504981 0.93054276 -0.02878905 1.69519577] [ 0.1543222 -0.02998704 0.98756541 -0.02944905] [ 0. 0. 0. 1. ]] SLAMing on 166.321346184 meters Centerline goodness : 0.895360 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.69, Z:-0.03 [[ 0.91809846 -0.36582256 -0.15254203 7.04192093] [ 0.3656665 0.93025902 -0.03010239 1.69118241] [ 0.15291573 -0.02814255 0.98783844 -0.02851359] [ 0. 0. 0. 1. ]] SLAMing on 166.381346184 meters Centerline goodness : 0.894643 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.69, Z:-0.03 [[ 0.91891687 -0.36452749 -0.15070332 7.04063787] [ 0.36418209 0.93081545 -0.03088685 1.68662126] [ 0.15153608 -0.026501 0.98809641 -0.02966222] [ 0. 0. 0. 1. ]] SLAMing on 166.441346184 meters Centerline goodness : 0.895276 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.69, Z:-0.03 [[ 0.91889563 -0.36439061 -0.1511632 7.04245424] [ 0.36406505 0.9308632 -0.03082777 1.68529483] [ 0.15194561 -0.02670573 0.988028 -0.02994299] [ 0. 0. 0. 1. ]] SLAMing on 166.501346184 meters Centerline goodness : 0.891881 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.03 [[ 0.91931001 -0.36387072 -0.14989063 7.0415345 ] [ 0.36331808 0.93111392 -0.03204438 1.68257716] [ 0.15122526 -0.02499925 0.98818316 -0.03032359] [ 0. 0. 0. 1. ]] SLAMing on 166.561346184 meters Centerline goodness : 0.890740 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:1.68, Z:-0.03 [[ 0.91957311 -0.36307842 -0.15019775 7.04465248] [ 0.36269972 0.93139386 -0.0308933 1.68036072] [ 0.15110995 -0.02606804 0.98817318 -0.03262625] [ 0. 0. 0. 1. ]] SLAMing on 166.621346184 meters Centerline goodness : 0.890164 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.68, Z:-0.03 [[ 0.91967785 -0.36258706 -0.15074243 7.04609963] [ 0.36246586 0.93153745 -0.02926582 1.67634881] [ 0.15103362 -0.02772385 0.98813978 -0.03212113] [ 0. 0. 0. 1. ]] SLAMing on 166.681346184 meters Centerline goodness : 0.890167 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.67, Z:-0.03 [[ 0.91956434 -0.36264873 -0.15128557 7.04675678] [ 0.36274619 0.93146891 -0.02794418 1.67355171] [ 0.15105173 -0.02918179 0.98809504 -0.03078923] [ 0. 0. 0. 1. ]] SLAMing on 166.74134618399998 meters Centerline goodness : 0.892638 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.67, Z:-0.03 [[ 0.91878167 -0.36473973 -0.15101379 7.04926069] [ 0.36469739 0.93067491 -0.02898302 1.66947541] [ 0.151116 -0.02844527 0.98810668 -0.03098862] [ 0. 0. 0. 1. ]] SLAMing on 166.80134618399998 meters Centerline goodness : 0.890936 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.67, Z:-0.03 [[ 0.9184425 -0.36582608 -0.15044818 7.05128562] [ 0.36568404 0.93026759 -0.02962074 1.66566713] [ 0.15079311 -0.02781155 0.98817405 -0.0320809 ] [ 0. 0. 0. 1. ]] SLAMing on 166.86134618399998 meters Centerline goodness : 0.890851 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:1.66, Z:-0.03 [[ 0.91804243 -0.36652615 -0.15118427 7.05222795] [ 0.36664227 0.92993661 -0.02813072 1.66325443] [ 0.15090243 -0.02960535 0.98810525 -0.03056611] [ 0. 0. 0. 1. ]] SLAMing on 166.921346184 meters Centerline goodness : 0.888519 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.66, Z:-0.03 [[ 0.91661712 -0.3704742 -0.15020629 7.05516488] [ 0.37027042 0.92842734 -0.03037273 1.65928495] [ 0.15070794 -0.02777678 0.98818802 -0.03169205] [ 0. 0. 0. 1. ]] SLAMing on 166.981346184 meters Centerline goodness : 0.889292 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.66, Z:-0.03 [[ 0.91588054 -0.37187848 -0.15122574 7.06043606] [ 0.37177251 0.92783753 -0.03004513 1.65804996] [ 0.15148606 -0.02870383 0.98804254 -0.03373541] [ 0. 0. 0. 1. ]] SLAMing on 167.041346184 meters Centerline goodness : 0.887007 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:1.65, Z:-0.03 [[ 0.91370083 -0.37715228 -0.1513504 7.06446687] [ 0.37688161 0.92572256 -0.0315911 1.65490654] [ 0.15202314 -0.02817636 0.98797523 -0.03358472] [ 0. 0. 0. 1. ]] SLAMing on 167.101346184 meters Centerline goodness : 0.887619 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.65, Z:-0.03 [[ 0.91126828 -0.38249166 -0.15261143 7.06874749] [ 0.38223311 0.92350435 -0.03221125 1.65301292] [ 0.15325786 -0.02898006 0.9877612 -0.03175379] [ 0. 0. 0. 1. ]] SLAMing on 167.161346184 meters Centerline goodness : 0.888229 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:1.65, Z:-0.03 [[ 0.91062436 -0.38376124 -0.15326638 7.07324156] [ 0.38361657 0.92294769 -0.03171574 1.6513638 ] [ 0.15362812 -0.0299144 0.98767582 -0.03358562] [ 0. 0. 0. 1. ]] SLAMing on 167.221346184 meters Centerline goodness : 0.888048 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:1.65, Z:-0.04 [[ 0.91076429 -0.38328393 -0.15362889 7.07632934] [ 0.38324534 0.92312404 -0.03106471 1.64917142] [ 0.15372512 -0.03058492 0.98764019 -0.03545717] [ 0. 0. 0. 1. ]] SLAMing on 167.281346184 meters Centerline goodness : 0.891676 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:1.65, Z:-0.04 [[ 0.91143222 -0.38094328 -0.15547836 7.07951013] [ 0.38134461 0.9239957 -0.0284296 1.6509025 ] [ 0.1544914 -0.03337918 0.98743012 -0.03707728] [ 0. 0. 0. 1. ]] SLAMing on 167.341346184 meters Centerline goodness : 0.888526 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:1.65, Z:-0.04 [[ 0.91132938 -0.38085193 -0.1563028 7.08320217] [ 0.38131189 0.92401534 -0.02822919 1.65180572] [ 0.15517732 -0.03387402 0.9873057 -0.03938761] [ 0. 0. 0. 1. ]] SLAMing on 167.401346184 meters Centerline goodness : 0.886763 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:1.65, Z:-0.04 [[ 0.9110989 -0.3808059 -0.15775189 7.08724463] [ 0.38156574 0.92395741 -0.02665137 1.6522537 ] [ 0.15590502 -0.03591068 0.98711906 -0.04057937] [ 0. 0. 0. 1. ]] SLAMing on 167.461346184 meters Centerline goodness : 0.885039 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:1.65, Z:-0.04 [[ 0.91076405 -0.38104763 -0.15909604 7.09178326] [ 0.38193426 0.92381832 -0.02619039 1.6537986 ] [ 0.15695562 -0.03691097 0.98691566 -0.04254984] [ 0. 0. 0. 1. ]] SLAMing on 167.52134618399998 meters Centerline goodness : 0.885497 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:1.65, Z:-0.05 [[ 0.91108286 -0.38057892 -0.15839101 7.09488149] [ 0.38129346 0.92405776 -0.02706576 1.65340828] [ 0.1566631 -0.0357343 0.98700544 -0.04701078] [ 0. 0. 0. 1. ]] SLAMing on 167.58134618399998 meters Centerline goodness : 0.883458 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:1.65, Z:-0.05 [[ 0.91120498 -0.37985561 -0.15942145 7.09805137] [ 0.38081454 0.92429403 -0.0257065 1.6525163 ] [ 0.15711705 -0.03728611 0.98687587 -0.04819513] [ 0. 0. 0. 1. ]] SLAMing on 167.64134618399999 meters Centerline goodness : 0.883249 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:1.65, Z:-0.05 [[ 0.91047199 -0.38072675 -0.1615175 7.10225437] [ 0.38210906 0.92381435 -0.02365837 1.65181265] [ 0.15821956 -0.04017701 0.98658623 -0.04765611] [ 0. 0. 0. 1. ]] SLAMing on 167.701346184 meters Centerline goodness : 0.882286 with order 1 Centerline is valid? [False, False] Translation: X:7.11, Y:1.65, Z:-0.05 [[ 0.90877131 -0.38479227 -0.16146089 7.10699415] [ 0.38584521 0.92219524 -0.02606545 1.65181526] [ 0.15892825 -0.03861137 0.98653483 -0.04973847] [ 0. 0. 0. 1. ]] SLAMing on 167.761346184 meters Centerline goodness : 0.881649 with order 1 Centerline is valid? [False, False] Translation: X:7.11, Y:1.65, Z:-0.05 [[ 0.90726562 -0.38851211 -0.16102001 7.11068039] [ 0.38915576 0.92072048 -0.02883747 1.65259057] [ 0.15945812 -0.03649862 0.98652976 -0.05157484] [ 0. 0. 0. 1. ]] SLAMing on 167.821346184 meters Centerline goodness : 0.878721 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:1.65, Z:-0.05 [[ 0.90601469 -0.39063068 -0.16292654 7.11633178] [ 0.39145154 0.9197606 -0.02839233 1.65352383] [ 0.16094432 -0.03805398 0.9862296 -0.05246867] [ 0. 0. 0. 1. ]] SLAMing on 167.881346184 meters Centerline goodness : 0.880948 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:1.66, Z:-0.05 [[ 0.90572057 -0.39029859 -0.16533985 7.12060846] [ 0.3915857 0.91977094 -0.02611639 1.65615278] [ 0.16226798 -0.04109057 0.9858908 -0.05323342] [ 0. 0. 0. 1. ]] SLAMing on 167.941346184 meters Centerline goodness : 0.879312 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:1.66, Z:-0.06 [[ 0.90586621 -0.39000698 -0.16523002 7.12290512] [ 0.39118231 0.91992466 -0.02673969 1.6572209 ] [ 0.16242784 -0.04041248 0.9858925 -0.0561393 ] [ 0. 0. 0. 1. ]] SLAMing on 168.001346184 meters Centerline goodness : 0.878248 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:1.66, Z:-0.06 [[ 0.90545191 -0.39035227 -0.16667918 7.12609994] [ 0.39179172 0.9196992 -0.02554676 1.65857581] [ 0.16326694 -0.04217216 0.98568018 -0.05666087] [ 0. 0. 0. 1. ]] SLAMing on 168.061346184 meters Centerline goodness : 0.874055 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:1.66, Z:-0.06 [[ 0.90466592 -0.39105368 -0.16928256 7.13040313] [ 0.39296086 0.91925465 -0.02350873 1.66054029] [ 0.16480695 -0.04525388 0.98528714 -0.05628437] [ 0. 0. 0. 1. ]] SLAMing on 168.121346184 meters Centerline goodness : 0.876250 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:1.66, Z:-0.06 [[ 0.90432793 -0.3908967 -0.17143735 7.13465779] [ 0.39321295 0.91919195 -0.02167346 1.66208051] [ 0.16605592 -0.04781147 0.9849566 -0.05688895] [ 0. 0. 0. 1. ]] SLAMing on 168.181346184 meters Centerline goodness : 0.878340 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:1.66, Z:-0.06 [[ 0.90464329 -0.38983973 -0.1721787 7.13688725] [ 0.39239594 0.91957087 -0.02036785 1.66131266] [ 0.16627072 -0.04913659 0.98485514 -0.0580313 ] [ 0. 0. 0. 1. ]] SLAMing on 168.24134618399998 meters Centerline goodness : 0.876446 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:1.66, Z:-0.06 [[ 0.9044696 -0.38940455 -0.17406564 7.14048808] [ 0.39244104 0.91959965 -0.01806958 1.66171732] [ 0.16710708 -0.05196712 0.98456825 -0.05833138] [ 0. 0. 0. 1. ]] SLAMing on 168.30134618399998 meters Centerline goodness : 0.875144 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:1.66, Z:-0.06 [[ 0.90484682 -0.38755754 -0.17621402 7.1443427 ] [ 0.39116377 0.92019493 -0.01523821 1.66244731] [ 0.16805693 -0.0551403 0.98423392 -0.05952867] [ 0. 0. 0. 1. ]] SLAMing on 168.36134618399998 meters Centerline goodness : 0.877530 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:1.66, Z:-0.06 [[ 0.90563571 -0.38508246 -0.17758223 7.14553035] [ 0.38913704 0.92109045 -0.01283562 1.6644556 ] [ 0.16851207 -0.05747943 0.98402225 -0.06066527] [ 0. 0. 0. 1. ]] SLAMing on 168.421346184 meters Centerline goodness : 0.876428 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:1.67, Z:-0.06 [[ 0.90569832 -0.38452544 -0.17846775 7.14832725] [ 0.38871569 0.92127568 -0.012298 1.66635617] [ 0.16914689 -0.05823494 0.9838689 -0.06232035] [ 0. 0. 0. 1. ]] SLAMing on 168.481346184 meters Centerline goodness : 0.878656 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:1.67, Z:-0.06 [[ 0.90558587 -0.38497588 -0.17806685 7.14688116] [ 0.38896347 0.92115597 -0.01338266 1.66858284] [ 0.16917935 -0.05714235 0.98392739 -0.06204224] [ 0. 0. 0. 1. ]] SLAMing on 168.541346184 meters Centerline goodness : 0.875349 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:1.67, Z:-0.06 [[ 0.90500171 -0.38590993 -0.17901238 7.15011997] [ 0.38991779 0.920748 -0.01368354 1.67065369] [ 0.17010591 -0.05741649 0.98375166 -0.06325017] [ 0. 0. 0. 1. ]] SLAMing on 168.601346184 meters Centerline goodness : 0.875046 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:1.67, Z:-0.06 [[ 0.90502393 -0.38539842 -0.17999926 7.15194723] [ 0.3896018 0.92089383 -0.01284495 1.67239114] [ 0.17071063 -0.05850305 0.98358288 -0.06402701] [ 0. 0. 0. 1. ]] SLAMing on 168.661346184 meters Centerline goodness : 0.875557 with order 1 Centerline is valid? [False, False] Translation: X:7.16, Y:1.67, Z:-0.07 [[ 0.90531917 -0.38414429 -0.1811915 7.1555383 ] [ 0.38858841 0.92133648 -0.01175336 1.67393069] [ 0.17145333 -0.05976837 0.9833776 -0.06635382] [ 0. 0. 0. 1. ]] SLAMing on 168.721346184 meters Centerline goodness : 0.878728 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:1.68, Z:-0.07 [[ 9.05531875e-01 -3.86258386e-01 -1.75546239e-01 7.16563943e+00] [ 3.91610144e-01 9.20120269e-01 -4.49284305e-03 1.67992095e+00] [ 1.63259051e-01 -6.46772752e-02 9.84460935e-01 -7.47649492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781346184 meters Centerline goodness : 0.878564 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:1.68, Z:-0.07 [[ 9.04792233e-01 -3.86735308e-01 -1.78288575e-01 7.17016066e+00] [ 3.92631349e-01 9.19692810e-01 -2.39997085e-03 1.68329127e+00] [ 1.64898874e-01 -6.78302087e-02 9.83975317e-01 -7.49620583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841346184 meters Centerline goodness : 0.878538 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:1.69, Z:-0.08 [[ 9.03945240e-01 -3.88355560e-01 -1.79061336e-01 7.17510655e+00] [ 3.94082404e-01 9.19066895e-01 -3.88596120e-03 1.68632105e+00] [ 1.66078481e-01 -6.70522256e-02 9.83830238e-01 -7.81172355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901346184 meters Centerline goodness : 0.878152 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:1.69, Z:-0.08 [[ 9.04297011e-01 -3.86700844e-01 -1.80857326e-01 7.17760901e+00] [ 3.92910904e-01 9.19575124e-01 -1.61630282e-03 1.68850100e+00] [ 1.66936924e-01 -6.95991978e-02 9.83508015e-01 -7.90798470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96134618399998 meters Centerline goodness : 0.876517 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.08 [[ 0.90493662 -0.38729375 -0.1763328 7.18611148] [ 0.39477256 0.91874356 0.00805579 1.69602642] [ 0.15888467 -0.07690132 0.98429764 -0.08490004] [ 0. 0. 0. 1. ]] SLAMing on 169.02134618399998 meters Centerline goodness : 0.874713 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 0.90523138 -0.38631039 -0.17697582 7.18722086] [ 0.39391162 0.91910819 0.00858939 1.69744867] [ 0.15934175 -0.07748821 0.98417772 -0.08571311] [ 0. 0. 0. 1. ]] SLAMing on 169.08134618399998 meters Centerline goodness : 0.875378 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 0.9052855 -0.38621851 -0.17689947 7.1881356 ] [ 0.39373514 0.91918813 0.00811332 1.69884046] [ 0.15947038 -0.07699641 0.98419548 -0.08724732] [ 0. 0. 0. 1. ]] SLAMing on 169.14134618399999 meters Centerline goodness : 0.876018 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 0.90593179 -0.38377284 -0.17890218 7.19050808] [ 0.39185232 0.91996461 0.01081059 1.70123171] [ 0.16043487 -0.07989689 0.98380747 -0.08844037] [ 0. 0. 0. 1. ]] SLAMing on 169.201346184 meters Centerline goodness : 0.879333 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 0.9062903 -0.38184512 -0.18119654 7.19417701] [ 0.39057411 0.92046832 0.01378164 1.7040241 ] [ 0.16152322 -0.08326085 0.98335033 -0.0900354 ] [ 0. 0. 0. 1. ]] SLAMing on 169.261346184 meters Centerline goodness : 0.882706 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.71, Z:-0.09 [[ 0.90623827 -0.3820505 -0.18102379 7.19414545] [ 0.39059035 0.92047697 0.01270128 1.70698766] [ 0.1617757 -0.08221653 0.9833967 -0.09120331] [ 0. 0. 0. 1. ]] SLAMing on 169.321346184 meters Centerline goodness : 0.881408 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.71, Z:-0.09 [[ 0.90576361 -0.38357593 -0.18017156 7.19306957] [ 0.39165174 0.92005734 0.01016834 1.71027241] [ 0.16186784 -0.07977461 0.98358264 -0.09165284] [ 0. 0. 0. 1. ]] SLAMing on 169.381346184 meters Centerline goodness : 0.878868 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.71, Z:-0.09 [[ 0.90561421 -0.38348706 -0.18110931 7.1938303 ] [ 0.39174193 0.92001185 0.0107914 1.71198504] [ 0.16248434 -0.08072096 0.98340376 -0.09129255] [ 0. 0. 0. 1. ]] SLAMing on 169.441346184 meters Centerline goodness : 0.881378 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.71, Z:-0.09 [[ 0.90566736 -0.38319303 -0.1814655 7.19421003] [ 0.3914727 0.92012646 0.01078994 1.71408282] [ 0.16283658 -0.08081088 0.98333811 -0.09185429] [ 0. 0. 0. 1. ]] SLAMing on 169.501346184 meters Centerline goodness : 0.877653 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.71, Z:-0.09 [[ 0.90540825 -0.38521025 -0.17846277 7.19091341] [ 0.39271853 0.91962897 0.00739704 1.71217128] [ 0.16127012 -0.07678297 0.98391886 -0.09204936] [ 0. 0. 0. 1. ]] SLAMing on 169.561346184 meters Centerline goodness : 0.880511 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.71, Z:-0.09 [[ 0.90574293 -0.38423657 -0.17886308 7.18962053] [ 0.39206428 0.91989137 0.00924475 1.7106706 ] [ 0.16098243 -0.07849919 0.98383054 -0.09015939] [ 0. 0. 0. 1. ]] SLAMing on 169.621346184 meters Centerline goodness : 0.881866 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.71, Z:-0.09 [[ 9.06180343e-01 -3.84735587e-01 -1.75544051e-01 7.18535736e+00] [ 3.91873476e-01 9.19995674e-01 6.56795367e-03 1.70606113e+00] [ 1.58972842e-01 -7.47428079e-02 9.84449668e-01 -8.98678214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681346184 meters Centerline goodness : 0.879738 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 0.90654497 -0.38368985 -0.17594977 7.18664498] [ 0.39108775 0.92031791 0.0080818 1.70399951] [ 0.15882882 -0.07613831 0.98436597 -0.09012734] [ 0. 0. 0. 1. ]] SLAMing on 169.74134618399998 meters Centerline goodness : 0.879189 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 0.90692429 -0.38281337 -0.17590411 7.19026057] [ 0.39026162 0.92066478 0.00849871 1.70184334] [ 0.1586953 -0.07635631 0.98437062 -0.09337344] [ 0. 0. 0. 1. ]] SLAMing on 169.80134618399998 meters Centerline goodness : 0.875846 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 0.9061188 -0.38416566 -0.17710297 7.19445304] [ 0.39184901 0.91998317 0.0092365 1.70063964] [ 0.15938341 -0.07776699 0.98414899 -0.09384812] [ 0. 0. 0. 1. ]] SLAMing on 169.86134618399998 meters Centerline goodness : 0.875200 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:1.70, Z:-0.09 [[ 9.03693157e-01 -3.91148515e-01 -1.74188164e-01 7.19170371e+00] [ 3.97837482e-01 9.17447972e-01 3.81540555e-03 1.69781595e+00] [ 1.58316188e-01 -7.27465365e-02 9.84704994e-01 -9.09066617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921346184 meters Centerline goodness : 0.871769 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:1.70, Z:-0.09 [[ 0.9013459 -0.39360183 -0.18070188 7.2048163 ] [ 0.40180422 0.91567418 0.00970411 1.69521936] [ 0.16164449 -0.08135354 0.98349004 -0.09417161] [ 0. 0. 0. 1. ]] SLAMing on 169.981346184 meters Centerline goodness : 0.870216 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:1.69, Z:-0.10 [[ 0.90074634 -0.39441648 -0.18191118 7.20964325] [ 0.40289647 0.91518316 0.01068765 1.69321466] [ 0.16226667 -0.08291823 0.98325688 -0.09518755] [ 0. 0. 0. 1. ]] SLAMing on 170.041346184 meters Centerline goodness : 0.870505 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:1.69, Z:-0.09 [[ 0.89981342 -0.39751605 -0.17976874 7.20732004] [ 0.40546397 0.91407381 0.008249 1.69138125] [ 0.16104278 -0.0803123 0.98367431 -0.09421276] [ 0. 0. 0. 1. ]] SLAMing on 170.101346184 meters Centerline goodness : 0.871320 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:1.69, Z:-0.09 [[ 0.89988257 -0.39765465 -0.17911489 7.20718823] [ 0.40548934 0.91406586 0.00787344 1.6900428 ] [ 0.16059189 -0.07971435 0.98379666 -0.09465719] [ 0. 0. 0. 1. ]] SLAMing on 170.161346184 meters Centerline goodness : 0.870983 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:1.69, Z:-0.09 [[ 0.9000291 -0.39748348 -0.17875823 7.20670382] [ 0.40530836 0.91414495 0.00800968 1.68935245] [ 0.16022722 -0.07966115 0.98386043 -0.09473784] [ 0. 0. 0. 1. ]] SLAMing on 170.221346184 meters Centerline goodness : 0.870823 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:1.69, Z:-0.10 [[ 0.89988747 -0.39737356 -0.17971309 7.21050044] [ 0.40538869 0.91410299 0.00870191 1.68877963] [ 0.16081837 -0.08068439 0.98368058 -0.09637067] [ 0. 0. 0. 1. ]] SLAMing on 170.281346184 meters Centerline goodness : 0.874724 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:1.69, Z:-0.10 [[ 0.89945278 -0.39775266 -0.18104564 7.21419433] [ 0.40605782 0.91379537 0.00975055 1.6888466 ] [ 0.16156036 -0.08228516 0.98342636 -0.09693661] [ 0. 0. 0. 1. ]] SLAMing on 170.341346184 meters Centerline goodness : 0.871671 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.69, Z:-0.10 [[ 0.89918096 -0.39747188 -0.18300193 7.21851685] [ 0.40620193 0.91371307 0.01133211 1.68915424] [ 0.16270706 -0.08452536 0.98304724 -0.09712724] [ 0. 0. 0. 1. ]] SLAMing on 170.401346184 meters Centerline goodness : 0.871546 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.69, Z:-0.10 [[ 0.89785671 -0.40036327 -0.1832009 7.22242064] [ 0.40892922 0.91251181 0.00995426 1.68821507] [ 0.16318767 -0.0838537 0.9830251 -0.09802325] [ 0. 0. 0. 1. ]] SLAMing on 170.46134618399998 meters Centerline goodness : 0.873137 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.69, Z:-0.10 [[ 0.89855693 -0.39931513 -0.18205186 7.22351978] [ 0.40769452 0.91306867 0.00952805 1.68592069] [ 0.16242116 -0.08278304 0.98324277 -0.10090727] [ 0. 0. 0. 1. ]] SLAMing on 170.52134618399998 meters Centerline goodness : 0.878008 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.68, Z:-0.10 [[ 0.90071545 -0.39424819 -0.18242817 7.22032024] [ 0.40324264 0.91499271 0.01355415 1.68151074] [ 0.16157675 -0.08577125 0.98312575 -0.09909294] [ 0. 0. 0. 1. ]] SLAMing on 170.58134618399998 meters Centerline goodness : 0.878431 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.68, Z:-0.10 [[ 0.90327401 -0.3879383 -0.18330285 7.21654192] [ 0.39775324 0.91730232 0.01867652 1.67767877] [ 0.16089879 -0.08977932 0.98287906 -0.09664145] [ 0. 0. 0. 1. ]] SLAMing on 170.64134618399999 meters Centerline goodness : 0.880229 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.68, Z:-0.10 [[ 0.90390535 -0.38667952 -0.18284982 7.21986773] [ 0.39637994 0.91790313 0.01835166 1.67606384] [ 0.16074221 -0.08906617 0.98296956 -0.10062792] [ 0. 0. 0. 1. ]] SLAMing on 170.701346184 meters Centerline goodness : 0.878745 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.67, Z:-0.10 [[ 0.90222827 -0.39117577 -0.1815645 7.22099414] [ 0.40038449 0.91621396 0.01562809 1.67339125] [ 0.1602386 -0.08679572 0.98325485 -0.10010525] [ 0. 0. 0. 1. ]] SLAMing on 170.761346184 meters Centerline goodness : 0.879677 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.67, Z:-0.10 [[ 0.90098153 -0.39353451 -0.18265504 7.22377445] [ 0.40304224 0.91503026 0.01663041 1.67172163] [ 0.16059025 -0.08860138 0.9830364 -0.09867303] [ 0. 0. 0. 1. ]] SLAMing on 170.821346184 meters Centerline goodness : 0.872835 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.67, Z:-0.10 [[ 0.90055806 -0.39616144 -0.17902875 7.22007172] [ 0.40482732 0.91429806 0.01318711 1.66578759] [ 0.15846141 -0.08435148 0.98375546 -0.09798009] [ 0. 0. 0. 1. ]] SLAMing on 170.881346184 meters Centerline goodness : 0.874819 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:1.66, Z:-0.10 [[ 0.89984356 -0.39846165 -0.17751023 7.22272675] [ 0.40687969 0.9133997 0.01224333 1.65854785] [ 0.15725929 -0.08324239 0.98404279 -0.09942019] [ 0. 0. 0. 1. ]] SLAMing on 170.941346184 meters Centerline goodness : 0.876725 with order 1 Centerline is valid? [False, False] Translation: X:7.23, Y:1.65, Z:-0.10 [[ 0.89926949 -0.39883564 -0.17956759 7.2291678 ] [ 0.40784587 0.91293117 0.01477918 1.65416228] [ 0.15803838 -0.08652637 0.98363462 -0.09976677] [ 0. 0. 0. 1. ]] SLAMing on 171.001346184 meters Centerline goodness : 0.872771 with order 1 Centerline is valid? [False, False] Translation: X:7.23, Y:1.65, Z:-0.10 [[ 0.89934525 -0.39793125 -0.18118732 7.23416771] [ 0.40763272 0.91296368 0.01824503 1.64775252] [ 0.15815718 -0.09026646 0.98327935 -0.09995365] [ 0. 0. 0. 1. ]] SLAMing on 171.061346184 meters Centerline goodness : 0.877542 with order 1 Centerline is valid? [False, False] Translation: X:7.25, Y:1.64, Z:-0.11 [[ 0.89891109 -0.39722275 -0.18485926 7.24593143] [ 0.40814793 0.91260829 0.02369331 1.63894756] [ 0.15929258 -0.0967481 0.98247935 -0.10536197] [ 0. 0. 0. 1. ]] SLAMing on 171.121346184 meters Centerline goodness : 0.872974 with order 1 Centerline is valid? [False, False] Translation: X:7.26, Y:1.63, Z:-0.11 [[ 0.89694952 -0.40026844 -0.18779437 7.2570224 ] [ 0.41208891 0.91074171 0.02706036 1.62817284] [ 0.16020076 -0.10165976 0.98183553 -0.10780646] [ 0. 0. 0. 1. ]] SLAMing on 171.181346184 meters Centerline goodness : 0.874385 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:1.62, Z:-0.11 [[ 0.89621666 -0.40052255 -0.19072856 7.26533934] [ 0.41343783 0.90997718 0.03179122 1.61901336] [ 0.16082553 -0.10734623 0.98112789 -0.10775417] [ 0. 0. 0. 1. ]] SLAMing on 171.24134618399998 meters Centerline goodness : 0.873158 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:1.61, Z:-0.11 [[ 0.89642469 -0.39939987 -0.1921003 7.27058029] [ 0.41283802 0.91016432 0.034142 1.61412027] [ 0.16120653 -0.10991204 0.98078122 -0.10881025] [ 0. 0. 0. 1. ]] SLAMing on 171.30134618399998 meters Centerline goodness : 0.871666 with order 1 Centerline is valid? [False, False] Translation: X:7.28, Y:1.61, Z:-0.11 [[ 0.89679327 -0.39806136 -0.19315534 7.27576336] [ 0.41207664 0.91039609 0.03703784 1.60659108] [ 0.16110454 -0.11281009 0.98046887 -0.10995042] [ 0. 0. 0. 1. ]] SLAMing on 171.36134618399998 meters Centerline goodness : 0.872968 with order 1 Centerline is valid? [False, False] Translation: X:7.28, Y:1.60, Z:-0.11 [[ 0.89692944 -0.39717931 -0.19433522 7.27805975] [ 0.41158918 0.91054863 0.03867226 1.60453864] [ 0.16159184 -0.11467256 0.98017258 -0.1094313 ] [ 0. 0. 0. 1. ]] SLAMing on 171.421346184 meters Centerline goodness : 0.876077 with order 1 Centerline is valid? [False, False] Translation: X:7.28, Y:1.60, Z:-0.11 [[ 0.89761408 -0.395059 -0.19549257 7.28033345] [ 0.4100702 0.91110162 0.04166856 1.59887522] [ 0.16165206 -0.11756797 0.97981957 -0.10852922] [ 0. 0. 0. 1. ]] SLAMing on 171.481346184 meters Centerline goodness : 0.878995 with order 1 Centerline is valid? [False, False] Translation: X:7.28, Y:1.60, Z:-0.11 [[ 0.89846518 -0.39264669 -0.19644058 7.28133364] [ 0.40817061 0.91183081 0.04428683 1.59500396] [ 0.16173149 -0.11997145 0.97951507 -0.10762407] [ 0. 0. 0. 1. ]] SLAMing on 171.541346184 meters Centerline goodness : 0.877773 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:1.59, Z:-0.11 [[ 0.89844262 -0.3919323 -0.19796446 7.28539843] [ 0.40794298 0.91184095 0.04613677 1.59281948] [ 0.16242961 -0.12220945 0.97912281 -0.10772946] [ 0. 0. 0. 1. ]] SLAMing on 171.601346184 meters Centerline goodness : 0.881367 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:1.59, Z:-0.11 [[ 0.89732325 -0.39353761 -0.19984776 7.28894879] [ 0.41003456 0.910834 0.04746667 1.59088222] [ 0.16334822 -0.12453744 0.97867655 -0.10546649] [ 0. 0. 0. 1. ]] SLAMing on 171.661346184 meters Centerline goodness : 0.879881 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:1.59, Z:-0.10 [[ 0.89522184 -0.39090117 -0.21394889 7.29049321] [ 0.4086693 0.91160088 0.04442103 1.58606423] [ 0.17767177 -0.12720102 0.97583433 -0.09859916] [ 0. 0. 0. 1. ]] SLAMing on 171.721346184 meters Centerline goodness : 0.879754 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.58, Z:-0.10 [[ 0.89405644 -0.39239444 -0.21607798 7.29510093] [ 0.41078896 0.91056243 0.04613558 1.58369324] [ 0.17864914 -0.13001026 0.97528551 -0.09683792] [ 0. 0. 0. 1. ]] SLAMing on 171.781346184 meters Centerline goodness : 0.879830 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.58, Z:-0.10 [[ 0.89335774 -0.39307858 -0.2177181 7.29739494] [ 0.41188197 0.91002061 0.04707161 1.58431109] [ 0.17962512 -0.13172595 0.97487594 -0.0953705 ] [ 0. 0. 0. 1. ]] SLAMing on 171.841346184 meters Centerline goodness : 0.878314 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.58, Z:-0.10 [[ 0.89340251 -0.39294211 -0.21778076 7.2988183 ] [ 0.41173222 0.9100938 0.0469666 1.58425436] [ 0.17974576 -0.13162744 0.97486701 -0.09644873] [ 0. 0. 0. 1. ]] SLAMing on 171.901346184 meters Centerline goodness : 0.880309 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.58, Z:-0.10 [[ 0.89308714 -0.39319986 -0.21860748 7.30192899] [ 0.41228241 0.90979572 0.04790582 1.58188517] [ 0.18005159 -0.13291209 0.97463624 -0.09651367] [ 0. 0. 0. 1. ]] SLAMing on 171.96134618399998 meters Centerline goodness : 0.880792 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.59, Z:-0.09 [[ 0.89207852 -0.394391 -0.22057121 7.30320318] [ 0.41395533 0.9089828 0.04890039 1.58553825] [ 0.18120956 -0.13492961 0.97414429 -0.09417308] [ 0. 0. 0. 1. ]] SLAMing on 172.02134618399998 meters Centerline goodness : 0.880547 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.59, Z:-0.09 [[ 0.89167883 -0.39478645 -0.22147804 7.30565124] [ 0.41455021 0.90869325 0.04924127 1.58521589] [ 0.18181582 -0.13572117 0.97392134 -0.09418028] [ 0. 0. 0. 1. ]] SLAMing on 172.08134618399998 meters Centerline goodness : 0.883132 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.58, Z:-0.09 [[ 0.89148303 -0.39482644 -0.22219383 7.30923931] [ 0.41481969 0.90853326 0.0499193 1.5831924 ] [ 0.18216102 -0.13667259 0.97372376 -0.09489638] [ 0. 0. 0. 1. ]] SLAMing on 172.14134618399999 meters Centerline goodness : 0.887075 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.58, Z:-0.09 [[ 0.89079699 -0.39455355 -0.22540678 7.31069725] [ 0.41562489 0.90797907 0.05319731 1.58457253] [ 0.18367545 -0.14107267 0.9728113 -0.09083805] [ 0. 0. 0. 1. ]] SLAMing on 172.201346184 meters Centerline goodness : 0.883139 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.59, Z:-0.09 [[ 0.89047829 -0.39482513 -0.22618916 7.31101852] [ 0.41602637 0.90779247 0.05324379 1.58659993] [ 0.18431082 -0.14151309 0.97262715 -0.08989773] [ 0. 0. 0. 1. ]] SLAMing on 172.261346184 meters Centerline goodness : 0.887560 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.59, Z:-0.09 [[ 0.89158126 -0.39115986 -0.22820347 7.30930514] [ 0.41336064 0.90876364 0.05728545 1.58732129] [ 0.18497525 -0.14540496 0.97192672 -0.08739134] [ 0. 0. 0. 1. ]] SLAMing on 172.321346184 meters Centerline goodness : 0.890289 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.59, Z:-0.09 [[ 0.8917536 -0.3912666 -0.22734547 7.30716307] [ 0.41313878 0.90893036 0.05623115 1.58896727] [ 0.18463983 -0.14406956 0.97218933 -0.08757203] [ 0. 0. 0. 1. ]] SLAMing on 172.381346184 meters Centerline goodness : 0.891220 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.60, Z:-0.09 [[ 0.89246193 -0.38895359 -0.22853186 7.30601631] [ 0.41107833 0.9098257 0.05684893 1.59548061] [ 0.18581257 -0.14468 0.97187519 -0.08838787] [ 0. 0. 0. 1. ]] SLAMing on 172.441346184 meters Centerline goodness : 0.889861 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.60, Z:-0.09 [[ 0.89331066 -0.38604544 -0.23014123 7.30443391] [ 0.40869848 0.91078514 0.05861731 1.60142125] [ 0.18698027 -0.14642184 0.97139025 -0.08791374] [ 0. 0. 0. 1. ]] SLAMing on 172.501346184 meters Centerline goodness : 0.890865 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.61, Z:-0.09 [[ 0.89437843 -0.38369383 -0.22992667 7.29730402] [ 0.40576537 0.9122591 0.05601615 1.61480191] [ 0.18825965 -0.14339592 0.97159452 -0.08662818] [ 0. 0. 0. 1. ]] SLAMing on 172.561346184 meters Centerline goodness : 0.891687 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.63, Z:-0.09 [[ 0.8951011 -0.38923732 -0.2174588 7.29536213] [ 0.40901923 0.9109857 0.05299362 1.63286226] [ 0.17747476 -0.13637948 0.97462985 -0.09030048] [ 0. 0. 0. 1. ]] SLAMing on 172.621346184 meters Centerline goodness : 0.894031 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.65, Z:-0.09 [[ 0.89493847 -0.395934 -0.20572166 7.29566017] [ 0.41358798 0.90911696 0.04951102 1.64949909] [ 0.16742195 -0.12939332 0.97735728 -0.09238344] [ 0. 0. 0. 1. ]] SLAMing on 172.681346184 meters Centerline goodness : 0.894695 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:1.66, Z:-0.10 [[ 0.89507365 -0.39630216 -0.20442053 7.29216832] [ 0.41286186 0.9097252 0.04410376 1.66175432] [ 0.16848809 -0.12387356 0.97788911 -0.09522341] [ 0. 0. 0. 1. ]] SLAMing on 172.74134618399998 meters Centerline goodness : 0.892646 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:1.68, Z:-0.10 [[ 0.89612996 -0.39958372 -0.19309052 7.29184034] [ 0.41457659 0.90900042 0.0429474 1.67736572] [ 0.15835828 -0.11853727 0.98024057 -0.09812615] [ 0. 0. 0. 1. ]] SLAMing on 172.80134618399998 meters Centerline goodness : 0.895438 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:1.69, Z:-0.10 [[ 0.89751716 -0.39521248 -0.19562731 7.28977683] [ 0.41064664 0.91072627 0.04412479 1.68868508] [ 0.16072426 -0.11993645 0.97968513 -0.0981291 ] [ 0. 0. 0. 1. ]] SLAMing on 172.86134618399998 meters Centerline goodness : 0.895272 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:1.70, Z:-0.10 [[ 0.89864276 -0.39837106 -0.18368913 7.29238176] [ 0.41225833 0.91004132 0.04321885 1.70114619] [ 0.14994755 -0.11456568 0.98203383 -0.10333508] [ 0. 0. 0. 1. ]] SLAMing on 172.921346184 meters Centerline goodness : 0.899424 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.71, Z:-0.11 [[ 0.89929354 -0.39609452 -0.18541916 7.29668215] [ 0.41019184 0.91096401 0.0434422 1.70859772] [ 0.15170296 -0.11512471 0.98169879 -0.10854312] [ 0. 0. 0. 1. ]] SLAMing on 172.981346184 meters Centerline goodness : 0.903471 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.71, Z:-0.11 [[ 0.90030318 -0.39152485 -0.19016435 7.2997205 ] [ 0.40708986 0.91204501 0.04951516 1.71461929] [ 0.15405203 -0.12199263 0.98050281 -0.10806522] [ 0. 0. 0. 1. ]] SLAMing on 173.041346184 meters Centerline goodness : 0.899901 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.72, Z:-0.11 [[ 0.90052294 -0.39015467 -0.19193168 7.30018 ] [ 0.40623632 0.91231681 0.05147904 1.71911771] [ 0.15501771 -0.12432768 0.98005721 -0.10779277] [ 0. 0. 0. 1. ]] SLAMing on 173.101346184 meters Centerline goodness : 0.897777 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.72, Z:-0.11 [[ 0.90008791 -0.39118372 -0.19187769 7.3031087 ] [ 0.40706632 0.91201918 0.05018001 1.72241543] [ 0.15536653 -0.12327337 0.98013515 -0.11102347] [ 0. 0. 0. 1. ]] SLAMing on 173.161346184 meters Centerline goodness : 0.895507 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.73, Z:-0.11 [[ 0.89872467 -0.39488664 -0.1906791 7.30276835] [ 0.41009235 0.91085547 0.04654656 1.72598513] [ 0.15530049 -0.12002858 0.98054826 -0.11188246] [ 0. 0. 0. 1. ]] SLAMing on 173.221346184 meters Centerline goodness : 0.899985 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.73, Z:-0.11 [[ 0.89865901 -0.39431428 -0.19216722 7.30049121] [ 0.41006529 0.91074673 0.04885549 1.72941622] [ 0.15575125 -0.12270554 0.98014535 -0.1087908 ] [ 0. 0. 0. 1. ]] SLAMing on 173.281346184 meters Centerline goodness : 0.894879 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.73, Z:-0.11 [[ 0.89854425 -0.39446689 -0.19239051 7.30146866] [ 0.41013937 0.91074981 0.04817144 1.732355 ] [ 0.15621758 -0.12219109 0.9801354 -0.11011403] [ 0. 0. 0. 1. ]] SLAMing on 173.341346184 meters Centerline goodness : 0.897095 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.74, Z:-0.11 [[ 0.89930045 -0.39314697 -0.19155719 7.30070805] [ 0.40844395 0.91159393 0.04658366 1.73615578] [ 0.15630815 -0.12013308 0.98037534 -0.11310963] [ 0. 0. 0. 1. ]] SLAMing on 173.401346184 meters Centerline goodness : 0.897140 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.74, Z:-0.11 [[ 0.89986905 -0.39204351 -0.19114804 7.29912888] [ 0.40726126 0.91212724 0.04649921 1.73803092] [ 0.15612162 -0.11969039 0.9804592 -0.11358848] [ 0. 0. 0. 1. ]] SLAMing on 173.46134618399998 meters Centerline goodness : 0.898120 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.74, Z:-0.11 [[ 0.8992254 -0.39215695 -0.19392424 7.30231233] [ 0.40812104 0.91161326 0.0489744 1.74108921] [ 0.15757826 -0.12318359 0.97979329 -0.11275248] [ 0. 0. 0. 1. ]] SLAMing on 173.52134618399998 meters Centerline goodness : 0.897959 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.74, Z:-0.11 [[ 0.89894406 -0.39255284 -0.19442696 7.30360778] [ 0.40857214 0.91141596 0.04888503 1.74356071] [ 0.15801388 -0.12338235 0.97969812 -0.11369348] [ 0. 0. 0. 1. ]] SLAMing on 173.58134618399998 meters Centerline goodness : 0.892638 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.75, Z:-0.11 [[ 0.89876936 -0.39296485 -0.19440231 7.30181293] [ 0.40890596 0.91129296 0.04838445 1.74631515] [ 0.15814407 -0.12297872 0.97972786 -0.1126794 ] [ 0. 0. 0. 1. ]] SLAMing on 173.64134618399999 meters Centerline goodness : 0.891894 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.75, Z:-0.11 [[ 0.89773437 -0.39502558 -0.19500717 7.30446813] [ 0.4108089 0.91052175 0.04675671 1.75121114] [ 0.15908817 -0.12208578 0.97968669 -0.11454265] [ 0. 0. 0. 1. ]] SLAMing on 173.701346184 meters Centerline goodness : 0.887836 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.75, Z:-0.11 [[ 0.89677365 -0.39748619 -0.1944267 7.30441177] [ 0.41282462 0.90973507 0.04424864 1.75434793] [ 0.15928856 -0.11994514 0.97991853 -0.11495037] [ 0. 0. 0. 1. ]] SLAMing on 173.761346184 meters Centerline goodness : 0.887217 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.11 [[ 0.89644666 -0.39807734 -0.19472499 7.3033686 ] [ 0.41348773 0.90942598 0.04441043 1.75528173] [ 0.15940918 -0.12032797 0.97985198 -0.11335464] [ 0. 0. 0. 1. ]] SLAMing on 173.821346184 meters Centerline goodness : 0.885384 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.11 [[ 0.8967346 -0.39618972 -0.19723278 7.30370772] [ 0.41253759 0.90965534 0.04837247 1.75611408] [ 0.16024918 -0.1247432 0.97916257 -0.1108988 ] [ 0. 0. 0. 1. ]] SLAMing on 173.881346184 meters Centerline goodness : 0.883565 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.76, Z:-0.11 [[ 0.89635419 -0.3978238 -0.19566652 7.30565597] [ 0.41354089 0.90934337 0.04559122 1.75568387] [ 0.15979078 -0.12178199 0.97961015 -0.11401938] [ 0. 0. 0. 1. ]] SLAMing on 173.941346184 meters Centerline goodness : 0.882931 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.76, Z:-0.12 [[ 0.89636362 -0.39724944 -0.19678704 7.30957213] [ 0.41323418 0.90944134 0.04641071 1.75567059] [ 0.16052964 -0.12292 0.97934718 -0.11585003] [ 0. 0. 0. 1. ]] SLAMing on 174.001346184 meters Centerline goodness : 0.883993 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.76, Z:-0.12 [[ 0.89649472 -0.39682391 -0.19704822 7.30873423] [ 0.41286927 0.90959661 0.04661516 1.75739964] [ 0.16073638 -0.12314539 0.97928496 -0.11548275] [ 0. 0. 0. 1. ]] SLAMing on 174.061346184 meters Centerline goodness : 0.880686 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.76, Z:-0.12 [[ 0.89753953 -0.39453387 -0.19689038 7.30795257] [ 0.41059366 0.9106048 0.04702924 1.75814876] [ 0.16073469 -0.12305254 0.97929691 -0.11657883] [ 0. 0. 0. 1. ]] SLAMing on 174.121346184 meters Centerline goodness : 0.880269 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.76, Z:-0.12 [[ 0.89754423 -0.39462161 -0.19669302 7.3083242 ] [ 0.41057801 0.91063676 0.04654451 1.75850166] [ 0.16074842 -0.12253359 0.97935972 -0.1172685 ] [ 0. 0. 0. 1. ]] SLAMing on 174.181346184 meters Centerline goodness : 0.881846 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.12 [[ 0.89726157 -0.39650954 -0.19416967 7.30490974] [ 0.41168433 0.91028654 0.04352495 1.75741234] [ 0.15949198 -0.11898988 0.9800019 -0.11686353] [ 0. 0. 0. 1. ]] SLAMing on 174.24134618399998 meters Centerline goodness : 0.882789 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.12 [[ 0.89681916 -0.39718957 -0.19482257 7.30492138] [ 0.41245554 0.90993716 0.04352927 1.75904275] [ 0.15998693 -0.11939354 0.97987212 -0.11577236] [ 0. 0. 0. 1. ]] SLAMing on 174.30134618399998 meters Centerline goodness : 0.879222 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.11 [[ 0.89717066 -0.3962411 -0.19513531 7.30381642] [ 0.41167346 0.91024942 0.04439546 1.75975812] [ 0.1600305 -0.12016233 0.97977102 -0.11495282] [ 0. 0. 0. 1. ]] SLAMing on 174.36134618399998 meters Centerline goodness : 0.876890 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.11 [[ 0.8979012 -0.39504455 -0.19419899 7.30069179] [ 0.41028652 0.91089238 0.04404602 1.75982973] [ 0.15949424 -0.1192262 0.97997281 -0.11427883] [ 0. 0. 0. 1. ]] SLAMing on 174.421346184 meters Centerline goodness : 0.878322 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.12 [[ 0.89876086 -0.40003551 -0.17944498 7.29994835] [ 0.41330854 0.90960817 0.04229697 1.76433474] [ 0.14630433 -0.11218101 0.98285831 -0.11869194] [ 0. 0. 0. 