+ python -m lidar_slam --result /working/result.json --no-model /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 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 0.00264 Adjusted end_distance from 9.223372036854776e+18 to 308.61264 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00264 meters Centerline goodness : 0.471342 with order 1 Centerline is valid? [0, False] SLAMing on 0.06264 meters Centerline goodness : 0.539821 with order 3 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99996318e-01 2.69922753e-03 -2.77782451e-04 8.84382802e-03] [-2.69868281e-03 9.99994471e-01 1.94302199e-03 -4.20905749e-03] [ 2.83025574e-04 -1.94226519e-03 9.99998074e-01 -5.44413021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12264 meters Centerline goodness : 0.483193 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99990791e-01 4.27867724e-03 -3.33842402e-04 1.23050737e-02] [-4.27790736e-03 9.99988265e-01 2.27373523e-03 -6.16418767e-03] [ 3.43567063e-04 -2.27228614e-03 9.99997359e-01 -6.91015455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18264 meters Centerline goodness : 0.492960 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99931848e-01 1.16564410e-02 -6.52684690e-04 2.09974568e-02] [-1.16512412e-02 9.99904201e-01 7.47246823e-03 -6.48695453e-03] [ 7.39724548e-04 -7.46435438e-03 9.99971868e-01 -1.16753016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24264 meters Centerline goodness : 0.508418 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99840874e-01 1.78139470e-02 -9.42900583e-04 3.08328016e-02] [-1.78014141e-02 9.99770096e-01 1.19525707e-02 -7.32536545e-03] [ 1.15560627e-03 -1.19338838e-02 9.99928121e-01 -1.75421224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30263999999999996 meters Centerline goodness : 0.491548 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.02 [[ 0.99981622 0.01912317 -0.00135306 0.04202382] [-0.01910557 0.99974542 0.01200279 -0.00239857] [ 0.00158225 -0.01197474 0.99992705 -0.02444329] [ 0. 0. 0. 1. ]] SLAMing on 0.36263999999999996 meters Centerline goodness : 0.438168 with order 2 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.03 [[ 0.9998184 0.01901624 -0.00124558 0.04514422] [-0.01900026 0.99975003 0.01178411 -0.00122239] [ 0.00146936 -0.0117583 0.99992979 -0.02569338] [ 0. 0. 0. 1. ]] SLAMing on 0.42263999999999996 meters Centerline goodness : 0.436576 with order 2 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.03 [[ 0.99990932 0.01252684 -0.00494305 0.07306681] [-0.01248355 0.99988428 0.00869391 0.00683939] [ 0.00505138 -0.00863142 0.99994999 -0.02695556] [ 0. 0. 0. 1. ]] SLAMing on 0.48263999999999996 meters Centerline goodness : 0.380397 with order 2 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.03 [[ 0.9999167 0.01158365 -0.00569309 0.08560523] [-0.01153771 0.99990114 0.00803714 0.01194583] [ 0.00578562 -0.00797079 0.9999515 -0.03378882] [ 0. 0. 0. 1. ]] SLAMing on 0.54264 meters Centerline goodness : 0.459174 with order 2 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.04 [[ 0.9999509 0.00749461 -0.00648292 0.09824705] [-0.00747229 0.9999661 0.00346015 0.02142337] [ 0.00650863 -0.00341153 0.999973 -0.04049661] [ 0. 0. 0. 1. ]] SLAMing on 0.60264 meters Centerline goodness : 0.400103 with order 2 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.04 [[ 0.99995524 0.00693999 -0.00643127 0.10175515] [-0.00692188 0.99997202 0.00283508 0.02684359] [ 0.00645077 -0.00279043 0.9999753 -0.04113279] [ 0. 0. 0. 1. ]] SLAMing on 0.6626399999999999 meters Centerline goodness : 0.340640 with order 2 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.05 [[ 0.99995368 0.00666888 -0.00693968 0.11095168] [-0.00665234 0.99997498 0.00240426 0.03117132] [ 0.00695554 -0.00235798 0.99997303 -0.0462551 ] [ 0. 0. 0. 1. ]] SLAMing on 0.72264 meters Centerline goodness : 0.292458 with order 2 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.05 [[ 0.99996542 0.00269274 -0.00786817 0.12448593] [-0.00271194 0.99999337 -0.0024308 0.04014807] [ 0.00786157 0.00245206 0.99996609 -0.0529867 ] [ 0. 0. 0. 1. ]] SLAMing on 0.78264 meters Centerline goodness : 0.283675 with order 2 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:-0.06 [[ 9.99997420e-01 -1.52511755e-04 -2.26644822e-03 1.74820244e-01] [ 1.42344691e-04 9.99989930e-01 -4.48538605e-03 4.59012170e-02] [ 2.26710948e-03 4.48505186e-03 9.99987372e-01 -6.18339567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84264 meters Centerline goodness : 0.303569 with order 2 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:-0.07 [[ 0.99999395 -0.00190374 -0.00291248 0.18411988] [ 0.00188767 0.99998303 -0.00551225 0.05022222] [ 0.00292293 0.00550672 0.99998057 -0.06522334] [ 0. 0. 0. 1. ]] SLAMing on 0.9026399999999999 meters Centerline goodness : 0.277679 with order 2 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.07 [[ 0.99999271 -0.0020966 -0.00319025 0.18666142] [ 0.00207839 0.99998159 -0.00570098 0.05172205] [ 0.00320214 0.00569431 0.99997866 -0.06647956] [ 0. 0. 0. 1. ]] SLAMing on 0.9626399999999999 meters Centerline goodness : 0.272619 with order 2 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.07 [[ 0.99999129 -0.00259519 -0.00326886 0.19194443] [ 0.00257536 0.99997834 -0.00605642 0.05389867] [ 0.00328451 0.00604795 0.99997632 -0.06743863] [ 0. 0. 0. 1. ]] SLAMing on 1.02264 meters Centerline goodness : 0.271569 with order 2 Centerline is valid? [False, False] Translation: X:0.20, Y:0.05, Z:-0.07 [[ 0.99999047 -0.0028632 -0.00329722 0.19547344] [ 0.00284345 0.99997808 -0.00597956 0.05310894] [ 0.00331427 0.00597012 0.99997669 -0.06803514] [ 0. 0. 0. 1. ]] SLAMing on 1.08264 meters Centerline goodness : 0.258342 with order 2 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.07 [[ 0.99998204 -0.00447057 -0.00399131 0.20821031] [ 0.00444559 0.99997062 -0.006244 0.04752241] [ 0.00401911 0.00622614 0.99997254 -0.07471141] [ 0. 0. 0. 1. ]] SLAMing on 1.1426399999999999 meters Centerline goodness : 0.262773 with order 2 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.08 [[ 0.99997366 -0.00543884 -0.00480658 0.22163137] [ 0.00541014 0.99996758 -0.00596393 0.0436527 ] [ 0.00483887 0.00593777 0.99997066 -0.08135538] [ 0. 0. 0. 1. ]] SLAMing on 1.20264 meters Centerline goodness : 0.137765 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.09 [[ 0.99996855 -0.00543517 -0.0057756 0.23625931] [ 0.0054043 0.9999711 -0.00534671 0.03926949] [ 0.00580449 0.00531533 0.99996903 -0.0886634 ] [ 0. 0. 0. 1. ]] SLAMing on 1.26264 meters Centerline goodness : 0.097188 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.10 [[ 9.99973201e-01 -1.65026318e-03 -7.13256840e-03 2.49507907e-01] [ 1.64419163e-03 9.99998281e-01 -8.57023304e-04 3.46559284e-02] [ 7.13397045e-03 8.45273028e-04 9.99974196e-01 -9.58700402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3226399999999998 meters Centerline goodness : 0.113866 with order 2 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:-0.10 [[ 9.99972851e-01 9.20772031e-04 -7.31091699e-03 2.58411687e-01] [-9.21457584e-04 9.99999571e-01 -9.04033089e-05 3.44005241e-02] [ 7.31083062e-03 9.71375545e-05 9.99973271e-01 -9.83042271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3826399999999999 meters Centerline goodness : 0.066883 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.04, Z:-0.11 [[ 0.99998607 0.00508428 -0.00141836 0.30642729] [-0.00508116 0.99998469 0.002191 0.03532171] [ 0.00142948 -0.00218376 0.99999659 -0.10526326] [ 0. 0. 0. 1. ]] SLAMing on 1.44264 meters Centerline goodness : 0.116489 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.11 [[ 0.99997577 0.00665105 -0.0020561 0.31933504] [-0.00664657 0.99997554 0.00217634 0.04134151] [ 0.00207053 -0.00216262 0.99999552 -0.11174224] [ 0. 0. 0. 1. ]] SLAMing on 1.50264 meters Centerline goodness : 0.158325 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.11 [[ 0.9999742 0.00673975 -0.00248551 0.32480674] [-0.00673464 0.9999752 0.00205846 0.04177629] [ 0.00249932 -0.00204167 0.99999479 -0.11402588] [ 0. 0. 0. 1. ]] SLAMing on 1.56264 meters Centerline goodness : 0.343849 with order 2 Centerline is valid? [False, False] Translation: X:0.34, Y:0.04, Z:-0.12 [[ 0.99997476 0.006309 -0.00326857 0.33808242] [-0.00630256 0.99997819 0.00197497 0.04029127] [ 0.00328096 -0.00195432 0.99999271 -0.12070397] [ 0. 0. 0. 1. ]] SLAMing on 1.6226399999999999 meters Centerline goodness : 0.479586 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.13 [[ 0.99997537 0.00585209 -0.00387402 0.35034912] [-0.005844 0.99998073 0.00209648 0.0397835 ] [ 0.00388621 -0.00207379 0.9999903 -0.12612157] [ 0. 0. 0. 1. ]] SLAMing on 1.68264 meters Centerline goodness : 0.074786 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.13 [[ 0.99997389 0.00573611 -0.00439474 0.35560692] [-0.00572587 0.99998087 0.0023391 0.03781567] [ 0.00440808 -0.00231387 0.99998761 -0.12772509] [ 0. 0. 0. 1. ]] SLAMing on 1.74264 meters SLAMing on 1.8026399999999998 meters Centerline goodness : 0.118530 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.14 [[ 0.9999684 0.00479104 -0.00634407 0.38334991] [-0.00477538 0.99998552 0.00248099 0.03338841] [ 0.00635586 -0.00245062 0.9999768 -0.14027626] [ 0. 0. 0. 1. ]] SLAMing on 1.8626399999999999 meters Centerline goodness : 0.115913 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:-0.14 [[ 0.99996569 0.00482201 -0.0067359 0.38793765] [-0.00480748 0.99998609 0.00217119 0.03658073] [ 0.00674628 -0.00213873 0.99997496 -0.14164288] [ 0. 0. 0. 1. ]] SLAMing on 1.92264 meters Centerline goodness : 0.181340 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:-0.15 [[ 9.99987982e-01 4.90264796e-03 3.12568520e-06 4.32327803e-01] [-4.90264709e-03 9.99986843e-01 1.50945340e-03 3.82756175e-02] [ 4.27467455e-06 -1.50945058e-03 9.99998861e-01 -1.46932582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98264 meters Centerline goodness : 0.184211 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:-0.15 [[ 9.99988152e-01 4.86484093e-03 1.70560746e-04 4.37177949e-01] [-4.86509220e-03 9.99987033e-01 1.50506944e-03 3.75501368e-02] [-1.63236611e-04 -1.50588140e-03 9.99998853e-01 -1.47752202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04264 meters Centerline goodness : 0.187122 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:-0.15 [[ 9.99988717e-01 4.74014862e-03 -3.11551934e-04 4.42096259e-01] [-4.73966553e-03 9.99987592e-01 1.53345286e-03 3.74633556e-02] [ 3.18816862e-04 -1.53195891e-03 9.99998776e-01 -1.49487203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10264 meters Centerline goodness : 0.190956 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:-0.15 [[ 9.99995628e-01 2.80268525e-03 -9.42563447e-04 4.54332822e-01] [-2.80123290e-03 9.99994893e-01 1.53865961e-03 3.21100076e-02] [ 9.46871012e-04 -1.53601255e-03 9.99998372e-01 -1.54740524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16264 meters Centerline goodness : 0.193991 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.03, Z:-0.16 [[ 0.99999823 -0.00158085 -0.00102411 0.46037046] [ 0.00157887 0.99999689 -0.00192981 0.0258668 ] [ 0.00102716 0.00192819 0.99999761 -0.15611861] [ 0. 0. 0. 1. ]] SLAMing on 2.2226399999999997 meters Centerline goodness : 0.109874 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.16 [[ 0.99999474 -0.00235273 -0.00223102 0.47267446] [ 0.00234912 0.99999593 -0.00161967 0.02093655] [ 0.00223482 0.00161442 0.9999962 -0.16201951] [ 0. 0. 0. 1. ]] SLAMing on 2.28264 meters Centerline goodness : 0.109908 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.16 [[ 0.99999535 -0.00192148 -0.00236627 0.47857121] [ 0.0019188 0.99999751 -0.0011351 0.01834914] [ 0.00236845 0.00113056 0.99999656 -0.16414829] [ 0. 0. 0. 1. ]] SLAMing on 2.34264 meters Centerline goodness : 0.109255 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.02, Z:-0.17 [[ 9.99993730e-01 -3.37129225e-05 -3.54094122e-03 4.93712089e-01] [ 3.11487634e-05 9.99999737e-01 -7.24198824e-04 1.93893317e-02] [ 3.54096470e-03 7.24083987e-04 9.99993469e-01 -1.71541464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40264 meters Centerline goodness : 0.109144 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.02, Z:-0.17 [[ 9.99989914e-01 2.39208656e-03 -3.80122501e-03 5.02304616e-01] [-2.39154019e-03 9.99997129e-01 1.48276193e-04 1.97248726e-02] [ 3.80156878e-03 -1.39183916e-04 9.99992764e-01 -1.74778632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46264 meters Centerline goodness : 0.108458 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.18 [[ 9.99984939e-01 3.07315582e-03 -4.54722304e-03 5.08146757e-01] [-3.07245011e-03 9.99995267e-01 1.62174620e-04 2.12037573e-02] [ 4.54769991e-03 -1.48201061e-04 9.99989648e-01 -1.76184092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52264 meters Centerline goodness : 0.108539 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.18 [[ 9.99982618e-01 3.74378691e-03 -4.55505403e-03 5.12578945e-01] [-3.74333727e-03 9.99992988e-01 1.07233939e-04 2.32403997e-02] [ 4.55542355e-03 -9.01809711e-05 9.99989620e-01 -1.76506358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58264 meters Centerline goodness : 0.108125 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.18 [[ 9.99980413e-01 3.75155903e-03 -5.00993958e-03 5.16134638e-01] [-3.75025750e-03 9.99992932e-01 2.69160127e-04 2.18655986e-02] [ 5.01091394e-03 -2.50366291e-04 9.99987414e-01 -1.77190566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6426399999999997 meters Centerline goodness : 0.108348 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.18 [[ 9.99980873e-01 3.64038141e-03 -5.00021578e-03 5.19428595e-01] [-3.63774047e-03 9.99993239e-01 5.37157752e-04 1.98234904e-02] [ 5.00213744e-03 -5.18957990e-04 9.99987355e-01 -1.76981550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7026399999999997 meters Centerline goodness : 0.108302 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.02, Z:-0.18 [[ 9.99981405e-01 1.64205626e-03 -5.87304428e-03 5.28561333e-01] [-1.64141958e-03 9.99998646e-01 1.13225374e-04 1.52304992e-02] [ 5.87322225e-03 -1.03583138e-04 9.99982747e-01 -1.80725936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7626399999999998 meters Centerline goodness : 0.080905 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.01, Z:-0.18 [[ 0.99997908 -0.00250358 -0.00596438 0.53210232] [ 0.00248365 0.99999131 -0.00334695 0.00969475] [ 0.00597271 0.00333207 0.99997661 -0.18110376] [ 0. 0. 0. 1. ]] SLAMing on 2.82264 meters Centerline goodness : 0.081089 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.01, Z:-0.18 [[ 0.99997763 -0.00240497 -0.00624169 0.53375051] [ 0.00238603 0.99999253 -0.00304055 0.00778481] [ 0.00624896 0.00302559 0.9999759 -0.18143192] [ 0. 0. 0. 1. ]] SLAMing on 2.88264 meters Centerline goodness : 0.082145 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.01, Z:-0.18 [[ 0.99997644 -0.00205624 -0.00654858 0.53820282] [ 0.00203923 0.99999453 -0.00260375 0.00586496] [ 0.0065539 0.00259034 0.99997517 -0.18274074] [ 0. 0. 0. 1. ]] SLAMing on 2.94264 meters Centerline goodness : 0.081533 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.01, Z:-0.18 [[ 0.99997291 -0.00126406 -0.00725167 0.54250993] [ 0.00124517 0.99999582 -0.00260849 0.00791188] [ 0.00725494 0.00259939 0.9999703 -0.18340819] [ 0. 0. 0. 1. ]] SLAMing on 3.00264 meters Centerline goodness : 0.081179 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.01, Z:-0.19 [[ 9.99966722e-01 9.30241118e-04 -8.10485896e-03 5.51129969e-01] [-9.42343328e-04 9.99998447e-01 -1.48951342e-03 7.42373031e-03] [ 8.10346076e-03 1.49710141e-03 9.99966046e-01 -1.87218572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06264 meters Centerline goodness : 0.164391 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.01, Z:-0.19 [[ 0.99996357 0.00126454 -0.00844155 0.55471048] [-0.00127879 0.99999776 -0.00168369 0.00980602] [ 0.0084394 0.00169442 0.99996295 -0.18796858] [ 0. 0. 0. 1. ]] SLAMing on 3.12264 meters Centerline goodness : 0.165987 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:0.01, Z:-0.19 [[ 9.99999358e-01 1.13099934e-03 6.54180790e-05 5.84010190e-01] [-1.13089275e-03 9.99998069e-01 -1.60710206e-03 1.12581016e-02] [-6.72355841e-05 1.60702705e-03 9.99998706e-01 -1.87402301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1826399999999997 meters Centerline goodness : 0.082517 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.19 [[ 9.99999791e-01 4.08764836e-04 -5.01699368e-04 5.88095175e-01] [-4.09516621e-04 9.99998792e-01 -1.49929051e-03 8.26431667e-03] [ 5.01085905e-04 1.49949565e-03 9.99998750e-01 -1.87788006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2426399999999997 meters Centerline goodness : 0.083534 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.19 [[ 9.99999765e-01 -9.63222781e-05 -6.78457586e-04 5.90762159e-01] [ 9.53715232e-05 9.99999014e-01 -1.40124051e-03 5.68669831e-03] [ 6.78591887e-04 1.40117548e-03 9.99998788e-01 -1.87763369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30264 meters Centerline goodness : 0.115958 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.01, Z:-0.19 [[ 9.99999238e-01 -4.96497054e-04 -1.13054612e-03 5.93975260e-01] [ 4.94875622e-04 9.99998849e-01 -1.43403092e-03 5.24710657e-03] [ 1.13125681e-03 1.43347035e-03 9.99998333e-01 -1.87843435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36264 meters Centerline goodness : 0.114804 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.00, Z:-0.19 [[ 0.99999798 -0.00111323 -0.00167601 0.59684207] [ 0.00111115 0.99999861 -0.00124219 0.00239848] [ 0.00167739 0.00124033 0.99999782 -0.18803213] [ 0. 0. 0. 1. ]] SLAMing on 3.42264 meters Centerline goodness : 0.115801 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.00, Z:-0.19 [[ 0.99998211 -0.00558538 -0.00214099 0.59985103] [ 0.00557373 0.99996984 -0.00540905 0.00161117] [ 0.00217113 0.00539702 0.99998308 -0.18850104] [ 0. 0. 0. 1. ]] SLAMing on 3.48264 meters Centerline goodness : 0.105115 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.00, Z:-0.19 [[ 9.99947897e-01 -9.82565243e-03 -2.76774602e-03 6.03877421e-01] [ 9.79963140e-03 9.99909076e-01 -9.26321901e-03 -8.81070967e-04] [ 2.85851154e-03 9.23561347e-03 9.99953265e-01 -1.89418499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54264 meters Centerline goodness : 0.103122 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.19 [[ 0.99994599 -0.00987243 -0.00324808 0.60610764] [ 0.00984413 0.9999144 -0.00861908 -0.00532432] [ 0.00333289 0.00858664 0.99995758 -0.18908346] [ 0. 0. 0. 1. ]] SLAMing on 3.6026399999999996 meters Centerline goodness : 0.115096 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.19 [[ 0.9999466 -0.00961552 -0.00378742 0.60869768] [ 0.00958527 0.99992264 -0.00792651 -0.0095152 ] [ 0.00386334 0.00788978 0.99996141 -0.18841322] [ 0. 0. 0. 1. ]] SLAMing on 3.6626399999999997 meters Centerline goodness : 0.111109 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.19 [[ 0.99994835 -0.00948134 0.00366182 0.63941821] [ 0.00950862 0.99992663 -0.0075047 -0.01397595] [-0.00359039 0.00753913 0.99996513 -0.18761256] [ 0. 0. 0. 1. ]] SLAMing on 3.7226399999999997 meters Centerline goodness : 0.114118 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:-0.19 [[ 0.99995129 -0.00928727 0.00334102 0.64091444] [ 0.00930981 0.99993357 -0.00679545 -0.01811621] [-0.00327769 0.00682622 0.99997133 -0.18769121] [ 0. 0. 0. 1. ]] SLAMing on 3.78264 meters Centerline goodness : 0.117658 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:-0.19 [[ 0.99991068 -0.01308613 0.00271817 0.64386892] [ 0.01311333 0.99986157 -0.01024162 -0.02242377] [-0.00258377 0.01027634 0.99994386 -0.18760791] [ 0. 0. 0. 1. ]] SLAMing on 3.84264 meters Centerline goodness : 0.111408 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.19 [[ 0.99990345 -0.01383341 0.00131083 0.64883838] [ 0.01384535 0.99985815 -0.00959097 -0.02978412] [-0.00117797 0.0096082 0.99995315 -0.18819179] [ 0. 0. 0. 1. ]] SLAMing on 3.90264 meters Centerline goodness : 0.111470 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.19 [[ 9.99902966e-01 -1.39135119e-02 6.87186204e-04 6.50369176e-01] [ 1.39186260e-02 9.99870301e-01 -8.10269465e-03 -3.71868820e-02] [-5.74360138e-04 8.11147311e-03 9.99966937e-01 -1.88715286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96264 meters Centerline goodness : 0.109969 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.19 [[ 9.99902978e-01 -1.39264126e-02 -2.99215729e-04 6.52750588e-01] [ 1.39244293e-02 9.99886007e-01 -5.83805730e-03 -4.99055629e-02] [ 3.80484815e-04 5.83332447e-03 9.99982914e-01 -1.88424553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02264 meters Centerline goodness : 0.108519 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.19 [[ 0.99995978 -0.00867192 -0.00228896 0.67649753] [ 0.00865054 0.99992036 -0.00918882 -0.06192548] [ 0.00236847 0.00916865 0.99995516 -0.18630737] [ 0. 0. 0. 1. ]] SLAMing on 4.0826400000000005 meters Centerline goodness : 0.106379 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.07, Z:-0.19 [[ 0.99998696 -0.00413099 -0.00300252 0.67795911] [ 0.00412154 0.99998656 -0.00314375 -0.07088225] [ 0.00301547 0.00313133 0.99999055 -0.18612134] [ 0. 0. 0. 1. ]] SLAMing on 4.14264 meters Centerline goodness : 0.105680 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.18 [[ 0.99998767 -0.00153767 -0.00472129 0.68475652] [ 0.00152878 0.99999705 -0.00188583 -0.07608285] [ 0.00472418 0.00187859 0.99998708 -0.18470765] [ 0. 0. 0. 1. ]] SLAMing on 4.202640000000001 meters Centerline goodness : 0.082548 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.18 [[ 9.99996373e-01 2.61402882e-03 -6.49391953e-04 6.35327325e-01] [-2.61134597e-03 9.99988192e-01 4.09837047e-03 -8.50183779e-02] [ 6.60097543e-04 -4.09665981e-03 9.99991391e-01 -1.81161269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26264 meters Centerline goodness : 0.203954 with order 3 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.18 [[ 9.99992654e-01 3.77072704e-03 6.88124605e-04 6.38022445e-01] [-3.78819432e-03 9.99616076e-01 2.74472399e-02 -9.93779756e-02] [-5.84364368e-04 -2.74496450e-02 9.99623017e-01 -1.80720172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322640000000001 meters Centerline goodness : 0.086523 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.17 [[ 0.99999509 0.00153447 -0.0027327 0.63287753] [-0.00141123 0.9990065 0.0445424 -0.11061532] [ 0.00279833 -0.04453832 0.99900376 -0.17313916] [ 0. 0. 0. 1. ]] SLAMing on 4.38264 meters Centerline goodness : 0.635101 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.17 [[ 0.99999393 -0.00104235 -0.00332531 0.61453226] [ 0.00122239 0.99850719 0.0546068 -0.12024862] [ 0.00326343 -0.05461054 0.9985024 -0.17207424] [ 0. 0. 0. 1. ]] SLAMing on 4.44264 meters Centerline goodness : 0.790928 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.18 [[ 0.99999693 0.00168701 0.00181292 0.6010006 ] [-0.0017398 0.99956249 0.02952643 -0.11590457] [-0.00176232 -0.0295295 0.99956236 -0.17699175] [ 0. 0. 0. 1. ]] SLAMing on 4.50264 meters Centerline goodness : 0.786526 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.17 [[ 0.99992874 0.0060614 -0.01028484 0.6626092 ] [-0.00593651 0.99990881 0.01213007 -0.11482324] [ 0.01035743 -0.01206815 0.99987353 -0.17149806] [ 0. 0. 0. 1. ]] SLAMing on 4.56264 meters Centerline goodness : 0.939669 with order 3 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.17 [[ 0.99993813 0.01089345 -0.00225116 0.63869786] [-0.01086772 0.99987887 0.01114182 -0.11310549] [ 0.00237226 -0.01111667 0.99993539 -0.17432089] [ 0. 0. 0. 1. ]] SLAMing on 4.6226400000000005 meters Centerline goodness : 0.951703 with order 1 Centerline is valid? [False, True] Translation: X:0.64, Y:-0.11, Z:-0.17 [[ 0.99992873 0.01166363 -0.00255008 0.64047718] [-0.01163818 0.99988448 0.00977617 -0.10649414] [ 0.00266381 -0.0097458 0.99994896 -0.17331233] [ 0. 0. 0. 1. ]] SLAMing on 4.68264 meters Centerline goodness : 0.088576 with order 1 Centerline is valid? [True, False] Translation: X:0.64, Y:-0.10, Z:-0.17 [[ 0.99985997 0.01651251 -0.00271636 0.64173048] [-0.01647609 0.99978071 0.01292535 -0.10096511] [ 0.00292919 -0.01287879 0.99991277 -0.17226598] [ 0. 0. 0. 1. ]] SLAMing on 4.742640000000001 meters Centerline goodness : 0.095010 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.17 [[ 0.99985399 0.01687594 -0.00268492 0.64226854] [-0.01684468 0.99979464 0.01126652 -0.0933077 ] [ 0.0028745 -0.01121965 0.99993293 -0.17109837] [ 0. 0. 0. 1. ]] SLAMing on 4.80264 meters Centerline goodness : 0.091750 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:-0.17 [[ 0.99985682 0.01672661 -0.00256016 0.64286181] [-0.01670331 0.99982118 0.00886604 -0.08231856] [ 0.002708 -0.00882201 0.99995742 -0.17082665] [ 0. 0. 0. 1. ]] SLAMing on 4.86264 meters Centerline goodness : 0.994714 with order 1 Centerline is valid? [False, True] Translation: X:0.64, Y:-0.07, Z:-0.17 [[ 0.99992334 0.01211548 -0.00255388 0.64320737] [-0.01211018 0.9999245 0.00208151 -0.07070981] [ 0.00257891 -0.00205042 0.99999457 -0.1702501 ] [ 0. 0. 0. 1. ]] SLAMing on 4.92264 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.06, Z:-0.21 [[ 9.99983119e-01 5.23390778e-03 -2.52338249e-03 7.04031659e-01] [-5.23401615e-03 9.99986302e-01 -3.63447222e-05 -6.28745747e-02] [ 2.52315770e-03 4.95515334e-05 9.99996816e-01 -2.09735802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.98264 meters Centerline goodness : 0.996938 with order 1 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.06, Z:-0.16 [[ 9.99996630e-01 6.09829471e-04 -2.52338267e-03 7.64398918e-01] [-6.09923093e-04 9.99999813e-01 -3.63322679e-05 -5.76637189e-02] [ 2.52336005e-03 3.78712148e-05 9.99996816e-01 -1.60358140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0426400000000005 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.05, Z:-0.17 [[ 9.99979688e-01 -5.85283427e-03 -2.52338258e-03 8.23578362e-01] [ 5.85276121e-03 9.99982872e-01 -3.63388513e-05 -5.19312374e-02] [ 2.52355204e-03 2.15693576e-05 9.99996816e-01 -1.73040681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.10264 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.05, Z:-0.17 [[ 9.99973762e-01 -6.79030536e-03 -2.52338282e-03 8.82644067e-01] [ 6.79023532e-03 9.99976945e-01 -3.63219795e-05 -4.90150770e-02] [ 2.52357128e-03 1.91866633e-05 9.99996816e-01 -1.69025429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162640000000001 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.04, Z:-0.16 [[ 9.99996703e-01 4.77020416e-04 -2.52337660e-03 9.42424021e-01] [-4.77114668e-04 9.99999886e-01 -3.67494545e-05 -3.87562380e-02] [ 2.52335878e-03 3.79532733e-05 9.99996816e-01 -1.55496044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22264 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.03, Z:-0.16 [[ 9.99979301e-01 5.91866484e-03 -2.52337664e-03 1.00284461e+00] [-5.91877640e-03 9.99982483e-01 -3.67464992e-05 -2.99434102e-02] [ 2.52311495e-03 5.16810406e-05 9.99996816e-01 -1.62482718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.28264 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.02, Z:-0.15 [[ 9.99903893e-01 1.36322206e-02 -2.52337656e-03 1.06317870e+00] [-1.36323567e-02 9.99907074e-01 -3.67520364e-05 -1.94137991e-02] [ 2.52264106e-03 7.11480737e-05 9.99996816e-01 -1.45052796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34264 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.01, Z:-0.16 [[ 9.99912187e-01 1.30096595e-02 -2.52337663e-03 1.12306782e+00] [-1.30097936e-02 9.99915368e-01 -3.67470993e-05 -1.00727419e-02] [ 2.52268501e-03 6.95724817e-05 9.99996816e-01 -1.64979444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.40264 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.00, Z:-0.17 [[ 9.99954804e-01 9.16632621e-03 -2.52337689e-03 1.18220140e+00] [-9.16644807e-03 9.99957987e-01 -3.67289864e-05 -1.85366377e-03] [ 2.52293421e-03 5.98577297e-05 9.99996816e-01 -1.67529011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.24, Y:0.01, Z:-0.14 [[ 9.99982130e-01 5.41962572e-03 -2.52337648e-03 1.24236473e+00] [-5.41973573e-03 9.99985312e-01 -3.67577142e-05 6.84749410e-03] [ 2.52314020e-03 5.04330909e-05 9.99996816e-01 -1.44326991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.30, Y:0.02, Z:-0.16 [[ 9.99996383e-01 -9.30980932e-04 -2.52337627e-03 1.30179014e+00] [ 9.30891106e-04 9.99999566e-01 -3.67719239e-05 1.78579317e-02] [ 2.52340941e-03 3.44228024e-05 9.99996816e-01 -1.56364966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5826400000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.36, Y:0.02, Z:-0.14 [[ 9.99982798e-01 -5.29498082e-03 -2.52337575e-03 1.36095344e+00] [ 5.29490480e-03 9.99985981e-01 -3.68074325e-05 2.19591629e-02] [ 2.52353527e-03 2.34457650e-05 9.99996816e-01 -1.44665758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.42, Y:0.03, Z:-0.16 [[ 9.99891276e-01 -1.45282226e-02 -2.52337578e-03 1.42170964e+00] [ 1.45281760e-02 9.99894460e-01 -3.68052235e-05 3.01737290e-02] [ 2.52364418e-03 1.41174314e-07 9.99996816e-01 -1.57997404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702640000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.48, Y:0.04, Z:-0.15 [[ 9.99771052e-01 -2.12479588e-02 -2.52337576e-03 1.48234082e+00] [ 2.12479336e-02 9.99774236e-01 -3.68071157e-05 3.61513974e-02] [ 2.52358815e-03 -1.68178316e-05 9.99996816e-01 -1.45206595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1.54, Y:0.04, Z:-0.14 [[ 9.99730782e-01 -2.30650271e-02 -2.52337573e-03 1.54025932e+00] [ 2.30650077e-02 9.99733967e-01 -3.68086635e-05 3.75162227e-02] [ 2.52355342e-03 -2.14029267e-05 9.99996816e-01 -1.43210616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.60, Y:0.04, Z:-0.14 [[ 9.99694525e-01 -2.45863493e-02 -2.52336823e-03 1.59780439e+00] [ 2.45863334e-02 9.99697710e-01 -3.73159394e-05 4.00662098e-02] [ 2.52352290e-03 -2.47358324e-05 9.99996816e-01 -1.44300434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:0.04, Z:-0.14 [[ 9.99640459e-01 -2.66942913e-02 -2.52336589e-03 1.65636325e+00] [ 2.66942818e-02 9.99643643e-01 -3.74733572e-05 4.06364392e-02] [ 2.52346700e-03 -2.98995562e-05 9.99996816e-01 -1.40428503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.94264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:0.04, Z:-0.15 [[ 9.99643410e-01 -2.65835532e-02 -2.52335934e-03 1.71665770e+00] [ 2.65835422e-02 9.99646594e-01 -3.79097721e-05 3.80319939e-02] [ 2.52347534e-03 -2.91835755e-05 9.99996816e-01 -1.47045312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00264 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:0.03, Z:-0.14 [[ 9.99678872e-01 -2.52147797e-02 -2.52335885e-03 1.77622106e+00] [ 2.52147642e-02 9.99682057e-01 -3.79420078e-05 3.34103411e-02] [ 2.52351327e-03 -2.56960750e-05 9.99996816e-01 -1.38515048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1.83, Y:0.03, Z:-0.14 [[ 9.99756502e-01 -2.19218844e-02 -2.52335862e-03 1.83397367e+00] [ 2.19218585e-02 9.99759686e-01 -3.79577563e-05 3.14594469e-02] [ 2.52358432e-03 -1.73681967e-05 9.99996816e-01 -1.38418365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1226400000000005 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1.89, Y:0.03, Z:-0.14 [[ 9.99813973e-01 -1.91220387e-02 -2.52335630e-03 1.89233313e+00] [ 1.91220034e-02 9.99817157e-01 -3.81108513e-05 2.95461717e-02] [ 2.52362368e-03 -1.01478662e-05 9.99996816e-01 -1.36140088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18264 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1.95, Y:0.03, Z:-0.14 [[ 9.99917908e-01 -1.25622091e-02 -2.52335396e-03 1.95031394e+00] [ 1.25621526e-02 9.99921092e-01 -3.82656684e-05 2.74532482e-02] [ 2.52363555e-03 6.56376968e-06 9.99996816e-01 -1.38095601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242640000000001 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:0.03, Z:-0.14 [[ 9.99993497e-01 -2.57674204e-03 -2.52334635e-03 2.00876149e+00] [ 2.57665243e-03 9.99996680e-01 -3.87605878e-05 2.55423141e-02] [ 2.52343785e-03 3.22585492e-05 9.99996816e-01 -1.44351836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.07, Y:0.03, Z:-0.15 [[ 9.99995950e-01 1.31604964e-03 -2.52334016e-03 2.06810076e+00] [-1.31615265e-03 9.99999133e-01 -3.91595886e-05 2.59222620e-02] [ 2.52328644e-03 4.24805309e-05 9.99996816e-01 -1.46207630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.36264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:0.03, Z:-0.14 [[ 9.99995636e-01 1.53650032e-03 -2.52333673e-03 2.12735416e+00] [-1.53660458e-03 9.99998819e-01 -3.93795993e-05 2.65924472e-02] [ 2.52327324e-03 4.32567982e-05 9.99996816e-01 -1.43451188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42264 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:0.03, Z:-0.14 [[ 9.99992305e-01 -3.00374465e-03 -2.52333542e-03 2.18722158e+00] [ 3.00365463e-03 9.99995488e-01 -3.94631452e-05 2.90847546e-02] [ 2.52344257e-03 3.18836134e-05 9.99996816e-01 -1.37473194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.48264 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:2.25, Y:0.03, Z:-0.14 [[ 9.99972053e-01 -7.03743351e-03 -2.52333442e-03 2.24583174e+00] [ 7.03735617e-03 9.99975237e-01 -3.95271478e-05 3.00415386e-02] [ 2.52355010e-03 2.17684401e-05 9.99996816e-01 -1.40016573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5426400000000005 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:2.30, Y:0.03, Z:-0.13 [[ 9.99946383e-01 -1.00431493e-02 -2.52333292e-03 2.30410334e+00] [ 1.00430813e-02 9.99949566e-01 -3.96225958e-05 3.22556025e-02] [ 2.52360359e-03 1.42784337e-05 9.99996816e-01 -1.33476155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.36, Y:0.03, Z:-0.13 [[ 9.99943391e-01 -1.03366884e-02 -2.52333058e-03 2.36327043e+00] [ 1.03366210e-02 9.99946575e-01 -3.97708615e-05 3.36358543e-02] [ 2.52360687e-03 1.36858983e-05 9.99996816e-01 -1.27736032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662640000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.42, Y:0.04, Z:-0.13 [[ 9.99949273e-01 -9.75114469e-03 -2.52332912e-03 2.42125096e+00] [ 9.75107514e-03 9.99952456e-01 -3.98635481e-05 3.78581113e-02] [ 2.52359787e-03 1.52563541e-05 9.99996816e-01 -1.28300835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.48, Y:0.04, Z:-0.13 [[ 9.99939084e-01 -1.07452912e-02 -2.52332670e-03 2.47982817e+00] [ 1.07452244e-02 9.99942268e-01 -4.00159349e-05 4.31472351e-02] [ 2.52361101e-03 1.28997855e-05 9.99996816e-01 -1.31204768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.78264 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:2.54, Y:0.05, Z:-0.13 [[ 9.99921785e-01 -1.22497905e-02 -2.52331992e-03 2.53836845e+00] [ 1.22497275e-02 9.99924968e-01 -4.04390330e-05 4.53260723e-02] [ 2.52362596e-03 9.52588867e-06 9.99996816e-01 -1.28922453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.60, Y:0.05, Z:-0.13 [[ 9.99876952e-01 -1.54827141e-02 -2.52331283e-03 2.59702655e+00] [ 1.54826603e-02 9.99880136e-01 -4.08769561e-05 4.86600170e-02] [ 2.52364326e-03 1.80433097e-06 9.99996816e-01 -1.29180246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.66, Y:0.05, Z:-0.13 [[ 9.99825476e-01 -1.85108071e-02 -2.52330570e-03 2.65577270e+00] [ 1.85107618e-02 9.99828660e-01 -4.13123356e-05 5.01383357e-02] [ 2.52363808e-03 -5.40318502e-06 9.99996816e-01 -1.28342380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:0.05, Z:-0.13 [[ 9.99749916e-01 -2.22202299e-02 -2.52329833e-03 2.71349646e+00] [ 2.22201953e-02 9.99753100e-01 -4.17573513e-05 5.47450794e-02] [ 2.52360319e-03 -1.43212734e-05 9.99996816e-01 -1.27916823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:0.06, Z:-0.13 [[ 9.99706086e-01 -2.41117111e-02 -2.52329573e-03 2.77174157e+00] [ 2.41116821e-02 9.99709270e-01 -4.19140748e-05 5.81047156e-02] [ 2.52357275e-03 -1.89391489e-05 9.99996816e-01 -1.26844445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0826400000000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.83, Y:0.06, Z:-0.13 [[ 9.99745232e-01 -2.24299731e-02 -2.52328723e-03 2.83098097e+00] [ 2.24299374e-02 9.99748416e-01 -4.24195228e-05 6.24353378e-02] [ 2.52360389e-03 -1.41884591e-05 9.99996816e-01 -1.29880688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:0.07, Z:-0.13 [[ 9.99769463e-01 -2.13226005e-02 -2.52328031e-03 2.89008474e+00] [ 2.13225603e-02 9.99772647e-01 -4.28276158e-05 6.55333961e-02] [ 2.52361983e-03 -1.09850541e-05 9.99996816e-01 -1.29993235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:0.07, Z:-0.13 [[ 9.99798623e-01 -1.99084695e-02 -2.52327263e-03 2.94823134e+00] [ 1.99084236e-02 9.99801807e-01 -4.32752116e-05 6.97566811e-02] [ 2.52363408e-03 -6.96788350e-06 9.99996816e-01 -1.30520635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:0.07, Z:-0.13 [[ 9.99798672e-01 -1.99059916e-02 -2.52326836e-03 3.00712265e+00] [ 1.99059451e-02 9.99801856e-01 -4.35225615e-05 7.34597812e-02] [ 2.52363475e-03 -6.71424243e-06 9.99996816e-01 -1.29891211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:0.08, Z:-0.13 [[ 9.99759863e-01 -2.17680911e-02 -2.52326059e-03 3.06530643e+00] [ 2.17680495e-02 9.99763047e-01 -4.39686426e-05 7.65979705e-02] [ 2.52361981e-03 -1.09683773e-05 9.99996816e-01 -1.31748895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:0.08, Z:-0.13 [[ 9.99596390e-01 -2.82964544e-02 -2.52325784e-03 3.12413190e+00] [ 2.82964331e-02 9.99599575e-01 -4.41261574e-05 7.94169708e-02] [ 2.52349607e-03 -2.72908489e-05 9.99996816e-01 -1.31209253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:0.08, Z:-0.13 [[ 9.99374289e-01 -3.52797858e-02 -2.52325047e-03 3.18181482e+00] [ 3.52797858e-02 9.99377474e-01 -4.45437029e-05 7.82633874e-02] [ 2.52325117e-03 -4.45039045e-05 9.99996816e-01 -1.28224542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:0.08, Z:-0.13 [[ 9.99317412e-01 -3.68556964e-02 -2.52324105e-03 3.24001847e+00] [ 3.68557001e-02 9.99320597e-01 -4.50705852e-05 7.68122245e-02] [ 2.52318786e-03 -4.79559949e-05 9.99996816e-01 -1.30348206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56264 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:3.30, Y:0.08, Z:-0.13 [[ 9.99411233e-01 -3.42172489e-02 -2.52323815e-03 3.29846290e+00] [ 3.42172437e-02 9.99414418e-01 -4.52326289e-05 7.54220850e-02] [ 2.52330832e-03 -4.11322573e-05 9.99996816e-01 -1.29383696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6226400000000005 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:3.36, Y:0.08, Z:-0.13 [[ 9.99624589e-01 -2.72821109e-02 -2.52322979e-03 3.35714552e+00] [ 2.72820825e-02 9.99627774e-01 -4.56945252e-05 7.56460679e-02] [ 2.52353722e-03 -2.31615921e-05 9.99996816e-01 -1.31744620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.42, Y:0.07, Z:-0.13 [[ 9.99728745e-01 -2.31531636e-02 -2.52322142e-03 3.41530876e+00] [ 2.31531208e-02 9.99731930e-01 -4.61518514e-05 7.44570655e-02] [ 2.52361358e-03 -1.22811180e-05 9.99996816e-01 -1.30883697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.47, Y:0.07, Z:-0.13 [[ 9.99817713e-01 -1.89254795e-02 -2.52321844e-03 3.47411843e+00] [ 1.89254229e-02 9.99820897e-01 -4.63140647e-05 7.42089842e-02] [ 2.52364304e-03 -1.44735373e-06 9.99996816e-01 -1.30026709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.53, Y:0.08, Z:-0.13 [[ 9.99899953e-01 -1.39182203e-02 -2.52321013e-03 3.53233847e+00] [ 1.39181466e-02 9.99903137e-01 -4.67623712e-05 7.69150884e-02] [ 2.52361658e-03 1.16392843e-05 9.99996816e-01 -1.29182580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.59, Y:0.08, Z:-0.13 [[ 9.99940418e-01 -1.06204288e-02 -2.52320720e-03 3.59153080e+00] [ 1.06203443e-02 9.99943601e-01 -4.69201839e-05 8.03048815e-02] [ 2.52356321e-03 2.01200592e-05 9.99996816e-01 -1.29613103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.65, Y:0.08, Z:-0.13 [[ 9.99959902e-01 -8.59232377e-03 -2.52319900e-03 3.65042775e+00] [ 8.59223163e-03 9.99963085e-01 -4.73570518e-05 8.24031884e-02] [ 2.52351276e-03 2.56752426e-05 9.99996816e-01 -1.31036703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.71, Y:0.08, Z:-0.13 [[ 9.99872249e-01 -1.57835371e-02 -2.52319057e-03 3.70891673e+00] [ 1.57834667e-02 9.99875432e-01 -4.78021195e-05 8.18363861e-02] [ 2.52363075e-03 7.97131834e-06 9.99996816e-01 -1.31922444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.77, Y:0.08, Z:-0.13 [[ 9.99719652e-01 -2.35425171e-02 -2.52318816e-03 3.76718431e+00] [ 2.35424711e-02 9.99722836e-01 -4.79288463e-05 7.97825897e-02] [ 2.52361719e-03 -1.14866749e-05 9.99996816e-01 -1.31111010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.83, Y:0.08, Z:-0.13 [[ 9.99456346e-01 -3.28731871e-02 -2.52318370e-03 3.82577629e+00] [ 3.28731702e-02 9.99459530e-01 -4.81626470e-05 7.64827208e-02] [ 2.52340325e-03 -3.48085841e-05 9.99996816e-01 -1.27808073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:0.07, Z:-0.13 [[ 9.99386565e-01 -3.49303289e-02 -2.52317533e-03 3.88343845e+00] [ 3.49303175e-02 9.99389749e-01 -4.85970481e-05 7.35638108e-02] [ 2.52333307e-03 -3.95680785e-05 9.99996816e-01 -1.26522389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:0.07, Z:-0.13 [[ 9.99428426e-01 -3.37113389e-02 -2.52316561e-03 3.94113103e+00] [ 3.37113224e-02 9.99431611e-01 -4.90967364e-05 6.92012945e-02] [ 2.52338658e-03 -3.59905753e-05 9.99996816e-01 -1.25594486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:0.07, Z:-0.12 [[ 9.99496636e-01 -3.16244936e-02 -2.52315579e-03 3.99889249e+00] [ 3.16244692e-02 9.99499820e-01 -4.95961238e-05 6.81981562e-02] [ 2.52346221e-03 -3.02223038e-05 9.99996816e-01 -1.24549871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:0.06, Z:-0.13 [[ 9.99509584e-01 -3.12125855e-02 -2.52315132e-03 4.05711197e+00] [ 3.12125591e-02 9.99512768e-01 -4.98224030e-05 6.45668557e-02] [ 2.52347705e-03 -2.89560406e-05 9.99996816e-01 -1.25121622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.06, Z:-0.13 [[ 9.99474251e-01 -3.23242285e-02 -2.52314140e-03 4.11536714e+00] [ 3.23242045e-02 9.99477435e-01 -5.03199928e-05 5.72080053e-02] [ 2.52344945e-03 -3.12650014e-05 9.99996816e-01 -1.31121086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462639999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:4.17, Y:0.05, Z:-0.14 [[ 9.99447731e-01 -3.31340701e-02 -2.52313681e-03 4.17460070e+00] [ 3.31340480e-02 9.99450915e-01 -5.05493328e-05 5.35416971e-02] [ 2.52342630e-03 -3.30803201e-05 9.99996816e-01 -1.36572390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.23, Y:0.05, Z:-0.13 [[ 9.99470374e-01 -3.24438769e-02 -2.52312832e-03 4.23317545e+00] [ 3.24438516e-02 9.99473558e-01 -5.09696429e-05 5.27687845e-02] [ 2.52345369e-03 -3.09173526e-05 9.99996816e-01 -1.32802074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:4.29, Y:0.05, Z:-0.13 [[ 9.99676273e-01 -2.53176433e-02 -2.52311972e-03 4.29187608e+00] [ 2.53175942e-02 9.99679457e-01 -5.13915492e-05 4.79894658e-02] [ 2.52361207e-03 -1.25044088e-05 9.99996816e-01 -1.27070149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.35, Y:0.05, Z:-0.13 [[ 9.99905878e-01 -1.34859044e-02 -2.52311094e-03 4.35096148e+00] [ 1.34858166e-02 9.99909061e-01 -5.18193091e-05 4.87494851e-02] [ 2.52358032e-03 1.77882204e-05 9.99996816e-01 -1.27949240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.41, Y:0.05, Z:-0.13 [[ 9.99974757e-01 -6.64229661e-03 -2.52310199e-03 4.40853600e+00] [ 6.64218591e-03 9.99977939e-01 -5.22512627e-05 5.22766102e-02] [ 2.52339340e-03 3.54910312e-05 9.99996816e-01 -1.32386863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:0.06, Z:-0.13 [[ 9.99996780e-01 2.71619644e-04 -2.52309883e-03 4.46773530e+00] [-2.71752727e-04 9.99999962e-01 -5.24034519e-05 5.70639157e-02] [ 2.52308450e-03 5.30889421e-05 9.99996816e-01 -1.29893229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.53, Y:0.06, Z:-0.13 [[ 9.99993395e-01 2.61600134e-03 -2.52308956e-03 4.52628956e+00] [-2.61614300e-03 9.99996576e-01 -5.28459461e-05 6.26890924e-02] [ 2.52294268e-03 5.94463602e-05 9.99996816e-01 -1.30235265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882639999999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:4.58, Y:0.07, Z:-0.13 [[ 9.99993123e-01 2.71820637e-03 -2.52308761e-03 4.58444973e+00] [-2.71834859e-03 9.99996304e-01 -5.29390864e-05 6.86926142e-02] [ 2.52293438e-03 5.97973540e-05 9.99996816e-01 -1.28191475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:0.08, Z:-0.12 [[ 9.99995419e-01 1.67230903e-03 -2.52308578e-03 4.64349999e+00] [-1.67244814e-03 9.99998600e-01 -5.30261685e-05 7.81368947e-02] [ 2.52299357e-03 5.72456557e-05 9.99996816e-01 -1.23040912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.70, Y:0.09, Z:-0.12 [[ 9.99995955e-01 -1.31313781e-03 -2.52308394e-03 4.70271804e+00] [ 1.31300798e-03 9.99999137e-01 -5.31134039e-05 8.70460893e-02] [ 2.52315151e-03 4.98003597e-05 9.99996816e-01 -1.22268051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:4.76, Y:0.09, Z:-0.13 [[ 9.99987497e-01 -4.31733513e-03 -2.52308264e-03 4.76097669e+00] [ 4.31721470e-03 9.99990679e-01 -5.31750302e-05 9.29696313e-02] [ 2.52328870e-03 4.22816758e-05 9.99996816e-01 -1.27882590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.82, Y:0.10, Z:-0.13 [[ 9.99930599e-01 -1.15078522e-02 -2.52308142e-03 4.82057083e+00] [ 1.15077546e-02 9.99933782e-01 -5.32329468e-05 9.66546012e-02] [ 2.52352694e-03 2.41942506e-05 9.99996816e-01 -1.29367062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.88, Y:0.10, Z:-0.13 [[ 9.99852655e-01 -1.69794886e-02 -2.52308015e-03 4.87812522e+00] [ 1.69794081e-02 9.99855838e-01 -5.32933123e-05 1.01834268e-01] [ 2.52362131e-03 1.04450522e-05 9.99996816e-01 -1.29944293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:4.94, Y:0.11, Z:-0.13 [[ 9.99832335e-01 -1.81365812e-02 -2.52307696e-03 4.93703299e+00] [ 1.81365041e-02 9.99835519e-01 -5.34436460e-05 1.08089523e-01] [ 2.52363125e-03 7.67488977e-06 9.99996816e-01 -1.31392304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.00, Y:0.11, Z:-0.13 [[ 9.99812761e-01 -1.91853319e-02 -2.52306783e-03 4.99607055e+00] [ 1.91852570e-02 9.99815945e-01 -5.38711343e-05 1.07348769e-01] [ 2.52363699e-03 5.45534255e-06 9.99996816e-01 -1.26050361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362639999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.11, Z:-0.13 [[ 9.99783036e-01 -2.06764326e-02 -2.52305833e-03 5.05495944e+00] [ 2.06763614e-02 9.99786220e-01 -5.43127777e-05 1.08249539e-01] [ 2.52364194e-03 2.13332806e-06 9.99996816e-01 -1.26547049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.11, Z:-0.13 [[ 9.99791124e-01 -2.02816052e-02 -2.52304879e-03 5.11239180e+00] [ 2.02815316e-02 9.99794307e-01 -5.47520410e-05 1.10018115e-01] [ 2.52364028e-03 3.56931068e-06 9.99996816e-01 -1.27162074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.11, Z:-0.13 [[ 9.99809796e-01 -1.93392278e-02 -2.52304542e-03 5.17160971e+00] [ 1.93391508e-02 9.99812980e-01 -5.49069288e-05 1.08533524e-01] [ 2.52363542e-03 6.10292930e-06 9.99996816e-01 -1.25462938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:0.11, Z:-0.13 [[ 9.99823436e-01 -1.86207096e-02 -2.52303573e-03 5.23070714e+00] [ 1.86206293e-02 9.99826620e-01 -5.53487082e-05 1.07454220e-01] [ 2.52362892e-03 8.35842258e-06 9.99996816e-01 -1.25818869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.29, Y:0.11, Z:-0.12 [[ 9.99842259e-01 -1.75810246e-02 -2.52302598e-03 5.28989442e+00] [ 1.75809398e-02 9.99845442e-01 -5.57898547e-05 1.07820785e-01] [ 2.52361687e-03 1.14238864e-05 9.99996816e-01 -1.23920345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66264 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:5.35, Y:0.11, Z:-0.12 [[ 9.99863123e-01 -1.63514227e-02 -2.52301625e-03 5.34824755e+00] [ 1.63513329e-02 9.99866306e-01 -5.62264174e-05 1.08149589e-01] [ 2.52359832e-03 1.49640427e-05 9.99996816e-01 -1.23639893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:0.11, Z:-0.12 [[ 9.99894063e-01 -1.43351890e-02 -2.52300599e-03 5.40626960e+00] [ 1.43350916e-02 9.99897246e-01 -5.66829511e-05 1.07103167e-01] [ 2.52355930e-03 2.05094242e-05 9.99996816e-01 -1.23167314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:0.11, Z:-0.12 [[ 9.99913271e-01 -1.29261545e-02 -2.52300238e-03 5.46481287e+00] [ 1.29260522e-02 9.99916453e-01 -5.68434052e-05 1.10333643e-01] [ 2.52352636e-03 2.42260147e-05 9.99996816e-01 -1.23504401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.52, Y:0.11, Z:-0.12 [[ 9.99922117e-01 -1.22226992e-02 -2.52299258e-03 5.52292684e+00] [ 1.22225936e-02 9.99925300e-01 -5.72748033e-05 1.13051508e-01] [ 2.52350417e-03 2.64328295e-05 9.99996816e-01 -1.22923517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:0.12, Z:-0.12 [[ 9.99875803e-01 -1.55567656e-02 -2.52298981e-03 5.58206657e+00] [ 1.55566702e-02 9.99878986e-01 -5.73968096e-05 1.16284739e-01] [ 2.52357740e-03 1.81403607e-05 9.99996816e-01 -1.23106916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:0.11, Z:-0.12 [[ 9.99808821e-01 -1.93896036e-02 -2.52297985e-03 5.64015860e+00] [ 1.93895194e-02 9.99812004e-01 -5.78311771e-05 1.14940162e-01] [ 2.52362686e-03 8.90075427e-06 9.99996816e-01 -1.21923866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:0.12, Z:-0.12 [[ 9.99690284e-01 -2.47582465e-02 -2.52297633e-03 5.69779922e+00] [ 2.47581790e-02 9.99693468e-01 -5.79842928e-05 1.16944169e-01] [ 2.52363855e-03 -4.49796555e-06 9.99996816e-01 -1.21169325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:5.76, Y:0.12, Z:-0.13 [[ 9.99610553e-01 -2.77916771e-02 -2.52296469e-03 5.75683173e+00] [ 2.77916180e-02 9.99613737e-01 -5.84864025e-05 1.18673249e-01] [ 2.52361560e-03 -1.16536459e-05 9.99996816e-01 -1.25110652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:0.12, Z:-0.12 [[ 9.99507785e-01 -3.12701476e-02 -2.52295435e-03 5.81410479e+00] [ 3.12700985e-02 9.99510969e-01 -5.89292969e-05 1.16245036e-01] [ 2.52356327e-03 -1.99927399e-05 9.99996816e-01 -1.23938170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:0.12, Z:-0.12 [[ 9.99452654e-01 -3.29852538e-02 -2.52294922e-03 5.87168940e+00] [ 3.29852096e-02 9.99455838e-01 -5.91479197e-05 1.16941941e-01] [ 2.52352734e-03 -2.41044634e-05 9.99996816e-01 -1.24670517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:0.12, Z:-0.13 [[ 9.99480371e-01 -3.21344520e-02 -2.52294561e-03 5.92956094e+00] [ 3.21344047e-02 9.99483555e-01 -5.93016478e-05 1.16553965e-01] [ 2.52354827e-03 -2.18025223e-05 9.99996816e-01 -1.25383704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:0.12, Z:-0.12 [[ 9.99613911e-01 -2.76706169e-02 -2.52293363e-03 5.98751789e+00] [ 2.76705541e-02 9.99617095e-01 -5.98068078e-05 1.17754088e-01] [ 2.52362248e-03 -1.00272545e-05 9.99996816e-01 -1.21940322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:0.12, Z:-0.12 [[ 9.99700629e-01 -2.43369678e-02 -2.52292151e-03 6.04542293e+00] [ 2.43368931e-02 9.99703812e-01 -6.03139046e-05 1.18037366e-01] [ 2.52364211e-03 -1.10422275e-06 9.99996816e-01 -1.22681958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:0.12, Z:-0.13 [[ 9.99719086e-01 -2.35665666e-02 -2.52290935e-03 6.10317140e+00] [ 2.35664882e-02 9.99722270e-01 -6.08184887e-05 1.19902138e-01] [ 2.52364194e-03 1.34529066e-06 9.99996816e-01 -1.26888500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.16, Y:0.12, Z:-0.13 [[ 9.99727118e-01 -2.32233705e-02 -2.52290557e-03 6.16217851e+00] [ 2.32232906e-02 9.99730301e-01 -6.09747431e-05 1.22803059e-01] [ 2.52364119e-03 2.36793497e-06 9.99996816e-01 -1.29659784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.22, Y:0.12, Z:-0.13 [[ 9.99724225e-01 -2.33475478e-02 -2.52289480e-03 6.22031416e+00] [ 2.33474671e-02 9.99727409e-01 -6.14174139e-05 1.23223776e-01] [ 2.52364102e-03 2.49727326e-06 9.99996816e-01 -1.33847623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.28, Y:0.12, Z:-0.13 [[ 9.99718437e-01 -2.35940921e-02 -2.52288891e-03 6.27856543e+00] [ 2.35940116e-02 9.99721621e-01 -6.16583253e-05 1.24536937e-01] [ 2.52364136e-03 2.11589443e-06 9.99996816e-01 -1.26645070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.34, Y:0.13, Z:-0.12 [[ 9.99710066e-01 -2.39461532e-02 -2.52288508e-03 6.33691381e+00] [ 2.39460734e-02 9.99713250e-01 -6.18143743e-05 1.27609280e-01] [ 2.52364186e-03 1.38326076e-06 9.99996816e-01 -1.23548766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.40, Y:0.13, Z:-0.12 [[ 9.99728541e-01 -2.31620098e-02 -2.52288124e-03 6.39528699e+00] [ 2.31619271e-02 9.99731725e-01 -6.19710152e-05 1.28448850e-01] [ 2.52363978e-03 3.51940134e-06 9.99996816e-01 -1.20725602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:0.13, Z:-0.12 [[ 9.99781919e-01 -2.07303911e-02 -2.52287553e-03 6.45308630e+00] [ 2.07303001e-02 9.99785102e-01 -6.22025718e-05 1.28926877e-01] [ 2.52362285e-03 9.88903978e-06 9.99996816e-01 -1.19793503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.51, Y:0.14, Z:-0.12 [[ 9.99879779e-01 -1.52991203e-02 -2.52287169e-03 6.51130655e+00] [ 1.52990116e-02 9.99882961e-01 -6.23578860e-05 1.35692529e-01] [ 2.52353044e-03 2.37529459e-05 9.99996816e-01 -1.20625550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:0.14, Z:-0.12 [[ 9.99954506e-01 -9.19894084e-03 -2.52286086e-03 6.56992536e+00] [ 9.19881169e-03 9.99957688e-01 -6.27929828e-05 1.41687822e-01] [ 2.52333174e-03 3.95828042e-05 9.99996816e-01 -1.20924141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.63, Y:0.15, Z:-0.12 [[ 9.99982344e-01 -5.38017518e-03 -2.52284983e-03 6.62820973e+00] [ 5.38003276e-03 9.99985526e-01 -6.32329782e-05 1.46469952e-01] [ 2.52315352e-03 4.96588471e-05 9.99996816e-01 -1.24960519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:0.15, Z:-0.12 [[ 9.99992364e-01 -2.98438746e-03 -2.52284750e-03 6.68672006e+00] [ 2.98423719e-03 9.99995545e-01 -6.33257876e-05 1.54574416e-01] [ 2.52302525e-03 5.57965287e-05 9.99996816e-01 -1.24664362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:0.16, Z:-0.12 [[ 9.99988579e-01 -4.05919441e-03 -2.52283667e-03 6.74571555e+00] [ 4.05904648e-03 9.99991760e-01 -6.37543597e-05 1.60563070e-01] [ 2.52307467e-03 5.35133203e-05 9.99996816e-01 -1.23525097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.80, Y:0.17, Z:-0.12 [[ 9.99960219e-01 -8.55542354e-03 -2.52282548e-03 6.80405605e+00] [ 8.55528881e-03 9.99963401e-01 -6.41940712e-05 1.69029868e-01] [ 2.52328236e-03 4.26080169e-05 9.99996816e-01 -1.21026937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222639999999998 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:6.86, Y:0.18, Z:-0.12 [[ 9.99899690e-01 -1.39372072e-02 -2.52282311e-03 6.86302837e+00] [ 1.39370893e-02 9.99902872e-01 -6.42871746e-05 1.76993406e-01] [ 2.52347406e-03 2.91199150e-05 9.99996816e-01 -1.22204541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.92, Y:0.18, Z:-0.12 [[ 9.99854125e-01 -1.68927050e-02 -2.52282073e-03 6.92154596e+00] [ 1.68925963e-02 9.99857308e-01 -6.43805076e-05 1.83434538e-01] [ 2.52354830e-03 2.17541240e-05 9.99996816e-01 -1.19517089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:0.19, Z:-0.12 [[ 9.99777321e-01 -2.09509846e-02 -2.52281836e-03 6.98050729e+00] [ 2.09508886e-02 9.99780504e-01 -6.44732022e-05 1.89211156e-01] [ 2.52361539e-03 1.16035589e-05 9.99996816e-01 -1.20412989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:0.19, Z:-0.12 [[ 9.99733187e-01 -2.29606177e-02 -2.52280711e-03 7.03865449e+00] [ 2.29605270e-02 9.99736370e-01 -6.49102783e-05 1.93202670e-01] [ 2.52363241e-03 6.96797855e-06 9.99996816e-01 -1.22033413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.10, Y:0.20, Z:-0.12 [[ 9.99692634e-01 -2.46631737e-02 -2.52280412e-03 7.09764039e+00] [ 2.46630881e-02 9.99695818e-01 -6.50265821e-05 1.99138024e-01] [ 2.52364048e-03 2.78645494e-06 9.99996816e-01 -1.21768824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:0.20, Z:-0.12 [[ 9.99707995e-01 -2.40324870e-02 -2.52279316e-03 7.15596554e+00] [ 2.40323984e-02 9.99711178e-01 -6.54490110e-05 2.03172291e-01] [ 2.52363742e-03 4.80112944e-06 9.99996816e-01 -1.21844393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:0.21, Z:-0.12 [[ 9.99736930e-01 -2.27970745e-02 -2.52278201e-03 7.21452321e+00] [ 2.27969808e-02 9.99740113e-01 -6.58759906e-05 2.08036586e-01] [ 2.52362815e-03 8.34684752e-06 9.99996816e-01 -1.21024260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.27, Y:0.22, Z:-0.12 [[ 9.99746662e-01 -2.23662290e-02 -2.52277086e-03 7.27402608e+00] [ 2.23661329e-02 9.99749845e-01 -6.62999655e-05 2.16263467e-01] [ 2.52362266e-03 9.85854067e-06 9.99996816e-01 -1.16630775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:0.22, Z:-0.12 [[ 9.99698125e-01 -2.44396226e-02 -2.52276918e-03 7.33296048e+00] [ 2.44395330e-02 9.99701308e-01 -6.63638109e-05 2.18546567e-01] [ 2.52363756e-03 4.68847660e-06 9.99996816e-01 -1.18011365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:0.22, Z:-0.12 [[ 9.99541120e-01 -3.01858524e-02 -2.52276670e-03 7.39149578e+00] [ 3.01857808e-02 9.99544303e-01 -6.64582092e-05 2.19040811e-01] [ 2.52362318e-03 -9.72396974e-06 9.99996816e-01 -1.19120278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:0.22, Z:-0.12 [[ 9.99273025e-01 -3.80402047e-02 -2.52275496e-03 7.44974156e+00] [ 3.80401570e-02 9.99276209e-01 -6.69007149e-05 2.16400227e-01] [ 2.52347393e-03 -2.91139152e-05 9.99996816e-01 -1.18195725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882639999999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:0.21, Z:-0.12 [[ 9.98965934e-01 -4.53949106e-02 -2.52275291e-03 7.50922203e+00] [ 4.53948862e-02 9.98969119e-01 -6.69782280e-05 2.08684483e-01] [ 2.52319272e-03 -4.76111129e-05 9.99996816e-01 -1.22931250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:0.20, Z:-0.12 [[ 9.98852403e-01 -4.78279599e-02 -2.52274132e-03 7.56837822e+00] [ 4.78279421e-02 9.98855587e-01 -6.74118768e-05 2.03736146e-01] [ 2.52307843e-03 -5.33230107e-05 9.99996816e-01 -1.20521886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:0.20, Z:-0.12 [[ 9.98987507e-01 -4.49176568e-02 -2.52272971e-03 7.62670939e+00] [ 4.49176286e-02 9.98990692e-01 -6.78433635e-05 1.96113439e-01] [ 2.52323087e-03 -4.55403638e-05 9.99996816e-01 -1.22281041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:0.19, Z:-0.12 [[ 9.99183661e-01 -4.03193135e-02 -2.52272560e-03 7.68601636e+00] [ 4.03192703e-02 9.99186845e-01 -6.79958982e-05 1.90499083e-01] [ 2.52341578e-03 -3.37740649e-05 9.99996816e-01 -1.19703299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.74, Y:0.19, Z:-0.12 [[ 9.99574646e-01 -2.90544836e-02 -2.52271377e-03 7.74312562e+00] [ 2.90544034e-02 9.99577829e-01 -6.84320650e-05 1.85609762e-01] [ 2.52363701e-03 -4.89298651e-06 9.99996816e-01 -1.19691466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.80, Y:0.18, Z:-0.12 [[ 9.99888220e-01 -1.47371705e-02 -2.52270441e-03 7.80088223e+00] [ 1.47370439e-02 9.99891402e-01 -6.87755299e-05 1.83298059e-01] [ 2.52344400e-03 3.15906366e-05 9.99996816e-01 -1.19995145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:0.18, Z:-0.12 [[ 9.99979759e-01 -5.84110015e-03 -2.52269079e-03 7.85955789e+00] [ 5.84094397e-03 9.99982939e-01 -6.92714584e-05 1.82658790e-01] [ 2.52305237e-03 5.45351607e-05 9.99996816e-01 -1.19911307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302639999999998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:7.92, Y:0.18, Z:-0.13 [[ 9.99987579e-01 4.29857815e-03 -2.52267880e-03 7.91860113e+00] [-4.29876766e-03 9.99990758e-01 -6.97053664e-05 1.83037539e-01] [ 2.52235585e-03 8.05489106e-05 9.99996816e-01 -1.27091960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.98, Y:0.19, Z:-0.12 [[ 9.99978305e-01 6.08487540e-03 -2.52267627e-03 7.97818269e+00] [-6.08507082e-03 9.99981483e-01 -6.97966626e-05 1.85301792e-01] [ 2.52220486e-03 8.51458121e-05 9.99996816e-01 -1.22514799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:0.19, Z:-0.13 [[ 9.99966824e-01 7.74513395e-03 -2.52267459e-03 8.03645634e+00] [-7.74533480e-03 9.99970002e-01 -6.98574498e-05 1.88178341e-01] [ 2.52205786e-03 8.93940915e-05 9.99996816e-01 -1.27000076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:0.19, Z:-0.12 [[ 9.99982922e-01 5.27180707e-03 -2.52267209e-03 8.09612383e+00] [-5.27200028e-03 9.99986100e-01 -6.99477157e-05 1.90170812e-01] [ 2.52226827e-03 8.32460491e-05 9.99996816e-01 -1.21513803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:0.20, Z:-0.12 [[ 9.99996815e-01 -7.38908907e-05 -2.52267044e-03 8.15512057e+00] [ 7.37145207e-05 9.99999995e-01 -7.00069224e-05 1.95243688e-01] [ 2.52267560e-03 6.98207420e-05 9.99996816e-01 -1.17111074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:0.20, Z:-0.11 [[ 9.99983698e-01 -5.12243693e-03 -2.52267279e-03 8.21402475e+00] [ 5.12227683e-03 9.99986879e-01 -6.99221405e-05 2.01676666e-01] [ 2.52299787e-03 5.69991723e-05 9.99996816e-01 -1.14509378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:0.21, Z:-0.11 [[ 9.99963159e-01 -8.20464206e-03 -2.52267118e-03 8.27302132e+00] [ 8.20449162e-03 9.99966340e-01 -6.99804577e-05 2.05647031e-01] [ 2.52316043e-03 4.92806451e-05 9.99996816e-01 -1.11860199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:0.21, Z:-0.11 [[ 9.99920223e-01 -1.23767449e-02 -2.52266774e-03 8.33171783e+00] [ 1.23766074e-02 9.99923404e-01 -7.01040395e-05 2.11569386e-01] [ 2.52334218e-03 3.88763785e-05 9.99996816e-01 -1.10489334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:0.22, Z:-0.11 [[ 9.99899353e-01 -1.39613568e-02 -2.52266427e-03 8.39015095e+00] [ 1.39612240e-02 9.99902535e-01 -7.02287433e-05 2.19892102e-01] [ 2.52339889e-03 3.50021939e-05 9.99996816e-01 -1.12177421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:0.23, Z:-0.12 [[ 9.99894025e-01 -1.43378518e-02 -2.52266169e-03 8.44836157e+00] [ 1.43377200e-02 9.99897207e-01 -7.03214054e-05 2.25070005e-01] [ 2.52341063e-03 3.41447360e-05 9.99996816e-01 -1.18304918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.51, Y:0.23, Z:-0.12 [[ 9.99875136e-01 -1.55996538e-02 -2.52265914e-03 8.50701032e+00] [ 1.55995258e-02 9.99878318e-01 -7.04128112e-05 2.31981974e-01] [ 2.52345059e-03 3.10517329e-05 9.99996816e-01 -1.15408600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.57, Y:0.24, Z:-0.11 [[ 9.99852034e-01 -1.70160325e-02 -2.52264727e-03 8.56575250e+00] [ 1.70159079e-02 9.99855216e-01 -7.08354738e-05 2.39022531e-01] [ 2.52348737e-03 2.78998590e-05 9.99996816e-01 -1.13939293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:0.25, Z:-0.11 [[ 9.99767522e-01 -2.14135140e-02 -2.52263498e-03 8.62424559e+00] [ 2.14134023e-02 9.99770704e-01 -7.12705317e-05 2.46552280e-01] [ 2.52358270e-03 1.72357651e-05 9.99996816e-01 -1.11526858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:0.25, Z:-0.11 [[ 9.99624838e-01 -2.72730487e-02 -2.52262269e-03 8.68270756e+00] [ 2.72729546e-02 9.99628021e-01 -7.17029432e-05 2.48725839e-01] [ 2.52363988e-03 2.87666903e-06 9.99996816e-01 -1.11350017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:0.25, Z:-0.11 [[ 9.99522678e-01 -3.07904577e-02 -2.52261009e-03 8.74127603e+00] [ 3.07903736e-02 9.99525861e-01 -7.21433159e-05 2.50614229e-01] [ 2.52363535e-03 -5.56322693e-06 9.99996816e-01 -1.12674277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.80, Y:0.25, Z:-0.11 [[ 9.99445104e-01 -3.32132502e-02 -2.52259756e-03 8.79962323e+00] [ 3.32131728e-02 9.99448288e-01 -7.25789835e-05 2.50059113e-01] [ 2.52361639e-03 -1.12447589e-05 9.99996816e-01 -1.10163519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.86, Y:0.25, Z:-0.11 [[ 9.99424261e-01 -3.38346556e-02 -2.52259310e-03 8.85861438e+00] [ 3.38345798e-02 9.99427444e-01 -7.27335535e-05 2.46504344e-01] [ 2.52360969e-03 -1.26591997e-05 9.99996816e-01 -1.10132687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.92, Y:0.24, Z:-0.11 [[ 9.99458235e-01 -3.28157482e-02 -2.52258039e-03 8.91716181e+00] [ 3.28156680e-02 9.99461418e-01 -7.31719023e-05 2.43923199e-01] [ 2.52362296e-03 -9.64790018e-06 9.99996816e-01 -1.09442633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:0.24, Z:-0.11 [[ 9.99533809e-01 -3.04269849e-02 -2.52256765e-03 8.97590000e+00] [ 3.04268960e-02 9.99536992e-01 -7.36082486e-05 2.37774975e-01] [ 2.52363936e-03 -3.17997053e-06 9.99996816e-01 -1.08894371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442639999999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:9.03, Y:0.24, Z:-0.11 [[ 9.99601362e-01 -2.81203554e-02 -2.52255484e-03 9.03447298e+00] [ 2.81202581e-02 9.99604545e-01 -7.40448682e-05 2.35583003e-01] [ 2.52363945e-03 3.08045799e-06 9.99996816e-01 -1.12148822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.09, Y:0.23, Z:-0.11 [[ 9.99723577e-01 -2.33753345e-02 -2.52254206e-03 9.09351408e+00] [ 2.33752210e-02 9.99726759e-01 -7.44777379e-05 2.27564717e-01] [ 2.52359374e-03 1.54921725e-05 9.99996816e-01 -1.08934678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.15, Y:0.22, Z:-0.11 [[ 9.99833302e-01 -1.80833033e-02 -2.52252923e-03 9.15240460e+00] [ 1.80831718e-02 9.99836483e-01 -7.49095265e-05 2.23796367e-01] [ 2.52347137e-03 2.92817096e-05 9.99996816e-01 -1.06633946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.21, Y:0.22, Z:-0.10 [[ 9.99964893e-01 -7.99056498e-03 -2.52251621e-03 9.21128197e+00] [ 7.99040033e-03 9.99968073e-01 -7.53455910e-05 2.20992471e-01] [ 2.52303773e-03 5.51870315e-05 9.99996816e-01 -1.04303293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:9.27, Y:0.22, Z:-0.11 [[ 9.99991984e-01 3.10960519e-03 -2.52250293e-03 9.26957560e+00] [-3.10980624e-03 9.99995162e-01 -7.57874893e-05 2.23909930e-01] [ 2.52225506e-03 8.36313772e-05 9.99996816e-01 -1.08407056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.33, Y:0.23, Z:-0.11 [[ 9.99946933e-01 9.98843927e-03 -2.52250014e-03 9.32928205e+00] [-9.98866242e-03 9.99950109e-01 -7.58803729e-05 2.26823559e-01] [ 2.52161636e-03 1.01072748e-04 9.99996816e-01 -1.05277846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.39, Y:0.24, Z:-0.11 [[ 9.99922416e-01 1.21983443e-02 -2.52249832e-03 9.38796301e+00] [-1.21985747e-02 9.99925592e-01 -7.59408220e-05 2.35069000e-01] [ 2.52138427e-03 1.06705814e-04 9.99996816e-01 -1.07210367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:0.24, Z:-0.11 [[ 9.99926544e-01 1.18551510e-02 -2.52249562e-03 9.44782847e+00] [-1.18553805e-02 9.99929720e-01 -7.60303724e-05 2.44188150e-01] [ 2.52141699e-03 1.05929933e-04 9.99996816e-01 -1.08076907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:9.51, Y:0.25, Z:-0.11 [[ 9.99991791e-01 3.17107641e-03 -2.52249469e-03 9.50847609e+00] [-3.17127835e-03 9.99994969e-01 -7.60612214e-05 2.53904101e-01] [ 2.52224080e-03 8.40601298e-05 9.99996816e-01 -1.13220546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.57, Y:0.26, Z:-0.11 [[ 9.99973680e-01 -6.80267724e-03 -2.52249469e-03 9.56814277e+00] [ 6.80250700e-03 9.99976860e-01 -7.60612214e-05 2.59620052e-01] [ 2.52295374e-03 5.88999317e-05 9.99996816e-01 -1.07808258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.63, Y:0.27, Z:-0.11 [[ 9.99750916e-01 -2.21752984e-02 -2.52249277e-03 9.62700463e+00] [ 2.21751769e-02 9.99754098e-01 -7.61247528e-05 2.66974739e-01] [ 2.52356057e-03 2.01690678e-05 9.99996816e-01 -1.12308984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.69, Y:0.27, Z:-0.11 [[ 9.99526351e-01 -3.06710097e-02 -2.52249087e-03 9.68590521e+00] [ 3.06709151e-02 9.99529534e-01 -7.61877157e-05 2.69953353e-01] [ 2.52364088e-03 -1.21547386e-06 9.99996816e-01 -1.10159364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.74, Y:0.27, Z:-0.11 [[ 9.99205573e-01 -3.97726118e-02 -2.52247761e-03 9.74441407e+00] [ 3.97725451e-02 9.99208756e-01 -7.66241853e-05 2.73277911e-01] [ 2.52352926e-03 -2.37620417e-05 9.99996816e-01 -1.06619764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222639999999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:9.80, Y:0.28, Z:-0.11 [[ 9.99008408e-01 -4.44504075e-02 -2.52246446e-03 9.80292135e+00] [ 4.44503547e-02 9.99011592e-01 -7.70546897e-05 2.75095159e-01] [ 2.52339635e-03 -3.51461570e-05 9.99996816e-01 -1.05782744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.86, Y:0.28, Z:-0.10 [[ 9.98962391e-01 -4.54728377e-02 -2.52245097e-03 9.86011009e+00] [ 4.54727869e-02 9.98965575e-01 -7.74938489e-05 2.76148746e-01] [ 2.52336555e-03 -3.72894349e-05 9.99996816e-01 -1.04083975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.92, Y:0.27, Z:-0.10 [[ 9.98929591e-01 -4.61877571e-02 -2.52244431e-03 9.91881167e+00] [ 4.61877081e-02 9.98932775e-01 -7.77099751e-05 2.72554043e-01] [ 2.52334155e-03 -3.88791279e-05 9.99996816e-01 -1.04724194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:0.27, Z:-0.11 [[ 9.98990340e-01 -4.48546327e-02 -2.52243086e-03 9.97633573e+00] [ 4.48545784e-02 9.98993524e-01 -7.81442481e-05 2.71502017e-01] [ 2.52339722e-03 -3.50772236e-05 9.99996816e-01 -1.05459843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462639999999999 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:10.03, Y:0.27, Z:-0.11 [[ 9.99172201e-01 -4.06023489e-02 -2.52242610e-03 1.00343330e+01] [ 4.06022806e-02 9.99175384e-01 -7.82976149e-05 2.68568922e-01] [ 2.52352513e-03 -2.41834520e-05 9.99996816e-01 -1.07624901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522639999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:10.09, Y:0.27, Z:-0.11 [[ 9.99412129e-01 -3.41911291e-02 -2.52241011e-03 1.00925869e+01] [ 3.41910391e-02 9.99415312e-01 -7.88093399e-05 2.65280091e-01] [ 2.52362987e-03 -7.48081245e-06 9.99996816e-01 -1.06665361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.15, Y:0.26, Z:-0.10 [[ 9.99572213e-01 -2.91380867e-02 -2.52239414e-03 1.01505068e+01] [ 2.91379793e-02 9.99575396e-01 -7.93172162e-05 2.63594147e-01] [ 2.52363427e-03 5.78581710e-06 9.99996816e-01 -1.03612109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.21, Y:0.26, Z:-0.10 [[ 9.99758466e-01 -2.18322723e-02 -2.52238636e-03 1.02093279e+01] [ 2.18321411e-02 9.99761647e-01 -7.95638378e-05 2.60640816e-01] [ 2.52352220e-03 2.44755256e-05 9.99996816e-01 -1.03378670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.27, Y:0.26, Z:-0.10 [[ 9.99836758e-01 -1.78911745e-02 -2.52237254e-03 1.02676496e+01] [ 1.78910296e-02 9.99839940e-01 -7.99996707e-05 2.57422351e-01] [ 2.52340009e-03 3.48587697e-05 9.99996816e-01 -1.01287126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:0.26, Z:-0.10 [[ 9.99861364e-01 -1.64587481e-02 -2.52236864e-03 1.03264454e+01] [ 1.64585984e-02 9.99864545e-01 -8.01223268e-05 2.60041576e-01] [ 2.52334569e-03 3.85965666e-05 9.99996816e-01 -9.97270878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:0.26, Z:-0.10 [[ 9.99904946e-01 -1.35549870e-02 -2.52235477e-03 1.03848410e+01] [ 1.35548269e-02 9.99908126e-01 -8.05567241e-05 2.61922790e-01] [ 2.52321497e-03 4.63589845e-05 9.99996816e-01 -1.03363403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:0.27, Z:-0.10 [[ 9.99938377e-01 -1.08111142e-02 -2.52234099e-03 1.04436356e+01] [ 1.08109443e-02 9.99941557e-01 -8.09856757e-05 2.68342632e-01] [ 2.52306913e-03 5.37117970e-05 9.99996816e-01 -1.02632941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:0.28, Z:-0.10 [[ 9.99976498e-01 -6.37511169e-03 -2.52232709e-03 1.05025148e+01] [ 6.37492660e-03 9.99979677e-01 -8.14165580e-05 2.75222354e-01] [ 2.52279486e-03 6.53349945e-05 9.99996816e-01 -1.01249354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.56, Y:0.28, Z:-0.10 [[ 9.99958377e-01 -8.76827624e-03 -2.52231284e-03 1.05610629e+01] [ 8.76809764e-03 9.99961556e-01 -8.18555548e-05 2.84657646e-01] [ 2.52293360e-03 5.97362625e-05 9.99996816e-01 -1.01092535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.62, Y:0.29, Z:-0.10 [[ 9.99887557e-01 -1.47821044e-02 -2.52229862e-03 1.06200897e+01] [ 1.47819438e-02 9.99890738e-01 -8.22912388e-05 2.89671455e-01] [ 2.52323947e-03 4.49975093e-05 9.99996816e-01 -9.94885154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.68, Y:0.29, Z:-0.10 [[ 9.99663291e-01 -2.58252249e-02 -2.52229454e-03 1.06788888e+01] [ 2.58250992e-02 9.99666473e-01 -8.24161689e-05 2.94217303e-01] [ 2.52358171e-03 1.72499119e-05 9.99996816e-01 -9.95933834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:0.30, Z:-0.10 [[ 9.99495479e-01 -3.16611187e-02 -2.52229044e-03 1.07360640e+01] [ 3.16610112e-02 9.99498661e-01 -8.25416469e-05 3.01527375e-01] [ 2.52363927e-03 2.64173705e-06 9.99996816e-01 -1.00088532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.80, Y:0.31, Z:-0.10 [[ 9.99438813e-01 -3.34020383e-02 -2.52228532e-03 1.07952109e+01] [ 3.34019359e-02 9.99441996e-01 -8.26978173e-05 3.06250814e-01] [ 2.52364015e-03 -1.59780411e-06 9.99996816e-01 -9.94062274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302639999999998 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:10.85, Y:0.31, Z:-0.10 [[ 9.99388442e-01 -3.48766307e-02 -2.52227103e-03 1.08539032e+01] [ 3.48765320e-02 9.99391625e-01 -8.31312483e-05 3.10764523e-01] [ 2.52363588e-03 -4.88765752e-06 9.99996816e-01 -9.85966338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362639999999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:10.91, Y:0.32, Z:-0.10 [[ 9.99193029e-01 -4.00865122e-02 -2.52225643e-03 1.09114861e+01] [ 4.00864289e-02 9.99196213e-01 -8.35718399e-05 3.18007237e-01] [ 2.52357918e-03 -1.76038533e-05 9.99996816e-01 -9.80638700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:10.97, Y:0.32, Z:-0.10 [[ 9.99000574e-01 -4.46261237e-02 -2.52225127e-03 1.09704789e+01] [ 4.46260545e-02 9.99003758e-01 -8.37273633e-05 3.21706086e-01] [ 2.52347492e-03 -2.89144386e-05 9.99996816e-01 -9.60368436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.03, Y:0.32, Z:-0.10 [[ 9.98706792e-01 -5.07777727e-02 -2.52223684e-03 1.10271968e+01] [ 5.07777220e-02 9.98709976e-01 -8.41597088e-05 3.21551081e-01] [ 2.52325654e-03 -4.40225686e-05 9.99996816e-01 -9.50155474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:0.32, Z:-0.10 [[ 9.98375693e-01 -5.69176115e-02 -2.52222975e-03 1.10865208e+01] [ 5.69175799e-02 9.98378877e-01 -8.43717144e-05 3.22592928e-01] [ 2.52294314e-03 -5.93245446e-05 9.99996816e-01 -9.50893588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:0.32, Z:-0.10 [[ 9.98139986e-01 -6.09114700e-02 -2.52222172e-03 1.11440932e+01] [ 6.09114505e-02 9.98143170e-01 -8.46110730e-05 3.21000669e-01] [ 2.52269217e-03 -6.91784883e-05 9.99996816e-01 -9.72739904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:11.20, Y:0.31, Z:-0.10 [[ 9.97949792e-01 -6.39519471e-02 -2.52221659e-03 1.12029340e+01] [ 6.39519369e-02 9.97952976e-01 -8.47637615e-05 3.12241978e-01] [ 2.52247436e-03 -7.67106581e-05 9.99996816e-01 -1.02294806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722639999999998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:0.31, Z:-0.10 [[ 9.98112571e-01 -6.13590618e-02 -2.52220214e-03 1.12609786e+01] [ 6.13590422e-02 9.98115755e-01 -8.51915642e-05 3.07494888e-01] [ 2.52267697e-03 -6.97291365e-05 9.99996816e-01 -1.01608047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782639999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:0.31, Z:-0.10 [[ 9.98494597e-01 -5.47921410e-02 -2.52219703e-03 1.13198662e+01] [ 5.47921001e-02 9.98497781e-01 -8.53425754e-05 3.07271329e-01] [ 2.52308424e-03 -5.29823719e-05 9.99996816e-01 -9.70766773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:0.31, Z:-0.09 [[ 9.99198900e-01 -3.99399145e-02 -2.52218228e-03 1.13788241e+01] [ 3.99398252e-02 9.99202083e-01 -8.57763979e-05 3.07993030e-01] [ 2.52359569e-03 -1.50278369e-05 9.99996816e-01 -9.31389574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:0.31, Z:-0.09 [[ 9.99656238e-01 -2.60968114e-02 -2.52216749e-03 1.14371439e+01] [ 2.60966770e-02 9.99659420e-01 -8.62089998e-05 3.07045629e-01] [ 2.52355827e-03 2.03591742e-05 9.99996816e-01 -9.39520902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.50, Y:0.31, Z:-0.10 [[ 9.99804198e-01 -1.96266104e-02 -2.52215055e-03 1.14962326e+01] [ 1.96264541e-02 9.99807379e-01 -8.67017540e-05 3.10507893e-01] [ 2.52336639e-03 3.71839056e-05 9.99996816e-01 -9.69518539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.56, Y:0.32, Z:-0.10 [[ 9.99886437e-01 -1.48577189e-02 -2.52213541e-03 1.15551501e+01] [ 1.48575463e-02 9.99889617e-01 -8.71398878e-05 3.16388482e-01] [ 2.52315171e-03 4.96572482e-05 9.99996816e-01 -9.95104600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.61, Y:0.32, Z:-0.10 [[ 9.99871157e-01 -1.58526825e-02 -2.52212022e-03 1.16131475e+01] [ 1.58525120e-02 9.99874337e-01 -8.75773270e-05 3.20456468e-01] [ 2.52319162e-03 4.75841022e-05 9.99996816e-01 -9.69764726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.67, Y:0.32, Z:-0.09 [[ 9.99843898e-01 -1.74876710e-02 -2.52211593e-03 1.16722642e+01] [ 1.74875054e-02 9.99847078e-01 -8.77007292e-05 3.22815184e-01] [ 2.52326393e-03 4.35815230e-05 9.99996816e-01 -9.43813187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.73, Y:0.32, Z:-0.09 [[ 9.99660342e-01 -2.59391424e-02 -2.52211157e-03 1.17312575e+01] [ 2.59390033e-02 9.99663524e-01 -8.78259695e-05 3.24250410e-01] [ 2.52354107e-03 2.23750783e-05 9.99996816e-01 -9.42418908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:0.33, Z:-0.09 [[ 9.99467200e-01 -3.25416001e-02 -2.52209636e-03 1.17891935e+01] [ 3.25414810e-02 9.99470382e-01 -8.82607988e-05 3.27185582e-01] [ 2.52363276e-03 6.14102277e-06 9.99996816e-01 -9.39817178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.85, Y:0.33, Z:-0.09 [[ 9.99173501e-01 -4.05703607e-02 -2.52207879e-03 1.18467602e+01] [ 4.05702659e-02 9.99176684e-01 -8.87598000e-05 3.28171222e-01] [ 2.52360334e-03 -1.36349671e-05 9.99996816e-01 -9.36414086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.91, Y:0.33, Z:-0.09 [[ 9.99088596e-01 -4.26100516e-02 -2.52206109e-03 1.19054723e+01] [ 4.26099620e-02 9.99091779e-01 -8.92600029e-05 3.28429354e-01] [ 2.52357388e-03 -1.82862764e-05 9.99996816e-01 -9.42394611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:0.33, Z:-0.09 [[ 9.99131381e-01 -4.15947370e-02 -2.52204556e-03 1.19644637e+01] [ 4.15946431e-02 9.99134564e-01 -8.96966710e-05 3.27178755e-01] [ 2.52359380e-03 -1.52848263e-05 9.99996816e-01 -9.25821958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.02, Y:0.33, Z:-0.09 [[ 9.99275219e-01 -3.79825873e-02 -2.52203007e-03 1.20232562e+01] [ 3.79824808e-02 9.99278401e-01 -9.01302650e-05 3.27513961e-01] [ 2.52363355e-03 -5.72801832e-06 9.99996816e-01 -8.96335452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:0.33, Z:-0.09 [[ 9.99494114e-01 -3.17042002e-02 -2.52201439e-03 1.20811426e+01] [ 3.17040726e-02 9.99497295e-01 -9.05666544e-05 3.30292504e-01] [ 2.52361791e-03 1.05627105e-05 9.99996816e-01 -9.16320547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:0.33, Z:-0.09 [[ 9.99610227e-01 -2.78034644e-02 -2.52199643e-03 1.21388183e+01] [ 2.78033231e-02 9.99613409e-01 -9.10643150e-05 3.32192333e-01] [ 2.52355335e-03 2.09089391e-05 9.99996816e-01 -9.23063086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:0.34, Z:-0.10 [[ 9.99731518e-01 -2.30332520e-02 -2.52197810e-03 1.21962024e+01] [ 2.30330943e-02 9.99734699e-01 -9.15691066e-05 3.35706702e-01] [ 2.52341815e-03 3.34555626e-05 9.99996816e-01 -9.55470695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:0.34, Z:-0.09 [[ 9.99790131e-01 -2.03305835e-02 -2.52197244e-03 1.22551765e+01] [ 2.03304168e-02 9.99793312e-01 -9.17245116e-05 3.41049544e-01] [ 2.52331599e-03 4.04325104e-05 9.99996816e-01 -9.40849761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:0.34, Z:-0.10 [[ 9.99757066e-01 -2.18963080e-02 -2.52195668e-03 1.23130609e+01] [ 2.18961452e-02 9.99760246e-01 -9.21557993e-05 3.43199454e-01] [ 2.52336991e-03 3.69122818e-05 9.99996816e-01 -9.64724475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:0.34, Z:-0.10 [[ 9.99687542e-01 -2.48688104e-02 -2.52195114e-03 1.23721135e+01] [ 2.48686567e-02 9.99690723e-01 -9.23073606e-05 3.43184407e-01] [ 2.52346673e-03 2.95609814e-05 9.99996816e-01 -9.60406160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:0.34, Z:-0.10 [[ 9.99575096e-01 -2.90390603e-02 -2.52193509e-03 1.24303716e+01] [ 2.90389187e-02 9.99578277e-01 -9.27438045e-05 3.42628511e-01] [ 2.52356472e-03 1.94701294e-05 9.99996816e-01 -9.78091871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:0.34, Z:-0.10 [[ 9.99567741e-01 -2.92911462e-02 -2.52192942e-03 1.24882207e+01] [ 2.92910050e-02 9.99570922e-01 -9.28976687e-05 3.40813910e-01] [ 2.52356839e-03 1.89876656e-05 9.99996816e-01 -9.52201947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:0.34, Z:-0.09 [[ 9.99643203e-01 -2.65914774e-02 -2.52192397e-03 1.25470566e+01] [ 2.65913273e-02 9.99646384e-01 -9.30455109e-05 3.41163813e-01] [ 2.52350639e-03 2.59510070e-05 9.99996816e-01 -9.16701277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.60, Y:0.34, Z:-0.09 [[ 9.99783256e-01 -2.06659290e-02 -2.52190859e-03 1.26044845e+01] [ 2.06657590e-02 9.99786436e-01 -9.34603383e-05 3.42607728e-01] [ 2.52330145e-03 4.13229263e-05 9.99996816e-01 -9.23405173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:0.35, Z:-0.09 [[ 9.99874216e-01 -1.56586299e-02 -2.52190316e-03 1.26637045e+01] [ 1.56584436e-02 9.99877395e-01 -9.36065670e-05 3.45155836e-01] [ 2.52305972e-03 5.41057144e-05 9.99996816e-01 -9.13915146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.72, Y:0.35, Z:-0.09 [[ 9.99956643e-01 -8.96392530e-03 -2.52188712e-03 1.27225683e+01] [ 8.96371662e-03 9.99959821e-01 -9.40369065e-05 3.49154471e-01] [ 2.52262873e-03 7.14273478e-05 9.99996816e-01 -9.20949007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.78, Y:0.36, Z:-0.09 [[ 9.99987295e-01 -4.36464822e-03 -2.52187075e-03 1.27812940e+01] [ 4.36442384e-03 9.99990471e-01 -9.44737519e-05 3.56864032e-01] [ 2.52225907e-03 8.34660387e-05 9.99996816e-01 -9.18106428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:12.84, Y:0.36, Z:-0.09 [[ 9.99993973e-01 -2.38638080e-03 -2.52186729e-03 1.28402287e+01] [ 2.38614989e-03 9.99997149e-01 -9.45662118e-05 3.63669090e-01] [ 2.52208577e-03 8.85480885e-05 9.99996816e-01 -9.29238269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.90, Y:0.37, Z:-0.09 [[ 9.99981506e-01 -5.53417965e-03 -2.52185066e-03 1.28999349e+01] [ 5.53395764e-03 9.99984683e-01 -9.50076438e-05 3.69122886e-01] [ 2.52233782e-03 8.10500721e-05 9.99996816e-01 -9.48585638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:0.37, Z:-0.10 [[ 9.99942277e-01 -1.04442839e-02 -2.52184830e-03 1.29587239e+01] [ 1.04440773e-02 9.99945455e-01 -9.50701917e-05 3.73422202e-01] [ 2.52270368e-03 6.87263253e-05 9.99996816e-01 -9.66910129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:0.38, Z:-0.10 [[ 9.99878289e-01 -1.53963507e-02 -2.52184479e-03 1.30173970e+01] [ 1.53961597e-02 9.99881468e-01 -9.51631986e-05 3.77469339e-01] [ 2.52301103e-03 5.63248913e-05 9.99996816e-01 -9.64721427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:0.38, Z:-0.10 [[ 9.99800917e-01 -1.97930843e-02 -2.52182811e-03 1.30755411e+01] [ 1.97929061e-02 9.99804097e-01 -9.56030159e-05 3.80254033e-01] [ 2.52322636e-03 4.56696760e-05 9.99996816e-01 -9.77377881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:0.39, Z:-0.10 [[ 9.99775113e-01 -2.10562032e-02 -2.52182457e-03 1.31337628e+01] [ 2.10560288e-02 9.99778293e-01 -9.56963120e-05 3.86235864e-01] [ 2.52328047e-03 4.25751803e-05 9.99996816e-01 -1.00124392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.70264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:13.19, Y:0.39, Z:-0.09 [[ 9.99777650e-01 -2.09354158e-02 -2.52182110e-03 1.31921683e+01] [ 2.09352407e-02 9.99780829e-01 -9.57876875e-05 3.89918424e-01] [ 2.52327375e-03 4.29714572e-05 9.99996816e-01 -9.42206297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762639999999998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:13.25, Y:0.39, Z:-0.09 [[ 9.99740563e-01 -2.26372835e-02 -2.52180440e-03 1.32506508e+01] [ 2.26371128e-02 9.99743743e-01 -9.62254175e-05 3.92116090e-01] [ 2.52333645e-03 3.91140826e-05 9.99996816e-01 -9.29487644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:0.39, Z:-0.09 [[ 9.99700480e-01 -2.43431682e-02 -2.52180086e-03 1.33099336e+01] [ 2.43430027e-02 9.99703661e-01 -9.63181283e-05 3.92900568e-01] [ 2.52339824e-03 3.49010741e-05 9.99996816e-01 -9.41938329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:0.39, Z:-0.10 [[ 9.99682524e-01 -2.50697442e-02 -2.52178398e-03 1.33686233e+01] [ 2.50695799e-02 9.99685704e-01 -9.67580072e-05 3.94458995e-01] [ 2.52341709e-03 3.35072238e-05 9.99996816e-01 -9.62669907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:0.40, Z:-0.09 [[ 9.99728564e-01 -2.31611640e-02 -2.52176710e-03 1.34271078e+01] [ 2.31609925e-02 9.99731744e-01 -9.71960770e-05 3.96310339e-01] [ 2.52334179e-03 3.87630657e-05 9.99996816e-01 -9.43712979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:0.40, Z:-0.09 [[ 9.99821495e-01 -1.87248213e-02 -2.52175012e-03 1.34855128e+01] [ 1.87246346e-02 9.99824674e-01 -9.76346284e-05 3.99093213e-01] [ 2.52313618e-03 5.03983507e-05 9.99996816e-01 -9.43469358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:0.40, Z:-0.10 [[ 9.99886837e-01 -1.48308665e-02 -2.52173299e-03 1.35438777e+01] [ 1.48306663e-02 9.99890015e-01 -9.80749871e-05 4.01257564e-01] [ 2.52291018e-03 6.06649082e-05 9.99996816e-01 -9.57117019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:0.41, Z:-0.09 [[ 9.99921610e-01 -1.22643682e-02 -2.52172938e-03 1.36025122e+01] [ 1.22641596e-02 9.99924788e-01 -9.81677285e-05 4.06315620e-01] [ 2.52274368e-03 6.72331416e-05 9.99996816e-01 -9.46353464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:0.41, Z:-0.10 [[ 9.99954757e-01 -9.17192953e-03 -2.52171212e-03 1.36607377e+01] [ 9.17171000e-03 9.99957934e-01 -9.86090664e-05 4.12543473e-01] [ 2.52251048e-03 7.54761928e-05 9.99996816e-01 -9.64703185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:0.42, Z:-0.10 [[ 9.99971261e-01 -7.14974940e-03 -2.52170847e-03 1.37188622e+01] [ 7.14952320e-03 9.99974437e-01 -9.87023040e-05 4.15324574e-01] [ 2.52234971e-03 8.06704541e-05 9.99996816e-01 -9.81033296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.78, Y:0.42, Z:-0.09 [[ 9.99985406e-01 -4.77805061e-03 -2.52170396e-03 1.37781764e+01] [ 4.77781659e-03 9.99988581e-01 -9.88173763e-05 4.22184996e-01] [ 2.52214732e-03 8.67676951e-05 9.99996816e-01 -9.22460913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:0.43, Z:-0.09 [[ 9.99967203e-01 -7.69641105e-03 -2.52170152e-03 1.38363230e+01] [ 7.69618614e-03 9.99970379e-01 -9.88797476e-05 4.27717153e-01] [ 2.52238784e-03 7.94690203e-05 9.99996816e-01 -9.35975795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:0.43, Z:-0.09 [[ 9.99886209e-01 -1.48731076e-02 -2.52169789e-03 1.38960627e+01] [ 1.48729053e-02 9.99889387e-01 -9.89722280e-05 4.31747147e-01] [ 2.52289098e-03 6.14559921e-05 9.99996816e-01 -9.39476650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.95, Y:0.43, Z:-0.09 [[ 9.99809587e-01 -1.93502246e-02 -2.52169545e-03 1.39548744e+01] [ 1.93500363e-02 9.99812766e-01 -9.90344229e-05 4.34043592e-01] [ 2.52313964e-03 5.02206669e-05 9.99996816e-01 -9.40757909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.01, Y:0.44, Z:-0.10 [[ 9.99746449e-01 -2.23758366e-02 -2.52167809e-03 1.40129736e+01] [ 2.23756568e-02 9.99749629e-01 -9.94744939e-05 4.39621034e-01] [ 2.52327256e-03 4.30250686e-05 9.99996816e-01 -9.54699688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602639999999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:14.07, Y:0.45, Z:-0.10 [[ 9.99755199e-01 -2.19814174e-02 -2.52167440e-03 1.40720882e+01] [ 2.19812362e-02 9.99758378e-01 -9.95678724e-05 4.45792002e-01] [ 2.52325375e-03 4.41139776e-05 9.99996816e-01 -9.77962973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:0.45, Z:-0.10 [[ 9.99771100e-01 -2.12458936e-02 -2.52165828e-03 1.41303076e+01] [ 2.12457090e-02 9.99774279e-01 -9.99745435e-05 4.51367222e-01] [ 2.52321313e-03 4.63772415e-05 9.99996816e-01 -1.00181725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:0.45, Z:-0.10 [[ 9.99713222e-01 -2.38141877e-02 -2.52165458e-03 1.41888715e+01] [ 2.38140111e-02 9.99716401e-01 -1.00067745e-04 4.54487413e-01] [ 2.52332247e-03 3.99883382e-05 9.99996816e-01 -9.65282092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.25, Y:0.46, Z:-0.09 [[ 9.99586260e-01 -2.86522164e-02 -2.52163742e-03 1.42474405e+01] [ 2.86520540e-02 9.99589441e-01 -1.00498377e-04 4.57900793e-01] [ 2.52348163e-03 2.82067052e-05 9.99996816e-01 -9.22038462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:14.31, Y:0.46, Z:-0.09 [[ 9.99440758e-01 -3.33438544e-02 -2.52162006e-03 1.43061291e+01] [ 3.33437059e-02 9.99443939e-01 -1.00931900e-04 4.58881988e-01] [ 2.52358335e-03 1.67952973e-05 9.99996816e-01 -9.22285962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.37, Y:0.46, Z:-0.09 [[ 9.99210710e-01 -3.96434008e-02 -2.52161638e-03 1.43650599e+01] [ 3.96432721e-02 9.99213891e-01 -1.01023915e-04 4.55647340e-01] [ 2.52363904e-03 9.79053856e-07 9.99996816e-01 -9.15060351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:0.45, Z:-0.10 [[ 9.99164227e-01 -4.07981607e-02 -2.52159879e-03 1.44230225e+01] [ 4.07980345e-02 9.99167408e-01 -1.01460919e-04 4.52173599e-01] [ 2.52363875e-03 -1.50015405e-06 9.99996816e-01 -9.53483507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:0.45, Z:-0.09 [[ 9.99285568e-01 -3.77093623e-02 -2.52159259e-03 1.44815776e+01] [ 3.77092259e-02 9.99288749e-01 -1.01614807e-04 4.53485958e-01] [ 2.52363094e-03 6.45490523e-06 9.99996816e-01 -9.39199599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.54, Y:0.46, Z:-0.09 [[ 9.99640431e-01 -2.66955025e-02 -2.52157488e-03 1.45394331e+01] [ 2.66953300e-02 9.99643611e-01 -1.02052497e-04 4.56788345e-01] [ 2.52340056e-03 3.47015288e-05 9.99996816e-01 -9.20580053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.60, Y:0.46, Z:-0.09 [[ 9.99873082e-01 -1.57308901e-02 -2.52156565e-03 1.45983534e+01] [ 1.57306821e-02 9.99876260e-01 -1.02279945e-04 4.60805753e-01] [ 2.52286259e-03 6.26010163e-05 9.99996816e-01 -9.23925791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.66, Y:0.47, Z:-0.09 [[ 9.99932234e-01 -1.13652701e-02 -2.52154813e-03 1.46577707e+01] [ 1.13650472e-02 9.99935410e-01 -1.02710160e-04 4.67033738e-01] [ 2.52255259e-03 7.40456867e-05 9.99996816e-01 -9.15725644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.72, Y:0.47, Z:-0.09 [[ 9.99942328e-01 -1.04395077e-02 -2.52154559e-03 1.47163324e+01] [ 1.04392817e-02 9.99945504e-01 -1.02772329e-04 4.74396943e-01] [ 2.52248107e-03 7.64432771e-05 9.99996816e-01 -9.29704754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.78, Y:0.48, Z:-0.09 [[ 9.99919634e-01 -1.24244620e-02 -2.52154185e-03 1.47755643e+01] [ 1.24242421e-02 9.99922811e-01 -1.02864085e-04 4.79686446e-01] [ 2.52262525e-03 7.15275723e-05 9.99996816e-01 -9.13716311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.83, Y:0.49, Z:-0.09 [[ 9.99870684e-01 -1.58825996e-02 -2.52153933e-03 1.48348728e+01] [ 1.58823905e-02 9.99873862e-01 -1.02925865e-04 4.86622752e-01] [ 2.52285600e-03 6.28644825e-05 9.99996816e-01 -9.33610388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.89, Y:0.50, Z:-0.10 [[ 9.99813670e-01 -1.91381036e-02 -2.52153680e-03 1.48937927e+01] [ 1.91379047e-02 9.99816848e-01 -1.02987822e-04 4.95319317e-01] [ 2.52304597e-03 5.47117015e-05 9.99996816e-01 -9.86860649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.95, Y:0.50, Z:-0.10 [[ 9.99712050e-01 -2.38633415e-02 -2.52153428e-03 1.49525641e+01] [ 2.38631575e-02 9.99715229e-01 -1.03049331e-04 5.00756288e-01] [ 2.52327533e-03 4.28478884e-05 9.99996816e-01 -9.65106295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.01, Y:0.51, Z:-0.09 [[ 9.99654627e-01 -2.61585174e-02 -2.52153061e-03 1.50117138e+01] [ 2.61583405e-02 9.99657807e-01 -1.03139097e-04 5.06716103e-01] [ 2.52336573e-03 3.71444192e-05 9.99996816e-01 -9.37243259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.07, Y:0.51, Z:-0.09 [[ 9.99608642e-01 -2.78604491e-02 -2.52152815e-03 1.50703750e+01] [ 2.78602774e-02 9.99611822e-01 -1.03199336e-04 5.13154610e-01] [ 2.52342453e-03 3.29084748e-05 9.99996816e-01 -9.05970555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:15.13, Y:0.52, Z:-0.09 [[ 9.99669901e-01 -2.55681656e-02 -2.52152449e-03 1.51288695e+01] [ 2.55679864e-02 9.99673080e-01 -1.03288610e-04 5.21481045e-01] [ 2.52334105e-03 3.87842106e-05 9.99996816e-01 -9.29671280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.19, Y:0.53, Z:-0.09 [[ 9.99760440e-01 -2.17417679e-02 -2.52150661e-03 1.51875332e+01] [ 2.17415754e-02 9.99763619e-01 -1.03723338e-04 5.29951377e-01] [ 2.52316570e-03 4.88769636e-05 9.99996816e-01 -9.39069904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:0.53, Z:-0.10 [[ 9.99767408e-01 -2.14189674e-02 -2.52150281e-03 1.52468232e+01] [ 2.14187737e-02 9.99770586e-01 -1.03815552e-04 5.34655890e-01] [ 2.52314797e-03 4.97839076e-05 9.99996816e-01 -9.79795957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.31, Y:0.54, Z:-0.09 [[ 9.99725782e-01 -2.32809425e-02 -2.52150159e-03 1.53060260e+01] [ 2.32807546e-02 9.99728961e-01 -1.03845232e-04 5.39298212e-01] [ 2.52323578e-03 4.51142959e-05 9.99996816e-01 -9.16848855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:0.54, Z:-0.09 [[ 9.99710446e-01 -2.39304280e-02 -2.52149917e-03 1.53658979e+01] [ 2.39302420e-02 9.99713625e-01 -1.03904022e-04 5.44779044e-01] [ 2.52326354e-03 4.35338508e-05 9.99996816e-01 -8.92401621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:0.55, Z:-0.09 [[ 9.99717881e-01 -2.36178171e-02 -2.52149665e-03 1.54263446e+01] [ 2.36176299e-02 9.99721059e-01 -1.03965057e-04 5.48611105e-01] [ 2.52324873e-03 4.43839522e-05 9.99996816e-01 -8.85082742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:0.55, Z:-0.09 [[ 9.99779465e-01 -2.08485857e-02 -2.52149665e-03 1.54845449e+01] [ 2.08483898e-02 9.99782643e-01 -1.03965057e-04 5.54859456e-01] [ 2.52311611e-03 5.13729846e-05 9.99996816e-01 -9.12809469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:0.56, Z:-0.09 [[ 9.99818474e-01 -1.88854700e-02 -2.52149270e-03 1.55449301e+01] [ 1.88852675e-02 9.99821652e-01 -1.04060719e-04 5.60495144e-01] [ 2.52300823e-03 5.64227651e-05 9.99996816e-01 -9.10345791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:0.56, Z:-0.09 [[ 9.99814307e-01 -1.91048161e-02 -2.52149270e-03 1.56054974e+01] [ 1.91046144e-02 9.99817485e-01 -1.04060719e-04 5.64364479e-01] [ 2.52302055e-03 5.58692500e-05 9.99996816e-01 -9.21174022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:0.57, Z:-0.10 [[ 9.99726078e-01 -2.32682344e-02 -2.52149270e-03 1.56645755e+01] [ 2.32680459e-02 9.99729257e-01 -1.04060719e-04 5.65256918e-01] [ 2.52323133e-03 4.53620067e-05 9.99996816e-01 -9.89557320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.72, Y:0.57, Z:-0.10 [[ 9.99644522e-01 -2.65418882e-02 -2.52149143e-03 1.57245174e+01] [ 2.65417101e-02 9.99647701e-01 -1.04091610e-04 5.65906431e-01] [ 2.52336590e-03 3.71299134e-05 9.99996816e-01 -9.65368793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:0.57, Z:-0.10 [[ 9.99555537e-01 -2.97047380e-02 -2.52148890e-03 1.57840766e+01] [ 2.97045698e-02 9.99558716e-01 -1.04152815e-04 5.67426954e-01] [ 2.52347004e-03 2.92067803e-05 9.99996816e-01 -9.75682306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:0.57, Z:-0.10 [[ 9.99499331e-01 -3.15393395e-02 -2.52148765e-03 1.58437119e+01] [ 3.15391770e-02 9.99502511e-01 -1.04183130e-04 5.65189587e-01] [ 2.52351910e-03 2.46053234e-05 9.99996816e-01 -9.69773894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:0.57, Z:-0.10 [[ 9.99528668e-01 -3.05954883e-02 -2.52148515e-03 1.59023832e+01] [ 3.05953227e-02 9.99531848e-01 -1.04243461e-04 5.68918300e-01] [ 2.52349409e-03 2.70486763e-05 9.99996816e-01 -9.72048710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:0.57, Z:-0.10 [[ 9.99593441e-01 -2.84006060e-02 -2.52148145e-03 1.59616578e+01] [ 2.84004332e-02 9.99596621e-01 -1.04332895e-04 5.72357188e-01] [ 2.52342746e-03 3.26793120e-05 9.99996816e-01 -9.64111857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:0.57, Z:-0.10 [[ 9.99592541e-01 -2.84322579e-02 -2.52147889e-03 1.60214199e+01] [ 2.84320850e-02 9.99595721e-01 -1.04394806e-04 5.73817573e-01] [ 2.52342769e-03 3.26613678e-05 9.99996816e-01 -9.60635231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.08, Y:0.58, Z:-0.10 [[ 9.99576987e-01 -2.89739537e-02 -2.52147628e-03 1.60810489e+01] [ 2.89737824e-02 9.99580166e-01 -1.04457703e-04 5.76848762e-01] [ 2.52344423e-03 3.13568106e-05 9.99996816e-01 -9.51204310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.14, Y:0.58, Z:-0.10 [[ 9.99567727e-01 -2.92916721e-02 -2.52147365e-03 1.61391310e+01] [ 2.92915016e-02 9.99570906e-01 -1.04521105e-04 5.80771254e-01] [ 2.52345330e-03 3.06181739e-05 9.99996816e-01 -9.57551453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.20, Y:0.58, Z:-0.09 [[ 9.99505470e-01 -3.13441662e-02 -2.52146976e-03 1.61978414e+01] [ 3.13440020e-02 9.99508651e-01 -1.04615069e-04 5.83713472e-01] [ 2.52350990e-03 2.55303809e-05 9.99996816e-01 -9.37319630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.26, Y:0.58, Z:-0.09 [[ 9.99386184e-01 -3.49413373e-02 -2.52146594e-03 1.62582829e+01] [ 3.49411844e-02 9.99389365e-01 -1.04707026e-04 5.84341987e-01] [ 2.52358484e-03 1.65397487e-05 9.99996816e-01 -8.99778614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.32, Y:0.59, Z:-0.09 [[ 9.99202565e-01 -3.98481739e-02 -2.52146594e-03 1.63174815e+01] [ 3.98480365e-02 9.99205746e-01 -1.04707026e-04 5.87663669e-01] [ 2.52363564e-03 4.14806190e-06 9.99996816e-01 -9.13154466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942639999999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:16.38, Y:0.59, Z:-0.09 [[ 9.99156174e-01 -4.09949123e-02 -2.52146464e-03 1.63772803e+01] [ 4.09947785e-02 9.99159355e-01 -1.04738199e-04 5.89185822e-01] [ 2.52363872e-03 1.28293375e-06 9.99996816e-01 -9.22347878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:0.59, Z:-0.09 [[ 9.99279358e-01 -3.78735517e-02 -2.52146211e-03 1.64373165e+01] [ 3.78734078e-02 9.99282540e-01 -1.04799121e-04 5.90395228e-01] [ 2.52362218e-03 9.22723577e-06 9.99996816e-01 -8.98240964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:0.60, Z:-0.09 [[ 9.99512161e-01 -3.11300822e-02 -2.52145954e-03 1.64964520e+01] [ 3.11299167e-02 9.99515341e-01 -1.04861014e-04 5.96011208e-01] [ 2.52350182e-03 2.63170337e-05 9.99996816e-01 -8.94178400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.56, Y:0.60, Z:-0.09 [[ 9.99657497e-01 -2.60486092e-02 -2.52145826e-03 1.65563301e+01] [ 2.60484275e-02 9.99660677e-01 -1.04891715e-04 6.00234353e-01] [ 2.52333495e-03 3.91757665e-05 9.99996816e-01 -8.74822368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.62, Y:0.61, Z:-0.09 [[ 9.99809891e-01 -1.93345444e-02 -2.52145567e-03 1.66157282e+01] [ 1.93343412e-02 9.99813069e-01 -1.04954017e-04 6.06873584e-01] [ 2.52301356e-03 5.61833800e-05 9.99996816e-01 -8.95478955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.68, Y:0.62, Z:-0.09 [[ 9.99854437e-01 -1.68744734e-02 -2.52145438e-03 1.66756693e+01] [ 1.68742622e-02 9.99857614e-01 -1.04984974e-04 6.15428152e-01] [ 2.52286692e-03 6.24220098e-05 9.99996816e-01 -8.92812976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:0.62, Z:-0.09 [[ 9.99848767e-01 -1.72071181e-02 -2.52145438e-03 1.67349833e+01] [ 1.72069081e-02 9.99851945e-01 -1.04984974e-04 6.20622353e-01] [ 2.52288755e-03 6.15826634e-05 9.99996816e-01 -8.98484434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:0.63, Z:-0.09 [[ 9.99795118e-01 -2.00839496e-02 -2.52145312e-03 1.67948431e+01] [ 2.00837486e-02 9.99798296e-01 -1.05015233e-04 6.26008464e-01] [ 2.52305365e-03 5.43534865e-05 9.99996816e-01 -8.72244022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422639999999998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:0.63, Z:-0.09 [[ 9.99738150e-01 -2.27436477e-02 -2.52145188e-03 1.68549592e+01] [ 2.27434551e-02 9.99741329e-01 -1.05044982e-04 6.31566324e-01] [ 2.52318876e-03 4.76709481e-05 9.99996816e-01 -8.67891628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.91, Y:0.64, Z:-0.09 [[ 9.99663425e-01 -2.58201444e-02 -2.52145188e-03 1.69145569e+01] [ 2.58199615e-02 9.99666604e-01 -1.05044982e-04 6.36796582e-01] [ 2.52332351e-03 3.99058356e-05 9.99996816e-01 -8.83178629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.97, Y:0.64, Z:-0.09 [[ 9.99616150e-01 -2.75897506e-02 -2.52145057e-03 1.69736069e+01] [ 2.75895734e-02 9.99619330e-01 -1.05076323e-04 6.41465609e-01] [ 2.52338976e-03 3.54702444e-05 9.99996816e-01 -9.27401257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.03, Y:0.65, Z:-0.09 [[ 9.99666802e-01 -2.56890621e-02 -2.52144931e-03 1.70329812e+01] [ 2.56888787e-02 9.99669981e-01 -1.05106674e-04 6.48808725e-01] [ 2.52331727e-03 4.02984474e-05 9.99996816e-01 -9.21901671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.09, Y:0.65, Z:-0.09 [[ 9.99712691e-01 -2.38364908e-02 -2.52144809e-03 1.70931328e+01] [ 2.38363015e-02 9.99715869e-01 -1.05135888e-04 6.53128844e-01] [ 2.52323774e-03 4.50036848e-05 9.99996816e-01 -8.94198461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.15, Y:0.66, Z:-0.09 [[ 9.99735410e-01 -2.28637940e-02 -2.52144809e-03 1.71520941e+01] [ 2.28636015e-02 9.99738588e-01 -1.05135888e-04 6.59677788e-01] [ 2.52319276e-03 4.74586858e-05 9.99996816e-01 -9.07636236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.21, Y:0.67, Z:-0.09 [[ 9.99690300e-01 -2.47577348e-02 -2.52144851e-03 1.72125757e+01] [ 2.47575484e-02 9.99693479e-01 -1.05125812e-04 6.68173439e-01] [ 2.52327831e-03 4.26683714e-05 9.99996816e-01 -9.05330293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.27, Y:0.67, Z:-0.09 [[ 9.99526250e-01 -3.06743693e-02 -2.52144851e-03 1.72722104e+01] [ 3.06742017e-02 9.99529430e-01 -1.05125812e-04 6.74724562e-01] [ 2.52348666e-03 2.77325888e-05 9.99996816e-01 -8.77573133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:0.68, Z:-0.09 [[ 9.99444320e-01 -3.32369283e-02 -2.52144851e-03 1.73314781e+01] [ 3.32367688e-02 9.99447500e-01 -1.05125812e-04 6.77160264e-01] [ 2.52354947e-03 2.12625947e-05 9.99996816e-01 -8.72034742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:0.68, Z:-0.09 [[ 9.99222403e-01 -3.93475834e-02 -2.52144727e-03 1.73915005e+01] [ 3.93474434e-02 9.99225584e-01 -1.05155385e-04 6.78839175e-01] [ 2.52363224e-03 5.86111220e-06 9.99996816e-01 -8.53440938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:0.68, Z:-0.09 [[ 9.98747215e-01 -4.99764207e-02 -2.52144727e-03 1.74512931e+01] [ 4.99763145e-02 9.98750398e-01 -1.05155385e-04 6.82780303e-01] [ 2.52355176e-03 -2.09889945e-05 9.99996816e-01 -8.54229789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.51, Y:0.68, Z:-0.09 [[ 9.98281599e-01 -5.85447731e-02 -2.52144856e-03 1.75123076e+01] [ 5.85446943e-02 9.98284783e-01 -1.05124527e-04 6.80716604e-01] [ 2.52327822e-03 -4.26735543e-05 9.99996816e-01 -8.66566117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.57, Y:0.68, Z:-0.09 [[ 9.98132405e-01 -6.10355989e-02 -2.52144856e-03 1.75718469e+01] [ 6.10355280e-02 9.98135589e-01 -1.05124527e-04 6.80130130e-01] [ 2.52316388e-03 -4.89697474e-05 9.99996816e-01 -8.85933824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.63, Y:0.68, Z:-0.09 [[ 9.98290028e-01 -5.84008745e-02 -2.52144728e-03 1.76313529e+01] [ 5.84007951e-02 9.98293211e-01 -1.05155273e-04 6.79064048e-01] [ 2.52328486e-03 -4.22790652e-05 9.99996816e-01 -8.98712743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:0.68, Z:-0.09 [[ 9.98732022e-01 -5.02791215e-02 -2.52144478e-03 1.76899431e+01] [ 5.02790161e-02 9.98735205e-01 -1.05215220e-04 6.79590259e-01] [ 2.52354579e-03 -2.16939529e-05 9.99996816e-01 -8.78753809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:0.68, Z:-0.09 [[ 9.99051819e-01 -4.34638347e-02 -2.52144106e-03 1.77496988e+01] [ 4.34637074e-02 9.99055001e-01 -1.05304336e-04 6.80469501e-01] [ 2.52363523e-03 -4.38668748e-06 9.99996816e-01 -8.50520294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:0.68, Z:-0.08 [[ 9.99096938e-01 -4.24140359e-02 -2.52143855e-03 1.78098442e+01] [ 4.24139051e-02 9.99100120e-01 -1.05364225e-04 6.80571166e-01] [ 2.52363848e-03 -1.67498121e-06 9.99996816e-01 -8.37427845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.87, Y:0.68, Z:-0.09 [[ 9.99029687e-01 -4.39696172e-02 -2.52143855e-03 1.78693134e+01] [ 4.39694913e-02 9.99032869e-01 -1.05364225e-04 6.77579425e-01] [ 2.52363282e-03 -5.60438222e-06 9.99996816e-01 -9.02066294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:0.68, Z:-0.09 [[ 9.98962529e-01 -4.54698576e-02 -2.52143914e-03 1.79294867e+01] [ 4.54697365e-02 9.98965711e-01 -1.05350209e-04 6.75426258e-01] [ 2.52362150e-03 -9.40826157e-06 9.99996816e-01 -9.17122425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:0.67, Z:-0.09 [[ 9.98978110e-01 -4.51262432e-02 -2.52143664e-03 1.79894997e+01] [ 4.51261209e-02 9.98981292e-01 -1.05409902e-04 6.73774311e-01] [ 2.52362479e-03 -8.48047024e-06 9.99996816e-01 -9.20870363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:0.67, Z:-0.10 [[ 9.99116350e-01 -4.19542858e-02 -2.52143414e-03 1.80495285e+01] [ 4.19541532e-02 9.99119531e-01 -1.05469682e-04 6.71720411e-01] [ 2.52363900e-03 -4.08151012e-07 9.99996816e-01 -9.55316966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.11, Y:0.67, Z:-0.10 [[ 9.99220798e-01 -3.93883031e-02 -2.52143164e-03 1.81087180e+01] [ 3.93881622e-02 9.99223980e-01 -1.05529516e-04 6.72723561e-01] [ 2.52363158e-03 6.13272848e-06 9.99996816e-01 -9.63425213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.17, Y:0.67, Z:-0.09 [[ 9.99294849e-01 -3.74626018e-02 -2.52143039e-03 1.81671618e+01] [ 3.74624547e-02 9.99298030e-01 -1.05559248e-04 6.71811046e-01] [ 2.52361495e-03 1.10258406e-05 9.99996816e-01 -9.28527295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.23, Y:0.67, Z:-0.09 [[ 9.99299187e-01 -3.73467283e-02 -2.52142674e-03 1.82265594e+01] [ 3.73465806e-02 9.99302368e-01 -1.05646526e-04 6.70724540e-01] [ 2.52361326e-03 1.14058209e-05 9.99996816e-01 -8.89964942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.29, Y:0.67, Z:-0.09 [[ 9.99316092e-01 -3.68916054e-02 -2.52142414e-03 1.82865347e+01] [ 3.68914561e-02 9.99319273e-01 -1.05708419e-04 6.72226834e-01] [ 2.52360749e-03 1.26171157e-05 9.99996816e-01 -8.90981804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.35, Y:0.67, Z:-0.09 [[ 9.99292654e-01 -3.75211084e-02 -2.52142153e-03 1.83450399e+01] [ 3.75209610e-02 9.99295835e-01 -1.05770720e-04 6.70594236e-01] [ 2.52361467e-03 1.10897446e-05 9.99996816e-01 -8.99785484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:0.67, Z:-0.09 [[ 9.99228058e-01 -3.92037052e-02 -2.52141765e-03 1.84038100e+01] [ 3.92035629e-02 9.99231239e-01 -1.05863163e-04 6.69111558e-01] [ 2.52362951e-03 6.93288772e-06 9.99996816e-01 -8.80746143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.46, Y:0.67, Z:-0.09 [[ 9.99211016e-01 -3.96356856e-02 -2.52139939e-03 1.84622321e+01] [ 3.96355435e-02 9.99214197e-01 -1.06296175e-04 6.69371624e-01] [ 2.52363119e-03 6.27527393e-06 9.99996816e-01 -9.11843630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.52, Y:0.67, Z:-0.09 [[ 9.99248331e-01 -3.86835390e-02 -2.52139467e-03 1.85208075e+01] [ 3.86833937e-02 9.99251512e-01 -1.06408044e-04 6.69694043e-01] [ 2.52362368e-03 8.79195792e-06 9.99996816e-01 -9.15646848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.58, Y:0.67, Z:-0.09 [[ 9.99323607e-01 -3.66874725e-02 -2.52137674e-03 1.85794731e+01] [ 3.66873197e-02 9.99326788e-01 -1.06831332e-04 6.68741398e-01] [ 2.52359869e-03 1.42565177e-05 9.99996816e-01 -9.12580898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:0.67, Z:-0.09 [[ 9.99401837e-01 -3.44907498e-02 -2.52135836e-03 1.86382238e+01] [ 3.44905890e-02 9.99405017e-01 -1.07263324e-04 6.70582629e-01] [ 2.52355779e-03 2.02360281e-05 9.99996816e-01 -9.09379228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:0.67, Z:-0.09 [[ 9.99466787e-01 -3.25543382e-02 -2.52133991e-03 1.86971592e+01] [ 3.25541701e-02 9.99469967e-01 -1.07695312e-04 6.72855258e-01] [ 2.52350946e-03 2.55577597e-05 9.99996816e-01 -9.11800771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:0.68, Z:-0.09 [[ 9.99531060e-01 -3.05172545e-02 -2.52132133e-03 1.87552423e+01] [ 3.05170788e-02 9.99534240e-01 -1.08128378e-04 6.75912729e-01] [ 2.52344678e-03 3.11343106e-05 9.99996816e-01 -8.98176188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:0.68, Z:-0.09 [[ 9.99485255e-01 -3.19823228e-02 -2.52131608e-03 1.88145630e+01] [ 3.19821515e-02 9.99488434e-01 -1.08250712e-04 6.79395804e-01] [ 2.52348837e-03 2.75578779e-05 9.99996816e-01 -8.69052568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:0.68, Z:-0.09 [[ 9.99418016e-01 -3.40186931e-02 -2.52131340e-03 1.88728773e+01] [ 3.40185281e-02 9.99421197e-01 -1.08313129e-04 6.81869456e-01] [ 2.52353873e-03 2.24787216e-05 9.99996816e-01 -8.86824080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:0.69, Z:-0.09 [[ 9.99365506e-01 -3.55278585e-02 -2.52130941e-03 1.89320852e+01] [ 3.55276981e-02 9.99368686e-01 -1.08405881e-04 6.85202226e-01] [ 2.52356910e-03 1.87607789e-05 9.99996816e-01 -8.51067163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:0.69, Z:-0.08 [[ 9.99341125e-01 -3.62071718e-02 -2.52130676e-03 1.89911807e+01] [ 3.62070134e-02 9.99344305e-01 -1.08467544e-04 6.88056442e-01] [ 2.52358086e-03 1.71070897e-05 9.99996816e-01 -8.46169351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.05, Y:0.69, Z:-0.08 [[ 9.99259975e-01 -3.83815708e-02 -2.52128807e-03 1.90496496e+01] [ 3.83814182e-02 9.99263156e-01 -1.08900333e-04 6.89809864e-01] [ 2.52361004e-03 1.20491322e-05 9.99996816e-01 -8.46866848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.11, Y:0.69, Z:-0.08 [[ 9.99070103e-01 -4.30415180e-02 -2.52126926e-03 1.91092328e+01] [ 4.30413791e-02 9.99073284e-01 -1.09333931e-04 6.88886549e-01] [ 2.52363866e-03 7.13355423e-07 9.99996816e-01 -8.48235879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.17, Y:0.69, Z:-0.08 [[ 9.99009483e-01 -4.44263076e-02 -2.52126656e-03 1.91676368e+01] [ 4.44261730e-02 9.99012664e-01 -1.09396228e-04 6.91526357e-01] [ 2.52363729e-03 -2.72235504e-06 9.99996816e-01 -8.48191765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.23, Y:0.69, Z:-0.09 [[ 9.98927403e-01 -4.62351327e-02 -2.52124753e-03 1.92251829e+01] [ 4.62350027e-02 9.98930584e-01 -1.09833103e-04 6.91325867e-01] [ 2.52362942e-03 -6.85459045e-06 9.99996816e-01 -8.60489042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.28, Y:0.69, Z:-0.09 [[ 9.99004622e-01 -4.45354791e-02 -2.52124080e-03 1.92842493e+01] [ 4.45353433e-02 9.99007803e-01 -1.09987356e-04 6.89632291e-01] [ 2.52363757e-03 -2.40644743e-06 9.99996816e-01 -8.59305444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.34, Y:0.69, Z:-0.09 [[ 9.99158359e-01 -4.09416343e-02 -2.52122193e-03 1.93418770e+01] [ 4.09414860e-02 9.99161540e-01 -1.10418318e-04 6.87091946e-01] [ 2.52362869e-03 7.10281337e-06 9.99996816e-01 -8.63993673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.40, Y:0.69, Z:-0.09 [[ 9.99278468e-01 -3.78970458e-02 -2.52121526e-03 1.94011745e+01] [ 3.78968874e-02 9.99281649e-01 -1.10570384e-04 6.89279223e-01] [ 2.52359443e-03 1.49443927e-05 9.99996816e-01 -8.65585278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.46, Y:0.69, Z:-0.09 [[ 9.99516470e-01 -3.09914325e-02 -2.52119774e-03 1.94604909e+01] [ 3.09912512e-02 9.99519650e-01 -1.10968306e-04 6.89584479e-01] [ 2.52342575e-03 3.27795770e-05 9.99996816e-01 -8.74200536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.52, Y:0.69, Z:-0.09 [[ 9.99726365e-01 -2.32559508e-02 -2.52117884e-03 1.95189932e+01] [ 2.32557438e-02 9.99729542e-01 -1.11396134e-04 6.91701726e-01] [ 2.52308759e-03 5.27337632e-05 9.99996816e-01 -8.59833994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.58, Y:0.70, Z:-0.08 [[ 9.99826211e-01 -1.84713615e-02 -2.52116015e-03 1.95781722e+01] [ 1.84711382e-02 9.99829388e-01 -1.11817456e-04 6.97021221e-01] [ 2.52279543e-03 6.52293256e-05 9.99996816e-01 -8.35526538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:0.70, Z:-0.08 [[ 9.99823490e-01 -1.86180934e-02 -2.52115740e-03 1.96369711e+01] [ 1.86178704e-02 9.99826666e-01 -1.11879476e-04 7.01986192e-01] [ 2.52280338e-03 6.49211462e-05 9.99996816e-01 -8.47493137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.70, Y:0.70, Z:-0.08 [[ 9.99732214e-01 -2.30031160e-02 -2.52115331e-03 1.96962714e+01] [ 2.30029067e-02 9.99735392e-01 -1.11971559e-04 7.04510895e-01] [ 2.52306189e-03 5.39477206e-05 9.99996816e-01 -8.39093288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.75, Y:0.71, Z:-0.09 [[ 9.99643846e-01 -2.65673620e-02 -2.52115057e-03 1.97545689e+01] [ 2.65671639e-02 9.99647024e-01 -1.12033271e-04 7.09267786e-01] [ 2.52323709e-03 4.50135499e-05 9.99996816e-01 -8.55995478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.81, Y:0.72, Z:-0.08 [[ 9.99518401e-01 -3.09291221e-02 -2.52114648e-03 1.98135959e+01] [ 3.09289377e-02 9.99521580e-01 -1.12125302e-04 7.17130790e-01] [ 2.52340825e-03 3.40949201e-05 9.99996816e-01 -8.30811991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.87, Y:0.72, Z:-0.08 [[ 9.99390928e-01 -3.48054281e-02 -2.52114378e-03 1.98734989e+01] [ 3.48052558e-02 9.99394107e-01 -1.12185992e-04 7.22531004e-01] [ 2.52352091e-03 2.43686088e-05 9.99996816e-01 -8.40534381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.93, Y:0.73, Z:-0.09 [[ 9.99251495e-01 -3.86017284e-02 -2.52114102e-03 1.99322230e+01] [ 3.86015680e-02 9.99254675e-01 -1.12247860e-04 7.26235917e-01] [ 2.52359491e-03 1.48438450e-05 9.99996816e-01 -8.85255131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:0.73, Z:-0.08 [[ 9.98975455e-01 -4.51850098e-02 -2.52113693e-03 1.99912071e+01] [ 4.51848702e-02 9.98978636e-01 -1.12339634e-04 7.30540295e-01] [ 2.52363800e-03 -1.69270821e-06 9.99996816e-01 -8.29739789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.05, Y:0.73, Z:-0.08 [[ 9.98719128e-01 -5.05346141e-02 -2.52113298e-03 2.00502972e+01] [ 5.05344913e-02 9.98722310e-01 -1.12428254e-04 7.33825685e-01] [ 2.52359327e-03 -1.51199244e-05 9.99996816e-01 -8.11657886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.11, Y:0.74, Z:-0.08 [[ 9.98619499e-01 -5.24665545e-02 -2.52111369e-03 2.01093172e+01] [ 5.24664367e-02 9.98622682e-01 -1.12859265e-04 7.37171752e-01] [ 2.52356265e-03 -1.95703893e-05 9.99996816e-01 -7.99725682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:0.74, Z:-0.08 [[ 9.98609443e-01 -5.26576145e-02 -2.52109412e-03 2.01676900e+01] [ 5.26574963e-02 9.98612625e-01 -1.13294672e-04 7.40851659e-01] [ 2.52356224e-03 -1.96173743e-05 9.99996816e-01 -8.01544377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.23, Y:0.74, Z:-0.08 [[ 9.98676974e-01 -5.13609313e-02 -2.52107450e-03 2.02263861e+01] [ 5.13608078e-02 9.98680156e-01 -1.13729529e-04 7.44268906e-01] [ 2.52358833e-03 -1.59053610e-05 9.99996816e-01 -8.21530846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:0.75, Z:-0.08 [[ 9.98847714e-01 -4.79258700e-02 -2.52105484e-03 2.02839999e+01] [ 4.79257346e-02 9.98850895e-01 -1.14163770e-04 7.49017167e-01] [ 2.52362928e-03 -6.79118411e-06 9.99996816e-01 -8.44423244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:0.75, Z:-0.09 [[ 9.98933693e-01 -4.60990282e-02 -2.52104470e-03 2.03423398e+01] [ 4.60988863e-02 9.98936875e-01 -1.14387105e-04 7.53243840e-01] [ 2.52363765e-03 -1.95222029e-06 9.99996816e-01 -8.59793818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:0.76, Z:-0.08 [[ 9.98849609e-01 -4.78863642e-02 -2.52102520e-03 2.04007779e+01] [ 4.78862269e-02 9.98852790e-01 -1.14815435e-04 7.57330824e-01] [ 2.52363114e-03 -6.03903233e-06 9.99996816e-01 -8.49202810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.46, Y:0.76, Z:-0.09 [[ 9.98714637e-01 -5.06233076e-02 -2.52102105e-03 2.04600756e+01] [ 5.06231788e-02 9.98717818e-01 -1.14906304e-04 7.59365219e-01] [ 2.52360558e-03 -1.28634918e-05 9.99996816e-01 -8.63300420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.52, Y:0.76, Z:-0.09 [[ 9.98461414e-01 -5.53935888e-02 -2.52100374e-03 2.05187426e+01] [ 5.53934743e-02 9.98464596e-01 -1.15284934e-04 7.58648251e-01] [ 2.52351903e-03 -2.45395973e-05 9.99996816e-01 -8.56144353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.58, Y:0.76, Z:-0.09 [[ 9.98201091e-01 -5.99018148e-02 -2.52098409e-03 2.05763772e+01] [ 5.99017136e-02 9.98204273e-01 -1.15713126e-04 7.57849013e-01] [ 2.52338851e-03 -3.55062980e-05 9.99996816e-01 -8.97314173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.63, Y:0.76, Z:-0.09 [[ 9.98105645e-01 -6.14716649e-02 -2.52097713e-03 2.06345122e+01] [ 6.14715683e-02 9.98108828e-01 -1.15864576e-04 7.57733717e-01] [ 2.52333191e-03 -3.93233305e-05 9.99996816e-01 -8.95201122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.69, Y:0.76, Z:-0.09 [[ 9.98290291e-01 -5.83964065e-02 -2.52095538e-03 2.06937542e+01] [ 5.83962989e-02 9.98293473e-01 -1.16335833e-04 7.58703489e-01] [ 2.52344689e-03 -3.10775315e-05 9.99996816e-01 -8.52120335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.75, Y:0.76, Z:-0.08 [[ 9.98754167e-01 -4.98373241e-02 -2.52093615e-03 2.07525945e+01] [ 4.98371881e-02 9.98757348e-01 -1.16750996e-04 7.63435672e-01] [ 2.52362206e-03 -9.03082496e-06 9.99996816e-01 -8.33553334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:0.77, Z:-0.08 [[ 9.99032496e-01 -4.39057626e-02 -2.52091618e-03 2.08116033e+01] [ 4.39056067e-02 9.99035677e-01 -1.17180704e-04 7.66505904e-01] [ 2.52363011e-03 6.38497694e-06 9.99996816e-01 -8.42668347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.87, Y:0.77, Z:-0.09 [[ 9.99233984e-01 -3.90524118e-02 -2.52089596e-03 2.08705157e+01] [ 3.90522394e-02 9.99237163e-01 -1.17614103e-04 7.70275923e-01] [ 2.52356604e-03 1.90773762e-05 9.99996816e-01 -8.54033337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.93, Y:0.77, Z:-0.08 [[ 9.99119219e-01 -4.18859341e-02 -2.52089167e-03 2.09291314e+01] [ 4.18857705e-02 9.99122399e-01 -1.17705979e-04 7.72441929e-01] [ 2.52360955e-03 1.20128165e-05 9.99996816e-01 -8.28582117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.99, Y:0.77, Z:-0.08 [[ 9.98938874e-01 -4.59866447e-02 -2.52087151e-03 2.09870336e+01] [ 4.59864930e-02 9.98942055e-01 -1.18136146e-04 7.74179054e-01] [ 2.52363725e-03 2.08474824e-06 9.99996816e-01 -8.26117600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.05, Y:0.77, Z:-0.08 [[ 9.98792642e-01 -4.90602019e-02 -2.52086440e-03 2.10457900e+01] [ 4.90600596e-02 9.98795823e-01 -1.18287545e-04 7.73780229e-01] [ 2.52363205e-03 -5.52902794e-06 9.99996816e-01 -8.49697593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.10, Y:0.77, Z:-0.09 [[ 9.98801402e-01 -4.88815287e-02 -2.52084449e-03 2.11035385e+01] [ 4.88813848e-02 9.98804584e-01 -1.18710357e-04 7.73671028e-01] [ 2.52363378e-03 -4.65429894e-06 9.99996816e-01 -8.82923776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.16, Y:0.78, Z:-0.09 [[ 9.98923669e-01 -4.63157621e-02 -2.52083745e-03 2.11622531e+01] [ 4.63156096e-02 9.98926849e-01 -1.18859783e-04 7.75582160e-01] [ 2.52363729e-03 1.97772704e-06 9.99996816e-01 -9.07835791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.22, Y:0.78, Z:-0.09 [[ 9.99193511e-01 -4.00746017e-02 -2.52081798e-03 2.12209973e+01] [ 4.00744283e-02 9.99196690e-01 -1.19271229e-04 7.79723430e-01] [ 2.52357273e-03 1.81546987e-05 9.99996816e-01 -8.51574257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:0.78, Z:-0.08 [[ 9.99379852e-01 -3.51220374e-02 -2.52079682e-03 2.12791936e+01] [ 3.51218472e-02 9.99383030e-01 -1.19716732e-04 7.83133136e-01] [ 2.52344626e-03 3.11074494e-05 9.99996816e-01 -8.45277686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.34, Y:0.79, Z:-0.08 [[ 9.99553297e-01 -2.97800481e-02 -2.52079233e-03 2.13380813e+01] [ 2.97798406e-02 9.99556475e-01 -1.19811147e-04 7.89045920e-01] [ 2.52324228e-03 4.46888326e-05 9.99996816e-01 -7.99132997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:0.79, Z:-0.08 [[ 9.99605806e-01 -2.79621018e-02 -2.52077139e-03 2.13967942e+01] [ 2.79618875e-02 9.99608983e-01 -1.20250292e-04 7.94252969e-01] [ 2.52314817e-03 4.97173645e-05 9.99996816e-01 -7.86999397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:0.80, Z:-0.08 [[ 9.99561272e-01 -2.95111836e-02 -2.52076695e-03 2.14561399e+01] [ 2.95109740e-02 9.99564449e-01 -1.20343199e-04 8.00566309e-01] [ 2.52322050e-03 4.59001134e-05 9.99996816e-01 -7.54573338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.52, Y:0.81, Z:-0.08 [[ 9.99391354e-01 -3.47932122e-02 -2.52076398e-03 2.15158144e+01] [ 3.47930191e-02 9.99394532e-01 -1.20405430e-04 8.05642641e-01] [ 2.52342703e-03 3.26271561e-05 9.99996816e-01 -7.71113187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:0.81, Z:-0.08 [[ 9.99302255e-01 -3.72645716e-02 -2.52076102e-03 2.15753861e+01] [ 3.72643862e-02 9.99305434e-01 -1.20467386e-04 8.11168592e-01] [ 2.52349935e-03 2.64487184e-05 9.99996816e-01 -8.00612561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:0.82, Z:-0.08 [[ 9.99312799e-01 -3.69807447e-02 -2.52075806e-03 2.16343402e+01] [ 3.69805583e-02 9.99315978e-01 -1.20529266e-04 8.17078871e-01] [ 2.52349107e-03 2.72273981e-05 9.99996816e-01 -7.99495333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:0.83, Z:-0.08 [[ 9.99363879e-01 -3.55736240e-02 -2.52073740e-03 2.16929007e+01] [ 3.55734320e-02 9.99367058e-01 -1.20959744e-04 8.25778089e-01] [ 2.52344490e-03 3.12115184e-05 9.99996816e-01 -7.91592744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:0.83, Z:-0.08 [[ 9.99306679e-01 -3.71457612e-02 -2.52073448e-03 2.17523339e+01] [ 3.71455741e-02 9.99309858e-01 -1.21020631e-04 8.34748891e-01] [ 2.52349022e-03 2.73025957e-05 9.99996816e-01 -8.08553360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:0.84, Z:-0.08 [[ 9.99132821e-01 -4.15602243e-02 -2.52073153e-03 2.18109781e+01] [ 4.15600510e-02 9.99136001e-01 -1.21081953e-04 8.42058680e-01] [ 2.52358581e-03 1.62152226e-05 9.99996816e-01 -8.06253414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:0.85, Z:-0.08 [[ 9.98981436e-01 -4.50525860e-02 -2.52072579e-03 2.18703659e+01] [ 4.50524236e-02 9.98984617e-01 -1.21201459e-04 8.45090283e-01] [ 2.52362672e-03 7.51320123e-06 9.99996816e-01 -7.96458325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:0.85, Z:-0.08 [[ 9.98814968e-01 -4.86035487e-02 -2.52072282e-03 2.19298106e+01] [ 4.86033974e-02 9.98818149e-01 -1.21263200e-04 8.51832759e-01] [ 2.52363752e-03 -1.39619350e-06 9.99996816e-01 -7.79949587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.99, Y:0.85, Z:-0.08 [[ 9.98704215e-01 -5.08285015e-02 -2.52072135e-03 2.19883617e+01] [ 5.08283573e-02 9.98707396e-01 -1.21293663e-04 8.53318495e-01] [ 2.52362823e-03 -6.98763331e-06 9.99996816e-01 -7.88913918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:0.85, Z:-0.08 [[ 9.98417015e-01 -5.61881611e-02 -2.52071709e-03 2.20471023e+01] [ 5.61880337e-02 9.98420197e-01 -1.21382116e-04 8.53227957e-01] [ 2.52355509e-03 -2.04441667e-05 9.99996816e-01 -8.39511421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:0.85, Z:-0.09 [[ 9.98156606e-01 -6.06385642e-02 -2.52069781e-03 2.21064977e+01] [ 6.06384500e-02 9.98159789e-01 -1.21781162e-04 8.48420777e-01] [ 2.52344383e-03 -3.12945371e-05 9.99996816e-01 -8.57189275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:0.85, Z:-0.08 [[ 9.98116174e-01 -6.13004807e-02 -2.52067702e-03 2.21652833e+01] [ 6.13003675e-02 9.98119357e-01 -1.22210030e-04 8.47317571e-01] [ 2.52342806e-03 -3.25386195e-05 9.99996816e-01 -8.48257496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.22, Y:0.85, Z:-0.08 [[ 9.98474194e-01 -5.51627534e-02 -2.52065606e-03 2.22245422e+01] [ 5.51626196e-02 9.98477376e-01 -1.22640760e-04 8.45057952e-01] [ 2.52358325e-03 -1.65923570e-05 9.99996816e-01 -8.25984318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.28, Y:0.84, Z:-0.08 [[ 9.99039017e-01 -4.37571641e-02 -2.52063522e-03 2.22828533e+01] [ 4.37569929e-02 9.99042197e-01 -1.23067706e-04 8.43217412e-01] [ 2.52360604e-03 1.26540224e-05 9.99996816e-01 -8.00741657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:0.85, Z:-0.08 [[ 9.99536257e-01 -3.03466159e-02 -2.52062781e-03 2.23412787e+01] [ 3.03464016e-02 9.99539434e-01 -1.23219230e-04 8.47546691e-01] [ 2.52320618e-03 4.66701044e-05 9.99996816e-01 -7.73865987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:0.85, Z:-0.08 [[ 9.99831899e-01 -1.81609785e-02 -2.52060689e-03 2.23997905e+01] [ 1.81607244e-02 9.99835073e-01 -1.23645776e-04 8.51678709e-01] [ 2.52243670e-03 7.78489444e-05 9.99996816e-01 -7.71998581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.46, Y:0.86, Z:-0.08 [[ 9.99921545e-01 -1.22698731e-02 -2.52060243e-03 2.24594359e+01] [ 1.22696002e-02 9.99924718e-01 -1.23736605e-04 8.57706309e-01] [ 2.52193090e-03 9.28001133e-05 9.99996816e-01 -7.68856757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.52, Y:0.87, Z:-0.08 [[ 9.99955345e-01 -9.10790466e-03 -2.52059954e-03 2.25183080e+01] [ 9.10762150e-03 9.99958517e-01 -1.23795358e-04 8.65453903e-01] [ 2.52162250e-03 1.00833163e-04 9.99996816e-01 -7.64669983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.58, Y:0.87, Z:-0.08 [[ 9.99943789e-01 -1.02987923e-02 -2.52059651e-03 2.25768757e+01] [ 1.02985128e-02 9.99946961e-01 -1.23857021e-04 8.71800026e-01] [ 2.52173840e-03 9.78916632e-05 9.99996816e-01 -7.74266312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.64, Y:0.88, Z:-0.08 [[ 9.99861446e-01 -1.64540469e-02 -2.52059202e-03 2.26363332e+01] [ 1.64537867e-02 9.99864620e-01 -1.23948293e-04 8.79208511e-01] [ 2.52229024e-03 8.24578364e-05 9.99996816e-01 -7.85155370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.70, Y:0.89, Z:-0.08 [[ 9.99693889e-01 -2.46125128e-02 -2.52058916e-03 2.26954022e+01] [ 2.46122783e-02 9.99697064e-01 -1.24006508e-04 8.86713769e-01] [ 2.52287769e-03 6.19311062e-05 9.99996816e-01 -7.83815946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.75, Y:0.89, Z:-0.08 [[ 9.99446744e-01 -3.31640185e-02 -2.52058628e-03 2.27545875e+01] [ 3.31638110e-02 9.99449922e-01 -1.24065052e-04 8.93841146e-01] [ 2.52331425e-03 4.04041654e-05 9.99996816e-01 -7.85435404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:0.90, Z:-0.08 [[ 9.99264985e-01 -3.82509607e-02 -2.52058330e-03 2.28152983e+01] [ 3.82507693e-02 9.99268164e-01 -1.24125579e-04 8.99199995e-01] [ 2.52348657e-03 2.76200948e-05 9.99996816e-01 -7.92610917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.87, Y:0.90, Z:-0.08 [[ 9.98998580e-01 -4.46708313e-02 -2.52058330e-03 2.28748210e+01] [ 4.46706603e-02 9.99001760e-01 -1.24125579e-04 9.04328301e-01] [ 2.52361194e-03 1.14051570e-05 9.99996816e-01 -8.01796604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.93, Y:0.91, Z:-0.08 [[ 9.98902827e-01 -4.67631204e-02 -2.52058027e-03 2.29342946e+01] [ 4.67629559e-02 9.98906007e-01 -1.24186951e-04 9.07367982e-01] [ 2.52363014e-03 6.18091179e-06 9.99996816e-01 -8.05920256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:0.91, Z:-0.08 [[ 9.98662478e-01 -5.16420529e-02 -2.52057879e-03 2.29936499e+01] [ 5.16419039e-02 9.98665659e-01 -1.24217097e-04 9.10643662e-01] [ 2.52363030e-03 -6.11653389e-06 9.99996816e-01 -7.97150214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:0.91, Z:-0.08 [[ 9.98563965e-01 -5.35131197e-02 -2.52057590e-03 2.30528847e+01] [ 5.35129765e-02 9.98567146e-01 -1.24275641e-04 9.11957550e-01] [ 2.52361466e-03 -1.07863424e-05 9.99996816e-01 -7.96343917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:0.91, Z:-0.08 [[ 9.98515881e-01 -5.44029559e-02 -2.52057288e-03 2.31129613e+01] [ 5.44028154e-02 9.98519063e-01 -1.24336828e-04 9.14382093e-01] [ 2.52360436e-03 -1.29739641e-05 9.99996816e-01 -7.96250754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:0.91, Z:-0.08 [[ 9.98489289e-01 -5.48888493e-02 -2.52056987e-03 2.31732297e+01] [ 5.48887101e-02 9.98492471e-01 -1.24397841e-04 9.12679822e-01] [ 2.52359809e-03 -1.41409172e-05 9.99996816e-01 -8.38000222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:0.91, Z:-0.08 [[ 9.98452017e-01 -5.55627263e-02 -2.52056341e-03 2.32316708e+01] [ 5.55625890e-02 9.98455198e-01 -1.24528673e-04 9.14317860e-01] [ 2.52358879e-03 -1.57131237e-05 9.99996816e-01 -8.44844195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:0.91, Z:-0.08 [[ 9.98428477e-01 -5.59841285e-02 -2.52055890e-03 2.32912905e+01] [ 5.59839923e-02 9.98431659e-01 -1.24619809e-04 9.13040581e-01] [ 2.52358254e-03 -1.66869842e-05 9.99996816e-01 -7.96181745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:0.91, Z:-0.08 [[ 9.98418983e-01 -5.61531925e-02 -2.52055583e-03 2.33503998e+01] [ 5.61530567e-02 9.98422165e-01 -1.24681931e-04 9.10054414e-01] [ 2.52358010e-03 -1.70521078e-05 9.99996816e-01 -8.06721243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:0.91, Z:-0.08 [[ 9.98486621e-01 -5.49373695e-02 -2.52055127e-03 2.34091403e+01] [ 5.49372295e-02 9.98489802e-01 -1.24774111e-04 9.08195461e-01] [ 2.52359950e-03 -1.38868232e-05 9.99996816e-01 -7.96841061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:0.91, Z:-0.08 [[ 9.98612065e-01 -5.26078907e-02 -2.52053054e-03 2.34675749e+01] [ 5.26077423e-02 9.98615246e-01 -1.25191333e-04 9.07581791e-01] [ 2.52362628e-03 -7.58184555e-06 9.99996816e-01 -7.81993195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:0.90, Z:-0.08 [[ 9.98665154e-01 -5.15902901e-02 -2.52050978e-03 2.35266752e+01] [ 5.15901374e-02 9.98668334e-01 -1.25608049e-04 9.02480060e-01] [ 2.52363346e-03 -4.59306428e-06 9.99996816e-01 -7.66705385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:0.90, Z:-0.08 [[ 9.98727016e-01 -5.03785226e-02 -2.52048846e-03 2.35858124e+01] [ 5.03783649e-02 9.98730196e-01 -1.26034312e-04 9.01922396e-01] [ 2.52363736e-03 -1.10421552e-06 9.99996816e-01 -7.75086962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:0.90, Z:-0.08 [[ 9.98932593e-01 -4.61228985e-02 -2.52046682e-03 2.36438849e+01] [ 4.61227262e-02 9.98935773e-01 -1.26465614e-04 8.99772951e-01] [ 2.52361743e-03 1.00798223e-05 9.99996816e-01 -7.92334479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.70, Y:0.90, Z:-0.08 [[ 9.99190259e-01 -4.01556087e-02 -2.52045914e-03 2.37031454e+01] [ 4.01554171e-02 9.99193438e-01 -1.26618489e-04 9.00969842e-01] [ 2.52351068e-03 2.53058730e-05 9.99996816e-01 -7.90515787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.76, Y:0.91, Z:-0.08 [[ 9.99388440e-01 -3.48768351e-02 -2.52043750e-03 2.37605725e+01] [ 3.48766256e-02 9.99391617e-01 -1.27047716e-04 9.05689779e-01] [ 2.52333514e-03 3.90656631e-05 9.99996816e-01 -8.07446163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.82, Y:0.91, Z:-0.08 [[ 9.99451734e-01 -3.30133197e-02 -2.52042985e-03 2.38187625e+01] [ 3.30131038e-02 9.99454911e-01 -1.27199411e-04 9.10462052e-01] [ 2.52325526e-03 4.39224593e-05 9.99996816e-01 -8.18417830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.88, Y:0.91, Z:-0.08 [[ 9.99464655e-01 -3.26197795e-02 -2.52040826e-03 2.38760508e+01] [ 3.26195613e-02 9.99467832e-01 -1.27625725e-04 9.13683230e-01] [ 2.52323011e-03 4.53427897e-05 9.99996816e-01 -8.45181364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:0.92, Z:-0.09 [[ 9.99329212e-01 -3.65345536e-02 -2.52040064e-03 2.39344103e+01] [ 3.65343475e-02 9.99332390e-01 -1.27775994e-04 9.20013591e-01] [ 2.52338624e-03 3.56090905e-05 9.99996816e-01 -8.53495454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:0.92, Z:-0.08 [[ 9.99111601e-01 -4.20672764e-02 -2.52039612e-03 2.39942391e+01] [ 4.20670877e-02 9.99114780e-01 -1.27865123e-04 9.22382860e-01] [ 2.52354395e-03 2.17258029e-05 9.99996816e-01 -8.48963246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:0.92, Z:-0.08 [[ 9.98508509e-01 -5.45381150e-02 -2.52039301e-03 2.40524708e+01] [ 5.45379658e-02 9.98511689e-01 -1.27926454e-04 9.21501067e-01] [ 2.52361875e-03 -9.72145445e-06 9.99996816e-01 -8.30178410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:0.92, Z:-0.08 [[ 9.97749103e-01 -6.70102609e-02 -2.52038529e-03 2.41103975e+01] [ 6.70101511e-02 9.97752286e-01 -1.28078383e-04 9.18809035e-01] [ 2.52330275e-03 -4.11013070e-05 9.99996816e-01 -8.37078812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:0.92, Z:-0.08 [[ 9.97400409e-01 -7.20143857e-02 -2.52036087e-03 2.41691232e+01] [ 7.20142907e-02 9.97403592e-01 -1.28557143e-04 9.15467020e-01] [ 2.52307495e-03 -5.32790531e-05 9.99996816e-01 -8.36577049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:0.91, Z:-0.08 [[ 9.97477174e-01 -7.09431895e-02 -2.52033883e-03 2.42271946e+01] [ 7.09430900e-02 9.97480356e-01 -1.28987752e-04 9.09545347e-01] [ 2.52313928e-03 -5.01382858e-05 9.99996816e-01 -8.09433704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:0.91, Z:-0.08 [[ 9.98011525e-01 -6.29813061e-02 -2.52032697e-03 2.42848889e+01] [ 6.29811806e-02 9.98014706e-01 -1.29219098e-04 9.05059092e-01] [ 2.52346177e-03 -2.97710191e-05 9.99996816e-01 -8.09329102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:0.91, Z:-0.08 [[ 9.98451602e-01 -5.55702021e-02 -2.52031635e-03 2.43433788e+01] [ 5.55700524e-02 9.98454782e-01 -1.29425836e-04 9.05915189e-01] [ 2.52361413e-03 -1.08286788e-05 9.99996816e-01 -8.04781732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:0.91, Z:-0.08 [[ 9.99053034e-01 -4.34359590e-02 -2.52029175e-03 2.44010552e+01] [ 4.34357695e-02 9.99056213e-01 -1.29903168e-04 9.05941120e-01] [ 2.52355560e-03 2.03093431e-05 9.99996816e-01 -7.94371542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.46, Y:0.91, Z:-0.08 [[ 9.99466261e-01 -3.25705634e-02 -2.52026691e-03 2.44593141e+01] [ 3.25703382e-02 9.99469437e-01 -1.30383217e-04 9.10377529e-01] [ 2.52317641e-03 4.82276805e-05 9.99996816e-01 -7.82966278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:0.92, Z:-0.07 [[ 9.99627341e-01 -2.71813800e-02 -2.52024520e-03 2.45174798e+01] [ 2.71811366e-02 9.99630516e-01 -1.30801588e-04 9.16369383e-01] [ 2.52286938e-03 6.22497148e-05 9.99996816e-01 -7.30508364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:0.93, Z:-0.08 [[ 9.99720123e-01 -2.35228614e-02 -2.52022523e-03 2.45747137e+01] [ 2.35226053e-02 9.99723297e-01 -1.31185286e-04 9.25401341e-01] [ 2.52261373e-03 7.18663073e-05 9.99996816e-01 -8.05547121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:0.93, Z:-0.08 [[ 9.99681554e-01 -2.51085404e-02 -2.52021754e-03 2.46337442e+01] [ 2.51082890e-02 9.99684729e-01 -1.31332805e-04 9.30789667e-01] [ 2.52272056e-03 6.80126323e-05 9.99996816e-01 -7.82463511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:0.94, Z:-0.08 [[ 9.99539436e-01 -3.02417801e-02 -2.52019592e-03 2.46916332e+01] [ 3.02415440e-02 9.99542611e-01 -1.31746299e-04 9.38527777e-01] [ 2.52302746e-03 5.54710053e-05 9.99996816e-01 -8.12975922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:0.95, Z:-0.08 [[ 9.99353601e-01 -3.58612387e-02 -2.52019134e-03 2.47502825e+01] [ 3.58610202e-02 9.99356778e-01 -1.31833999e-04 9.48692633e-01] [ 2.52329803e-03 4.13721487e-05 9.99996816e-01 -8.18105974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:0.95, Z:-0.08 [[ 9.99290655e-01 -3.75744025e-02 -2.52016878e-03 2.48088046e+01] [ 3.75741884e-02 9.99293832e-01 -1.32263777e-04 9.54183601e-01] [ 2.52335885e-03 3.74766600e-05 9.99996816e-01 -8.22019284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.87, Y:0.96, Z:-0.09 [[ 9.99126994e-01 -4.17001029e-02 -2.52014592e-03 2.48668008e+01] [ 4.16999009e-02 9.99130172e-01 -1.32697862e-04 9.61939152e-01] [ 2.52348735e-03 2.74921806e-05 9.99996816e-01 -8.66530497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.93, Y:0.97, Z:-0.09 [[ 9.99019993e-01 -4.41893966e-02 -2.52012327e-03 2.49254720e+01] [ 4.41892014e-02 9.99023171e-01 -1.33126702e-04 9.70780174e-01] [ 2.52354433e-03 2.16340024e-05 9.99996816e-01 -8.65867886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:0.98, Z:-0.09 [[ 9.98880026e-01 -4.72476773e-02 -2.52010028e-03 2.49833242e+01] [ 4.72474907e-02 9.98883205e-01 -1.33560506e-04 9.81136610e-01] [ 2.52359627e-03 1.43425076e-05 9.99996816e-01 -8.77821766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:0.99, Z:-0.08 [[ 9.98681328e-01 -5.12762599e-02 -2.52009218e-03 2.50416689e+01] [ 5.12760857e-02 9.98684507e-01 -1.33713077e-04 9.87201293e-01] [ 2.52363333e-03 4.31629013e-06 9.99996816e-01 -8.48916265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.10, Y:1.00, Z:-0.08 [[ 9.98325548e-01 -5.77905591e-02 -2.52006890e-03 2.51004234e+01] [ 5.77904046e-02 9.98328729e-01 -1.34150437e-04 9.95409602e-01] [ 2.52360981e-03 -1.17099930e-05 9.99996816e-01 -8.20681968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:1.00, Z:-0.08 [[ 9.97776162e-01 -6.66061563e-02 -2.52004566e-03 2.51578820e+01] [ 6.66060288e-02 9.97779344e-01 -1.34585664e-04 9.98991673e-01] [ 2.52341374e-03 -3.35638668e-05 9.99996816e-01 -8.13504679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.22, Y:1.00, Z:-0.08 [[ 9.97416540e-01 -7.17906333e-02 -2.52003747e-03 2.52160109e+01] [ 7.17905220e-02 9.97419722e-01 -1.34738797e-04 9.99727829e-01] [ 2.52320806e-03 -4.65241003e-05 9.99996816e-01 -8.15346724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:1.00, Z:-0.08 [[ 9.97183862e-01 -7.49532832e-02 -2.52001177e-03 2.52748863e+01] [ 7.49531807e-02 9.97187045e-01 -1.35217810e-04 9.98136038e-01] [ 2.52305811e-03 -5.40458796e-05 9.99996816e-01 -8.24817354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:1.00, Z:-0.08 [[ 9.97386122e-01 -7.22119975e-02 -2.51998907e-03 2.53327408e+01] [ 7.22118852e-02 9.97389305e-01 -1.35639514e-04 1.00217595e+00] [ 2.52320495e-03 -4.66881928e-05 9.99996816e-01 -8.43813238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122639999999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:1.00, Z:-0.09 [[ 9.97533322e-01 -7.01492793e-02 -2.51998104e-03 2.53903805e+01] [ 7.01491601e-02 9.97536504e-01 -1.35788619e-04 1.00403668e+00] [ 2.52329855e-03 -4.13208810e-05 9.99996816e-01 -8.85196862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.45, Y:1.01, Z:-0.08 [[ 9.97893457e-01 -6.48251405e-02 -2.51995573e-03 2.54494686e+01] [ 6.48250031e-02 9.97896638e-01 -1.36256577e-04 1.00811444e+00] [ 2.52348821e-03 -2.73865912e-05 9.99996816e-01 -8.12389549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.51, Y:1.01, Z:-0.08 [[ 9.98067868e-01 -6.20820495e-02 -2.51993241e-03 2.55067647e+01] [ 6.20819023e-02 9.98071049e-01 -1.36686650e-04 1.01245971e+00] [ 2.52355737e-03 -2.00196442e-05 9.99996816e-01 -8.21231510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.56, Y:1.02, Z:-0.08 [[ 9.98263180e-01 -5.88580871e-02 -2.51992418e-03 2.55643292e+01] [ 5.88579292e-02 9.98266360e-01 -1.36838132e-04 1.01642857e+00] [ 2.52360957e-03 -1.17170501e-05 9.99996816e-01 -8.13756785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:25.62, Y:1.02, Z:-0.08 [[ 9.98261041e-01 -5.88943470e-02 -2.51991629e-03 2.56227384e+01] [ 5.88941888e-02 9.98264221e-01 -1.36983217e-04 1.02103820e+00] [ 2.52360981e-03 -1.16634169e-05 9.99996816e-01 -8.10187994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.68, Y:1.02, Z:-0.08 [[ 9.98218017e-01 -5.96191350e-02 -2.51989292e-03 2.56806412e+01] [ 5.96189781e-02 9.98221197e-01 -1.37411818e-04 1.02291027e+00] [ 2.52360290e-03 -1.30664878e-05 9.99996816e-01 -7.89767309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.74, Y:1.03, Z:-0.08 [[ 9.98204083e-01 -5.98519719e-02 -2.51988463e-03 2.57390792e+01] [ 5.98518153e-02 9.98207264e-01 -1.37563664e-04 1.02622883e+00] [ 2.52360060e-03 -1.35030588e-05 9.99996816e-01 -7.93285848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.80, Y:1.03, Z:-0.08 [[ 9.98292756e-01 -5.83542936e-02 -2.51986180e-03 2.57978361e+01] [ 5.83541312e-02 9.98295936e-01 -1.37980648e-04 1.03037719e+00] [ 2.52361956e-03 -9.29926436e-06 9.99996816e-01 -8.06254542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:1.03, Z:-0.08 [[ 9.98557319e-01 -5.36370388e-02 -2.51983846e-03 2.58543047e+01] [ 5.36368603e-02 9.98560498e-01 -1.38405625e-04 1.03299765e+00] [ 2.52363481e-03 3.04972622e-06 9.99996816e-01 -8.13745363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:1.04, Z:-0.08 [[ 9.98741534e-01 -5.00898971e-02 -2.51982686e-03 2.59119852e+01] [ 5.00897068e-02 9.98744713e-01 -1.38616402e-04 1.03849147e+00] [ 2.52360704e-03 1.22245694e-05 9.99996816e-01 -8.23721536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:1.05, Z:-0.08 [[ 9.98888393e-01 -4.70704707e-02 -2.51981866e-03 2.59700814e+01] [ 4.70702704e-02 9.98891571e-01 -1.38765321e-04 1.04559475e+00] [ 2.52355737e-03 2.00025230e-05 9.99996816e-01 -8.17949695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.03, Y:1.05, Z:-0.08 [[ 9.98844216e-01 -4.79987830e-02 -2.51979578e-03 2.60284021e+01] [ 4.79985846e-02 9.98847394e-01 -1.39179491e-04 1.05394204e+00] [ 2.52357190e-03 1.80719983e-05 9.99996816e-01 -8.36488188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.09, Y:1.06, Z:-0.08 [[ 9.98692954e-01 -5.10493330e-02 -2.51977287e-03 2.60874879e+01] [ 5.10491432e-02 9.98696133e-01 -1.39593038e-04 1.05825653e+00] [ 2.52361356e-03 1.07783371e-05 9.99996816e-01 -8.36711728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.15, Y:1.06, Z:-0.08 [[ 9.98334604e-01 -5.76339205e-02 -2.51974891e-03 2.61464202e+01] [ 5.76337507e-02 9.98337784e-01 -1.40024284e-04 1.06178281e+00] [ 2.52363069e-03 -5.43149244e-06 9.99996816e-01 -8.31811042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:1.06, Z:-0.08 [[ 9.97941320e-01 -6.40841071e-02 -2.51972478e-03 2.62042248e+01] [ 6.40839567e-02 9.97944501e-01 -1.40457210e-04 1.06398384e+00] [ 2.52354656e-03 -2.13058800e-05 9.99996816e-01 -8.41543133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:1.07, Z:-0.09 [[ 9.97733883e-01 -6.72365242e-02 -2.51971627e-03 2.62629415e+01] [ 6.72363835e-02 9.97737064e-01 -1.40609660e-04 1.06514621e+00] [ 2.52346842e-03 -2.91255872e-05 9.99996816e-01 -8.52734285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:1.07, Z:-0.09 [[ 9.97613648e-01 -6.89975356e-02 -2.51969272e-03 2.63204173e+01] [ 6.89973994e-02 9.97616830e-01 -1.41030353e-04 1.06521307e+00] [ 2.52341861e-03 -3.31584404e-05 9.99996816e-01 -8.66144056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:1.07, Z:-0.09 [[ 9.97590362e-01 -6.93334033e-02 -2.51968442e-03 2.63774520e+01] [ 6.93332678e-02 9.97593544e-01 -1.41178554e-04 1.06613601e+00] [ 2.52340930e-03 -3.38595900e-05 9.99996816e-01 -8.68044046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:1.07, Z:-0.09 [[ 9.97681790e-01 -6.80051334e-02 -2.51966623e-03 2.64348770e+01] [ 6.80049928e-02 9.97684971e-01 -1.41502391e-04 1.06560263e+00] [ 2.52345602e-03 -3.01755257e-05 9.99996816e-01 -8.84068552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:1.07, Z:-0.09 [[ 9.97767429e-01 -6.67368646e-02 -2.51964817e-03 2.64930655e+01] [ 6.67367193e-02 9.97770610e-01 -1.41823355e-04 1.06644889e+00] [ 2.52349573e-03 -2.66463285e-05 9.99996816e-01 -8.71183404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.55, Y:1.07, Z:-0.08 [[ 9.97893130e-01 -6.48301816e-02 -2.51962139e-03 2.65513849e+01] [ 6.48300289e-02 9.97896311e-01 -1.42297480e-04 1.06852962e+00] [ 2.52354606e-03 -2.13494498e-05 9.99996816e-01 -8.43275057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.61, Y:1.07, Z:-0.08 [[ 9.98013715e-01 -6.29466139e-02 -2.51959697e-03 2.66082277e+01] [ 6.29464541e-02 9.98016895e-01 -1.42728567e-04 1.07052934e+00] [ 2.52358462e-03 -1.61546281e-05 9.99996816e-01 -8.49808125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.67, Y:1.07, Z:-0.09 [[ 9.98027438e-01 -6.27286558e-02 -2.51958490e-03 2.66672419e+01] [ 6.27284949e-02 9.98030619e-01 -1.42941265e-04 1.07302550e+00] [ 2.52358939e-03 -1.53904638e-05 9.99996816e-01 -8.55982165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.73, Y:1.07, Z:-0.08 [[ 9.97966217e-01 -6.36952229e-02 -2.51956023e-03 2.67254040e+01] [ 6.36950639e-02 9.97969397e-01 -1.43374774e-04 1.07497563e+00] [ 2.52357630e-03 -1.74003694e-05 9.99996816e-01 -8.33144010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:1.08, Z:-0.08 [[ 9.97944086e-01 -6.40410192e-02 -2.51955153e-03 2.67838061e+01] [ 6.40408609e-02 9.97947267e-01 -1.43527540e-04 1.07825464e+00] [ 2.52357121e-03 -1.81217893e-05 9.99996816e-01 -8.33283794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:1.08, Z:-0.08 [[ 9.98032469e-01 -6.26485688e-02 -2.51952700e-03 2.68415482e+01] [ 6.26484050e-02 9.98035649e-01 -1.43956876e-04 1.08322276e+00] [ 2.52359646e-03 -1.41707114e-05 9.99996816e-01 -8.32271617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.90, Y:1.09, Z:-0.08 [[ 9.98101780e-01 -6.15344502e-02 -2.51951837e-03 2.69003607e+01] [ 6.15342825e-02 9.98104960e-01 -1.44107737e-04 1.08735062e+00] [ 2.52361137e-03 -1.12025663e-05 9.99996816e-01 -8.14439299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.96, Y:1.09, Z:-0.08 [[ 9.98221252e-01 -5.95649641e-02 -2.51949354e-03 2.69580007e+01] [ 5.95647890e-02 9.98224431e-01 -1.44540556e-04 1.09333835e+00] [ 2.52362956e-03 -5.78964621e-06 9.99996816e-01 -8.44622874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802639999999997 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:27.02, Y:1.10, Z:-0.09 [[ 9.98268192e-01 -5.87730345e-02 -2.51948478e-03 2.70158810e+01] [ 5.87728565e-02 9.98271371e-01 -1.44693133e-04 1.09718993e+00] [ 2.52363358e-03 -3.63476481e-06 9.99996816e-01 -8.90595279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:1.10, Z:-0.09 [[ 9.98216800e-01 -5.96395281e-02 -2.51945697e-03 2.70732934e+01] [ 5.96393516e-02 9.98219979e-01 -1.45175823e-04 1.10087177e+00] [ 2.52363050e-03 -5.34183489e-06 9.99996816e-01 -8.51664616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:1.11, Z:-0.08 [[ 9.98229067e-01 -5.94338465e-02 -2.51944838e-03 2.71309807e+01] [ 5.94336690e-02 9.98232246e-01 -1.45324586e-04 1.10736316e+00] [ 2.52363182e-03 -4.67283591e-06 9.99996816e-01 -8.42128044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:1.11, Z:-0.08 [[ 9.98478156e-01 -5.50910536e-02 -2.51942073e-03 2.71898632e+01] [ 5.50908611e-02 9.98481335e-01 -1.45802380e-04 1.11260446e+00] [ 2.52362698e-03 6.78343359e-06 9.99996816e-01 -8.19249758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:1.12, Z:-0.08 [[ 9.98687217e-01 -5.11614722e-02 -2.51939615e-03 2.72483871e+01] [ 5.11612661e-02 9.98690394e-01 -1.46225918e-04 1.11792420e+00] [ 2.52357787e-03 1.71384582e-05 9.99996816e-01 -7.67784852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:1.13, Z:-0.08 [[ 9.98821629e-01 -4.84665566e-02 -2.51937294e-03 2.73059788e+01] [ 4.84663410e-02 9.98824806e-01 -1.46624777e-04 1.12540027e+00] [ 2.52351858e-03 2.43472108e-05 9.99996816e-01 -8.05797764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:1.13, Z:-0.08 [[ 9.98676320e-01 -5.13737418e-02 -2.51936401e-03 2.73640115e+01] [ 5.13735350e-02 9.98679497e-01 -1.46778100e-04 1.13228176e+00] [ 2.52357772e-03 1.71551779e-05 9.99996816e-01 -8.01677187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.42, Y:1.14, Z:-0.08 [[ 9.98430988e-01 -5.59393946e-02 -2.51935740e-03 2.74223392e+01] [ 5.59392021e-02 9.98434166e-01 -1.46891484e-04 1.13608350e+00] [ 2.52362952e-03 5.73016691e-06 9.99996816e-01 -7.77268681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.48, Y:1.14, Z:-0.08 [[ 9.97967201e-01 -6.36798192e-02 -2.51933344e-03 2.74809225e+01] [ 6.36796502e-02 9.97970381e-01 -1.47301228e-04 1.13501630e+00] [ 2.52360027e-03 -1.34284778e-05 9.99996816e-01 -8.09450951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.54, Y:1.14, Z:-0.08 [[ 9.97450052e-01 -7.13235364e-02 -2.51930907e-03 2.75392238e+01] [ 7.13233908e-02 9.97453233e-01 -1.47716871e-04 1.13587865e+00] [ 2.52342866e-03 -3.23454646e-05 9.99996816e-01 -8.16395260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.60, Y:1.14, Z:-0.08 [[ 9.97169943e-01 -7.51382534e-02 -2.51930047e-03 2.75986560e+01] [ 7.51381195e-02 9.97173125e-01 -1.47863378e-04 1.13562334e+00] [ 2.52328892e-03 -4.18505832e-05 9.99996816e-01 -8.08604333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.66, Y:1.13, Z:-0.08 [[ 9.97032792e-01 -7.69367562e-02 -2.51927747e-03 2.76575640e+01] [ 7.69366271e-02 9.97035974e-01 -1.48254222e-04 1.13152635e+00] [ 2.52321646e-03 -4.60103904e-05 9.99996816e-01 -8.28850915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.72, Y:1.13, Z:-0.08 [[ 9.97201081e-01 -7.47238703e-02 -2.51925229e-03 2.77163862e+01] [ 7.47237331e-02 9.97204263e-01 -1.48680867e-04 1.13220588e+00] [ 2.52331913e-03 -3.99832139e-05 9.99996816e-01 -8.20420285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.78, Y:1.14, Z:-0.08 [[ 9.97593101e-01 -6.92940012e-02 -2.51922782e-03 2.77750906e+01] [ 6.92938456e-02 9.97596281e-01 -1.49094383e-04 1.13546292e+00] [ 2.52350365e-03 -2.58314554e-05 9.99996816e-01 -8.05218188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:1.14, Z:-0.08 [[ 9.97985657e-01 -6.33899192e-02 -2.51920118e-03 2.78332847e+01] [ 6.33897437e-02 9.97988837e-01 -1.49543066e-04 1.13619625e+00] [ 2.52361418e-03 -1.04496822e-05 9.99996816e-01 -8.07052840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.89, Y:1.14, Z:-0.08 [[ 9.98160985e-01 -6.05665053e-02 -2.51918723e-03 2.78915388e+01] [ 6.05663202e-02 9.98164164e-01 -1.49777745e-04 1.13868267e+00] [ 2.52363393e-03 -3.07559905e-06 9.99996816e-01 -7.91210223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:27.95, Y:1.14, Z:-0.08 [[ 9.98370984e-01 -5.70002815e-02 -2.51917844e-03 2.79502851e+01] [ 5.70000847e-02 9.98374162e-01 -1.49925426e-04 1.14265264e+00] [ 2.52362846e-03 6.08781077e-06 9.99996816e-01 -7.67631784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.01, Y:1.14, Z:-0.07 [[ 9.98284170e-01 -5.85010194e-02 -2.51915396e-03 2.80095298e+01] [ 5.85008263e-02 9.98287349e-01 -1.50335626e-04 1.14229482e+00] [ 2.52363432e-03 2.70508732e-06 9.99996816e-01 -7.49428163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:1.14, Z:-0.08 [[ 9.98078103e-01 -6.19173178e-02 -2.51912927e-03 2.80680536e+01] [ 6.19171345e-02 9.98081282e-01 -1.50748206e-04 1.14317220e+00] [ 2.52362970e-03 -5.51878233e-06 9.99996816e-01 -7.62763641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.13, Y:1.14, Z:-0.08 [[ 9.97767984e-01 -6.67285850e-02 -2.51910256e-03 2.81257050e+01] [ 6.67284159e-02 9.97771164e-01 -1.51193194e-04 1.14228377e+00] [ 2.52357680e-03 -1.72399950e-05 9.99996816e-01 -7.77549819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:1.14, Z:-0.08 [[ 9.97911702e-01 -6.45436985e-02 -2.51907280e-03 2.81836412e+01] [ 6.45435212e-02 9.97914882e-01 -1.51687399e-04 1.14341889e+00] [ 2.52361070e-03 -1.12191989e-05 9.99996816e-01 -7.88697199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.24, Y:1.15, Z:-0.08 [[ 9.98202410e-01 -5.98799030e-02 -2.51906367e-03 2.82414472e+01] [ 5.98797105e-02 9.98205589e-01 -1.51838968e-04 1.14658433e+00] [ 2.52363553e-03 7.25221105e-07 9.99996816e-01 -7.67808167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:1.15, Z:-0.08 [[ 9.98582972e-01 -5.31573440e-02 -2.51903394e-03 2.82993292e+01] [ 5.31571288e-02 9.98586149e-01 -1.52330655e-04 1.15256964e+00] [ 2.52356989e-03 1.82101868e-05 9.99996816e-01 -7.66432891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:1.16, Z:-0.07 [[ 9.98718788e-01 -5.05414428e-02 -2.51902472e-03 2.83576308e+01] [ 5.05412190e-02 9.98721964e-01 -1.52482879e-04 1.15948909e+00] [ 2.52351202e-03 2.49729362e-05 9.99996816e-01 -7.47759592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.41, Y:1.16, Z:-0.08 [[ 9.98694070e-01 -5.10275353e-02 -2.51899772e-03 2.84148726e+01] [ 5.10273119e-02 9.98697246e-01 -1.52927706e-04 1.16295580e+00] [ 2.52351961e-03 2.41903115e-05 9.99996816e-01 -7.83462775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.47, Y:1.17, Z:-0.07 [[ 9.98638209e-01 -5.21093251e-02 -2.51898108e-03 2.84737604e+01] [ 5.21091044e-02 9.98641386e-01 -1.53201306e-04 1.16706346e+00] [ 2.52354197e-03 2.17308299e-05 9.99996816e-01 -7.13401161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:1.17, Z:-0.07 [[ 9.98708781e-01 -5.07388020e-02 -2.51897318e-03 2.85319614e+01] [ 5.07385766e-02 9.98711957e-01 -1.53331013e-04 1.17471577e+00] [ 2.52350847e-03 2.53239153e-05 9.99996816e-01 -7.09198436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:1.18, Z:-0.07 [[ 9.98869855e-01 -4.74622774e-02 -2.51896539e-03 2.85896364e+01] [ 4.74620413e-02 9.98873031e-01 -1.53458924e-04 1.18425070e+00] [ 2.52341010e-03 3.37302543e-05 9.99996816e-01 -7.08902480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.65, Y:1.19, Z:-0.07 [[ 9.98962569e-01 -4.54691192e-02 -2.51895569e-03 2.86478308e+01] [ 4.54688763e-02 9.98965744e-01 -1.53617991e-04 1.19285702e+00] [ 2.52333532e-03 3.89245386e-05 9.99996816e-01 -7.34036727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.71, Y:1.20, Z:-0.07 [[ 9.98977115e-01 -4.51484037e-02 -2.51892973e-03 2.87052945e+01] [ 4.51481587e-02 9.98980290e-01 -1.54042489e-04 1.20202355e+00] [ 2.52331592e-03 4.01598817e-05 9.99996816e-01 -7.46802324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:1.22, Z:-0.07 [[ 9.98869063e-01 -4.74789391e-02 -2.51891563e-03 2.87630229e+01] [ 4.74787010e-02 9.98872239e-01 -1.54272609e-04 1.21739585e+00] [ 2.52339960e-03 3.45032945e-05 9.99996816e-01 -6.90966930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:1.22, Z:-0.07 [[ 9.98706989e-01 -5.07740573e-02 -2.51888930e-03 2.88210977e+01] [ 5.07738286e-02 9.98710165e-01 -1.54701306e-04 1.22489215e+00] [ 2.52349517e-03 2.66076221e-05 9.99996816e-01 -7.27234052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:1.23, Z:-0.08 [[ 9.98376980e-01 -5.68951672e-02 -2.51888323e-03 2.88789466e+01] [ 5.68949578e-02 9.98380158e-01 -1.54800176e-04 1.23448658e+00] [ 2.52361042e-03 1.12371773e-05 9.99996816e-01 -7.55479610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:1.24, Z:-0.08 [[ 9.98155287e-01 -6.06603464e-02 -2.51887769e-03 2.89379106e+01] [ 6.06601487e-02 9.98158466e-01 -1.54890249e-04 1.24339585e+00] [ 2.52363479e-03 1.80902613e-06 9.99996816e-01 -7.52543523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:1.25, Z:-0.07 [[ 9.97713096e-01 -6.75443126e-02 -2.51887404e-03 2.89971002e+01] [ 6.75441367e-02 9.97716275e-01 -1.54949646e-04 1.25108032e+00] [ 2.52358759e-03 -1.55398815e-05 9.99996816e-01 -7.22401848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:1.26, Z:-0.07 [[ 9.97123449e-01 -7.57527779e-02 -2.51887036e-03 2.90552919e+01] [ 7.57526280e-02 9.97126630e-01 -1.55009348e-04 1.25779893e+00] [ 2.52337510e-03 -3.62475938e-05 9.99996816e-01 -6.57136889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:1.26, Z:-0.07 [[ 9.96734928e-01 -8.07040155e-02 -2.51884465e-03 2.91141205e+01] [ 8.07038804e-02 9.96738110e-01 -1.55425960e-04 1.26073689e+00] [ 2.52317196e-03 -4.83620547e-05 9.99996816e-01 -6.84302064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.17, Y:1.26, Z:-0.07 [[ 9.96217676e-01 -8.68561883e-02 -2.51881840e-03 2.91720652e+01] [ 8.68560717e-02 9.96220858e-01 -1.55850244e-04 1.26122758e+00] [ 2.52283599e-03 -6.35139035e-05 9.99996816e-01 -7.34718749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:1.26, Z:-0.07 [[ 9.95898930e-01 -9.04376969e-02 -2.51880920e-03 2.92313202e+01] [ 9.04375914e-02 9.95902113e-01 -1.55998887e-04 1.26040181e+00] [ 2.52259558e-03 -7.24359123e-05 9.99996816e-01 -6.98223843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.29, Y:1.26, Z:-0.07 [[ 9.95848028e-01 -9.09964916e-02 -2.51878348e-03 2.92903873e+01] [ 9.09963868e-02 9.95851210e-01 -1.56413075e-04 1.26029677e+00] [ 2.52256661e-03 -7.34365432e-05 9.99996816e-01 -6.80538230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.35, Y:1.26, Z:-0.07 [[ 9.96039277e-01 -8.88786478e-02 -2.51875737e-03 2.93494413e+01] [ 8.88785352e-02 9.96042460e-01 -1.56832276e-04 1.25582877e+00] [ 2.52272833e-03 -6.76523594e-05 9.99996816e-01 -6.97394122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:1.26, Z:-0.07 [[ 9.96420340e-01 -8.44994757e-02 -2.51873102e-03 2.94075182e+01] [ 8.44993480e-02 9.96423522e-01 -1.57254346e-04 1.25617180e+00] [ 2.52301075e-03 -5.61397001e-05 9.99996816e-01 -7.00092659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:1.25, Z:-0.07 [[ 9.97308439e-01 -7.32771052e-02 -2.51872165e-03 2.94659067e+01] [ 7.32769413e-02 9.97311619e-01 -1.57404284e-04 1.25431529e+00] [ 2.52348450e-03 -2.75835981e-05 9.99996816e-01 -6.94980579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.52, Y:1.26, Z:-0.07 [[ 9.98186279e-01 -6.01482256e-02 -2.51869237e-03 2.95227023e+01] [ 6.01480187e-02 9.98189456e-01 -1.57871517e-04 1.25527166e+00] [ 2.52362786e-03 6.09082702e-06 9.99996816e-01 -6.96568249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.58, Y:1.26, Z:-0.07 [[ 9.98698466e-01 -5.09414446e-02 -2.51867957e-03 2.95813947e+01] [ 5.09412079e-02 9.98701641e-01 -1.58075439e-04 1.25805753e+00] [ 2.52346201e-03 2.95651189e-05 9.99996816e-01 -7.15746661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.64, Y:1.26, Z:-0.07 [[ 9.98852351e-01 -4.78292444e-02 -2.51865351e-03 2.96400200e+01] [ 4.78289968e-02 9.98855526e-01 -1.58489606e-04 1.26426516e+00] [ 2.52335141e-03 3.78430451e-05 9.99996816e-01 -7.06540004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.70, Y:1.27, Z:-0.07 [[ 9.98984161e-01 -4.49922510e-02 -2.51862554e-03 2.96987186e+01] [ 4.49919932e-02 9.98987335e-01 -1.58932801e-04 1.27041619e+00] [ 2.52322576e-03 4.54533673e-05 9.99996816e-01 -7.17412834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.76, Y:1.28, Z:-0.07 [[ 9.99035767e-01 -4.38314061e-02 -2.51861803e-03 2.97572013e+01] [ 4.38311444e-02 9.99038941e-01 -1.59051656e-04 1.27673052e+00] [ 2.52316895e-03 4.85043830e-05 9.99996816e-01 -7.06210364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.82, Y:1.29, Z:-0.07 [[ 9.99065971e-01 -4.31374827e-02 -2.51861069e-03 2.98166205e+01] [ 4.31372184e-02 9.99069144e-01 -1.59167766e-04 1.28857128e+00] [ 2.52313233e-03 5.03732394e-05 9.99996816e-01 -7.03672880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.88, Y:1.30, Z:-0.07 [[ 9.98949293e-01 -4.57598872e-02 -2.51860695e-03 2.98758779e+01] [ 4.57596311e-02 9.98952467e-01 -1.59226984e-04 1.29927237e+00] [ 2.52325484e-03 4.38091579e-05 9.99996816e-01 -6.76745884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:1.31, Z:-0.07 [[ 9.98780649e-01 -4.93038636e-02 -2.51860307e-03 2.99344212e+01] [ 4.93036186e-02 9.98783824e-01 -1.59288294e-04 1.30715563e+00] [ 2.52339354e-03 3.49178201e-05 9.99996816e-01 -6.91211338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.99, Y:1.32, Z:-0.06 [[ 9.98510762e-01 -5.44969244e-02 -2.51859732e-03 2.99931109e+01] [ 5.44966957e-02 9.98513938e-01 -1.59379217e-04 1.31602344e+00] [ 2.52354021e-03 2.18866315e-05 9.99996816e-01 -6.49956825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:30.05, Y:1.33, Z:-0.07 [[ 9.98282167e-01 -5.85352113e-02 -2.51859168e-03 3.00519743e+01] [ 5.85349953e-02 9.98285344e-01 -1.59468306e-04 1.32839140e+00] [ 2.52360767e-03 1.17686146e-05 9.99996816e-01 -6.58396337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.11, Y:1.34, Z:-0.07 [[ 9.98200940e-01 -5.99044254e-02 -2.51858789e-03 3.01113633e+01] [ 5.99042136e-02 9.98204117e-01 -1.59528148e-04 1.33738353e+00] [ 2.52362124e-03 8.36712034e-06 9.99996816e-01 -6.56076384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.17, Y:1.34, Z:-0.07 [[ 9.98183404e-01 -6.01959207e-02 -2.51858409e-03 3.01701529e+01] [ 6.01957097e-02 9.98186581e-01 -1.59588027e-04 1.34437195e+00] [ 2.52362340e-03 7.69016298e-06 9.99996816e-01 -6.82014108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.23, Y:1.36, Z:-0.07 [[ 9.98222788e-01 -5.95392464e-02 -2.51857845e-03 3.02293799e+01] [ 5.95390330e-02 9.98225965e-01 -1.59676986e-04 1.35581158e+00] [ 2.52361746e-03 9.43948077e-06 9.99996816e-01 -6.78821534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:1.36, Z:-0.07 [[ 9.98264111e-01 -5.88423487e-02 -2.51857470e-03 3.02878397e+01] [ 5.88421329e-02 9.98267288e-01 -1.59736183e-04 1.36318875e+00] [ 2.52360999e-03 1.12605912e-05 9.99996816e-01 -6.84785364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:1.37, Z:-0.07 [[ 9.98262912e-01 -5.88626811e-02 -2.51856912e-03 3.03469822e+01] [ 5.88624652e-02 9.98266089e-01 -1.59824192e-04 1.36918805e+00] [ 2.52360982e-03 1.12973765e-05 9.99996816e-01 -6.55035667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:1.38, Z:-0.07 [[ 9.98149207e-01 -6.07603281e-02 -2.51856524e-03 3.04064766e+01] [ 6.07601181e-02 9.98152384e-01 -1.59885309e-04 1.37686368e+00] [ 2.52362658e-03 6.56107303e-06 9.99996816e-01 -6.70509585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:1.39, Z:-0.07 [[ 9.97859358e-01 -6.53479782e-02 -2.51856332e-03 3.04667653e+01] [ 6.53477827e-02 9.97862536e-01 -1.59915550e-04 1.38528725e+00] [ 2.52363014e-03 -5.00930038e-06 9.99996816e-01 -6.65129230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:1.39, Z:-0.07 [[ 9.97625519e-01 -6.88257324e-02 -2.51856332e-03 3.05264242e+01] [ 6.88255480e-02 9.97628698e-01 -1.59915550e-04 1.38979084e+00] [ 2.52359734e-03 -1.38056670e-05 9.99996816e-01 -6.53543643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:1.39, Z:-0.06 [[ 9.97407040e-01 -7.19225566e-02 -2.51855950e-03 3.05855174e+01] [ 7.19223819e-02 9.97410219e-01 -1.59975646e-04 1.39379553e+00] [ 2.52354284e-03 -2.15799620e-05 9.99996816e-01 -6.36470665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:1.39, Z:-0.06 [[ 9.97350372e-01 -7.27041455e-02 -2.51855914e-03 3.06461972e+01] [ 7.27039733e-02 9.97353551e-01 -1.59981339e-04 1.39495349e+00] [ 2.52352521e-03 -2.35518083e-05 9.99996816e-01 -6.39847200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:1.40, Z:-0.06 [[ 9.97435828e-01 -7.15222079e-02 -2.51855914e-03 3.07058177e+01] [ 7.15220320e-02 9.97439007e-01 -1.59981339e-04 1.39885115e+00] [ 2.52355134e-03 -2.05613479e-05 9.99996816e-01 -6.30529594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.76, Y:1.40, Z:-0.06 [[ 9.97616121e-01 -6.89618134e-02 -2.51855921e-03 3.07649666e+01] [ 6.89616293e-02 9.97619300e-01 -1.59980136e-04 1.40097288e+00] [ 2.52359580e-03 -1.40851838e-05 9.99996816e-01 -6.15210286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:1.40, Z:-0.06 [[ 9.97678864e-01 -6.80480856e-02 -2.51855358e-03 3.08250739e+01] [ 6.80478983e-02 9.97682042e-01 -1.60068746e-04 1.40298169e+00] [ 2.52360805e-03 -1.16850737e-05 9.99996816e-01 -6.27581246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:1.40, Z:-0.06 [[ 9.97562132e-01 -6.97384401e-02 -2.51854979e-03 3.08852265e+01] [ 6.97382581e-02 9.97565311e-01 -1.60128370e-04 1.40327965e+00] [ 2.52358501e-03 -1.59012774e-05 9.99996816e-01 -6.34640915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.94, Y:1.40, Z:-0.06 [[ 9.97286824e-01 -7.35706936e-02 -2.51854601e-03 3.09445810e+01] [ 7.35705236e-02 9.97290004e-01 -1.60187849e-04 1.40037385e+00] [ 2.52350589e-03 -2.55375173e-05 9.99996816e-01 -6.32294272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882639999999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:1.40, Z:-0.07 [[ 9.97159395e-01 -7.52781316e-02 -2.51854035e-03 3.10034461e+01] [ 7.52779669e-02 9.97162576e-01 -1.60276752e-04 1.40199163e+00] [ 2.52345952e-03 -2.97691281e-05 9.99996816e-01 -6.68786658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.06, Y:1.40, Z:-0.06 [[ 9.97247263e-01 -7.41050217e-02 -2.51851399e-03 3.10626938e+01] [ 7.41048522e-02 9.97250442e-01 -1.60689908e-04 1.39929273e+00] [ 2.52349712e-03 -2.63865357e-05 9.99996816e-01 -6.48009480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.12, Y:1.40, Z:-0.07 [[ 9.97572164e-01 -6.95947872e-02 -2.51848793e-03 3.11206971e+01] [ 6.95946023e-02 9.97575343e-01 -1.61097286e-04 1.39949422e+00] [ 2.52359299e-03 -1.45669979e-05 9.99996816e-01 -6.64523818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.18, Y:1.40, Z:-0.06 [[ 9.97837164e-01 -6.56860083e-02 -2.51847868e-03 3.11781401e+01] [ 6.56858105e-02 9.97840342e-01 -1.61241741e-04 1.40274611e+00] [ 2.52363096e-03 -4.53531241e-06 9.99996816e-01 -6.46531673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.24, Y:1.40, Z:-0.06 [[ 9.97833751e-01 -6.57378256e-02 -2.51846478e-03 3.12371594e+01] [ 6.57376275e-02 9.97836930e-01 -1.61458591e-04 1.40425483e+00] [ 2.52363110e-03 -4.44906770e-06 9.99996816e-01 -6.42201939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.30, Y:1.40, Z:-0.07 [[ 9.97627894e-01 -6.87912911e-02 -2.51843920e-03 3.12955831e+01] [ 6.87911017e-02 9.97631073e-01 -1.61856592e-04 1.40223644e+00] [ 2.52360753e-03 -1.17735564e-05 9.99996816e-01 -6.59481502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:1.40, Z:-0.07 [[ 9.97447171e-01 -7.13638514e-02 -2.51843015e-03 3.13529320e+01] [ 7.13636698e-02 9.97450350e-01 -1.61997223e-04 1.40435456e+00] [ 2.52356978e-03 -1.81407464e-05 9.99996816e-01 -6.54195179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:1.40, Z:-0.06 [[ 9.97245061e-01 -7.41346402e-02 -2.51842126e-03 3.14122974e+01] [ 7.41344671e-02 9.97248241e-01 -1.62135370e-04 1.40192372e+00] [ 2.52351102e-03 -2.50131216e-05 9.99996816e-01 -6.25108923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:1.40, Z:-0.06 [[ 9.97056478e-01 -7.66292230e-02 -2.51839549e-03 3.14708553e+01] [ 7.66290569e-02 9.97059658e-01 -1.62534626e-04 1.39620810e+00] [ 2.52344545e-03 -3.09260697e-05 9.99996816e-01 -6.31494875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:1.40, Z:-0.06 [[ 9.97026079e-01 -7.70237291e-02 -2.51836618e-03 3.15294514e+01] [ 7.70235631e-02 9.97029259e-01 -1.62987608e-04 1.39587842e+00] [ 2.52343868e-03 -3.14706399e-05 9.99996816e-01 -6.30399524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:1.39, Z:-0.06 [[ 9.97107522e-01 -7.59621401e-02 -2.51833965e-03 3.15890786e+01] [ 7.59619696e-02 9.97110702e-01 -1.63396405e-04 1.39228293e+00] [ 2.52347536e-03 -2.83742554e-05 9.99996816e-01 -6.36350208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:1.39, Z:-0.06 [[ 9.97203129e-01 -7.46965645e-02 -2.51831236e-03 3.16475977e+01] [ 7.46963889e-02 9.97206309e-01 -1.63815913e-04 1.38638860e+00] [ 2.52351346e-03 -2.47510986e-05 9.99996816e-01 -6.22131127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:1.38, Z:-0.06 [[ 9.97276671e-01 -7.37082031e-02 -2.51830268e-03 3.17058643e+01] [ 7.37080240e-02 9.97279851e-01 -1.63964660e-04 1.38442922e+00] [ 2.52353806e-03 -2.21009841e-05 9.99996816e-01 -5.95991883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.76, Y:1.38, Z:-0.06 [[ 9.97460292e-01 -7.11802214e-02 -2.51827064e-03 3.17641755e+01] [ 7.11800331e-02 9.97463471e-01 -1.64455283e-04 1.38034270e+00] [ 2.52358894e-03 -1.52129727e-05 9.99996816e-01 -6.17708127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:1.38, Z:-0.06 [[ 9.97654383e-01 -6.84060634e-02 -2.51826074e-03 3.18231791e+01] [ 6.84058658e-02 9.97657562e-01 -1.64606665e-04 1.37526539e+00] [ 2.52362197e-03 -8.04324520e-06 9.99996816e-01 -6.32985820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.88, Y:1.37, Z:-0.06 [[ 9.97791991e-01 -6.63686722e-02 -2.51823329e-03 3.18817479e+01] [ 6.63684670e-02 9.97795169e-01 -1.65025525e-04 1.37482088e+00] [ 2.52363354e-03 -2.47013651e-06 9.99996816e-01 -6.17388063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.94, Y:1.37, Z:-0.06 [[ 9.98032178e-01 -6.26532596e-02 -2.51820063e-03 3.19396683e+01] [ 6.26530414e-02 9.98035355e-01 -1.65522522e-04 1.37144243e+00] [ 2.52362378e-03 7.42387524e-06 9.99996816e-01 -6.15137709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.00, Y:1.37, Z:-0.06 [[ 9.98131121e-01 -6.10567295e-02 -2.51819056e-03 3.19979613e+01] [ 6.10565058e-02 9.98134297e-01 -1.65675544e-04 1.37023602e+00] [ 2.52360797e-03 1.16139997e-05 9.99996816e-01 -6.19378475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.06, Y:1.37, Z:-0.06 [[ 9.98152841e-01 -6.07006138e-02 -2.51817629e-03 3.20561567e+01] [ 6.07003885e-02 9.98156018e-01 -1.65892077e-04 1.36865783e+00] [ 2.52360257e-03 1.27313685e-05 9.99996816e-01 -6.06405703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.11, Y:1.37, Z:-0.06 [[ 9.98110692e-01 -6.13897877e-02 -2.51814372e-03 3.21132495e+01] [ 6.13895633e-02 9.98113868e-01 -1.66385052e-04 1.36621918e+00] [ 2.52360851e-03 1.14829564e-05 9.99996816e-01 -6.23896604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.17, Y:1.36, Z:-0.06 [[ 9.98007165e-01 -6.30504357e-02 -2.51812961e-03 3.21706649e+01] [ 6.30502161e-02 9.98010342e-01 -1.66598293e-04 1.36312263e+00] [ 2.52362349e-03 7.49767375e-06 9.99996816e-01 -6.27366067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.23, Y:1.37, Z:-0.06 [[ 9.97983313e-01 -6.34268575e-02 -2.51811588e-03 3.22285378e+01] [ 6.34266385e-02 9.97986490e-01 -1.66805650e-04 1.36519084e+00] [ 2.52362558e-03 6.75362995e-06 9.99996816e-01 -6.01340989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.29, Y:1.36, Z:-0.06 [[ 9.98075055e-01 -6.19664695e-02 -2.51808292e-03 3.22867855e+01] [ 6.19662447e-02 9.98078232e-01 -1.67301775e-04 1.36462125e+00] [ 2.52361084e-03 1.09435866e-05 9.99996816e-01 -6.13874167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.34, Y:1.37, Z:-0.06 [[ 9.98333153e-01 -5.76591184e-02 -2.51807272e-03 3.23447444e+01] [ 5.76588794e-02 9.98336329e-01 -1.67455074e-04 1.36607143e+00] [ 2.52353879e-03 2.19867009e-05 9.99996816e-01 -5.97307008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.40, Y:1.37, Z:-0.06 [[ 9.98561618e-01 -5.35570276e-02 -2.51804109e-03 3.24037076e+01] [ 5.35567744e-02 9.98564792e-01 -1.67929329e-04 1.36688831e+00] [ 2.52342098e-03 3.28296233e-05 9.99996816e-01 -6.14656894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.46, Y:1.37, Z:-0.06 [[ 9.98573155e-01 -5.33414780e-02 -2.51801332e-03 3.24609688e+01] [ 5.33412230e-02 9.98576329e-01 -1.68344758e-04 1.37229881e+00] [ 2.52340825e-03 3.37906458e-05 9.99996816e-01 -5.97813456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.52, Y:1.38, Z:-0.06 [[ 9.98289619e-01 -5.84080160e-02 -2.51798052e-03 3.25190172e+01] [ 5.84077759e-02 9.98292794e-01 -1.68833959e-04 1.37505595e+00] [ 2.52354306e-03 2.14755467e-05 9.99996816e-01 -5.59396971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.58, Y:1.38, Z:-0.05 [[ 9.98017266e-01 -6.28903533e-02 -2.51797039e-03 3.25773578e+01] [ 6.28901271e-02 9.98020442e-01 -1.68984812e-04 1.37860013e+00] [ 2.52361344e-03 1.02942824e-05 9.99996816e-01 -5.20964166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:1.38, Z:-0.05 [[ 9.97743348e-01 -6.70959859e-02 -2.51794111e-03 3.26346049e+01] [ 6.70957720e-02 9.97746525e-01 -1.69420086e-04 1.37949243e+00] [ 2.52363440e-03 9.45614627e-08 9.99996816e-01 -5.38114830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.69, Y:1.38, Z:-0.06 [[ 9.97638577e-01 -6.86362133e-02 -2.51792656e-03 3.26932435e+01] [ 6.86360038e-02 9.97641754e-01 -1.69636032e-04 1.38023304e+00] [ 2.52363184e-03 -3.58496724e-06 9.99996816e-01 -5.78247207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.75, Y:1.38, Z:-0.06 [[ 9.97663899e-01 -6.82671600e-02 -2.51789857e-03 3.27515974e+01] [ 6.82669482e-02 9.97667076e-01 -1.70050446e-04 1.38110529e+00] [ 2.52363336e-03 -2.23606005e-06 9.99996816e-01 -5.73390337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:1.38, Z:-0.06 [[ 9.97847261e-01 -6.55324589e-02 -2.51786502e-03 3.28100286e+01] [ 6.55322372e-02 9.97850438e-01 -1.70545806e-04 1.37971932e+00] [ 2.52362900e-03 5.17733781e-06 9.99996816e-01 -6.04008819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:1.38, Z:-0.06 [[ 9.98241493e-01 -5.92248427e-02 -2.51785466e-03 3.28680679e+01] [ 5.92246006e-02 9.98244668e-01 -1.70698513e-04 1.38132882e+00] [ 2.52354459e-03 2.12794016e-05 9.99996816e-01 -6.00738783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:1.38, Z:-0.06 [[ 9.98542688e-01 -5.39088177e-02 -2.51782168e-03 3.29253106e+01] [ 5.39085574e-02 9.98545862e-01 -1.71183633e-04 1.38371717e+00] [ 2.52338873e-03 3.52020305e-05 9.99996816e-01 -6.00024936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.98, Y:1.39, Z:-0.06 [[ 9.98907639e-01 -4.66603577e-02 -2.51779835e-03 3.29837697e+01] [ 4.66600735e-02 9.98910811e-01 -1.71526053e-04 1.38835780e+00] [ 2.52305946e-03 5.38580288e-05 9.99996816e-01 -6.01589037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.04, Y:1.39, Z:-0.06 [[ 9.99057104e-01 -4.33423904e-02 -2.51776868e-03 3.30405092e+01] [ 4.33420946e-02 9.99060275e-01 -1.71960545e-04 1.39426046e+00] [ 2.52285585e-03 6.26730365e-05 9.99996816e-01 -6.25281971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.10, Y:1.40, Z:-0.06 [[ 9.99154074e-01 -4.10462925e-02 -2.51775400e-03 3.30989068e+01] [ 4.10459889e-02 9.99157243e-01 -1.72175142e-04 1.40153466e+00] [ 2.52269930e-03 6.86857922e-05 9.99996816e-01 -6.02824838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.16, Y:1.41, Z:-0.06 [[ 9.99115511e-01 -4.19744772e-02 -2.51772574e-03 3.31572074e+01] [ 4.19741754e-02 9.99118681e-01 -1.72587492e-04 1.40781581e+00] [ 2.52275109e-03 6.67553790e-05 9.99996816e-01 -5.87664082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.22, Y:1.41, Z:-0.06 [[ 9.98975515e-01 -4.51838642e-02 -2.51769742e-03 3.32158662e+01] [ 4.51835716e-02 9.98978686e-01 -1.72999531e-04 1.41396040e+00] [ 2.52294285e-03 5.90637333e-05 9.99996816e-01 -5.76110244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:1.42, Z:-0.05 [[ 9.98640706e-01 -5.20615243e-02 -2.51766928e-03 3.32744712e+01] [ 5.20612526e-02 9.98643878e-01 -1.73408159e-04 1.42150716e+00] [ 2.52328291e-03 4.20994298e-05 9.99996816e-01 -5.33103311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:1.42, Z:-0.05 [[ 9.98289339e-01 -5.84128235e-02 -2.51764013e-03 3.33312918e+01] [ 5.84125709e-02 9.98292513e-01 -1.73830368e-04 1.42493936e+00] [ 2.52349521e-03 2.64711711e-05 9.99996816e-01 -5.40257064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342639999999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:1.43, Z:-0.06 [[ 9.98053151e-01 -6.23182921e-02 -2.51762563e-03 3.33891373e+01] [ 6.23180513e-02 9.98056326e-01 -1.74040136e-04 1.43189399e+00] [ 2.52357807e-03 1.68077835e-05 9.99996816e-01 -5.53607596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.45, Y:1.44, Z:-0.06 [[ 9.97869454e-01 -6.51936711e-02 -2.51759166e-03 3.34469484e+01] [ 6.51934383e-02 9.97872630e-01 -1.74530088e-04 1.43532559e+00] [ 2.52361407e-03 1.00277868e-05 9.99996816e-01 -5.61296636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.50, Y:1.44, Z:-0.05 [[ 9.97837529e-01 -6.56804884e-02 -2.51758113e-03 3.35045718e+01] [ 6.56802567e-02 9.97840705e-01 -1.74681891e-04 1.44179923e+00] [ 2.52361812e-03 8.94877140e-06 9.99996816e-01 -5.36926447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.56, Y:1.44, Z:-0.06 [[ 9.97928567e-01 -6.42824799e-02 -2.51754570e-03 3.35622736e+01] [ 6.42822425e-02 9.97931742e-01 -1.75191059e-04 1.44497931e+00] [ 2.52360048e-03 1.29946793e-05 9.99996816e-01 -5.68080933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58264 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:33.62, Y:1.45, Z:-0.06 [[ 9.98039415e-01 -6.25378934e-02 -2.51752983e-03 3.36209105e+01] [ 6.25376498e-02 9.98042590e-01 -1.75418826e-04 1.45043672e+00] [ 2.52357231e-03 1.76345038e-05 9.99996816e-01 -5.61304965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.68, Y:1.45, Z:-0.05 [[ 9.98065296e-01 -6.21234886e-02 -2.51750084e-03 3.36797789e+01] [ 6.21232427e-02 9.98068470e-01 -1.75833859e-04 1.45293155e+00] [ 2.52356162e-03 1.90983565e-05 9.99996816e-01 -5.08775286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.74, Y:1.46, Z:-0.05 [[ 9.98187392e-01 -6.01297992e-02 -2.51747183e-03 3.37379611e+01] [ 6.01295459e-02 9.98190566e-01 -1.76248141e-04 1.45959674e+00] [ 2.52351440e-03 2.45542341e-05 9.99996816e-01 -5.39711450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:1.47, Z:-0.06 [[ 9.98472621e-01 -5.51913656e-02 -2.51744303e-03 3.37959605e+01] [ 5.51910956e-02 9.98475794e-01 -1.76658550e-04 1.46693577e+00] [ 2.52335596e-03 3.74482864e-05 9.99996816e-01 -5.50267451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.85, Y:1.47, Z:-0.06 [[ 9.98624067e-01 -5.23797245e-02 -2.51740986e-03 3.38541511e+01] [ 5.23794444e-02 9.98627239e-01 -1.77129986e-04 1.47266022e+00] [ 2.52323208e-03 4.50257372e-05 9.99996816e-01 -5.52735576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.91, Y:1.48, Z:-0.06 [[ 9.98664446e-01 -5.16041379e-02 -2.51737989e-03 3.39130056e+01] [ 5.16038542e-02 9.98667618e-01 -1.77555004e-04 1.48032695e+00] [ 2.52318835e-03 4.74113649e-05 9.99996816e-01 -5.62074942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.97, Y:1.49, Z:-0.06 [[ 9.98329599e-01 -5.77206525e-02 -2.51735001e-03 3.39706273e+01] [ 5.77203872e-02 9.98332773e-01 -1.77977552e-04 1.48554013e+00] [ 2.52342600e-03 3.23778404e-05 9.99996816e-01 -5.62694254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:34.03, Y:1.49, Z:-0.06 [[ 9.98130178e-01 -6.10721727e-02 -2.51733948e-03 3.40288851e+01] [ 6.10719177e-02 9.98133352e-01 -1.78126366e-04 1.48953089e+00] [ 2.52351906e-03 2.40545518e-05 9.99996816e-01 -5.50059919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062639999999995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:34.09, Y:1.49, Z:-0.05 [[ 9.97490834e-01 -7.07509728e-02 -2.51730549e-03 3.40868778e+01] [ 7.07507474e-02 9.97494010e-01 -1.78605414e-04 1.48836258e+00] [ 2.52363366e-03 5.60187414e-08 9.99996816e-01 -5.40206682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:1.48, Z:-0.05 [[ 9.97114728e-01 -7.58675353e-02 -2.51727032e-03 3.41457174e+01] [ 7.58673249e-02 9.97117905e-01 -1.79099728e-04 1.48366656e+00] [ 2.52360317e-03 -1.23955886e-05 9.99996816e-01 -4.96883407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.20, Y:1.48, Z:-0.05 [[ 9.97113212e-01 -7.58874616e-02 -2.51723892e-03 3.42025965e+01] [ 7.58872502e-02 9.97116389e-01 -1.79540072e-04 1.48327833e+00] [ 2.52360502e-03 -1.20045617e-05 9.99996816e-01 -4.93803987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.26, Y:1.48, Z:-0.05 [[ 9.97406763e-01 -7.19264436e-02 -2.51722346e-03 3.42609239e+01] [ 7.19262190e-02 9.97409939e-01 -1.79756435e-04 1.48245555e+00] [ 2.52363294e-03 -1.76408211e-06 9.99996816e-01 -4.99820879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.32, Y:1.48, Z:-0.05 [[ 9.97656323e-01 -6.83778055e-02 -2.51718757e-03 3.43192757e+01] [ 6.83775684e-02 9.97659499e-01 -1.80257657e-04 1.48223259e+00] [ 2.52362171e-03 7.71602631e-06 9.99996816e-01 -5.05401988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.38, Y:1.48, Z:-0.06 [[ 9.98001190e-01 -6.31449851e-02 -2.51715177e-03 3.43773973e+01] [ 6.31447300e-02 9.98004364e-01 -1.80756241e-04 1.48318308e+00] [ 2.52354230e-03 2.14500749e-05 9.99996816e-01 -5.54704076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:1.49, Z:-0.06 [[ 9.98300421e-01 -5.82231401e-02 -2.51714073e-03 3.44360423e+01] [ 5.82228689e-02 9.98303594e-01 -1.80909769e-04 1.48693926e+00] [ 2.52340378e-03 3.40471433e-05 9.99996816e-01 -5.51406227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482639999999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:34.49, Y:1.49, Z:-0.06 [[ 9.98553337e-01 -5.37112367e-02 -2.51711016e-03 3.44935999e+01] [ 5.37109502e-02 9.98556509e-01 -1.81334220e-04 1.49256622e+00] [ 2.52321641e-03 4.58755128e-05 9.99996816e-01 -5.66422959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.55, Y:1.50, Z:-0.05 [[ 9.98613446e-01 -5.25818442e-02 -2.51709940e-03 3.45519401e+01] [ 5.25815537e-02 9.98616617e-01 -1.81483477e-04 1.49680944e+00] [ 2.52316002e-03 4.88788428e-05 9.99996816e-01 -5.29974432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.61, Y:1.50, Z:-0.05 [[ 9.98509671e-01 -5.45169888e-02 -2.51706964e-03 3.46097517e+01] [ 5.45167034e-02 9.98512842e-01 -1.81895290e-04 1.50079562e+00] [ 2.52324274e-03 4.44018673e-05 9.99996816e-01 -5.25699049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.67, Y:1.51, Z:-0.05 [[ 9.98231646e-01 -5.93906151e-02 -2.51703516e-03 3.46687569e+01] [ 5.93903440e-02 9.98234819e-01 -1.82371145e-04 1.50531582e+00] [ 2.52342327e-03 3.25610646e-05 9.99996816e-01 -5.11473797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:34.73, Y:1.51, Z:-0.05 [[ 9.97963429e-01 -6.37389927e-02 -2.51700484e-03 3.47272967e+01] [ 6.37387344e-02 9.97966603e-01 -1.82788601e-04 1.50910295e+00] [ 2.52353753e-03 2.19856355e-05 9.99996816e-01 -5.09254060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.78, Y:1.51, Z:-0.05 [[ 9.97602305e-01 -6.91614501e-02 -2.51697379e-03 3.47842280e+01] [ 6.91612080e-02 9.97605480e-01 -1.83215122e-04 1.51246217e+00] [ 2.52361827e-03 8.69887961e-06 9.99996816e-01 -5.07953115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.84, Y:1.52, Z:-0.05 [[ 9.97449443e-01 -7.13321378e-02 -2.51695837e-03 3.48416928e+01] [ 7.13319021e-02 9.97452618e-01 -1.83426759e-04 1.51598807e+00] [ 2.52363094e-03 3.41949017e-06 9.99996816e-01 -4.91016294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:1.52, Z:-0.05 [[ 9.97355156e-01 -7.26385389e-02 -2.51692225e-03 3.48999731e+01] [ 7.26383060e-02 9.97358332e-01 -1.83921004e-04 1.52126540e+00] [ 2.52363313e-03 6.09592758e-07 9.99996816e-01 -5.01992891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:1.53, Z:-0.05 [[ 9.97282105e-01 -7.36346938e-02 -2.51689022e-03 3.49576597e+01] [ 7.36344630e-02 9.97285281e-01 -1.84358364e-04 1.52563906e+00] [ 2.52363274e-03 -1.47256224e-06 9.99996816e-01 -5.44607796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:1.53, Z:-0.05 [[ 9.97169768e-01 -7.51406646e-02 -2.51687892e-03 3.50151588e+01] [ 7.51404383e-02 9.97172944e-01 -1.84512539e-04 1.52856782e+00] [ 2.52362795e-03 -5.12905868e-06 9.99996816e-01 -5.12905684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.07, Y:1.53, Z:-0.05 [[ 9.96888665e-01 -7.87823280e-02 -2.51684217e-03 3.50739295e+01] [ 7.87821120e-02 9.96891842e-01 -1.85012480e-04 1.52930623e+00] [ 2.52359514e-03 -1.38452966e-05 9.99996816e-01 -4.71654922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:35.13, Y:1.53, Z:-0.05 [[ 9.96445636e-01 -8.42007085e-02 -2.51680909e-03 3.51309551e+01] [ 8.42005087e-02 9.96448815e-01 -1.85461318e-04 1.52904820e+00] [ 2.52348741e-03 -2.71144843e-05 9.99996816e-01 -5.18758203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.19, Y:1.53, Z:-0.05 [[ 9.96036920e-01 -8.89051169e-02 -2.51679278e-03 3.51883293e+01] [ 8.89049314e-02 9.96040099e-01 -1.85682415e-04 1.52929619e+00] [ 2.52333465e-03 -3.88087486e-05 9.99996816e-01 -5.14029197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.25, Y:1.53, Z:-0.05 [[ 9.95445361e-01 -9.53005725e-02 -2.51676910e-03 3.52465151e+01] [ 9.53004067e-02 9.95448541e-01 -1.86002791e-04 1.52596842e+00] [ 2.52304030e-03 -5.46935036e-05 9.99996816e-01 -4.58016844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.30, Y:1.52, Z:-0.04 [[ 9.95228726e-01 -9.75369149e-02 -2.51673163e-03 3.53045410e+01] [ 9.75367549e-02 9.95231906e-01 -1.86508465e-04 1.52397425e+00] [ 2.52292307e-03 -5.98552535e-05 9.99996816e-01 -4.46285997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.36, Y:1.51, Z:-0.05 [[ 9.95316522e-01 -9.66368818e-02 -2.51671439e-03 3.53631168e+01] [ 9.66367184e-02 9.95319702e-01 -1.86740818e-04 1.51403662e+00] [ 2.52298146e-03 -5.73407983e-05 9.99996816e-01 -4.50709607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.42, Y:1.51, Z:-0.04 [[ 9.95860986e-01 -9.08546200e-02 -2.51670353e-03 3.54214869e+01] [ 9.08544378e-02 9.95864166e-01 -1.86887004e-04 1.50961471e+00] [ 2.52327441e-03 -4.25402083e-05 9.99996816e-01 -4.31516874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50264 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:35.48, Y:1.51, Z:-0.05 [[ 9.96366062e-01 -8.51371670e-02 -2.51666717e-03 