1. ]] SLAMing on 174.481346184 meters Centerline goodness : 0.876479 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.76, Z:-0.12 [[ 0.89911986 -0.39898565 -0.17998313 7.30074867] [ 0.41241479 0.90998027 0.04301099 1.76470392] [ 0.14662033 -0.11289974 0.98272892 -0.11919944] [ 0. 0. 0. 1. ]] SLAMing on 174.541346184 meters Centerline goodness : 0.881062 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.77, Z:-0.12 [[ 0.899384 -0.39643979 -0.18423875 7.30142703] [ 0.41104807 0.91036583 0.04768173 1.76903838] [ 0.14882173 -0.11861517 0.98172427 -0.11542351] [ 0. 0. 0. 1. ]] SLAMing on 174.601346184 meters Centerline goodness : 0.879693 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.77, Z:-0.12 [[ 0.89881853 -0.3977764 -0.18411731 7.3042246 ] [ 0.41211003 0.90997914 0.04586159 1.77048823] [ 0.14930026 -0.11709784 0.98183376 -0.11773444] [ 0. 0. 0. 1. ]] SLAMing on 174.661346184 meters Centerline goodness : 0.880217 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.77, Z:-0.12 [[ 0.89676195 -0.40254744 -0.18377588 7.30704305] [ 0.4163836 0.90819662 0.04246884 1.77317568] [ 0.14980891 -0.1146057 0.98205032 -0.11883502] [ 0. 0. 0. 1. ]] SLAMing on 174.721346184 meters Centerline goodness : 0.879183 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.78, Z:-0.12 [[ 0.8961543 -0.40333009 -0.18501976 7.3087697 ] [ 0.41736124 0.90773631 0.04271277 1.77513604] [ 0.15072181 -0.11549731 0.98180615 -0.11840815] [ 0. 0. 0. 1. ]] SLAMing on 174.781346184 meters Centerline goodness : 0.878644 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.78, Z:-0.12 [[ 0.89702785 -0.40190077 -0.18389345 7.30643199] [ 0.41558204 0.90861213 0.04141934 1.77711241] [ 0.15044136 -0.11357712 0.98207313 -0.11956842] [ 0. 0. 0. 1. ]] SLAMing on 174.841346184 meters Centerline goodness : 0.874552 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.78, Z:-0.12 [[ 0.89726695 -0.4017457 -0.18306398 7.30515936] [ 0.41518123 0.90883866 0.04045785 1.77746562] [ 0.15012185 -0.11230622 0.98226816 -0.11993993] [ 0. 0. 0. 1. ]] SLAMing on 174.901346184 meters Centerline goodness : 0.877559 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.78, Z:-0.12 [[ 0.89677582 -0.40224636 -0.18436644 7.30516118] [ 0.41603124 0.90839353 0.04170369 1.77721142] [ 0.15070212 -0.11410106 0.98197241 -0.11702954] [ 0. 0. 0. 1. ]] SLAMing on 174.96134618399998 meters Centerline goodness : 0.876113 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:1.78, Z:-0.11 [[ 0.89494649 -0.40684476 -0.18316148 7.30413772] [ 0.42006011 0.90667876 0.03851146 1.77679092] [ 0.15040044 -0.11140453 0.98232822 -0.11483975] [ 0. 0. 0. 1. ]] SLAMing on 175.02134618399998 meters Centerline goodness : 0.875604 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.78, Z:-0.11 [[ 0.89454328 -0.40655063 -0.18576571 7.30687408] [ 0.42049736 0.90635262 0.04131474 1.77822541] [ 0.1515727 -0.11507182 0.98172511 -0.11371999] [ 0. 0. 0. 1. ]] SLAMing on 175.08134618399998 meters Centerline goodness : 0.875434 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.78, Z:-0.11 [[ 0.89502356 -0.40477857 -0.18731559 7.30645946] [ 0.41921021 0.9068514 0.04339737 1.77985099] [ 0.15230108 -0.11736628 0.98134068 -0.1123799 ] [ 0. 0. 0. 1. ]] SLAMing on 175.14134618399999 meters Centerline goodness : 0.873070 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.78, Z:-0.11 [[ 0.89531632 -0.40343695 -0.18880495 7.30698719] [ 0.41825836 0.90722031 0.04484706 1.78250131] [ 0.15319473 -0.11912155 0.98099003 -0.11207157] [ 0. 0. 0. 1. ]] SLAMing on 175.201346184 meters Centerline goodness : 0.870951 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.79, Z:-0.11 [[ 0.89543174 -0.40148332 -0.19238799 7.31104987] [ 0.41720386 0.90755094 0.04787728 1.78830412] [ 0.15537997 -0.12313585 0.98015031 -0.11302061] [ 0. 0. 0. 1. ]] SLAMing on 175.261346184 meters Centerline goodness : 0.868755 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.79, Z:-0.11 [[ 0.89487699 -0.40198466 -0.19391623 7.31354747] [ 0.41786643 0.9072595 0.04762187 1.79331679] [ 0.15678909 -0.1236468 0.97986155 -0.11404537] [ 0. 0. 0. 1. ]] SLAMing on 175.321346184 meters Centerline goodness : 0.869518 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.80, Z:-0.12 [[ 0.89367445 -0.40381197 -0.19565752 7.31677045] [ 0.41981131 0.90640369 0.0468062 1.80008549] [ 0.15844379 -0.12396874 0.97955465 -0.11535775] [ 0. 0. 0. 1. ]] SLAMing on 175.381346184 meters Centerline goodness : 0.871008 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.80, Z:-0.12 [[ 0.89296785 -0.40470858 -0.19702638 7.31841288] [ 0.42092679 0.90587676 0.0469886 1.80366322] [ 0.15946493 -0.12489299 0.9792715 -0.11517421] [ 0. 0. 0. 1. ]] SLAMing on 175.441346184 meters Centerline goodness : 0.869450 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.81, Z:-0.11 [[ 0.89176708 -0.40689325 -0.19796301 7.31852838] [ 0.42314085 0.90488371 0.04623091 1.80810368] [ 0.16032246 -0.12499343 0.97911866 -0.11411833] [ 0. 0. 0. 1. ]] SLAMing on 175.501346184 meters Centerline goodness : 0.867887 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.81, Z:-0.11 [[ 0.89172458 -0.4073611 -0.19719078 7.31753863] [ 0.42324249 0.90492008 0.04455835 1.81044869] [ 0.16029056 -0.1231933 0.979352 -0.11497734] [ 0. 0. 0. 1. ]] SLAMing on 175.561346184 meters Centerline goodness : 0.868484 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.82, Z:-0.12 [[ 0.89247947 -0.40545744 -0.19769842 7.31618651] [ 0.42137408 0.90579198 0.04455078 1.81530321] [ 0.1610102 -0.12306565 0.97925 -0.11574308] [ 0. 0. 0. 1. ]] SLAMing on 175.621346184 meters Centerline goodness : 0.868767 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.82, Z:-0.12 [[ 0.89329015 -0.40357658 -0.19788546 7.31694497] [ 0.41941212 0.90672487 0.04408505 1.820197 ] [ 0.16163597 -0.1223763 0.9792333 -0.11906687] [ 0. 0. 0. 1. ]] SLAMing on 175.681346184 meters Centerline goodness : 0.866748 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.82, Z:-0.12 [[ 0.89294063 -0.40415962 -0.19827262 7.31532623] [ 0.41996741 0.90649285 0.04356708 1.82296104] [ 0.16212466 -0.12217085 0.97917816 -0.11730177] [ 0. 0. 0. 1. ]] SLAMing on 175.74134618399998 meters Centerline goodness : 0.865207 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.82, Z:-0.12 [[ 0.8920368 -0.40644743 -0.19766346 7.31516643] [ 0.42186532 0.90570987 0.04146412 1.82320044] [ 0.16217276 -0.12037488 0.97939261 -0.11653851] [ 0. 0. 0. 1. ]] SLAMing on 175.80134618399998 meters Centerline goodness : 0.863552 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.82, Z:-0.12 [[ 0.89171124 -0.4073605 -0.19725233 7.31440211] [ 0.42254244 0.90544839 0.04026285 1.82371886] [ 0.16220031 -0.11925031 0.97952561 -0.11595837] [ 0. 0. 0. 1. ]] SLAMing on 175.86134618399998 meters Centerline goodness : 0.862973 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.82, Z:-0.11 [[ 0.89269475 -0.40445449 -0.19877791 7.31321745] [ 0.4202559 0.90638071 0.04311587 1.82476126] [ 0.16273005 -0.1220269 0.97909569 -0.11453094] [ 0. 0. 0. 1. ]] SLAMing on 175.921346184 meters Centerline goodness : 0.862075 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.83, Z:-0.12 [[ 0.89421937 -0.40694331 -0.18646411 7.31450969] [ 0.4212831 0.9058956 0.04328635 1.83039437] [ 0.15130193 -0.11726167 0.98150773 -0.11760034] [ 0. 0. 0. 1. ]] SLAMing on 175.981346184 meters Centerline goodness : 0.861863 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.83, Z:-0.12 [[ 0.89403309 -0.40746321 -0.1862218 7.31334905] [ 0.4216735 0.90574687 0.04259186 1.8309115 ] [ 0.1513152 -0.11660333 0.98158411 -0.11651105] [ 0. 0. 0. 1. ]] SLAMing on 176.041346184 meters Centerline goodness : 0.861395 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.83, Z:-0.12 [[ 0.89324223 -0.40912771 -0.1863675 7.31402606] [ 0.42320878 0.90508129 0.04149927 1.83176077] [ 0.15169924 -0.11594127 0.98160326 -0.11585965] [ 0. 0. 0. 1. ]] SLAMing on 176.101346184 meters Centerline goodness : 0.861736 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.83, Z:-0.12 [[ 0.89269771 -0.41041924 -0.18613662 7.31392123] [ 0.42430168 0.90462451 0.04028134 1.83284331] [ 0.15185151 -0.11493714 0.9816978 -0.11551293] [ 0. 0. 0. 1. ]] SLAMing on 176.161346184 meters Centerline goodness : 0.860222 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.83, Z:-0.12 [[ 0.89199979 -0.41204353 -0.18589381 7.31416498] [ 0.42564281 0.90407202 0.03849658 1.83493513] [ 0.15219912 -0.1134633 0.98181541 -0.11573309] [ 0. 0. 0. 1. ]] SLAMing on 176.221346184 meters Centerline goodness : 0.861548 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.84, Z:-0.12 [[ 0.89198456 -0.41241843 -0.18513394 7.31293833] [ 0.42568125 0.90412201 0.03686264 1.83652814] [ 0.15218084 -0.11168896 0.98202167 -0.11600939] [ 0. 0. 0. 1. ]] SLAMing on 176.281346184 meters Centerline goodness : 0.863423 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.84, Z:-0.12 [[ 0.8918961 -0.41249837 -0.18538187 7.31375301] [ 0.42563463 0.9041844 0.03585719 1.83890084] [ 0.15282837 -0.11088583 0.98201213 -0.11698392] [ 0. 0. 0. 1. ]] SLAMing on 176.341346184 meters Centerline goodness : 0.861785 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.84, Z:-0.12 [[ 0.89127361 -0.41356868 -0.18599006 7.31403459] [ 0.42669158 0.90371075 0.03523028 1.84082624] [ 0.15351108 -0.11076022 0.98191981 -0.11590587] [ 0. 0. 0. 1. ]] SLAMing on 176.401346184 meters Centerline goodness : 0.862210 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:1.84, Z:-0.12 [[ 0.89048474 -0.41618124 -0.1839296 7.31340336] [ 0.42855179 0.90296242 0.03165785 1.84049377] [ 0.15290611 -0.10701419 0.98242948 -0.116616 ] [ 0. 0. 0. 1. ]] SLAMing on 176.46134618399998 meters Centerline goodness : 0.862022 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.84, Z:-0.11 [[ 0.88819758 -0.42111042 -0.18376908 7.31509574] [ 0.43311524 0.90087265 0.02897688 1.84023702] [ 0.15335007 -0.10533038 0.98254225 -0.11490203] [ 0. 0. 0. 1. ]] SLAMing on 176.52134618399998 meters Centerline goodness : 0.864300 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.84, Z:-0.11 [[ 0.88685754 -0.42353399 -0.18466907 7.31703141] [ 0.43566611 0.89964298 0.02894034 1.8397417 ] [ 0.15387901 -0.10612001 0.98237457 -0.11341412] [ 0. 0. 0. 1. ]] SLAMing on 176.58134618399998 meters Centerline goodness : 0.865292 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.84, Z:-0.11 [[ 0.88668905 -0.42395383 -0.18451471 7.31638991] [ 0.43612532 0.89941006 0.02926164 1.83710413] [ 0.1535488 -0.10641752 0.98239405 -0.11161473] [ 0. 0. 0. 1. ]] SLAMing on 176.64134618399999 meters Centerline goodness : 0.868737 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.83, Z:-0.11 [[ 0.8875542 -0.42310393 -0.18229262 7.31643572] [ 0.43469125 0.90017069 0.02713378 1.8335987 ] [ 0.15261407 -0.1033237 0.98286986 -0.11404718] [ 0. 0. 0. 1. ]] SLAMing on 176.701346184 meters Centerline goodness : 0.869169 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.83, Z:-0.11 [[ 0.88712025 -0.4238098 -0.18276466 7.31526883] [ 0.43557187 0.89972245 0.02786882 1.83252132] [ 0.15262639 -0.10433014 0.98276162 -0.11115933] [ 0. 0. 0. 1. ]] SLAMing on 176.761346184 meters Centerline goodness : 0.867732 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.83, Z:-0.11 [[ 0.88655615 -0.42456397 -0.1837488 7.31741575] [ 0.43651437 0.89925128 0.02832564 1.83148151] [ 0.1532103 -0.10532126 0.98256503 -0.11037128] [ 0. 0. 0. 1. ]] SLAMing on 176.821346184 meters Centerline goodness : 0.865568 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.83, Z:-0.11 [[ 0.88656995 -0.42488177 -0.18294591 7.32123067] [ 0.4364847 0.89931771 0.02662276 1.83062618] [ 0.15321497 -0.10345603 0.98276244 -0.11449323] [ 0. 0. 0. 1. ]] SLAMing on 176.881346184 meters Centerline goodness : 0.864920 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.83, Z:-0.11 [[ 0.88589781 -0.42603397 -0.18352146 7.32345306] [ 0.43764039 0.8987699 0.0261449 1.82992206] [ 0.15380495 -0.10347811 0.98266796 -0.11422327] [ 0. 0. 0. 1. ]] SLAMing on 176.941346184 meters Centerline goodness : 0.865762 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.83, Z:-0.11 [[ 0.88527937 -0.42662563 -0.18512431 7.32649644] [ 0.43853562 0.89831042 0.026924 1.83016375] [ 0.15481263 -0.10501887 0.98234622 -0.11373972] [ 0. 0. 0. 1. ]] SLAMing on 177.001346184 meters Centerline goodness : 0.862674 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.83, Z:-0.11 [[ 0.88533668 -0.42613702 -0.18597367 7.32837927] [ 0.43820691 0.89845652 0.0273967 1.82975514] [ 0.15541451 -0.10575025 0.9821727 -0.11392389] [ 0. 0. 0. 1. ]] SLAMing on 177.061346184 meters Centerline goodness : 0.861876 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.83, Z:-0.12 [[ 0.88573742 -0.42488125 -0.18693622 7.33164445] [ 0.43716848 0.89893684 0.02821858 1.82972564] [ 0.15605431 -0.10671687 0.98196668 -0.11587042] [ 0. 0. 0. 1. ]] SLAMing on 177.121346184 meters Centerline goodness : 0.861595 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.83, Z:-0.12 [[ 0.88617909 -0.42466238 -0.18533342 7.33234734] [ 0.43644835 0.89934835 0.02617978 1.82758516] [ 0.15556174 -0.10408844 0.9823269 -0.11801308] [ 0. 0. 0. 1. ]] SLAMing on 177.181346184 meters Centerline goodness : 0.861179 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.83, Z:-0.12 [[ 0.88611793 -0.42475368 -0.18541661 7.33245805] [ 0.43657994 0.89927895 0.02636914 1.82557223] [ 0.15554087 -0.10431534 0.98230614 -0.11685759] [ 0. 0. 0. 1. ]] SLAMing on 177.24134618399998 meters Centerline goodness : 0.860614 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.82, Z:-0.12 [[ 0.88588268 -0.42516175 -0.18560541 7.33237649] [ 0.43708258 0.89902203 0.02679936 1.82432468] [ 0.15546929 -0.10486598 0.98225884 -0.11563407] [ 0. 0. 0. 1. ]] SLAMing on 177.30134618399998 meters Centerline goodness : 0.859416 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.82, Z:-0.12 [[ 0.88529223 -0.42750705 -0.18301746 7.33106163] [ 0.43871285 0.89831231 0.02379134 1.81987639] [ 0.15423587 -0.1013544 0.98282174 -0.11517818] [ 0. 0. 0. 1. ]] SLAMing on 177.36134618399998 meters Centerline goodness : 0.861297 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.82, Z:-0.11 [[ 0.88441302 -0.4300751 -0.18124296 7.33145706] [ 0.44074247 0.8973813 0.02128096 1.8151925 ] [ 0.15349164 -0.09870263 0.98320807 -0.1145582 ] [ 0. 0. 0. 1. ]] SLAMing on 177.421346184 meters Centerline goodness : 0.864023 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.81, Z:-0.11 [[ 0.88289355 -0.43227159 -0.1834128 7.33309372] [ 0.44352232 0.89595871 0.02336535 1.81108925] [ 0.15423011 -0.10197679 0.98275826 -0.10903103] [ 0. 0. 0. 1. ]] SLAMing on 177.481346184 meters Centerline goodness : 0.866977 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.80, Z:-0.11 [[ 0.88233288 -0.43410929 -0.18176306 7.33126568] [ 0.44505962 0.89522139 0.02237423 1.80321387] [ 0.15300532 -0.10063692 0.98308778 -0.10536571] [ 0. 0. 0. 1. ]] SLAMing on 177.541346184 meters Centerline goodness : 0.868988 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.80, Z:-0.10 [[ 0.88171107 -0.4355429 -0.18135043 7.33289034] [ 0.44629268 0.89463532 0.02122484 1.79952954] [ 0.15299818 -0.09964954 0.98318947 -0.10455035] [ 0. 0. 0. 1. ]] SLAMing on 177.601346184 meters Centerline goodness : 0.872648 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.80, Z:-0.10 [[ 0.88134177 -0.4356794 -0.18281176 7.33384882] [ 0.44688951 0.89428855 0.02318936 1.79585028] [ 0.15338334 -0.10213441 0.98287441 -0.10097044] [ 0. 0. 0. 1. ]] SLAMing on 177.661346184 meters Centerline goodness : 0.871951 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:1.79, Z:-0.10 [[ 0.88150675 -0.4348682 -0.18394426 7.33619754] [ 0.44635604 0.8945262 0.02427289 1.79390521] [ 0.15398745 -0.10350135 0.98263693 -0.10053376] [ 0. 0. 0. 1. ]] SLAMing on 177.721346184 meters Centerline goodness : 0.872728 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.79, Z:-0.10 [[ 0.8828372 -0.43334153 -0.18114524 7.33253547] [ 0.44428356 0.8955959 0.0228058 1.7897666 ] [ 0.15235023 -0.10061366 0.98319189 -0.10114214] [ 0. 0. 0. 1. ]] SLAMing on 177.781346184 meters Centerline goodness : 0.871512 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.78, Z:-0.10 [[ 0.88348653 -0.43346746 -0.17764432 7.32851605] [ 0.44366518 0.8959633 0.02027238 1.78419847] [ 0.15037537 -0.09672497 0.98388593 -0.10084886] [ 0. 0. 0. 1. ]] SLAMing on 177.841346184 meters Centerline goodness : 0.870903 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.78, Z:-0.10 [[ 0.88420776 -0.43203179 -0.17755329 7.32798449] [ 0.44233374 0.89660118 0.02114696 1.78142569] [ 0.15005833 -0.09723612 0.98388395 -0.10020863] [ 0. 0. 0. 1. ]] SLAMing on 177.901346184 meters Centerline goodness : 0.871195 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.77, Z:-0.10 [[ 0.88653487 -0.42750075 -0.17691534 7.32446821] [ 0.4380847 0.89861751 0.02384025 1.77441415] [ 0.1487875 -0.09863912 0.9839373 -0.09818466] [ 0. 0. 0. 1. ]] SLAMing on 177.96134618399998 meters Centerline goodness : 0.871581 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:1.77, Z:-0.10 [[ 0.88753477 -0.42550514 -0.17671278 7.32455913] [ 0.43619355 0.89950974 0.02484779 1.77173447] [ 0.148382 -0.09913425 0.98394877 -0.09883348] [ 0. 0. 0. 1. ]] SLAMing on 178.02134618399998 meters Centerline goodness : 0.875403 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.76, Z:-0.10 [[ 0.88921163 -0.42250344 -0.17548081 7.32620837] [ 0.43341324 0.90077757 0.02743588 1.76018032] [ 0.14647742 -0.10045201 0.98410048 -0.1002906 ] [ 0. 0. 0. 1. ]] SLAMing on 178.08134618399998 meters Centerline goodness : 0.878139 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:1.76, Z:-0.10 [[ 0.88909094 -0.4220921 -0.17707501 7.33051393] [ 0.43357821 0.90060921 0.03021565 1.75525292] [ 0.1467216 -0.10364032 0.98373343 -0.09972609] [ 0. 0. 0. 1. ]] SLAMing on 178.14134618399999 meters Centerline goodness : 0.882207 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:1.74, Z:-0.10 [[ 0.88889436 -0.42157566 -0.1792785 7.33810809] [ 0.43409115 0.90016744 0.03554523 1.74479964] [ 0.14639567 -0.10941916 0.98315602 -0.10128972] [ 0. 0. 0. 1. ]] SLAMing on 178.201346184 meters Centerline goodness : 0.886448 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:1.73, Z:-0.10 [[ 0.89095727 -0.41707059 -0.17957522 7.34187509] [ 0.43040253 0.90169609 0.04120468 1.73245839] [ 0.14473701 -0.11400124 0.98288093 -0.10343418] [ 0. 0. 0. 1. ]] SLAMing on 178.261346184 meters Centerline goodness : 0.887883 with order 1 Centerline is valid? [False, False] Translation: X:7.35, Y:1.73, Z:-0.10 [[ 0.89176426 -0.41477365 -0.18088484 7.34522334] [ 0.42873984 0.90232452 0.04463853 1.72654351] [ 0.14470194 -0.11735959 0.98249075 -0.10330183] [ 0. 0. 0. 1. ]] SLAMing on 178.321346184 meters Centerline goodness : 0.884223 with order 1 Centerline is valid? [False, False] Translation: X:7.35, Y:1.72, Z:-0.10 [[ 0.8925767 -0.41239021 -0.18232155 7.34972197] [ 0.42717959 0.9028261 0.0492202 1.71631441] [ 0.14430673 -0.12181685 0.98200622 -0.10251624] [ 0. 0. 0. 1. ]] SLAMing on 178.381346184 meters Centerline goodness : 0.888077 with order 1 Centerline is valid? [False, False] Translation: X:7.35, Y:1.70, Z:-0.10 [[ 0.89197759 -0.40744213 -0.19587469 7.35457574] [ 0.42390986 0.90436587 0.04922197 1.70357194] [ 0.15708728 -0.12693811 0.97939282 -0.09923681] [ 0. 0. 0. 1. ]] SLAMing on 178.441346184 meters Centerline goodness : 0.886421 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:1.69, Z:-0.10 [[ 0.89222944 -0.40619433 -0.19731391 7.35887572] [ 0.42357376 0.90426151 0.05381818 1.69272404] [ 0.15656274 -0.13159516 0.978862 -0.09733587] [ 0. 0. 0. 1. ]] SLAMing on 178.501346184 meters Centerline goodness : 0.888712 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:1.69, Z:-0.09 [[ 0.89260916 -0.40433117 -0.19941211 7.3613283 ] [ 0.42264398 0.90443891 0.05798565 1.68686623] [ 0.15691067 -0.13603885 0.97819859 -0.09433365] [ 0. 0. 0. 1. ]] SLAMing on 178.561346184 meters Centerline goodness : 0.884615 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:1.68, Z:-0.09 [[ 0.89215356 -0.40546393 -0.19915074 7.36404727] [ 0.42382813 0.9038551 0.05844382 1.6794723 ] [ 0.15630655 -0.13654655 0.97822457 -0.0932013 ] [ 0. 0. 0. 1. ]] SLAMing on 178.621346184 meters Centerline goodness : 0.886706 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.67, Z:-0.09 [[ 0.89169128 -0.39955075 -0.21271074 7.36717143] [ 0.42014757 0.90543499 0.06052679 1.66638899] [ 0.16841222 -0.14334112 0.97523876 -0.08992527] [ 0. 0. 0. 1. ]] SLAMing on 178.681346184 meters Centerline goodness : 0.884356 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.66, Z:-0.09 [[ 0.89191947 -0.3984737 -0.21377176 7.3701125 ] [ 0.4195693 0.90556321 0.062585 1.66174554] [ 0.16864536 -0.14551285 0.97487679 -0.08912913] [ 0. 0. 0. 1. ]] SLAMing on 178.74134618399998 meters Centerline goodness : 0.890575 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.66, Z:-0.09 [[ 0.89109612 -0.39928461 -0.21568381 7.37571678] [ 0.42105428 0.90472404 0.06471253 1.65599493] [ 0.16929561 -0.14847968 0.97431657 -0.08732026] [ 0. 0. 0. 1. ]] SLAMing on 178.80134618399998 meters Centerline goodness : 0.887375 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.65, Z:-0.09 [[ 0.88974335 -0.40260187 -0.21510117 7.37708782] [ 0.42398044 0.90349955 0.06268291 1.65427265] [ 0.16910755 -0.14697039 0.97457803 -0.08636792] [ 0. 0. 0. 1. ]] SLAMing on 178.86134618399998 meters Centerline goodness : 0.885732 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.65, Z:-0.09 [[ 0.8896851 -0.40200724 -0.21645 7.38178482] [ 0.42399476 0.90332612 0.06504128 1.64837043] [ 0.16937787 -0.14963992 0.97412475 -0.08578636] [ 0. 0. 0. 1. ]] SLAMing on 178.921346184 meters Centerline goodness : 0.886021 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.65, Z:-0.09 [[ 0.88990649 -0.40114973 -0.21712976 7.38407419] [ 0.42342538 0.90351188 0.06616064 1.64519896] [ 0.16963899 -0.15081504 0.97389806 -0.08554067] [ 0. 0. 0. 1. ]] SLAMing on 178.981346184 meters Centerline goodness : 0.885709 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.64, Z:-0.09 [[ 0.89012209 -0.40033119 -0.21775583 7.38549614] [ 0.42281089 0.90374986 0.06683662 1.64432938] [ 0.17004002 -0.15156229 0.97371211 -0.08553326] [ 0. 0. 0. 1. ]] SLAMing on 179.041346184 meters Centerline goodness : 0.885600 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.64, Z:-0.09 [[ 0.88977662 -0.40189885 -0.21627504 7.3876234 ] [ 0.42390056 0.90335241 0.06528962 1.63915548] [ 0.16913275 -0.14977229 0.974147 -0.08679263] [ 0. 0. 0. 1. ]] SLAMing on 179.101346184 meters Centerline goodness : 0.883926 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.64, Z:-0.09 [[ 0.88889711 -0.4026603 -0.21846421 7.39237002] [ 0.42532125 0.90255706 0.0670267 1.63719365] [ 0.17018743 -0.15249731 0.97354035 -0.085195 ] [ 0. 0. 0. 1. ]] SLAMing on 179.161346184 meters Centerline goodness : 0.881768 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.63, Z:-0.09 [[ 0.88905282 -0.40232789 -0.21844303 7.39336578] [ 0.42508413 0.90262448 0.06762056 1.63456194] [ 0.16996639 -0.15297492 0.97350403 -0.0851929 ] [ 0. 0. 0. 1. ]] SLAMing on 179.221346184 meters Centerline goodness : 0.882565 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.63, Z:-0.09 [[ 0.88951352 -0.40092932 -0.21913781 7.39585783] [ 0.42405212 0.9029899 0.06920289 1.63065433] [ 0.17013376 -0.15448276 0.97323665 -0.08514329] [ 0. 0. 0. 1. ]] SLAMing on 179.281346184 meters Centerline goodness : 0.883815 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.63, Z:-0.08 [[ 0.8888951 -0.40294323 -0.21795011 7.39526419] [ 0.42556003 0.90243032 0.06721741 1.62915586] [ 0.16959999 -0.15250008 0.97364242 -0.084647 ] [ 0. 0. 0. 1. ]] SLAMing on 179.341346184 meters Centerline goodness : 0.883924 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.62, Z:-0.08 [[ 0.88668173 -0.39975121 -0.23236711 7.39597693] [ 0.42492837 0.90261983 0.06865367 1.62154072] [ 0.18229477 -0.15961333 0.97020214 -0.07866397] [ 0. 0. 0. 1. ]] SLAMing on 179.401346184 meters Centerline goodness : 0.888015 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.62, Z:-0.08 [[ 0.88557725 -0.40278626 -0.2313356 7.39788522] [ 0.42749596 0.90154691 0.06678605 1.61827883] [ 0.18165939 -0.15803925 0.97057893 -0.07857748] [ 0. 0. 0. 1. ]] SLAMing on 179.46134618399998 meters Centerline goodness : 0.883960 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.61, Z:-0.07 [[ 0.88238156 -0.40266493 -0.24344143 7.39823467] [ 0.42898409 0.90099897 0.06460264 1.60928291] [ 0.19332726 -0.16143668 0.96776173 -0.07394743] [ 0. 0. 0. 1. ]] SLAMing on 179.52134618399998 meters Centerline goodness : 0.883341 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.61, Z:-0.07 [[ 0.88166587 -0.40373773 -0.24425629 7.39895914] [ 0.43039535 0.90026192 0.06548528 1.60638175] [ 0.19345576 -0.16286291 0.96749705 -0.07095133] [ 0. 0. 0. 1. ]] SLAMing on 179.58134618399998 meters Centerline goodness : 0.885255 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.60, Z:-0.07 [[ 0.88176327 -0.40305693 -0.24502787 7.40157297] [ 0.43011282 0.9002943 0.06688148 1.60289419] [ 0.19364015 -0.16436326 0.96720639 -0.0704533 ] [ 0. 0. 0. 1. ]] SLAMing on 179.64134618399999 meters Centerline goodness : 0.887147 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.60, Z:-0.07 [[ 0.88152694 -0.40278702 -0.24631862 7.40507094] [ 0.43038529 0.90004306 0.06849084 1.59985692] [ 0.19411014 -0.16638843 0.96676582 -0.06961531] [ 0. 0. 0. 1. ]] SLAMing on 179.701346184 meters Centerline goodness : 0.887119 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.60, Z:-0.07 [[ 0.88030286 -0.40610433 -0.2452471 7.40507836] [ 0.43304255 0.89896984 0.06578284 1.59965152] [ 0.19375504 -0.16411125 0.96722618 -0.06901642] [ 0. 0. 0. 1. ]] SLAMing on 179.761346184 meters Centerline goodness : 0.883782 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.60, Z:-0.07 [[ 0.88081649 -0.40492938 -0.24534568 7.40684687] [ 0.43205833 0.89937026 0.06677381 1.59668746] [ 0.19361793 -0.16481912 0.96713327 -0.06977341] [ 0. 0. 0. 1. ]] SLAMing on 179.821346184 meters Centerline goodness : 0.883945 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.60, Z:-0.07 [[ 0.8810459 -0.4043533 -0.24547205 7.40778832] [ 0.43149174 0.89964236 0.06677204 1.5969434 ] [ 0.19383756 -0.16474839 0.96710132 -0.07066483] [ 0. 0. 0. 1. ]] SLAMing on 179.881346184 meters Centerline goodness : 0.883683 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.60, Z:-0.07 [[ 0.88115403 -0.40397035 -0.24571432 7.40743266] [ 0.43111037 0.89983716 0.06661033 1.59892024] [ 0.19419428 -0.16462395 0.96705095 -0.07082512] [ 0. 0. 0. 1. ]] SLAMing on 179.941346184 meters Centerline goodness : 0.880160 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.60, Z:-0.07 [[ 0.88063638 -0.40439434 -0.24686997 7.40964731] [ 0.43185281 0.89944125 0.06714606 1.59862444] [ 0.19489155 -0.16574275 0.96671952 -0.06970431] [ 0. 0. 0. 1. ]] SLAMing on 180.001346184 meters Centerline goodness : 0.882884 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.60, Z:-0.07 [[ 0.87960256 -0.40748744 -0.24546552 7.40889983] [ 0.43430587 0.89842801 0.06484997 1.59627603] [ 0.19410756 -0.16364932 0.96723377 -0.06854388] [ 0. 0. 0. 1. ]] SLAMing on 180.061346184 meters Centerline goodness : 0.874987 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.59, Z:-0.07 [[ 0.87939139 -0.4090123 -0.24367955 7.40889431] [ 0.43509133 0.89821294 0.06252237 1.59445025] [ 0.19330371 -0.1610045 0.96783843 -0.06987595] [ 0. 0. 0. 1. ]] SLAMing on 180.121346184 meters Centerline goodness : 0.879594 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.59, Z:-0.07 [[ 0.87998934 -0.40793488 -0.24332673 7.40744954] [ 0.43407465 0.8986543 0.06324269 1.59284137] [ 0.19286771 -0.16127486 0.9678804 -0.06937096] [ 0. 0. 0. 1. ]] SLAMing on 180.181346184 meters Centerline goodness : 0.877933 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.59, Z:-0.07 [[ 0.8812502 -0.40550341 -0.24282725 7.40645855] [ 0.43180744 0.89963843 0.06475359 1.58887754] [ 0.19219892 -0.16191873 0.96790593 -0.06956235] [ 0. 0. 0. 1. ]] SLAMing on 180.24134618399998 meters Centerline goodness : 0.874428 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.58, Z:-0.07 [[ 0.88144554 -0.40455073 -0.24370569 7.40869386] [ 0.4313536 0.89972102 0.06660454 1.58462281] [ 0.19232222 -0.16383161 0.96755949 -0.06846162] [ 0. 0. 0. 1. ]] SLAMing on 180.30134618399998 meters Centerline goodness : 0.874113 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.58, Z:-0.07 [[ 0.87897454 -0.40430174 -0.25287125 7.40022153] [ 0.43259287 0.8991663 0.06605582 1.57566643] [ 0.20066683 -0.16745168 0.96524233 -0.06513983] [ 0. 0. 0. 1. ]] SLAMing on 180.36134618399998 meters Centerline goodness : 0.868272 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.56, Z:-0.06 [[ 0.87580692 -0.40564149 -0.26156687 7.39859893] [ 0.43492064 0.89824554 0.06323756 1.56040977] [ 0.2092995 -0.16914472 0.96311151 -0.06251046] [ 0. 0. 0. 1. ]] SLAMing on 180.421346184 meters Centerline goodness : 0.865277 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.55, Z:-0.06 [[ 0.87612674 -0.40604043 -0.2598713 7.39828945] [ 0.43499563 0.89821883 0.06310103 1.55381099] [ 0.20779973 -0.16832738 0.96357935 -0.06248744] [ 0. 0. 0. 1. ]] SLAMing on 180.481346184 meters Centerline goodness : 0.865957 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.55, Z:-0.06 [[ 0.87674798 -0.40471172 -0.25984881 7.39894179] [ 0.43388697 0.89867022 0.06429567 1.55072689] [ 0.20749718 -0.16911611 0.96350644 -0.0626204 ] [ 0. 0. 0. 1. ]] SLAMing on 180.541346184 meters Centerline goodness : 0.863287 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.54, Z:-0.06 [[ 0.87623636 -0.40001993 -0.26868922 7.39163508] [ 0.43123935 0.89976231 0.06678624 1.53542547] [ 0.21504061 -0.1743899 0.96090879 -0.06098605] [ 0. 0. 0. 1. ]] SLAMing on 180.601346184 meters Centerline goodness : 0.862485 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.52, Z:-0.06 [[ 0.87377946 -0.3982549 -0.27911016 7.38880043] [ 0.43114691 0.89988496 0.06572215 1.5245758 ] [ 0.22499287 -0.17776415 0.95800737 -0.05857815] [ 0. 0. 0. 1. ]] SLAMing on 180.661346184 meters Centerline goodness : 0.860110 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.52, Z:-0.06 [[ 0.87169261 -0.40333844 -0.27833452 7.39082406] [ 0.43553504 0.89798297 0.06273611 1.52315701] [ 0.22463578 -0.17591104 0.95843314 -0.05753876] [ 0. 0. 0. 1. ]] SLAMing on 180.721346184 meters Centerline goodness : 0.856933 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.51, Z:-0.06 [[ 0.86973986 -0.40151446 -0.28694722 7.382353 ] [ 0.4355748 0.89788481 0.06385504 1.51104598] [ 0.23200683 -0.18052425 0.95581579 -0.05540049] [ 0. 0. 0. 1. ]] SLAMing on 180.781346184 meters Centerline goodness : 0.857320 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.51, Z:-0.05 [[ 0.87018296 -0.4003478 -0.28723382 7.38427675] [ 0.43480814 0.89814315 0.06542755 1.50598376] [ 0.23178331 -0.18182554 0.95562334 -0.05487896] [ 0. 0. 0. 1. ]] SLAMing on 180.841346184 meters Centerline goodness : 0.856212 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.51, Z:-0.06 [[ 0.8700722 -0.4006554 -0.2871404 7.38360737] [ 0.43488255 0.89817412 0.06450124 1.50915801] [ 0.23205931 -0.18099309 0.95571438 -0.05555806] [ 0. 0. 0. 1. ]] SLAMing on 180.901346184 meters Centerline goodness : 0.856020 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.51, Z:-0.06 [[ 0.86897383 -0.4045946 -0.28493455 7.38238312] [ 0.43762143 0.89710263 0.06078128 1.50929489] [ 0.23102375 -0.17751081 0.95661797 -0.05621694] [ 0. 0. 0. 1. ]] SLAMing on 180.96134618399998 meters Centerline goodness : 0.858689 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.51, Z:-0.06 [[ 0.86705845 -0.40900506 -0.28447232 7.38517908] [ 0.44131936 0.89549951 0.05760086 1.50983039] [ 0.23118578 -0.17548645 0.95695227 -0.05615528] [ 0. 0. 0. 1. ]] SLAMing on 181.02134618399998 meters Centerline goodness : 0.857553 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.51, Z:-0.06 [[ 0.86651131 -0.40991826 -0.2848248 7.38487426] [ 0.44218161 0.89511316 0.05698991 1.51201168] [ 0.23158922 -0.17532669 0.956884 -0.05540854] [ 0. 0. 0. 1. ]] SLAMing on 181.08134618399998 meters Centerline goodness : 0.858395 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.51, Z:-0.06 [[ 0.86639204 -0.41025444 -0.28470359 7.38517669] [ 0.44221739 0.89517057 0.0557981 1.51491559] [ 0.23196686 -0.17424391 0.9569903 -0.05666948] [ 0. 0. 0. 1. ]] SLAMing on 181.14134618399999 meters Centerline goodness : 0.859208 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.51, Z:-0.06 [[ 0.86739279 -0.40654215 -0.28697251 7.3747412 ] [ 0.43689861 0.89822511 0.04807545 1.51286489] [ 0.23822122 -0.16707819 0.95673169 -0.05566676] [ 0. 0. 0. 1. ]] SLAMing on 181.201346184 meters Centerline goodness : 0.860757 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.52, Z:-0.06 [[ 0.86710677 -0.40660614 -0.28774519 7.37576379] [ 0.4368253 0.8983199 0.04695748 1.51932781] [ 0.23939403 -0.16641153 0.95655512 -0.05717848] [ 0. 0. 0. 1. ]] SLAMing on 181.261346184 meters Centerline goodness : 0.860044 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.53, Z:-0.06 [[ 0.86625628 -0.4087116 -0.28732366 7.37386526] [ 0.43816898 0.89781932 0.04391375 1.52814528] [ 0.24001667 -0.16393687 0.95682637 -0.0586285 ] [ 0. 0. 0. 1. ]] SLAMing on 181.321346184 meters Centerline goodness : 0.859572 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.53, Z:-0.06 [[ 0.86607702 -0.40917297 -0.28720738 7.3744617 ] [ 0.43826154 0.89784409 0.04245962 1.53175384] [ 0.24049412 -0.16264525 0.9569269 -0.06028508] [ 0. 0. 0. 1. ]] SLAMing on 181.381346184 meters Centerline goodness : 0.861922 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.54, Z:-0.06 [[ 0.8659124 -0.410143 -0.28631877 7.37056073] [ 0.43852166 0.89782505 0.04011152 1.53847838] [ 0.24061271 -0.16029005 0.95729443 -0.06088311] [ 0. 0. 0. 1. ]] SLAMing on 181.441346184 meters Centerline goodness : 0.863584 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.55, Z:-0.06 [[ 0.8662911 -0.40840617 -0.28765279 7.369605 ] [ 0.4369443 0.89859516 0.04008008 1.54770861] [ 0.24211445 -0.16040926 0.95689574 -0.0624049 ] [ 0. 0. 0. 1. ]] SLAMing on 181.501346184 meters Centerline goodness : 0.866555 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.55, Z:-0.06 [[ 0.8658638 -0.40971206 -0.28708172 7.36742377] [ 0.43760083 0.89837817 0.0377117 1.55478031] [ 0.24245701 -0.15828039 0.95716347 -0.06368336] [ 0. 0. 0. 1. ]] SLAMing on 181.561346184 meters Centerline goodness : 0.868802 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:1.56, Z:-0.06 [[ 0.8649135 -0.41213018 -0.28648447 7.36419876] [ 0.43930517 0.89765827 0.034937 1.56169613] [ 0.24276656 -0.15607159 0.95744768 -0.06340374] [ 0. 0. 0. 1. ]] SLAMing on 181.621346184 meters Centerline goodness : 0.870368 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:1.56, Z:-0.06 [[ 0.86427402 -0.41343797 -0.28653004 7.3638079 ] [ 0.44036928 0.89718214 0.03375059 1.56467219] [ 0.24311586 -0.15534878 0.9574766 -0.06317337] [ 0. 0. 0. 1. ]] SLAMing on 181.681346184 meters Centerline goodness : 0.870320 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:1.57, Z:-0.06 [[ 0.86420973 -0.41228002 -0.28838643 7.36170647] [ 0.43980163 0.8974124 0.03500735 1.57157863] [ 0.24436873 -0.15708651 0.95687395 -0.06159725] [ 0. 0. 0. 1. ]] SLAMing on 181.74134618399998 meters Centerline goodness : 0.871490 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.58, Z:-0.06 [[ 0.86493493 -0.41724841 -0.27891097 7.36992313] [ 0.44248402 0.89622477 0.03144918 1.58298288] [ 0.2368448 -0.15061515 0.95980186 -0.06222987] [ 0. 0. 0. 1. ]] SLAMing on 181.80134618399998 meters Centerline goodness : 0.873539 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.59, Z:-0.06 [[ 0.86589678 -0.41491611 -0.27940541 7.36845083] [ 0.44011504 0.89739507 0.03131838 1.59062762] [ 0.23774254 -0.15008901 0.95966232 -0.06481698] [ 0. 0. 0. 1. ]] SLAMing on 181.86134618399998 meters Centerline goodness : 0.875797 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.60, Z:-0.07 [[ 0.86662255 -0.41237365 -0.28091518 7.36721512] [ 0.43803997 0.89836477 0.03258408 1.59687014] [ 0.23892749 -0.15129017 0.9591793 -0.06510701] [ 0. 0. 0. 1. ]] SLAMing on 181.921346184 meters Centerline goodness : 0.876751 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.62, Z:-0.07 [[ 0.86854174 -0.41384442 -0.27270503 7.36850333] [ 0.43852033 0.89808719 0.03375382 1.61519189] [ 0.23094406 -0.1489033 0.96150541 -0.06542063] [ 0. 0. 0. 1. ]] SLAMing on 181.981346184 meters Centerline goodness : 0.877084 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.63, Z:-0.07 [[ 0.87045439 -0.41675899 -0.26195628 7.37116716] [ 0.43985084 0.89743425 0.0338083 1.62642304] [ 0.22099863 -0.14465028 0.96448738 -0.06734904] [ 0. 0. 0. 1. ]] SLAMing on 182.041346184 meters Centerline goodness : 0.878410 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.64, Z:-0.07 [[ 0.87118884 -0.42231891 -0.25035323 7.37214898] [ 0.44336763 0.89577669 0.03176909 1.64029778] [ 0.2108439 -0.1386754 0.96763319 -0.06946119] [ 0. 0. 0. 1. ]] SLAMing on 182.101346184 meters Centerline goodness : 0.881267 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.65, Z:-0.07 [[ 0.87206042 -0.41920884 -0.25253626 7.37185437] [ 0.44103161 0.89683869 0.0342268 1.64506706] [ 0.21213611 -0.14122431 0.96698188 -0.06907816] [ 0. 0. 0. 1. ]] SLAMing on 182.161346184 meters Centerline goodness : 0.879886 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.66, Z:-0.07 [[ 0.87409022 -0.4213139 -0.24178688 7.37050472] [ 0.44183304 0.89640252 0.03530009 1.65849776] [ 0.20186595 -0.13768489 0.96968707 -0.0702454 ] [ 0. 0. 0. 1. ]] SLAMing on 182.221346184 meters Centerline goodness : 0.884586 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.66, Z:-0.07 [[ 0.87386971 -0.42196685 -0.24144505 7.36755965] [ 0.44219075 0.89627485 0.03404015 1.6628652 ] [ 0.20203731 -0.13651143 0.96981728 -0.06971721] [ 0. 0. 0. 1. ]] SLAMing on 182.281346184 meters Centerline goodness : 0.881631 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.67, Z:-0.07 [[ 0.87293376 -0.42315072 -0.24275525 7.3700301 ] [ 0.44343543 0.89568831 0.03327879 1.66907001] [ 0.20335109 -0.13669646 0.96951659 -0.07081874] [ 0. 0. 0. 1. ]] SLAMing on 182.341346184 meters Centerline goodness : 0.881193 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.67, Z:-0.07 [[ 0.87206431 -0.42506575 -0.24253444 7.36762964] [ 0.44494151 0.89501447 0.03124347 1.67477493] [ 0.2037913 -0.13515995 0.96963957 -0.07017864] [ 0. 0. 0. 1. ]] SLAMing on 182.401346184 meters Centerline goodness : 0.884284 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.68, Z:-0.07 [[ 0.87234993 -0.42321085 -0.24474102 7.36836195] [ 0.44373981 0.89554555 0.0330627 1.6804081 ] [ 0.20518424 -0.13744358 0.96902461 -0.07032663] [ 0. 0. 0. 1. ]] SLAMing on 182.46134618399998 meters Centerline goodness : 0.888733 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.69, Z:-0.07 [[ 0.87232049 -0.4221895 -0.2466029 7.36658201] [ 0.44311605 0.8958276 0.0337798 1.68837563] [ 0.20665221 -0.13874051 0.96852771 -0.0692911 ] [ 0. 0. 0. 1. ]] SLAMing on 182.52134618399998 meters Centerline goodness : 0.888507 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.70, Z:-0.07 [[ 0.87302238 -0.42774916 -0.23422762 7.36772206] [ 0.44649641 0.89424409 0.03112015 1.7009928 ] [ 0.19614505 -0.13175037 0.97168357 -0.07241818] [ 0. 0. 0. 1. ]] SLAMing on 182.58134618399998 meters Centerline goodness : 0.889075 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.71, Z:-0.08 [[ 0.87346469 -0.42718318 -0.23361072 7.36820174] [ 0.44548959 0.89480337 0.02942707 1.705308 ] [ 0.19646492 -0.12977465 0.97188481 -0.0759284 ] [ 0. 0. 0. 1. ]] SLAMing on 182.64134618399999 meters Centerline goodness : 0.889098 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.71, Z:-0.08 [[ 0.87396955 -0.43091773 -0.22469341 7.37368762] [ 0.44915353 0.89277399 0.03486693 1.71260425] [ 0.18557566 -0.13139447 0.97380551 -0.0815292 ] [ 0. 0. 0. 1. ]] SLAMing on 182.701346184 meters Centerline goodness : 0.887978 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.72, Z:-0.08 [[ 0.87346172 -0.43113535 -0.22624531 7.37206938] [ 0.44983186 0.89238232 0.03612604 1.715985 ] [ 0.1863221 -0.13332706 0.97340021 -0.07876462] [ 0. 0. 0. 1. ]] SLAMing on 182.761346184 meters Centerline goodness : 0.889802 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.72, Z:-0.08 [[ 0.87324944 -0.43127556 -0.22679685 7.37342986] [ 0.45006858 0.89225954 0.0362104 1.71670238] [ 0.18674499 -0.13369484 0.97326872 -0.07905135] [ 0. 0. 