3.54811294e+01] [ 8.51369653e-02 9.96369240e-01 -1.87375414e-04 1.50758489e+00] [ 2.52348236e-03 -2.75669020e-05 9.99996816e-01 -4.74973489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.54, Y:1.50, Z:-0.05 [[ 9.97010426e-01 -7.72261453e-02 -2.51663714e-03 3.55400866e+01] [ 7.72259173e-02 9.97013602e-01 -1.87777842e-04 1.49998964e+00] [ 2.52362282e-03 -7.13314514e-06 9.99996816e-01 -5.20880184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:35.60, Y:1.49, Z:-0.05 [[ 9.97593980e-01 -6.92814395e-02 -2.51660500e-03 3.55996634e+01] [ 6.92811852e-02 9.97597154e-01 -1.88207614e-04 1.49451473e+00] [ 2.52359728e-03 1.34014061e-05 9.99996816e-01 -4.91171107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:1.49, Z:-0.05 [[ 9.97885477e-01 -6.49479931e-02 -2.51657309e-03 3.56573012e+01] [ 6.49477239e-02 9.97888650e-01 -1.88633280e-04 1.49357236e+00] [ 2.52351108e-03 2.47887165e-05 9.99996816e-01 -4.98393841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:1.49, Z:-0.05 [[ 9.98182274e-01 -6.02147445e-02 -2.51656187e-03 3.57166969e+01] [ 6.02144599e-02 9.98185445e-01 -1.88782859e-04 1.49102938e+00] [ 2.52336294e-03 3.69062898e-05 9.99996816e-01 -4.66398276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.77, Y:1.49, Z:-0.05 [[ 9.98347301e-01 -5.74136990e-02 -2.51653088e-03 3.57745441e+01] [ 5.74134044e-02 9.98350472e-01 -1.89195075e-04 1.49124594e+00] [ 2.52324218e-03 4.43997870e-05 9.99996816e-01 -4.71087105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:1.49, Z:-0.04 [[ 9.98576213e-01 -5.32842702e-02 -2.51649560e-03 3.58330087e+01] [ 5.32839614e-02 9.98579383e-01 -1.89663221e-04 1.49142270e+00] [ 2.52302669e-03 5.53043267e-05 9.99996816e-01 -4.36228057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:1.50, Z:-0.04 [[ 9.98798704e-01 -4.89368617e-02 -2.51648430e-03 3.58917972e+01] [ 4.89365387e-02 9.98801872e-01 -1.89813067e-04 1.49565329e+00] [ 2.52275808e-03 6.64370148e-05 9.99996816e-01 -4.21227284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:1.50, Z:-0.04 [[ 9.98851314e-01 -4.78510118e-02 -2.51645308e-03 3.59499185e+01] [ 4.78506843e-02 9.98854482e-01 -1.90226070e-04 1.50003212e+00] [ 2.52267294e-03 6.95935580e-05 9.99996816e-01 -4.17612526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:1.51, Z:-0.04 [[ 9.98941986e-01 -4.59192401e-02 -2.51641686e-03 3.60080933e+01] [ 4.59189053e-02 9.98945153e-01 -1.90703886e-04 1.50633128e+00] [ 2.52251941e-03 7.49510104e-05 9.99996816e-01 -4.18033904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:1.51, Z:-0.04 [[ 9.98920597e-01 -4.63822044e-02 -2.51637992e-03 3.60653431e+01] [ 4.63818698e-02 9.98923764e-01 -1.91190070e-04 1.51246769e+00] [ 2.52253952e-03 7.42692924e-05 9.99996816e-01 -4.26105670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:1.52, Z:-0.04 [[ 9.98853826e-01 -4.77985592e-02 -2.51636857e-03 3.61227882e+01] [ 4.77982287e-02 9.98856993e-01 -1.91339418e-04 1.51950345e+00] [ 2.52263809e-03 7.08421491e-05 9.99996816e-01 -4.15159116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.18, Y:1.53, Z:-0.04 [[ 9.98689596e-01 -5.11151446e-02 -2.51633203e-03 3.61811196e+01] [ 5.11148234e-02 9.98692765e-01 -1.91818797e-04 1.52944968e+00] [ 2.52284743e-03 6.29455694e-05 9.99996816e-01 -3.97947650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.24, Y:1.54, Z:-0.04 [[ 9.98475885e-01 -5.51323477e-02 -2.51630013e-03 3.62384078e+01] [ 5.51320382e-02 9.98479054e-01 -1.92236260e-04 1.53931909e+00] [ 2.52307141e-03 5.32145150e-05 9.99996816e-01 -3.78560734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.30, Y:1.55, Z:-0.04 [[ 9.98322094e-01 -5.78503740e-02 -2.51628885e-03 3.62963718e+01] [ 5.78500728e-02 9.98325264e-01 -1.92383823e-04 1.54772992e+00] [ 2.52320421e-03 4.64935275e-05 9.99996816e-01 -3.74051316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.35, Y:1.56, Z:-0.04 [[ 9.98165122e-01 -6.04984028e-02 -2.51625219e-03 3.63542105e+01] [ 6.04981088e-02 9.98168293e-01 -1.92862121e-04 1.55839190e+00] [ 2.52331101e-03 4.02797435e-05 9.99996816e-01 -4.01913426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.41, Y:1.57, Z:-0.04 [[ 9.98165278e-01 -6.04958357e-02 -2.51622024e-03 3.64114292e+01] [ 6.04955406e-02 9.98168449e-01 -1.93278127e-04 1.56952789e+00] [ 2.52330417e-03 4.07034118e-05 9.99996816e-01 -3.99383955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.47, Y:1.58, Z:-0.04 [[ 9.98290405e-01 -5.83946657e-02 -2.51618371e-03 3.64681160e+01] [ 5.83943628e-02 9.98293574e-01 -1.93752458e-04 1.58278954e+00] [ 2.52320414e-03 4.64902754e-05 9.99996816e-01 -4.37205617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:36.53, Y:1.59, Z:-0.05 [[ 9.98370313e-01 -5.70121582e-02 -2.51617243e-03 3.65267543e+01] [ 5.70118505e-02 9.98373483e-01 -1.93898833e-04 1.59340228e+00] [ 2.52313443e-03 5.01311925e-05 9.99996816e-01 -4.64788131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:1.61, Z:-0.04 [[ 9.98431523e-01 -5.59299755e-02 -2.51614182e-03 3.65836363e+01] [ 5.59296633e-02 9.98434692e-01 -1.94295279e-04 1.60630639e+00] [ 2.52307021e-03 5.32635668e-05 9.99996816e-01 -4.37765636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.64, Y:1.62, Z:-0.04 [[ 9.98401693e-01 -5.64599651e-02 -2.51613019e-03 3.66411554e+01] [ 5.64596543e-02 9.98404863e-01 -1.94445747e-04 1.61687056e+00] [ 2.52309502e-03 5.20751224e-05 9.99996816e-01 -4.46959869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.70, Y:1.63, Z:-0.04 [[ 9.98297225e-01 -5.82779496e-02 -2.51611881e-03 3.66995476e+01] [ 5.82776442e-02 9.98300395e-01 -1.94592904e-04 1.62795997e+00] [ 2.52318288e-03 4.76280791e-05 9.99996816e-01 -3.88447818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.76, Y:1.64, Z:-0.04 [[ 9.98210625e-01 -5.97429353e-02 -2.51608617e-03 3.67565622e+01] [ 5.97426335e-02 9.98213795e-01 -1.95014018e-04 1.63920185e+00] [ 2.52324263e-03 4.43474512e-05 9.99996816e-01 -3.74523562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:1.65, Z:-0.04 [[ 9.98157161e-01 -6.06296219e-02 -2.51607464e-03 3.68149948e+01] [ 6.06293225e-02 9.98160331e-01 -1.95162716e-04 1.64761365e+00] [ 2.52327853e-03 4.22551623e-05 9.99996816e-01 -3.55497721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:1.66, Z:-0.04 [[ 9.98030528e-01 -6.26796195e-02 -2.51604119e-03 3.68725189e+01] [ 6.26793255e-02 9.98033699e-01 -1.95592926e-04 1.66077486e+00] [ 2.52335359e-03 3.75039461e-05 9.99996816e-01 -3.98481826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.93, Y:1.67, Z:-0.04 [[ 9.97947774e-01 -6.39836749e-02 -2.51600786e-03 3.69310884e+01] [ 6.39833840e-02 9.97950945e-01 -1.96020800e-04 1.66837059e+00] [ 2.52339455e-03 3.46358246e-05 9.99996816e-01 -4.19086138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.99, Y:1.68, Z:-0.04 [[ 9.97828646e-01 -6.58153664e-02 -2.51597539e-03 3.69881136e+01] [ 6.58150803e-02 9.97831818e-01 -1.96436642e-04 1.67904955e+00] [ 2.52344885e-03 3.04209862e-05 9.99996816e-01 -4.14241187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:1.69, Z:-0.04 [[ 9.97768384e-01 -6.67227219e-02 -2.51593828e-03 3.70468943e+01] [ 6.67224375e-02 9.97771556e-01 -1.96910770e-04 1.68636299e+00] [ 2.52347008e-03 2.86018063e-05 9.99996816e-01 -3.92983041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.10, Y:1.69, Z:-0.04 [[ 9.97686121e-01 -6.79417004e-02 -2.51590529e-03 3.71044987e+01] [ 6.79414188e-02 9.97689293e-01 -1.97331407e-04 1.69148677e+00] [ 2.52349880e-03 2.59406305e-05 9.99996816e-01 -3.93473165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.16, Y:1.70, Z:-0.04 [[ 9.97536440e-01 -7.01050666e-02 -2.51586638e-03 3.71630259e+01] [ 7.01047906e-02 9.97539613e-01 -1.97826249e-04 1.69724460e+00] [ 2.52354500e-03 2.09646066e-05 9.99996816e-01 -4.08057181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.22, Y:1.70, Z:-0.04 [[ 9.97399337e-01 -7.20293880e-02 -2.51583144e-03 3.72196738e+01] [ 7.20291170e-02 9.97402510e-01 -1.98269663e-04 1.70024711e+00] [ 2.52357783e-03 1.65409133e-05 9.99996816e-01 -4.45402227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.28, Y:1.71, Z:-0.04 [[ 9.97468572e-01 -7.10641887e-02 -2.51581411e-03 3.72782861e+01] [ 7.10639141e-02 9.97471744e-01 -1.98489200e-04 1.70562959e+00] [ 2.52355897e-03 1.92031409e-05 9.99996816e-01 -4.31387053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42264 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:37.34, Y:1.71, Z:-0.04 [[ 9.97953845e-01 -6.38889256e-02 -2.51578109e-03 3.73363223e+01] [ 6.38886272e-02 9.97957015e-01 -1.98906956e-04 1.70983782e+00] [ 2.52334933e-03 3.77701617e-05 9.99996816e-01 -4.11502305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.39, Y:1.72, Z:-0.04 [[ 9.98626359e-01 -5.23360961e-02 -2.51574207e-03 3.73936609e+01] [ 5.23357597e-02 9.98629525e-01 -1.99399208e-04 1.71988924e+00] [ 2.52273008e-03 6.74620328e-05 9.99996816e-01 -3.86731052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.45, Y:1.73, Z:-0.04 [[ 9.98950815e-01 -4.57268038e-02 -2.51573006e-03 3.74515623e+01] [ 4.57264461e-02 9.98953979e-01 -1.99550620e-04 1.72920935e+00] [ 2.52222336e-03 8.43058599e-05 9.99996816e-01 -3.85436581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.51, Y:1.74, Z:-0.04 [[ 9.99133190e-01 -4.15516548e-02 -2.51569210e-03 3.75086896e+01] [ 4.15512827e-02 9.99136353e-01 -2.00028060e-04 1.73991536e+00] [ 2.52183092e-03 9.53244406e-05 9.99996816e-01 -3.69512001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.57, Y:1.75, Z:-0.04 [[ 9.98941026e-01 -4.59401509e-02 -2.51565256e-03 3.75662610e+01] [ 4.59397914e-02 9.98944190e-01 -2.00524002e-04 1.74927671e+00] [ 2.52220862e-03 8.47430982e-05 9.99996816e-01 -3.78754568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.62, Y:1.76, Z:-0.04 [[ 9.98696089e-01 -5.09881738e-02 -2.51563476e-03 3.76231553e+01] [ 5.09878298e-02 9.98699254e-01 -2.00747093e-04 1.75962567e+00] [ 2.52259829e-03 7.22185791e-05 9.99996816e-01 -3.75508734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.68, Y:1.77, Z:-0.04 [[ 9.98404578e-01 -5.64089480e-02 -2.51562324e-03 3.76810099e+01] [ 5.64086207e-02 9.98407746e-01 -2.00891335e-04 1.76911047e+00] [ 2.52294980e-03 5.86679914e-05 9.99996816e-01 -3.62955058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.74, Y:1.78, Z:-0.04 [[ 9.98356338e-01 -5.72563909e-02 -2.51558852e-03 3.77372339e+01] [ 5.72560653e-02 9.98359506e-01 -2.01325246e-04 1.77505139e+00] [ 2.52298887e-03 5.69616345e-05 9.99996816e-01 -3.72113796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.79, Y:1.79, Z:-0.04 [[ 9.98303566e-01 -5.81692564e-02 -2.51557128e-03 3.77935385e+01] [ 5.81689331e-02 9.98306734e-01 -2.01540443e-04 1.78511887e+00] [ 2.52303520e-03 5.48704451e-05 9.99996816e-01 -3.83616318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:1.80, Z:-0.04 [[ 9.98266862e-01 -5.87957771e-02 -2.51555453e-03 3.78509327e+01] [ 5.87954553e-02 9.98270030e-01 -2.01749278e-04 1.79960126e+00] [ 2.52306470e-03 5.34964451e-05 9.99996816e-01 -4.01828071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022639999999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:37.91, Y:1.81, Z:-0.04 [[ 9.98118878e-01 -6.12566480e-02 -2.51552139e-03 3.79091548e+01] [ 6.12563329e-02 9.98122047e-01 -2.02161575e-04 1.81235485e+00] [ 2.52318110e-03 4.76896681e-05 9.99996816e-01 -3.74764672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.97, Y:1.82, Z:-0.04 [[ 9.97887616e-01 -6.49151670e-02 -2.51548721e-03 3.79665761e+01] [ 6.49148626e-02 9.97890785e-01 -2.02586014e-04 1.82070155e+00] [ 2.52333241e-03 3.88655674e-05 9.99996816e-01 -3.68345593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:1.83, Z:-0.04 [[ 9.97412380e-01 -7.18485674e-02 -2.51547512e-03 3.80239837e+01] [ 7.18482846e-02 9.97415552e-01 -2.02736031e-04 1.82979945e+00] [ 2.52354030e-03 2.14788548e-05 9.99996816e-01 -3.68199929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:1.84, Z:-0.04 [[ 9.96990983e-01 -7.74767857e-02 -2.51543604e-03 3.80804275e+01] [ 7.74765196e-02 9.96994156e-01 -2.03219801e-04 1.83635999e+00] [ 2.52361985e-03 7.72107995e-06 9.99996816e-01 -3.87527247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:1.84, Z:-0.04 [[ 9.96760646e-01 -8.03858662e-02 -2.51540900e-03 3.81380330e+01] [ 8.03856085e-02 9.96763820e-01 -2.03553940e-04 1.84275934e+00] [ 2.52363154e-03 6.91873521e-07 9.99996816e-01 -3.86082928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:1.85, Z:-0.04 [[ 9.96668500e-01 -8.15203837e-02 -2.51539707e-03 3.81960153e+01] [ 8.15201293e-02 9.96671675e-01 -2.03701186e-04 1.84946465e+00] [ 2.52363081e-03 -2.03293903e-06 9.99996816e-01 -3.69257076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:1.85, Z:-0.04 [[ 9.96850957e-01 -7.92580723e-02 -2.51535677e-03 3.82524694e+01] [ 7.92578094e-02 9.96854131e-01 -2.04197622e-04 1.85477151e+00] [ 2.52362810e-03 4.19292750e-06 9.99996816e-01 -3.79163243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:1.86, Z:-0.04 [[ 9.97032927e-01 -7.69351357e-02 -2.51533936e-03 3.83103494e+01] [ 7.69348648e-02 9.97036100e-01 -2.04411937e-04 1.86251656e+00] [ 2.52361060e-03 1.02881388e-05 9.99996816e-01 -3.78652684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.37, Y:1.87, Z:-0.04 [[ 9.97221869e-01 -7.44460670e-02 -2.51530093e-03 3.83673402e+01] [ 7.44457870e-02 9.97225041e-01 -2.04883632e-04 1.87134776e+00] [ 2.52357386e-03 1.70608811e-05 9.99996816e-01 -3.60686247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:1.88, Z:-0.03 [[ 9.97106014e-01 -7.59820439e-02 -2.51526151e-03 3.84253192e+01] [ 7.59817676e-02 9.97109186e-01 -2.05366482e-04 1.87710182e+00] [ 2.52359452e-03 1.36581388e-05 9.99996816e-01 -3.47827577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.48, Y:1.88, Z:-0.03 [[ 9.96859024e-01 -7.91565523e-02 -2.51524935e-03 3.84829142e+01] [ 7.91562857e-02 9.96862197e-01 -2.05515307e-04 1.88174527e+00] [ 2.52362488e-03 5.77199239e-06 9.99996816e-01 -3.26186719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.54, Y:1.89, Z:-0.03 [[ 9.96346070e-01 -8.53708481e-02 -2.51520843e-03 3.85404398e+01] [ 8.53706001e-02 9.96349245e-01 -2.06014837e-04 1.88571894e+00] [ 2.52361369e-03 -9.46278030e-06 9.99996816e-01 -3.18307170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.60, Y:1.89, Z:-0.03 [[ 9.95949619e-01 -8.98778572e-02 -2.51519584e-03 3.85980778e+01] [ 8.98776231e-02 9.95952795e-01 -2.06168532e-04 1.88766770e+00] [ 2.52354631e-03 -2.07263519e-05 9.99996816e-01 -3.14936340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:38.66, Y:1.89, Z:-0.03 [[ 9.95464561e-01 -9.50998482e-02 -2.51515525e-03 3.86578077e+01] [ 9.50996295e-02 9.95467738e-01 -2.06662431e-04 1.88538231e+00] [ 2.52340948e-03 -3.34652067e-05 9.99996816e-01 -3.45278504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:1.89, Z:-0.03 [[ 9.95281040e-01 -9.70016811e-02 -2.51512229e-03 3.87160031e+01] [ 9.70014675e-02 9.95284217e-01 -2.07062794e-04 1.88634770e+00] [ 2.52334696e-03 -3.78848803e-05 9.99996816e-01 -3.46333091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:1.88, Z:-0.03 [[ 9.95363690e-01 -9.61498737e-02 -2.51508716e-03 3.87757376e+01] [ 9.61496563e-02 9.95366867e-01 -2.07488602e-04 1.88226776e+00] [ 2.52338444e-03 -3.52981460e-05 9.99996816e-01 -3.41671941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.83, Y:1.88, Z:-0.03 [[ 9.95570341e-01 -9.39860106e-02 -2.51504981e-03 3.88336664e+01] [ 9.39857851e-02 9.95573518e-01 -2.07940425e-04 1.88047547e+00] [ 2.52346048e-03 -2.93596110e-05 9.99996816e-01 -3.26765283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:1.88, Z:-0.04 [[ 9.96194244e-01 -8.71246442e-02 -2.51503676e-03 3.88914447e+01] [ 8.71243965e-02 9.96197418e-01 -2.08098075e-04 1.87732051e+00] [ 2.52360360e-03 -1.18149564e-05 9.99996816e-01 -3.53380985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:1.88, Z:-0.03 [[ 9.96740461e-01 -8.06357690e-02 -2.51501901e-03 3.89490556e+01] [ 8.06355001e-02 9.96743634e-01 -2.08312438e-04 1.87961239e+00] [ 2.52362662e-03 4.83362050e-06 9.99996816e-01 -3.28036981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:1.88, Z:-0.03 [[ 9.97705486e-01 -6.76567707e-02 -2.51497806e-03 3.90074302e+01] [ 6.76564593e-02 9.97708655e-01 -2.08805632e-04 1.88090539e+00] [ 2.52334249e-03 3.81720134e-05 9.99996816e-01 -3.06191040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:1.89, Z:-0.03 [[ 9.98479507e-01 -5.50667668e-02 -2.51496538e-03 3.90646394e+01] [ 5.50664150e-02 9.98482672e-01 -2.08958315e-04 1.88731723e+00] [ 2.52265601e-03 7.01504687e-05 9.99996816e-01 -2.86335491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.12, Y:1.90, Z:-0.03 [[ 9.98804402e-01 -4.88205043e-02 -2.51492440e-03 3.91212534e+01] [ 4.88201315e-02 9.98807564e-01 -2.09450323e-04 1.89775849e+00] [ 2.52215099e-03 8.64209649e-05 9.99996816e-01 -2.92264680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.18, Y:1.91, Z:-0.03 [[ 9.98940816e-01 -4.59447699e-02 -2.51490675e-03 3.91787032e+01] [ 4.59443875e-02 9.98943977e-01 -2.09661982e-04 1.91053916e+00] [ 2.52188383e-03 9.38940608e-05 9.99996816e-01 -2.99879054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:39.24, Y:1.92, Z:-0.03 [[ 9.98896769e-01 -4.68926490e-02 -2.51486629e-03 3.92355327e+01] [ 4.68922684e-02 9.98899930e-01 -2.10146287e-04 1.92097129e+00] [ 2.52195407e-03 9.19866625e-05 9.99996816e-01 -3.08128078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.29, Y:1.94, Z:-0.03 [[ 9.98614622e-01 -5.25596111e-02 -2.51482584e-03 3.92937539e+01] [ 5.25592472e-02 9.98617785e-01 -2.10629135e-04 1.93570051e+00] [ 2.52242040e-03 7.81599806e-05 9.99996816e-01 -2.94329965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.35, Y:1.95, Z:-0.03 [[ 9.98181828e-01 -6.02221985e-02 -2.51479068e-03 3.93496508e+01] [ 6.02218578e-02 9.98184995e-01 -2.11048182e-04 1.95075285e+00] [ 2.52293610e-03 5.92190938e-05 9.99996816e-01 -3.04704948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.41, Y:1.97, Z:-0.03 [[ 9.97760742e-01 -6.68369480e-02 -2.51477318e-03 3.94066424e+01] [ 6.68366278e-02 9.97763910e-01 -2.11256517e-04 1.96685620e+00] [ 2.52326966e-03 4.27045007e-05 9.99996816e-01 -3.08062734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:1.98, Z:-0.03 [[ 9.97548068e-01 -6.99394549e-02 -2.51473348e-03 3.94639347e+01] [ 6.99391434e-02 9.97551237e-01 -2.11728028e-04 1.97957757e+00] [ 2.52338363e-03 3.53305806e-05 9.99996816e-01 -3.11425969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702639999999995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:1.99, Z:-0.03 [[ 9.97275299e-01 -7.37268877e-02 -2.51469332e-03 3.95214608e+01] [ 7.37265870e-02 9.97278469e-01 -2.12203905e-04 1.99437451e+00] [ 2.52349464e-03 2.62259574e-05 9.99996816e-01 -3.37637629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:2.00, Z:-0.03 [[ 9.97127422e-01 -7.57005960e-02 -2.51465821e-03 3.95797225e+01] [ 7.57003005e-02 9.97130593e-01 -2.12619155e-04 2.00223408e+00] [ 2.52353803e-03 2.16480075e-05 9.99996816e-01 -3.35071449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:2.01, Z:-0.03 [[ 9.96858438e-01 -7.91639574e-02 -2.51462165e-03 3.96377918e+01] [ 7.91636718e-02 9.96861609e-01 -2.13050665e-04 2.01248209e+00] [ 2.52359572e-03 1.33146702e-05 9.99996816e-01 -3.48513611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.69, Y:2.03, Z:-0.04 [[ 9.96341654e-01 -8.54223924e-02 -2.51458494e-03 3.96948738e+01] [ 8.54221256e-02 9.96344827e-01 -2.13483047e-04 2.02591691e+00] [ 2.52362993e-03 -2.09913914e-06 9.99996816e-01 -3.51433426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94264 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:2.03, Z:-0.03 [[ 9.95725305e-01 -9.23298098e-02 -2.51454307e-03 3.97524401e+01] [ 9.23295638e-02 9.95728480e-01 -2.13975148e-04 2.03234220e+00] [ 2.52355843e-03 -1.91061946e-05 9.99996816e-01 -3.39025750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:39.81, Y:2.04, Z:-0.03 [[ 9.95425653e-01 -9.55062614e-02 -2.51453013e-03 3.98106555e+01] [ 9.55060252e-02 9.95428829e-01 -2.14127047e-04 2.03837608e+00] [ 2.52348626e-03 -2.70052222e-05 9.99996816e-01 -3.08245662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.87, Y:2.04, Z:-0.03 [[ 9.95264006e-01 -9.71763173e-02 -2.51449354e-03 3.98672360e+01] [ 9.71760853e-02 9.95267181e-01 -2.14555858e-04 2.04477516e+00] [ 2.52344265e-03 -3.08089162e-05 9.99996816e-01 -3.09860263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:2.05, Z:-0.03 [[ 9.95372570e-01 -9.60579222e-02 -2.51446537e-03 3.99261909e+01] [ 9.60576858e-02 9.95375746e-01 -2.14885463e-04 2.05064973e+00] [ 2.52347930e-03 -2.76426290e-05 9.99996816e-01 -2.78662403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.98, Y:2.05, Z:-0.03 [[ 9.95673550e-01 -9.28862667e-02 -2.51442843e-03 3.99839325e+01] [ 9.28860191e-02 9.95676725e-01 -2.15316874e-04 2.05271695e+00] [ 2.52355785e-03 -1.91699311e-05 9.99996816e-01 -3.07588941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.04, Y:2.06, Z:-0.03 [[ 9.95863436e-01 -9.08278334e-02 -2.51441540e-03 4.00418646e+01] [ 9.08275788e-02 9.95866610e-01 -2.15468960e-04 2.05680514e+00] [ 2.52359292e-03 -1.38006043e-05 9.99996816e-01 -2.89774614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.10, Y:2.06, Z:-0.03 [[ 9.95992040e-01 -8.94065716e-02 -2.51437320e-03 4.00999999e+01] [ 8.94063113e-02 9.95995213e-01 -2.15960279e-04 2.05656672e+00] [ 2.52361194e-03 -9.70611459e-06 9.99996816e-01 -2.91778817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:40.16, Y:2.06, Z:-0.03 [[ 9.96115575e-01 -8.80195386e-02 -2.51435378e-03 4.01577979e+01] [ 8.80192734e-02 9.96118748e-01 -2.16186180e-04 2.05665101e+00] [ 2.52362354e-03 -5.96517157e-06 9.99996816e-01 -2.88753106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.22, Y:2.06, Z:-0.03 [[ 9.96284185e-01 -8.60900774e-02 -2.51431321e-03 4.02154586e+01] [ 8.60898048e-02 9.96287357e-01 -2.16656959e-04 2.05759180e+00] [ 2.52363048e-03 -6.04831989e-07 9.99996816e-01 -2.65259625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:2.06, Z:-0.02 [[ 9.96687853e-01 -8.12834679e-02 -2.51427107e-03 4.02746014e+01] [ 8.12831787e-02 9.96691024e-01 -2.17144903e-04 2.05848217e+00] [ 2.52360170e-03 1.20577431e-05 9.99996816e-01 -2.33405668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:2.06, Z:-0.02 [[ 9.96956422e-01 -7.79202838e-02 -2.51423359e-03 4.03324823e+01] [ 7.79199829e-02 9.96959592e-01 -2.17577970e-04 2.06230719e+00] [ 2.52354303e-03 2.10067160e-05 9.99996816e-01 -2.31377970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:2.07, Z:-0.02 [[ 9.97345394e-01 -7.27725473e-02 -2.51419071e-03 4.03902436e+01] [ 7.27722288e-02 9.97348563e-01 -2.18072398e-04 2.06813873e+00] [ 2.52339417e-03 3.45302400e-05 9.99996816e-01 -2.29178680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.45, Y:2.07, Z:-0.03 [[ 9.97620691e-01 -6.88958337e-02 -2.51414772e-03 4.04473022e+01] [ 6.88955016e-02 9.97623858e-01 -2.18566817e-04 2.07466292e+00] [ 2.52323209e-03 4.48333105e-05 9.99996816e-01 -2.61711402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:2.08, Z:-0.03 [[ 9.97692342e-01 -6.78503470e-02 -2.51413439e-03 4.05050453e+01] [ 6.78500112e-02 9.97695509e-01 -2.18720063e-04 2.08488730e+00] [ 2.52318082e-03 4.76312851e-05 9.99996816e-01 -2.70627306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.56, Y:2.09, Z:-0.03 [[ 9.97511457e-01 -7.04597262e-02 -2.51409738e-03 4.05618457e+01] [ 7.04593976e-02 9.97514624e-01 -2.19144658e-04 2.09426595e+00] [ 2.52328978e-03 4.14575200e-05 9.99996816e-01 -2.76220239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:2.10, Z:-0.03 [[ 9.96845757e-01 -7.93234949e-02 -2.51407908e-03 4.06187540e+01] [ 7.93231940e-02 9.96848927e-01 -2.19354453e-04 2.10265488e+00] [ 2.52355699e-03 1.92377735e-05 9.99996816e-01 -2.52749810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.68, Y:2.11, Z:-0.02 [[ 9.96212428e-01 -8.69165009e-02 -2.51406612e-03 4.06771280e+01] [ 8.69162237e-02 9.96215600e-01 -2.19502898e-04 2.10701857e+00] [ 2.52363031e-03 1.58382392e-07 9.99996816e-01 -2.24082903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.73, Y:2.11, Z:-0.02 [[ 9.95317823e-01 -9.66235575e-02 -2.51402864e-03 4.07347694e+01] [ 9.66233102e-02 9.95320997e-01 -2.19931231e-04 2.11051291e+00] [ 2.52351604e-03 -2.40122953e-05 9.99996816e-01 -2.02335249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.79, Y:2.11, Z:-0.02 [[ 9.94706666e-01 -1.02724530e-01 -2.51401545e-03 4.07928351e+01] [ 1.02724302e-01 9.94709842e-01 -2.20081901e-04 2.11038231e+00] [ 2.52332372e-03 -3.93335483e-05 9.99996816e-01 -2.07854767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:2.11, Z:-0.02 [[ 9.94597265e-01 -1.03778420e-01 -2.51397349e-03 4.08508153e+01] [ 1.03778194e-01 9.94600441e-01 -2.20560199e-04 2.11216874e+00] [ 2.52328853e-03 -4.15270569e-05 9.99996816e-01 -2.36750036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:2.11, Z:-0.03 [[ 9.94720002e-01 -1.02595314e-01 -2.51396053e-03 4.09096910e+01] [ 1.02595084e-01 9.94723178e-01 -2.20707880e-04 2.10967372e+00] [ 2.52333840e-03 -3.83774488e-05 9.99996816e-01 -2.75252472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202639999999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:40.97, Y:2.11, Z:-0.03 [[ 9.94974002e-01 -1.00102027e-01 -2.51392446e-03 4.09674596e+01] [ 1.00101788e-01 9.94977177e-01 -2.21117957e-04 2.11006225e+00] [ 2.52343182e-03 -3.16417134e-05 9.99996816e-01 -2.69741155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.03, Y:2.11, Z:-0.03 [[ 9.95607658e-01 -9.35899175e-02 -2.51388285e-03 4.10254705e+01] [ 9.35896564e-02 9.95610831e-01 -2.21589999e-04 2.10834962e+00] [ 2.52358758e-03 -1.46567318e-05 9.99996816e-01 -2.90360014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:2.11, Z:-0.03 [[ 9.96070085e-01 -8.85328578e-02 -2.51386996e-03 4.10839124e+01] [ 8.85325802e-02 9.96073257e-01 -2.21736151e-04 2.11073722e+00] [ 2.52362957e-03 -1.69464722e-06 9.99996816e-01 -2.99549969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:2.11, Z:-0.03 [[ 9.96635323e-01 -8.19250517e-02 -2.51383315e-03 4.11425851e+01] [ 8.19247520e-02 9.96638493e-01 -2.22152640e-04 2.10974919e+00] [ 2.52358275e-03 1.54600112e-05 9.99996816e-01 -2.70349950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:2.11, Z:-0.03 [[ 9.96925153e-01 -7.83193499e-02 -2.51381932e-03 4.11999862e+01] [ 7.83190383e-02 9.96928322e-01 -2.22309015e-04 2.11259100e+00] [ 2.52350878e-03 2.47455376e-05 9.99996816e-01 -2.63121408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:2.11, Z:-0.03 [[ 9.97054767e-01 -7.66516318e-02 -2.51380565e-03 4.12580007e+01] [ 7.66513145e-02 9.97057935e-01 -2.22463481e-04 2.11395039e+00] [ 2.52346206e-03 2.91217666e-05 9.99996816e-01 -2.71713954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562639999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:2.11, Z:-0.03 [[ 9.96957396e-01 -7.79078461e-02 -2.51376193e-03 4.13160641e+01] [ 7.79075316e-02 9.96960564e-01 -2.22956436e-04 2.11341502e+00] [ 2.52349157e-03 2.64370807e-05 9.99996816e-01 -2.67807398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62264 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:2.12, Z:-0.02 [[ 9.96921233e-01 -7.83692240e-02 -2.51374848e-03 4.13749629e+01] [ 7.83689106e-02 9.96924402e-01 -2.23107921e-04 2.11748616e+00] [ 2.52350200e-03 2.54212940e-05 9.99996816e-01 -2.49255793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:2.12, Z:-0.03 [[ 9.96787120e-01 -8.00569731e-02 -2.51371020e-03 4.14323352e+01] [ 8.00566639e-02 9.96790289e-01 -2.23538469e-04 2.11954060e+00] [ 2.52353773e-03 2.15810145e-05 9.99996816e-01 -2.67411709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:2.12, Z:-0.03 [[ 9.96652763e-01 -8.17126166e-02 -2.51369127e-03 4.14919095e+01] [ 8.17123121e-02 9.96655933e-01 -2.23751062e-04 2.11935363e+00] [ 2.52356861e-03 1.76025884e-05 9.99996816e-01 -2.87316251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:2.12, Z:-0.03 [[ 9.96656650e-01 -8.16651900e-02 -2.51365646e-03 4.15497980e+01] [ 8.16648844e-02 9.96659820e-01 -2.24141445e-04 2.12252869e+00] [ 2.52356495e-03 1.81145971e-05 9.99996816e-01 -2.89778400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:2.12, Z:-0.03 [[ 9.96794587e-01 -7.99639439e-02 -2.51361240e-03 4.16088505e+01] [ 7.99636316e-02 9.96797756e-01 -2.24634455e-04 2.12476416e+00] [ 2.52352586e-03 2.29168326e-05 9.99996816e-01 -2.64531516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:2.13, Z:-0.03 [[ 9.96853522e-01 -7.92258700e-02 -2.51357311e-03 4.16667179e+01] [ 7.92255543e-02 9.96856690e-01 -2.25073250e-04 2.12719665e+00] [ 2.52350380e-03 2.52258389e-05 9.99996816e-01 -2.65215361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:2.13, Z:-0.03 [[ 9.96831808e-01 -7.94986077e-02 -2.51352849e-03 4.17255190e+01] [ 7.94982916e-02 9.96834977e-01 -2.25570435e-04 2.12910976e+00] [ 2.52350565e-03 2.50345630e-05 9.99996816e-01 -2.68881747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.78, Y:2.13, Z:-0.03 [[ 9.96700032e-01 -8.11340162e-02 -2.51348936e-03 4.17842243e+01] [ 8.11337043e-02 9.96703201e-01 -2.26005621e-04 2.13149427e+00] [ 2.52353964e-03 2.13311074e-05 9.99996816e-01 -2.57619776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:41.84, Y:2.13, Z:-0.03 [[ 9.96591216e-01 -8.24598767e-02 -2.51344985e-03 4.18408153e+01] [ 8.24595678e-02 9.96594385e-01 -2.26444257e-04 2.13382386e+00] [ 2.52356257e-03 1.84143688e-05 9.99996816e-01 -2.58646966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162639999999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:41.90, Y:2.14, Z:-0.02 [[ 9.96553596e-01 -8.29132827e-02 -2.51341876e-03 4.18989597e+01] [ 8.29129745e-02 9.96556766e-01 -2.26788825e-04 2.13705433e+00] [ 2.52356827e-03 1.76121941e-05 9.99996816e-01 -2.40632580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.96, Y:2.14, Z:-0.02 [[ 9.96755597e-01 -8.04485063e-02 -2.51337382e-03 4.19572347e+01] [ 8.04481889e-02 9.96758766e-01 -2.27285721e-04 2.14082477e+00] [ 2.52351218e-03 2.43519421e-05 9.99996816e-01 -2.18172493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:2.14, Z:-0.03 [[ 9.96904712e-01 -7.85791235e-02 -2.51333458e-03 4.20151392e+01] [ 7.85787991e-02 9.96907880e-01 -2.27718834e-04 2.14482923e+00] [ 2.52345699e-03 2.95191661e-05 9.99996816e-01 -2.56014569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.07, Y:2.15, Z:-0.03 [[ 9.96729644e-01 -8.07694258e-02 -2.51332072e-03 4.20734172e+01] [ 8.07691080e-02 9.96732812e-01 -2.27871647e-04 2.14958117e+00] [ 2.52351430e-03 2.41277531e-05 9.99996816e-01 -2.73497549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:42.13, Y:2.15, Z:-0.03 [[ 9.96531426e-01 -8.31793311e-02 -2.51327604e-03 4.21324513e+01] [ 8.31790197e-02 9.96534595e-01 -2.28363417e-04 2.15383168e+00] [ 2.52356164e-03 1.85194843e-05 9.99996816e-01 -2.52735577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:2.16, Z:-0.02 [[ 9.96409107e-01 -8.46320009e-02 -2.51323693e-03 4.21901203e+01] [ 8.46316930e-02 9.96412276e-01 -2.28793014e-04 2.15684538e+00] [ 2.52358334e-03 1.52719465e-05 9.99996816e-01 -2.46515062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:2.16, Z:-0.03 [[ 9.96612003e-01 -8.22082701e-02 -2.51319188e-03 4.22484418e+01] [ 8.22079533e-02 9.96615171e-01 -2.29286782e-04 2.16214024e+00] [ 2.52353443e-03 2.19055981e-05 9.99996816e-01 -2.61945097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.30, Y:2.17, Z:-0.03 [[ 9.97179729e-01 -7.50084814e-02 -2.51315268e-03 4.23046298e+01] [ 7.50081406e-02 9.97182895e-01 -2.29715631e-04 2.17078694e+00] [ 2.52330349e-03 4.05608608e-05 9.99996816e-01 -2.76737403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.36, Y:2.18, Z:-0.02 [[ 9.97463036e-01 -7.11419365e-02 -2.51310813e-03 4.23633544e+01] [ 7.11415823e-02 9.97466201e-01 -2.30202081e-04 2.17904787e+00] [ 2.52311744e-03 5.08315779e-05 9.99996816e-01 -2.47861796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.42, Y:2.19, Z:-0.03 [[ 9.97706431e-01 -6.76429022e-02 -2.51306740e-03 4.24199298e+01] [ 6.76425357e-02 9.97709594e-01 -2.30645861e-04 2.19076656e+00] [ 2.52291301e-03 6.01266074e-05 9.99996816e-01 -2.56127021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.48, Y:2.20, Z:-0.02 [[ 9.97602125e-01 -6.91641912e-02 -2.51305327e-03 4.24780144e+01] [ 6.91638291e-02 9.97605288e-01 -2.30799702e-04 2.19994258e+00] [ 2.52299830e-03 5.64338865e-05 9.99996816e-01 -2.35980902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82264 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:2.21, Z:-0.03 [[ 9.97338279e-01 -7.28700378e-02 -2.51301412e-03 4.25351992e+01] [ 7.28696865e-02 9.97341444e-01 -2.31225159e-04 2.20752082e+00] [ 2.52318252e-03 4.74871509e-05 9.99996816e-01 -2.57577578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.59, Y:2.21, Z:-0.03 [[ 9.96709199e-01 -8.10213399e-02 -2.51300029e-03 4.25937138e+01] [ 8.10210140e-02 9.96712367e-01 -2.31375355e-04 2.21397500e+00] [ 2.52348481e-03 2.70081126e-05 9.99996816e-01 -2.77201663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:42.65, Y:2.22, Z:-0.03 [[ 9.96110714e-01 -8.80745734e-02 -2.51296091e-03 4.26526360e+01] [ 8.80742689e-02 9.96113884e-01 -2.31802249e-04 2.21787543e+00] [ 2.52361114e-03 9.57350868e-06 9.99996816e-01 -2.80942817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:2.22, Z:-0.03 [[ 9.95869042e-01 -9.07663829e-02 -2.51292105e-03 4.27103655e+01] [ 9.07660859e-02 9.95872213e-01 -2.32233602e-04 2.22283974e+00] [ 2.52362725e-03 3.18624672e-06 9.99996816e-01 -2.83232296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062639999999995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:2.23, Z:-0.03 [[ 9.95788372e-01 -9.16471717e-02 -2.51290694e-03 4.27678064e+01] [ 9.16468771e-02 9.95791542e-01 -2.32386204e-04 2.22604235e+00] [ 2.52362901e-03 1.10740664e-06 9.99996816e-01 -2.69516408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:2.23, Z:-0.03 [[ 9.95950659e-01 -8.98663970e-02 -2.51288753e-03 4.28260260e+01] [ 8.98660961e-02 9.95953830e-01 -2.32595900e-04 2.23034498e+00] [ 2.52362251e-03 5.83064773e-06 9.99996816e-01 -2.57658434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:2.23, Z:-0.02 [[ 9.96435373e-01 -8.43221947e-02 -2.51284914e-03 4.28850036e+01] [ 8.43218752e-02 9.96438542e-01 -2.33009855e-04 2.23465725e+00] [ 2.52354764e-03 2.02911100e-05 9.99996816e-01 -2.22077821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:2.24, Z:-0.02 [[ 9.96846672e-01 -7.93120252e-02 -2.51280874e-03 4.29424512e+01] [ 7.93116887e-02 9.96849839e-01 -2.33444788e-04 2.24056786e+00] [ 2.52340796e-03 3.34135557e-05 9.99996816e-01 -2.28001480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:2.25, Z:-0.02 [[ 9.97513980e-01 -7.04240474e-02 -2.51276225e-03 4.29996051e+01] [ 7.04236814e-02 9.97517143e-01 -2.33944092e-04 2.24734561e+00] [ 2.52299871e-03 5.64045341e-05 9.99996816e-01 -2.29222242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:2.25, Z:-0.03 [[ 9.97982988e-01 -6.34321804e-02 -2.51274807e-03 4.30576590e+01] [ 6.34317919e-02 9.97986149e-01 -2.34096348e-04 2.25460608e+00] [ 2.52253701e-03 7.42360607e-05 9.99996816e-01 -2.61158914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.11, Y:2.26, Z:-0.03 [[ 9.98155393e-01 -6.06588708e-02 -2.51270983e-03 4.31148880e+01] [ 6.06584724e-02 9.98158552e-01 -2.34506046e-04 2.26342145e+00] [ 2.52230768e-03 8.16563344e-05 9.99996816e-01 -2.63426713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.17, Y:2.27, Z:-0.02 [[ 9.98295059e-01 -5.83151902e-02 -2.51266583e-03 4.31723782e+01] [ 5.83147832e-02 9.98298217e-01 -2.34976594e-04 2.27463615e+00] [ 2.52209252e-03 8.80504094e-05 9.99996816e-01 -2.40559906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.23, Y:2.28, Z:-0.02 [[ 9.98311832e-01 -5.80273481e-02 -2.51262036e-03 4.32311093e+01] [ 5.80269391e-02 9.98314990e-01 -2.35461805e-04 2.28161380e+00] [ 2.52204979e-03 8.92646376e-05 9.99996816e-01 -2.28937985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:2.30, Z:-0.02 [[ 9.98294626e-01 -5.83226132e-02 -2.51258284e-03 4.32877750e+01] [ 5.83222041e-02 9.98297784e-01 -2.35861448e-04 2.29594113e+00] [ 2.52206194e-03 8.89198467e-05 9.99996816e-01 -2.26403706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.34, Y:2.31, Z:-0.02 [[ 9.98218724e-01 -5.96076047e-02 -2.51253626e-03 4.33439644e+01] [ 5.96071984e-02 9.98221882e-01 -2.36356566e-04 2.30650077e+00] [ 2.52215733e-03 8.61703019e-05 9.99996816e-01 -2.39998341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:2.32, Z:-0.02 [[ 9.98023823e-01 -6.27864323e-02 -2.51251640e-03 4.34005244e+01] [ 6.27860355e-02 9.98026982e-01 -2.36567502e-04 2.32118672e+00] [ 2.52241239e-03 7.83490584e-05 9.99996816e-01 -2.43295886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:2.33, Z:-0.03 [[ 9.97609764e-01 -6.90539366e-02 -2.51247021e-03 4.34579523e+01] [ 6.90535584e-02 9.97612926e-01 -2.37057078e-04 