0. 1. ]] SLAMing on 182.821346184 meters Centerline goodness : 0.891405 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.72, Z:-0.08 [[ 0.87313445 -0.43140675 -0.22698996 7.37614907] [ 0.45020708 0.89219444 0.03609238 1.71690282] [ 0.18694869 -0.13370599 0.97322808 -0.08090289] [ 0. 0. 0. 1. ]] SLAMing on 182.881346184 meters Centerline goodness : 0.893466 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.72, Z:-0.08 [[ 0.87352994 -0.42943005 -0.22920577 7.37548562] [ 0.44892719 0.8927471 0.03830142 1.72109392] [ 0.188175 -0.13635413 0.97262414 -0.07939765] [ 0. 0. 0. 1. ]] SLAMing on 182.941346184 meters Centerline goodness : 0.888547 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.72, Z:-0.08 [[ 0.8749539 -0.4259547 -0.23025696 7.37547662] [ 0.44595621 0.89413729 0.04051624 1.72210174] [ 0.18862325 -0.13813436 0.97228605 -0.08030117] [ 0. 0. 0. 1. ]] SLAMing on 183.001346184 meters Centerline goodness : 0.890921 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.72, Z:-0.08 [[ 0.87552151 -0.42526646 -0.22936985 7.3746553 ] [ 0.44493131 0.89469237 0.03951818 1.72388126] [ 0.1884097 -0.13665284 0.97253678 -0.08245634] [ 0. 0. 0. 1. ]] SLAMing on 183.061346184 meters Centerline goodness : 0.889304 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.73, Z:-0.08 [[ 0.87605839 -0.42295118 -0.23159013 7.37236823] [ 0.44329708 0.89540767 0.04162699 1.72959189] [ 0.1897614 -0.13913091 0.97192243 -0.08033593] [ 0. 0. 0. 1. ]] SLAMing on 183.121346184 meters Centerline goodness : 0.888859 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.74, Z:-0.08 [[ 0.87795253 -0.42600066 -0.21845549 7.37108421] [ 0.44457578 0.89476203 0.04187225 1.7377791 ] [ 0.17762807 -0.13388187 0.97494816 -0.08386054] [ 0. 0. 0. 1. ]] SLAMing on 183.181346184 meters Centerline goodness : 0.893505 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.74, Z:-0.09 [[ 0.87838522 -0.42461397 -0.21941373 7.37188411] [ 0.44337877 0.8953347 0.04232069 1.7425586 ] [ 0.17847877 -0.13445726 0.97471359 -0.08586824] [ 0. 0. 0. 1. ]] SLAMing on 183.24134618399998 meters Centerline goodness : 0.890943 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.75, Z:-0.09 [[ 0.87892908 -0.43033869 -0.20565085 7.37256039] [ 0.44676948 0.89379347 0.0391186 1.75166741] [ 0.16697514 -0.126261 0.97784327 -0.08988172] [ 0. 0. 0. 1. ]] SLAMing on 183.30134618399998 meters Centerline goodness : 0.892278 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.76, Z:-0.09 [[ 0.87985009 -0.4276933 -0.20722515 7.37168704] [ 0.44457452 0.89481244 0.04079451 1.75611312] [ 0.1679801 -0.12802008 0.97744235 -0.09004118] [ 0. 0. 0. 1. ]] SLAMing on 183.36134618399998 meters Centerline goodness : 0.892414 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.76, Z:-0.09 [[ 0.88023884 -0.4257615 -0.20953933 7.37286595] [ 0.44336426 0.89529219 0.04335939 1.75987432] [ 0.16913816 -0.13106887 0.97683839 -0.08983985] [ 0. 0. 0. 1. ]] SLAMing on 183.421346184 meters Centerline goodness : 0.892621 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.76, Z:-0.09 [[ 0.87934139 -0.42876726 -0.20716504 7.37301933] [ 0.44526527 0.89457022 0.03850919 1.76324723] [ 0.1688122 -0.12610612 0.97754779 -0.09337611] [ 0. 0. 0. 1. ]] SLAMing on 183.481346184 meters Centerline goodness : 0.891374 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.77, Z:-0.09 [[ 0.87805597 -0.43087153 -0.20824851 7.37694565] [ 0.44743251 0.89351687 0.0378385 1.76702574] [ 0.16977002 -0.12640147 0.97734375 -0.09495581] [ 0. 0. 0. 1. ]] SLAMing on 183.541346184 meters Centerline goodness : 0.893125 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.78, Z:-0.10 [[ 0.87858762 -0.43475988 -0.19765537 7.37793992] [ 0.45045493 0.89187871 0.04053037 1.7752353 ] [ 0.15866364 -0.12464432 0.97943333 -0.09531544] [ 0. 0. 0. 1. ]] SLAMing on 183.601346184 meters Centerline goodness : 0.891768 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:1.78, Z:-0.10 [[ 0.87921775 -0.43401808 -0.19648017 7.37463103] [ 0.44934562 0.89249494 0.03925945 1.77827583] [ 0.15831825 -0.12280511 0.97972151 -0.09628415] [ 0. 0. 0. 1. ]] SLAMing on 183.661346184 meters Centerline goodness : 0.892858 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.78, Z:-0.10 [[ 0.87962921 -0.43296989 -0.19695056 7.37705812] [ 0.44835108 0.89299234 0.03931903 1.77963488] [ 0.15885138 -0.12288916 0.97962467 -0.09863688] [ 0. 0. 0. 1. ]] SLAMing on 183.721346184 meters Centerline goodness : 0.891283 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.78, Z:-0.10 [[ 0.8802471 -0.43114272 -0.19819436 7.37884121] [ 0.44688594 0.89366295 0.04073668 1.78261428] [ 0.15955563 -0.12442862 0.97931584 -0.10065646] [ 0. 0. 0. 1. ]] SLAMing on 183.781346184 meters Centerline goodness : 0.895386 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.78, Z:-0.10 [[ 0.88068103 -0.43026308 -0.19817822 7.3772392 ] [ 0.44604423 0.89406837 0.04106446 1.7836743 ] [ 0.15951636 -0.12456094 0.97930542 -0.10029074] [ 0. 0. 0. 1. ]] SLAMing on 183.841346184 meters Centerline goodness : 0.890167 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.78, Z:-0.10 [[ 0.88127437 -0.42960299 -0.1969689 7.37728056] [ 0.44511013 0.89456424 0.04039558 1.78232255] [ 0.15884727 -0.12327245 0.97957718 -0.10244309] [ 0. 0. 0. 1. ]] SLAMing on 183.901346184 meters Centerline goodness : 0.889860 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.78, Z:-0.10 [[ 0.88063715 -0.43050088 -0.19785652 7.38118772] [ 0.44624178 0.89397045 0.04105008 1.78103887] [ 0.15920579 -0.12444207 0.97937107 -0.10318373] [ 0. 0. 0. 1. ]] SLAMing on 183.96134618399998 meters Centerline goodness : 0.889417 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:1.78, Z:-0.10 [[ 0.88057254 -0.43004542 -0.19913047 7.38368304] [ 0.44628662 0.8938493 0.04314729 1.7786748 ] [ 0.15943733 -0.12686359 0.97902266 -0.10254034] [ 0. 0. 0. 1. ]] SLAMing on 184.02134618399998 meters Centerline goodness : 0.888061 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.78, Z:-0.10 [[ 0.88082668 -0.42967466 -0.19880654 7.38554936] [ 0.44585043 0.89407207 0.04304107 1.7763164 ] [ 0.15925372 -0.1265497 0.97909317 -0.10397339] [ 0. 0. 0. 1. ]] SLAMing on 184.08134618399998 meters Centerline goodness : 0.886156 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.77, Z:-0.11 [[ 0.8806501 -0.4295907 -0.19976795 7.39037399] [ 0.44599263 0.89397115 0.04365947 1.77495054] [ 0.15983108 -0.12754375 0.97887007 -0.10602228] [ 0. 0. 0. 1. ]] SLAMing on 184.14134618399999 meters Centerline goodness : 0.884824 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.77, Z:-0.11 [[ 0.88050724 -0.42963947 -0.2002921 7.39295299] [ 0.44620378 0.89383807 0.04422313 1.77375001] [ 0.1600287 -0.12830988 0.97873765 -0.10684709] [ 0. 0. 0. 1. ]] SLAMing on 184.201346184 meters Centerline goodness : 0.883093 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:1.77, Z:-0.11 [[ 0.88013354 -0.43036662 -0.20037347 7.39474918] [ 0.44683385 0.89355894 0.04349639 1.77459569] [ 0.16032611 -0.12781628 0.97875356 -0.10807028] [ 0. 0. 0. 1. ]] SLAMing on 184.261346184 meters Centerline goodness : 0.880763 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.77, Z:-0.11 [[ 0.87964454 -0.43085139 -0.20147596 7.39655946] [ 0.44761717 0.89312359 0.04437482 1.77428167] [ 0.16082398 -0.12921816 0.97848777 -0.10715147] [ 0. 0. 0. 1. ]] SLAMing on 184.321346184 meters Centerline goodness : 0.880379 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.77, Z:-0.11 [[ 0.8784657 -0.43354503 -0.20084005 7.40120106] [ 0.44998412 0.89201752 0.04265014 1.77034865] [ 0.16066209 -0.12784152 0.97869517 -0.10866009] [ 0. 0. 0. 1. ]] SLAMing on 184.381346184 meters Centerline goodness : 0.879666 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.77, Z:-0.11 [[ 0.87829046 -0.43361831 -0.20144732 7.40353673] [ 0.45023194 0.89186534 0.04321367 1.76940541] [ 0.16092565 -0.12865217 0.97854563 -0.10910374] [ 0. 0. 0. 1. ]] SLAMing on 184.441346184 meters Centerline goodness : 0.878509 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:1.76, Z:-0.11 [[ 0.87884443 -0.43314125 -0.2000528 7.40401898] [ 0.44949121 0.89225977 0.04278037 1.76453094] [ 0.15996912 -0.12751926 0.97885071 -0.11017928] [ 0. 0. 0. 1. ]] SLAMing on 184.501346184 meters Centerline goodness : 0.879835 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.76, Z:-0.11 [[ 0.87874599 -0.43267103 -0.20149754 7.40818354] [ 0.44951859 0.89215258 0.04468581 1.76138719] [ 0.1604323 -0.12984437 0.97846917 -0.11011174] [ 0. 0. 0. 1. ]] SLAMing on 184.561346184 meters Centerline goodness : 0.877224 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:1.76, Z:-0.11 [[ 0.87734218 -0.43546326 -0.20159973 7.41131307] [ 0.45229523 0.89077006 0.04424631 1.75694795] [ 0.16031136 -0.13000174 0.9784681 -0.10860013] [ 0. 0. 0. 1. ]] SLAMing on 184.621346184 meters Centerline goodness : 0.877482 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:1.75, Z:-0.11 [[ 0.87728322 -0.43490149 -0.20306367 7.41622803] [ 0.45226751 0.89067776 0.04633825 1.75266839] [ 0.16071172 -0.13249087 0.97806846 -0.10881153] [ 0. 0. 0. 1. ]] SLAMing on 184.681346184 meters Centerline goodness : 0.876066 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.74, Z:-0.11 [[ 0.87700091 -0.43414662 -0.2058789 7.42642481] [ 0.45250951 0.89035305 0.05006576 1.7448213 ] [ 0.16156903 -0.13706988 0.97729591 -0.11166289] [ 0. 0. 0. 1. ]] SLAMing on 184.74134618399998 meters Centerline goodness : 0.876402 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.74, Z:-0.11 [[ 0.87623157 -0.43482225 -0.20772061 7.4332015 ] [ 0.45368239 0.88967947 0.05140757 1.74151053] [ 0.16245161 -0.13928411 0.97683643 -0.11221918] [ 0. 0. 0. 1. ]] SLAMing on 184.80134618399998 meters Centerline goodness : 0.877796 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.74, Z:-0.11 [[ 0.87570418 -0.43489452 -0.20978308 7.43776398] [ 0.45460059 0.8890165 0.05466232 1.73529902] [ 0.16272828 -0.14323553 0.97621877 -0.1096731 ] [ 0. 0. 0. 1. ]] SLAMing on 184.86134618399998 meters Centerline goodness : 0.876782 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.73, Z:-0.11 [[ 0.87411921 -0.43840726 -0.20908058 7.44279369] [ 0.45779443 0.88747387 0.05305092 1.72995557] [ 0.16229564 -0.14208875 0.97645835 -0.1104348 ] [ 0. 0. 0. 1. ]] SLAMing on 184.921346184 meters Centerline goodness : 0.879254 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.72, Z:-0.10 [[ 0.87269209 -0.43373576 -0.22423604 7.44600988] [ 0.45545378 0.88863984 0.05367573 1.72211567] [ 0.175984 -0.14897154 0.97305555 -0.10472547] [ 0. 0. 0. 1. ]] SLAMing on 184.981346184 meters Centerline goodness : 0.875899 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.72, Z:-0.10 [[ 0.87272562 -0.43300323 -0.22551761 7.44673998] [ 0.4553287 0.88856099 0.0559923 1.71844469] [ 0.1761413 -0.15155056 0.97262874 -0.10171888] [ 0. 0. 0. 1. ]] SLAMing on 185.041346184 meters Centerline goodness : 0.875850 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.72, Z:-0.10 [[ 0.87235767 -0.43312472 -0.2267048 7.45072665] [ 0.45582661 0.88824084 0.05701146 1.71614049] [ 0.17667539 -0.15307246 0.97229349 -0.10166557] [ 0. 0. 0. 1. ]] SLAMing on 185.101346184 meters Centerline goodness : 0.878552 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.71, Z:-0.10 [[ 0.87201695 -0.43354365 -0.2272143 7.45215109] [ 0.45636105 0.88795717 0.05715476 1.71496733] [ 0.17697748 -0.15353167 0.97216614 -0.10094427] [ 0. 0. 0. 1. ]] SLAMing on 185.161346184 meters Centerline goodness : 0.879679 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.71, Z:-0.10 [[ 0.87210929 -0.43283739 -0.22820424 7.4542708 ] [ 0.45602878 0.88804686 0.05839966 1.71317366] [ 0.1773785 -0.15499859 0.97186023 -0.10044352] [ 0. 0. 0. 1. ]] SLAMing on 185.221346184 meters Centerline goodness : 0.881681 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.71, Z:-0.10 [[ 0.87194554 -0.43241181 -0.22963231 7.45559267] [ 0.45611282 0.88790023 0.05995232 1.71156563] [ 0.17796649 -0.15701339 0.97142922 -0.09817516] [ 0. 0. 0. 1. ]] SLAMing on 185.281346184 meters Centerline goodness : 0.883145 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.71, Z:-0.10 [[ 0.87232778 -0.43133235 -0.23021 7.45723926] [ 0.45546283 0.88810143 0.0618826 1.70578925] [ 0.17775786 -0.15883401 0.97117141 -0.09660633] [ 0. 0. 0. 1. ]] SLAMing on 185.341346184 meters Centerline goodness : 0.883002 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.70, Z:-0.10 [[ 0.87304521 -0.42979175 -0.23037169 7.45810816] [ 0.45415846 0.88867804 0.06317779 1.70194988] [ 0.17757297 -0.15978232 0.97104966 -0.09633022] [ 0. 0. 0. 1. ]] SLAMing on 185.401346184 meters Centerline goodness : 0.884519 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.70, Z:-0.09 [[ 0.8747995 -0.42526518 -0.23211066 7.45734786] [ 0.45075236 0.89004569 0.06812481 1.69709715] [ 0.17761799 -0.16421998 0.9703008 -0.09365682] [ 0. 0. 0. 1. ]] SLAMing on 185.46134618399998 meters Centerline goodness : 0.881112 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.69, Z:-0.09 [[ 0.87509049 -0.42467969 -0.23208574 7.45794554] [ 0.45027744 0.89023348 0.0688083 1.6944041 ] [ 0.17738901 -0.16471646 0.97025854 -0.09341187] [ 0. 0. 0. 1. ]] SLAMing on 185.52134618399998 meters Centerline goodness : 0.883608 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.69, Z:-0.09 [[ 0.87535257 -0.423528 -0.23319931 7.45992605] [ 0.44970705 0.89034687 0.07103534 1.69021182] [ 0.17754282 -0.16705234 0.96983095 -0.09184399] [ 0. 0. 0. 1. ]] SLAMing on 185.58134618399998 meters Centerline goodness : 0.888030 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.69, Z:-0.09 [[ 0.87536013 -0.42310647 -0.23393494 7.46160247] [ 0.44955218 0.89036178 0.07182432 1.68907249] [ 0.1778974 -0.16803811 0.96959564 -0.0914097 ] [ 0. 0. 0. 1. ]] SLAMing on 185.64134618399999 meters Centerline goodness : 0.887042 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.68, Z:-0.08 [[ 0.87571263 -0.41994407 -0.23827373 7.45088947] [ 0.44604709 0.89255394 0.06625296 1.67924113] [ 0.18484962 -0.16429986 0.96893559 -0.08449404] [ 0. 0. 0. 1. ]] SLAMing on 185.701346184 meters Centerline goodness : 0.886238 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.68, Z:-0.08 [[ 0.87504648 -0.42043374 -0.23985232 7.45260372] [ 0.44701262 0.89199563 0.06725707 1.67912693] [ 0.18567008 -0.16607007 0.96847682 -0.08225886] [ 0. 0. 0. 1. ]] SLAMing on 185.761346184 meters Centerline goodness : 0.886175 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.67, Z:-0.08 [[ 0.87441145 -0.42265282 -0.23826291 7.45438449] [ 0.4486886 0.89127459 0.06563645 1.67377428] [ 0.18461625 -0.16429911 0.96898021 -0.08270384] [ 0. 0. 0. 1. ]] SLAMing on 185.821346184 meters Centerline goodness : 0.883561 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.66, Z:-0.08 [[ 0.87385905 -0.4175831 -0.24898739 7.44787442] [ 0.44592504 0.89246298 0.06826924 1.66240637] [ 0.19370395 -0.17068741 0.96609761 -0.07947346] [ 0. 0. 0. 1. ]] SLAMing on 185.881346184 meters Centerline goodness : 0.883904 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.66, Z:-0.08 [[ 0.87389531 -0.41676764 -0.25022333 7.45150429] [ 0.44569648 0.89243043 0.07016111 1.65791775] [ 0.19406603 -0.17283712 0.96564264 -0.07859788] [ 0. 0. 0. 1. ]] SLAMing on 185.941346184 meters Centerline goodness : 0.882832 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.66, Z:-0.08 [[ 0.87350064 -0.41688184 -0.25140835 7.45364501] [ 0.44625606 0.89206201 0.07128045 1.65626571] [ 0.19455631 -0.17445601 0.96525279 -0.07711994] [ 0. 0. 0. 1. ]] SLAMing on 186.001346184 meters Centerline goodness : 0.887075 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.65, Z:-0.08 [[ 0.87261274 -0.41939611 -0.25030765 7.45701074] [ 0.44842467 0.89105146 0.07030375 1.64888968] [ 0.19355188 -0.17359207 0.96561041 -0.0768458 ] [ 0. 0. 0. 1. ]] SLAMing on 186.061346184 meters Centerline goodness : 0.882423 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.64, Z:-0.07 [[ 0.87194435 -0.42012279 -0.25141578 7.45785435] [ 0.44973548 0.89024536 0.07211936 1.64392806] [ 0.19352274 -0.17595467 0.96518853 -0.07274995] [ 0. 0. 0. 1. ]] SLAMing on 186.121346184 meters Centerline goodness : 0.885420 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.64, Z:-0.07 [[ 0.87216421 -0.41955027 -0.25160913 7.45755461] [ 0.44942154 0.89030835 0.07328935 1.64107218] [ 0.19326114 -0.17699891 0.96505001 -0.07121359] [ 0. 0. 0. 1. ]] SLAMing on 186.181346184 meters Centerline goodness : 0.880852 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.64, Z:-0.07 [[ 0.87160951 -0.42169207 -0.2499453 7.45688577] [ 0.45091113 0.88971245 0.07135062 1.63796304] [ 0.19229145 -0.174893 0.96562748 -0.0707044 ] [ 0. 0. 0. 1. ]] SLAMing on 186.24134618399998 meters Centerline goodness : 0.879879 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.64, Z:-0.07 [[ 0.87043612 -0.42507441 -0.24829964 7.45721962] [ 0.45341677 0.88869307 0.06810182 1.63767302] [ 0.19171383 -0.17186151 0.96628641 -0.07132393] [ 0. 0. 0. 1. ]] SLAMing on 186.30134618399998 meters Centerline goodness : 0.878987 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.63, Z:-0.07 [[ 0.86879281 -0.42291013 -0.25757733 7.4521497 ] [ 0.45260846 0.88921589 0.0666385 1.62735298] [ 0.20085976 -0.17447672 0.96395707 -0.07027124] [ 0. 0. 0. 1. ]] SLAMing on 186.36134618399998 meters Centerline goodness : 0.879385 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.62, Z:-0.06 [[ 0.86753506 -0.41944973 -0.26729168 7.44491843] [ 0.44997965 0.89084878 0.06250418 1.62145103] [ 0.21189911 -0.17450038 0.96158639 -0.06263896] [ 0. 0. 0. 1. ]] SLAMing on 186.421346184 meters Centerline goodness : 0.875381 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.62, Z:-0.06 [[ 0.86711609 -0.41909242 -0.2692048 7.44858309] [ 0.45052509 0.89039386 0.06500716 1.61674924] [ 0.2124543 -0.17765227 0.96088649 -0.05997209] [ 0. 0. 0. 1. ]] SLAMing on 186.481346184 meters Centerline goodness : 0.875401 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.61, Z:-0.06 [[ 0.864299 -0.41775566 -0.28012041 7.44464568] [ 0.45103978 0.89020138 0.06406735 1.60579544] [ 0.22259908 -0.18171879 0.95782458 -0.05507013] [ 0. 0. 0. 1. ]] SLAMing on 186.541346184 meters Centerline goodness : 0.873944 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.60, Z:-0.06 [[ 0.86345943 -0.42058716 -0.27846769 7.44653684] [ 0.45312692 0.88929605 0.06187508 1.60205206] [ 0.22161636 -0.17960783 0.95845043 -0.05598127] [ 0. 0. 0. 1. ]] SLAMing on 186.601346184 meters Centerline goodness : 0.875115 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.59, Z:-0.05 [[ 0.86156727 -0.41817946 -0.28779816 7.43969618] [ 0.45232933 0.88974224 0.06129369 1.59228391] [ 0.23043441 -0.18298819 0.95572763 -0.05472126] [ 0. 0. 0. 1. ]] SLAMing on 186.661346184 meters Centerline goodness : 0.871349 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.59, Z:-0.06 [[ 0.86045544 -0.42157067 -0.28617232 7.44011225] [ 0.45474673 0.88872297 0.058111 1.59211218] [ 0.22983002 -0.18013786 0.95641441 -0.05551495] [ 0. 0. 0. 1. ]] SLAMing on 186.721346184 meters Centerline goodness : 0.875859 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.59, Z:-0.05 [[ 0.85737154 -0.42022464 -0.29719572 7.43236039] [ 0.45562738 0.88824798 0.05847412 1.58572038] [ 0.23941123 -0.18554455 0.95302439 -0.05181766] [ 0. 0. 0. 1. ]] SLAMing on 186.781346184 meters Centerline goodness : 0.872955 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.59, Z:-0.05 [[ 0.85579954 -0.42403789 -0.29630897 7.43614827] [ 0.45856733 0.88694643 0.05515463 1.58590914] [ 0.23942253 -0.18307892 0.95349828 -0.05335606] [ 0. 0. 0. 1. ]] SLAMing on 186.841346184 meters Centerline goodness : 0.872824 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.58, Z:-0.05 [[ 0.85335966 -0.42237743 -0.30557257 7.43051436] [ 0.45681778 0.88826823 0.04792776 1.5835506 ] [ 0.2511868 -0.1804906 0.95096179 -0.04881958] [ 0. 0. 0. 1. ]] SLAMing on 186.901346184 meters Centerline goodness : 0.877191 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.59, Z:-0.05 [[ 0.85351245 -0.42247881 -0.30500517 7.4287737 ] [ 0.45656715 0.88844653 0.04700221 1.58575289] [ 0.25112335 -0.17937231 0.95119012 -0.04942438] [ 0. 0. 0. 1. ]] SLAMing on 186.96134618399998 meters Centerline goodness : 0.875999 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.59, Z:-0.05 [[ 0.8534684 -0.42306715 -0.30431215 7.42705482] [ 0.45653833 0.88856064 0.04508601 1.59099747] [ 0.25132539 -0.17740965 0.95150479 -0.05121071] [ 0. 0. 0. 1. ]] SLAMing on 187.02134618399998 meters Centerline goodness : 0.879713 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.59, Z:-0.05 [[ 0.85325024 -0.42324025 -0.30468297 7.42574475] [ 0.45676832 0.88844671 0.04500175 1.59333648] [ 0.25164803 -0.17756728 0.9513901 -0.05036139] [ 0. 0. 0. 1. ]] SLAMing on 187.08134618399998 meters Centerline goodness : 0.877824 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.59, Z:-0.05 [[ 0.85215474 -0.42484793 -0.30551028 7.4271611 ] [ 0.45854786 0.88754021 0.04479101 1.59383338] [ 0.2521233 -0.17825995 0.95113471 -0.04872522] [ 0. 0. 0. 1. ]] SLAMing on 187.14134618399999 meters Centerline goodness : 0.878828 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.59, Z:-0.05 [[ 0.85126457 -0.42628464 -0.30599027 7.42829331] [ 0.45995825 0.8868441 0.04411301 1.59497891] [ 0.25256096 -0.17829459 0.95101209 -0.04806452] [ 0. 0. 0. 1. ]] SLAMing on 187.201346184 meters Centerline goodness : 0.879228 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.60, Z:-0.05 [[ 0.85092157 -0.42697659 -0.30597955 7.43035415] [ 0.46044935 0.88663145 0.04325588 1.59596695] [ 0.25282184 -0.17769545 0.95105491 -0.04938274] [ 0. 0. 0. 1. ]] SLAMing on 187.261346184 meters Centerline goodness : 0.879845 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.60, Z:-0.05 [[ 0.8500258 -0.42802915 -0.30699705 7.43599166] [ 0.46153597 0.88610417 0.04247295 1.59825868] [ 0.2538517 -0.17779329 0.95076225 -0.0515274 ] [ 0. 0. 0. 1. ]] SLAMing on 187.321346184 meters Centerline goodness : 0.878721 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.60, Z:-0.05 [[ 0.84955323 -0.42903859 -0.30689608 7.43475357] [ 0.46239245 0.88568893 0.04181308 1.59995092] [ 0.25387504 -0.17742887 0.9508241 -0.05082913] [ 0. 0. 0. 1. ]] SLAMing on 187.381346184 meters Centerline goodness : 0.878902 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.60, Z:-0.05 [[ 0.84891049 -0.42995413 -0.30739296 7.43399426] [ 0.46333536 0.88521509 0.04140747 1.60259536] [ 0.25430557 -0.17757726 0.95068133 -0.04968179] [ 0. 0. 0. 1. ]] SLAMing on 187.441346184 meters Centerline goodness : 0.877411 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.60, Z:-0.05 [[ 0.84846713 -0.43046062 -0.30790775 7.43556109] [ 0.46387072 0.88495088 0.04105957 1.60388773] [ 0.2548087 -0.17766708 0.95052982 -0.04981798] [ 0. 0. 0. 1. ]] SLAMing on 187.501346184 meters Centerline goodness : 0.879098 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.61, Z:-0.05 [[ 0.84773635 -0.43184236 -0.3079858 7.43691239] [ 0.46499685 0.884416 0.03982795 1.60600526] [ 0.25518817 -0.17697603 0.95055693 -0.0504523 ] [ 0. 0. 0. 1. ]] SLAMing on 187.561346184 meters Centerline goodness : 0.877803 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.61, Z:-0.05 [[ 0.84680654 -0.43317898 -0.30866593 7.44026178] [ 0.46605221 0.88393751 0.03807649 1.61226186] [ 0.25634746 -0.17609787 0.95040808 -0.05292583] [ 0. 0. 0. 1. ]] SLAMing on 187.621346184 meters Centerline goodness : 0.878365 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.62, Z:-0.06 [[ 0.84659731 -0.43351741 -0.30876472 7.44167434] [ 0.46608765 0.88397169 0.0368288 1.61698504] [ 0.25697334 -0.17509059 0.95042516 -0.05518609] [ 0. 0. 0. 1. ]] SLAMing on 187.681346184 meters Centerline goodness : 0.877754 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.62, Z:-0.06 [[ 0.84629374 -0.43439175 -0.30836783 7.44147107] [ 0.46624209 0.88399173 0.03430659 1.62494517] [ 0.25769211 -0.17280751 0.95064838 -0.05831899] [ 0. 0. 0. 1. ]] SLAMing on 187.74134618399998 meters Centerline goodness : 0.877341 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.63, Z:-0.06 [[ 0.84855906 -0.43402885 -0.30259953 7.42675001] [ 0.46389807 0.88534619 0.03099517 1.63042177] [ 0.25445254 -0.16667656 0.95261368 -0.05756968] [ 0. 0. 0. 1. ]] SLAMing on 187.80134618399998 meters Centerline goodness : 0.875870 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:1.63, Z:-0.06 [[ 0.84909491 -0.43381718 -0.30139755 7.42388729] [ 0.46317203 0.88576322 0.02991965 1.63219804] [ 0.25398721 -0.16500354 0.95302903 -0.05856944] [ 0. 0. 0. 1. ]] SLAMing on 187.86134618399998 meters Centerline goodness : 0.876876 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:1.64, Z:-0.06 [[ 0.84996768 -0.43125361 -0.30261406 7.42299293] [ 0.46095651 0.8868876 0.03081369 1.63840072] [ 0.25509614 -0.16568256 0.95261495 -0.06000527] [ 0. 0. 0. 1. ]] SLAMing on 187.921346184 meters Centerline goodness : 0.874979 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:1.65, Z:-0.06 [[ 0.85055709 -0.43107064 -0.30121543 7.42127104] [ 0.45979308 0.88758074 0.02812028 1.64527878] [ 0.25523119 -0.16241467 0.95314139 -0.06421712] [ 0. 0. 0. 1. ]] SLAMing on 187.981346184 meters Centerline goodness : 0.879165 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:1.65, Z:-0.07 [[ 0.85046783 -0.43170461 -0.3005588 7.41938458] [ 0.45985239 0.88760567 0.02630502 1.65056131] [ 0.2554217 -0.16058426 0.95340047 -0.06568762] [ 0. 0. 0. 1. ]] SLAMing on 188.041346184 meters Centerline goodness : 0.874047 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.67, Z:-0.07 [[ 0.85068425 -0.43810414 -0.29051862 7.42518148] [ 0.46381171 0.88564671 0.02255217 1.66591128] [ 0.24741666 -0.15393072 0.95660354 -0.06731471] [ 0. 0. 0. 1. ]] SLAMing on 188.101346184 meters Centerline goodness : 0.869846 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.67, Z:-0.07 [[ 0.84983103 -0.43940562 -0.29104969 7.42643858] [ 0.46488141 0.88512131 0.02110765 1.67202865] [ 0.24833946 -0.15324153 0.95647506 -0.06857434] [ 0. 0. 0. 1. ]] SLAMing on 188.161346184 meters Centerline goodness : 0.870371 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.69, Z:-0.07 [[ 0.85111603 -0.44399629 -0.28012281 7.43125793] [ 0.46728604 0.8839065 0.01878975 1.68502822] [ 0.23925979 -0.14688974 0.95978026 -0.07163419] [ 0. 0. 0. 1. ]] SLAMing on 188.221346184 meters Centerline goodness : 0.871641 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.70, Z:-0.07 [[ 0.85259469 -0.44724441 -0.27028637 7.43605245] [ 0.46905418 0.88297505 0.01852645 1.69706381] [ 0.23037027 -0.14257451 0.96260171 -0.07296784] [ 0. 0. 0. 1. ]] SLAMing on 188.281346184 meters Centerline goodness : 0.870630 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.70, Z:-0.07 [[ 0.85254704 -0.44618487 -0.27218121 7.43493839] [ 0.46858646 0.88319279 0.0199306 1.70256365] [ 0.23149575 -0.1445322 0.96203958 -0.07178562] [ 0. 0. 0. 1. ]] SLAMing on 188.341346184 meters Centerline goodness : 0.871014 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:1.71, Z:-0.07 [[ 0.85228412 -0.44725546 -0.27124588 7.4302864 ] [ 0.4692565 0.88286374 0.01870715 1.70556998] [ 0.23110628 -0.1432277 0.96232828 -0.07052466] [ 0. 0. 0. 1. ]] SLAMing on 188.401346184 meters Centerline goodness : 0.873950 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.72, Z:-0.07 [[ 0.85348186 -0.44987867 -0.26301693 7.43856516] [ 0.47087083 0.88198977 0.01935741 1.71542242] [ 0.22326975 -0.1403682 0.96459701 -0.07029926] [ 0. 0. 0. 1. ]] SLAMing on 188.46134618399998 meters Centerline goodness : 0.874758 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.72, Z:-0.07 [[ 0.85490943 -0.44632354 -0.26443368 7.43533008] [ 0.46801967 0.88344466 0.02198008 1.71886878] [ 0.22380229 -0.14255114 0.96415336 -0.06931859] [ 0. 0. 0. 1. ]] SLAMing on 188.52134618399998 meters Centerline goodness : 0.876180 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.73, Z:-0.07 [[ 0.8565669 -0.44978737 -0.25295151 7.44003794] [ 0.46950225 0.88269799 0.0202951 1.72814207] [ 0.21415131 -0.13614541 0.96726607 -0.07217147] [ 0. 0. 0. 1. ]] SLAMing on 188.58134618399998 meters Centerline goodness : 0.873790 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.73, Z:-0.07 [[ 0.85662762 -0.44839538 -0.25520716 7.44059171] [ 0.4688572 0.88299086 0.02236222 1.7318748 ] [ 0.21531848 -0.13881181 0.96662776 -0.07111807] [ 0. 0. 0. 1. ]] SLAMing on 188.64134618399999 meters Centerline goodness : 0.871939 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.73, Z:-0.07 [[ 0.85669119 -0.4482002 -0.2553366 7.43953416] [ 0.46861462 0.88312645 0.02209071 1.73450482] [ 0.21559345 -0.13857939 0.96659982 -0.0711439 ] [ 0. 0. 0. 1. ]] SLAMing on 188.701346184 meters Centerline goodness : 0.874507 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.74, Z:-0.07 [[ 0.85667824 -0.44713314 -0.25724374 7.43971857] [ 0.4683184 0.88322243 0.0244133 1.73612249] [ 0.21628745 -0.14138632 0.96603812 -0.06948791] [ 0. 0. 0. 1. ]] SLAMing on 188.761346184 meters Centerline goodness : 0.875468 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:1.74, Z:-0.07 [[ 0.85637283 -0.44800906 -0.25673618 7.43863928] [ 0.46886895 0.88296355 0.02317929 1.73866089] [ 0.21630415 -0.14022574 0.96620353 -0.06999013] [ 0. 0. 0. 1. ]] SLAMing on 188.821346184 meters Centerline goodness : 0.877624 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.75, Z:-0.07 [[ 0.85621463 -0.4513519 -0.25135229 7.44759741] [ 0.47299956 0.88055034 0.03004179 1.74742063] [ 0.20776893 -0.14461174 0.96742933 -0.07487289] [ 0. 0. 0. 1. ]] SLAMing on 188.881346184 meters Centerline goodness : 0.876178 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.75, Z:-0.07 [[ 0.85446267 -0.45421329 -0.25215836 7.44655109] [ 0.47572446 0.87913408 0.028452 1.75371398] [ 0.20875773 -0.14426907 0.96726762 -0.07309407] [ 0. 0. 0. 1. ]] SLAMing on 188.941346184 meters Centerline goodness : 0.876735 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.76, Z:-0.07 [[ 0.85358914 -0.4558383 -0.2521845 7.44751565] [ 0.47717102 0.87838354 0.02738925 1.7560376 ] [ 0.20902964 -0.1437143 0.96729148 -0.07369365] [ 0. 0. 0. 1. ]] SLAMing on 189.001346184 meters Centerline goodness : 0.876154 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.76, Z:-0.08 [[ 0.85274457 -0.45685505 -0.25319983 7.45212358] [ 0.47820081 0.87784775 0.02659547 1.75929667] [ 0.21012062 -0.1437595 0.96704836 -0.07585056] [ 0. 0. 0. 1. ]] SLAMing on 189.061346184 meters Centerline goodness : 0.879358 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.76, Z:-0.08 [[ 0.85279942 -0.45674143 -0.25322011 7.45063224] [ 0.47797583 0.87798559 0.02608448 1.76255511] [ 0.21040974 -0.14327792 0.96705697 -0.07603012] [ 0. 0. 0. 1. ]] SLAMing on 189.121346184 meters Centerline goodness : 0.878511 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.76, Z:-0.07 [[ 0.85441639 -0.45275543 -0.25492186 7.44752387] [ 0.47494794 0.87950861 0.02981701 1.76284316] [ 0.21070616 -0.14655076 0.96650183 -0.07368262] [ 0. 0. 0. 1. ]] SLAMing on 189.181346184 meters Centerline goodness : 0.877377 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.77, Z:-0.08 [[ 0.85523308 -0.45765733 -0.24315868 7.45144894] [ 0.47800182 0.87788242 0.02892614 1.77116098] [ 0.20022647 -0.14096888 0.96955512 -0.07617521] [ 0. 0. 0. 1. ]] SLAMing on 189.24134618399998 meters Centerline goodness : 0.878451 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.77, Z:-0.08 [[ 0.85630535 -0.45563224 -0.243188 7.45359775] [ 0.47602414 0.87894085 0.02939385 1.77077578] [ 0.20035508 -0.14093347 0.9695337 -0.07904794] [ 0. 0. 0. 1. ]] SLAMing on 189.30134618399998 meters Centerline goodness : 0.878055 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.77, Z:-0.08 [[ 0.85704671 -0.45298196 -0.24551637 7.45194338] [ 0.47429431 0.87976708 0.03247752 1.77350951] [ 0.20128548 -0.14428177 0.96884825 -0.07668551] [ 0. 0. 0. 1. ]] SLAMing on 189.36134618399998 meters Centerline goodness : 0.878742 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.78, Z:-0.08 [[ 0.85686034 -0.45300203 -0.24612906 7.45339775] [ 0.47442079 0.87969674 0.03253557 1.77547978] [ 0.20178026 -0.14464719 0.96869083 -0.07736115] [ 0. 0. 0. 1. ]] SLAMing on 189.421346184 meters Centerline goodness : 0.878133 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.78, Z:-0.08 [[ 0.85707168 -0.45249019 -0.24633464 7.45652188] [ 0.47386393 0.88000791 0.03223424 1.77643921] [ 0.20219076 -0.14435616 0.96864864 -0.08011349] [ 0. 0. 0. 1. ]] SLAMing on 189.481346184 meters Centerline goodness : 0.879737 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:1.78, Z:-0.08 [[ 0.85730789 -0.4523004 -0.24586082 7.45453757] [ 0.47354614 0.8801878 0.03199188 1.77746558] [ 0.20193375 -0.14385333 0.96877705 -0.07993278] [ 0. 0. 0. 1. ]] SLAMing on 189.541346184 meters Centerline goodness : 0.879783 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.79, Z:-0.08 [[ 0.85760401 -0.45706025 -0.23582046 7.45821855] [ 0.47697888 0.87832166 0.03228338 1.78840384] [ 0.19237076 -0.14016774 0.97126026 -0.08059448] [ 0. 0. 0. 1. ]] SLAMing on 189.601346184 meters Centerline goodness : 0.877338 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.79, Z:-0.08 [[ 0.85686652 -0.45786841 -0.23693099 7.46149455] [ 0.47789573 0.87783701 0.03190389 1.79181357] [ 0.19337901 -0.14056569 0.9710025 -0.08200462] [ 0. 0. 0. 1. ]] SLAMing on 189.661346184 meters Centerline goodness : 0.877304 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.80, Z:-0.08 [[ 0.85651295 -0.45858175 -0.23682977 7.46081325] [ 0.47839367 0.87760482 0.03081039 1.79559355] [ 0.19371386 -0.13968736 0.9710625 -0.08271679] [ 0. 0. 0. 1. ]] SLAMing on 189.721346184 meters Centerline goodness : 0.877334 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.80, Z:-0.09 [[ 0.85669517 -0.45790583 -0.23747767 7.46325312] [ 0.47778076 0.87794142 0.0307312 1.79840973] [ 0.19441949 -0.13978954 0.97090677 -0.08507552] [ 0. 0. 0. 1. ]] SLAMing on 189.781346184 meters Centerline goodness : 0.879325 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.81, Z:-0.08 [[ 0.85738131 -0.46150933 -0.22782983 7.46346098] [ 0.48045795 0.87640524 0.0327721 1.81027106] [ 0.18454663 -0.13756084 0.9731493 -0.08450993] [ 0. 0. 0. 1. ]] SLAMing on 189.841346184 meters Centerline goodness : 0.878783 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.81, Z:-0.09 [[ 0.85736801 -0.46127854 -0.22834669 7.46307503] [ 0.48027849 0.87650719 0.03267597 1.81408244] [ 0.18507479 -0.13768533 0.97303138 -0.08502283] [ 0. 0. 0. 1. ]] SLAMing on 189.901346184 meters Centerline goodness : 0.881421 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.82, Z:-0.09 [[ 0.85783322 -0.45975171 -0.22967482 7.46347201] [ 0.47914309 0.87708211 0.03389515 1.81763258] [ 0.18586032 -0.13912349 0.97267703 -0.0858549 ] [ 0. 0. 0. 1. ]] SLAMing on 189.96134618399998 meters Centerline goodness : 0.883522 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.82, Z:-0.08 [[ 0.85911455 -0.4565822 -0.2312031 7.45937633] [ 0.47649915 0.87844428 0.03583572 1.8228921 ] [ 0.18673709 -0.14095507 0.9722453 -0.08415607] [ 0. 0. 0. 1. ]] SLAMing on 190.02134618399998 meters Centerline goodness : 0.884109 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.83, Z:-0.09 [[ 0.86161463 -0.45847123 -0.21777137 7.45832564] [ 0.47646728 0.87846611 0.03572436 1.83112502] [ 0.17492618 -0.13454157 0.97534578 -0.08910103] [ 0. 0. 0. 1. ]] SLAMing on 190.08134618399998 meters Centerline goodness : 0.883264 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.83, Z:-0.09 [[ 0.86201499 -0.45656491 -0.22017863 7.45930568] [ 0.47535437 0.87895442 0.03843625 1.8334468 ] [ 0.17597834 -0.1377955 0.97470202 -0.08818671] [ 0. 0. 0. 1. ]] SLAMing on 190.14134618399999 meters Centerline goodness : 0.882251 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.84, Z:-0.09 [[ 0.86164927 -0.45710174 -0.22049613 7.45748331] [ 0.47591791 0.87865658 0.03827218 1.83501935] [ 0.17624609 -0.13791525 0.9746367 -0.08618159] [ 0. 0. 0. 1. ]] SLAMing on 190.201346184 meters Centerline goodness : 0.884341 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.84, Z:-0.09 [[ 0.86103254 -0.45751404 -0.22204475 7.45962483] [ 0.47672385 0.87818052 0.03915802 1.83685112] [ 0.17708003 -0.13957035 0.97424985 -0.08564356] [ 0. 0. 0. 1. ]] SLAMing on 190.261346184 meters Centerline goodness : 0.885104 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.84, Z:-0.09 [[ 0.85921294 -0.46051762 -0.22288259 7.4639768 ] [ 0.47976958 0.87655444 0.03838556 1.83706317] [ 0.1776915 -0.13991365 0.97408927 -0.08585129] [ 0. 0. 0. 1. ]] SLAMing on 190.321346184 meters Centerline goodness : 0.888679 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:1.84, Z:-0.08 [[ 0.85849494 -0.46091088 -0.22482795 7.4653005 ] [ 0.4806646 0.87601381 0.0395139 1.83885311] [ 0.17874 -0.14198931 0.97359696 -0.08376848] [ 0. 0. 0. 1. ]] SLAMing on 190.381346184 meters Centerline goodness : 0.882724 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:1.84, Z:-0.09 [[ 0.85943954 -0.4583455 -0.22645768 7.46616041] [ 0.47857955 0.8770826 0.04108195 1.84316511] [ 0.17979236 -0.14368547 0.97315425 -0.08547123] [ 0. 0. 0. 1. ]] SLAMing on 190.441346184 meters Centerline goodness : 0.880051 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.85, Z:-0.09 [[ 0.86069027 -0.45675907 -0.22490757 7.46259805] [ 0.47646144 0.87830167 0.03963173 1.84581995] [ 0.17943454 -0.14127043 0.97357378 -0.08733338] [ 0. 0. 0. 1. ]] SLAMing on 190.501346184 meters Centerline goodness : 0.883369 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.85, Z:-0.09 [[ 0.86194195 -0.46087874 -0.21129803 7.4606786 ] [ 0.47885034 0.87695929 0.04055553 1.85039831] [ 0.16660859 -0.13613665 0.97657995 -0.08946438] [ 0. 0. 0. 1. ]] SLAMing on 190.561346184 meters Centerline goodness : 0.888723 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.85, Z:-0.09 [[ 0.86253643 -0.45853121 -0.21396269 7.45954545] [ 0.4775332 0.87748241 0.04457186 1.8509125 ] [ 0.16731091 -0.14061914 0.97582443 -0.08612394] [ 0. 0. 0. 1. ]] SLAMing on 190.621346184 meters Centerline goodness : 0.886951 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.85, Z:-0.09 [[ 0.8630529 -0.45757274 -0.21393195 7.46095763] [ 0.47661225 0.87796556 0.04491371 1.8502267 ] [ 0.1672736 -0.1407255 0.97581549 -0.08762179] [ 0. 0. 0. 1. ]] SLAMing on 190.681346184 meters Centerline goodness : 0.889925 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.85, Z:-0.09 [[ 0.86518984 -0.4528734 -0.21529568 7.46343318] [ 0.47259085 0.87996523 0.04815685 1.84783496] [ 0.16764376 -0.14341158 0.9753608 -0.089609 ] [ 0. 0. 0. 1. ]] SLAMing on 190.74134618399998 meters Centerline goodness : 0.891672 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.85, Z:-0.09 [[ 0.86660267 -0.4492004 -0.21729889 7.46280575] [ 0.46975493 0.88128646 0.05161852 1.84743791] [ 0.16831551 -0.14680997 0.97473931 -0.0878878 ] [ 0. 0. 0. 1. ]] SLAMing on 190.80134618399998 meters Centerline goodness : 0.888812 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:1.85, Z:-0.09 [[ 0.86729267 -0.44725558 -0.21855403 7.46358773] [ 0.4682558 0.88198591 0.0532669 1.84715429] [ 0.16893765 -0.14853719 0.97436994 -0.08733884] [ 0. 0. 0. 1. ]] SLAMing on 190.86134618399998 meters Centerline goodness : 0.889247 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:1.85, Z:-0.09 [[ 0.86728746 -0.44639141 -0.22033421 7.46745643] [ 0.46796841 0.88202779 0.05506862 1.84573099] [ 0.16975874 -0.15086978 0.97386872 -0.08705523] [ 0. 0. 0. 1. ]] SLAMing on 190.921346184 meters Centerline goodness : 0.889138 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:1.84, Z:-0.08 [[ 0.86739722 -0.44477026 -0.22316246 7.46798766] [ 0.46746213 0.88204111 0.05901393 1.84355555] [ 0.17059082 -0.15550851 0.97299325 -0.08248095] [ 0. 0. 0. 1. ]] SLAMing on 190.981346184 meters Centerline goodness : 0.885236 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:1.84, Z:-0.08 [[ 0.86708429 -0.44477234 -0.2243711 7.47039696] [ 0.46772004 0.88188194 0.05934812 1.84423214] [ 0.17147242 -0.15640269 0.97269492 -0.08223025] [ 0. 0. 0. 1. ]] SLAMing on 191.041346184 meters Centerline goodness : 0.883024 with order 1 Centerline is valid? [False, False] Translation: X:7.48, Y:1.84, Z:-0.08 [[ 0.86656131 -0.44525584 -0.22543011 7.47562622] [ 0.4683561 0.88155542 0.05918279 1.84466794] [ 0.17237766 -0.15686709 0.97246011 -0.0845806 ] [ 0. 0. 0. 1. ]] SLAMing on 191.101346184 meters Centerline goodness : 0.877602 with order 1 Centerline is valid? [False, False] Translation: X:7.48, Y:1.85, Z:-0.09 [[ 0.86631052 -0.44532072 -0.2262643 7.47934254] [ 0.46852112 0.88148207 0.05896883 1.84555495] [ 0.17318788 -0.15709492 0.97227935 -0.08633448] [ 0. 0. 0. 1. ]] SLAMing on 191.161346184 meters Centerline goodness : 0.875971 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:1.85, Z:-0.08 [[ 0.86628668 -0.44988668 -0.21713904 7.4850201 ] [ 0.47163885 0.87983513 0.05871056 1.85252922] [ 0.16463345 -0.15327138 0.9743735 -0.08432644] [ 0. 0. 0. 1. ]] SLAMing on 191.221346184 meters Centerline goodness : 0.874620 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:1.85, Z:-0.08 [[ 0.86571488 -0.45006393 -0.21904384 7.48839005] [ 0.47231845 0.87939371 0.05984977 1.85294362] [ 0.16568955 -0.15527128 0.97387771 -0.08361614] [ 0. 0. 0. 1. ]] SLAMing on 191.281346184 meters Centerline goodness : 0.874277 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:1.85, Z:-0.08 [[ 0.86529597 -0.45063913 -0.21951596 7.49097406] [ 0.47296865 0.87904843 0.05978723 1.85215147] [ 0.16602269 -0.15555782 0.97377525 -0.08394022] [ 0. 0. 0. 1. ]] SLAMing on 191.341346184 meters Centerline goodness : 0.872914 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:1.85, Z:-0.08 [[ 0.86260088 -0.45549503 -0.2201 7.49458052] [ 0.47774967 0.87655693 0.05833695 1.85085113] [ 0.16635798 -0.15547421 0.97373138 -0.08171192] [ 0. 0. 0. 1. ]] SLAMing on 191.401346184 meters Centerline goodness : 0.870491 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.85, Z:-0.08 [[ 0.86011123 -0.46028699 -0.21987395 7.49946638] [ 0.4822163 0.87424838 0.05618903 1.84824573] [ 0.16636137 -0.15435562 0.97390874 -0.08154989] [ 0. 0. 0. 1. ]] SLAMing on 191.46134618399998 meters Centerline goodness : 0.867210 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.84, Z:-0.08 [[ 0.85829238 -0.45665319 -0.23409838 7.50308367] [ 0.48023208 0.87555201 0.05278087 1.84449013] [ 0.18086276 -0.15772297 0.97077913 -0.07680589] [ 0. 0. 0. 1. ]] SLAMing on 191.52134618399998 meters Centerline goodness : 0.866794 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.84, Z:-0.08 [[ 0.86001493 -0.4521224 -0.23655792 7.50456461] [ 0.47671193 0.87724412 0.05646673 1.84370726] [ 0.18198917 -0.16133222 0.96997518 -0.07641817] [ 0. 0. 0. 1. ]] SLAMing on 191.58134618399998 meters Centerline goodness : 0.869307 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.84, Z:-0.08 [[ 0.86158644 -0.44838523 -0.23794852 7.50508438] [ 0.47368963 0.87868626 0.05940197 1.84260016] [ 0.18244713 -0.16389368 0.9694596 -0.07650386] [ 0. 0. 0. 1. ]] SLAMing on 191.64134618399999 meters Centerline goodness : 0.870116 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.84, Z:-0.08 [[ 0.86178609 -0.44867739 -0.23667138 7.50520021] [ 0.47363937 0.87875947 0.05871566 1.83910376] [ 0.18163283 -0.16269723 0.96981397 -0.07693311] [ 0. 0. 0. 1. ]] SLAMing on 191.701346184 meters Centerline goodness : 0.867674 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.84, Z:-0.07 [[ 0.86102503 -0.4488632 -0.23907681 7.5073852 ] [ 0.47466762 0.87805104 0.06096743 1.83818896] [ 0.18255561 -0.1659765 0.96908475 -0.07368895] [ 0. 0. 0. 1. ]] SLAMing on 191.761346184 meters Centerline goodness : 0.869097 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.84, Z:-0.07 [[ 0.85991415 -0.45028558 -0.24039664 7.51338174] [ 0.47642354 0.87707226 0.06135842 1.83671773] [ 0.18321641 -0.16729359 0.9687335 -0.07456009] [ 0. 0. 0. 1. ]] SLAMing on 191.821346184 meters Centerline goodness : 0.868070 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.83, Z:-0.07 [[ 0.85753164 -0.45464854 -0.24069523 7.51868967] [ 0.48065545 0.87485962 0.05992475 1.83353151] [ 0.18332984 -0.16707884 0.96874911 -0.07356318] [ 0. 0. 0. 1. ]] SLAMing on 191.881346184 meters Centerline goodness : 0.865223 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.83, Z:-0.07 [[ 0.8563297 -0.45578649 -0.24281294 7.52498472] [ 0.48238417 0.87383755 0.06093806 1.83210792] [ 0.18440432 -0.16931219 0.96815723 -0.07337078] [ 0. 0. 0. 1. ]] SLAMing on 191.941346184 meters Centerline goodness : 0.866289 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.83, Z:-0.07 [[ 0.85701147 -0.45423617 -0.24331222 7.52567025] [ 0.48109993 0.8744684 0.06203132 1.83092807] [ 0.18459198 -0.17021905 0.96796244 -0.07347498] [ 0. 0. 0. 1. ]] SLAMing on 192.001346184 meters Centerline goodness : 0.865679 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.83, Z:-0.07 [[ 0.85943043 -0.44930982 -0.24392625 7.52227031] [ 0.47676816 0.87661596 0.06508897 1.83028582] [ 0.18458453 -0.17223571 0.96760705 -0.07294493] [ 0. 0. 0. 1. ]] SLAMing on 192.061346184 meters Centerline goodness : 0.863876 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.83, Z:-0.07 [[ 0.85984229 -0.44862874 -0.2437283 7.52339987] [ 0.47600568 0.87704261 0.06492189 1.83015331] [ 0.18463428 -0.17183864 0.96766816 -0.07454973] [ 0. 0. 0. 1. ]] SLAMing on 192.121346184 meters Centerline goodness : 0.865507 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.83, Z:-0.07 [[ 0.85904543 -0.45109993 -0.24197067 7.52094457] [ 0.4777376 0.87628098 0.0624374 1.82957494] [ 0.18386879 -0.16923505 0.96827257 -0.07343808] [ 0. 0. 0. 1. ]] SLAMing on 192.181346184 meters Centerline goodness : 0.864957 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.83, Z:-0.07 [[ 0.85959274 -0.44973257 -0.2425715 7.52071487] [ 0.47668974 0.87676083 0.06369724 1.82810959] [ 0.18403046 -0.17038503 0.96804015 -0.07227794] [ 0. 0. 0. 1. ]] SLAMing on 192.24134618399998 meters Centerline goodness : 0.862656 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.83, Z:-0.07 [[ 0.85973274 -0.4489654 -0.24349475 7.52324645] [ 0.47627456 0.87690913 0.06475281 1.82570411] [ 0.18445099 -0.17164047 0.96773828 -0.07191386] [ 0. 0. 0. 1. ]] SLAMing on 192.30134618399998 meters Centerline goodness : 0.862430 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.82, Z:-0.07 [[ 0.85934847 -0.44913947 -0.24452798 7.52533548] [ 0.47684514 0.87651886 0.06582857 1.82372065] [ 0.18476717 -0.17317166 0.96740512 -0.0704975 ] [ 0. 0. 0. 1. ]] SLAMing on 192.36134618399998 meters Centerline goodness : 0.862026 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.82, Z:-0.07 [[ 0.85948253 -0.44842887 -0.2453596 7.52735262] [ 0.47654682 0.87657228 0.06726186 1.81966101] [ 0.18491326 -0.17473574 0.96709591 -0.06909111] [ 0. 0. 0. 1. ]] SLAMing on 192.421346184 meters Centerline goodness : 0.862114 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.82, Z:-0.07 [[ 0.86000877 -0.44728746 -0.24559893 7.53177318] [ 0.47555635 0.87705787 0.0679386 1.81707233] [ 0.18501639 -0.17522393 0.96698785 -0.07165434] [ 0. 0. 0. 1. ]] SLAMing on 192.481346184 meters Centerline goodness : 0.858319 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.82, Z:-0.07 [[ 0.86015786 -0.44661835 -0.24629354 7.53324832] [ 0.47514324 0.8772246 0.06867247 1.81555927] [ 0.18538437 -0.17609388 0.96675932 -0.07117796] [ 0. 0. 0. 1. ]] SLAMing on 192.541346184 meters Centerline goodness : 0.858278 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.81, Z:-0.07 [[ 0.86019668 -0.44602131 -0.24723806 7.53631382] [ 0.47503644 0.87714792 0.07036987 1.81114068] [ 0.18547789 -0.17797901 0.9663961 -0.07020863] [ 0. 0. 0. 1. ]] SLAMing on 192.601346184 meters Centerline goodness : 0.855609 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.81, Z:-0.07 [[ 0.85871926 -0.44909458 -0.24681025 7.53622183] [ 0.47778029 0.87578481 0.06875294 1.81013704] [ 0.18527609 -0.17696055 0.96662182 -0.06795232] [ 0. 0. 0. 1. ]] SLAMing on 192.661346184 meters Centerline goodness : 0.854473 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.80, Z:-0.07 [[ 0.85538553 -0.4485123 -0.25913764 7.54215706] [ 0.47883681 0.87546921 0.06533738 1.80003208] [ 0.1975624 -0.17997329 0.96362789 -0.0651145 ] [ 0. 0. 0. 1. ]] SLAMing on 192.721346184 meters Centerline goodness : 0.855409 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.80, Z:-0.06 [[ 0.85401946 -0.45108602 -0.25917594 7.54478903] [ 0.48127323 0.87420645 0.06433622 1.798 ] [ 0.19755211 -0.17967883 0.96368495 -0.06403935] [ 0. 0. 0. 1. ]] SLAMing on 192.781346184 meters Centerline goodness : 0.851581 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.80, Z:-0.06 [[ 0.85366389 -0.4514669 -0.25968365 7.54590236] [ 0.48187543 0.87383313 0.06489789 1.7967788 ] [ 0.19762093 -0.18053616 0.96351059 -0.06297725] [ 0. 0. 0. 1. ]] SLAMing on 192.841346184 meters Centerline goodness : 0.850953 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.79, Z:-0.06 [[ 0.85396872 -0.45167375 -0.25831813 7.54490593] [ 0.48184257 0.87384513 0.06498023 1.7901989 ] [ 0.19638017 -0.17995976 0.96387204 -0.06135926] [ 0. 0. 0. 1. ]] SLAMing on 192.901346184 meters Centerline goodness : 0.853559 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.79, Z:-0.06 [[ 0.8547127 -0.4500264 -0.25873236 7.54349287] [ 0.48064193 0.8743559 0.06697082 1.78761068] [ 0.19608553 -0.18159843 0.96362465 -0.05935484] [ 0. 0. 0. 1. ]] SLAMing on 192.96134618399998 meters Centerline goodness : 0.849726 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.79, Z:-0.06 [[ 0.85565133 -0.44869006 -0.25794968 7.54129143] [ 0.47911957 0.87519286 0.066947 1.78760749] [ 0.19571727 -0.18087202 0.96383612 -0.05992358] [ 0. 0. 0. 1. ]] SLAMing on 193.02134618399998 meters Centerline goodness : 0.853421 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.78, Z:-0.05 [[ 0.85376756 -0.44463636 -0.27088643 7.53916318] [ 0.47697384 0.87654523 0.06453227 1.78211856] [ 0.20875082 -0.1843013 0.9604458 -0.05342526] [ 0. 0. 0. 1. ]] SLAMing on 193.08134618399998 meters Centerline goodness : 0.850015 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.78, Z:-0.05 [[ 0.85192814 -0.44891642 -0.26961546 7.54052441] [ 0.48046574 0.87485322 0.06151837 1.7819917 ] [ 0.20825735 -0.18195022 0.96100104 -0.05342788] [ 0. 0. 0. 1. ]] SLAMing on 193.14134618399999 meters Centerline goodness : 0.849187 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.78, Z:-0.05 [[ 0.8487287 -0.45339396 -0.27220122 7.54539575] [ 0.48547773 0.87211209 0.06108912 1.78441263] [ 0.20969253 -0.18399572 0.96029923 -0.0501069 ] [ 0. 0. 0. 1. ]] SLAMing on 193.201346184 meters Centerline goodness : 0.851436 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.78, Z:-0.05 [[ 0.84811549 -0.45393565 -0.27320787 7.54727557] [ 0.48628987 0.87164127 0.06134864 1.78485666] [ 0.21029092 -0.18488895 0.95999677 -0.04928832] [ 0. 0. 0. 1. ]] SLAMing on 193.261346184 meters Centerline goodness : 0.847574 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.78, Z:-0.05 [[ 0.84777707 -0.45417959 -0.27385202 7.5483611 ] [ 0.48673951 0.87136735 0.06167319 1.78449294] [ 0.21061501 -0.18557972 0.95979242 -0.04846349] [ 0. 0. 0. 1. ]] SLAMing on 193.321346184 meters Centerline goodness : 0.844735 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.79, Z:-0.05 [[ 0.84714542 -0.45540826 -0.27376625 7.54760948] [ 0.48767869 0.87093989 0.06027604 1.78817633] [ 0.21098374 -0.18457254 0.95990564 -0.0486295 ] [ 0. 0. 0. 1. ]] SLAMing on 193.381346184 meters Centerline goodness : 0.843900 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.79, Z:-0.05 [[ 0.84680597 -0.45576476 -0.27422279 7.54774935] [ 0.48781073 0.87096664 0.05880306 1.79398718] [ 0.21203854 -0.1835636 0.95986669 -0.04998367] [ 0. 0. 0. 1. ]] SLAMing on 193.441346184 meters Centerline goodness : 0.840993 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.80, Z:-0.05 [[ 0.84629256 -0.45572242 -0.27587311 7.54754054] [ 0.48797843 0.8709072 0.05828977 1.80264985] [ 0.21369593 -0.18395033 0.959425 -0.05069452] [ 0. 0. 0. 1. ]] SLAMing on 193.501346184 meters Centerline goodness : 0.843164 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.81, Z:-0.05 [[ 0.84636358 -0.45551363 -0.27600005 7.55019651] [ 0.48755462 0.87121405 0.05724127 1.80620792] [ 0.21438094 -0.18301203 0.95945162 -0.05401892] [ 0. 0. 0. 1. ]] SLAMing on 193.561346184 meters Centerline goodness : 0.842425 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.81, Z:-0.05 [[ 0.84652978 -0.45586917 -0.27490113 7.54599383] [ 0.48720028 0.87155807 0.05497647 1.81211278] [ 0.21453022 -0.18047113 0.95989945 -0.05496562] [ 0. 0. 0. 1. ]] SLAMing on 193.621346184 meters Centerline goodness : 0.841265 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.82, Z:-0.06 [[ 0.84776744 -0.45273615 -0.27626139 7.54554734] [ 0.48455977 0.87293749 0.05640903 1.81654875] [ 0.21562052 -0.1816869 0.9594257 -0.05640889] [ 0. 0. 0. 1. ]] SLAMing on 193.681346184 meters Centerline goodness : 0.843343 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.82, Z:-0.06 [[ 0.84913831 -0.44965513 -0.27708192 7.54217852] [ 0.48164983 0.87451689 0.05686518 1.82392888] [ 0.2167431 -0.18174287 0.95916211 -0.05773039] [ 0. 0. 0. 1. ]] SLAMing on 193.74134618399998 meters Centerline goodness : 0.841884 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.84, Z:-0.06 [[ 0.85065398 -0.45427991 -0.26460833 7.5407707 ] [ 0.48375475 0.87343266 0.05564828 1.83646003] [ 0.20583767 -0.17534297 0.96274903 -0.06114658] [ 0. 0. 0. 1. ]] SLAMing on 193.80134618399998 meters Centerline goodness : 0.842914 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.84, Z:-0.06 [[ 0.85027934 -0.45534896 -0.26397419 7.53905721] [ 0.48429189 0.87326439 0.05357857 1.84130175] [ 0.20612232 -0.17339731 0.96304048 -0.06229043] [ 0. 0. 0. 1. ]] SLAMing on 193.86134618399998 meters Centerline goodness : 0.844867 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.85, Z:-0.06 [[ 0.8513192 -0.45990785 -0.25246861 7.53889478] [ 0.48705116 0.8716747 0.05444624 1.85251205] [ 0.19503025 -0.16931626 0.96607205 -0.0647759 ] [ 0. 0. 0. 1. ]] SLAMing on 193.921346184 meters Centerline goodness : 0.844408 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.86, Z:-0.06 [[ 0.85195988 -0.45772792 -0.25426267 7.53855322] [ 0.48549955 0.87242818 0.05620723 1.85645492] [ 0.1960983 -0.17133072 0.96550051 -0.06458478] [ 0. 0. 0. 1. ]] SLAMing on 193.981346184 meters Centerline goodness : 0.845067 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.86, Z:-0.07 [[ 0.85165288 -0.45875759 -0.25343412 7.53556673] [ 0.48588858 0.87237148 0.05366826 1.86285472] [ 0.19646798 -0.16884747 0.96586276 -0.06570983] [ 0. 0. 0. 1. ]] SLAMing on 194.041346184 meters Centerline goodness : 0.846626 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.87, Z:-0.07 [[ 0.85102745 -0.46721244 -0.23971819 7.53583172] [ 0.49170998 0.86923589 0.05148077 1.87198234] [ 0.1843192 -0.16168337 0.96947662 -0.06871361] [ 0. 0. 0. 1. ]] SLAMing on 194.101346184 meters Centerline goodness : 0.848902 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.88, Z:-0.07 [[ 0.85060164 -0.46616846 -0.24323614 7.53926356] [ 0.49172286 0.86907868 0.05395251 1.87596663] [ 0.18624038 -0.16549687 0.96846544 -0.06781096] [ 0. 0. 0. 1. ]] SLAMing on 194.161346184 meters Centerline goodness : 0.848408 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.88, Z:-0.07 [[ 0.85170362 -0.46352795 -0.24442335 7.53632711] [ 0.48945778 0.87028328 0.05511888 1.88125877] [ 0.18716841 -0.16657986 0.96810079 -0.067726 ] [ 0. 0. 0. 1. ]] SLAMing on 194.221346184 meters Centerline goodness : 0.850718 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.88, Z:-0.07 [[ 0.85371494 -0.45950892 -0.24499461 7.53453918] [ 0.48573743 0.87227079 0.05659345 1.88390846] [ 0.18769645 -0.16731772 0.96787128 -0.06941454] [ 0. 0. 0. 1. ]] SLAMing on 194.281346184 meters Centerline goodness : 0.852050 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.89, Z:-0.07 [[ 0.85789515 -0.45781585 -0.23328215 7.52844171] [ 0.48281341 0.87358679 0.0611337 1.8919117 ] [ 0.17580423 -0.16507805 0.9704855 -0.07107159] [ 0. 0. 0. 1. ]] SLAMing on 194.341346184 meters Centerline goodness : 0.853902 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.90, Z:-0.07 [[ 0.85812068 -0.45714851 -0.23376085 7.52963077] [ 0.4821766 0.87395388 0.06091267 1.89528114] [ 0.17645006 -0.16498443 0.97038421 -0.07298374] [ 0. 0. 0. 1. ]] SLAMing on 194.401346184 meters Centerline goodness : 0.852258 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.90, Z:-0.08 [[ 0.85674821 -0.46014311 -0.23291805 7.5330052 ] [ 0.48456544 0.87282528 0.05807207 1.89637476] [ 0.1765753 -0.16261718 0.97076095 -0.07535381] [ 0. 0. 0. 1. ]] SLAMing on 194.46134618399998 meters Centerline goodness : 0.852697 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.90, Z:-0.08 [[ 0.85635454 -0.46535964 -0.22382426 7.53810992] [ 0.48935942 0.86972951 0.06401519 1.89882186] [ 0.16487648 -0.16435021 0.97252494 -0.07848198] [ 0. 0. 0. 1. ]] SLAMing on 194.52134618399998 meters Centerline goodness : 0.850149 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.90, Z:-0.08 [[ 0.85701214 -0.46391638 -0.2243029 7.54126763] [ 0.48815106 0.8703318 0.06504691 1.89643272] [ 0.16504162 -0.16523969 0.97234619 -0.08007804] [ 0. 0. 0. 1. ]] SLAMing on 194.58134618399998 meters Centerline goodness : 0.850302 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.89, Z:-0.08 [[ 0.85975035 -0.45891339 -0.22411569 7.54123562] [ 0.48339972 0.87281856 0.06717492 1.8910309 ] [ 0.16478486 -0.16609113 0.97224466 -0.08113309] [ 0. 0. 0. 1. ]] SLAMing on 194.64134618399999 meters Centerline goodness : 0.848655 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.89, Z:-0.08 [[ 0.86072213 -0.45661631 -0.22507547 7.54229137] [ 0.48158565 0.8736596 0.0692399 1.88897219] [ 0.16502328 -0.16798942 0.97187801 -0.08090712] [ 0. 0. 0. 1. ]] SLAMing on 194.701346184 meters Centerline goodness : 0.848328 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.89, Z:-0.08 [[ 0.86056785 -0.45662495 -0.22564713 7.54344673] [ 0.48178187 0.87351071 0.06975141 1.88779293] [ 0.16525495 -0.16873852 0.97170886 -0.08011936] [ 0. 0. 0. 1. ]] SLAMing on 194.761346184 meters Centerline goodness : 0.846085 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.88, Z:-0.08 [[ 0.85949961 -0.45943048 -0.22401799 7.54866 ] [ 0.48386597 0.87257911 0.06692842 1.88496486] [ 0.16472447 -0.16591963 0.97228418 -0.0837155 ] [ 0. 0. 0. 1. ]] SLAMing on 194.821346184 meters Centerline goodness : 0.847328 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.88, Z:-0.08 [[ 0.85892973 -0.45999046 -0.22505221 7.55233301] [ 0.48471476 0.87206227 0.06752031 1.88405343] [ 0.16520084 -0.16708133 0.97200438 -0.08393146] [ 0. 0. 0. 1. ]] SLAMing on 194.881346184 meters Centerline goodness : 0.846632 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.88, Z:-0.08 [[ 0.85942085 -0.45748642 -0.22825859 7.55303487] [ 0.48347035 0.87241144 0.07179625 1.88365381] [ 0.1662896 -0.17205945 0.9709497 -0.08046917] [ 0. 0. 0. 1. ]] SLAMing on 194.941346184 meters Centerline goodness : 0.848004 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.88, Z:-0.08 [[ 0.86004717 -0.45654907 -0.22777579 7.55393943] [ 0.48245818 0.87295905 0.07194862 1.88074149] [ 0.16599086 -0.1717715 0.97105179 -0.08118171] [ 0. 0. 0. 1. ]] SLAMing on 195.001346184 meters Centerline goodness : 0.847878 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.88, Z:-0.08 [[ 0.85884609 -0.4512404 -0.24241598 7.55900613] [ 0.47918699 0.87500127 0.06893917 1.87911392] [ 0.18100615 -0.17537072 0.96771994 -0.07887619] [ 0. 0. 0. 1. ]] SLAMing on 195.061346184 meters Centerline goodness : 0.844766 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.88, Z:-0.08 [[ 0.85875465 -0.45136548 -0.24250702 7.55897529] [ 0.4792956 0.87495677 0.06874867 1.87939722] [ 0.18115238 -0.17527079 0.96771068 -0.07860447] [ 0. 0. 0. 1. ]] SLAMing on 195.121346184 meters Centerline goodness : 0.844397 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.88, Z:-0.08 [[ 0.85915299 -0.45019948 -0.24326234 7.55887896] [ 0.47848074 0.87530401 0.06999334 1.87865473] [ 0.18141754 -0.17653133 0.96743184 -0.07747094] [ 0. 0. 0. 1. ]] SLAMing on 195.181346184 meters Centerline goodness : 0.842535 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.87, Z:-0.08 [[ 0.85872839 -0.45177911 -0.24182883 7.56083817] [ 0.47957128 0.87481441 0.0686378 1.87366822] [ 0.18054622 -0.17491538 0.96788825 -0.07793316] [ 0. 0. 0. 1. ]] SLAMing on 195.24134618399998 meters Centerline goodness : 0.844753 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.87, Z:-0.08 [[ 0.85775528 -0.45320213 -0.24261845 7.56222664] [ 0.48131848 0.87379012 0.06945029 1.87070097] [ 0.18052259 -0.17634809 0.96763265 -0.07514446] [ 0. 0. 0. 1. ]] SLAMing on 195.30134618399998 meters Centerline goodness : 0.842550 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.86, Z:-0.07 [[ 0.85787085 -0.45218071 -0.24411107 7.56688981] [ 0.48111536 0.8736594 0.07243797 1.86398449] [ 0.18051488 -0.17958801 0.96703802 -0.07387982] [ 0. 0. 0. 1. ]] SLAMing on 195.36134618399998 meters Centerline goodness : 0.841569 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.86, Z:-0.07 [[ 0.85793117 -0.45169321 -0.24480064 7.56967495] [ 0.48099157 0.87361927 0.07373253 1.86022971] [ 0.18055807 -0.18100448 0.96676583 -0.07333814] [ 0. 0. 0. 1. ]] SLAMing on 195.421346184 meters Centerline goodness : 0.841266 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.85, Z:-0.07 [[ 0.85826968 -0.45199063 -0.2430589 7.5727516 ] [ 0.48082229 0.87377629 0.07297199 1.85259718] [ 0.17939645 -0.17949778 0.96726287 -0.07482588] [ 0. 0. 0. 1. ]] SLAMing on 195.481346184 meters Centerline goodness : 0.837553 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.84, Z:-0.08 [[ 0.85747716 -0.45424619 -0.2416471 7.57776205] [ 0.48256935 0.87293956 0.07143775 1.84447843] [ 0.17849299 -0.17786772 0.96773102 -0.07534756] [ 0. 0. 0. 1. ]] SLAMing on 195.541346184 meters Centerline goodness : 0.838823 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.83, Z:-0.07 [[ 0.85599788 -0.44915656 -0.25598048 7.57932204] [ 0.48044727 0.87397206 0.07309762 1.83305912] [ 0.19088752 -0.18555653 0.96391428 -0.06885059] [ 0. 0. 0. 1. ]] SLAMing on 195.601346184 meters Centerline goodness : 0.836611 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.82, Z:-0.07 [[ 0.8560353 -0.44960945 -0.25505864 7.58116841] [ 0.48080547 0.87374234 0.07348756 1.82487785] [ 0.18981484 -0.18554154 0.96412897 -0.06752734] [ 0. 0. 0. 1. ]] SLAMing on 195.661346184 meters Centerline goodness : 0.835571 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.82, Z:-0.07 [[ 0.85663401 -0.44781229 -0.25620758 7.58457054] [ 0.47964943 0.8741821 0.07577651 1.82015082] [ 0.19003843 -0.18780256 0.96364703 -0.06700529] [ 0. 0. 0. 1. ]] SLAMing on 195.721346184 meters Centerline goodness : 0.833615 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.82, Z:-0.07 [[ 0.85679135 -0.44704653 -0.25701748 7.58744332] [ 0.47931426 0.87423977 0.07721831 1.81610447] [ 0.19017473 -0.18935212 0.96331685 -0.06622851] [ 0. 0. 0. 1. ]] SLAMing on 195.781346184 meters Centerline goodness : 0.832262 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.81, Z:-0.06 [[ 0.85552728 -0.44239634 -0.26899546 7.58465961] [ 0.4767116 0.8757835 0.07582418 1.80710516] [ 0.20203744 -0.19310291 0.96015214 -0.06127841] [ 0. 0. 0. 1. ]] SLAMing on 195.841346184 meters Centerline goodness : 0.832620 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.80, Z:-0.06 [[ 0.85482496 -0.4445995 -0.2675922 7.58508464] [ 0.47833548 0.87503804 0.07418615 1.80349588] [ 0.20117023 -0.19141502 0.96067207 -0.06073663] [ 0. 0. 0. 1. ]] SLAMing on 195.901346184 meters Centerline goodness : 0.834944 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.80, Z:-0.06 [[ 0.85432162 -0.44523796 -0.2681375 7.58723259] [ 0.4792024 0.87452221 0.07467245 1.80128946] [ 0.20124519 -0.19228642 0.96048233 -0.05983806] [ 0. 0. 0. 1. ]] SLAMing on 195.96134618399998 meters Centerline goodness : 0.832818 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.80, Z:-0.06 [[ 0.85400432 -0.44561725 -0.26851795 7.58831827] [ 0.4796096 0.87432296 0.07439083 1.80180298] [ 0.20162158 -0.19231388 0.96039789 -0.05976761] [ 0. 0. 0. 1. ]] SLAMing on 196.02134618399998 meters Centerline goodness : 0.832305 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.80, Z:-0.06 [[ 0.85327994 -0.44655934 -0.26925472 7.58912648] [ 0.48071027 0.87372443 0.0743186 1.80268158] [ 0.20206676 -0.19284808 0.96019719 -0.0586128 ] [ 0. 0. 0. 1. ]] SLAMing on 196.08134618399998 meters Centerline goodness : 0.831188 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.80, Z:-0.06 [[ 0.85093067 -0.45184117 -0.26787414 7.59049468] [ 0.48520991 0.87148327 0.07133191 1.80010685] [ 0.20121714 -0.1906737 0.96080966 -0.05704576] [ 0. 0. 0. 1. ]] SLAMing on 196.14134618399999 meters Centerline goodness : 0.833585 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.79, Z:-0.05 [[ 0.84778684 -0.4499958 -0.28064435 7.59102984] [ 0.48553793 0.87145522 0.06941697 1.79242963] [ 0.21333164 -0.19511427 0.9572983 -0.0515261 ] [ 0. 0. 0. 1. ]] SLAMing on 196.201346184 meters Centerline goodness : 0.832268 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.79, Z:-0.05 [[ 0.84715172 -0.45202292 -0.27930136 7.593628 ] [ 0.48681158 0.87093114 0.06703307 1.79064176] [ 0.21295176 -0.19275432 0.9578608 -0.05325684] [ 0. 0. 0. 1. ]] SLAMing on 196.261346184 meters Centerline goodness : 0.830853 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84908672 -0.44467988 -0.28515179 7.58568177] [ 0.47947199 0.87531454 0.06269831 1.78197625] [ 0.22171683 -0.18995859 0.9564295 -0.04901375] [ 0. 0. 0. 1. ]] SLAMing on 196.321346184 meters Centerline goodness : 0.829823 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.85009143 -0.44284267 -0.28501742 7.58545386] [ 0.47776659 0.87617938 0.06363005 1.77954418] [ 0.22154828 -0.19026316 0.95640801 -0.04917076] [ 0. 0. 0. 1. ]] SLAMing on 196.381346184 meters Centerline goodness : 0.828513 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.85038553 -0.4423032 -0.28497778 7.58686302] [ 0.4773101 0.87639427 0.06409486 1.77731168] [ 0.22140354 -0.19052811 0.95638879 -0.04970338] [ 0. 0. 0. 1. ]] SLAMing on 196.441346184 meters Centerline goodness : 0.828461 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84998549 -0.44214073 -0.2864197 7.59316325] [ 0.47761711 0.87617079 0.06485872 1.77564747] [ 0.2222759 -0.19192792 0.95590643 -0.05094887] [ 0. 0. 0. 1. ]] SLAMing on 196.501346184 meters Centerline goodness : 0.826075 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84878319 -0.44556875 -0.2846675 7.59247514] [ 0.48009878 0.87502946 0.06187568 1.77553135] [ 0.22152258 -0.18918756 0.95662731 -0.0510724 ] [ 0. 0. 0. 1. ]] SLAMing on 196.561346184 meters Centerline goodness : 0.828131 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84849368 -0.44560323 -0.28547545 7.59133232] [ 0.480384 0.87484704 0.06224046 1.77671576] [ 0.2220128 -0.18994848 0.95636285 -0.04898722] [ 0. 0. 0. 1. ]] SLAMing on 196.621346184 meters Centerline goodness : 0.826858 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84867841 -0.44534489 -0.28532943 7.59118081] [ 0.47991212 0.87515944 0.06148428 1.77833918] [ 0.22232703 -0.18911344 0.95645533 -0.04981899] [ 0. 0. 0. 1. ]] SLAMing on 196.681346184 meters Centerline goodness : 0.829095 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84842108 -0.44662109 -0.28409729 7.59241516] [ 0.48050798 0.87497245 0.05945833 1.77856204] [ 0.22202196 -0.18695672 0.95695007 -0.05199812] [ 0. 0. 0. 1. ]] SLAMing on 196.74134618399998 meters Centerline goodness : 0.830386 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84731922 -0.44823142 -0.28484862 7.58943575] [ 0.48206902 0.87418624 0.058377 1.78454239] [ 0.22284434 -0.18678065 0.95679329 -0.04981494] [ 0. 0. 0. 1. ]] SLAMing on 196.80134618399998 meters Centerline goodness : 0.832190 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.79, Z:-0.05 [[ 0.84655409 -0.44968404 -0.28483404 7.58718134] [ 0.4832446 0.8736277 0.05700254 1.78833193] [ 0.22320578 -0.18590025 0.95688049 -0.04865682] [ 0. 0. 0. 1. ]] SLAMing on 196.86134618399998 meters Centerline goodness : 0.831484 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.79, Z:-0.05 [[ 0.84667152 -0.44936919 -0.28498186 7.5864991 ] [ 0.48281334 0.87390389 0.0564205 1.79085027] [ 0.22369312 -0.18536268 0.95687098 -0.04898654] [ 0. 0. 0. 1. ]] SLAMing on 196.921346184 meters Centerline goodness : 0.833546 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.79, Z:-0.05 [[ 0.84826179 -0.44769386 -0.28288187 7.58216561] [ 0.4803852 0.8753182 0.0552097 1.79246673] [ 0.2228946 -0.18272454 0.95756448 -0.05156068] [ 0. 0. 0. 1. ]] SLAMing on 196.981346184 meters Centerline goodness : 0.834117 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.79, Z:-0.05 [[ 0.84893423 -0.44667506 -0.28247491 7.58116754] [ 0.47927529 0.87592062 0.05530156 1.79219999] [ 0.22272377 -0.18233063 0.95767931 -0.05215149] [ 0. 0. 0. 1. ]] SLAMing on 197.041346184 meters Centerline goodness : 0.834170 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.79, Z:-0.05 [[ 0.8505677 -0.44239058 -0.28429766 7.58029956] [ 0.47599987 0.87748649 0.05866511 1.79296237] [ 0.22351447 -0.18522429 0.95693952 -0.05154722] [ 0. 0. 0. 1. ]] SLAMing on 197.101346184 meters Centerline goodness : 0.833800 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.79, Z:-0.05 [[ 0.84968272 -0.4450793 -0.28274314 7.58298342] [ 0.47786717 0.87663896 0.05609906 1.79084381] [ 0.22289512 -0.18278007 0.95755376 -0.05333015] [ 0. 0. 0. 1. ]] SLAMing on 197.161346184 meters Centerline goodness : 0.834113 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.79, Z:-0.05 [[ 0.84900969 -0.44567976 -0.28381702 7.58711482] [ 0.47887758 0.87603803 0.05686508 1.78835939] [ 0.22329089 -0.18419261 0.95719082 -0.052803 ] [ 0. 0. 0. 1. ]] SLAMing on 197.221346184 meters Centerline goodness : 0.834031 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84869139 -0.4452284 -0.28547257 7.58748745] [ 0.47946902 0.87550712 0.05997282 1.78196897] [ 0.22323167 -0.18777367 0.95650859 -0.04743221] [ 0. 0. 0. 1. ]] SLAMing on 197.281346184 meters Centerline goodness : 0.834995 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.04 [[ 0.84854354 -0.44466008 -0.28679484 7.58861628] [ 0.47954794 0.87534618 0.0616671 1.77953068] [ 0.22362387 -0.18985909 0.95600517 -0.04486535] [ 0. 0. 0. 1. ]] SLAMing on 197.341346184 meters Centerline goodness : 0.834805 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.78, Z:-0.05 [[ 0.84898097 -0.44450282 -0.28574212 7.59097194] [ 0.47905177 0.87565354 0.06115783 1.77506497] [ 0.22302627 -0.18880711 0.95635305 -0.0462991 ] [ 0. 0. 0. 1. ]] SLAMing on 197.401346184 meters Centerline goodness : 0.833605 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.77, Z:-0.05 [[ 0.84860497 -0.44626142 -0.28411327 7.59324762] [ 0.47999788 0.87529382 0.05884527 1.77306958] [ 0.22242222 -0.18631016 0.95698322 -0.04847784] [ 0. 0. 0. 1. ]] SLAMing on 197.46134618399998 meters Centerline goodness : 0.834452 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.77, Z:-0.05 [[ 0.84855539 -0.44578736 -0.28500417 7.59480584] [ 0.47987908 0.87530347 0.05966495 1.77213292] [ 0.22286725 -0.18739655 0.95666751 -0.0476977 ] [ 0. 0. 0. 1. ]] SLAMing on 197.52134618399998 meters Centerline goodness : 0.836622 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.77, Z:-0.05 [[ 0.84854524 -0.44549999 -0.28548335 7.5946129 ] [ 0.47989692 0.87522966 0.06059702 1.76989626] [ 0.22286752 -0.18842189 0.95646603 -0.04571815] [ 0. 0. 0. 1. ]] SLAMing on 197.58134618399998 meters Centerline goodness : 0.837472 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.77, Z:-0.05 [[ 0.84684341 -0.44924086 -0.28467329 7.59719242] [ 0.48289968 0.8737777 0.05762314 1.77143097] [ 0.2228545 -0.18626641 0.95689116 -0.04678316] [ 0. 0. 0. 1. ]] SLAMing on 197.64134618399999 meters Centerline goodness : 0.838643 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.77, Z:-0.05 [[ 0.84625425 -0.44985318 -0.28545727 7.59894186] [ 0.48373636 0.87330145 0.05782484 1.77114482] [ 0.22327756 -0.18702058 0.95664541 -0.04590084] [ 0. 0. 0. 1. ]] SLAMing on 197.701346184 meters Centerline goodness : 0.838923 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.77, Z:-0.05 [[ 0.84679772 -0.44926807 -0.28476626 7.59850426] [ 0.4830406 0.87367305 0.05802748 1.76877937] [ 0.22272271 -0.18669121 0.95683906 -0.04623641] [ 0. 0. 0. 1. ]] SLAMing on 197.761346184 meters Centerline goodness : 0.838770 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.77, Z:-0.05 [[ 0.84713248 -0.44823476 -0.28539825 7.59860179] [ 0.4823319 0.87399844 0.05901416 1.76788734] [ 0.22298543 -0.18764949 0.95659039 -0.04528874] [ 0. 0. 0. 1. ]] SLAMing on 197.821346184 meters Centerline goodness : 0.840169 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.77, Z:-0.05 [[ 0.84703455 -0.4479892 -0.28607368 7.60043465] [ 0.48231551 0.87397844 0.05944271 1.76721163] [ 0.22339254 -0.1883278 0.95636207 -0.04505178] [ 0. 0. 0. 1. ]] SLAMing on 197.881346184 meters Centerline goodness : 0.841611 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.76, Z:-0.05 [[ 0.84802562 -0.44737528 -0.28409137 7.60263975] [ 0.48114375 0.87466406 0.05885129 1.76073044] [ 0.2221559 -0.18659619 0.95698935 -0.04766732] [ 0. 0. 0. 1. ]] SLAMing on 197.941346184 meters Centerline goodness : 0.842052 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.76, Z:-0.05 [[ 0.84799277 -0.44692997 -0.28488922 7.60468182] [ 0.48111642 0.87459984 0.06001758 1.75814188] [ 0.22234041 -0.18795935 0.95667969 -0.04670407] [ 0. 0. 0. 1. ]] SLAMing on 198.001346184 meters Centerline goodness : 0.843379 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.76, Z:-0.05 [[ 0.8468597 -0.4495879 -0.28407634 7.6055399 ] [ 0.4834002 0.87342557 0.05875388 1.75511127] [ 0.22170451 -0.18707885 0.9569998 -0.04534971] [ 0. 0. 0. 1. ]] SLAMing on 198.061346184 meters Centerline goodness : 0.843136 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.04 [[ 0.84420064 -0.44708447 -0.29570382 7.60417092] [ 0.48278622 0.87387769 0.0570547 1.7448124 ] [ 0.2329007 -0.19092734 0.95357434 -0.04046931] [ 0. 0. 0. 1. ]] SLAMing on 198.121346184 meters Centerline goodness : 0.844725 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.04 [[ 0.84190834 -0.44551485 -0.30447803 7.60023493] [ 0.48257131 0.87410583 0.0553527 1.72960411] [ 0.24148557 -0.19353426 0.95090967 -0.03767068] [ 0. 0. 0. 1. ]] SLAMing on 198.181346184 meters Centerline goodness : 0.845342 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.04 [[ 0.84067276 -0.44678298 -0.30602986 7.60205631] [ 0.4843138 0.87311751 0.05573109 1.7299592 ] [ 0.24230033 -0.19506609 0.95038927 -0.03510305] [ 0. 0. 0. 1. ]] SLAMing on 198.24134618399998 meters Centerline goodness : 0.846812 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.04 [[ 0.83946585 -0.44992392 -0.30473851 7.60479463] [ 0.48655217 0.87205553 0.05278391 1.72998419] [ 0.24200016 -0.19258147 0.95097229 -0.03682859] [ 0. 0. 0. 1. ]] SLAMing on 198.30134618399998 meters Centerline goodness : 0.847810 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.03 [[ 0.83890729 -0.45028128 -0.30574718 7.60570701] [ 0.48733886 0.87156765 0.05357867 1.72845823] [ 0.24235388 -0.19395002 0.95060401 -0.03452048] [ 0. 0. 0. 1. ]] SLAMing on 198.36134618399998 meters Centerline goodness : 0.850718 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.03 [[ 0.83841726 -0.45045492 -0.3068336 7.60768855] [ 0.48790913 0.87121006 0.05420066 1.72719952] [ 0.24290157 -0.19514968 0.95021862 -0.03299477] [ 0. 0. 0. 1. ]] SLAMing on 198.421346184 meters Centerline goodness : 0.850890 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.03 [[ 0.83805433 -0.45121737 -0.3067048 7.60817089] [ 0.48841758 0.87098695 0.0531978 1.72920059] [ 0.2431321 -0.19438266 0.95031687 -0.03381461] [ 0. 0. 0. 1. ]] SLAMing on 198.481346184 meters Centerline goodness : 0.852343 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.03 [[ 0.83869377 -0.44838208 -0.30910561 7.60097547] [ 0.48317542 0.87449263 0.04247542 1.73152338] [ 0.25126536 -0.1849761 0.95007871 -0.02863986] [ 0. 0. 0. 1. ]] SLAMing on 198.541346184 meters Centerline goodness : 0.855314 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.03 [[ 0.83977991 -0.4472662 -0.30777047 7.59689309] [ 0.48155558 0.87541968 0.04176837 1.73280294] [ 0.25074674 -0.18328482 0.95054339 -0.02946635] [ 0. 0. 0. 1. ]] SLAMing on 198.601346184 meters Centerline goodness : 0.854655 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.03 [[ 0.84047725 -0.44439013 -0.31002484 7.59861713] [ 0.47960476 0.87638064 0.04400286 1.7355793 ] [ 0.25214533 -0.18567279 0.94970961 -0.02954474] [ 0. 0. 0. 1. ]] SLAMing on 198.661346184 meters Centerline goodness : 0.858126 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.03 [[ 0.84079102 -0.44403038 -0.30968933 7.59670486] [ 0.47909372 0.87667287 0.04374808 1.73606113] [ 0.25207075 -0.18515321 0.94983084 -0.02922045] [ 0. 0. 0. 1. ]] SLAMing on 198.721346184 meters Centerline goodness : 0.857403 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.03 [[ 0.84045634 -0.44393608 -0.31073122 7.59567389] [ 0.47923618 0.87658962 0.04385565 1.73954271] [ 0.25291465 -0.1857724 0.94948554 -0.02792015] [ 0. 0. 0. 1. ]] SLAMing on 198.781346184 meters Centerline goodness : 0.859834 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.03 [[ 0.8384911 -0.44807442 -0.31009998 7.59997021] [ 0.48264991 0.87485573 0.04094543 1.73922395] [ 0.25294614 -0.18400211 0.94982181 -0.02869692] [ 0. 0. 0. 1. ]] SLAMing on 198.841346184 meters Centerline goodness : 0.860165 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.03 [[ 0.83648217 -0.45253757 -0.3090426 7.60239238] [ 0.48625254 0.87300121 0.03778033 1.73887871] [ 0.25269755 -0.18187532 0.95029749 -0.0286869 ] [ 0. 0. 0. 1. ]] SLAMing on 198.901346184 meters Centerline goodness : 0.860638 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.03 [[ 0.8341913 -0.44976972 -0.31911139 7.59694193] [ 0.48559645 0.87333564 0.03848313 1.72783021] [ 0.2613828 -0.18706165 0.94693557 -0.02658617] [ 0. 0. 0. 1. ]] SLAMing on 198.96134618399998 meters Centerline goodness : 0.862184 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.03 [[ 0.83380124 -0.4497891 -0.32010194 7.5992165 ] [ 0.48577763 0.87324191 0.03832308 1.73088718] [ 0.26228912 -0.18745219 0.94660768 -0.02728231] [ 0. 0. 0. 1. ]] SLAMing on 199.02134618399998 meters Centerline goodness : 0.861624 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.03 [[ 0.83463349 -0.44872472 -0.31942615 7.59939378] [ 0.48455824 0.87391356 0.03844994 1.72926767] [ 0.26189741 -0.18687218 0.94683079 -0.02881186] [ 0. 0. 0. 1. ]] SLAMing on 199.08134618399998 meters Centerline goodness : 0.864878 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.03 [[ 0.83536656 -0.44865586 -0.31760136 7.59956167] [ 0.48394577 0.87427899 0.03785161 1.72364871] [ 0.26068985 -0.1853218 0.94746854 -0.0298177 ] [ 0. 0. 0. 1. ]] SLAMing on 199.14134618399999 meters Centerline goodness : 0.866023 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.03 [[ 0.83504697 -0.44837116 -0.31884144 7.6000464 ] [ 0.4840902 0.87416928 0.03853251 1.72455925] [ 0.26144453 -0.18652447 0.94702449 -0.02809956] [ 0. 0. 0. 1. ]] SLAMing on 199.201346184 meters Centerline goodness : 0.866713 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.03 [[ 0.83524665 -0.44725552 -0.31988362 7.60218491] [ 0.48358092 0.87437903 0.0401349 1.72141919] [ 0.26174897 -0.18821215 0.94660639 -0.02689363] [ 0. 0. 0. 1. ]] SLAMing on 199.261346184 meters Centerline goodness : 0.869572 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.83475111 -0.44719279 -0.32126188 7.60408981] [ 0.48410613 0.87403749 0.04122764 1.72002195] [ 0.26235822 -0.18993967 0.94609253 -0.02483024] [ 0. 0. 0. 1. ]] SLAMing on 199.321346184 meters Centerline goodness : 0.866618 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:-0.02 [[ 0.83458652 -0.44721613 -0.32165676 7.60580638] [ 0.48429698 0.87391754 0.04152785 1.71882494] [ 0.26252956 -0.19043599 0.94594522 -0.02458409] [ 0. 0. 0. 1. ]] SLAMing on 199.381346184 meters Centerline goodness : 0.870226 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:-0.03 [[ 0.83409832 -0.44940116 -0.31987279 7.60682246] [ 0.48547227 0.87338802 0.03885925 1.71826232] [ 0.26190967 -0.1877018 0.94666328 -0.02652782] [ 0. 0. 0. 1. ]] SLAMing on 199.441346184 meters Centerline goodness : 0.870362 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:-0.03 [[ 0.83388853 -0.44930256 -0.32055753 7.60837082] [ 0.48558618 0.87331265 0.03912912 1.71838806] [ 0.26236613 -0.18828763 0.94642051 -0.02616053] [ 0. 0. 0. 1. ]] SLAMing on 199.501346184 meters Centerline goodness : 0.873177 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.71, Z:-0.02 [[ 0.83225612 -0.44653309 -0.32856955 7.59829031] [ 0.48283586 0.87505896 0.03378376 1.71308435] [ 0.27243217 -0.1867619 0.94387537 -0.02007649] [ 0. 0. 0. 1. ]] SLAMing on 199.561346184 meters Centerline goodness : 0.873476 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.71, Z:-0.02 [[ 0.83223333 -0.44613949 -0.32916142 7.59874057] [ 0.48279515 0.87504762 0.03464839 1.71075018] [ 0.2725739 -0.18775308 0.94363777 -0.01832139] [ 0. 0. 0. 1. ]] SLAMing on 199.621346184 meters Centerline goodness : 0.872255 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.71, Z:-0.02 [[ 0.83213052 -0.4457553 -0.32994091 7.59861148] [ 0.48270036 0.87507981 0.03515248 1.71188289] [ 0.27305522 -0.18851405 0.94334686 -0.01733799] [ 0. 0. 0. 1. ]] SLAMing on 199.681346184 meters Centerline goodness : 0.872133 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.83105523 -0.44940743 -0.32768914 7.59955683] [ 0.48472295 0.87413649 0.03048044 1.71709342] [ 0.2727469 -0.18416937 0.94429379 -0.02156177] [ 0. 0. 0. 1. ]] SLAMing on 199.74134618399998 meters Centerline goodness : 0.867639 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.83068763 -0.44974726 -0.32815463 7.60250627] [ 0.48506402 0.87396069 0.0300933 1.71816624] [ 0.27325986 -0.18417414 0.94414455 -0.02273664] [ 0. 0. 0. 1. ]] SLAMing on 199.80134618399998 meters Centerline goodness : 0.870663 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.83007977 -0.45026054 -0.32898789 7.60043036] [ 0.48580976 0.87354229 0.03021155 1.71941904] [ 0.27378176 -0.18490352 0.94385075 -0.0197349 ] [ 0. 0. 0. 1. ]] SLAMing on 199.86134618399998 meters Centerline goodness : 0.870383 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.82981363 -0.45031566 -0.3295833 7.60153188] [ 0.48600591 0.87343136 0.03026399 1.72022635] [ 0.27424004 -0.1852929 0.94364132 -0.01953918] [ 0. 0. 0. 1. ]] SLAMing on 199.921346184 meters Centerline goodness : 0.873484 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.83021319 -0.44975283 -0.32934549 7.60157419] [ 0.48529392 0.87383552 0.03002141 1.72095806] [ 0.27429157 -0.18475354 0.94373209 -0.02056368] [ 0. 0. 0. 1. ]] SLAMing on 199.981346184 meters Centerline goodness : 0.871082 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.83002364 -0.44979125 -0.32977052 7.60036792] [ 0.48536927 0.87379988 0.02984021 1.72313358] [ 0.27473158 -0.18482855 0.94358941 -0.01967682] [ 0. 0. 0. 1. ]] SLAMing on 200.041346184 meters Centerline goodness : 0.870273 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.82946163 -0.44989924 -0.33103486 7.60351954] [ 0.4860419 0.87339052 0.0308589 1.72124925] [ 0.27523931 -0.18649309 0.94311381 -0.01845399] [ 0. 0. 0. 1. ]] SLAMing on 200.101346184 meters Centerline goodness : 0.870539 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:-0.02 [[ 0.82886594 -0.45009753 -0.33225512 7.60644001] [ 0.48670716 0.87299534 0.03154788 1.72042471] [ 0.27585755 -0.18785991 0.9426618 -0.01735392] [ 0. 0. 0. 1. ]] SLAMing on 200.161346184 meters Centerline goodness : 0.871870 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.8277547 -0.45389033 -0.32985712 7.60411711] [ 0.48925649 0.87168047 0.02830628 1.71965783] [ 0.27468207 -0.18481539 0.9436064 -0.01721257] [ 0. 0. 0. 1. ]] SLAMing on 200.221346184 meters Centerline goodness : 0.873097 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.02 [[ 0.82833048 -0.45093344 -0.33245698 7.60475171] [ 0.48752936 0.87254881 0.03120403 1.72159913] [ 0.276014 -0.18792979 0.94260207 -0.01562499] [ 0. 0. 0. 1. ]] SLAMing on 200.281346184 meters Centerline goodness : 0.868879 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.01 [[ 0.82811457 -0.45128605 -0.33251641 7.60405183] [ 0.48786247 0.8723688 0.0310305 1.72161794] [ 0.27607331 -0.18791909 0.94258684 -0.01467186] [ 0. 0. 0. 1. ]] SLAMing on 200.341346184 meters Centerline goodness : 0.870609 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.01 [[ 0.82727374 -0.45201201 -0.33362149 7.60335391] [ 0.48896513 0.87173843 0.03138819 1.7228636 ] [ 0.27664283 -0.1890959 0.94218442 -0.01206339] [ 0. 0. 0. 1. ]] SLAMing on 200.401346184 meters Centerline goodness : 0.871421 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:-0.01 [[ 0.82781529 -0.44881305 -0.33658386 7.60523622] [ 0.48719233 0.87260637 0.03466637 1.72370628] [ 0.2781465 -0.19267842 0.94101517 -0.01020802] [ 0. 0. 0. 1. ]] SLAMing on 200.46134618399998 meters Centerline goodness : 0.869173 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.01 [[ 0.82823062 -0.44863315 -0.33580104 7.60394552] [ 0.48639709 0.8731074 0.03318645 1.72721444] [ 0.27830184 -0.19081868 0.94134814 -0.01229226] [ 0. 0. 0. 1. ]] SLAMing on 200.52134618399998 meters Centerline goodness : 0.873217 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.01 [[ 0.82974551 -0.44492734 -0.33698968 7.60115253] [ 0.48343949 0.87465644 0.03552981 1.72983435] [ 0.27894201 -0.19239482 0.94083771 -0.01202899] [ 0. 0. 0. 1. ]] SLAMing on 200.58134618399998 meters Centerline goodness : 0.874221 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.01 [[ 0.83011704 -0.44482936 -0.33620314 7.59996383] [ 0.48284869 0.87502572 0.03445476 1.73236026] [ 0.27885991 -0.19093673 0.94115903 -0.01372374] [ 0. 0. 0. 1. ]] SLAMing on 200.64134618399999 meters Centerline goodness : 0.870492 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.02 [[ 0.8296042 -0.44614868 -0.33572046 7.60015627] [ 0.4835692 0.87470109 0.03253986 1.73605426] [ 0.27913743 -0.18933928 0.94139945 -0.0153716 ] [ 0. 0. 0. 1. ]] SLAMing on 200.701346184 meters Centerline goodness : 0.873073 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.02 [[ 0.82896881 -0.44705264 -0.33608725 7.60234476] [ 0.48452325 0.87418259 0.03228039 1.73546196] [ 0.27937059 -0.18960153 0.9412775 -0.01522533] [ 0. 0. 0. 1. ]] SLAMing on 200.761346184 meters Centerline goodness : 0.871772 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.01 [[ 0.82840726 -0.44768738 -0.33662652 7.60196844] [ 0.48531002 0.87374573 0.03228922 1.73592945] [ 0.2796705 -0.19011685 0.94108448 -0.01353804] [ 0. 0. 0. 1. ]] SLAMing on 200.821346184 meters Centerline goodness : 0.868615 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.74, Z:-0.01 [[ 0.82842268 -0.44723188 -0.33719358 7.60350808] [ 0.48511159 0.87383574 0.03283052 1.7350936 ] [ 0.27996894 -0.19077406 0.94086272 -0.01325263] [ 0. 0. 0. 1. ]] SLAMing on 200.881346184 meters Centerline goodness : 0.869542 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.8275844 -0.44899917 -0.33690327 7.6068397 ] [ 0.48644214 0.87315393 0.03124499 1.73394757] [ 0.28013944 -0.18974181 0.94102069 -0.01366951] [ 0. 0. 0. 1. ]] SLAMing on 200.941346184 meters Centerline goodness : 0.871102 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.82705445 -0.44942493 -0.33763615 7.60730828] [ 0.48715181 0.87274561 0.03159449 1.73386481] [ 0.28047111 -0.19061042 0.94074631 -0.01221394] [ 0. 0. 0. 1. ]] SLAMing on 201.001346184 meters Centerline goodness : 0.869528 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.82532054 -0.45355748 -0.33635044 7.60843218] [ 0.49031879 0.87107699 0.02850207 1.73364778] [ 0.2800598 -0.18844228 0.94130548 -0.01197766] [ 0. 0. 0. 1. ]] SLAMing on 201.061346184 meters Centerline goodness : 0.870427 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.82310888 -0.45801167 -0.33573366 7.6114961 ] [ 0.49405295 0.86905234 0.02568482 1.7328433 ] [ 0.28000617 -0.18701161 0.94160671 -0.01127977] [ 0. 0. 0. 1. ]] SLAMing on 201.121346184 meters Centerline goodness : 0.872747 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.82281125 -0.45778811 -0.33676653 7.61204945] [ 0.49417842 0.86896654 0.02616951 1.73359311] [ 0.28065875 -0.18795532 0.94122445 -0.00991398] [ 0. 0. 0. 1. ]] SLAMing on 201.18134618399998 meters Centerline goodness : 0.873883 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.82427746 -0.45371902 -0.33868231 7.60968908] [ 0.49134741 0.87045663 0.02971476 1.73318466] [ 0.28132611 -0.19090389 0.94043146 -0.00764397] [ 0. 0. 0. 1. ]] SLAMing on 201.24134618399998 meters Centerline goodness : 0.874019 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.8260611 -0.4508958 -0.33810654 7.60828386] [ 0.48843895 0.87206944 0.03036904 1.73256483] [ 0.28115911 -0.19023108 0.94061772 -0.0092929 ] [ 0. 0. 0. 1. ]] SLAMing on 201.30134618399998 meters Centerline goodness : 0.877121 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 0.82689889 -0.44985211 -0.33744822 7.60613755] [ 0.48717501 0.87277872 0.03029541 1.73327476] [ 0.28088917 -0.18944758 0.94085647 -0.01002511] [ 0. 0. 0. 1. ]] SLAMing on 201.36134618399998 meters Centerline goodness : 0.878585 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.01 [[ 8.28583084e-01 -4.45370125e-01 -3.39257312e-01 7.60117483e+00] [ 4.84052347e-01 8.74363565e-01 3.43756070e-02 1.73266124e+00] [ 2.81324364e-01 -1.92701345e-01 9.40065314e-01 -6.35116798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421346184 meters Centerline goodness : 0.875365 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.01 [[ 8.29222213e-01 -4.44548685e-01 -3.38772769e-01 7.60115449e+00] [ 4.83124795e-01 8.74870644e-01 3.45223059e-02 1.73132620e+00] [ 2.81035505e-01 -1.92296187e-01 9.40234663e-01 -7.21940156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481346184 meters Centerline goodness : 0.881705 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.01 [[ 8.29272477e-01 -4.44648533e-01 -3.38518598e-01 7.60100532e+00] [ 4.83148224e-01 8.74861279e-01 3.44316090e-02 1.73065959e+00] [ 2.80846849e-01 -1.92107845e-01 9.40329529e-01 -7.24497238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541346184 meters Centerline goodness : 0.879008 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.73, Z:-0.01 [[ 8.27881654e-01 -4.48088475e-01 -3.37385070e-01 7.60034157e+00] [ 4.85762163e-01 8.73510804e-01 3.18433149e-02 1.73061206e+00] [ 2.80440881e-01 -1.90251398e-01 9.40827996e-01 -6.23629528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601346184 meters Centerline goodness : 0.878630 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 8.25938482e-01 -4.51686882e-01 -3.37349350e-01 7.60559088e+00] [ 4.88972291e-01 8.71786759e-01 2.98989420e-02 1.72830675e+00] [ 2.80591736e-01 -1.89649171e-01 9.40904602e-01 -5.85970243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661346184 meters Centerline goodness : 0.877807 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 8.24029030e-01 -4.56457466e-01 -3.35593116e-01 7.60653726e+00] [ 4.92535846e-01 8.69897695e-01 2.61999952e-02 1.72873797e+00] [ 2.79972495e-01 -1.86881196e-01 9.41642618e-01 -6.40921769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721346184 meters Centerline goodness : 0.878033 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:-0.01 [[ 8.23348905e-01 -4.58896931e-01 -3.33931411e-01 7.60603170e+00] [ 4.94074615e-01 8.69091655e-01 2.38740638e-02 1.72794602e+00] [ 2.79261268e-01 -1.84643717e-01 9.42294987e-01 -6.83177285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781346184 meters Centerline goodness : 0.876293 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.01 [[ 0.82324061 -0.46123634 -0.33096215 7.60436986] [ 0.49532004 0.86843716 0.02179344 1.72354123] [ 0.2773679 -0.18187343 0.94339234 -0.00765687] [ 0. 0. 0. 1. ]] SLAMing on 201.841346184 meters Centerline goodness : 0.881335 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.01 [[ 8.24554833e-01 -4.57746013e-01 -3.32532579e-01 7.60295044e+00] [ 4.92925664e-01 8.69710057e-01 2.50740182e-02 1.72248623e+00] [ 2.77729396e-01 -1.84588745e-01 9.42758388e-01 -6.13179213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901346184 meters Centerline goodness : 0.884192 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.72, Z:-0.01 [[ 8.25126899e-01 -4.56405543e-01 -3.32955824e-01 7.60329626e+00] [ 4.91926909e-01 8.70242635e-01 2.61853427e-02 1.72095880e+00] [ 2.77801218e-01 -1.85396160e-01 9.42578775e-01 -5.79446578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96134618399998 meters Centerline goodness : 0.883673 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:-0.01 [[ 8.24716423e-01 -4.56518576e-01 -3.33816733e-01 7.60655645e+00] [ 4.92230126e-01 8.70070645e-01 2.62025724e-02 1.72088059e+00] [ 2.78482179e-01 -1.85924344e-01 9.42273747e-01 -6.01856952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02134618399998 meters Centerline goodness : 0.887644 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:-0.00 [[ 8.23919296e-01 -4.59036650e-01 -3.32328673e-01 7.60624478e+00] [ 4.94175027e-01 8.69007578e-01 2.48368960e-02 1.71651856e+00] [ 2.77395090e-01 -1.84692129e-01 9.42836561e-01 -4.74155636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08134618399998 meters Centerline goodness : 0.883119 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.71, Z:-0.00 [[ 8.22502077e-01 -4.53908379e-01 -3.42720755e-01 7.59602073e+00] [ 4.92090012e-01 8.70073478e-01 2.86280147e-02 1.70523397e+00] [ 2.85197743e-01 -1.92196062e-01 9.39001023e-01 -1.64529911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14134618399999 meters Centerline goodness : 0.881134 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:-0.00 [[ 8.23081412e-01 -4.52720329e-01 -3.42901287e-01 7.59666096e+00] [ 4.91091216e-01 8.70613632e-01 2.93482763e-02 1.70369861e+00] [ 2.85247974e-01 -1.92551831e-01 9.38912874e-01 -1.77460715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201346184 meters Centerline goodness : 0.885006 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:-0.00 [[ 8.24167594e-01 -4.50695266e-01 -3.42959989e-01 7.59603879e+00] [ 4.89451013e-01 8.71481111e-01 3.09577019e-02 1.70031877e+00] [ 2.84930663e-01 -1.93376449e-01 9.38839745e-01 -1.04616416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261346184 meters Centerline goodness : 0.886662 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.00 [[ 8.26267210e-01 -4.45989072e-01 -3.44058492e-01 7.59161131e+00] [ 4.85970594e-01 8.73270511e-01 3.50883994e-02 1.69780210e+00] [ 2.84807092e-01 -1.96194704e-01 9.38292363e-01 1.29812493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321346184 meters Centerline goodness : 0.884539 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.00 [[ 8.27131432e-01 -4.44831545e-01 -3.43479971e-01 7.59146806e+00] [ 4.84824168e-01 8.73880164e-01 3.57629154e-02 1.69552020e+00] [ 2.84251861e-01 -1.96108023e-01 9.38478835e-01 4.88846647e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381346184 meters Centerline goodness : 0.882319 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.69, Z:-0.00 [[ 8.26783272e-01 -4.47517351e-01 -3.40819075e-01 7.59069537e+00] [ 4.86388464e-01 8.73101071e-01 3.34780777e-02 1.69261323e+00] [ 2.82587479e-01 -1.93449581e-01 9.39532637e-01 -9.25571291e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441346184 meters Centerline goodness : 0.884094 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.69, Z:-0.00 [[ 8.25743870e-01 -4.50684919e-01 -3.39160973e-01 7.59072383e+00] [ 4.88902518e-01 8.71754714e-01 3.19068374e-02 1.68831381e+00] [ 2.81285247e-01 -1.92163529e-01 9.40187103e-01 -5.38314173e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501346184 meters Centerline goodness : 0.881976 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.69, Z:-0.00 [[ 8.24193214e-01 -4.54899929e-01 -3.37300460e-01 7.59086003e+00] [ 4.92031815e-01 8.70100069e-01 2.88194792e-02 1.68743127e+00] [ 2.80375175e-01 -1.89715377e-01 9.40955810e-01 -1.25318976e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561346184 meters Centerline goodness : 0.884751 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.67, Z:0.00 [[ 8.21852525e-01 -4.53343061e-01 -3.45019560e-01 7.58550975e+00] [ 4.92238503e-01 8.69962517e-01 2.94359717e-02 1.66831228e+00] [ 2.86809492e-01 -1.94023939e-01 9.38133800e-01 1.87551434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621346184 meters Centerline goodness : 0.885996 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.67, Z:0.00 [[ 8.21742493e-01 -4.53072704e-01 -3.45636224e-01 7.58683821e+00] [ 4.92433890e-01 8.69812892e-01 3.05679000e-02 1.66522581e+00] [ 2.86789362e-01 -1.95321933e-01 9.37870569e-01 3.32131192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68134618399998 meters Centerline goodness : 0.884406 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.66, Z:0.00 [[ 8.20994684e-01 -4.55893698e-01 -3.43698509e-01 7.58582057e+00] [ 4.94377738e-01 8.68778354e-01 2.85451303e-02 1.66280656e+00] [ 2.85584280e-01 -1.93352292e-01 9.38646105e-01 3.49767267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74134618399998 meters Centerline goodness : 0.884060 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.66, Z:0.00 [[ 8.21469681e-01 -4.54944718e-01 -3.43820980e-01 7.58549805e+00] [ 4.93746542e-01 8.69099102e-01 2.96833799e-02 1.66022485e+00] [ 2.85310208e-01 -1.94144417e-01 9.38565944e-01 4.38117817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80134618399998 meters Centerline goodness : 0.885546 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.65, Z:0.01 [[ 8.22291372e-01 -4.54272050e-01 -3.42744518e-01 7.58529849e+00] [ 4.93225641e-01 8.69345680e-01 3.10894681e-02 1.65161390e+00] [ 2.83840390e-01 -1.94614986e-01 9.38914075e-01 5.64066688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86134618399998 meters Centerline goodness : 0.884324 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.65, Z:0.01 [[ 0.81904326 -0.45424554 -0.35046986 7.57922691] [ 0.49278499 0.86981276 0.02426359 1.64555491] [ 0.29382153 -0.19257921 0.93625966 0.00796101] [ 0. 0. 0. 1. ]] SLAMing on 202.921346184 meters Centerline goodness : 0.883818 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.64, Z:0.01 [[ 0.81781134 -0.45778434 -0.34873789 7.57927441] [ 0.49532327 0.86844089 0.02157019 1.64420391] [ 0.29298375 -0.19037833 0.93697204 0.00800284] [ 0. 0. 0. 1. ]] SLAMing on 202.981346184 meters Centerline goodness : 0.883327 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.64, Z:0.01 [[ 0.81819858 -0.45717955 -0.34862293 7.57748224] [ 0.49521059 0.86845925 0.02334553 1.63761384] [ 0.29209171 -0.19174304 0.93697227 0.01117957] [ 0. 0. 0. 1. ]] SLAMing on 203.041346184 meters Centerline goodness : 0.882632 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.64, Z:0.01 [[ 0.81832641 -0.4568444 -0.34876221 7.57779212] [ 0.49502573 0.86855239 0.02379654 1.63644939] [ 0.29204693 -0.19211961 0.93690909 0.01157376] [ 0. 0. 0. 1. ]] SLAMing on 203.101346184 meters Centerline goodness : 0.883184 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.63, Z:0.01 [[ 0.81583847 -0.45545343 -0.35632818 7.56870314] [ 0.49498714 0.8685936 0.0230844 1.62616129] [ 0.29899051 -0.19521101 0.93407566 0.01019373] [ 0. 0. 0. 1. ]] SLAMing on 203.161346184 meters Centerline goodness : 0.882569 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.62, Z:0.01 [[ 0.81360848 -0.45951338 -0.35621439 7.57376532] [ 0.49859167 0.86658455 0.02091779 1.62218 ] [ 0.29907788 -0.19462443 0.93417009 0.01170164] [ 0. 0. 0. 1. ]] SLAMing on 203.221346184 meters Centerline goodness : 0.884635 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.62, Z:0.01 [[ 0.81189667 -0.46356575 -0.35486701 7.57442557] [ 0.50166293 0.86487685 0.01795368 1.62161056] [ 0.29859355 -0.19260015 0.93474439 0.01232366] [ 0. 0. 0. 1. ]] SLAMing on 203.281346184 meters Centerline goodness : 0.883276 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.62, Z:0.01 [[ 0.81200553 -0.46294685 -0.35542543 7.57467609] [ 0.50151831 0.8649344 0.01917978 1.61919378] [ 0.29854046 -0.19382645 0.93450784 0.01378649] [ 0. 0. 0. 1. ]] SLAMing on 203.341346184 meters Centerline goodness : 0.884515 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.62, Z:0.01 [[ 8.12196863e-01 -4.63217159e-01 -3.54635191e-01 7.56921908e+00] [ 4.97409948e-01 8.67494302e-01 6.08104568e-03 1.62219894e+00] [ 3.04827163e-01 -1.81338078e-01 9.34984974e-01 1.46141221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401346184 meters Centerline goodness : 0.882737 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.62, Z:0.01 [[ 8.10995763e-01 -4.66690381e-01 -3.52825681e-01 7.57142730e+00] [ 4.99935715e-01 8.66055080e-01 3.58866017e-03 1.61937531e+00] [ 3.03891680e-01 -1.79300547e-01 9.35682190e-01 1.37429681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46134618399998 meters Centerline goodness : 0.881823 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.61, Z:0.02 [[ 0.80687964 -0.46546483 -0.36371381 7.56808107] [ 0.50342404 0.86396752 0.01115192 1.61109958] [ 0.30904609 -0.19210053 0.93144399 0.01808481] [ 0. 0. 0. 1. ]] SLAMing on 203.52134618399998 meters Centerline goodness : 0.885372 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.61, Z:0.02 [[ 0.80666296 -0.46555652 -0.3640769 7.5686073 ] [ 0.50370434 0.86380011 0.01145874 1.61014749] [ 0.30915498 -0.19263046 0.9312984 0.01897876] [ 0. 0. 0. 1. ]] SLAMing on 203.58134618399998 meters Centerline goodness : 0.882764 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.61, Z:0.01 [[ 8.06362133e-01 -4.69568294e-01 -3.59563246e-01 7.56285275e+00] [ 5.03396898e-01 8.64055144e-01 5.20899922e-04 1.60556553e+00] [ 3.10437874e-01 -1.81423056e-01 9.33120572e-01 1.42967240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64134618399999 meters Centerline goodness : 0.882546 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.61, Z:0.01 [[ 8.04583747e-01 -4.73957908e-01 -3.57783308e-01 7.56404738e+00] [ 5.06582056e-01 8.62186735e-01 -2.94181417e-03 1.60595663e+00] [ 3.09870318e-01 -1.78879668e-01 9.33800006e-01 1.35721190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701346184 meters Centerline goodness : 0.881846 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.61, Z:0.01 [[ 8.04227075e-01 -4.74507959e-01 -3.57856128e-01 7.56329930e+00] [ 5.07069713e-01 8.61898752e-01 -3.29357352e-03 1.60667683e+00] [ 3.09998577e-01 -1.78809223e-01 9.33770927e-01 1.43090272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761346184 meters Centerline goodness : 0.879129 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.60, Z:0.02 [[ 8.03974977e-01 -4.74445777e-01 -3.58504452e-01 7.56490803e+00] [ 5.07369299e-01 8.61724824e-01 -2.59266889e-03 1.60373420e+00] [ 3.10162266e-01 -1.79809711e-01 9.33524417e-01 1.58188870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821346184 meters Centerline goodness : 0.882124 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.60, Z:0.02 [[ 0.80027851 -0.4769132 -0.36346679 7.55474089] [ 0.50779755 0.86139025 -0.0121852 1.60080221] [ 0.31889803 -0.17481599 0.93152746 0.01784797] [ 0. 0. 0. 1. ]] SLAMing on 203.881346184 meters Centerline goodness : 0.879825 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.60, Z:0.02 [[ 0.79982271 -0.4777244 -0.36340478 7.55425089] [ 0.50836283 0.86104413 -0.01304785 1.60337108] [ 0.31914082 -0.17430551 0.93153997 0.01769008] [ 0. 0. 0. 1. ]] SLAMing on 203.941346184 meters Centerline goodness : 0.881579 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.61, Z:0.02 [[ 0.79959787 -0.4785732 -0.36278221 7.55256194] [ 0.50874286 0.86080073 -0.0142412 1.60612849] [ 0.31909865 -0.17317563 0.93176513 0.01710681] [ 0. 0. 0. 1. ]] SLAMing on 204.001346184 meters Centerline goodness : 0.880606 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.61, Z:0.02 [[ 0.79919292 -0.4793701 -0.36262238 7.55286869] [ 0.50930152 0.86045703 -0.01502171 1.60731495] [ 0.31922193 -0.17267888 0.93181509 0.01680245] [ 0. 0. 0. 1. ]] SLAMing on 204.061346184 meters Centerline goodness : 0.880407 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.61, Z:0.02 [[ 0.79640506 -0.48008365 -0.36777528 7.53753844] [ 0.50819339 0.8609263 -0.02335354 1.60984869] [ 0.32783907 -0.16830209 0.9296214 0.01755325] [ 0. 0. 0. 1. ]] SLAMing on 204.121346184 meters Centerline goodness : 0.881708 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.61, Z:0.02 [[ 0.79617845 -0.4803395 -0.36793184 7.5379554 ] [ 0.50846908 0.86076107 -0.02344295 1.60931162] [ 0.32796198 -0.16841719 0.9295572 0.01807505] [ 0. 0. 0. 1. ]] SLAMing on 204.18134618399998 meters Centerline goodness : 0.882909 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.61, Z:0.02 [[ 0.79751907 -0.47657465 -0.36991882 7.53604483] [ 0.50573103 0.86244088 -0.02078108 1.61202107] [ 0.32893685 -0.17050612 0.92883164 0.01897783] [ 0. 0. 0. 1. ]] SLAMing on 204.24134618399998 meters Centerline goodness : 0.882800 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.61, Z:0.02 [[ 0.79624563 -0.475494 -0.37402989 7.52389102] [ 0.50231472 0.86418906 -0.0292779 1.61163519] [ 0.337154 -0.16456832 0.92695439 0.01946094] [ 0. 0. 0. 1. ]] SLAMing on 204.30134618399998 meters Centerline goodness : 0.882682 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.61, Z:0.02 [[ 0.79738919 -0.4718701 -0.37617693 7.52431211] [ 0.49983501 0.86571723 -0.02643182 1.6129865 ] [ 0.33813523 -0.16694995 0.92617076 0.01991687] [ 0. 0. 0. 1. ]] SLAMing on 204.36134618399998 meters Centerline goodness : 0.884626 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.62, Z:0.02 [[ 0.79880398 -0.46851148 -0.37737142 7.52000443] [ 0.4971617 0.86731444 -0.02441103 1.61660582] [ 0.33873653 -0.16811499 0.9257402 0.02066384] [ 0. 0. 0. 1. ]] SLAMing on 204.421346184 meters Centerline goodness : 0.883541 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.61, Z:0.02 [[ 0.79780676 -0.46403213 -0.38493968 7.50969916] [ 0.49423406 0.86901797 -0.02324777 1.60663455] [ 0.34530721 -0.17170307 0.92264889 0.01719536] [ 0. 0. 0. 1. ]] SLAMing on 204.481346184 meters Centerline goodness : 0.885840 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.61, Z:0.02 [[ 0.79699458 -0.46560785 -0.38471933 7.50949318] [ 0.49516368 0.86843328 -0.02523031 1.61252476] [ 0.3458505 -0.17039062 0.92268872 0.01585119] [ 0. 0. 0. 1. ]] SLAMing on 204.541346184 meters Centerline goodness : 0.885103 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.62, Z:0.02 [[ 0.79604729 -0.46679594 -0.38524052 7.50929686] [ 0.49616334 0.86783088 -0.02629642 1.61588176] [ 0.34659869 -0.17020903 0.92244145 0.01666775] [ 0. 0. 0. 1. ]] SLAMing on 204.601346184 meters Centerline goodness : 0.884231 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.62, Z:0.02 [[ 0.79691347 -0.46313292 -0.38786186 7.51105463] [ 0.49400085 0.86916121 -0.02284637 1.61502136] [ 0.34769539 -0.17339751 0.92143433 0.01824441] [ 0. 0. 0. 1. ]] SLAMing on 204.661346184 meters Centerline goodness : 0.885500 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.62, Z:0.02 [[ 0.79770191 -0.46065201 -0.38919325 7.50943321] [ 0.49233491 0.87015681 -0.02081996 1.61614409] [ 0.34824991 -0.1750053 0.92092081 0.01922088] [ 0. 0. 0. 1. ]] SLAMing on 204.721346184 meters Centerline goodness : 0.884692 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.62, Z:0.02 [[ 0.79870792 -0.4571953 -0.39120087 7.51079763] [ 0.48979839 0.8716359 -0.01866556 1.61988217] [ 0.34951853 -0.17670123 0.92011601 0.01834557] [ 0. 0. 0. 1. ]] SLAMing on 204.781346184 meters Centerline goodness : 0.884714 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.63, Z:0.02 [[ 0.79850662 -0.45785401 -0.39084125 7.50774291] [ 0.48983518 0.87157955 -0.02026284 1.62738861] [ 0.34992666 -0.17526778 0.92023504 0.01696581] [ 0. 0. 0. 1. ]] SLAMing on 204.841346184 meters Centerline goodness : 0.883663 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.62, Z:0.02 [[ 0.79603815 -0.45567256 -0.39835384 7.5050622 ] [ 0.49224234 0.87037609 -0.01195627 1.62493681] [ 0.3521658 -0.18656898 0.91715389 0.01503657] [ 0. 0. 0. 1. ]] SLAMing on 204.901346184 meters Centerline goodness : 0.885323 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.63, Z:0.02 [[ 0.79536224 -0.4577498 -0.39732106 7.49985233] [ 0.49354098 0.86961154 -0.01389467 1.62889163] [ 0.35187526 -0.18504293 0.91757447 0.015905 ] [ 0. 0. 0. 1. ]] SLAMing on 204.96134618399998 meters Centerline goodness : 0.883280 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.63, Z:0.02 [[ 0.79583984 -0.45463187 -0.399936 7.50250028] [ 0.49181153 0.87063174 -0.01103608 1.62979901] [ 0.35321433 -0.18791018 0.91647662 0.01678225] [ 0. 0. 0. 1. ]] SLAMing on 205.02134618399998 meters Centerline goodness : 0.885446 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.63, Z:0.02 [[ 0.79662843 -0.45200546 -0.40134051 7.50252311] [ 0.48988425 0.87173677 -0.00940363 1.63358 ] [ 0.35411377 -0.1891192 0.91588065 0.01595262] [ 0. 0. 0. 1. ]] SLAMing on 205.08134618399998 meters Centerline goodness : 0.885530 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.64, Z:0.02 [[ 7.97657894e-01 -4.48869622e-01 -4.02812546e-01 7.50204508e+00] [ 4.87599016e-01 8.73037132e-01 -7.30524276e-03 1.63597685e+00] [ 3.54949411e-01 -1.90583916e-01 9.15253346e-01 1.58035838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14134618399999 meters Centerline goodness : 0.888556 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.64, Z:0.02 [[ 7.99022194e-01 -4.45316814e-01 -4.04050083e-01 7.49923691e+00] [ 4.85018510e-01 8.74491438e-01 -4.66572538e-03 1.63818978e+00] [ 3.55416064e-01 -1.92243751e-01 9.14724965e-01 1.61815638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201346184 meters Centerline goodness : 0.885944 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.65, Z:0.02 [[ 8.00639045e-01 -4.50902710e-01 -3.94542603e-01 7.50713639e+00] [ 4.88233701e-01 8.72688076e-01 -6.58599003e-03 1.64767003e+00] [ 3.47282266e-01 -1.87355995e-01 9.18854047e-01 1.74713860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261346184 meters Centerline goodness : 0.887376 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.65, Z:0.02 [[ 8.01468016e-01 -4.47581625e-01 -3.96635486e-01 7.50840465e+00] [ 4.86065843e-01 8.73913098e-01 -3.98657759e-03 1.64980565e+00] [ 3.48409265e-01 -1.89595847e-01 9.17967537e-01 1.74091342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321346184 meters Centerline goodness : 0.886512 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.66, Z:0.01 [[ 8.01473212e-01 -4.47507317e-01 -3.96708824e-01 7.51067770e+00] [ 4.85497649e-01 8.74221834e-01 -5.31197507e-03 1.65602067e+00] [ 3.49188663e-01 -1.88343796e-01 9.17929132e-01 1.39843005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381346184 meters Centerline goodness : 0.888742 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.66, Z:0.01 [[ 8.01634480e-01 -4.47773090e-01 -3.96082594e-01 7.51027633e+00] [ 4.85360289e-01 8.74293183e-01 -6.06796911e-03 1.65766611e+00] [ 3.49009385e-01 -1.87378469e-01 9.18194837e-01 1.25967615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441346184 meters Centerline goodness : 0.888121 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.66, Z:0.01 [[ 8.03126797e-01 -4.43990190e-01 -3.97316068e-01 7.50908054e+00] [ 4.82446024e-01 8.75918268e-01 -3.60868505e-03 1.65979048e+00] [ 3.49618623e-01 -1.88785326e-01 9.17674735e-01 1.20407455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501346184 meters Centerline goodness : 0.884489 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.66, Z:0.01 [[ 8.02685769e-01 -4.45341741e-01 -3.96694202e-01 7.50866259e+00] [ 4.83032939e-01 8.75584448e-01 -5.57264479e-03 1.66453691e+00] [ 3.49821005e-01 -1.87143284e-01 9.17933906e-01 1.01103235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561346184 meters Centerline goodness : 0.886290 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.67, Z:0.01 [[ 8.02217487e-01 -4.46453552e-01 -3.96391637e-01 7.50720367e+00] [ 4.83741575e-01 8.75185088e-01 -6.71946652e-03 1.66721889e+00] [ 3.49915980e-01 -1.86360641e-01 9.18056926e-01 1.01711239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621346184 meters Centerline goodness : 0.884500 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.67, Z:0.01 [[ 0.80181039 -0.44760474 -0.39591679 7.50516665] [ 0.48452856 0.87474177 -0.00767466 1.66914142] [ 0.34976017 -0.18567937 0.91825432 0.01049932] [ 0. 0. 0. 1. ]] SLAMing on 205.68134618399998 meters Centerline goodness : 0.886792 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.67, Z:0.01 [[ 0.80276988 -0.44773951 -0.39381448 7.5001617 ] [ 0.48352904 0.87527698 -0.00948043 1.67319899] [ 0.34894151 -0.18281014 0.91914105 0.00807751] [ 0. 0. 0. 1. ]] SLAMing on 205.74134618399998 meters Centerline goodness : 0.884140 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.68, Z:0.01 [[ 8.03590479e-01 -4.45035207e-01 -3.95203754e-01 7.49933859e+00] [ 4.81356989e-01 8.76485988e-01 -8.23177902e-03 1.67859753e+00] [ 3.50053984e-01 -1.83619110e-01 9.18556602e-01 7.13497173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80134618399998 meters Centerline goodness : 0.884784 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:1.68, Z:0.01 [[ 8.03981782e-01 -4.41747929e-01 -3.98085495e-01 7.50300378e+00] [ 4.79574605e-01 8.77485877e-01 -5.17055689e-03 1.67991178e+00] [ 3.51598483e-01 -1.86754661e-01 9.17333747e-01 7.60225064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86134618399998 meters Centerline goodness : 0.884029 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:1.69, Z:0.01 [[ 8.06528049e-01 -4.43953455e-01 -3.90407269e-01 7.51286071e+00] [ 4.80117304e-01 8.77186165e-01 -5.63963824e-03 1.69133868e+00] [ 3.44963592e-01 -1.82892759e-01 9.20624983e-01 8.08533603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921346184 meters Centerline goodness : 0.886201 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.70, Z:0.01 [[ 8.09221122e-01 -4.46836589e-01 -3.81442315e-01 7.51995366e+00] [ 4.80674624e-01 8.76867323e-01 -7.45681657e-03 1.70309215e+00] [ 3.37806280e-01 -1.77315428e-01 9.24362568e-01 7.56568765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981346184 meters Centerline goodness : 0.886950 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:1.70, Z:0.01 [[ 8.09794484e-01 -4.42770326e-01 -3.84951077e-01 7.52205141e+00] [ 4.78517276e-01 8.78071808e-01 -3.33416491e-03 1.70271181e+00] [ 3.39490958e-01 -1.81505752e-01 9.22930957e-01 1.03678110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041346184 meters Centerline goodness : 0.885790 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:1.71, Z:0.01 [[ 8.11102991e-01 -4.45754516e-01 -3.78701531e-01 7.53179617e+00] [ 4.82693804e-01 8.75784102e-01 2.98300701e-03 1.70607563e+00] [ 3.30331091e-01 -1.85216408e-01 9.25514048e-01 9.02368746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101346184 meters Centerline goodness : 0.885305 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:1.71, Z:0.01 [[ 0.80941732 -0.44898086 -0.37849675 7.54334203] [ 0.48814967 0.87271681 0.0086755 1.71041757] [ 0.32642535 -0.19178516 0.92556196 0.00926726] [ 0. 0. 0. 1. ]] SLAMing on 206.161346184 meters Centerline goodness : 0.885262 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.71, Z:0.01 [[ 0.8090502 -0.44968858 -0.37844148 7.54543544] [ 0.48858003 0.87248451 0.00776725 1.71175502] [ 0.32669148 -0.19118305 0.92559263 0.00803632] [ 0. 0. 0. 1. ]] SLAMing on 206.221346184 meters Centerline goodness : 0.885485 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.71, Z:0.01 [[ 8.09202497e-01 -4.50133124e-01 -3.77586400e-01 7.54740151e+00] [ 4.88365015e-01 8.72616445e-01 6.33662439e-03 1.71296940e+00] [ 3.26635777e-01 -1.89527600e-01 9.25952676e-01 5.20471067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281346184 meters Centerline goodness : 0.889227 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.72, Z:0.01 [[ 0.81286328 -0.44937178 -0.37056484 7.55071949] [ 0.48739421 0.87312091 0.01033277 1.72239129] [ 0.31890465 -0.18901029 0.92874912 0.00827101] [ 0. 0. 0. 1. ]] SLAMing on 206.341346184 meters Centerline goodness : 0.888506 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.72, Z:0.01 [[ 0.81372283 -0.44855395 -0.36966811 7.5477147 ] [ 0.4864113 0.87366568 0.01059812 1.7210257 ] [ 0.31821252 -0.18843468 0.92910342 0.00849777] [ 0. 0. 0. 1. ]] SLAMing on 206.401346184 meters Centerline goodness : 0.889525 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:1.72, Z:0.01 [[ 0.81308881 -0.44910064 -0.37039872 7.55101033] [ 0.48727736 0.87317865 0.01094679 1.71928497] [ 0.31850804 -0.18938762 0.92880835 0.00894042] [ 0. 0. 0. 1. ]] SLAMing on 206.46134618399998 meters Centerline goodness : 0.890307 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.72, Z:0.01 [[ 0.81087182 -0.45202123 -0.37170378 7.5558138 ] [ 0.49020417 0.87155587 0.00949948 1.72191687] [ 0.31966664 -0.1899136 0.92830279 0.00939681] [ 0. 0. 0. 1. ]] SLAMing on 206.52134618399998 meters Centerline goodness : 0.890452 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.72, Z:0.01 [[ 0.81048914 -0.45247879 -0.37198158 7.55548367] [ 0.49064173 0.87131321 0.00916456 1.72270907] [ 0.31996569 -0.18993746 0.92819487 0.01030732] [ 0. 0. 0. 1. ]] SLAMing on 206.58134618399998 meters Centerline goodness : 0.891039 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.72, Z:0.01 [[ 0.81067351 -0.4519662 -0.37220292 7.55654505] [ 0.4904013 0.87144023 0.0099242 1.72079541] [ 0.3198672 -0.19057408 0.92809832 0.01050508] [ 0. 0. 0. 1. ]] SLAMing on 206.64134618399999 meters Centerline goodness : 0.894041 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.72, Z:0.01 [[ 0.810831 -0.45119987 -0.37278916 7.55761765] [ 0.4899386 0.87169256 0.01059535 1.71990929] [ 0.32017692 -0.19123484 0.92785558 0.01098035] [ 0. 0. 0. 1. ]] SLAMing on 206.701346184 meters Centerline goodness : 0.896388 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:1.72, Z:0.01 [[ 0.81352709 -0.45375192 -0.36370712 7.56409785] [ 0.49222598 0.87033499 0.01518529 1.72425526] [ 0.30965668 -0.19137973 0.93138958 0.00837679] [ 0. 0. 0. 1. ]] SLAMing on 206.761346184 meters Centerline goodness : 0.891531 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.72, Z:0.01 [[ 8.13832478e-01 -4.53120267e-01 -3.63811381e-01 7.56668276e+00] [ 4.91708872e-01 8.70620026e-01 1.55934403e-02 1.72316036e+00] [ 3.09675771e-01 -1.91579732e-01 9.31342109e-01 6.94531769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821346184 meters Centerline goodness : 0.895182 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.72, Z:0.01 [[ 0.81335476 -0.45296158 -0.36507512 7.57003592] [ 0.49202724 0.87042867 0.01622119 1.72203588] [ 0.31042427 -0.19282049 0.93083674 0.00785574] [ 0. 0. 0. 1. ]] SLAMing on 206.881346184 meters Centerline goodness : 0.893240 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:1.72, Z:0.01 [[ 0.81333807 -0.4521232 -0.36614997 7.57488195] [ 0.4919809 0.87041879 0.01805345 1.71608283] [ 0.31054143 -0.19482235 0.93038071 0.00884028] [ 0. 0. 0. 1. ]] SLAMing on 206.941346184 meters Centerline goodness : 0.896770 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.72, Z:0.01 [[ 0.81331762 -0.45181972 -0.36656977 7.5750631 ] [ 0.49193088 0.87043568 0.01859413 1.71506651] [ 0.31067421 -0.19544993 0.93020474 0.00982084] [ 0. 0. 0. 1. ]] SLAMing on 207.001346184 meters Centerline goodness : 0.895862 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.71, Z:0.01 [[ 0.81394297 -0.44973978 -0.36773764 7.57654957] [ 0.49089265 0.87095824 0.02135777 1.70848093] [ 0.31067869 -0.19790371 0.92968429 0.01250784] [ 0. 0. 0. 1. ]] SLAMing on 207.061346184 meters Centerline goodness : 0.897281 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:1.71, Z:0.01 [[ 0.81254753 -0.45296668 -0.36686196 7.58055476] [ 0.49321575 0.86970882 0.01856864 1.70880697] [ 0.3106521 -0.19603 0.93009005 0.01105285] [ 0. 0. 0. 1. ]] SLAMing on 207.121346184 meters Centerline goodness : 0.894849 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.71, Z:0.01 [[ 0.81211382 -0.45263152 -0.36823342 7.58525685] [ 0.49357844 0.86947595 0.01979628 1.70538052] [ 0.31120969 -0.19782891 0.92952259 0.01206174] [ 0. 0. 0. 1. ]] SLAMing on 207.18134618399998 meters Centerline goodness : 0.894378 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.71, Z:0.01 [[ 0.81104958 -0.4533955 -0.36963643 7.5870704 ] [ 0.49481171 0.86876826 0.02007705 1.70548587] [ 0.31202556 -0.19918391 0.92895954 0.01420684] [ 0. 0. 0. 1. ]] SLAMing on 207.24134618399998 meters Centerline goodness : 0.893135 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.81067408 -0.4531318 -0.37078176 7.59001676] [ 0.49505432 0.86861174 0.02085351 1.70388169] [ 0.312616 -0.20046251 0.92848587 0.01526667] [ 0. 0. 0. 1. ]] SLAMing on 207.30134618399998 meters Centerline goodness : 0.897471 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.81068757 -0.45318927 -0.37068201 7.58877765] [ 0.495083 0.86859609 0.02082433 1.70358585] [ 0.31253558 -0.20040039 0.92852636 0.01603709] [ 0. 0. 0. 1. ]] SLAMing on 207.36134618399998 meters Centerline goodness : 0.891651 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.01 [[ 0.80911535 -0.45695366 -0.36949385 7.59209279] [ 0.49773208 0.86715387 0.01752 1.70494828] [ 0.31240219 -0.19808464 0.929068 0.01431666] [ 0. 0. 0. 1. ]] SLAMing on 207.421346184 meters Centerline goodness : 0.892321 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80784085 -0.45757292 -0.37151069 7.59706995] [ 0.49894948 0.8664485 0.01778792 1.70496941] [ 0.31375561 -0.19973488 0.92825826 0.01568919] [ 0. 0. 0. 1. ]] SLAMing on 207.481346184 meters Centerline goodness : 0.892633 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80896462 -0.45399408 -0.37345095 7.59612765] [ 0.49686335 0.86755917 0.02163108 1.70057403] [ 0.31417042 -0.20305287 0.92739769 0.01913352] [ 0. 0. 0. 1. ]] SLAMing on 207.541346184 meters Centerline goodness : 0.891063 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80973936 -0.45282803 -0.37318756 7.59553377] [ 0.49565269 0.86824389 0.02193087 1.69995457] [ 0.3140869 -0.20272971 0.92749668 0.01862958] [ 0. 0. 0. 1. ]] SLAMing on 207.601346184 meters Centerline goodness : 0.891542 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.80963633 -0.45318297 -0.37298016 7.59426278] [ 0.49572679 0.86822049 0.02116917 1.70251129] [ 0.31423551 -0.20203558 0.92759779 0.01828704] [ 0. 0. 0. 1. ]] SLAMing on 207.661346184 meters Centerline goodness : 0.891252 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.80917439 -0.45628997 -0.3701841 7.59372361] [ 0.49749186 0.86727241 0.01845021 1.69967805] [ 0.31263181 -0.19909301 0.92877517 0.01685849] [ 0. 0. 0. 1. ]] SLAMing on 207.721346184 meters Centerline goodness : 0.893023 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.80924555 -0.45552817 -0.37096595 7.59487702] [ 0.4971125 0.86747334 0.01921345 1.69859749] [ 0.3130508 -0.19996021 0.92844769 0.01774669] [ 0. 0. 0. 1. ]] SLAMing on 207.781346184 meters Centerline goodness : 0.887358 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.80941876 -0.45550029 -0.37062213 7.59341552] [ 0.49678917 0.86767239 0.01857808 1.70132691] [ 0.31311627 -0.1991585 0.92859792 0.0169165 ] [ 0. 0. 0. 1. ]] SLAMing on 207.841346184 meters Centerline goodness : 0.887610 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.8094822 -0.45464048 -0.37153817 7.59697004] [ 0.49639753 0.86787577 0.01952292 1.69899066] [ 0.31357306 -0.20023408 0.92821239 0.01704516] [ 0. 0. 0. 1. ]] SLAMing on 207.901346184 meters Centerline goodness : 0.884872 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80747002 -0.45998721 -0.36932905 7.59552357] [ 0.50031269 0.8657036 0.01563624 1.69922149] [ 0.31253701 -0.1974058 0.92916713 0.017513 ] [ 0. 0. 0. 1. ]] SLAMing on 207.96134618399998 meters Centerline goodness : 0.884947 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.8069576 -0.46034677 -0.37000038 7.59716085] [ 0.5007393 0.86546286 0.01530364 1.70068879] [ 0.31317661 -0.19762311 0.92890555 0.01765435] [ 0. 0. 0. 1. ]] SLAMing on 208.02134618399998 meters Centerline goodness : 0.886152 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.80669499 -0.46069233 -0.37014292 7.59474644] [ 0.50097687 0.8653339 0.01481277 1.70303448] [ 0.31347309 -0.19738243 0.92885672 0.01879603] [ 0. 0. 0. 1. ]] SLAMing on 208.08134618399998 meters Centerline goodness : 0.885058 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.02 [[ 0.80695681 -0.46072558 -0.36953031 7.59371588] [ 0.50078586 0.86544885 0.01455398 1.70314169] [ 0.31310419 -0.19679999 0.92910469 0.01818739] [ 0. 0. 0. 1. ]] SLAMing on 208.14134618399999 meters Centerline goodness : 0.889043 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.71, Z:0.02 [[ 0.80720642 -0.46106166 -0.3685647 7.59186282] [ 0.50043225 0.86567685 0.01308241 1.70675667] [ 0.31302613 -0.19500187 0.92951004 0.01632356] [ 0. 0. 0. 1. ]] SLAMing on 208.201346184 meters Centerline goodness : 0.886744 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.71, Z:0.01 [[ 0.80745759 -0.46058165 -0.36861468 7.59233179] [ 0.49965076 0.8661402 0.01225811 1.71003721] [ 0.31362613 -0.1940765 0.92950146 0.01480983] [ 0. 0. 0. 1. ]] SLAMing on 208.261346184 meters Centerline goodness : 0.889576 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.71, Z:0.02 [[ 0.80882091 -0.45623558 -0.37102267 7.59226472] [ 0.49695253 0.86762167 0.01645645 1.70829329] [ 0.31439929 -0.19769098 0.92847798 0.01679741] [ 0. 0. 0. 1. ]] SLAMing on 208.321346184 meters Centerline goodness : 0.889478 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.71, Z:0.02 [[ 0.80860473 -0.45684175 -0.3707479 7.59257456] [ 0.49728635 0.86744428 0.01570701 1.70934698] [ 0.31442753 -0.19706863 0.92860071 0.01608559] [ 0. 0. 0. 1. ]] SLAMing on 208.381346184 meters Centerline goodness : 0.886737 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.71, Z:0.01 [[ 0.80842039 -0.4565033 -0.37156588 7.59769443] [ 0.49723176 0.86746898 0.01606671 1.70839604] [ 0.31498736 -0.19774301 0.92826756 0.01490322] [ 0. 0. 0. 1. ]] SLAMing on 208.441346184 meters Centerline goodness : 0.885779 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.71, Z:0.02 [[ 0.80836709 -0.45597531 -0.37232937 7.60007341] [ 0.49719828 0.867468 0.01712122 1.70585807] [ 0.31517696 -0.19896176 0.92794273 0.01567934] [ 0. 0. 0. 1. ]] SLAMing on 208.501346184 meters Centerline goodness : 0.887465 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.71, Z:0.02 [[ 0.80834387 -0.45541425 -0.37306575 7.60042483] [ 0.49702723 0.86755051 0.01788974 1.70549298] [ 0.31550614 -0.19988489 0.92763242 0.01672607] [ 0. 0. 0. 1. ]] SLAMing on 208.561346184 meters Centerline goodness : 0.884718 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80816812 -0.45503988 -0.37390238 7.60301607] [ 0.49693584 0.86759573 0.01823216 1.70467829] [ 0.31609975 -0.20054015 0.92728884 0.01710592] [ 0. 0. 0. 1. ]] SLAMing on 208.621346184 meters Centerline goodness : 0.886967 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80814382 -0.45445113 -0.37467016 7.60447184] [ 0.49695297 0.86755584 0.01961123 1.70068599] [ 0.31613494 -0.20204214 0.92695074 0.01907031] [ 0. 0. 0. 1. ]] SLAMing on 208.68134618399998 meters Centerline goodness : 0.886861 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80646528 -0.45918962 -0.37250322 7.60477305] [ 0.50000479 0.86589081 0.01510976 1.70348503] [ 0.31560887 -0.19843889 0.92790789 0.01730814] [ 0. 0. 0. 1. ]] SLAMing on 208.74134618399998 meters Centerline goodness : 0.885922 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.69, Z:0.02 [[ 0.80486668 -0.45489246 -0.38113315 7.59782001] [ 0.49772425 0.86718643 0.01607076 1.69172413] [ 0.32320303 -0.20263403 0.92438047 0.01584563] [ 0. 0. 0. 1. ]] SLAMing on 208.80134618399998 meters Centerline goodness : 0.884677 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.69, Z:0.02 [[ 0.80457734 -0.45582705 -0.38062711 7.59644255] [ 0.49819542 0.8669371 0.01487904 1.69483285] [ 0.3231975 -0.20159802 0.9246089 0.01509196] [ 0. 0. 0. 1. ]] SLAMing on 208.86134618399998 meters Centerline goodness : 0.885609 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.70, Z:0.01 [[ 0.80425695 -0.45682352 -0.38010922 7.59456247] [ 0.49861363 0.86672153 0.01335064 1.69896056] [ 0.32334996 -0.20026498 0.92484525 0.01428878] [ 0. 0. 0. 1. ]] SLAMing on 208.921346184 meters Centerline goodness : 0.885591 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.01 [[ 0.80426505 -0.45677007 -0.38015633 7.59530975] [ 0.49871778 0.86665485 0.01378192 1.69678118] [ 0.32316916 -0.20067503 0.92481956 0.01481339] [ 0. 0. 0. 1. ]] SLAMing on 208.981346184 meters Centerline goodness : 0.888008 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80346596 -0.45713983 -0.38139956 7.5979043 ] [ 0.49952349 0.8661854 0.01411191 1.69654713] [ 0.32391161 -0.20185647 0.92430256 0.0161142 ] [ 0. 0. 0. 1. ]] SLAMing on 209.041346184 meters Centerline goodness : 0.886502 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80283185 -0.4579748 -0.38173303 7.59943287] [ 0.50028268 0.86575711 0.01348567 1.69786868] [ 0.32431199 -0.20180115 0.92417424 0.01598753] [ 0. 0. 0. 1. ]] SLAMing on 209.101346184 meters Centerline goodness : 0.887617 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80339993 -0.45678266 -0.38196615 7.59934333] [ 0.49929852 0.86631386 0.01418776 1.6967115 ] [ 0.32442185 -0.20211358 0.9240674 0.01633076] [ 0. 0. 0. 1. ]] SLAMing on 209.161346184 meters Centerline goodness : 0.886969 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.69, Z:0.02 [[ 0.80422666 -0.45536831 -0.38191515 7.59871214] [ 0.49814707 0.8669578 0.01528626 1.6942773 ] [ 0.32414344 -0.20254353 0.92407096 0.01677127] [ 0. 0. 0. 1. ]] SLAMing on 209.221346184 meters Centerline goodness : 0.890143 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.69, Z:0.02 [[ 0.8059196 -0.45120508 -0.38328523 7.59515484] [ 0.49521784 0.86856546 0.01879701 1.69411813] [ 0.32442701 -0.20495856 0.92343874 0.01824536] [ 0. 0. 0. 1. ]] SLAMing on 209.281346184 meters Centerline goodness : 0.889511 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:1.69, Z:0.02 [[ 0.80497101 -0.45467784 -0.38116892 7.59375318] [ 0.49729725 0.86744198 0.01548717 1.69471 ] [ 0.32360025 -0.20202098 0.92437568 0.01772475] [ 0. 0. 0. 1. ]] SLAMing on 209.341346184 meters Centerline goodness : 0.890984 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.69, Z:0.02 [[ 0.80448321 -0.45437207 -0.38256082 7.59818659] [ 0.49773013 0.86717073 0.01672249 1.69124944] [ 0.32414732 -0.20386501 0.92377896 0.0189537 ] [ 0. 0. 0. 1. ]] SLAMing on 209.401346184 meters Centerline goodness : 0.890746 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.8038243 -0.45524594 -0.38290682 7.59860404] [ 0.49835118 0.86683536 0.01557431 1.69520993] [ 0.32482702 -0.20334108 0.92365568 0.0185683 ] [ 0. 0. 0. 1. ]] SLAMing on 209.46134618399998 meters Centerline goodness : 0.888961 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80342128 -0.45597748 -0.3828822 7.59936685] [ 0.49870981 0.86664992 0.01436795 1.69829895] [ 0.32527337 -0.20249063 0.92368543 0.01740657] [ 0. 0. 0. 1. ]] SLAMing on 209.52134618399998 meters Centerline goodness : 0.889880 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80372414 -0.4550827 -0.38331089 7.60092004] [ 0.49819238 0.86693062 0.01535077 1.69540514] [ 0.32531808 -0.20330035 0.92349181 0.01804066] [ 0. 0. 0. 1. ]] SLAMing on 209.58134618399998 meters Centerline goodness : 0.891593 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80303967 -0.45574984 -0.3839523 7.60034924] [ 0.49909819 0.86640777 0.01544578 1.69555354] [ 0.32561985 -0.20403347 0.92322373 0.02000544] [ 0. 0. 0. 1. ]] SLAMing on 209.64134618399999 meters Centerline goodness : 0.892020 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.70, Z:0.02 [[ 0.80178454 -0.45673479 -0.38540223 7.60230541] [ 0.5004892 0.86560594 0.01539211 1.69628427] [ 0.32657635 -0.20523081 0.92262029 0.02222078] [ 0. 0. 0. 1. ]] SLAMing on 209.701346184 meters Centerline goodness : 0.891109 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.69, Z:0.02 [[ 0.80155955 -0.45648411 -0.38616648 7.6047196 ] [ 0.50068476 0.86547831 0.01618875 1.69401469] [ 0.3268288 -0.20632392 0.92228704 0.02315074] [ 0. 0. 0. 1. ]] SLAMing on 209.761346184 meters Centerline goodness : 0.892217 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.02 [[ 0.80233834 -0.45500447 -0.38629538 7.60615187] [ 0.49934758 0.86623817 0.01683548 1.69258617] [ 0.32696359 -0.20640341 0.92222147 0.02229268] [ 0. 0. 0. 1. ]] SLAMing on 209.821346184 meters Centerline goodness : 0.893846 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.70, Z:0.02 [[ 0.80354285 -0.45117771 -0.38827512 7.60549952] [ 0.49661299 0.86775493 0.01941441 1.69545629] [ 0.3281683 -0.20842278 0.92133898 0.02260764] [ 0. 0. 0. 1. ]] SLAMing on 209.881346184 meters Centerline goodness : 0.893192 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:1.69, Z:0.02 [[ 0.80373867 -0.45092156 -0.38816735 7.60451478] [ 0.49654495 0.86777885 0.02007429 1.69290228] [ 0.32779149 -0.20887702 0.92137025 0.02379661] [ 0. 0. 0. 1. ]] SLAMing on 209.941346184 meters Centerline goodness : 0.894084 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.02 [[ 0.80281491 -0.45158725 -0.38930344 7.60897137] [ 0.49762387 0.8671553 0.02030185 1.69134572] [ 0.32841849 -0.21002531 0.92088581 0.02472173] [ 0. 0. 0. 1. ]] SLAMing on 210.001346184 meters Centerline goodness : 0.892672 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.02 [[ 0.80011597 -0.45717114 -0.38834132 7.61277777] [ 0.50182324 0.86482552 0.01581988 1.69433738] [ 0.32861509 -0.20753644 0.92137981 0.02379178] [ 0. 0. 0. 1. ]] SLAMing on 210.061346184 meters Centerline goodness : 0.892995 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.03 [[ 0.79959667 -0.45712578 -0.38946268 7.61447191] [ 0.50250641 0.8644043 0.01710297 1.69090666] [ 0.32883501 -0.20938297 0.92088344 0.02636426] [ 0. 0. 0. 1. ]] SLAMing on 210.121346184 meters Centerline goodness : 0.896377 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.03 [[ 0.80003603 -0.45649541 -0.38929973 7.61366134] [ 0.50203281 0.86466543 0.01779744 1.68873604] [ 0.32848957 -0.20967983 0.92093918 0.02703577] [ 0. 0. 0. 1. ]] SLAMing on 210.18134618399998 meters Centerline goodness : 0.895287 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.03 [[ 0.80178316 -0.45192104 -0.39103853 7.61326196] [ 0.498696 0.86652033 0.02109073 1.6890097 ] [ 0.32931149 -0.21191955 0.92013262 0.02712286] [ 0. 0. 0. 1. ]] SLAMing on 210.24134618399998 meters Centerline goodness : 0.889629 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.03 [[ 0.8021341 -0.45169828 -0.39057591 7.61095938] [ 0.49818075 0.8668274 0.02064469 1.69044488] [ 0.32923673 -0.2111372 0.92033921 0.02694587] [ 0. 0. 0. 1. ]] SLAMing on 210.30134618399998 meters Centerline goodness : 0.890792 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.69, Z:0.03 [[ 0.80193801 -0.45158651 -0.39110746 7.61269007] [ 0.49819368 0.86681985 0.02064981 1.6906343 ] [ 0.32969453 -0.21140713 0.92011333 0.02704727] [ 0. 0. 0. 1. ]] SLAMing on 210.36134618399998 meters Centerline goodness : 0.889383 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.69, Z:0.03 [[ 0.80047457 -0.45516345 -0.38995731 7.61561839] [ 0.5006418 0.86547801 0.01748159 1.69212698] [ 0.32954249 -0.2092225 0.92066698 0.02556412] [ 0. 0. 0. 1. ]] SLAMing on 210.421346184 meters Centerline goodness : 0.888907 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.69, Z:0.03 [[ 0.79948734 -0.45581763 -0.39121641 7.61679847] [ 0.50163501 0.8649041 0.01741312 1.69382838] [ 0.33042747 -0.21016941 0.92013396 0.0271881 ] [ 0. 0. 0. 1. ]] SLAMing on 210.481346184 meters Centerline goodness : 0.889413 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.70, Z:0.03 [[ 0.7997721 -0.45619636 -0.39019158 7.61302745] [ 0.50154117 0.86497232 0.01671336 1.69533304] [ 0.32988034 -0.20906402 0.92058199 0.02699593] [ 0. 0. 0. 1. ]] SLAMing on 210.541346184 meters Centerline goodness : 0.888404 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.70, Z:0.03 [[ 0.79945978 -0.45647577 -0.39050471 7.61425216] [ 0.50164372 0.86492741 0.01594236 1.69801811] [ 0.33048092 -0.20863951 0.92046288 0.02628255] [ 0. 0. 0. 1. ]] SLAMing on 210.601346184 meters Centerline goodness : 0.885529 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.70, Z:0.03 [[ 0.79825817 -0.45804365 -0.39112647 7.61523376] [ 0.50308408 0.86411066 0.01480485 1.70110725] [ 0.33119528 -0.20858759 0.92021786 0.02685102] [ 0. 0. 0. 1. ]] SLAMing on 210.661346184 meters Centerline goodness : 0.884410 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.70, Z:0.03 [[ 0.79644871 -0.46074077 -0.39164703 7.61661306] [ 0.5054536 0.86275704 0.01292112 1.70486213] [ 0.33194294 -0.20825041 0.92002481 0.02765239] [ 0. 0. 0. 1. ]] SLAMing on 210.721346184 meters Centerline goodness : 0.885777 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.71, Z:0.03 [[ 0.79430105 -0.46434325 -0.39175399 7.61474812] [ 0.50866063 0.86089787 0.01091899 1.70778261] [ 0.33219001 -0.2079428 0.92000521 0.030144 ] [ 0. 0. 0. 1. ]] SLAMing on 210.781346184 meters Centerline goodness : 0.884416 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.71, Z:0.03 [[ 0.79291739 -0.4662326 -0.3923126 7.61671825] [ 0.51040348 0.8598804 0.00969513 1.70992525] [ 0.33282173 -0.20792515 0.91978086 0.03070402] [ 0. 0. 0. 1. ]] SLAMing on 210.841346184 meters Centerline goodness : 0.887602 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.72, Z:0.03 [[ 0.79341516 -0.46388446 -0.39408577 7.61664924] [ 0.50876146 0.86083742 0.01098734 1.71510823] [ 0.33414692 -0.20921317 0.91900799 0.03022729] [ 0. 0. 0. 1. ]] SLAMing on 210.901346184 meters Centerline goodness : 0.884347 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.72, Z:0.03 [[ 0.79332961 -0.46289042 -0.39542458 7.61529257] [ 0.50802215 0.86127364 0.01101017 1.72190084] [ 0.33547226 -0.20961914 0.91843246 0.02997424] [ 0. 0. 0. 1. ]] SLAMing on 210.96134618399998 meters Centerline goodness : 0.884922 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.72, Z:0.03 [[ 0.79241311 -0.46471196 -0.39512562 7.61445276] [ 0.50941032 0.86047022 0.0095985 1.72415669] [ 0.33553329 -0.20888704 0.91857695 0.03038509] [ 0. 0. 0. 1. ]] SLAMing on 211.02134618399998 meters Centerline goodness : 0.883849 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:0.03 [[ 0.79105924 -0.46646765 -0.39576914 7.61290609] [ 0.51092677 0.85958611 0.0080962 1.72923886] [ 0.33642104 -0.20861362 0.91831435 0.03183357] [ 0. 0. 0. 1. ]] SLAMing on 211.08134618399998 meters Centerline goodness : 0.884598 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.73, Z:0.03 [[ 0.79062816 -0.46659222 -0.39648306 7.6092009 ] [ 0.51119121 0.85943009 0.00796699 1.73354097] [ 0.33703214 -0.20897758 0.91800747 0.03329587] [ 0. 0. 0. 1. ]] SLAMing on 211.14134618399999 meters Centerline goodness : 0.885436 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.74, Z:0.03 [[ 7.90395658e-01 -4.66431421e-01 -3.97135283e-01 7.61139051e+00] [ 5.10970128e-01 8.59566597e-01 7.40226576e-03 1.73761350e+00] [ 3.37911574e-01 -2.08774985e-01 9.17730229e-01 3.19535227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201346184 meters Centerline goodness : 0.883553 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.74, Z:0.03 [[ 7.90658657e-01 -4.65905983e-01 -3.97228527e-01 7.61179774e+00] [ 5.10123387e-01 8.60075963e-01 6.59301907e-03 1.74332531e+00] [ 3.38574981e-01 -2.07848389e-01 9.17696044e-01 2.93828191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261346184 meters Centerline goodness : 0.882079 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.75, Z:0.03 [[ 7.89876145e-01 -4.67705631e-01 -3.96670038e-01 7.61194855e+00] [ 5.10911434e-01 8.59624980e-01 3.79486612e-03 1.75061883e+00] [ 3.39212593e-01 -2.05660732e-01 9.17953419e-01 2.66673731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321346184 meters Centerline goodness : 0.883321 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.76, Z:0.02 [[ 0.79093395 -0.46843076 -0.39369546 7.62347146] [ 0.51375134 0.8578632 0.01141457 1.75808466] [ 0.33238991 -0.21128974 0.91917006 0.02486961] [ 0. 0. 0. 1. ]] SLAMing on 211.381346184 meters Centerline goodness : 0.883142 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.76, Z:0.02 [[ 0.78992518 -0.47027468 -0.39352248 7.62298388] [ 0.51497307 0.85715502 0.00938166 1.76368566] [ 0.3328978 -0.21006429 0.91926712 0.02394231] [ 0. 0. 0. 1. ]] SLAMing on 211.441346184 meters Centerline goodness : 0.882272 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.77, Z:0.02 [[ 7.89181797e-01 -4.72289187e-01 -3.92600325e-01 7.61887187e+00] [ 5.15996688e-01 8.56563591e-01 6.79946638e-03 1.77124362e+00] [ 3.33075829e-01 -2.07946482e-01 9.19684050e-01 2.28767659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501346184 meters Centerline goodness : 0.881450 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.78, Z:0.02 [[ 7.88633968e-01 -4.73582033e-01 -3.92143497e-01 7.61786958e+00] [ 5.16674892e-01 8.56166446e-01 5.10610121e-03 1.77599574e+00] [ 3.33321946e-01 -2.06637544e-01 9.19889888e-01 2.17241782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561346184 meters Centerline goodness : 0.882864 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:1.78, Z:0.02 [[ 7.87750979e-01 -4.75660993e-01 -3.91401349e-01 7.61495481e+00] [ 5.17761359e-01 8.55521797e-01 2.37267832e-03 1.78339490e+00] [ 3.33723795e-01 -2.04521574e-01 9.20217015e-01 2.06533472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621346184 meters Centerline goodness : 0.883537 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.80, Z:0.02 [[ 7.89433714e-01 -4.79183084e-01 -3.83637828e-01 7.61704994e+00] [ 5.19634478e-01 8.54386070e-01 2.11038559e-03 1.80411857e+00] [ 3.26763555e-01 -2.01017452e-01 9.23481220e-01 2.02414040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68134618399998 meters Centerline goodness : 0.883384 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.82, Z:0.02 [[ 7.89941161e-01 -4.77963685e-01 -3.84114147e-01 7.61545223e+00] [ 5.17843887e-01 8.55475008e-01 4.69167384e-04 1.81516221e+00] [ 3.28375808e-01 -1.99281778e-01 9.23285493e-01 1.68599819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74134618399998 meters Centerline goodness : 0.886838 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.83, Z:0.02 [[ 7.93021251e-01 -4.79408079e-01 -3.75879222e-01 7.61820574e+00] [ 5.18154148e-01 8.55284066e-01 2.33362003e-03 1.83117174e+00] [ 3.20364753e-01 -1.96613988e-01 9.26665724e-01 1.58290332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80134618399998 meters Centerline goodness : 0.888924 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.85, Z:0.01 [[ 7.96440506e-01 -4.80800524e-01 -3.66760653e-01 7.61883162e+00] [ 5.17944408e-01 8.55407690e-01 3.35761368e-03 1.84943588e+00] [ 3.12115540e-01 -1.92635769e-01 9.30309277e-01 1.27483284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86134618399998 meters Centerline goodness : 0.887057 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.86, Z:0.01 [[ 7.99256643e-01 -4.82782711e-01 -3.57924117e-01 7.62293818e+00] [ 5.18335964e-01 8.55167830e-01 3.97631420e-03 1.86438584e+00] [ 3.04165495e-01 -1.88703038e-01 9.33742210e-01 1.09850417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921346184 meters Centerline goodness : 0.886313 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:1.88, Z:0.01 [[ 8.02040734e-01 -4.84803575e-01 -3.48849760e-01 7.62360562e+00] [ 5.19045833e-01 8.54728682e-01 5.50489126e-03 1.88012681e+00] [ 2.95503104e-01 -1.85484161e-01 9.37162495e-01 9.17566541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981346184 meters Centerline goodness : 0.888573 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:1.89, Z:0.01 [[ 8.03881715e-01 -4.87690018e-01 -3.40488817e-01 7.62595545e+00] [ 5.20849291e-01 8.53619560e-01 7.04717272e-03 1.89463225e+00] [ 2.87211078e-01 -1.83008452e-01 9.40222156e-01 9.30661121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041346184 meters Centerline goodness : 0.887995 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:1.91, Z:0.01 [[ 8.05255273e-01 -4.92061710e-01 -3.30815990e-01 7.63313192e+00] [ 5.23201615e-01 8.52187879e-01 5.99074564e-03 1.90709297e+00] [ 2.78969560e-01 -1.77907540e-01 9.43676264e-01 7.35316787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101346184 meters Centerline goodness : 0.889373 with order 1 Centerline is valid? [False, False] Translation: X:7.64, Y:1.92, Z:0.00 [[ 8.07295794e-01 -4.94729221e-01 -3.21739800e-01 7.63623909e+00] [ 5.24293128e-01 8.51515389e-01 6.18540649e-03 1.92331493e+00] [ 2.70906289e-01 -1.73679419e-01 9.46807922e-01 4.99930573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161346184 meters Centerline goodness : 0.890261 with order 1 Centerline is valid? [False, False] Translation: X:7.64, Y:1.93, Z:0.00 [[ 8.06345584e-01 -4.95711298e-01 -3.22609838e-01 7.63874568e+00] [ 5.25010353e-01 8.51084008e-01 4.48783819e-03 1.93123956e+00] [ 2.72343402e-01 -1.72992254e-01 9.46521395e-01 2.64686068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221346184 meters Centerline goodness : 0.892559 with order 1 Centerline is valid? [False, False] Translation: X:7.64, Y:1.94, Z:0.00 [[ 8.07223269e-01 -5.00865529e-01 -3.12288833e-01 7.64402906e+00] [ 5.28187862e-01 8.49120625e-01 3.42721591e-03 1.94211091e+00] [ 2.63454315e-01 -1.67713699e-01 9.49981020e-01 1.68745466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281346184 meters Centerline goodness : 0.889802 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:1.96, Z:0.00 [[ 8.08015269e-01 -5.05235720e-01 -3.03064667e-01 7.64648877e+00] [ 5.31219465e-01 8.47225231e-01 3.91002312e-03 1.95828380e+00] [ 2.54788549e-01 -1.64153209e-01 9.52961972e-01 5.82812242e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341346184 meters Centerline goodness : 0.891990 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:1.97, Z:-0.00 [[ 8.09516523e-01 -5.07942755e-01 -2.94409843e-01 7.65206865e+00] [ 5.32867769e-01 8.46182078e-01 5.27566415e-03 1.97134601e+00] [ 2.46444597e-01 -1.61152254e-01 9.55664696e-01 -1.46914731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401346184 meters Centerline goodness : 0.893591 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:1.99, Z:-0.01 [[ 8.11369275e-01 -5.12080205e-01 -2.81875439e-01 7.64956427e+00] [ 5.34764916e-01 8.44990350e-01 4.21814366e-03 1.98588443e+00] [ 2.36021998e-01 -1.54159568e-01 9.59441736e-01 -5.81983963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46134618399998 meters Centerline goodness : 0.897520 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:1.99, Z:-0.01 [[ 8.13992249e-01 -5.05949400e-01 -2.85362617e-01 7.64723568e+00] [ 5.30156786e-01 8.47851669e-01 9.01824992e-03 1.99031494e+00] [ 2.37382393e-01 -1.58627713e-01 9.58377195e-01 -5.33369350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52134618399998 meters Centerline goodness : 0.894688 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.00, Z:-0.01 [[ 0.8154702 -0.50971486 -0.27422457 7.64776175] [ 0.53240032 0.84643475 0.00990508 2.00291852] [ 0.22706444 -0.15407455 0.96161467 -0.00850939] [ 0. 0. 0. 1. ]] SLAMing on 212.58134618399998 meters Centerline goodness : 0.893471 with order 1 Centerline is valid? [False, False] Translation: X:7.64, Y:2.01, Z:-0.01 [[ 0.81747662 -0.50637953 -0.27442986 7.64404104] [ 0.52915958 0.84845491 0.01069633 2.00780658] [ 0.22742496 -0.15396119 0.96154763 -0.01050464] [ 0. 0. 0. 1. ]] SLAMing on 212.64134618399999 meters Centerline goodness : 0.897368 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.02, Z:-0.02 [[ 0.8195689 -0.50977119 -0.2616107 7.64674972] [ 0.53061033 0.84754751 0.01076569 2.01661736] [ 0.21623945 -0.14763657 0.96511344 -0.01635471] [ 0. 0. 0. 1. ]] SLAMing on 212.701346184 meters Centerline goodness : 0.896555 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.02, Z:-0.02 [[ 0.8199708 -0.50799723 -0.26379291 7.64767122] [ 0.52960621 0.84814535 0.0129122 2.01953695] [ 0.21717537 -0.15029399 0.96449291 -0.01616591] [ 0. 0. 0. 1. ]] SLAMing on 212.761346184 meters Centerline goodness : 0.897097 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.02, Z:-0.02 [[ 0.82058298 -0.5063913 -0.26497439 7.65087098] [ 0.52837493 0.8488962 0.01397052 2.02083127] [ 0.21786121 -0.15146979 0.96415424 -0.01823098] [ 0. 0. 0. 1. ]] SLAMing on 212.821346184 meters Centerline goodness : 0.894583 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.02, Z:-0.02 [[ 0.82024327 -0.50689077 -0.26507116 7.65279932] [ 0.52890804 0.8485641 0.01397343 2.01999804] [ 0.21784687 -0.15165988 0.9641276 -0.01869742] [ 0. 0. 0. 1. ]] SLAMing on 212.881346184 meters Centerline goodness : 0.895301 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.02, Z:-0.02 [[ 0.81981042 -0.50747647 -0.26528948 7.65381121] [ 0.52951858 0.84818549 0.01383651 2.02051155] [ 0.21799298 -0.15181902 0.96406952 -0.01870545] [ 0. 0. 0. 1. ]] SLAMing on 212.941346184 meters Centerline goodness : 0.895069 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.02, Z:-0.02 [[ 0.81983413 -0.50718116 -0.26578049 7.65841171] [ 0.52931757 0.84830918 0.01394447 2.02032962] [ 0.21839166 -0.15211443 0.96393272 -0.02130138] [ 0. 0. 0. 1. ]] SLAMing on 213.001346184 meters Centerline goodness : 0.894607 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.02, Z:-0.02 [[ 0.82009115 -0.5065685 -0.26615569 7.66043096] [ 0.5289358 0.84853302 0.01478635 2.01923293] [ 0.21835159 -0.15290543 0.96381664 -0.02198843] [ 0. 0. 0. 1. ]] SLAMing on 213.061346184 meters Centerline goodness : 0.894439 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.02, Z:-0.02 [[ 0.82147613 -0.50234747 -0.26985921 7.66096813] [ 0.52633224 0.85004784 0.01982512 2.01932802] [ 0.21943414 -0.15832147 0.96269568 -0.01960512] [ 0. 0. 0. 1. ]] SLAMing on 213.121346184 meters Centerline goodness : 0.895682 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.03, Z:-0.03 [[ 0.82322923 -0.50450097 -0.26033136 7.6668145 ] [ 0.52816683 0.84876194 0.02535672 2.02588982] [ 0.20816686 -0.15837278 0.96518631 -0.02704779] [ 0. 0. 0. 1. ]] SLAMing on 213.18134618399998 meters Centerline goodness : 0.895526 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.03, Z:-0.03 [[ 0.82433694 -0.50338396 -0.25898494 7.66638475] [ 0.52662778 0.84973971 0.02460912 2.02612749] [ 0.20768195 -0.15667487 0.96556781 -0.03005295] [ 0. 0. 0. 1. ]] SLAMing on 213.24134618399998 meters Centerline goodness : 0.896913 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.03, Z:-0.03 [[ 0.82398388 -0.50306374 -0.26072484 7.67021659] [ 0.52677434 0.84962372 0.02546239 2.02840724] [ 0.2087088 -0.15832376 0.96507731 -0.03095383] [ 0. 0. 0. 1. ]] SLAMing on 213.30134618399998 meters Centerline goodness : 0.894958 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.03, Z:-0.03 [[ 0.82327099 -0.50288938 -0.26330049 7.67017128] [ 0.52751072 0.8490981 0.02765608 2.0303005 ] [ 0.20966 -0.16166228 0.96431737 -0.02778023] [ 0. 0. 0. 1. ]] SLAMing on 213.36134618399998 meters Centerline goodness : 0.896818 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.03, Z:-0.03 [[ 0.8235492 -0.50332928 -0.26158432 7.67282881] [ 0.52734654 0.84924727 0.0261667 2.02642138] [ 0.2089793 -0.15949515 0.96482586 -0.03041191] [ 0. 0. 0. 1. ]] SLAMing on 213.421346184 meters Centerline goodness : 0.895271 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.03, Z:-0.03 [[ 0.82367533 -0.50231354 -0.26313506 7.67647289] [ 0.52683306 0.84952696 0.02740226 2.02746472] [ 0.2097758 -0.16119882 0.96436977 -0.03151087] [ 0. 0. 0. 1. ]] SLAMing on 213.481346184 meters Centerline goodness : 0.897603 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.02, Z:-0.03 [[ 0.82433014 -0.5007596 -0.26404477 7.68025041] [ 0.52578658 0.85011404 0.02923352 2.02350128] [ 0.20982921 -0.16292927 0.9640673 -0.03216977] [ 0. 0. 0. 1. ]] SLAMing on 213.541346184 meters Centerline goodness : 0.899845 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.02, Z:-0.03 [[ 0.82512329 -0.49728628 -0.26810058 7.68431736] [ 0.5241772 0.8508911 0.03496578 2.0196804 ] [ 0.21073639 -0.16938329 0.96275619 -0.02942743] [ 0. 0. 0. 1. ]] SLAMing on 213.601346184 meters Centerline goodness : 0.900132 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:2.02, Z:-0.03 [[ 0.8249649 -0.49747474 -0.26823831 7.68628887] [ 0.52446058 0.85070438 0.03525833 2.0179565 ] [ 0.21065137 -0.16976731 0.96270715 -0.02962956] [ 0. 0. 0. 1. ]] SLAMing on 213.661346184 meters Centerline goodness : 0.899681 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:2.01, Z:-0.03 [[ 0.82502545 -0.49828961 -0.26653419 7.69158074] [ 0.52485071 0.85049039 0.03460969 2.01047703] [ 0.20943912 -0.16844453 0.96320387 -0.03240498] [ 0. 0. 0. 1. ]] SLAMing on 213.721346184 meters Centerline goodness : 0.899598 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.01, Z:-0.03 [[ 0.82453169 -0.49740146 -0.26970221 7.69648255] [ 0.52528433 0.85007154 0.03814114 2.0056428 ] [ 0.21029472 -0.17311893 0.96218812 -0.0289622 ] [ 0. 0. 0. 1. ]] SLAMing on 213.781346184 meters Centerline goodness : 0.899797 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.00, Z:-0.03 [[ 0.82475332 -0.49622152 -0.27119396 7.70106998] [ 0.52481761 0.85026046 0.04029415 2.00170931] [ 0.21059068 -0.1755601 0.96168093 -0.02865131] [ 0. 0. 0. 1. ]] SLAMing on 213.841346184 meters Centerline goodness : 0.901180 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.00, Z:-0.03 [[ 0.82481482 -0.49664012 -0.27023899 7.70251013] [ 0.52490785 0.85023957 0.03955271 1.99778124] [ 0.21012442 -0.17447423 0.9619805 -0.02884553] [ 0. 0. 0. 1. ]] SLAMing on 213.901346184 meters Centerline goodness : 0.899335 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.00, Z:-0.03 [[ 0.82432756 -0.4964207 -0.27212232 7.70834923] [ 0.52532536 0.84991917 0.04087389 1.99642633] [ 0.21099133 -0.17664623 0.96139418 -0.02919168] [ 0. 0. 0. 1. ]] SLAMing on 213.96134618399998 meters Centerline goodness : 0.900668 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.99, Z:-0.02 [[ 0.8218249 -0.49359704 -0.28454488 7.70968893] [ 0.52454504 0.85045572 0.03971871 1.98632166] [ 0.22238779 -0.18189843 0.95783957 -0.02486363] [ 0. 0. 0. 1. ]] SLAMing on 214.02134618399998 meters Centerline goodness : 0.901478 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.98, Z:-0.02 [[ 0.8218925 -0.49349442 -0.28452764 7.70877601] [ 0.52463387 0.85036054 0.04057413 1.98312758] [ 0.22192797 -0.1826204 0.95780883 -0.02280338] [ 0. 0. 0. 1. ]] SLAMing on 214.08134618399998 meters Centerline goodness : 0.901952 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.98, Z:-0.02 [[ 0.82199438 -0.49262855 -0.28573126 7.71190769] [ 0.52417342 0.85060349 0.04142367 1.98292114] [ 0.22263752 -0.18382276 0.95741408 -0.02316616] [ 0. 0. 0. 1. ]] SLAMing on 214.14134618399999 meters Centerline goodness : 0.901903 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.98, Z:-0.02 [[ 0.82153754 -0.49319271 -0.28607172 7.71269456] [ 0.52474972 0.85026377 0.04110052 1.9837689 ] [ 0.22296595 -0.18388167 0.95732634 -0.02294471] [ 0. 0. 0. 1. ]] SLAMing on 214.201346184 meters Centerline goodness : 0.902165 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.98, Z:-0.02 [[ 0.82138465 -0.493012 -0.28682126 7.71551229] [ 0.52485049 0.85017266 0.0416943 1.98205403] [ 0.2232918 -0.18478534 0.95707635 -0.02291163] [ 0. 0. 0. 1. ]] SLAMing on 214.261346184 meters Centerline goodness : 0.893119 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.98, Z:-0.02 [[ 0.82141602 -0.4923786 -0.2878177 7.71825331] [ 0.52456484 0.85031289 0.04242301 1.98182673] [ 0.22384692 -0.18582598 0.95674514 -0.02318914] [ 0. 0. 0. 1. ]] SLAMing on 214.321346184 meters Centerline goodness : 0.902381 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.98, Z:-0.02 [[ 0.82178055 -0.49139469 -0.28845795 7.71983499] [ 0.52382339 0.85073808 0.0430555 1.98141363] [ 0.22424491 -0.18648319 0.95652404 -0.02355155] [ 0. 0. 0. 1. ]] SLAMing on 214.381346184 meters Centerline goodness : 0.890887 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.98, Z:-0.02 [[ 0.82166075 -0.49086626 -0.28969627 7.72105794] [ 0.52382028 0.85067593 0.04430314 1.98074467] [ 0.22469073 -0.18815093 0.95609273 -0.02215337] [ 0. 0. 0. 1. ]] SLAMing on 214.441346184 meters Centerline goodness : 0.889294 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.98, Z:-0.02 [[ 0.82161917 -0.49038959 -0.29061999 7.72375432] [ 0.52371182 0.85069887 0.0451373 1.97905158] [ 0.22509524 -0.18928679 0.95577332 -0.02176063] [ 0. 0. 0. 1. ]] SLAMing on 214.501346184 meters Centerline goodness : 0.889086 with order 1 Centerline is valid? [False, False] Translation: X:7.73, Y:1.98, Z:-0.02 [[ 0.82112504 -0.49017238 -0.29237767 7.72770076] [ 0.52411779 0.85038767 0.0462747 1.97794993] [ 0.22595179 -0.19123765 0.95518268 -0.02088887] [ 0. 0. 0. 1. ]] SLAMing on 214.561346184 meters Centerline goodness : 0.891034 with order 1 Centerline is valid? [False, False] Translation: X:7.73, Y:1.98, Z:-0.02 [[ 0.82089475 -0.48966541 -0.29387003 7.73493703] [ 0.52417724 0.85028742 0.04742918 1.97518673] [ 0.22664956 -0.19297434 0.95466794 -0.02217764] [ 0. 0. 0. 1. ]] SLAMing on 214.621346184 meters Centerline goodness : 0.888680 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.97, Z:-0.02 [[ 0.82135954 -0.48902016 -0.29364569 7.73759723] [ 0.52368797 0.85053516 0.04838236 1.96904339] [ 0.22609603 -0.19351803 0.95468914 -0.02184628] [ 0. 0. 0. 1. ]] SLAMing on 214.68134618399998 meters Centerline goodness : 0.889472 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.97, Z:-0.02 [[ 0.82339556 -0.48347275 -0.29710916 7.73949283] [ 0.52001494 0.85244887 0.05399429 1.96543629] [ 0.2271656 -0.19895986 0.95331567 -0.01950041] [ 0. 0. 0. 1. ]] SLAMing on 214.74134618399998 meters Centerline goodness : 0.886844 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.96, Z:-0.02 [[ 0.82435194 -0.48167324 -0.29737984 7.74134882] [ 0.51852494 0.85327156 0.05531298 1.96180259] [ 0.22710298 -0.19979622 0.95315566 -0.01977771] [ 0. 0. 0. 1. ]] SLAMing on 214.80134618399998 meters Centerline goodness : 0.890770 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.96, Z:-0.02 [[ 0.82527004 -0.48036612 -0.29694738 7.74443825] [ 0.51727659 0.85397456 0.05614607 1.95584666] [ 0.22661484 -0.19993959 0.95324177 -0.02061425] [ 0. 0. 0. 1. ]] SLAMing on 214.86134618399998 meters Centerline goodness : 0.889139 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.95, Z:-0.02 [[ 0.82491677 -0.48021963 -0.29816345 7.74749567] [ 0.51758377 0.85373448 0.0569603 1.9541655 ] [ 0.22719896 -0.20131207 0.95281377 -0.01959505] [ 0. 0. 0. 1. ]] SLAMing on 214.921346184 meters Centerline goodness : 0.889047 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.95, Z:-0.02 [[ 0.822577 -0.48438313 -0.29789271 7.74941628] [ 0.52133143 0.85158966 0.05485056 1.952964 ] [ 0.22711367 -0.20041965 0.95302222 -0.0172819 ] [ 0. 0. 0. 1. ]] SLAMing on 214.981346184 meters Centerline goodness : 0.890020 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.94, Z:-0.02 [[ 0.82084898 -0.48142688 -0.30730296 7.74535027] [ 0.52064044 0.85193451 0.05604568 1.93878838] [ 0.2348201 -0.20599939 0.94995988 -0.01533979] [ 0. 0. 0. 1. ]] SLAMing on 215.041346184 meters Centerline goodness : 0.891708 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.93, Z:-0.01 [[ 0.81729443 -0.4805958 -0.3178954 7.74363759] [ 0.52098424 0.85202109 0.05133688 1.93237172] [ 0.2461813 -0.20757584 0.94673494 -0.011864 ] [ 0. 0. 0. 1. ]] SLAMing on 215.101346184 meters Centerline goodness : 0.892181 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.93, Z:-0.01 [[ 0.81591557 -0.48159533 -0.31991831 7.7461848 ] [ 0.52268475 0.85093389 0.05207841 1.93248685] [ 0.24714862 -0.20970801 0.94601274 -0.00903413] [ 0. 0. 0. 1. ]] SLAMing on 215.161346184 meters Centerline goodness : 0.894840 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.93, Z:-0.01 [[ 8.15289847e-01 -4.81578834e-01 -3.21534278e-01 7.74938626e+00] [ 5.23437906e-01 8.50377100e-01 5.35868157e-02 1.92949741e+00] [ 2.47619110e-01 -2.11992016e-01 9.45380432e-01 -6.59979282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221346184 meters Centerline goodness : 0.897769 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.92, Z:-0.00 [[ 8.14397379e-01 -4.80350123e-01 -3.25608152e-01 7.74065224e+00] [ 5.21155682e-01 8.52205647e-01 4.62848787e-02 1.92161322e+00] [ 2.55252159e-01 -2.07386822e-01 9.44371241e-01 -1.13370178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281346184 meters Centerline goodness : 0.898516 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.92, Z:-0.00 [[ 8.15025906e-01 -4.79120540e-01 -3.25847019e-01 7.74097382e+00] [ 5.20106725e-01 8.52809291e-01 4.69607093e-02 1.92043035e+00] [ 2.55385525e-01 -2.07749421e-01 9.44255480e-01 -1.06889429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341346184 meters Centerline goodness : 0.899181 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.92, Z:-0.00 [[ 8.16260838e-01 -4.76865236e-01 -3.26064090e-01 7.74145739e+00] [ 5.18156292e-01 8.53921711e-01 4.82883944e-02 1.91862361e+00] [ 2.55406149e-01 -2.08368085e-01 9.44113574e-01 -1.69101391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401346184 meters Centerline goodness : 0.898119 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.92, Z:-0.00 [[ 8.15681946e-01 -4.77483695e-01 -3.26607231e-01 7.74342611e+00] [ 5.18927028e-01 8.53453949e-01 4.82814267e-02 1.91812461e+00] [ 2.55690637e-01 -2.08867608e-01 9.43926173e-01 -1.28685339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46134618399998 meters Centerline goodness : 0.897721 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.92, Z:-0.00 [[ 8.14505003e-01 -4.80561508e-01 -3.25026518e-01 7.74559050e+00] [ 5.21069870e-01 8.52292781e-01 4.56421583e-02 1.91696478e+00] [ 2.55083891e-01 -2.06537292e-01 9.44602856e-01 -2.41368948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52134618399998 meters Centerline goodness : 0.900333 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.92, Z:-0.00 [[ 8.12282387e-01 -4.84999558e-01 -3.23994989e-01 7.74782799e+00] [ 5.24684752e-01 8.50225238e-01 4.26960864e-02 1.91618072e+00] [ 2.54761134e-01 -2.04676509e-01 9.45094858e-01 -1.76411874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58134618399998 meters Centerline goodness : 0.900577 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.91, Z:-0.00 [[ 8.09356837e-01 -4.82870530e-01 -3.34331514e-01 7.74512529e+00] [ 5.24269011e-01 8.50580495e-01 4.06795433e-02 1.90743069e+00] [ 2.64732912e-01 -2.08203918e-01 9.41577195e-01 -1.75684784e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64134618399999 meters Centerline goodness : 0.900898 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.91, Z:-0.00 [[ 8.08126695e-01 -4.85677890e-01 -3.33239002e-01 7.74731632e+00] [ 5.26346359e-01 8.49399496e-01 3.84708541e-02 1.90607804e+00] [ 2.64368597e-01 -2.06488460e-01 9.42057196e-01 -4.46287011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701346184 meters Centerline goodness : 0.902652 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.90, Z:0.00 [[ 8.08064819e-01 -4.84965280e-01 -3.34424769e-01 7.74861206e+00] [ 5.26250634e-01 8.49396638e-01 3.98198537e-02 1.90384967e+00] [ 2.64748028e-01 -2.08168270e-01 9.41580827e-01 1.60310754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761346184 meters Centerline goodness : 0.903121 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.90, Z:0.00 [[ 8.08919032e-01 -4.83950905e-01 -3.33828580e-01 7.74717108e+00] [ 5.25181861e-01 8.50035098e-01 4.03031634e-02 1.90233986e+00] [ 2.64261257e-01 -2.07922711e-01 9.41771806e-01 1.25302782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821346184 meters Centerline goodness : 0.904707 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.90, Z:-0.00 [[ 8.09373956e-01 -4.83349688e-01 -3.33596880e-01 7.74806973e+00] [ 5.24346661e-01 8.50575657e-01 3.97697154e-02 1.90337799e+00] [ 2.64526706e-01 -2.07108982e-01 9.41876580e-01 -5.13060151e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881346184 meters Centerline goodness : 0.898086 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.90, Z:-0.00 [[ 8.10048472e-01 -4.82354478e-01 -3.33400106e-01 7.74672511e+00] [ 5.23308421e-01 8.51205976e-01 3.99585142e-02 1.90403382e+00] [ 2.64517994e-01 -2.06839417e-01 9.41938260e-01 -9.20355709e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941346184 meters Centerline goodness : 0.899628 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:1.91, Z:-0.00 [[ 8.09500159e-01 -4.82935258e-01 -3.33890744e-01 7.74676344e+00] [ 5.23828556e-01 8.50919656e-01 3.92349782e-02 1.90671773e+00] [ 2.65166242e-01 -2.06662227e-01 9.41794876e-01 -5.86452411e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001346184 meters Centerline goodness : 0.898907 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:-0.00 [[ 8.08198633e-01 -4.77891117e-01 -3.44143938e-01 7.73920837e+00] [ 5.21352437e-01 8.52368903e-01 4.07294661e-02 1.89897615e+00] [ 2.73873341e-01 -2.12337780e-01 9.38033081e-01 -3.48846081e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061346184 meters Centerline goodness : 0.900048 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:-0.00 [[ 8.07940403e-01 -4.78106141e-01 -3.44451481e-01 7.73980963e+00] [ 5.21600762e-01 8.52225440e-01 4.05517574e-02 1.89931685e+00] [ 2.74162271e-01 -2.12429558e-01 9.37927893e-01 -8.77854038e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121346184 meters Centerline goodness : 0.898698 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.00 [[ 8.07951692e-01 -4.78068831e-01 -3.44476787e-01 7.73967230e+00] [ 5.21593340e-01 8.52225764e-01 4.06403192e-02 1.89848672e+00] [ 2.74143123e-01 -2.12512212e-01 9.37914766e-01 5.69256066e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18134618399998 meters Centerline goodness : 0.901828 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.00 [[ 8.07728483e-01 -4.78032863e-01 -3.45049678e-01 7.73981386e+00] [ 5.21731939e-01 8.52134478e-01 4.07751808e-02 1.89892432e+00] [ 2.74536851e-01 -2.12958712e-01 9.37698302e-01 1.48534733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24134618399998 meters Centerline goodness : 0.903010 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.00 [[ 8.07405575e-01 -4.78460033e-01 -3.45213316e-01 7.73943574e+00] [ 5.22259611e-01 8.51804992e-01 4.09042051e-02 1.89829803e+00] [ 2.74483399e-01 -2.13317255e-01 9.37632451e-01 2.65777740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30134618399998 meters Centerline goodness : 0.906360 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.00 [[ 8.06397193e-01 -4.81803227e-01 -3.42912841e-01 7.73774691e+00] [ 5.24266978e-01 8.50724460e-01 3.75769797e-02 1.89864816e+00] [ 2.73619632e-01 -2.10079850e-01 9.38615339e-01 2.14363494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36134618399998 meters Centerline goodness : 0.907278 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.00 [[ 8.06826376e-01 -4.80784263e-01 -3.43333207e-01 7.73800279e+00] [ 5.23492061e-01 8.51170872e-01 3.82649911e-02 1.89823279e+00] [ 2.73838019e-01 -2.10605412e-01 9.38433855e-01 2.29661381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421346184 meters Centerline goodness : 0.900038 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.00 [[ 8.06856122e-01 -4.80413980e-01 -3.43781334e-01 7.73805888e+00] [ 5.23313157e-01 8.51264554e-01 3.86263910e-02 1.89811480e+00] [ 2.74092205e-01 -2.11071235e-01 9.38254974e-01 3.06039870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481346184 meters Centerline goodness : 0.901466 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.00 [[ 8.04847289e-01 -4.84511306e-01 -3.42738436e-01 7.74098594e+00] [ 5.26576794e-01 8.49371760e-01 3.58398207e-02 1.89712876e+00] [ 2.73747551e-01 -2.09323689e-01 9.38746969e-01 3.14367709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541346184 meters Centerline goodness : 0.901626 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.90, Z:0.01 [[ 8.03577388e-01 -4.85323051e-01 -3.44564823e-01 7.74409653e+00] [ 5.28094840e-01 8.48395269e-01 3.66238564e-02 1.89615225e+00] [ 2.74552764e-01 -2.11393008e-01 9.38047854e-01 5.82486721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601346184 meters Centerline goodness : 0.903247 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.88, Z:0.01 [[ 0.7996871 -0.4860379 -0.35251625 7.73579296] [ 0.53070092 0.84677752 0.03639184 1.88345029] [ 0.28081502 -0.21618279 0.93509782 0.00903335] [ 0. 0. 0. 1. ]] SLAMing on 216.661346184 meters Centerline goodness : 0.899202 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.88, Z:0.01 [[ 0.79939602 -0.48617049 -0.35299329 7.73722744] [ 0.53095932 0.84661536 0.03639548 1.88376203] [ 0.28115513 -0.21651948 0.9349177 0.00906468] [ 0. 0. 0. 1. ]] SLAMing on 216.721346184 meters Centerline goodness : 0.898906 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:1.89, Z:0.01 [[ 0.80104911 -0.48228837 -0.35456771 7.7352659 ] [ 0.52797093 0.84837405 0.0388352 1.88618173] [ 0.28207628 -0.21831034 0.93422351 0.00907817] [ 0. 0. 0. 1. ]] SLAMing on 216.781346184 meters Centerline goodness : 0.899973 with order 1 Centerline is valid? [False, False] Translation: X:7.73, Y:1.89, Z:0.01 [[ 8.02949277e-01 -4.81214536e-01 -3.51717257e-01 7.72912081e+00] [ 5.25664212e-01 8.49875223e-01 3.72725208e-02 1.88920044e+00] [ 2.80979703e-01 -2.14813118e-01 9.35363956e-01 5.73506238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841346184 meters Centerline goodness : 0.900980 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.89, Z:0.01 [[ 0.80236426 -0.47851496 -0.35670018 7.71690991] [ 0.52197692 0.85240955 0.0306277 1.88662848] [ 0.28939883 -0.21076384 0.93371673 0.00798142] [ 0. 0. 0. 1. ]] SLAMing on 216.901346184 meters Centerline goodness : 0.901256 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.89, Z:0.01 [[ 0.80030769 -0.48104063 -0.35792109 7.71806919] [ 0.52447721 0.85092734 0.02909167 1.89182382] [ 0.29057057 -0.21100374 0.93329854 0.0092313 ] [ 0. 0. 0. 1. ]] SLAMing on 216.96134618399998 meters Centerline goodness : 0.897369 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.90, Z:0.01 [[ 0.79788123 -0.48405055 -0.3592779 7.72117283] [ 0.52756294 0.84906512 0.02767251 1.89525854] [ 0.29165544 -0.21162109 0.93282025 0.01061276] [ 0. 0. 0. 1. ]] SLAMing on 217.02134618399998 meters Centerline goodness : 0.899392 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:1.90, Z:0.01 [[ 0.79688626 -0.48614473 -0.35865804 7.72084612] [ 0.5288976 0.84830876 0.02528982 1.90016656] [ 0.29195824 -0.20984648 0.93312638 0.00905398] [ 0. 0. 0. 1. ]] SLAMing on 217.08134618399998 meters Centerline goodness : 0.898180 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.91, Z:0.01 [[ 7.99062383e-01 -4.82919260e-01 -3.58173555e-01 7.71460139e+00] [ 5.25260697e-01 8.50573773e-01 2.50091246e-02 1.90904500e+00] [ 2.92575644e-01 -2.08118342e-01 9.33320014e-01 5.96253473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14134618399999 meters Centerline goodness : 0.897912 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.92, Z:0.00 [[ 8.00500144e-01 -4.80104133e-01 -3.58747182e-01 7.71215492e+00] [ 5.22508745e-01 8.52256826e-01 2.53557426e-02 1.91606289e+00] [ 2.93571338e-01 -2.07745816e-01 9.33090320e-01 3.24249441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201346184 meters Centerline goodness : 0.897890 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.92, Z:0.00 [[ 8.00839374e-01 -4.80855621e-01 -3.56979228e-01 7.70788738e+00] [ 5.21998319e-01 8.52649438e-01 2.25098027e-02 1.92313265e+00] [ 2.93554172e-01 -2.04369293e-01 9.33841068e-01 2.78052011e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261346184 meters Centerline goodness : 0.895182 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.93, Z:-0.00 [[ 7.99756952e-01 -4.83289588e-01 -3.56117948e-01 7.70561553e+00] [ 5.23293961e-01 8.51939886e-01 1.90226490e-02 1.93280529e+00] [ 2.94197636e-01 -2.01567867e-01 9.34247369e-01 -2.17571302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321346184 meters Centerline goodness : 0.900247 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:1.95, Z:-0.00 [[ 8.00816002e-01 -4.89100636e-01 -3.45650545e-01 7.70473540e+00] [ 5.27072771e-01 8.49609245e-01 1.89320892e-02 1.94729486e+00] [ 2.84408202e-01 -1.97344110e-01 9.38172307e-01 -2.91382497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381346184 meters Centerline goodness : 0.895674 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.96, Z:-0.00 [[ 8.01379426e-01 -4.94828308e-01 -3.36059460e-01 7.70682036e+00] [ 5.30857046e-01 8.47262585e-01 1.83550939e-02 1.96274337e+00] [ 2.75647987e-01 -1.93108927e-01 9.41661898e-01 -3.34710190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441346184 meters Centerline goodness : 0.896396 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:1.97, Z:-0.01 [[ 8.01467158e-01 -4.95897635e-01 -3.34269248e-01 7.70427470e+00] [ 5.30581137e-01 8.47503836e-01 1.48628913e-02 1.97116103e+00] [ 2.75923998e-01 -1.89269077e-01 9.42360422e-01 -7.69105549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501346184 meters Centerline goodness : 0.898778 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:1.99, Z:-0.01 [[ 0.8024276 -0.50179204 -0.32297786 7.70809121] [ 0.53340076 0.84578899 0.0111627 1.98586243] [ 0.26756976 -0.18123389 0.94634069 -0.0108155 ] [ 0. 0. 0. 1. ]] SLAMing on 217.561346184 meters Centerline goodness : 0.893907 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.00, Z:-0.01 [[ 0.80344161 -0.50536142 -0.31478787 7.70868196] [ 0.53570278 0.84432405 0.01180829 2.00495245] [ 0.25981552 -0.17812001 0.94908859 -0.01164745] [ 0. 0. 0. 1. ]] SLAMing on 217.621346184 meters Centerline goodness : 0.895074 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.02, Z:-0.02 [[ 0.80394294 -0.5093008 -0.30706423 7.71468689] [ 0.53966761 0.84170923 0.01686545 2.01557993] [ 0.24986921 -0.17927148 0.95153934 -0.01646003] [ 0. 0. 0. 1. ]] SLAMing on 217.68134618399998 meters Centerline goodness : 0.895839 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.03, Z:-0.02 [[ 0.80216053 -0.51108251 -0.30876068 7.71187068] [ 0.5415292 0.84053763 0.01557604 2.02632998] [ 0.25156432 -0.17969741 0.95101221 -0.0151947 ] [ 0. 0. 0. 1. ]] SLAMing on 217.74134618399998 meters Centerline goodness : 0.895567 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.03, Z:-0.02 [[ 0.80096921 -0.51324912 -0.3082591 7.71141627] [ 0.5429089 0.83969729 0.01258492 2.03483405] [ 0.25238513 -0.17743674 0.95121919 -0.01781961] [ 0. 0. 0. 1. ]] SLAMing on 217.80134618399998 meters Centerline goodness : 0.897194 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.05, Z:-0.02 [[ 0.80228023 -0.51788757 -0.29688197 7.7098344 ] [ 0.54590964 0.83772895 0.01388801 2.04647113] [ 0.24151419 -0.1732128 0.95481319 -0.01960665] [ 0. 0. 0. 1. ]] SLAMing on 217.86134618399998 meters Centerline goodness : 0.895000 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.06, Z:-0.02 [[ 0.80475728 -0.51880307 -0.28845986 7.70555784] [ 0.54645053 0.83728411 0.01863165 2.06191969] [ 0.2318567 -0.172623 0.9573107 -0.02002806] [ 0. 0. 0. 1. ]] SLAMing on 217.921346184 meters Centerline goodness : 0.898550 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.06, Z:-0.02 [[ 0.80511859 -0.51852582 -0.28794971 7.70421585] [ 0.5458477 0.83769685 0.01772769 2.064558 ] [ 0.2320223 -0.17144958 0.95748143 -0.02121027] [ 0. 0. 0. 1. ]] SLAMing on 217.981346184 meters Centerline goodness : 0.900358 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.08, Z:-0.03 [[ 0.80711685 -0.52242838 -0.27501086 7.70204283] [ 0.54732827 0.83674968 0.01678515 2.07970571] [ 0.22134621 -0.1640688 0.96129459 -0.0271726 ] [ 0. 0. 0. 1. ]] SLAMing on 218.041346184 meters Centerline goodness : 0.901094 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.09, Z:-0.03 [[ 0.8070365 -0.52139818 -0.27719313 7.70340928] [ 0.54684585 0.83704747 0.01763943 2.08591291] [ 0.22282664 -0.16581758 0.96065229 -0.02831681] [ 0. 0. 0. 1. ]] SLAMing on 218.101346184 meters Centerline goodness : 0.900106 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.10, Z:-0.03 [[ 0.80479527 -0.52906066 -0.26907135 7.70278981] [ 0.55364325 0.83253767 0.01897839 2.10381043] [ 0.21397132 -0.16424325 0.96293324 -0.02618365] [ 0. 0. 0. 1. ]] SLAMing on 218.161346184 meters Centerline goodness : 0.901013 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.11, Z:-0.03 [[ 0.80325701 -0.53187496 -0.26811789 7.70406357] [ 0.55580895 0.83114878 0.01637417 2.10809029] [ 0.21413685 -0.16217499 0.96324695 -0.02858818] [ 0. 0. 0. 1. ]] SLAMing on 218.221346184 meters Centerline goodness : 0.899262 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.12, Z:-0.03 [[ 0.80323299 -0.53098091 -0.26995561 7.70324952] [ 0.55532145 0.83146416 0.01689506 2.11561178] [ 0.21548746 -0.16348281 0.96272453 -0.02944785] [ 0. 0. 0. 1. ]] SLAMing on 218.281346184 meters Centerline goodness : 0.899812 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.13, Z:-0.03 [[ 0.80414291 -0.5350013 -0.25909031 7.70242635] [ 0.55809077 0.82955815 0.01918267 2.12704143] [ 0.20466772 -0.16002152 0.96566259 -0.03160871] [ 0. 0. 0. 1. ]] SLAMing on 218.341346184 meters Centerline goodness : 0.899091 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.14, Z:-0.03 [[ 0.80213244 -0.53768519 -0.25976565 7.69933308] [ 0.56039151 0.8280647 0.01643822 2.13803108] [ 0.20626418 -0.1587561 0.96553177 -0.03104343] [ 0. 0. 0. 1. ]] SLAMing on 218.401346184 meters Centerline goodness : 0.899847 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.15, Z:-0.03 [[ 0.80157594 -0.53853934 -0.25971406 7.69798802] [ 0.56085209 0.82778884 0.01451089 2.14645315] [ 0.20717372 -0.15729275 0.96557653 -0.03351324] [ 0. 0. 0. 1. ]] SLAMing on 218.46134618399998 meters Centerline goodness : 0.906510 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.16, Z:-0.04 [[ 0.80239062 -0.53661013 -0.26118741 7.70522602] [ 0.56145167 0.82711602 0.02551698 2.15954999] [ 0.20233962 -0.16711869 0.96495079 -0.03953512] [ 0. 0. 0. 1. ]] SLAMing on 218.52134618399998 meters Centerline goodness : 0.904901 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.17, Z:-0.04 [[ 0.80319947 -0.53238116 -0.26728433 7.70753299] [ 0.55897154 0.82867377 0.02916499 2.17200822] [ 0.20596462 -0.17282964 0.96317625 -0.04095586] [ 0. 0. 0. 1. ]] SLAMing on 218.58134618399998 meters Centerline goodness : 0.904260 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.18, Z:-0.04 [[ 0.8012899 -0.53468748 -0.26840975 7.71057359] [ 0.56112539 0.82728574 0.02714052 2.17968531] [ 0.20753986 -0.17235896 0.96292242 -0.04312457] [ 0. 0. 0. 1. ]] SLAMing on 218.64134618399999 meters Centerline goodness : 0.904358 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.19, Z:-0.04 [[ 0.79862161 -0.53592047 -0.2738481 7.71332434] [ 0.56358634 0.8255854 0.02791371 2.19275339] [ 0.21112546 -0.17662954 0.9613678 -0.04186951] [ 0. 0. 0. 1. ]] SLAMing on 218.701346184 meters Centerline goodness : 0.905574 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:2.20, Z:-0.04 [[ 0.79791245 -0.53480219 -0.27806896 7.71550855] [ 0.56354432 0.82556645 0.02928872 2.20290262] [ 0.21390073 -0.18007401 0.96011449 -0.04251239] [ 0. 0. 0. 1. ]] SLAMing on 218.761346184 meters Centerline goodness : 0.906248 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:2.22, Z:-0.04 [[ 0.79820474 -0.52985948 -0.28656261 7.71835186] [ 0.56098175 0.82716447 0.03314234 2.22082913] [ 0.21947363 -0.18721077 0.9574881 -0.04326134] [ 0. 0. 0. 1. ]] SLAMing on 218.821346184 meters Centerline goodness : 0.902852 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:2.23, Z:-0.05 [[ 0.79828692 -0.52906708 -0.28779509 7.71854212] [ 0.56012268 0.82779543 0.03189528 2.23207597] [ 0.22136072 -0.18666214 0.95716074 -0.04741918] [ 0. 0. 0. 1. ]] SLAMing on 218.881346184 meters Centerline goodness : 0.901922 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:2.26, Z:-0.05 [[ 0.79805896 -0.53408125 -0.27903245 7.71563925] [ 0.56360445 0.82542225 0.03206451 2.25599897] [ 0.21319454 -0.18285331 0.95974619 -0.05110649] [ 0. 0. 0. 1. ]] SLAMing on 218.941346184 meters Centerline goodness : 0.899069 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.27, Z:-0.05 [[ 0.7982539 -0.53204671 -0.282342 7.71310783] [ 0.56221786 0.82635638 0.03234522 2.26848322] [ 0.21610594 -0.18455741 0.95876837 -0.05123881] [ 0. 0. 0. 1. ]] SLAMing on 219.001346184 meters Centerline goodness : 0.902253 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.29, Z:-0.05 [[ 0.80050466 -0.5322271 -0.27554784 7.7081795 ] [ 0.56218305 0.82616378 0.037465 2.29108483] [ 0.20770776 -0.18489923 0.96055701 -0.05483422] [ 0. 0. 0. 1. ]] SLAMing on 219.061346184 meters Centerline goodness : 0.895055 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.31, Z:-0.06 [[ 0.80164666 -0.52689033 -0.28239905 7.7094038 ] [ 0.55841874 0.8286351 0.03914564 2.30975618] [ 0.2133803 -0.1890779 0.95849799 -0.0571287 ] [ 0. 0. 0. 1. ]] SLAMing on 219.121346184 meters Centerline goodness : 0.892636 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.32, Z:-0.06 [[ 0.80107535 -0.52693635 -0.28393022 7.70748776] [ 0.55838322 0.82874052 0.03738078 2.32035367] [ 0.21560719 -0.1884867 0.95811602 -0.05777533] [ 0. 0. 0. 1. ]] SLAMing on 219.18134618399998 meters Centerline goodness : 0.888102 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:2.35, Z:-0.06 [[ 0.79985366 -0.5259026 -0.2892414 7.7163461 ] [ 0.56032882 0.82700071 0.0458414 2.34686248] [ 0.21509473 -0.1987367 0.95615792 -0.05777498] [ 0. 0. 0. 1. ]] SLAMing on 219.24134618399998 meters Centerline goodness : 0.884779 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:2.36, Z:-0.06 [[ 0.79885142 -0.52561444 -0.29251645 7.71531172] [ 0.56039395 0.82703885 0.04433234 2.35947515] [ 0.21862075 -0.1993394 0.95523231 -0.05697272] [ 0. 0. 0. 1. ]] SLAMing on 219.30134618399998 meters Centerline goodness : 0.884501 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.38, Z:-0.06 [[ 0.79673471 -0.52887415 -0.29241397 7.71084068] [ 0.56206492 0.82626393 0.03702629 2.37555469] [ 0.22202887 -0.19385576 0.95557476 -0.05550361] [ 0. 0. 0. 1. ]] SLAMing on 219.36134618399998 meters Centerline goodness : 0.874283 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.39, Z:-0.05 [[ 0.79487287 -0.5290063 -0.29720272 7.70952123] [ 0.56289657 0.82575742 0.03566703 2.38979341] [ 0.22654927 -0.19564514 0.954148 -0.0521978 ] [ 0. 0. 0. 1. ]] SLAMing on 219.421346184 meters Centerline goodness : 0.866772 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.39, Z:-0.05 [[ 0.79167799 -0.53425923 -0.29633265 7.7089 ] [ 0.56725192 0.82293022 0.03179802 2.39284173] [ 0.22687271 -0.19326906 0.95455531 -0.05010727] [ 0. 0. 0. 1. ]] SLAMing on 219.481346184 meters Centerline goodness : 0.865450 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.40, Z:-0.05 [[ 0.78664381 -0.54422741 -0.29156139 7.70900268] [ 0.57453018 0.81816225 0.02292583 2.39629995] [ 0.22606766 -0.18554528 0.95627735 -0.05073403] [ 0. 0. 0. 1. ]] SLAMing on 219.541346184 meters Centerline goodness : 0.862408 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.40, Z:-0.05 [[ 0.78505147 -0.54583361 -0.29284784 7.70967006] [ 0.57629465 0.8169398 0.02222235 2.39826522] [ 0.22710935 -0.18621233 0.95590079 -0.04847421] [ 0. 0. 0. 1. ]] SLAMing on 219.601346184 meters Centerline goodness : 0.862125 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.40, Z:-0.05 [[ 0.78385404 -0.54651766 -0.2947733 7.71007088] [ 0.57740144 0.81615761 0.02223369 2.40018194] [ 0.22843037 -0.1876305 0.95530852 -0.04567537] [ 0. 0. 0. 1. ]] SLAMing on 219.661346184 meters Centerline goodness : 0.861874 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.40, Z:-0.05 [[ 0.78501381 -0.54602387 -0.292594 7.71038504] [ 0.57589954 0.8172771 0.01994672 2.40111585] [ 0.22823899 -0.18416319 0.9560287 -0.04872946] [ 0. 0. 0. 1. ]] SLAMing on 219.721346184 meters Centerline goodness : 0.862775 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.40, Z:-0.05 [[ 0.78609636 -0.54500186 -0.2915913 7.70846665] [ 0.57446077 0.81830655 0.01921502 2.40203727] [ 0.22813885 -0.18261262 0.95634999 -0.04930603] [ 0. 0. 0. 1. ]] SLAMing on 219.781346184 meters Centerline goodness : 0.863049 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.40, Z:-0.05 [[ 0.78769376 -0.54194118 -0.29298175 7.70682335] [ 0.57205741 0.81993623 0.02132844 2.40302165] [ 0.22866759 -0.18440266 0.95588012 -0.04868816] [ 0. 0. 0. 1. ]] SLAMing on 219.841346184 meters Centerline goodness : 0.864390 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:2.40, Z:-0.05 [[ 0.78787399 -0.54188313 -0.29260426 7.70589197] [ 0.5718382 0.82009809 0.02098097 2.40329762] [ 0.22859496 -0.18385265 0.95600342 -0.04829662] [ 0. 0. 0. 1. ]] SLAMing on 219.901346184 meters Centerline goodness : 0.862307 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.41, Z:-0.05 [[ 0.78897276 -0.54061051 -0.29199701 7.703567 ] [ 0.57023907 0.82122694 0.02033985 2.40535369] [ 0.22879988 -0.18255569 0.95620293 -0.04866286] [ 0. 0. 0. 1. ]] SLAMing on 219.96134618399998 meters Centerline goodness : 0.864454 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.40, Z:-0.05 [[ 0.7898866 -0.54131706 -0.28819264 7.70146561] [ 0.56956121 0.82176174 0.01754078 2.4040932 ] [ 0.22733056 -0.17799857 0.95741178 -0.05083713] [ 0. 0. 0. 1. ]] SLAMing on 220.02134618399998 meters Centerline goodness : 0.863543 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.40, Z:-0.05 [[ 0.79043412 -0.54078523 -0.28768947 7.6996001 ] [ 0.56883536 0.82227107 0.01722282 2.40444557] [ 0.22724488 -0.17726145 0.95756887 -0.05040374] [ 0. 0. 0. 1. ]] SLAMing on 220.08134618399998 meters Centerline goodness : 0.869493 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.40, Z:-0.05 [[ 0.78741474 -0.54544283 -0.28717614 7.69858462] [ 0.57305711 0.81937801 0.01500735 2.40437663] [ 0.22712017 -0.17638534 0.95776022 -0.04689506] [ 0. 0. 0. 1. ]] SLAMing on 220.14134618399999 meters Centerline goodness : 0.863371 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.40, Z:-0.05 [[ 0.78530784 -0.54915897 -0.28586016 7.69848254] [ 0.57613223 0.81725748 0.01272259 2.40404017] [ 0.22663463 -0.1746844 0.95818688 -0.04571522] [ 0. 0. 0. 1. ]] SLAMing on 220.201346184 meters Centerline goodness : 0.861289 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.40, Z:-0.05 [[ 0.78388149 -0.55291353 -0.28251802 7.69842417] [ 0.57860584 0.81555429 0.00929998 2.40151004] [ 0.2252667 -0.17075666 0.95921691 -0.04617541] [ 0. 0. 0. 1. ]] SLAMing on 220.261346184 meters Centerline goodness : 0.861856 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.40, Z:-0.05 [[ 0.78505884 -0.55144143 -0.28212581 7.69641613] [ 0.57719345 0.81654478 0.01011675 2.39984167] [ 0.22478956 -0.17078341 0.95932408 -0.04516672] [ 0. 0. 0. 1. ]] SLAMing on 220.321346184 meters Centerline goodness : 0.865246 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:2.40, Z:-0.05 [[ 0.7883816 -0.54863846 -0.27829893 7.68974675] [ 0.57334121 0.81926624 0.00909344 2.39760571] [ 0.22301191 -0.16672935 0.96045146 -0.04529745] [ 0. 0. 0. 1. ]] SLAMing on 220.381346184 meters Centerline goodness : 0.869220 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:2.40, Z:-0.05 [[ 0.79035292 -0.54495763 -0.27993472 7.68865324] [ 0.57044439 0.82125136 0.01180703 2.39831149] [ 0.22346244 -0.16901891 0.95994643 -0.04505489] [ 0. 0. 0. 1. ]] SLAMing on 220.441346184 meters Centerline goodness : 0.869010 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:2.40, Z:-0.04 [[ 0.78955524 -0.54625565 -0.27965566 7.68694872] [ 0.57160495 0.82045229 0.01121731 2.3984402 ] [ 0.2233166 -0.16870925 0.96003484 -0.0431986 ] [ 0. 0. 0. 1. ]] SLAMing on 220.501346184 meters Centerline goodness : 0.871484 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:2.40, Z:-0.04 [[ 0.78749417 -0.55002918 -0.27806623 7.68619568] [ 0.57455301 0.8184256 0.00826848 2.39950314] [ 0.22302862 -0.16627517 0.96052632 -0.04235311] [ 0. 0. 0. 1. ]] SLAMing on 220.561346184 meters Centerline goodness : 0.868599 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.40, Z:-0.04 [[ 0.78793562 -0.54959598 -0.27767195 7.68403245] [ 0.57393277 0.81886488 0.00784098 2.4003795 ] [ 0.22306644 -0.16554321 0.96064395 -0.04152788] [ 0. 0. 0. 1. ]] SLAMing on 220.621346184 meters Centerline goodness : 0.871409 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.40, Z:-0.04 [[ 0.78861875 -0.5481346 -0.27861966 7.68154815] [ 0.57282951 0.81962627 0.00889591 2.40151936] [ 0.22348784 -0.16661705 0.96036032 -0.0395846 ] [ 0. 0. 0. 1. ]] SLAMing on 220.68134618399998 meters Centerline goodness : 0.872035 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.40, Z:-0.04 [[ 0.78899137 -0.54743941 -0.27893137 7.67815148] [ 0.57217538 0.82008248 0.00894832 2.40423042] [ 0.22384806 -0.16665781 0.96026935 -0.03812934] [ 0. 0. 0. 1. ]] SLAMing on 220.74134618399998 meters Centerline goodness : 0.872841 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.41, Z:-0.04 [[ 0.78898454 -0.54797015 -0.27790667 7.67669375] [ 0.57228111 0.82002019 0.00782407 2.40545587] [ 0.22360172 -0.16521381 0.96057622 -0.03846338] [ 0. 0. 0. 1. ]] SLAMing on 220.80134618399998 meters Centerline goodness : 0.869467 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.41, Z:-0.04 [[ 7.87874704e-01 -5.48907597e-01 -2.79202256e-01 7.67618900e+00] [ 5.73348879e-01 8.19279442e-01 7.22905395e-03 2.40876934e+00] [ 2.24776586e-01 -1.65775889e-01 9.60205104e-01 -3.66965459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86134618399998 meters Centerline goodness : 0.871374 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.41, Z:-0.04 [[ 0.78839348 -0.54761379 -0.2802764 7.67388782] [ 0.57235927 0.8199647 0.00792196 2.41193476] [ 0.22547858 -0.16666441 0.95988665 -0.03578614] [ 0. 0. 0. 1. ]] SLAMing on 220.921346184 meters Centerline goodness : 0.868073 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.41, Z:-0.04 [[ 7.89627888e-01 -5.46877371e-01 -2.78231809e-01 7.67176043e+00] [ 5.70968431e-01 8.20943702e-01 6.81828071e-03 2.41172706e+00] [ 2.24683888e-01 -1.64245484e-01 9.60489756e-01 -3.69528065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981346184 meters Centerline goodness : 0.870863 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.41, Z:-0.03 [[ 0.79194927 -0.54308859 -0.27905402 7.6665715 ] [ 0.56763246 0.82323541 0.00876661 2.41352142] [ 0.2249661 -0.16534283 0.96023539 -0.03471959] [ 0. 0. 0. 1. ]] SLAMing on 221.041346184 meters Centerline goodness : 0.874756 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:2.42, Z:-0.03 [[ 0.79368625 -0.53817716 -0.28359741 7.66537946] [ 0.56442896 0.82537391 0.0133362 2.41750822] [ 0.22689666 -0.17065535 0.95885069 -0.03283334] [ 0. 0. 0. 1. ]] SLAMing on 221.101346184 meters Centerline goodness : 0.866426 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.03 [[ 0.79458408 -0.53764753 -0.28208379 7.66140157] [ 0.56347338 0.82603502 0.01280217 2.41812228] [ 0.22612804 -0.1691191 0.95930435 -0.03245437] [ 0. 0. 0. 1. ]] SLAMing on 221.161346184 meters Centerline goodness : 0.861722 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.03 [[ 0.79341479 -0.54682813 -0.26734241 7.66038701] [ 0.56952347 0.82192537 0.00903873 2.42388687] [ 0.21479288 -0.15942924 0.9635592 -0.03256055] [ 0. 0. 0. 1. ]] SLAMing on 221.221346184 meters Centerline goodness : 0.863454 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.43, Z:-0.03 [[ 7.91615384e-01 -5.49580841e-01 -2.67031803e-01 7.65895291e+00] [ 5.71982699e-01 8.20231252e-01 7.51566783e-03 2.42549053e+00] [ 2.14897363e-01 -1.58687089e-01 9.63658410e-01 -3.07558207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281346184 meters Centerline goodness : 0.863642 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.03 [[ 7.90703766e-01 -5.50919424e-01 -2.66974425e-01 7.65930143e+00] [ 5.73275517e-01 8.19331583e-01 7.13711315e-03 2.42337198e+00] [ 2.14808604e-01 -1.58693244e-01 9.63677186e-01 -2.88058893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341346184 meters Centerline goodness : 0.862271 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.03 [[ 7.90863595e-01 -5.50458463e-01 -2.67451406e-01 7.65953704e+00] [ 5.72904741e-01 8.19589885e-01 7.25108827e-03 2.42258264e+00] [ 2.15209044e-01 -1.58958800e-01 9.63544066e-01 -2.73751481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401346184 meters Centerline goodness : 0.861628 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.02 [[ 0.7912489 -0.54921069 -0.26887319 7.65874089] [ 0.57209232 0.82014715 0.00830814 2.42223334] [ 0.21595266 -0.1603941 0.96313975 -0.02483762] [ 0. 0. 0. 1. ]] SLAMing on 221.46134618399998 meters Centerline goodness : 0.862159 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.02 [[ 0.79025631 -0.55062533 -0.26889907 7.65786634] [ 0.57344641 0.81920606 0.00778744 2.42189673] [ 0.21599579 -0.16035328 0.96313688 -0.02286394] [ 0. 0. 0. 1. ]] SLAMing on 221.52134618399998 meters Centerline goodness : 0.862942 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.02 [[ 7.87613482e-01 -5.55237217e-01 -2.67164061e-01 7.65895378e+00] [ 5.77129554e-01 8.16641746e-01 4.21137082e-03 2.42168301e+00] [ 2.15839016e-01 -1.57505208e-01 9.63641857e-01 -2.17949963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58134618399998 meters Centerline goodness : 0.859039 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.02 [[ 7.82973772e-01 -5.62076551e-01 -2.66499572e-01 7.65918852e+00] [ 5.83470332e-01 8.12133325e-01 1.35410521e-03 2.42071083e+00] [ 2.15672073e-01 -1.56554823e-01 9.63834085e-01 -1.76503592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64134618399999 meters Centerline goodness : 0.859416 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.42, Z:-0.02 [[ 7.80739594e-01 -5.65359370e-01 -2.66109883e-01 7.66059550e+00] [ 5.86375537e-01 8.10039124e-01 -5.88515802e-04 2.41925487e+00] [ 2.15892140e-01 -1.55580848e-01 9.63942521e-01 -1.50933585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701346184 meters Centerline goodness : 0.863186 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.41, Z:-0.00 [[ 7.77575297e-01 -5.63307078e-01 -2.79395408e-01 7.66335513e+00] [ 5.84741469e-01 8.11179289e-01 -8.09789128e-03 2.41375903e+00] [ 2.31201368e-01 -1.57077361e-01 9.60141984e-01 -2.49187261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761346184 meters Centerline goodness : 0.857607 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.41, Z:-0.00 [[ 7.76041950e-01 -5.65717250e-01 -2.78788244e-01 7.66318221e+00] [ 5.86751406e-01 8.09708245e-01 -9.76446053e-03 2.41267667e+00] [ 2.31261064e-01 -1.56001763e-01 9.60302957e-01 -2.10275611e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821346184 meters Centerline goodness : 0.855722 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.41, Z:0.00 [[ 7.72739527e-01 -5.71838291e-01 -2.75453430e-01 7.66215584e+00] [ 5.91606727e-01 8.06108303e-01 -1.38161017e-02 2.40901897e+00] [ 2.29945873e-01 -1.52283854e-01 9.61215128e-01 2.57614618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881346184 meters Centerline goodness : 0.856088 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.40, Z:0.01 [[ 0.7723369 -0.56655025 -0.28725689 7.66233679] [ 0.58626845 0.8098456 -0.02096197 2.40406218] [ 0.24450974 -0.15221995 0.95762418 0.01372556] [ 0. 0. 0. 1. ]] SLAMing on 221.941346184 meters Centerline goodness : 0.857577 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:2.38, Z:0.01 [[ 0.77660966 -0.56344376 -0.28179526 7.62564431] [ 0.57973341 0.8142408 -0.03034944 2.38472317] [ 0.2465494 -0.13979646 0.95899444 0.01162452] [ 0. 0. 0. 1. ]] SLAMing on 222.001346184 meters Centerline goodness : 0.851813 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:2.37, Z:0.01 [[ 0.7813224 -0.56299924 -0.26938293 7.59779288] [ 0.57406712 0.8176363 -0.04379309 2.37140496] [ 0.24491274 -0.12042736 0.9620369 0.01265348] [ 0. 0. 0. 1. ]] SLAMing on 222.061346184 meters Centerline goodness : 0.851026 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.38, Z:0.03 [[ 0.78985546 -0.55877214 -0.25278855 7.58615446] [ 0.56275019 0.82418758 -0.06345912 2.37626443] [ 0.24380437 -0.09213328 0.96543819 0.02503552] [ 0. 0. 0. 1. ]] SLAMing on 222.121346184 meters Centerline goodness : 0.850378 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.38, Z:0.03 [[ 0.79662591 -0.55521281 -0.23901024 7.57417711] [ 0.55510108 0.82845654 -0.07431388 2.38166161] [ 0.23926962 -0.07347448 0.96816917 0.03497356] [ 0. 0. 0. 1. ]] SLAMing on 222.18134618399998 meters Centerline goodness : 0.846980 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.38, Z:0.04 [[ 0.79787403 -0.54707717 -0.25318689 7.57689466] [ 0.54639655 0.83373277 -0.07962712 2.38277347] [ 0.25465239 -0.07480803 0.9641348 0.04086756] [ 0. 0. 0. 1. ]] SLAMing on 222.24134618399998 meters Centerline goodness : 0.844244 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.39, Z:0.04 [[ 0.79837282 -0.54703958 -0.25169136 7.57855224] [ 0.54559775 0.83402067 -0.08205251 2.38699443] [ 0.25480176 -0.07181375 0.964323 0.03670492] [ 0. 0. 0. 1. ]] SLAMing on 222.30134618399998 meters Centerline goodness : 0.835115 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.39, Z:0.03 [[ 0.79735632 -0.54870853 -0.25128043 7.58138549] [ 0.54660789 0.8330937 -0.0847036 2.39217727] [ 0.25581773 -0.06981291 0.96420094 0.03397334] [ 0. 0. 0. 1. ]] SLAMing on 222.36134618399998 meters Centerline goodness : 0.841278 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.40, Z:0.04 [[ 0.7962381 -0.54916757 -0.25381069 7.582351 ] [ 0.54737004 0.83262673 -0.08437277 2.3958212 ] [ 0.25766435 -0.07174755 0.963567 0.03615097] [ 0. 0. 0. 1. ]] SLAMing on 222.421346184 meters Centerline goodness : 0.836838 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.40, Z:0.04 [[ 0.79549866 -0.54795745 -0.25869773 7.58398814] [ 0.54706357 0.83303903 -0.08226436 2.40431963] [ 0.26058267 -0.07608291 0.96244899 0.03735979] [ 0. 0. 0. 1. ]] SLAMing on 222.481346184 meters Centerline goodness : 0.837447 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.41, Z:0.04 [[ 0.79530588 -0.54772094 -0.259789 7.5847221 ] [ 0.5466622 0.83321331 -0.08316256 2.40925102] [ 0.26200953 -0.07587716 0.96207778 0.03729531] [ 0. 0. 0. 1. ]] SLAMing on 222.541346184 meters Centerline goodness : 0.834334 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.42, Z:0.04 [[ 0.79462924 -0.54759812 -0.26210813 7.5854648 ] [ 0.54650463 0.83323553 -0.08397164 2.41879366] [ 0.26438052 -0.07651699 0.96137823 0.03686687] [ 0. 0. 0. 1. ]] SLAMing on 222.601346184 meters Centerline goodness : 0.833851 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.43, Z:0.03 [[ 0.79473469 -0.54623205 -0.26462676 7.58786534] [ 0.54508205 0.83409354 -0.08469668 2.42996676] [ 0.26698751 -0.07693191 0.96062436 0.03427052] [ 0. 0. 0. 1. ]] SLAMing on 222.661346184 meters Centerline goodness : 0.830403 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.44, Z:0.03 [[ 0.79591414 -0.5429781 -0.26776009 7.58866715] [ 0.54232366 0.83603046 -0.08329533 2.43695279] [ 0.26908313 -0.0789167 0.95987834 0.033993 ] [ 0. 0. 0. 1. ]] SLAMing on 222.721346184 meters Centerline goodness : 0.834119 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.44, Z:0.03 [[ 0.79780292 -0.53926819 -0.26962995 7.5865274 ] [ 0.53937186 0.83821017 -0.08050899 2.43984546] [ 0.26942251 -0.0812005 0.95959262 0.03409435] [ 0. 0. 0. 1. ]] SLAMing on 222.781346184 meters Centerline goodness : 0.831670 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.44, Z:0.03 [[ 0.79778237 -0.5397584 -0.26870833 7.58611834] [ 0.53943832 0.83804067 -0.08181773 2.44284835] [ 0.26935031 -0.07967882 0.95974043 0.03246903] [ 0. 0. 0. 1. ]] SLAMing on 222.841346184 meters Centerline goodness : 0.829413 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.45, Z:0.03 [[ 0.79681435 -0.54289153 -0.26524643 7.58423114] [ 0.54113169 0.83648014 -0.08647236 2.44562887] [ 0.26881848 -0.07463083 0.9602952 0.03128541] [ 0. 0. 0. 1. ]] SLAMing on 222.901346184 meters Centerline goodness : 0.829672 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.45, Z:0.03 [[ 0.79872877 -0.54159081 -0.26212926 7.58039415] [ 0.53884242 0.83770266 -0.08889936 2.44792911] [ 0.26773346 -0.07023988 0.96092932 0.02951555] [ 0. 0. 0. 1. ]] SLAMing on 222.96134618399998 meters Centerline goodness : 0.834289 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.45, Z:0.03 [[ 0.80198201 -0.54296919 -0.24901671 7.57397162] [ 0.54006715 0.83720194 -0.0861417 2.45441105] [ 0.25524956 -0.06540165 0.96466071 0.02855637] [ 0. 0. 0. 1. ]] SLAMing on 223.02134618399998 meters Centerline goodness : 0.839326 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.46, Z:0.03 [[ 0.80701502 -0.53430537 -0.25148463 7.57025135] [ 0.53249401 0.84252451 -0.0812563 2.45595834] [ 0.25529764 -0.068339 0.96444435 0.02919616] [ 0. 0. 0. 1. ]] SLAMing on 223.08134618399998 meters Centerline goodness : 0.838272 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.46, Z:0.03 [[ 0.80890305 -0.53257824 -0.24907082 7.56790852] [ 0.53024874 0.84384099 -0.08227188 2.45552867] [ 0.25399238 -0.06551952 0.96498449 0.02780133] [ 0. 0. 0. 1. ]] SLAMing on 223.14134618399999 meters Centerline goodness : 0.838852 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.46, Z:0.03 [[ 0.80901174 -0.53810424 -0.23652448 7.56576209] [ 0.53497365 0.84078298 -0.08298899 2.46272766] [ 0.24352248 -0.0593953 0.96807489 0.02856979] [ 0. 0. 0. 1. ]] SLAMing on 223.201346184 meters Centerline goodness : 0.838183 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.46, Z:0.03 [[ 0.81112678 -0.53643504 -0.23304677 7.56236171] [ 0.5326172 0.84211551 -0.08461907 2.46157584] [ 0.24164494 -0.05548792 0.96877697 0.0271169 ] [ 0. 0. 0. 1. ]] SLAMing on 223.261346184 meters Centerline goodness : 0.842935 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.46, Z:0.03 [[ 0.81433504 -0.53049324 -0.23544716 7.56193456] [ 0.52741248 0.84570674 -0.08133992 2.46176022] [ 0.24226953 -0.05793982 0.96847739 0.028117 ] [ 0. 0. 0. 1. ]] SLAMing on 223.321346184 meters Centerline goodness : 0.843833 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.46, Z:0.03 [[ 0.81663457 -0.52767488 -0.23381018 7.56010749] [ 0.52441519 0.84757973 -0.08122386 2.46035982] [ 0.24103256 -0.05628339 0.96888363 0.02716759] [ 0. 0. 0. 1. ]] SLAMing on 223.381346184 meters Centerline goodness : 0.844666 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.46, Z:0.03 [[ 0.81966476 -0.52414853 -0.23112335 7.55783499] [ 0.5205629 0.84993725 -0.0813691 2.45730709] [ 0.23908984 -0.05361886 0.96951589 0.02543787] [ 0. 0. 0. 1. ]] SLAMing on 223.441346184 meters Centerline goodness : 0.842395 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.46, Z:0.02 [[ 0.82438449 -0.51824787 -0.22761669 7.5543233 ] [ 0.51410566 0.85380035 -0.08197766 2.4569936 ] [ 0.23682395 -0.04943792 0.97029393 0.02158593] [ 0. 0. 0. 1. ]] SLAMing on 223.501346184 meters Centerline goodness : 0.842616 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.46, Z:0.02 [[ 0.82728444 -0.51447858 -0.22563744 7.55081837] [ 0.51004492 0.85621012 -0.0822095 2.45832848] [ 0.23548808 -0.04707459 0.9707365 0.02017281] [ 0. 0. 0. 1. ]] SLAMing on 223.561346184 meters Centerline goodness : 0.848595 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.46, Z:0.02 [[ 0.82976484 -0.50963323 -0.22751765 7.54849917] [ 0.50570059 0.85900642 -0.07984279 2.46147898] [ 0.23612966 -0.04880507 0.97049516 0.02148327] [ 0. 0. 0. 1. ]] SLAMing on 223.621346184 meters Centerline goodness : 0.848098 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.46, Z:0.02 [[ 0.83094929 -0.50752785 -0.22790077 7.54656767] [ 0.50358513 0.86026515 -0.07966108 2.46332889] [ 0.23648531 -0.04857312 0.97042019 0.0226226 ] [ 0. 0. 0. 1. ]] SLAMing on 223.68134618399998 meters Centerline goodness : 0.846584 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.47, Z:0.02 [[ 0.83025054 -0.51293562 -0.2181309 7.54804305] [ 0.50885099 0.85722429 -0.0789758 2.47014963] [ 0.22749661 -0.04542642 0.97271873 0.02411032] [ 0. 0. 0. 1. ]] SLAMing on 223.74134618399998 meters Centerline goodness : 0.847263 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.47, Z:0.03 [[ 0.82742033 -0.51664935 -0.22011143 7.55016974] [ 0.51236299 0.85496301 -0.08076149 2.47325911] [ 0.22991251 -0.04595325 0.97212578 0.02664124] [ 0. 0. 0. 1. ]] SLAMing on 223.80134618399998 meters Centerline goodness : 0.852640 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.48, Z:0.03 [[ 0.82546484 -0.5183799 -0.22336087 7.55497694] [ 0.51440405 0.85377173 -0.08038852 2.47521031] [ 0.23237098 -0.04853984 0.97141526 0.02733092] [ 0. 0. 0. 1. ]] SLAMing on 223.86134618399998 meters Centerline goodness : 0.851244 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.48, Z:0.03 [[ 0.82472954 -0.52181488 -0.2180147 7.55968319] [ 0.5187967 0.85154779 -0.07560658 2.4838656 ] [ 0.22510257 -0.05075033 0.97301246 0.02872862] [ 0. 0. 0. 1. ]] SLAMing on 223.921346184 meters Centerline goodness : 0.856483 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.49, Z:0.03 [[ 0.82215307 -0.52474575 -0.22069485 7.56331523] [ 0.5217867 0.84964813 -0.07639829 2.4859852 ] [ 0.22760264 -0.05234455 0.97234618 0.03090097] [ 0. 0. 0. 1. ]] SLAMing on 223.981346184 meters Centerline goodness : 0.855221 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.49, Z:0.03 [[ 0.81984652 -0.52681503 -0.22431587 7.56687188] [ 0.52421001 0.84818434 -0.07607355 2.48892376] [ 0.2303379 -0.05521999 0.97154269 0.03338428] [ 0. 0. 0. 1. ]] SLAMing on 224.041346184 meters Centerline goodness : 0.856597 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.49, Z:0.03 [[ 0.81575406 -0.53164816 -0.22780594 7.57301775] [ 0.52928649 0.84497379 -0.07664927 2.49281576] [ 0.23324049 -0.05804766 0.97068499 0.03359372] [ 0. 0. 0. 1. ]] SLAMing on 224.101346184 meters Centerline goodness : 0.855997 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.50, Z:0.03 [[ 0.81201287 -0.53727692 -0.22796624 7.58803768] [ 0.53581453 0.84110625 -0.07377709 2.50230043] [ 0.23138256 -0.06223968 0.97086988 0.03341449] [ 0. 0. 0. 1. ]] SLAMing on 224.161346184 meters Centerline goodness : 0.857333 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.50, Z:0.03 [[ 0.81110845 -0.53791563 -0.22967338 7.58961895] [ 0.53653895 0.84062535 -0.07399308 2.50460009] [ 0.2328713 -0.0632123 0.97045101 0.03489141] [ 0. 0. 0. 1. ]] SLAMing on 224.221346184 meters Centerline goodness : 0.859401 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.51, Z:0.03 [[ 0.81016003 -0.53874199 -0.23107962 7.59244077] [ 0.53719366 0.84009768 -0.0752254 2.50818299] [ 0.23465654 -0.06318989 0.97002234 0.0344431 ] [ 0. 0. 0. 1. ]] SLAMing on 224.281346184 meters Centerline goodness : 0.861382 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:2.51, Z:0.03 [[ 0.80864519 -0.53994653 -0.23356091 7.59726871] [ 0.53857666 0.83919826 -0.07537546 2.51098795] [ 0.23670262 -0.06483845 0.96941624 0.03394402] [ 0. 0. 0. 1. ]] SLAMing on 224.341346184 meters Centerline goodness : 0.859009 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:2.51, Z:0.03 [[ 0.80659584 -0.54350981 -0.23237951 7.60058852] [ 0.54131052 0.83710427 -0.07898962 2.51383802] [ 0.23745751 -0.06207677 0.9694124 0.03188214] [ 0. 0. 0. 1. ]] SLAMing on 224.401346184 meters Centerline goodness : 0.855266 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:2.52, Z:0.03 [[ 0.8021887 -0.550322 -0.23160091 7.60653868] [ 0.54722213 0.8328117 -0.08350219 2.51695129] [ 0.23883304 -0.05975263 0.96922051 0.02955559] [ 0. 0. 0. 1. ]] SLAMing on 224.46134618399998 meters Centerline goodness : 0.855901 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.49, Z:0.02 [[ 0.80087175 -0.55517999 -0.22445404 7.55720616] [ 0.54995371 0.83020152 -0.09119404 2.48583789] [ 0.23697119 -0.05040461 0.97020824 0.02139069] [ 0. 0. 0. 1. ]] SLAMing on 224.52134618399998 meters Centerline goodness : 0.857055 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.49, Z:0.02 [[ 0.7990173 -0.55624788 -0.22838486 7.56178208] [ 0.55174308 0.82921785 -0.08931591 2.48783438] [ 0.23906259 -0.05464481 0.96946533 0.02281949] [ 0. 0. 0. 1. ]] SLAMing on 224.58134618399998 meters Centerline goodness : 0.860403 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.50, Z:0.04 [[ 0.79884964 -0.56001393 -0.21959884 7.5608739 ] [ 0.55196822 0.82754734 -0.10245237 2.49804453] [ 0.23910319 -0.03936754 0.97019578 0.04348268] [ 0. 0. 0. 1. ]] SLAMing on 224.64134618399999 meters Centerline goodness : 0.858868 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.52, Z:0.06 [[ 0.80182594 -0.5599553 -0.20862701 7.57685163] [ 0.54802795 0.82826474 -0.11680276 2.51593915] [ 0.23820272 -0.02067795 0.97099531 0.06424592] [ 0. 0. 0. 1. ]] SLAMing on 224.701346184 meters Centerline goodness : 0.861731 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.52, Z:0.07 [[ 0.80392733 -0.55636067 -0.21015152 7.57575712] [ 0.54509596 0.8306198 -0.11375913 2.51505672] [ 0.23784712 -0.02309867 0.97102791 0.06524897] [ 0. 0. 0. 1. ]] SLAMing on 224.761346184 meters Centerline goodness : 0.859868 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:2.54, Z:0.09 [[ 8.08432935e-01 -5.55798449e-01 -1.93711832e-01 7.59567647e+00] [ 5.39854654e-01 8.31313923e-01 -1.32189688e-01 2.54046754e+00] [ 2.34506167e-01 2.29026352e-03 9.72111934e-01 9.35781826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821346184 meters Centerline goodness : 0.857605 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:2.55, Z:0.10 [[ 0.80856642 -0.55631361 -0.19166512 7.60451491] [ 0.53888574 0.8309275 -0.13842562 2.54687749] [ 0.23626787 0.00864071 0.97164954 0.10059919] [ 0. 0. 0. 1. ]] SLAMing on 224.881346184 meters Centerline goodness : 0.852783 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.53, Z:0.09 [[ 0.80858324 -0.55665402 -0.19060287 7.58364166] [ 0.53909613 0.8306881 -0.13904188 2.52655735] [ 0.23572976 0.00967367 0.9717705 0.09301224] [ 0. 0. 0. 1. ]] SLAMing on 224.941346184 meters Centerline goodness : 0.849053 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.53, Z:0.10 [[ 0.80867739 -0.55674665 -0.18993167 7.58577018] [ 0.53848211 0.83058754 -0.14199067 2.52644805] [ 0.23680771 0.01254984 0.97147548 0.09939259] [ 0. 0. 0. 1. ]] SLAMing on 225.001346184 meters Centerline goodness : 0.850199 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:2.54, Z:0.12 [[ 0.81085004 -0.55700816 -0.17962217 7.59663868] [ 0.53550868 0.82994598 -0.15626939 2.53957392] [ 0.23612002 0.03052181 0.97124444 0.12185887] [ 0. 0. 0. 1. ]] SLAMing on 225.061346184 meters Centerline goodness : 0.849200 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:2.54, Z:0.13 [[ 0.81127351 -0.55638574 -0.17963911 7.59795352] [ 0.53436615 0.83028968 -0.15834097 2.54094489] [ 0.23725116 0.03246477 0.97090572 0.12725722] [ 0. 0. 0. 1. ]] SLAMing on 225.121346184 meters Centerline goodness : 0.846497 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.52, Z:0.12 [[ 0.81256455 -0.55393757 -0.18136158 7.57803174] [ 0.53262084 0.83204088 -0.1549936 2.51994007] [ 0.23675703 0.02934535 0.97112562 0.11647959] [ 0. 0. 0. 1. ]] SLAMing on 225.18134618399998 meters Centerline goodness : 0.845183 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.50, Z:0.11 [[ 0.81200226 -0.55587336 -0.17792452 7.55392905] [ 0.53470912 0.83069904 -0.15500082 2.49809743] [ 0.23396256 0.03072315 0.97176006 0.11019577] [ 0. 0. 0. 1. ]] SLAMing on 225.24134618399998 meters Centerline goodness : 0.846598 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.49, Z:0.11 [[ 0.81119844 -0.55745066 -0.17665178 7.55086002] [ 0.53600915 0.82958354 -0.15647792 2.49483291] [ 0.23377613 0.03224768 0.97175553 0.11441223] [ 0. 0. 0. 1. ]] SLAMing on 225.30134618399998 meters Centerline goodness : 0.844676 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.50, Z:0.13 [[ 0.81315558 -0.55544767 -0.17394221 7.55635789] [ 0.53257473 0.83060679 -0.16265461 2.50085961] [ 0.2348237 0.03962628 0.97122993 0.12788943] [ 0. 0. 0. 1. ]] SLAMing on 225.36134618399998 meters Centerline goodness : 0.843901 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:2.51, Z:0.16 [[ 0.82157144 -0.55102661 -0.14625334 7.53902456] [ 0.52320867 0.83064814 -0.19046351 2.50860262] [ 0.22643553 0.07995837 0.97073869 0.15875115] [ 0. 0. 0. 1. ]] SLAMing on 225.421346184 meters Centerline goodness : 0.843736 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.51, Z:0.16 [[ 0.82672374 -0.53850368 -0.16291605 7.5479973 ] [ 0.50820587 0.83901465 -0.19437389 2.51056122] [ 0.24136001 0.07789861 0.96730406 0.16365565] [ 0. 0. 0. 1. ]] SLAMing on 225.481346184 meters Centerline goodness : 0.842673 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.17 [[ 0.8305557 -0.52811996 -0.17682348 7.55748624] [ 0.4948707 0.84546834 -0.20071443 2.51031107] [ 0.25549995 0.07919975 0.96355964 0.17033985] [ 0. 0. 0. 1. ]] SLAMing on 225.541346184 meters Centerline goodness : 0.841504 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.17 [[ 0.8320281 -0.5255857 -0.17745114 7.56037726] [ 0.49230915 0.84702575 -0.20044718 2.51368371] [ 0.25565786 0.07941687 0.96349988 0.16738871] [ 0. 0. 0. 1. ]] SLAMing on 225.601346184 meters Centerline goodness : 0.842622 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.17 [[ 0.83779011 -0.5165408 -0.17689919 7.55792281] [ 0.4837376 0.85247058 -0.19822171 2.51295238] [ 0.25319096 0.0804954 0.96406163 0.16504373] [ 0. 0. 0. 1. ]] SLAMing on 225.661346184 meters Centerline goodness : 0.848966 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.17 [[ 0.84275009 -0.50733343 -0.17995855 7.55529689] [ 0.47540659 0.85827317 -0.19327632 2.51400894] [ 0.25250913 0.07733015 0.96449945 0.16646186] [ 0. 0. 0. 1. ]] SLAMing on 225.721346184 meters Centerline goodness : 0.847401 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.52, Z:0.17 [[ 0.84440852 -0.50488263 -0.17907481 7.55314115] [ 0.47286593 0.85957381 -0.19372836 2.51535494] [ 0.2517381 0.0789075 0.96457324 0.16689 ] [ 0. 0. 0. 1. ]] SLAMing on 225.781346184 meters Centerline goodness : 0.847653 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.17 [[ 0.8451958 -0.49904592 -0.19130403 7.55640172] [ 0.46503632 0.8631019 -0.19696782 2.51254812] [ 0.26341086 0.07751305 0.96156458 0.16706122] [ 0. 0. 0. 1. ]] SLAMing on 225.841346184 meters Centerline goodness : 0.848451 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.16 [[ 0.84525877 -0.49958915 -0.18960032 7.55694755] [ 0.46518657 0.86256261 -0.19896534 2.51449531] [ 0.26294307 0.07997767 0.96149078 0.16452569] [ 0. 0. 0. 1. ]] SLAMing on 225.901346184 meters Centerline goodness : 0.849297 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.52, Z:0.16 [[ 0.84648717 -0.49777855 -0.18888088 7.55689901] [ 0.4636159 0.86358959 -0.19817496 2.51573912] [ 0.26176281 0.08018438 0.96179556 0.16233073] [ 0. 0. 0. 1. ]] SLAMing on 225.96134618399998 meters Centerline goodness : 0.851113 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.51, Z:0.16 [[ 0.85052122 -0.49053255 -0.18971419 7.55270073] [ 0.45752495 0.86797487 -0.19310758 2.51280358] [ 0.2593927 0.07744312 0.96266193 0.16369924] [ 0. 0. 0. 1. ]] SLAMing on 226.02134618399998 meters Centerline goodness : 0.856553 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.16 [[ 0.85243838 -0.48670194 -0.19097128 7.55510887] [ 0.45419671 0.87028126 -0.19056722 2.5134073 ] [ 0.25894816 0.07570828 0.96291957 0.1605489 ] [ 0. 0. 0. 1. ]] SLAMing on 226.08134618399998 meters Centerline goodness : 0.855608 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.51, Z:0.16 [[ 0.85322178 -0.48622232 -0.1886808 7.55411523] [ 0.45375871 0.87039979 -0.19106868 2.5132252 ] [ 0.25712958 0.0774084 0.96327167 0.15846963] [ 0. 0. 0. 1. ]] SLAMing on 226.14134618399999 meters Centerline goodness : 0.856267 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.51, Z:0.16 [[ 0.85291382 -0.48637 -0.18968985 7.55578909] [ 0.45409084 0.87044247 -0.19008266 2.51417002] [ 0.2575646 0.07598771 0.96326857 0.15777271] [ 0. 0. 0. 1. ]] SLAMing on 226.201346184 meters Centerline goodness : 0.856115 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.52, Z:0.15 [[ 0.85193236 -0.49180595 -0.17982815 7.55598961] [ 0.46224256 0.86765404 -0.18305269 2.52002079] [ 0.24605502 0.07282428 0.96651619 0.1502972 ] [ 0. 0. 0. 1. ]] SLAMing on 226.261346184 meters Centerline goodness : 0.856679 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.52, Z:0.15 [[ 0.85178895 -0.49145622 -0.18145622 7.55949135] [ 0.46205218 0.86799405 -0.18191787 2.52088852] [ 0.24690759 0.07111339 0.96642616 0.1485446 ] [ 0. 0. 0. 1. ]] SLAMing on 226.321346184 meters Centerline goodness : 0.856730 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.52, Z:0.15 [[ 0.85130746 -0.49137282 -0.18392487 7.56305253] [ 0.46225239 0.86826739 -0.18009574 2.52276607] [ 0.24819012 0.06829713 0.96630076 0.14774253] [ 0. 0. 0. 1. ]] SLAMing on 226.381346184 meters Centerline goodness : 0.857870 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.53, Z:0.15 [[ 0.85012769 -0.49254599 -0.18622935 7.56711506] [ 0.46350472 0.86777527 -0.17924688 2.52633494] [ 0.24989255 0.06606456 0.96601718 0.14670709] [ 0. 0. 0. 1. ]] SLAMing on 226.441346184 meters Centerline goodness : 0.860860 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:2.53, Z:0.15 [[ 0.84706399 -0.4963367 -0.19008545 7.57336534] [ 0.46716681 0.86585132 -0.17904375 2.53001458] [ 0.25345172 0.0628599 0.96530351 0.14699891] [ 0. 0. 0. 1. ]] SLAMing on 226.501346184 meters Centerline goodness : 0.860169 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.53, Z:0.14 [[ 0.84548495 -0.49761109 -0.19374831 7.58096867] [ 0.4684796 0.8653351 -0.17810677 2.53433772] [ 0.25628512 0.05981946 0.96474845 0.14373784] [ 0. 0. 0. 1. ]] SLAMing on 226.561346184 meters Centerline goodness : 0.862159 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.54, Z:0.14 [[ 0.84342976 -0.50336792 -0.18774178 7.58786429] [ 0.47605749 0.862217 -0.17306388 2.5435742 ] [ 0.24898896 0.05659135 0.96685155 0.13808683] [ 0. 0. 0. 1. ]] SLAMing on 226.621346184 meters Centerline goodness : 0.863526 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:2.55, Z:0.14 [[ 0.84220819 -0.50359799 -0.19254722 7.59294886] [ 0.47673785 0.86239461 -0.17028379 2.54577067] [ 0.25180626 0.05161985 0.96640002 0.13893409] [ 0. 0. 0. 1. ]] SLAMing on 226.68134618399998 meters Centerline goodness : 0.865060 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:2.56, Z:0.13 [[ 0.83788479 -0.51006248 -0.19438455 7.6057386 ] [ 0.48544405 0.85914553 -0.16190438 2.55552645] [ 0.24958597 0.0412944 0.96747177 0.13473278] [ 0. 0. 0. 1. ]] SLAMing on 226.74134618399998 meters Centerline goodness : 0.862393 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:2.56, Z:0.13 [[ 0.83643464 -0.5128125 -0.19339191 7.60790076] [ 0.48747085 0.85737957 -0.16514371 2.5588325 ] [ 0.25049803 0.043859 0.96712312 0.13335839] [ 0. 0. 0. 1. ]] SLAMing on 226.80134618399998 meters Centerline goodness : 0.865130 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:2.57, Z:0.12 [[ 0.83200379 -0.51997268 -0.19338589 7.62171162] [ 0.49628299 0.85339508 -0.1594366 2.56706237] [ 0.24793725 0.03667773 0.96808154 0.1249098 ] [ 0. 0. 0. 1. ]] SLAMing on 226.86134618399998 meters Centerline goodness : 0.863901 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:2.57, Z:0.12 [[ 0.83133347 -0.52025659 -0.1954936 7.62550672] [ 0.49676929 0.8533112 -0.15836754 2.56857611] [ 0.24920863 0.03454102 0.96783365 0.12442849] [ 0. 0. 0. 1. ]] SLAMing on 226.921346184 meters Centerline goodness : 0.867971 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:2.58, Z:0.13 [[ 0.8325378 -0.52063151 -0.18927132 7.62850333] [ 0.49882914 0.85315709 -0.15261872 2.57604523] [ 0.24093629 0.0326468 0.9699917 0.1255939 ] [ 0. 0. 0. 1. ]] SLAMing on 226.981346184 meters Centerline goodness : 0.868413 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:2.58, Z:0.13 [[ 0.83257432 -0.51890531 -0.19379701 7.63165373] [ 0.49767557 0.8543705 -0.14956627 2.57838911] [ 0.24318518 0.028077 0.96957344 0.1275692 ] [ 0. 0. 0. 1. ]] SLAMing on 227.041346184 meters Centerline goodness : 0.866512 with order 1 Centerline is valid? [False, False] Translation: X:7.64, Y:2.58, Z:0.13 [[ 0.83038042 -0.52156861 -0.19604728 7.63745685] [ 0.50023846 0.85279844 -0.14998766 2.58011374] [ 0.24541768 0.02647643 0.96905581 0.12633837] [ 0. 0. 0. 1. ]] SLAMing on 227.101346184 meters Centerline goodness : 0.870301 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.59, Z:0.12 [[ 0.8280814 -0.52551136 -0.1952409 7.64870378] [ 0.50548994 0.85051182 -0.14529131 2.59053112] [ 0.24240693 0.02162072 0.96993372 0.12288294] [ 0. 0. 0. 1. ]] SLAMing on 227.161346184 meters Centerline goodness : 0.870264 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.59, Z:0.12 [[ 0.8247857 -0.5300745 -0.1968491 7.65356833] [ 0.50960671 0.84768416 -0.14741967 2.59285056] [ 0.24500927 0.02127402 0.9692873 0.12311061] [ 0. 0. 0. 1. ]] SLAMing on 227.221346184 meters Centerline goodness : 0.872121 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.59, Z:0.12 [[ 0.82377472 -0.5305221 -0.19985375 7.65661214] [ 0.51030864 0.84747 -0.14621795 2.59431129] [ 0.24694191 0.01846355 0.96885437 0.12457413] [ 0. 0. 0. 1. ]] SLAMing on 227.281346184 meters Centerline goodness : 0.871576 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:2.60, Z:0.13 [[ 0.82327728 -0.52932914 -0.20500044 7.66180623] [ 0.50978779 0.84831199 -0.14311944 2.59669585] [ 0.24966162 0.01332026 0.96824152 0.12507992] [ 0. 0. 0. 1. ]] SLAMing on 227.341346184 meters Centerline goodness : 0.874168 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.61, Z:0.12 [[ 0.82116373 -0.53127501 -0.20841542 7.67568436] [ 0.51233849 0.84715278 -0.14085963 2.60640992] [ 0.2513949 0.00888958 0.96784378 0.12471312] [ 0. 0. 0. 1. ]] SLAMing on 227.401346184 meters Centerline goodness : 0.874996 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:2.61, Z:0.12 [[ 8.17540898e-01 -5.35171140e-01 -2.12646962e-01 7.68347467e+00] [ 5.16611671e-01 8.44732071e-01 -1.39785939e-01 2.60854017e+00] [ 2.54439109e-01 4.42481908e-03 9.67078673e-01 1.23199653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46134618399998 meters Centerline goodness : 0.874000 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:2.62, Z:0.12 [[ 8.15920950e-01 -5.36730399e-01 -2.14926689e-01 7.69585095e+00] [ 5.18921011e-01 8.43753731e-01 -1.37115370e-01 2.61750308e+00] [ 2.54939183e-01 3.45328719e-04 9.66957028e-01 1.20473567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52134618399998 meters Centerline goodness : 0.875025 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.59, Z:0.11 [[ 0.81345663 -0.5433434 -0.20752411 7.64740483] [ 0.52323224 0.83944 -0.14686223 2.58847182] [ 0.25400066 0.01088275 0.96714282 0.11123652] [ 0. 0. 0. 1. ]] SLAMing on 227.58134618399998 meters Centerline goodness : 0.878225 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:2.60, Z:0.13 [[ 0.81363291 -0.54699362 -0.19697582 7.65162917] [ 0.52373389 0.83669734 -0.16012614 2.59772562] [ 0.25239713 0.02712098 0.96724358 0.12936012] [ 0. 0. 0. 1. ]] SLAMing on 227.64134618399999 meters Centerline goodness : 0.874518 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:2.60, Z:0.21 [[ 0.82262126 -0.55685849 -0.11490382 7.57702191] [ 0.52058826 0.81890116 -0.24163765 2.59814161] [ 0.22865285 0.13895869 0.96353949 0.2072561 ] [ 0. 0. 0. 1. ]] SLAMing on 227.701346184 meters Centerline goodness : 0.870985 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.58, Z:0.21 [[ 0.82629864 -0.55420916 -0.10041293 7.56017158] [ 0.51656389 0.81674785 -0.25706946 2.58112195] [ 0.22448229 0.16054645 0.96116208 0.20963446] [ 0. 0. 0. 1. ]] SLAMing on 227.761346184 meters Centerline goodness : 0.868162 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:2.57, Z:0.21 [[ 0.82912664 -0.55067041 -0.09649409 7.54734663] [ 0.51210561 0.81732964 -0.26404565 2.56990267] [ 0.22426961 0.16951212 0.95967119 0.21209749] [ 0. 0. 0. 1. ]] SLAMing on 227.821346184 meters Centerline goodness : 0.868138 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:2.58, Z:0.24 [[ 0.8300997 -0.55186739 -0.07985532 7.56498799] [ 0.51227338 0.81130653 -0.281705 2.58094858] [ 0.22025095 0.19293548 0.95617228 0.23555044] [ 0. 0. 0. 1. ]] SLAMing on 227.881346184 meters Centerline goodness : 0.867798 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:2.54, Z:0.21 [[ 0.82856704 -0.55258778 -0.09012997 7.52259815] [ 0.51453506 0.81498608 -0.26655461 2.54379382] [ 0.22074949 0.17448334 0.95959639 0.20838551] [ 0. 0. 0. 1. ]] SLAMing on 227.941346184 meters Centerline goodness : 0.861584 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:2.51, Z:0.19 [[ 0.82411423 -0.55652769 -0.10541657 7.49101156] [ 0.5197565 0.81697902 -0.24979683 2.51041303] [ 0.22514198 0.15107018 0.96254293 0.18602906] [ 0. 0. 0. 1. ]] SLAMing on 228.001346184 meters Centerline goodness : 0.859788 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:2.48, Z:0.17 [[ 0.82092399 -0.55830797 -0.11990002 7.46562375] [ 0.5228514 0.81931436 -0.23526665 2.48410551] [ 0.22958705 0.13044615 0.96450691 0.16868059] [ 0. 0. 0. 1. ]] SLAMing on 228.061346184 meters Centerline goodness : 0.855834 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:2.45, Z:0.15 [[ 0.81981835 -0.55853326 -0.12624762 7.4299734 ] [ 0.52498867 0.82116339 -0.22378022 2.45171436] [ 0.22865862 0.11718057 0.96642845 0.14642977] [ 0. 0. 0. 1. ]] SLAMing on 228.121346184 meters Centerline goodness : 0.856890 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:2.41, Z:0.13 [[ 0.8174125 -0.55992314 -0.13536205 7.38342065] [ 0.52833558 0.82235246 -0.21118226 2.41350977] [ 0.22956115 0.10110643 0.9680285 0.12586641] [ 0. 0. 0. 1. ]] SLAMing on 228.18134618399998 meters Centerline goodness : 0.852819 with order 1 Centerline is valid? [False, False] Translation: X:7.35, Y:2.39, Z:0.11 [[ 0.81847704 -0.55671462 -0.14200058 7.35313869] [ 0.52670939 0.82578951 -0.20161574 2.3887203 ] [ 0.22950502 0.09022482 0.96911657 0.10712185] [ 0. 0. 0. 1. ]] SLAMing on 228.24134618399998 meters Centerline goodness : 0.850234 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:2.38, Z:0.10 [[ 0.82342766 -0.54794134 -0.1474014 7.33904522] [ 0.5174617 0.83173157 -0.20113671 2.38031056] [ 0.23280952 0.08934695 0.96840944 0.10148812] [ 0. 0. 0. 1. ]] SLAMing on 228.30134618399998 meters Centerline goodness : 0.850418 with order 1 Centerline is valid? [False, False] Translation: X:7.35, Y:2.39, Z:0.11 [[ 0.82686164 -0.54277803 -0.14728149 7.354129 ] [ 0.51135773 0.83458906 -0.20487647 2.39086596] [ 0.23412197 0.09409096 0.96764342 0.10805404] [ 0. 0. 0. 1. ]] SLAMing on 228.36134618399998 meters Centerline goodness : 0.849325 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.37, Z:0.10 [[ 0.83491768 -0.52970899 -0.14940166 7.32344675] [ 0.49810267 0.84271404 -0.20427136 2.36891304] [ 0.23410725 0.09613241 0.96744631 0.09750904] [ 0. 0. 0. 1. ]] SLAMing on 228.421346184 meters Centerline goodness : 0.848247 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.37, Z:0.10 [[ 0.83972546 -0.5184309 -0.16152574 7.33001373] [ 0.48402192 0.8494559 -0.21011297 2.36759814] [ 0.24613805 0.09825521 0.96424166 0.10089169] [ 0. 0. 0. 1. ]] SLAMing on 228.481346184 meters Centerline goodness : 0.851123 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.36, Z:0.11 [[ 0.84745995 -0.50360891 -0.16789788 7.32872951] [ 0.46637838 0.85738272 -0.21768341 2.36241218] [ 0.25358004 0.10617403 0.96146983 0.10741476] [ 0. 0. 0. 1. ]] SLAMing on 228.541346184 meters Centerline goodness : 0.851812 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.36, Z:0.10 [[ 0.85434585 -0.48818673 -0.17823267 7.32810429] [ 0.4496985 0.86633597 -0.21733212 2.35748406] [ 0.26050803 0.10552583 0.95968738 0.10301583] [ 0. 0. 0. 1. ]] SLAMing on 228.601346184 meters Centerline goodness : 0.850433 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.36, Z:0.10 [[ 0.85705619 -0.48416912 -0.1761674 7.32797136] [ 0.44646253 0.86856829 -0.21508215 2.35808531] [ 0.25714956 0.10568535 0.9605752 0.09756233] [ 0. 0. 0. 1. ]] SLAMing on 228.661346184 meters Centerline goodness : 0.848784 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.36, Z:0.09 [[ 0.85942464 -0.48082389 -0.1737748 7.32653155] [ 0.44343222 0.87020226 -0.21474609 2.35503093] [ 0.25447427 0.10750073 0.96108607 0.09417829] [ 0. 0. 0. 1. ]] SLAMing on 228.721346184 meters Centerline goodness : 0.848452 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.35, Z:0.09 [[ 0.85929398 -0.48249174 -0.16975152 7.32627508] [ 0.44482375 0.86877521 -0.21762689 2.35218331] [ 0.25247908 0.11149597 0.96115709 0.09080968] [ 0. 0. 0. 1. ]] SLAMing on 228.781346184 meters Centerline goodness : 0.849522 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.35, Z:0.09 [[ 0.85960256 -0.48289709 -0.16701448 7.32601413] [ 0.44519282 0.86823574 -0.21902069 2.35236785] [ 0.2507724 0.1139171 0.96131998 0.08819201] [ 0. 0. 0. 1. ]] SLAMing on 228.841346184 meters Centerline goodness : 0.852223 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.35, Z:0.08 [[ 0.85987431 -0.48338402 -0.16418302 7.32702846] [ 0.44560448 0.86761281 -0.22064598 2.34885004] [ 0.24910404 0.11656712 0.96143605 0.08472678] [ 0. 0. 0. 1. ]] SLAMing on 228.901346184 meters Centerline goodness : 0.852578 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.34, Z:0.08 [[ 0.8616359 -0.48230859 -0.15799367 7.32515578] [ 0.44432964 0.86730019 -0.22441378 2.34409987] [ 0.24526464 0.1231617 0.96160098 0.07973597] [ 0. 0. 0. 1. ]] SLAMing on 228.96134618399998 meters Centerline goodness : 0.854238 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.34, Z:0.08 [[ 0.86397608 -0.47948371 -0.15375538 7.32374363] [ 0.44182231 0.86835535 -0.22528213 2.34059227] [ 0.24153341 0.12670581 0.96208484 0.07540524] [ 0. 0. 0. 1. ]] SLAMing on 229.02134618399998 meters Centerline goodness : 0.860734 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.34, Z:0.07 [[ 0.86811131 -0.47287252 -0.15091169 7.32333209] [ 0.43605298 0.87177855 -0.22329346 2.3383237 ] [ 0.23715091 0.12803809 0.96299828 0.06905635] [ 0. 0. 0. 1. ]] SLAMing on 229.08134618399998 meters Centerline goodness : 0.865054 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:2.33, Z:0.07 [[ 0.87578898 -0.46162105 -0.14106615 7.31100903] [ 0.42613793 0.87668529 -0.22322493 2.32623349] [ 0.22671594 0.13538429 0.96450556 0.06588657] [ 0. 0. 0. 1. ]] SLAMing on 229.14134618399999 meters Centerline goodness : 0.872981 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:2.32, Z:0.06 [[ 0.88240152 -0.45025632 -0.13651668 7.30615447] [ 0.41572781 0.88200797 -0.22188359 2.31585952] [ 0.22031329 0.13903663 0.96546925 0.06088104] [ 0. 0. 0. 1. ]] SLAMing on 229.201346184 meters Centerline goodness : 0.874411 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:2.31, Z:0.06 [[ 0.88808107 -0.44014167 -0.1326172 7.30183851] [ 0.40700884 0.88697671 -0.21821119 2.30543824] [ 0.21367221 0.13981286 0.96684877 0.05577174] [ 0. 0. 0. 1. ]] SLAMing on 229.261346184 meters Centerline goodness : 0.878623 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:2.30, Z:0.05 [[ 0.89085833 -0.43961542 -0.11449764 7.29412785] [ 0.41021044 0.88675789 -0.21304422 2.30314109] [ 0.19518921 0.1428241 0.97031049 0.04665216] [ 0. 0. 0. 1. ]] SLAMing on 229.321346184 meters Centerline goodness : 0.878671 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:2.30, Z:0.04 [[ 0.89588466 -0.42986369 -0.11228485 7.29080332] [ 0.40169 0.89167988 -0.20869149 2.29602156] [ 0.18983103 0.1418598 0.97151427 0.04241643] [ 0. 0. 0. 1. ]] SLAMing on 229.381346184 meters Centerline goodness : 0.874465 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:2.30, Z:0.04 [[ 0.89698222 -0.42767341 -0.11188547 7.29246351] [ 0.39974954 0.89276887 -0.2077596 2.29701137] [ 0.18874112 0.1416305 0.97176005 0.03866394] [ 0. 0. 0. 1. ]] SLAMing on 229.441346184 meters Centerline goodness : 0.876779 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.31, Z:0.01 [[ 0.89671577 -0.42541287 -0.12216676 7.3190572 ] [ 0.40064361 0.89747519 -0.18445318 2.30808463] [ 0.1881104 0.11645674 0.97521911 0.01088429] [ 0. 0. 0. 1. ]] SLAMing on 229.501346184 meters Centerline goodness : 0.867831 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:2.30, Z:0.02 [[ 0.8969169 -0.43223285 -0.09335326 7.29522583] [ 0.41046433 0.8923176 -0.1878519 2.29790534] [ 0.16449653 0.13016936 0.9777509 0.01968016] [ 0. 0. 0. 1. ]] SLAMing on 229.561346184 meters Centerline goodness : 0.870214 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.30, Z:-0.00 [[ 8.95457732e-01 -4.31239907e-01 -1.10397432e-01 7.32199576e+00] [ 4.11234611e-01 8.96339893e-01 -1.65713277e-01 2.30086900e+00] [ 1.70415801e-01 1.02989990e-01 9.79975263e-01 -2.84743005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621346184 meters Centerline goodness : 0.867934 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.30, Z:-0.01 [[ 0.89381021 -0.43783507 -0.09697302 7.32330873] [ 0.41991578 0.89304241 -0.16169724 2.29894065] [ 0.15739774 0.10380614 0.98206427 -0.00881914] [ 0. 0. 0. 1. ]] SLAMing on 229.68134618399998 meters Centerline goodness : 0.869290 with order 2 Centerline is valid? [False, False] Translation: X:7.33, Y:2.29, Z:-0.01 [[ 0.8926466 -0.44004965 -0.09766452 7.32678783] [ 0.42200463 0.89199959 -0.16201486 2.29077504] [ 0.15841129 0.10340713 0.98194339 -0.00780196] [ 0. 0. 0. 1. ]] SLAMing on 229.74134618399998 meters Centerline goodness : 0.858775 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.28, Z:-0.01 [[ 0.89213425 -0.4410692 -0.09774682 7.33071418] [ 0.42304347 0.89153962 -0.16183737 2.28031339] [ 0.15852664 0.1030295 0.98196447 -0.00800498] [ 0. 0. 0. 1. ]] SLAMing on 229.80134618399998 meters Centerline goodness : 0.860325 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.27, Z:-0.01 [[ 0.8919992 -0.44215225 -0.09401495 7.33218704] [ 0.42406472 0.89052961 -0.16470014 2.27178969] [ 0.15654563 0.10704397 0.98185287 -0.01140721] [ 0. 0. 0. 1. ]] SLAMing on 229.86134618399998 meters Centerline goodness : 0.847980 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.25, Z:-0.00 [[ 8.95419169e-01 -4.36748480e-01 -8.64596857e-02 7.32503299e+00] [ 4.18482614e-01 8.91903133e-01 -1.71409168e-01 2.25154813e+00] [ 1.51976358e-01 1.17301179e-01 9.81398808e-01 -2.11989198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921346184 meters Centerline goodness : 0.842934 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.23, Z:-0.00 [[ 8.99062126e-01 -4.29785734e-01 -8.34956046e-02 7.32202901e+00] [ 4.12166483e-01 8.95168920e-01 -1.69680275e-01 2.23414872e+00] [ 1.47668832e-01 1.18139019e-01 9.81955747e-01 -3.19279527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981346184 meters Centerline goodness : 0.837517 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.22, Z:-0.00 [[ 9.00472631e-01 -4.27292627e-01 -8.10558611e-02 7.32072916e+00] [ 4.10117579e-01 8.96287226e-01 -1.68738789e-01 2.22281020e+00] [ 1.44750173e-01 1.18702227e-01 9.82322334e-01 -4.59172600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041346184 meters Centerline goodness : 0.826445 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.21, Z:-0.01 [[ 0.90113457 -0.42684912 -0.07587036 7.3198901 ] [ 0.40985604 0.89581034 -0.17187747 2.20705493] [ 0.1413312 0.1237888 0.98219236 -0.00771901] [ 0. 0. 0. 1. ]] SLAMing on 230.101346184 meters Centerline goodness : 0.803940 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.19, Z:-0.01 [[ 0.90059526 -0.42834866 -0.07379438 7.32143153] [ 0.41189744 0.89526448 -0.16982936 2.19086915] [ 0.13881167 0.1225518 0.98270666 -0.00938717] [ 0. 0. 0. 1. ]] SLAMing on 230.161346184 meters Centerline goodness : 0.788331 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.18, Z:-0.02 [[ 0.90050728 -0.42911264 -0.07034895 7.32348921] [ 0.41319577 0.89481667 -0.1690337 2.17943835] [ 0.13548391 0.12314819 0.98309645 -0.01586235] [ 0. 0. 0. 1. ]] SLAMing on 230.221346184 meters Centerline goodness : 0.766989 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.16, Z:-0.02 [[ 0.90117146 -0.42877803 -0.06355632 7.32150838] [ 0.41361986 0.89447925 -0.1697807 2.15594474] [ 0.12964804 0.12671337 0.98343028 -0.02116945] [ 0. 0. 0. 1. ]] SLAMing on 230.281346184 meters Centerline goodness : 0.747966 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:2.14, Z:-0.02 [[ 0.90127836 -0.42928541 -0.05840675 7.31922791] [ 0.41467893 0.89382729 -0.17062871 2.13969098] [ 0.12545397 0.12956392 0.98360281 -0.02399049] [ 0. 0. 0. 1. ]] SLAMing on 230.341346184 meters Centerline goodness : 0.741857 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:2.12, Z:-0.03 [[ 0.90181458 -0.42773335 -0.06143808 7.32829269] [ 0.41408968 0.89604529 -0.16010175 2.12342857] [ 0.12353216 0.11894121 0.98518668 -0.03124146] [ 0. 0. 0. 1. ]] SLAMing on 230.40134618399998 meters Centerline goodness : 0.727839 with order 1 Centerline is valid? [False, False] Translation: X:7.35, Y:2.11, Z:-0.04 [[ 0.90142754 -0.42733941 -0.06934995 7.34608893] [ 0.41384776 0.89760176 -0.151793 2.11301052] [ 0.12711577 0.10813007 0.9859764 -0.04423724] [ 0. 0. 0. 1. ]] SLAMing on 230.46134618399998 meters Centerline goodness : 0.721538 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:2.11, Z:-0.05 [[ 0.90085228 -0.42737425 -0.07626543 7.36133384] [ 0.4138369 0.89847364 -0.14657467 2.10931512] [ 0.13116472 0.10048067 0.98625527 -0.05365057] [ 0. 0. 0. 1. ]] SLAMing on 230.52134618399998 meters Centerline goodness : 0.717153 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:2.09, Z:-0.06 [[ 0.902056 -0.42529397 -0.07362076 7.36825933] [ 0.41242285 0.89960857 -0.14356815 2.09044453] [ 0.12728853 0.09914362 0.98689826 -0.06457166] [ 0. 0. 0. 1. ]] SLAMing on 230.58134618399998 meters Centerline goodness : 0.284334 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:2.08, Z:-0.07 [[ 0.90500082 -0.41807647 -0.07864841 7.37839046] [ 0.40626415 0.90421114 -0.13172568 2.07822264] [ 0.12618618 0.08725982 0.98816131 -0.07238788] [ 0. 0. 0. 1. ]] SLAMing on 230.64134618399999 meters Centerline goodness : 0.281342 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:2.07, Z:-0.08 [[ 0.90695333 -0.41137881 -0.09057118 7.38585746] [ 0.39862163 0.90769478 -0.13111442 2.06835337] [ 0.13614868 0.08281103 0.98722129 -0.07867675] [ 0. 0. 0. 1. ]] SLAMing on 230.701346184 meters Centerline goodness : 0.280120 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:2.05, Z:-0.09 [[ 0.90837718 -0.40827877 -0.09032913 7.39492099] [ 0.39615816 0.90941525 -0.12658047 2.05390421] [ 0.13382681 0.07919818 0.98783502 -0.08963807] [ 0. 0. 0. 1. ]] SLAMing on 230.761346184 meters Centerline goodness : 0.404135 with order 2 Centerline is valid? [False, False] Translation: X:7.40, Y:2.04, Z:-0.09 [[ 0.9094766 -0.40208794 -0.10572416 7.40284251] [ 0.38944801 0.91294362 -0.12191881 2.04163507] [ 0.14554228 0.06970825 0.98689321 -0.09066159] [ 0. 0. 0. 1. ]] SLAMing on 230.821346184 meters Centerline goodness : 0.272626 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:2.03, Z:-0.09 [[ 0.90860203 -0.40394431 -0.10616658 7.40867276] [ 0.39140372 0.91221806 -0.12108401 2.03455763] [ 0.14575827 0.06846318 0.98694849 -0.09268777] [ 0. 0. 0. 1. ]] SLAMing on 230.881346184 meters Centerline goodness : 0.276365 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:2.03, Z:-0.10 [[ 0.90172695 -0.4179851 -0.1103493 7.43759931] [ 0.40654887 0.90670161 -0.11229518 2.03495706] [ 0.1469916 0.05639721 0.98752865 -0.09659021] [ 0. 0. 0. 1. ]] SLAMing on 230.941346184 meters Centerline goodness : 0.267996 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:2.03, Z:-0.10 [[ 0.89428023 -0.43066455 -0.12161796 7.46276512] [ 0.41940395 0.90136552 -0.10789128 2.03433264] [ 0.15608718 0.04547799 0.98669577 -0.09554023] [ 0. 0. 0. 1. ]] SLAMing on 231.001346184 meters Centerline goodness : 0.748523 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:2.05, Z:-0.09 [[ 0.87771296 -0.46420964 -0.11886701 7.51308083] [ 0.45509506 0.88519575 -0.09652447 2.05288003] [ 0.15002816 0.03062499 0.9882073 -0.09007124] [ 0. 0. 0. 1. ]] SLAMing on 231.061346184 meters Centerline goodness : 0.361259 with order 2 Centerline is valid? [False, False] Translation: X:7.58, Y:2.08, Z:-0.08 [[ 0.86314352 -0.49143058 -0.11610017 7.57541717] [ 0.48193174 0.87035266 -0.10113383 2.08374143] [ 0.15074835 0.03134065 0.98807525 -0.07979514] [ 0. 0. 0. 1. ]] SLAMing on 231.121346184 meters Centerline goodness : 0.403838 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:2.11, Z:-0.07 [[ 0.85558363 -0.50344808 -0.12048519 7.62584669] [ 0.49566624 0.86385561 -0.08982461 2.11490949] [ 0.14930384 0.01713202 0.98864294 -0.07372276] [ 0. 0. 0. 1. ]] SLAMing on 231.18134618399998 meters Centerline goodness : 0.515433 with order 2 Centerline is valid? [False, False] Translation: X:7.69, Y:2.17, Z:-0.06 [[ 8.52193034e-01 -5.09317701e-01 -1.19843697e-01 7.69080736e+00] [ 5.03648870e-01 8.60567712e-01 -7.59014431e-02 2.16619074e+00] [ 1.41791565e-01 4.32353851e-03 9.89887094e-01 -6.47976609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24134618399998 meters Centerline goodness : 0.588670 with order 2 Centerline is valid? [False, False] Translation: X:7.75, Y:2.22, Z:-0.06 [[ 8.52346742e-01 -5.10431054e-01 -1.13864700e-01 7.75113465e+00] [ 5.05456276e-01 8.59913103e-01 -7.11576225e-02 2.22284837e+00] [ 1.34234808e-01 3.09734031e-03 9.90944712e-01 -5.96183067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30134618399998 meters Centerline goodness : 0.374294 with order 2 Centerline is valid? [False, False] Translation: X:7.78, Y:2.25, Z:-0.06 [[ 8.53170715e-01 -5.08970359e-01 -1.14231802e-01 7.78151030e+00] [ 5.04274144e-01 8.60783126e-01 -6.89927356e-02 2.25056227e+00] [ 1.33444065e-01 1.25843757e-03 9.91055547e-01 -5.65853824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36134618399998 meters Centerline goodness : 0.547217 with order 1 Centerline is valid? [False, False] Translation: X:7.83, Y:2.30, Z:-0.05 [[ 8.52138366e-01 -5.10729463e-01 -1.14086022e-01 7.82852235e+00] [ 5.06786030e-01 8.59733326e-01 -6.34549302e-02 2.30074877e+00] [ 1.30491858e-01 -3.74482184e-03 9.91442309e-01 -5.24637213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6684.95 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%| | 0/7714 [00:00