2.33116749e+00] [ 2.52284248e-03 6.29954475e-05 9.99996816e-01 -2.55342669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:2.34, Z:-0.03 [[ 9.97161135e-01 -7.52552844e-02 -2.51242399e-03 4.35158026e+01] [ 7.52549247e-02 9.97164299e-01 -2.37545941e-04 2.34052720e+00] [ 2.52317609e-03 4.77993018e-05 9.99996816e-01 -2.61744629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:2.35, Z:-0.02 [[ 9.96413380e-01 -8.45816983e-02 -2.51237815e-03 4.35729016e+01] [ 8.45813670e-02 9.96416547e-01 -2.38029767e-04 2.34911861e+00] [ 2.52350812e-03 2.46756664e-05 9.99996816e-01 -2.48849564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:2.35, Z:-0.03 [[ 9.96026730e-01 -8.90193315e-02 -2.51233167e-03 4.36312619e+01] [ 8.90190130e-02 9.96029898e-01 -2.38519317e-04 2.35365274e+00] [ 2.52359029e-03 1.39263290e-05 9.99996816e-01 -2.56566336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:2.36, Z:-0.03 [[ 9.96146621e-01 -8.76675451e-02 -2.51228978e-03 4.36883512e+01] [ 8.76672212e-02 9.96149789e-01 -2.38959705e-04 2.36226471e+00] [ 2.52356595e-03 1.77934382e-05 9.99996816e-01 -2.76819526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:2.37, Z:-0.03 [[ 9.96662592e-01 -8.15926844e-02 -2.51227495e-03 4.37464563e+01] [ 8.15923408e-02 9.96665758e-01 -2.39115550e-04 2.37349955e+00] [ 2.52340850e-03 3.33351301e-05 9.99996816e-01 -2.52852804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:2.38, Z:-0.03 [[ 9.96954849e-01 -7.79404731e-02 -2.51223379e-03 4.38035027e+01] [ 7.79401168e-02 9.96958014e-01 -2.39547189e-04 2.38234604e+00] [ 2.52326203e-03 4.30139368e-05 9.99996816e-01 -2.60365464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:2.39, Z:-0.03 [[ 9.97186838e-01 -7.49139441e-02 -2.51218652e-03 4.38594444e+01] [ 7.49135770e-02 9.97190001e-01 -2.40041982e-04 2.39320764e+00] [ 2.52310977e-03 5.11698270e-05 9.99996816e-01 -2.82707261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.92, Y:2.40, Z:-0.03 [[ 9.97220157e-01 -7.44691052e-02 -2.51215275e-03 4.39170226e+01] [ 7.44687358e-02 9.97223320e-01 -2.40394805e-04 2.40268436e+00] [ 2.52307929e-03 5.26497053e-05 9.99996816e-01 -2.69553847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.97, Y:2.41, Z:-0.03 [[ 9.97259174e-01 -7.39447691e-02 -2.51210473e-03 4.39729341e+01] [ 7.39443968e-02 9.97262337e-01 -2.40895618e-04 2.41390527e+00] [ 2.52304040e-03 5.44792961e-05 9.99996816e-01 -2.88175432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.03, Y:2.42, Z:-0.03 [[ 9.97174594e-01 -7.50767552e-02 -2.51208394e-03 4.40304066e+01] [ 7.50763860e-02 9.97177757e-01 -2.41112212e-04 2.42445060e+00] [ 2.52309615e-03 5.18327883e-05 9.99996816e-01 -2.68473695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.09, Y:2.43, Z:-0.03 [[ 9.96970690e-01 -7.77375875e-02 -2.51203537e-03 4.40878472e+01] [ 7.77372254e-02 9.96973854e-01 -2.41617209e-04 2.43408569e+00] [ 2.52321632e-03 4.56066165e-05 9.99996816e-01 -2.90522891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.15, Y:2.44, Z:-0.03 [[ 9.96795928e-01 -7.99472755e-02 -2.51202032e-03 4.41454074e+01] [ 7.99469200e-02 9.96799093e-01 -2.41773529e-04 2.44200855e+00] [ 2.52330871e-03 4.01705819e-05 9.99996816e-01 -2.83351530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.20, Y:2.45, Z:-0.03 [[ 9.96563331e-01 -8.27962433e-02 -2.51197423e-03 4.42036939e+01] [ 8.27958957e-02 9.96566496e-01 -2.42251448e-04 2.45311711e+00] [ 2.52340687e-03 3.34377531e-05 9.99996816e-01 -3.01202828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:2.46, Z:-0.03 [[ 9.96408941e-01 -8.46339965e-02 -2.51193386e-03 4.42613539e+01] [ 8.46336537e-02 9.96412106e-01 -2.42669385e-04 2.46333431e+00] [ 2.52345938e-03 2.92038047e-05 9.99996816e-01 -2.91365610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.32, Y:2.47, Z:-0.03 [[ 9.96359271e-01 -8.52167465e-02 -2.51188623e-03 4.43192948e+01] [ 8.52164043e-02 9.96362437e-01 -2.43161342e-04 2.47038550e+00] [ 2.52347051e-03 2.82221449e-05 9.99996816e-01 -2.75680563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.38, Y:2.48, Z:-0.02 [[ 9.96573170e-01 -8.26777375e-02 -2.51184487e-03 4.43756615e+01] [ 8.26773861e-02 9.96576335e-01 -2.43587916e-04 2.48249727e+00] [ 2.52338445e-03 3.50804139e-05 9.99996816e-01 -2.42437890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:2.49, Z:-0.02 [[ 9.96747482e-01 -8.05490382e-02 -2.51182733e-03 4.44329888e+01] [ 8.05486796e-02 9.96750646e-01 -2.43768556e-04 2.49067940e+00] [ 2.52330084e-03 4.06513188e-05 9.99996816e-01 -2.19427464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:2.50, Z:-0.03 [[ 9.96834741e-01 -7.94618811e-02 -2.51177759e-03 4.44897966e+01] [ 7.94615178e-02 9.96837904e-01 -2.44280015e-04 2.49958853e+00] [ 2.52324606e-03 4.39171451e-05 9.99996816e-01 -2.54070543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:2.51, Z:-0.03 [[ 9.96684267e-01 -8.13275055e-02 -2.51176220e-03 4.45480447e+01] [ 8.13271476e-02 9.96687431e-01 -2.44438216e-04 2.50843907e+00] [ 2.52332136e-03 3.93532695e-05 9.99996816e-01 -2.59409311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982639999999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:2.52, Z:-0.03 [[ 9.96548506e-01 -8.29744981e-02 -2.51172040e-03 4.46053729e+01] [ 8.29741444e-02 9.96551670e-01 -2.44866953e-04 2.51539621e+00] [ 2.52337687e-03 3.56139452e-05 9.99996816e-01 -2.78942643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.66, Y:2.52, Z:-0.03 [[ 9.96271289e-01 -8.62392579e-02 -2.51170567e-03 4.46633266e+01] [ 8.62389143e-02 9.96274455e-01 -2.45017985e-04 2.52298047e+00] [ 2.52347836e-03 2.74976138e-05 9.99996816e-01 -3.04644369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:44.72, Y:2.53, Z:-0.03 [[ 9.96115912e-01 -8.80158001e-02 -2.51166338e-03 4.47205845e+01] [ 8.80154609e-02 9.96119078e-01 -2.45450676e-04 2.52948303e+00] [ 2.52351935e-03 2.34321132e-05 9.99996816e-01 -3.09716982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162639999999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:44.78, Y:2.54, Z:-0.03 [[ 9.96111650e-01 -8.80640246e-02 -2.51161487e-03 4.47781086e+01] [ 8.80636844e-02 9.96114816e-01 -2.45946078e-04 2.53567100e+00] [ 2.52351579e-03 2.38076940e-05 9.99996816e-01 -2.93767764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.84, Y:2.54, Z:-0.03 [[ 9.96255802e-01 -8.64179856e-02 -2.51159124e-03 4.48363172e+01] [ 8.64176395e-02 9.96258968e-01 -2.46187183e-04 2.54354231e+00] [ 2.52347029e-03 2.82196235e-05 9.99996816e-01 -2.71621475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.89, Y:2.55, Z:-0.03 [[ 9.96598702e-01 -8.23694066e-02 -2.51154862e-03 4.48937301e+01] [ 8.23690466e-02 9.96601866e-01 -2.46621214e-04 2.55252058e+00] [ 2.52332808e-03 3.89085163e-05 9.99996816e-01 -2.62187853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.95, Y:2.56, Z:-0.02 [[ 9.96837589e-01 -7.94261457e-02 -2.51152586e-03 4.49519250e+01] [ 7.94257758e-02 9.96840752e-01 -2.46852781e-04 2.56194499e+00] [ 2.52319789e-03 4.65922412e-05 9.99996816e-01 -2.44685121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.01, Y:2.57, Z:-0.02 [[ 9.97062710e-01 -7.65483116e-02 -2.51148453e-03 4.50105154e+01] [ 7.65479315e-02 9.97065872e-01 -2.47272549e-04 2.56999194e+00] [ 2.52304381e-03 5.42972922e-05 9.99996816e-01 -2.38500532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:45.07, Y:2.58, Z:-0.02 [[ 9.97089021e-01 -7.62048371e-02 -2.51144229e-03 4.50687925e+01] [ 7.62044548e-02 9.97092182e-01 -2.47700839e-04 2.57728072e+00] [ 2.52301547e-03 5.55966972e-05 9.99996816e-01 -2.45785627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522639999999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:45.13, Y:2.59, Z:-0.03 [[ 9.97023217e-01 -7.70610009e-02 -2.51143330e-03 4.51278316e+01] [ 7.70606211e-02 9.97026378e-01 -2.47791923e-04 2.58973818e+00] [ 2.52306034e-03 5.35216898e-05 9.99996816e-01 -2.66802462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.19, Y:2.60, Z:-0.03 [[ 9.96868486e-01 -7.90374181e-02 -2.51142724e-03 4.51869994e+01] [ 7.90370444e-02 9.96871649e-01 -2.47853321e-04 2.59879831e+00] [ 2.52316030e-03 4.85813791e-05 9.99996816e-01 -2.86068914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:2.61, Z:-0.03 [[ 9.96644365e-01 -8.18150525e-02 -2.51142112e-03 4.52464840e+01] [ 8.18146875e-02 9.96647528e-01 -2.47915335e-04 2.60708982e+00] [ 2.52328486e-03 4.16122876e-05 9.99996816e-01 -2.91359626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:2.62, Z:-0.03 [[ 9.96498810e-01 -8.35692204e-02 -2.51141499e-03 4.53041667e+01] [ 8.35688608e-02 9.96501974e-01 -2.47977452e-04 2.61577460e+00] [ 2.52335327e-03 3.72331465e-05 9.99996816e-01 -2.69195837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:2.62, Z:-0.02 [[ 9.96428170e-01 -8.44073113e-02 -2.51140593e-03 4.53624614e+01] [ 8.44069541e-02 9.96431335e-01 -2.48069094e-04 2.62254936e+00] [ 2.52338241e-03 3.52029082e-05 9.99996816e-01 -2.41847859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:2.63, Z:-0.02 [[ 9.96446344e-01 -8.41924962e-02 -2.51139708e-03 4.54213492e+01] [ 8.41921381e-02 9.96449508e-01 -2.48158655e-04 2.63127021e+00] [ 2.52337349e-03 3.58368947e-05 9.99996816e-01 -2.22073795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:2.64, Z:-0.02 [[ 9.96673266e-01 -8.14622279e-02 -2.51139110e-03 4.54808220e+01] [ 8.14618609e-02 9.96676429e-01 -2.48219171e-04 2.63965612e+00] [ 2.52326480e-03 4.28108187e-05 9.99996816e-01 -2.05752893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:2.65, Z:-0.02 [[ 9.97221459e-01 -7.44516926e-02 -2.51139110e-03 4.55398598e+01] [ 7.44513035e-02 9.97224620e-01 -2.48219171e-04 2.64984928e+00] [ 2.52290137e-03 6.05531425e-05 9.99996816e-01 -1.91883893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:2.66, Z:-0.02 [[ 9.97458433e-01 -7.12065101e-02 -2.51138810e-03 4.56000149e+01] [ 7.12061106e-02 9.97461592e-01 -2.48249568e-04 2.65795340e+00] [ 2.52269016e-03 6.87924465e-05 9.99996816e-01 -2.21878787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:2.67, Z:-0.02 [[ 9.97559608e-01 -6.97747864e-02 -2.51138810e-03 4.56590407e+01] [ 6.97743824e-02 9.97562767e-01 -2.48249568e-04 2.67042682e+00] [ 2.52258882e-03 7.24131884e-05 9.99996816e-01 -2.19326573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:45.72, Y:2.68, Z:-0.02 [[ 9.97472708e-01 -7.10062683e-02 -2.51139115e-03 4.57179381e+01] [ 7.10058682e-02 9.97475867e-01 -2.48218640e-04 2.67905947e+00] [ 2.52267715e-03 6.92678094e-05 9.99996816e-01 -2.35831016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.78, Y:2.69, Z:-0.02 [[ 9.97136307e-01 -7.55835826e-02 -2.51139202e-03 4.57784945e+01] [ 7.55831970e-02 9.97139468e-01 -2.48209862e-04 2.68970322e+00] [ 2.52296870e-03 5.76800271e-05 9.99996816e-01 -2.22091195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.84, Y:2.70, Z:-0.02 [[ 9.96675817e-01 -8.14310061e-02 -2.51139807e-03 4.58386494e+01] [ 8.14306393e-02 9.96678980e-01 -2.48148611e-04 2.69661535e+00] [ 2.52326466e-03 4.28189687e-05 9.99996816e-01 -2.29435091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.90, Y:2.70, Z:-0.02 [[ 9.96348588e-01 -8.53415688e-02 -2.51140107e-03 4.58993646e+01] [ 8.53412145e-02 9.96351753e-01 -2.48118282e-04 2.70453229e+00] [ 2.52341366e-03 3.28862824e-05 9.99996816e-01 -2.18768942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.96, Y:2.71, Z:-0.02 [[ 9.95972733e-01 -8.96214671e-02 -2.51140704e-03 4.59602268e+01] [ 8.96211265e-02 9.95975899e-01 -2.48057823e-04 2.71172110e+00] [ 2.52353219e-03 2.19836999e-05 9.99996816e-01 -2.08165195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.02, Y:2.72, Z:-0.02 [[ 9.95921455e-01 -9.01895152e-02 -2.51141305e-03 4.60209114e+01] [ 9.01891766e-02 9.95924621e-01 -2.47996973e-04 2.71990067e+00] [ 2.52354482e-03 2.04832308e-05 9.99996816e-01 -2.04951903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.08, Y:2.73, Z:-0.02 [[ 9.95931788e-01 -9.00753350e-02 -2.51141906e-03 4.60806847e+01] [ 9.00749962e-02 9.95934954e-01 -2.47936083e-04 2.72783127e+00] [ 2.52354296e-03 2.07113642e-05 9.99996816e-01 -1.81908159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.14, Y:2.74, Z:-0.02 [[ 9.95753287e-01 -9.20276225e-02 -2.51141906e-03 4.61412849e+01] [ 9.20272899e-02 9.95756454e-01 -2.47936083e-04 2.73658181e+00] [ 2.52357871e-03 1.57640799e-05 9.99996816e-01 -1.78193532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.20, Y:2.74, Z:-0.02 [[ 9.95394615e-01 -9.58292900e-02 -2.51142508e-03 4.62013074e+01] [ 9.58289696e-02 9.95397783e-01 -2.47875154e-04 2.74076933e+00] [ 2.52362065e-03 6.06631665e-06 9.99996816e-01 -2.21056955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.26, Y:2.74, Z:-0.03 [[ 9.94662586e-01 -1.03150531e-01 -2.51142508e-03 4.62622828e+01] [ 1.03150234e-01 9.94665757e-01 -2.47875154e-04 2.74421963e+00] [ 2.52359698e-03 -1.25019411e-05 9.99996816e-01 -2.68593042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.32, Y:2.75, Z:-0.03 [[ 9.94322369e-01 -1.06380066e-01 -2.51142369e-03 4.63220480e+01] [ 1.06379779e-01 9.94325541e-01 -2.47889155e-04 2.74937837e+00] [ 2.52354319e-03 -2.06829658e-05 9.99996816e-01 -2.85201178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:46.38, Y:2.75, Z:-0.03 [[ 9.94261825e-01 -1.06944451e-01 -2.51142369e-03 4.63815910e+01] [ 1.06944166e-01 9.94264997e-01 -2.47889155e-04 2.75115525e+00] [ 2.52353104e-03 -2.21153897e-05 9.99996816e-01 -2.95376257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.44, Y:2.75, Z:-0.02 [[ 9.94477136e-01 -1.04923395e-01 -2.51141786e-03 4.64415477e+01] [ 1.04923103e-01 9.94480307e-01 -2.47948220e-04 2.75469293e+00] [ 2.52357118e-03 -1.69269194e-05 9.99996816e-01 -2.48231463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:46.50, Y:2.76, Z:-0.02 [[ 9.94853586e-01 -1.01291832e-01 -2.51141202e-03 4.65014999e+01] [ 1.01291528e-01 9.94856756e-01 -2.48007387e-04 2.75784115e+00] [ 2.52361634e-03 -7.65372362e-06 9.99996816e-01 -2.24789562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.56, Y:2.76, Z:-0.02 [[ 9.95279912e-01 -9.70133488e-02 -2.51140623e-03 4.65619707e+01] [ 9.70130317e-02 9.95283080e-01 -2.48066046e-04 2.76046979e+00] [ 2.52362584e-03 3.25602081e-06 9.99996816e-01 -2.37177611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.62, Y:2.76, Z:-0.02 [[ 9.95586798e-01 -9.38116234e-02 -2.51140623e-03 4.66227321e+01] [ 9.38112961e-02 9.95589965e-01 -2.48066046e-04 2.76362276e+00] [ 2.52360232e-03 1.13730074e-05 9.99996816e-01 -2.46580170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.68, Y:2.77, Z:-0.03 [[ 9.96057923e-01 -8.86696553e-02 -2.51140623e-03 4.66814040e+01] [ 8.86693117e-02 9.96061088e-01 -2.48066046e-04 2.77104306e+00] [ 2.52350995e-03 2.44034891e-05 9.99996816e-01 -2.75355648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.74, Y:2.78, Z:-0.03 [[ 9.96406952e-01 -8.46574184e-02 -2.51140319e-03 4.67402678e+01] [ 8.46570619e-02 9.96410117e-01 -2.48096785e-04 2.77679678e+00] [ 2.52339078e-03 3.45973459e-05 9.99996816e-01 -2.72827531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.80, Y:2.79, Z:-0.03 [[ 9.96855407e-01 -7.92022112e-02 -2.51140025e-03 4.68004792e+01] [ 7.92018374e-02 9.96858569e-01 -2.48126532e-04 2.78600973e+00] [ 2.52316303e-03 4.84387614e-05 9.99996816e-01 -2.78967247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:2.80, Z:-0.03 [[ 9.97081397e-01 -7.63045233e-02 -2.51140025e-03 4.68601156e+01] [ 7.63041403e-02 9.97084558e-01 -2.48126532e-04 2.79605023e+00] [ 2.52301159e-03 5.57721127e-05 9.99996816e-01 -3.00339852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:2.81, Z:-0.03 [[ 9.97015716e-01 -7.71579887e-02 -2.51140325e-03 4.69210167e+01] [ 7.71576085e-02 9.97018877e-01 -2.48096139e-04 2.80600156e+00] [ 2.52305905e-03 5.35818804e-05 9.99996816e-01 -3.06979841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:2.81, Z:-0.03 [[ 9.96746517e-01 -8.05609900e-02 -2.51140920e-03 4.69819254e+01] [ 8.05606207e-02 9.96749680e-01 -2.48035919e-04 2.81310212e+00] [ 2.52322834e-03 4.49082542e-05 9.99996816e-01 -2.73069662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:2.82, Z:-0.03 [[ 9.96317992e-01 -8.56980202e-02 -2.51141542e-03 4.70420098e+01] [ 8.56976674e-02 9.96321157e-01 -2.47972948e-04 2.82002261e+00] [ 2.52342711e-03 3.18374662e-05 9.99996816e-01 -2.65653852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:2.83, Z:-0.03 [[ 9.95615130e-01 -9.35104555e-02 -2.51141848e-03 4.71017758e+01] [ 9.35101276e-02 9.95618298e-01 -2.47941893e-04 2.82730143e+00] [ 2.52359935e-03 1.20116374e-05 9.99996816e-01 -2.84002955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:2.83, Z:-0.03 [[ 9.95142830e-01 -9.84095552e-02 -2.51142150e-03 4.71621008e+01] [ 9.84092429e-02 9.95145999e-01 -2.47911378e-04 2.83274405e+00] [ 2.52362790e-03 -4.39858172e-07 9.99996816e-01 -2.65449899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:2.84, Z:-0.03 [[ 9.94506791e-01 -1.04641938e-01 -2.51142150e-03 4.72211899e+01] [ 1.04641645e-01 9.94509962e-01 -2.47911378e-04 2.83870597e+00] [ 2.52357562e-03 -1.62497288e-05 9.99996816e-01 -2.62842595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:2.84, Z:-0.02 [[ 9.94240472e-01 -1.07142787e-01 -2.51141863e-03 4.72817415e+01] [ 1.07142502e-01 9.94243644e-01 -2.47940424e-04 2.84412662e+00] [ 2.52352704e-03 -2.25672715e-05 9.99996816e-01 -2.36478642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:2.85, Z:-0.02 [[ 9.94234153e-01 -1.07201407e-01 -2.51141863e-03 4.73412939e+01] [ 1.07201122e-01 9.94237325e-01 -2.47940424e-04 2.84766486e+00] [ 2.52352570e-03 -2.27160580e-05 9.99996816e-01 -2.37722733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:2.85, Z:-0.03 [[ 9.94503885e-01 -1.04669556e-01 -2.51141274e-03 4.74005765e+01] [ 1.04669263e-01 9.94507056e-01 -2.48000062e-04 2.85271058e+00] [ 2.52357575e-03 -1.62306963e-05 9.99996816e-01 -2.57016158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:2.86, Z:-0.03 [[ 9.94763402e-01 -1.02173712e-01 -2.51140983e-03 4.74611854e+01] [ 1.02173411e-01 9.94766572e-01 -2.48029543e-04 2.85834548e+00] [ 2.52360864e-03 -9.86859765e-06 9.99996816e-01 -2.58026260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:2.86, Z:-0.03 [[ 9.95252384e-01 -9.72953524e-02 -2.51140983e-03 4.75208549e+01] [ 9.72950363e-02 9.95255552e-01 -2.48029543e-04 2.86390838e+00] [ 2.52362670e-03 2.50428318e-06 9.99996816e-01 -2.66140699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982639999999996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:47.58, Y:2.87, Z:-0.02 [[ 9.95677275e-01 -9.28464152e-02 -2.51140689e-03 4.75809428e+01] [ 9.28460849e-02 9.95680442e-01 -2.48059334e-04 2.86860264e+00] [ 2.52359014e-03 1.38127450e-05 9.99996816e-01 -2.49841685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.64, Y:2.88, Z:-0.03 [[ 9.95814875e-01 -9.13587851e-02 -2.51140689e-03 4.76400864e+01] [ 9.13584500e-02 9.95818042e-01 -2.48059334e-04 2.87588749e+00] [ 2.52356669e-03 1.75829344e-05 9.99996816e-01 -2.54835965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.70, Y:2.88, Z:-0.02 [[ 9.95730368e-01 -9.22752751e-02 -2.51140680e-03 4.77000596e+01] [ 9.22749429e-02 9.95733535e-01 -2.48060178e-04 2.88295061e+00] [ 2.52358179e-03 1.52611329e-05 9.99996816e-01 -2.30451633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.76, Y:2.89, Z:-0.02 [[ 9.95463750e-01 -9.51084446e-02 -2.51140680e-03 4.77600641e+01] [ 9.51081214e-02 9.95466917e-01 -2.48060178e-04 2.88968996e+00] [ 2.52361500e-03 8.07973160e-06 9.99996816e-01 -2.41396185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.82, Y:2.90, Z:-0.03 [[ 9.95280021e-01 -9.70122328e-02 -2.51140680e-03 4.78188255e+01] [ 9.70119157e-02 9.95283189e-01 -2.48060178e-04 2.89544337e+00] [ 2.52362584e-03 3.25295398e-06 9.99996816e-01 -2.69111435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.88, Y:2.91, Z:-0.02 [[ 9.95147369e-01 -9.83636505e-02 -2.51140680e-03 4.78785744e+01] [ 9.83633377e-02 9.95150537e-01 -2.48060178e-04 2.90528570e+00] [ 2.52362793e-03 -1.73922311e-07 9.99996816e-01 -2.28017709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.94, Y:2.91, Z:-0.02 [[ 9.95038390e-01 -9.94600215e-02 -2.51140680e-03 4.79371844e+01] [ 9.94597122e-02 9.95041559e-01 -2.48060178e-04 2.91212717e+00] [ 2.52362621e-03 -2.95439789e-06 9.99996816e-01 -2.26959203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.00, Y:2.92, Z:-0.02 [[ 9.94734450e-01 -1.02455191e-01 -2.51140384e-03 4.79972045e+01] [ 1.02454892e-01 9.94737620e-01 -2.48090170e-04 2.91996577e+00] [ 2.52360600e-03 -1.05217695e-05 9.99996816e-01 -2.17531908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:48.06, Y:2.92, Z:-0.02 [[ 9.94271507e-01 -1.06854400e-01 -2.51140384e-03 4.80579522e+01] [ 1.06854114e-01 9.94274679e-01 -2.48090170e-04 2.92398026e+00] [ 2.52353477e-03 -2.16848445e-05 9.99996816e-01 -1.73553203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:2.93, Z:-0.01 [[ 9.93893048e-01 -1.10319088e-01 -2.51141309e-03 4.81168664e+01] [ 1.10318814e-01 9.93896221e-01 -2.47996510e-04 2.92929317e+00] [ 2.52344273e-03 -3.05741044e-05 9.99996816e-01 -1.43955773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.18, Y:2.93, Z:-0.02 [[ 9.93428228e-01 -1.14429231e-01 -2.51141005e-03 4.81767498e+01] [ 1.14428970e-01 9.93431401e-01 -2.48027220e-04 2.92853334e+00] [ 2.52329517e-03 -4.09808233e-05 9.99996816e-01 -1.80122233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:2.93, Z:-0.02 [[ 9.93292820e-01 -1.15598731e-01 -2.51141144e-03 4.82363781e+01] [ 1.15598473e-01 9.93295994e-01 -2.48013238e-04 2.93056958e+00] [ 2.52324493e-03 -4.39655592e-05 9.99996816e-01 -1.77070737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.30, Y:2.93, Z:-0.02 [[ 9.93308073e-01 -1.15467591e-01 -2.51140548e-03 4.82950606e+01] [ 1.15467332e-01 9.93311247e-01 -2.48073566e-04 2.93036147e+00] [ 2.52325176e-03 -4.35718154e-05 9.99996816e-01 -1.69107846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:2.93, Z:-0.02 [[ 9.93417628e-01 -1.14521220e-01 -2.51139665e-03 4.83544438e+01] [ 1.14520959e-01 9.93420801e-01 -2.48162890e-04 2.92853986e+00] [ 2.52329359e-03 -4.10781631e-05 9.99996816e-01 -1.97496880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:2.93, Z:-0.02 [[ 9.93701949e-01 -1.12027360e-01 -2.51135594e-03 4.84136479e+01] [ 1.12027090e-01 9.93705122e-01 -2.48574196e-04 2.92624549e+00] [ 2.52339437e-03 -3.43312336e-05 9.99996816e-01 -1.98560467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882639999999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:2.93, Z:-0.02 [[ 9.93989723e-01 -1.09444619e-01 -2.51131331e-03 4.84713016e+01] [ 1.09444339e-01 9.93992895e-01 -2.49004132e-04 2.92636527e+00] [ 2.52347975e-03 -2.73414778e-05 9.99996816e-01 -2.12958123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.53, Y:2.93, Z:-0.02 [[ 9.94591678e-01 -1.03832016e-01 -2.51129821e-03 4.85303955e+01] [ 1.03831718e-01 9.94594848e-01 -2.49156354e-04 2.92543748e+00] [ 2.52359467e-03 -1.29435712e-05 9.99996816e-01 -2.15073657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.59, Y:2.93, Z:-0.03 [[ 9.95241178e-01 -9.74099090e-02 -2.51125602e-03 4.85883776e+01] [ 9.74095893e-02 9.95244347e-01 -2.49580861e-04 2.92525977e+00] [ 2.52362500e-03 3.77273246e-06 9.99996816e-01 -2.52431000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.65, Y:2.93, Z:-0.02 [[ 9.95709077e-01 -9.25047422e-02 -2.51123424e-03 4.86460532e+01] [ 9.25044064e-02 9.95712244e-01 -2.49799762e-04 2.92964331e+00] [ 2.52357434e-03 1.64276571e-05 9.99996816e-01 -2.43550035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:2.93, Z:-0.02 [[ 9.96213502e-01 -8.69042731e-02 -2.51121945e-03 4.87049159e+01] [ 8.69039191e-02 9.96216666e-01 -2.49948348e-04 2.93406165e+00] [ 2.52344025e-03 3.07671070e-05 9.99996816e-01 -2.22308151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:2.94, Z:-0.02 [[ 9.96413841e-01 -8.45763003e-02 -2.51117766e-03 4.87629895e+01] [ 8.45759378e-02 9.96417005e-01 -2.50367493e-04 2.93933627e+00] [ 2.52335528e-03 3.70844292e-05 9.99996816e-01 -2.18015729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242639999999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:48.82, Y:2.95, Z:-0.02 [[ 9.96510117e-01 -8.34342852e-02 -2.51115486e-03 4.88214285e+01] [ 8.34339185e-02 9.96513281e-01 -2.50596017e-04 2.94559409e+00] [ 2.52330747e-03 4.02059766e-05 9.99996816e-01 -1.88542254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.88, Y:2.95, Z:-0.02 [[ 9.96474947e-01 -8.38532899e-02 -2.51111109e-03 4.88791802e+01] [ 8.38529235e-02 9.96478110e-01 -2.51033827e-04 2.95244535e+00] [ 2.52331725e-03 3.95849134e-05 9.99996816e-01 -1.97251079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.94, Y:2.96, Z:-0.02 [[ 9.96279883e-01 -8.61399363e-02 -2.51109572e-03 4.89373665e+01] [ 8.61395767e-02 9.96283047e-01 -2.51187460e-04 2.96125685e+00] [ 2.52339937e-03 3.39482907e-05 9.99996816e-01 -1.74568902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.00, Y:2.97, Z:-0.02 [[ 9.95869845e-01 -9.07576209e-02 -2.51105194e-03 4.89956660e+01] [ 9.07572750e-02 9.95873011e-01 -2.51624428e-04 2.96758856e+00] [ 2.52352569e-03 2.26889494e-05 9.99996816e-01 -2.06054029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.05, Y:2.98, Z:-0.02 [[ 9.95423667e-01 -9.55270576e-02 -2.51100797e-03 4.90543528e+01] [ 9.55267257e-02 9.95426834e-01 -2.52062428e-04 2.97565641e+00] [ 2.52360349e-03 1.10405365e-05 9.99996816e-01 -1.86213600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.11, Y:2.98, Z:-0.02 [[ 9.94545858e-01 -1.04269992e-01 -2.51096467e-03 4.91117255e+01] [ 1.04269687e-01 9.94549028e-01 -2.52492974e-04 2.98206875e+00] [ 2.52360492e-03 -1.07016587e-05 9.99996816e-01 -1.74919103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:49.17, Y:2.98, Z:-0.02 [[ 9.93648337e-01 -1.12501896e-01 -2.51094947e-03 4.91703028e+01] [ 1.12501617e-01 9.93651510e-01 -2.52644056e-04 2.98308963e+00] [ 2.52343167e-03 -3.14465295e-05 9.99996816e-01 -1.70907807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662639999999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:49.23, Y:2.99, Z:-0.02 [[ 9.93342431e-01 -1.15171657e-01 -2.51090627e-03 4.92283421e+01] [ 1.15171385e-01 9.93345604e-01 -2.53072720e-04 2.98574529e+00] [ 2.52334451e-03 -3.77966807e-05 9.99996816e-01 -1.62053437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:49.29, Y:2.99, Z:-0.02 [[ 9.93376707e-01 -1.14875643e-01 -2.51085691e-03 4.92875663e+01] [ 1.14875369e-01 9.93379880e-01 -2.53561528e-04 2.98771521e+00] [ 2.52336277e-03 -3.65534982e-05 9.99996816e-01 -1.53133828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.35, Y:2.99, Z:-0.01 [[ 9.93736572e-01 -1.11719834e-01 -2.51081280e-03 4.93451259e+01] [ 1.11719549e-01 9.93739744e-01 -2.53997487e-04 2.99098745e+00] [ 2.52347103e-03 -2.81002817e-05 9.99996816e-01 -1.39562189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.40, Y:2.99, Z:-0.01 [[ 9.94582731e-01 -1.03917696e-01 -2.51079723e-03 4.94028828e+01] [ 1.03917386e-01 9.94585900e-01 -2.54151334e-04 2.99353652e+00] [ 2.52361434e-03 -8.14095643e-06 9.99996816e-01 -1.45876796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.46, Y:3.00, Z:-0.02 [[ 9.95614582e-01 -9.35163058e-02 -2.51078184e-03 4.94598738e+01] [ 9.35159618e-02 9.95617748e-01 -2.54303330e-04 2.99867194e+00] [ 2.52356046e-03 1.83899257e-05 9.99996816e-01 -1.57397274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.52, Y:3.01, Z:-0.02 [[ 9.96245238e-01 -8.65397102e-02 -2.51074871e-03 4.95184905e+01] [ 8.65393432e-02 9.96248401e-01 -2.54629999e-04 3.00553078e+00] [ 2.52336499e-03 3.63953800e-05 9.99996816e-01 -1.64625924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.58, Y:3.01, Z:-0.02 [[ 9.96868674e-01 -7.90350705e-02 -2.51070659e-03 4.95772693e+01] [ 7.90346787e-02 9.96871835e-01 -2.55044596e-04 3.01303038e+00] [ 2.52301015e-03 5.58130795e-05 9.99996816e-01 -1.77082114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.63, Y:3.02, Z:-0.02 [[ 9.97026705e-01 -7.70158877e-02 -2.51066350e-03 4.96342397e+01] [ 7.70154885e-02 9.97029864e-01 -2.55468089e-04 3.02131732e+00] [ 2.52288159e-03 6.13485317e-05 9.99996816e-01 -2.03121634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.69, Y:3.03, Z:-0.02 [[ 9.96812803e-01 -7.97366401e-02 -2.51064824e-03 4.96927961e+01] [ 7.97362491e-02 9.96815964e-01 -2.55617998e-04 3.02987922e+00] [ 2.52303636e-03 5.46136198e-05 9.99996816e-01 -1.94011320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.75, Y:3.04, Z:-0.02 [[ 9.96586239e-01 -8.25200896e-02 -2.51060566e-03 4.97508865e+01] [ 8.25197063e-02 9.96589400e-01 -2.56035463e-04 3.03578083e+00] [ 2.52317106e-03 4.79869769e-05 9.99996816e-01 -2.15090974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.81, Y:3.05, Z:-0.02 [[ 9.96370234e-01 -8.50885043e-02 -2.51055729e-03 4.98094095e+01] [ 8.50881280e-02 9.96373396e-01 -2.56508925e-04 3.04530268e+00] [ 2.52327845e-03 4.19592375e-05 9.99996816e-01 -2.05365995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.87, Y:3.05, Z:-0.02 [[ 9.96302531e-01 -8.58776084e-02 -2.51051498e-03 4.98682143e+01] [ 8.58772336e-02 9.96305693e-01 -2.56922311e-04 3.05261234e+00] [ 2.52330424e-03 4.03762668e-05 9.99996816e-01 -1.99561760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.93, Y:3.06, Z:-0.02 [[ 9.96207636e-01 -8.69715108e-02 -2.51047178e-03 4.99257253e+01] [ 8.69711384e-02 9.96210798e-01 -2.57343768e-04 3.06280436e+00] [ 2.52334067e-03 3.80292381e-05 9.99996816e-01 -1.82268232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.98, Y:3.07, Z:-0.02 [[ 9.96000771e-01 -8.93093578e-02 -2.51045650e-03 4.99827938e+01] [ 8.93089925e-02 9.96003935e-01 -2.57492713e-04 3.07129845e+00] [ 2.52342106e-03 3.22566003e-05 9.99996816e-01 -1.83603731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.04, Y:3.08, Z:-0.02 [[ 9.95628581e-01 -9.33671555e-02 -2.51044145e-03 5.00412922e+01] [ 9.33668027e-02 9.95631746e-01 -2.57639357e-04 3.07912772e+00] [ 2.52353026e-03 2.21212158e-05 9.99996816e-01 -1.70633031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.10, Y:3.08, Z:-0.02 [[ 9.95244274e-01 -9.73782953e-02 -2.51039866e-03 5.00996763e+01] [ 9.73779541e-02 9.95247440e-01 -2.58055654e-04 3.08487457e+00] [ 2.52359686e-03 1.23709269e-05 9.99996816e-01 -1.66184413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.16, Y:3.09, Z:-0.02 [[ 9.94913658e-01 -1.00700110e-01 -2.51035467e-03 5.01571940e+01] [ 1.00699778e-01 9.94916825e-01 -2.58482898e-04 3.08978901e+00] [ 2.52362335e-03 4.37600795e-06 9.99996816e-01 -1.53887702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:3.10, Z:-0.01 [[ 9.94938889e-01 -1.00450516e-01 -2.51030386e-03 5.02146381e+01] [ 1.00450183e-01 9.94942055e-01 -2.58975382e-04 3.09570383e+00] [ 2.52362109e-03 5.50419801e-06 9.99996816e-01 -1.48276524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.27, Y:3.10, Z:-0.02 [[ 9.95142294e-01 -9.84150094e-02 -2.51025278e-03 5.02718929e+01] [ 9.84146680e-02 9.95145460e-01 -2.59469585e-04 3.10177080e+00] [ 2.52360236e-03 1.11634642e-05 9.99996816e-01 -1.81377485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80264 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:50.33, Y:3.11, Z:-0.02 [[ 9.95430921e-01 -9.54514551e-02 -2.51023701e-03 5.03293096e+01] [ 9.54511039e-02 9.95434086e-01 -2.59622025e-04 3.10609935e+00] [ 2.52355678e-03 1.88308978e-05 9.99996816e-01 -1.57904801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.39, Y:3.11, Z:-0.01 [[ 9.95640713e-01 -9.32377085e-02 -2.51022234e-03 5.03874549e+01] [ 9.32373499e-02 9.95643877e-01 -2.59763761e-04 3.11081725e+00] [ 2.52350728e-03 2.45848974e-05 9.99996816e-01 -1.42161490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.45, Y:3.12, Z:-0.02 [[ 9.95786529e-01 -9.16672671e-02 -2.51017329e-03 5.04458999e+01] [ 9.16669023e-02 9.95789692e-01 -2.60236881e-04 3.11857298e+00] [ 2.52345990e-03 2.90405706e-05 9.99996816e-01 -1.58717228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.50, Y:3.13, Z:-0.02 [[ 9.95968874e-01 -8.96643854e-02 -2.51013059e-03 5.05040440e+01] [ 8.96640132e-02 9.95972036e-01 -2.60648109e-04 3.12587237e+00] [ 2.52339073e-03 3.45290210e-05 9.99996816e-01 -1.51609611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.56, Y:3.13, Z:-0.02 [[ 9.95950598e-01 -8.98671528e-02 -2.51008574e-03 5.05614222e+01] [ 8.98667801e-02 9.95953761e-01 -2.61079379e-04 3.13205012e+00] [ 2.52339179e-03 3.44488409e-05 9.99996816e-01 -2.15497396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:50.62, Y:3.14, Z:-0.02 [[ 9.95642614e-01 -9.32174074e-02 -2.51006995e-03 5.06192786e+01] [ 9.32170450e-02 9.95645778e-01 -2.61231105e-04 3.13725541e+00] [ 2.52349183e-03 2.61115175e-05 9.99996816e-01 -1.69970297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162639999999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:50.68, Y:3.14, Z:-0.02 [[ 9.95409937e-01 -9.56700478e-02 -2.51002014e-03 5.06779034e+01] [ 9.56696920e-02 9.95413101e-01 -2.61708767e-04 3.14255742e+00] [ 2.52354462e-03 2.03746536e-05 9.99996816e-01 -1.55679602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:3.15, Z:-0.02 [[ 9.95223220e-01 -9.75932478e-02 -2.50997588e-03 5.07349549e+01] [ 9.75928971e-02 9.95226385e-01 -2.62132535e-04 3.14797033e+00] [ 2.52357659e-03 1.59245675e-05 9.99996816e-01 -1.59663872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:3.15, Z:-0.01 [[ 9.95090758e-01 -9.89347472e-02 -2.50995393e-03 5.07938175e+01] [ 9.89344002e-02 9.95093923e-01 -2.62342560e-04 3.15195013e+00] [ 2.52359470e-03 1.27338697e-05 9.99996816e-01 -1.37675186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342639999999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:3.16, Z:-0.01 [[ 9.95205873e-01 -9.77699869e-02 -2.50991067e-03 5.08514717e+01] [ 9.77696351e-02 9.95209038e-01 -2.62755785e-04 3.15913043e+00] [ 2.52357542e-03 1.61030493e-05 9.99996816e-01 -1.11692984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:3.16, Z:-0.01 [[ 9.95681078e-01 -9.28056678e-02 -2.50985909e-03 5.09086901e+01] [ 9.28052990e-02 9.95684241e-01 -2.63247598e-04 3.16438604e+00] [ 2.52345801e-03 2.91824289e-05 9.99996816e-01 -1.15776099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:3.17, Z:-0.01 [[ 9.96202081e-01 -8.70351339e-02 -2.50983496e-03 5.09666033e+01] [ 8.70347462e-02 9.96205242e-01 -2.63477420e-04 3.17384688e+00] [ 2.52324254e-03 4.40339050e-05 9.99996816e-01 -9.40691524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.02, Y:3.19, Z:-0.01 [[ 9.96636658e-01 -8.19089267e-02 -2.50979051e-03 5.10245443e+01] [ 8.19085218e-02 9.96639817e-01 -2.63900184e-04 3.18530099e+00] [ 2.52297294e-03 5.74393665e-05 9.99996816e-01 -7.82552506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.08, Y:3.20, Z:-0.01 [[ 9.96721778e-01 -8.08665405e-02 -2.50976416e-03 5.10820440e+01] [ 8.08661316e-02 9.96724936e-01 -2.64150505e-04 3.19525835e+00] [ 2.52290546e-03 6.03296415e-05 9.99996816e-01 -1.32692704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.14, Y:3.21, Z:-0.01 [[ 9.96573920e-01 -8.26687574e-02 -2.50971792e-03 5.11396889e+01] [ 8.26683531e-02 9.96577078e-01 -2.64589183e-04 3.20606754e+00] [ 2.52300061e-03 5.62084326e-05 9.99996816e-01 -1.38316314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.20, Y:3.22, Z:-0.01 [[ 9.96153564e-01 -8.75886860e-02 -2.50967347e-03 5.11989604e+01] [ 8.75882963e-02 9.96156725e-01 -2.65010057e-04 3.21739680e+00] [ 2.52323999e-03 4.41726891e-05 9.99996816e-01 -1.42142086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:51.26, Y:3.23, Z:-0.02 [[ 9.95842253e-01 -9.10599165e-02 -2.50967011e-03 5.12568749e+01] [ 9.10595377e-02 9.95845415e-01 -2.65041879e-04 3.22607158e+00] [ 2.52337817e-03 3.54105016e-05 9.99996816e-01 -1.61565837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.32, Y:3.24, Z:-0.02 [[ 9.95453855e-01 -9.52119940e-02 -2.50966014e-03 5.13160565e+01] [ 9.52116281e-02 9.95457018e-01 -2.65136327e-04 3.23761902e+00] [ 2.52350295e-03 2.49821512e-05 9.99996816e-01 -1.78073756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882639999999995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:51.37, Y:3.25, Z:-0.02 [[ 9.95058275e-01 -9.92609229e-02 -2.50965369e-03 5.13745245e+01] [ 9.92605698e-02 9.95061440e-01 -2.65197284e-04 3.24565590e+00] [ 2.52358334e-03 1.47770962e-05 9.99996816e-01 -1.82683380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.43, Y:3.25, Z:-0.02 [[ 9.94617048e-01 -1.03588748e-01 -2.50964120e-03 5.14340689e+01] [ 1.03588408e-01 9.94620215e-01 -2.65315424e-04 3.25409825e+00] [ 2.52362357e-03 3.91750671e-06 9.99996816e-01 -1.52102160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:51.49, Y:3.26, Z:-0.01 [[ 9.94464454e-01 -1.05043571e-01 -2.50963500e-03 5.14923056e+01] [ 1.05043236e-01 9.94467620e-01 -2.65374131e-04 3.26138599e+00] [ 2.52362659e-03 2.84959700e-07 9.99996816e-01 -1.24030531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.55, Y:3.27, Z:-0.01 [[ 9.94585143e-01 -1.03894632e-01 -2.50959073e-03 5.15510236e+01] [ 1.03894292e-01 9.94588310e-01 -2.65792058e-04 3.26939084e+00] [ 2.52362397e-03 3.62067907e-06 9.99996816e-01 -1.02108673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.61, Y:3.28, Z:-0.01 [[ 9.94842814e-01 -1.01397619e-01 -2.50958418e-03 5.16093740e+01] [ 1.01397271e-01 9.94845979e-01 -2.65853873e-04 3.27695847e+00] [ 2.52360669e-03 1.00178281e-05 9.99996816e-01 -1.07501180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.67, Y:3.28, Z:-0.01 [[ 9.94933146e-01 -1.00507396e-01 -2.50957188e-03 5.16684706e+01] [ 1.00507044e-01 9.94936311e-01 -2.65969949e-04 3.28192056e+00] [ 2.52359614e-03 1.23926653e-05 9.99996816e-01 -1.00475323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:3.29, Z:-0.01 [[ 9.94913753e-01 -1.00699185e-01 -2.50957138e-03 5.17274029e+01] [ 1.00698835e-01 9.94916918e-01 -2.65974656e-04 3.28842402e+00] [ 2.52359846e-03 1.19109302e-05 9.99996816e-01 -6.32270994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:3.29, Z:-0.00 [[ 9.95022974e-01 -9.96141696e-02 -2.50956491e-03 5.17871033e+01] [ 9.96138155e-02 9.95026139e-01 -2.66035764e-04 3.29327985e+00] [ 2.52358361e-03 1.47243616e-05 9.99996816e-01 -2.72884344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.85, Y:3.30, Z:-0.00 [[ 9.95316965e-01 -9.66325069e-02 -2.50956172e-03 5.18468888e+01] [ 9.66321432e-02 9.95320128e-01 -2.66065861e-04 3.29912910e+00] [ 2.52352790e-03 2.23155381e-05 9.99996816e-01 -3.66450824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.91, Y:3.31, Z:-0.01 [[ 9.95999720e-01 -8.93211079e-02 -2.50955526e-03 5.19053207e+01] [ 8.93207208e-02 9.96002881e-01 -2.66126724e-04 3.30588942e+00] [ 2.52329500e-03 4.09068579e-05 9.99996816e-01 -7.48355355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:3.32, Z:-0.01 [[ 9.96658893e-01 -8.16379368e-02 -2.50954349e-03 5.19647826e+01] [ 8.16375251e-02 9.96662051e-01 -2.66237638e-04 3.31681911e+00] [ 2.52290186e-03 6.04751893e-05 9.99996816e-01 -9.20605518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:3.33, Z:-0.01 [[ 9.96814756e-01 -7.97122661e-02 -2.50954349e-03 5.20245609e+01] [ 7.97118482e-02 9.96817912e-01 -2.66237638e-04 3.32515682e+00] [ 2.52278031e-03 6.53492556e-05 9.99996816e-01 -1.30819971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.09, Y:3.34, Z:-0.01 [[ 9.96632636e-01 -8.19578639e-02 -2.50954676e-03 5.20852950e+01] [ 8.19574533e-02 9.96635794e-01 -2.66206830e-04 3.33668345e+00] [ 2.52292187e-03 5.96343535e-05 9.99996816e-01 -1.08689621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:3.34, Z:-0.02 [[ 9.96267786e-01 -8.62797823e-02 -2.50955330e-03 5.21443563e+01] [ 8.62793855e-02 9.96270945e-01 -2.66145182e-04 3.34480559e+00] [ 2.52315799e-03 4.86291549e-05 9.99996816e-01 -1.57690279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:3.35, Z:-0.01 [[ 9.96016863e-01 -8.91297379e-02 -2.50955559e-03 5.22040628e+01] [ 8.91293502e-02 9.96020024e-01 -2.66123630e-04 3.35401617e+00] [ 2.52328714e-03 4.13885648e-05 9.99996816e-01 -1.16960486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:3.36, Z:-0.01 [[ 9.95872461e-01 -9.07289540e-02 -2.50955559e-03 5.22640840e+01] [ 9.07285714e-02 9.95875623e-01 -2.66123630e-04 3.36316784e+00] [ 2.52335035e-03 3.73368017e-05 9.99996816e-01 -1.11386214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:3.37, Z:-0.01 [[ 9.95534987e-01 -9.43599046e-02 -2.50955559e-03 5.23249882e+01] [ 9.43595336e-02 9.95538150e-01 -2.66123630e-04 3.37121548e+00] [ 2.52346972e-03 2.81348904e-05 9.99996816e-01 -1.15660537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:3.38, Z:-0.01 [[ 9.95291883e-01 -9.68905000e-02 -2.50956200e-03 5.23840655e+01] [ 9.68901371e-02 9.95295047e-01 -2.66063118e-04 3.37927365e+00] [ 2.52353362e-03 2.16586554e-05 9.99996816e-01 -1.04204847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.44, Y:3.39, Z:-0.01 [[ 9.95136222e-01 -9.84764000e-02 -2.50955883e-03 5.24441424e+01] [ 9.84760420e-02 9.95139386e-01 -2.66093059e-04 3.38612515e+00] [ 2.52356472e-03 1.76674207e-05 9.99996816e-01 -8.95813970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.50, Y:3.39, Z:-0.01 [[ 9.95059841e-01 -9.92452220e-02 -2.50955883e-03 5.25031375e+01] [ 9.92448666e-02 9.95063006e-01 -2.66093059e-04 3.39408200e+00] [ 2.52357761e-03 1.57176859e-05 9.99996816e-01 -7.25626302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.56, Y:3.40, Z:-0.01 [[ 9.95011202e-01 -9.97316867e-02 -2.50955568e-03 5.25629527e+01] [ 9.97313327e-02 9.95014367e-01 -2.66122758e-04 3.40148517e+00] [ 2.52358482e-03 1.45137931e-05 9.99996816e-01 -5.32876820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.62, Y:3.41, Z:-0.01 [[ 9.94888976e-01 -1.00943690e-01 -2.50955568e-03 5.26232804e+01] [ 1.00943340e-01 9.94892141e-01 -2.66122758e-04 3.40704345e+00] [ 2.52360063e-03 1.14396662e-05 9.99996816e-01 -8.40258575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.68, Y:3.42, Z:-0.01 [[ 9.94939990e-01 -1.00439628e-01 -2.50955568e-03 5.26834173e+01] [ 1.00439277e-01 9.94943155e-01 -2.66122758e-04 3.41521284e+00] [ 2.52359451e-03 1.27182167e-05 9.99996816e-01 -9.14830904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.74, Y:3.42, Z:-0.01 [[ 9.95078886e-01 -9.90540918e-02 -2.50955568e-03 5.27433143e+01] [ 9.90537357e-02 9.95082050e-01 -2.66122758e-04 3.42367242e+00] [ 2.52357436e-03 1.62322725e-05 9.99996816e-01 -1.00114316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.80, Y:3.43, Z:-0.01 [[ 9.95165909e-01 -9.81759475e-02 -2.50955891e-03 5.28028967e+01] [ 9.81755886e-02 9.95169073e-01 -2.66092234e-04 3.43051317e+00] [ 2.52355927e-03 1.84284966e-05 9.99996816e-01 -9.79583311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382639999999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:52.86, Y:3.44, Z:-0.01 [[ 9.95360240e-01 -9.61857349e-02 -2.50955844e-03 5.28627443e+01] [ 9.61853697e-02 9.95363403e-01 -2.66096696e-04 3.43900585e+00] [ 2.52351734e-03 2.34792649e-05 9.99996816e-01 -8.69241695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.92, Y:3.45, Z:-0.01 [[ 9.95801456e-01 -9.15049881e-02 -2.50955844e-03 5.29226898e+01] [ 9.15046081e-02 9.95804617e-01 -2.66096696e-04 3.44974719e+00] [ 2.52337906e-03 3.53433160e-05 9.99996816e-01 -8.29659237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.98, Y:3.46, Z:-0.01 [[ 9.96564330e-01 -8.27842897e-02 -2.50955844e-03 5.29822333e+01] [ 8.27838820e-02 9.96567488e-01 -2.66096696e-04 3.46438316e+00] [ 2.52297298e-03 5.74314861e-05 9.99996816e-01 -7.65134728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.04, Y:3.48, Z:-0.01 [[ 9.96987848e-01 -7.75173144e-02 -2.50956154e-03 5.30437164e+01] [ 7.75168900e-02 9.96991003e-01 -2.66067434e-04 3.47808468e+00] [ 2.52263511e-03 7.07325922e-05 9.99996816e-01 -7.92920650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.10, Y:3.50, Z:-0.01 [[ 9.97198890e-01 -7.47534332e-02 -2.50957442e-03 5.31030889e+01] [ 7.47530004e-02 9.97202045e-01 -2.65945918e-04 3.49632860e+00] [ 2.52243311e-03 7.76027564e-05 9.99996816e-01 -1.19990306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:3.51, Z:-0.01 [[ 9.96741813e-01 -8.06192333e-02 -2.50958081e-03 5.31640024e+01] [ 8.06188193e-02 9.96744970e-01 -2.65885593e-04 3.51078998e+00] [ 2.52284754e-03 6.26998459e-05 9.99996816e-01 -1.12644891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:3.52, Z:-0.01 [[ 9.96029053e-01 -8.89934119e-02 -2.50959415e-03 5.32240088e+01] [ 8.89930247e-02 9.96032214e-01 -2.65759612e-04 3.52124869e+00] [ 2.52328747e-03 4.13679208e-05 9.99996816e-01 -1.00305020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:3.53, Z:-0.01 [[ 9.94458620e-01 -1.05098785e-01 -2.50960734e-03 5.32841536e+01] [ 1.05098449e-01 9.94461787e-01 -2.65634982e-04 3.53265453e+00] [ 2.52362652e-03 4.07158693e-07 9.99996816e-01 -7.31685686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:3.54, Z:-0.01 [[ 9.92832680e-01 -1.19486282e-01 -2.50962733e-03 5.33464226e+01] [ 1.19485992e-01 9.92835851e-01 -2.65446055e-04 3.53875665e+00] [ 2.52336515e-03 -3.63217936e-05 9.99996816e-01 -6.55889910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.41, Y:3.54, Z:-0.01 [[ 9.92044951e-01 -1.25859117e-01 -2.50964008e-03 5.34088654e+01] [ 1.25858848e-01 9.92048124e-01 -2.65325462e-04 3.54434913e+00] [ 2.52307736e-03 -5.26456246e-05 9.99996816e-01 -6.63683935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.47, Y:3.55, Z:-0.01 [[ 9.91451850e-01 -1.30448962e-01 -2.50965587e-03 5.34698677e+01] [ 1.30448708e-01 9.91455024e-01 -2.65175958e-04 3.54723675e+00] [ 2.52280285e-03 -6.44721732e-05 9.99996816e-01 -8.93312111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.53, Y:3.55, Z:-0.01 [[ 9.91083649e-01 -1.33217502e-01 -2.50966524e-03 5.35320856e+01] [ 1.33217258e-01 9.91086824e-01 -2.65087249e-04 3.54667539e+00] [ 2.52261042e-03 -7.16070841e-05 9.99996816e-01 -7.37204187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.59, Y:3.54, Z:-0.01 [[ 9.91362499e-01 -1.31126268e-01 -2.50967148e-03 5.35943228e+01] [ 1.31126017e-01 9.91365673e-01 -2.65028190e-04 3.54331835e+00] [ 2.52275431e-03 -6.63442158e-05 9.99996816e-01 -7.17593130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.66, Y:3.55, Z:-0.01 [[ 9.91948675e-01 -1.26615668e-01 -2.50967767e-03 5.36553888e+01] [ 1.26615403e-01 9.91951848e-01 -2.64969565e-04 3.54538894e+00] [ 2.52302870e-03 -5.49276414e-05 9.99996816e-01 -8.12353464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:3.54, Z:-0.01 [[ 9.93026113e-01 -1.17867897e-01 -2.50968383e-03 5.37171033e+01] [ 1.17867604e-01 9.93029283e-01 -2.64911251e-04 3.54176922e+00] [ 2.52341406e-03 -3.27466295e-05 9.99996816e-01 -8.41046311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:3.54, Z:-0.01 [[ 9.93680061e-01 -1.12221381e-01 -2.50968699e-03 5.37774732e+01] [ 1.12221070e-01 9.93683230e-01 -2.64881236e-04 3.54358123e+00] [ 2.52355922e-03 -1.84325580e-05 9.99996816e-01 -9.83462894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.84, Y:3.54, Z:-0.01 [[ 9.94208972e-01 -1.07434728e-01 -2.50968699e-03 5.38396578e+01] [ 1.07434402e-01 9.94212140e-01 -2.64881236e-04 3.54018319e+00] [ 2.52361872e-03 -6.27942017e-06 9.99996816e-01 -7.21859960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.90, Y:3.54, Z:-0.01 [[ 9.94448598e-01 -1.05193567e-01 -2.50969358e-03 5.39008812e+01] [ 1.05193233e-01 9.94451765e-01 -2.64818823e-04 3.53782666e+00] [ 2.52362645e-03 -6.54074666e-07 9.99996816e-01 -7.99354262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46264 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:53.96, Y:3.54, Z:-0.01 [[ 9.94771351e-01 -1.02096330e-01 -2.50969686e-03 5.39605025e+01] [ 1.02095987e-01 9.94774517e-01 -2.64787770e-04 3.53542686e+00] [ 2.52361634e-03 7.17330938e-06 9.99996816e-01 -1.04811734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.02, Y:3.54, Z:-0.01 [[ 9.95137536e-01 -9.84631164e-02 -2.50968772e-03 5.40206755e+01] [ 9.84627615e-02 9.95140701e-01 -2.64874360e-04 3.53681289e+00] [ 2.52357275e-03 1.64756352e-05 9.99996816e-01 -7.62284586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.08, Y:3.54, Z:-0.00 [[ 9.95677197e-01 -9.28473012e-02 -2.50968164e-03 5.40809707e+01] [ 9.28469283e-02 9.95680359e-01 -2.64931882e-04 3.53750744e+00] [ 2.52343893e-03 3.07704017e-05 9.99996816e-01 -4.57397737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.14, Y:3.54, Z:-0.00 [[ 9.96123850e-01 -8.79259716e-02 -2.50967530e-03 5.41403609e+01] [ 8.79255829e-02 9.96127011e-01 -2.64991969e-04 3.54190958e+00] [ 2.52325503e-03 4.33001564e-05 9.99996816e-01 -3.06838676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.20, Y:3.55, Z:-0.01 [[ 9.96239173e-01 -8.66095389e-02 -2.50967204e-03 5.42001209e+01] [ 8.66091460e-02 9.96242333e-01 -2.65022863e-04 3.54677175e+00] [ 2.52319503e-03 4.66656058e-05 9.99996816e-01 -6.30298063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:3.55, Z:-0.01 [[ 9.96114086e-01 -8.80365248e-02 -2.50966549e-03 5.42596073e+01] [ 8.80361363e-02 9.96117246e-01 -2.65084819e-04 3.55083714e+00] [ 2.52325823e-03 4.31134693e-05 9.99996816e-01 -6.43090539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:3.56, Z:-0.01 [[ 9.95752525e-01 -9.20359251e-02 -2.50965896e-03 5.43184658e+01] [ 9.20355491e-02 9.95755687e-01 -2.65146655e-04 3.55586224e+00] [ 2.52341020e-03 3.30426105e-05 9.99996816e-01 -7.19574262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:3.56, Z:-0.00 [[ 9.95582948e-01 -9.38525157e-02 -2.50964935e-03 5.43782050e+01] [ 9.38521452e-02 9.95586111e-01 -2.65237615e-04 3.56038895e+00] [ 2.52346525e-03 2.85300720e-05 9.99996816e-01 -2.41522586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.44, Y:3.57, Z:-0.00 [[ 9.95436121e-01 -9.53972235e-02 -2.50964287e-03 5.44368660e+01] [ 9.53968578e-02 9.95439285e-01 -2.65298913e-04 3.56513736e+00] [ 2.52350588e-03 2.46760774e-05 9.99996816e-01 -2.29091409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.50, Y:3.57, Z:-0.00 [[ 9.95408308e-01 -9.56870009e-02 -2.50963061e-03 5.44954062e+01] [ 9.56866358e-02 9.95411471e-01 -2.65414792e-04 3.57066809e+00] [ 2.52351185e-03 2.40579784e-05 9.99996816e-01 -1.85828747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.55, Y:3.57, Z:-0.00 [[ 9.95548453e-01 -9.42177277e-02 -2.50958607e-03 5.45536656e+01] [ 9.42173569e-02 9.95551615e-01 -2.65835330e-04 3.57493534e+00] [ 2.52346886e-03 2.82053854e-05 9.99996816e-01 -4.39936558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.61, Y:3.58, Z:-0.00 [[ 9.95961591e-01 -8.97452565e-02 -2.50954099e-03 5.46117779e+01] [ 8.97448705e-02 9.95964752e-01 -2.66260198e-04 3.58196448e+00] [ 2.52330996e-03 3.99665002e-05 9.99996816e-01 -4.09783276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.67, Y:3.59, Z:-0.01 [[ 9.96352271e-01 -8.52986205e-02 -2.50953138e-03 5.46698676e+01] [ 8.52982201e-02 9.96355430e-01 -2.66350679e-04 3.58992061e+00] [ 2.52310457e-03 5.13205437e-05 9.99996816e-01 -5.08689364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242639999999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:54.73, Y:3.60, Z:-0.00 [[ 9.96749632e-01 -8.05225038e-02 -2.50948697e-03 5.47299645e+01] [ 8.05220872e-02 9.96752789e-01 -2.66768463e-04 3.60046742e+00] [ 2.52281900e-03 6.38322386e-05 9.99996816e-01 -2.94264144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.79, Y:3.61, Z:-0.00 [[ 9.96958561e-01 -7.78930703e-02 -2.50948697e-03 5.47893285e+01] [ 7.78926453e-02 9.96961717e-01 -2.66768463e-04 3.61257566e+00] [ 2.52264185e-03 7.04865243e-05 9.99996816e-01 -2.17886341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.85, Y:3.62, Z:-0.00 [[ 9.96930841e-01 -7.82470539e-02 -2.50949031e-03 5.48499847e+01] [ 7.82466302e-02 9.96933997e-01 -2.66737026e-04 3.62449835e+00] [ 2.52266759e-03 6.95592070e-05 9.99996816e-01 -6.60255629e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.91, Y:3.64, Z:-0.00 [[ 9.96831662e-01 -7.95005683e-02 -2.50949719e-03 5.49095797e+01] [ 7.95001488e-02 9.96834818e-01 -2.66672266e-04 3.63543580e+00] [ 2.52275478e-03 6.63219575e-05 9.99996816e-01 -4.05773619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482639999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:54.97, Y:3.65, Z:-0.01 [[ 9.96715797e-01 -8.09402441e-02 -2.50950059e-03 5.49699775e+01] [ 8.09398291e-02 9.96718954e-01 -2.66640340e-04 3.64925485e+00] [ 2.52284873e-03 6.26460898e-05 9.99996816e-01 -5.63161143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.03, Y:3.66, Z:-0.01 [[ 9.96600868e-01 -8.23432610e-02 -2.50950708e-03 5.50289533e+01] [ 8.23428506e-02 9.96604026e-01 -2.66579174e-04 3.66162738e+00] [ 2.52293586e-03 5.90330690e-05 9.99996816e-01 -5.25222618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.09, Y:3.68, Z:0.00 [[ 9.96138469e-01 -8.77601988e-02 -2.50951698e-03 5.50894533e+01] [ 8.77598058e-02 9.96141629e-01 -2.66485959e-04 3.67573587e+00] [ 2.52322120e-03 4.52221922e-05 9.99996816e-01 6.19608614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.15, Y:3.69, Z:0.00 [[ 9.95354907e-01 -9.62409016e-02 -2.50952338e-03 5.51494800e+01] [ 9.62405358e-02 9.95358070e-01 -2.66425670e-04 3.68827945e+00] [ 2.52351540e-03 2.36702228e-05 9.99996816e-01 9.34243767e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.21, Y:3.70, Z:0.00 [[ 9.94828697e-01 -1.01536030e-01 -2.50952988e-03 5.52108867e+01] [ 1.01535681e-01 9.94831862e-01 -2.66364486e-04 3.69976297e+00] [ 2.52360587e-03 1.01802099e-05 9.99996816e-01 1.89320591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:55.27, Y:3.71, Z:-0.00 [[ 9.94286772e-01 -1.06712313e-01 -2.50954751e-03 5.52710106e+01] [ 1.06711981e-01 9.94289939e-01 -2.66198237e-04 3.70907236e+00] [ 2.52362447e-03 -3.12140089e-06 9.99996816e-01 -1.77638559e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.33, Y:3.72, Z:0.00 [[ 9.93766254e-01 -1.11455526e-01 -2.50955811e-03 5.53319565e+01] [ 1.11455210e-01 9.93769423e-01 -2.66098278e-04 3.72028972e+00] [ 2.52358024e-03 -1.52638375e-05 9.99996816e-01 1.21398642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.39, Y:3.73, Z:-0.00 [[ 9.93376037e-01 -1.14881463e-01 -2.50956663e-03 5.53927108e+01] [ 1.14881158e-01 9.93379207e-01 -2.66017883e-04 3.72705942e+00] [ 2.52351184e-03 -2.40461305e-05 9.99996816e-01 -8.80565545e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:3.73, Z:-0.00 [[ 9.92929447e-01 -1.18679468e-01 -2.50957619e-03 5.54533237e+01] [ 1.18679175e-01 9.92932617e-01 -2.65927659e-04 3.73478091e+00] [ 2.52340021e-03 -3.37870282e-05 9.99996816e-01 -2.49893490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:3.74, Z:-0.00 [[ 9.92819529e-01 -1.19595501e-01 -2.50958255e-03 5.55137873e+01] [ 1.19595211e-01 9.92822701e-01 -2.65867630e-04 3.73863812e+00] [ 2.52336710e-03 -3.61754793e-05 9.99996816e-01 -4.81527811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:3.75, Z:-0.00 [[ 9.93281237e-01 -1.15698251e-01 -2.50958571e-03 5.55744367e+01] [ 1.15697948e-01 9.93284407e-01 -2.65837837e-04 3.74669681e+00] [ 2.52348933e-03 -2.63021822e-05 9.99996816e-01 -2.22384969e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.64, Y:3.75, Z:0.00 [[ 9.93816001e-01 -1.11011070e-01 -2.50959226e-03 5.56354196e+01] [ 1.11010753e-01 9.93819170e-01 -2.65775938e-04 3.75401856e+00] [ 2.52358497e-03 -1.44593459e-05 9.99996816e-01 2.04090446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202639999999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.70, Y:3.76, Z:0.00 [[ 9.94485004e-01 -1.04848833e-01 -2.50960206e-03 5.56969192e+01] [ 1.04848496e-01 9.94488171e-01 -2.65683399e-04 3.76320838e+00] [ 2.52362616e-03 1.09015377e-06 9.99996816e-01 1.96304194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.76, Y:3.77, Z:0.00 [[ 9.94876723e-01 -1.01064379e-01 -2.50961530e-03 5.57573876e+01] [ 1.01064030e-01 9.94879888e-01 -2.65558294e-04 3.77173807e+00] [ 2.52360427e-03 1.05659291e-05 9.99996816e-01 2.13301246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:55.82, Y:3.78, Z:-0.00 [[ 9.94903154e-01 -1.00803851e-01 -2.50962519e-03 5.58173376e+01] [ 1.00803502e-01 9.94906319e-01 -2.65464782e-04 3.78234361e+00] [ 2.52360183e-03 1.11327398e-05 9.99996816e-01 -8.91019273e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:3.79, Z:-0.00 [[ 9.94865201e-01 -1.01177734e-01 -2.50963478e-03 5.58779063e+01] [ 1.01177387e-01 9.94868366e-01 -2.65374115e-04 3.79132661e+00] [ 2.52360620e-03 1.00931838e-05 9.99996816e-01 -6.03933992e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:3.80, Z:-0.00 [[ 9.94639151e-01 -1.03376309e-01 -2.50964422e-03 5.59395328e+01] [ 1.03375969e-01 9.94642317e-01 -2.65284757e-04 3.80155056e+00] [ 2.52362251e-03 4.42570174e-06 9.99996816e-01 -8.88941151e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.00, Y:3.81, Z:0.00 [[ 9.94405157e-01 -1.05603431e-01 -2.50965743e-03 5.60005112e+01] [ 1.05603098e-01 9.94408324e-01 -2.65159806e-04 3.80961266e+00] [ 2.52362602e-03 -1.35132133e-06 9.99996816e-01 1.57481827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.06, Y:3.82, Z:0.00 [[ 9.93895148e-01 -1.10300209e-01 -2.50966721e-03 5.60621765e+01] [ 1.10299891e-01 9.93898317e-01 -2.65067144e-04 3.81814919e+00] [ 2.52359098e-03 -1.33670720e-05 9.99996816e-01 2.47539200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.12, Y:3.83, Z:0.01 [[ 9.93356665e-01 -1.15048852e-01 -2.50967984e-03 5.61234066e+01] [ 1.15048550e-01 9.93359835e-01 -2.64947504e-04 3.82588701e+00] [ 2.52349706e-03 -2.55476580e-05 9.99996816e-01 9.15218688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.18, Y:3.83, Z:0.00 [[ 9.92962863e-01 -1.18399555e-01 -2.50968303e-03 5.61837618e+01] [ 1.18399264e-01 9.92966034e-01 -2.64917320e-04 3.83278234e+00] [ 2.52339610e-03 -3.40915624e-05 9.99996816e-01 4.19581572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.25, Y:3.84, Z:0.00 [[ 9.92840172e-01 -1.19424010e-01 -2.50970624e-03 5.62450035e+01] [ 1.19423722e-01 9.92843343e-01 -2.64697282e-04 3.83850152e+00] [ 2.52335634e-03 -3.69163660e-05 9.99996816e-01 2.72442091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.31, Y:3.85, Z:0.00 [[ 9.92852965e-01 -1.19317605e-01 -2.50972621e-03 5.63071536e+01] [ 1.19317318e-01 9.92856136e-01 -2.64507752e-04 3.84648518e+00] [ 2.52335750e-03 -3.68364941e-05 9.99996816e-01 2.12707859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:3.85, Z:0.01 [[ 9.92887800e-01 -1.19027386e-01 -2.50973858e-03 5.63690310e+01] [ 1.19027098e-01 9.92890971e-01 -2.64390345e-04 3.85389455e+00] [ 2.52336647e-03 -3.62169526e-05 9.99996816e-01 5.17768905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:3.86, Z:0.00 [[ 9.92891762e-01 -1.18994326e-01 -2.50975552e-03 5.64297872e+01] [ 1.18994038e-01 9.92894934e-01 -2.64229457e-04 3.86001467e+00] [ 2.52336535e-03 -3.62946921e-05 9.99996816e-01 4.39854494e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:3.86, Z:0.00 [[ 9.92415907e-01 -1.22899828e-01 -2.50976917e-03 5.64916378e+01] [ 1.22899553e-01 9.92419080e-01 -2.64099727e-04 3.86327122e+00] [ 2.52320062e-03 -4.63527380e-05 9.99996816e-01 2.38563010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.55, Y:3.87, Z:0.00 [[ 9.91970746e-01 -1.26442638e-01 -2.50978267e-03 5.65526781e+01] [ 1.26442374e-01 9.91973919e-01 -2.63971351e-04 3.86841075e+00] [ 2.52301619e-03 -5.54910222e-05 9.99996816e-01 2.54887550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:3.87, Z:0.01 [[ 9.91620600e-01 -1.29159925e-01 -2.50980288e-03 5.66151935e+01] [ 1.29159671e-01 9.91623774e-01 -2.63779033e-04 3.87024963e+00] [ 2.52284989e-03 -6.25965925e-05 9.99996816e-01 7.25469887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:3.87, Z:0.01 [[ 9.91973407e-01 -1.26421760e-01 -2.50981576e-03 5.66759934e+01] [ 1.26421498e-01 9.91976580e-01 -2.63656485e-04 3.87320982e+00] [ 2.52301037e-03 -5.57544457e-05 9.99996816e-01 7.22308249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:3.88, Z:0.01 [[ 9.92412924e-01 -1.22923914e-01 -2.50982530e-03 5.67381265e+01] [ 1.22923641e-01 9.92416097e-01 -2.63565612e-04 3.87772967e+00] [ 2.52318955e-03 -4.69509436e-05 9.99996816e-01 9.01619485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.80, Y:3.88, Z:0.01 [[ 9.92906055e-01 -1.18875003e-01 -2.50983821e-03 5.67984040e+01] [ 1.18874717e-01 9.92909227e-01 -2.63442604e-04 3.88052198e+00] [ 2.52335826e-03 -3.67825505e-05 9.99996816e-01 8.68830488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342639999999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:3.88, Z:0.01 [[ 9.92894617e-01 -1.18970502e-01 -2.50984142e-03 5.68603903e+01] [ 1.18970216e-01 9.92897788e-01 -2.63412069e-04 3.88142434e+00] [ 2.52335426e-03 -3.70559503e-05 9.99996816e-01 8.18843208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:3.89, Z:0.02 [[ 9.92888510e-01 -1.19021460e-01 -2.50984776e-03 5.69219787e+01] [ 1.19021174e-01 9.92891681e-01 -2.63351588e-04 3.88549680e+00] [ 2.52335146e-03 -3.72462622e-05 9.99996816e-01 1.52243826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.98, Y:3.89, Z:0.01 [[ 9.93104051e-01 -1.17209404e-01 -2.50985735e-03 5.69825675e+01] [ 1.17209113e-01 9.93107222e-01 -2.63260151e-04 3.88524833e+00] [ 2.52341403e-03 -3.27334306e-05 9.99996816e-01 1.14506164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522639999999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:57.04, Y:3.89, Z:0.01 [[ 9.93691757e-01 -1.12117764e-01 -2.50985735e-03 5.70430814e+01] [ 1.12117456e-01 9.93694926e-01 -2.63260151e-04 3.88817879e+00] [ 2.52354866e-03 -1.97993803e-05 9.99996816e-01 8.19196226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.10, Y:3.89, Z:0.01 [[ 9.94082620e-01 -1.08597631e-01 -2.50986922e-03 5.71042915e+01] [ 1.08597313e-01 9.94085788e-01 -2.63147022e-04 3.89421648e+00] [ 2.52360246e-03 -1.09751706e-05 9.99996816e-01 1.04418374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:3.90, Z:0.02 [[ 9.94488699e-01 -1.04813776e-01 -2.50987551e-03 5.71655799e+01] [ 1.04813446e-01 9.94491866e-01 -2.63087004e-04 3.89808594e+00] [ 2.52362592e-03 -1.43164763e-06 9.99996816e-01 1.97917103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:3.90, Z:0.02 [[ 9.94714093e-01 -1.02652681e-01 -2.50988554e-03 5.72280505e+01] [ 1.02652344e-01 9.94717260e-01 -2.62991247e-04 3.90081409e+00] [ 2.52362322e-03 3.95546563e-06 9.99996816e-01 2.25919945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.29, Y:3.91, Z:0.02 [[ 9.95144287e-01 -9.83948577e-02 -2.50989986e-03 5.72875324e+01] [ 9.83945077e-02 9.95147452e-01 -2.62854500e-04 3.90690102e+00] [ 2.52358398e-03 1.46177932e-05 9.99996816e-01 2.05424103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:3.91, Z:0.02 [[ 9.95508073e-01 -9.46434192e-02 -2.50990911e-03 5.73471832e+01] [ 9.46430574e-02 9.95511237e-01 -2.62766152e-04 3.91197373e+00] [ 2.52351181e-03 2.40403538e-05 9.99996816e-01 1.91374205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:3.92, Z:0.02 [[ 9.95778631e-01 -9.17530299e-02 -2.50991251e-03 5.74085075e+01] [ 9.17526591e-02 9.95781794e-01 -2.62733684e-04 3.91881451e+00] [ 2.52343179e-03 3.13334417e-05 9.99996816e-01 2.30168354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.47, Y:3.93, Z:0.02 [[ 9.95779724e-01 -9.17411694e-02 -2.50991937e-03 5.74697577e+01] [ 9.17407987e-02 9.95782886e-01 -2.62668088e-04 3.92508704e+00] [ 2.52343224e-03 3.12975480e-05 9.99996816e-01 2.06347596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.53, Y:3.93, Z:0.01 [[ 9.95459762e-01 -9.51502072e-02 -2.50992954e-03 5.75300397e+01] [ 9.51498476e-02 9.95462926e-01 -2.62570882e-04 3.93022311e+00] [ 2.52352548e-03 2.25593344e-05 9.99996816e-01 1.12854141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.59, Y:3.93, Z:0.01 [[ 9.95173901e-01 -9.80948849e-02 -2.50994470e-03 5.75901812e+01] [ 9.80945350e-02 9.95177066e-01 -2.62425964e-04 3.93459943e+00] [ 2.52358204e-03 1.49476123e-05 9.99996816e-01 1.07818182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.65, Y:3.94, Z:0.02 [[ 9.95048632e-01 -9.93575329e-02 -2.50994470e-03 5.76514383e+01] [ 9.93571870e-02 9.95051798e-01 -2.62425964e-04 3.93946955e+00] [ 2.52359898e-03 1.17455517e-05 9.99996816e-01 1.56270190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.71, Y:3.95, Z:0.01 [[ 9.94989887e-01 -9.99441079e-02 -2.50995122e-03 5.77102658e+01] [ 9.99437640e-02 9.94993053e-01 -2.62363585e-04 3.94560654e+00] [ 2.52360572e-03 1.01951423e-05 9.99996816e-01 1.00219399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.77, Y:3.95, Z:0.01 [[ 9.94978106e-01 -1.00061321e-01 -2.50994800e-03 5.77692930e+01] [ 1.00060977e-01 9.94981272e-01 -2.62394335e-04 3.94995901e+00] [ 2.52360678e-03 9.92876933e-06 9.99996816e-01 1.17655581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.83, Y:3.96, Z:0.02 [[ 9.94926000e-01 -1.00578104e-01 -2.50994492e-03 5.78294436e+01] [ 1.00577762e-01 9.94929166e-01 -2.62423789e-04 3.95614343e+00] [ 2.52361149e-03 8.64760656e-06 9.99996816e-01 1.52924743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.89, Y:3.96, Z:0.02 [[ 9.94989365e-01 -9.99493080e-02 -2.50994492e-03 5.78898393e+01] [ 9.99489640e-02 9.94992530e-01 -2.62423789e-04 3.96162762e+00] [ 2.52360552e-03 1.02424843e-05 9.99996816e-01 1.80286503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.95, Y:3.97, Z:0.02 [[ 9.95198205e-01 -9.78480056e-02 -2.50994492e-03 5.79511840e+01] [ 9.78476549e-02 9.95201370e-01 -2.62423789e-04 3.96739977e+00] [ 2.52357827e-03 1.55714591e-05 9.99996816e-01 2.38870818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.01, Y:3.98, Z:0.02 [[ 9.95630826e-01 -9.33432251e-02 -2.50995155e-03 5.80109288e+01] [ 9.33428603e-02 9.95633990e-01 -2.62360326e-04 3.97916380e+00] [ 2.52348264e-03 2.69279711e-05 9.99996816e-01 1.52148954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.07, Y:3.99, Z:0.02 [[ 9.95957186e-01 -8.97941160e-02 -2.50995486e-03 5.80713806e+01] [ 8.97937400e-02 9.95960348e-01 -2.62328662e-04 3.99183658e+00] [ 2.52337109e-03 3.58898813e-05 9.99996816e-01 1.70826204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602639999999994 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:58.13, Y:4.00, Z:0.02 [[ 9.95995521e-01 -8.93679033e-02 -2.50996107e-03 5.81324574e+01] [ 8.93675261e-02 9.95998683e-01 -2.62269234e-04 4.00158918e+00] [ 2.52335638e-03 3.69099711e-05 9.99996816e-01 1.63917854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.19, Y:4.02, Z:0.02 [[ 9.95866924e-01 -9.07897056e-02 -2.50996729e-03 5.81925994e+01] [ 9.07893330e-02 9.95870086e-01 -2.62209687e-04 4.01530510e+00] [ 2.52340729e-03 3.32476974e-05 9.99996816e-01 2.10191279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.25, Y:4.03, Z:0.02 [[ 9.95684866e-01 -9.27650156e-02 -2.50997683e-03 5.82528431e+01] [ 9.27646496e-02 9.95688029e-01 -2.62118415e-04 4.03086384e+00] [ 2.52346930e-03 2.81502182e-05 9.99996816e-01 1.95228683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:4.04, Z:0.02 [[ 9.95538621e-01 -9.43215460e-02 -2.50998330e-03 5.83136020e+01] [ 9.43211851e-02 9.95541785e-01 -2.62056408e-04 4.04283643e+00] [ 2.52351082e-03 2.41426751e-05 9.99996816e-01 2.08075004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:4.06, Z:0.02 [[ 9.95335095e-01 -9.64455723e-02 -2.50999299e-03 5.83740399e+01] [ 9.64452184e-02 9.95338260e-01 -2.61963532e-04 4.05587316e+00] [ 2.52355728e-03 1.86646752e-05 9.99996816e-01 2.03684822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.43, Y:4.07, Z:0.02 [[ 9.94739859e-01 -1.02402702e-01 -2.51000255e-03 5.84335419e+01] [ 1.02402367e-01 9.94743025e-01 -2.61871893e-04 4.07048094e+00] [ 2.52362392e-03 3.46420637e-06 9.99996816e-01 1.66398996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:4.08, Z:0.02 [[ 9.94180857e-01 -1.07694584e-01 -2.51000872e-03 5.84950938e+01] [ 1.07694266e-01 9.94184025e-01 -2.61812766e-04 4.08124493e+00] [ 2.52360639e-03 -1.00243077e-05 9.99996816e-01 2.09945588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.56, Y:4.09, Z:0.02 [[ 9.93323644e-01 -1.15333591e-01 -2.51002106e-03 5.85560757e+01] [ 1.15333298e-01 9.93326815e-01 -2.61694468e-04 4.09270636e+00] [ 2.52345338e-03 -2.95417023e-05 9.99996816e-01 1.93169724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08264 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:4.10, Z:0.02 [[ 9.92592315e-01 -1.21466855e-01 -2.51003329e-03 5.86166693e+01] [ 1.21466581e-01 9.92595487e-01 -2.61577088e-04 4.09954667e+00] [ 2.52322066e-03 -4.52457552e-05 9.99996816e-01 1.83171395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:4.11, Z:0.02 [[ 9.92189975e-01 -1.24710681e-01 -2.51005267e-03 5.86784862e+01] [ 1.24710419e-01 9.92193148e-01 -2.61390969e-04 4.10571264e+00] [ 2.52305531e-03 -5.36802210e-05 9.99996816e-01 2.27685942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:58.74, Y:4.11, Z:0.02 [[ 9.91709424e-01 -1.28476141e-01 -2.51006545e-03 5.87400395e+01] [ 1.28475891e-01 9.91712598e-01 -2.61268180e-04 4.10910887e+00] [ 2.52283026e-03 -6.33807794e-05 9.99996816e-01 2.17701914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26263999999999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:58.80, Y:4.11, Z:0.02 [[ 9.91600950e-01 -1.29310695e-01 -2.51007493e-03 5.88024758e+01] [ 1.29310448e-01 9.91604125e-01 -2.61177072e-04 4.10798721e+00] [ 2.52277364e-03 -6.55954807e-05 9.99996816e-01 2.31577860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32263999999999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:4.11, Z:0.02 [[ 9.91845837e-01 -1.27418741e-01 -2.51008758e-03 5.88636441e+01] [ 1.27418488e-01 9.91849011e-01 -2.61055487e-04 4.10866805e+00] [ 2.52289124e-03 -6.09047665e-05 9.99996816e-01 1.86916111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.93, Y:4.11, Z:0.02 [[ 9.92045636e-01 -1.25853704e-01 -2.51009699e-03 5.89254432e+01] [ 1.25853446e-01 9.92048810e-01 -2.60964971e-04 4.10872193e+00] [ 2.52298214e-03 -5.70151961e-05 9.99996816e-01 2.31767623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:58.99, Y:4.10, Z:0.02 [[ 9.92386074e-01 -1.23140486e-01 -2.51010317e-03 5.89863488e+01] [ 1.23140220e-01 9.92389247e-01 -2.60905507e-04 4.10225923e+00] [ 2.52312742e-03 -5.01756638e-05 9.99996816e-01 1.84702134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:4.10, Z:0.02 [[ 9.93256539e-01 -1.15910083e-01 -2.51010624e-03 5.90483598e+01] [ 1.15909794e-01 9.93259710e-01 -2.60875938e-04 4.10179572e+00] [ 2.52342555e-03 -3.18291648e-05 9.99996816e-01 2.19025507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:4.10, Z:0.02 [[ 9.94499314e-01 -1.04713008e-01 -2.51011258e-03 5.91088300e+01] [ 1.04712683e-01 9.94502482e-01 -2.60814893e-04 4.10128529e+00] [ 2.52362391e-03 -3.46039101e-06 9.99996816e-01 2.24342036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:4.11, Z:0.02 [[ 9.95275356e-01 -9.70601084e-02 -2.51011573e-03 5.91691367e+01] [ 9.70597594e-02 9.95278521e-01 -2.60784561e-04 4.10566196e+00] [ 2.52357605e-03 1.59212172e-05 9.99996816e-01 2.46123262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:4.11, Z:0.03 [[ 9.96055905e-01 -8.86923472e-02 -2.51012564e-03 5.92302631e+01] [ 8.86919718e-02 9.96059068e-01 -2.60689148e-04 4.11037827e+00] [ 2.52335454e-03 3.70329728e-05 9.99996816e-01 2.66273128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:4.12, Z:0.03 [[ 9.96303640e-01 -8.58647545e-02 -2.51013192e-03 5.92901790e+01] [ 8.58643703e-02 9.96306801e-01 -2.60628665e-04 4.11761003e+00] [ 2.52324032e-03 4.41343904e-05 9.99996816e-01 2.56193618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:4.12, Z:0.02 [[ 9.96193217e-01 -8.71365249e-02 -2.51013504e-03 5.93509483e+01] [ 8.71361448e-02 9.96196378e-01 -2.60598636e-04 4.12176481e+00] [ 2.52329510e-03 4.08831035e-05 9.99996816e-01 2.45675649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:4.13, Z:0.02 [[ 9.95937238e-01 -9.00150982e-02 -2.51014140e-03 5.94110997e+01] [ 9.00147274e-02 9.95940400e-01 -2.60537359e-04 4.12836575e+00] [ 2.52340353e-03 3.35291635e-05 9.99996816e-01 2.38817358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:4.14, Z:0.02 [[ 9.95593254e-01 -9.37431133e-02 -2.51014455e-03 5.94718364e+01] [ 9.37427544e-02 9.95596418e-01 -2.60507064e-04 4.13500266e+00] [ 2.52351166e-03 2.40512124e-05 9.99996816e-01 2.49351942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:4.14, Z:0.03 [[ 9.95332861e-01 -9.64686258e-02 -2.51015075e-03 5.95332449e+01] [ 9.64682757e-02 9.95336026e-01 -2.60447220e-04 4.14060749e+00] [ 2.52356846e-03 1.70817618e-05 9.99996816e-01 2.62565020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:4.15, Z:0.03 [[ 9.95259634e-01 -9.72211914e-02 -2.51015692e-03 5.95944298e+01] [ 9.72208439e-02 9.95262799e-01 -2.60387776e-04 4.14896000e+00] [ 2.52358101e-03 1.51138682e-05 9.99996816e-01 3.17802285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:4.15, Z:0.03 [[ 9.95195166e-01 -9.78789051e-02 -2.51016316e-03 5.96543685e+01] [ 9.78785598e-02 9.95198332e-01 -2.60327641e-04 4.15291021e+00] [ 2.52359077e-03 1.33856549e-05 9.99996816e-01 2.99038239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:4.16, Z:0.03 [[ 9.95125967e-01 -9.85799573e-02 -2.51016316e-03 5.97149962e+01] [ 9.85796142e-02 9.95129133e-01 -2.60327641e-04 4.15963924e+00] [ 2.52359958e-03 1.16078796e-05 9.99996816e-01 3.29635814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:59.78, Y:4.16, Z:0.03 [[ 9.94730108e-01 -1.02497372e-01 -2.51016939e-03 5.97753820e+01] [ 1.02497042e-01 9.94733275e-01 -2.60267560e-04 4.16495524e+00] [ 2.52362576e-03 1.61104173e-06 9.99996816e-01 3.15878037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.84, Y:4.17, Z:0.03 [[ 9.94234711e-01 -1.07196264e-01 -2.51017247e-03 5.98361289e+01] [ 1.07195948e-01 9.94237879e-01 -2.60237814e-04 4.16666087e+00] [ 2.52360508e-03 -1.03428507e-05 9.99996816e-01 3.44036370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.90, Y:4.17, Z:0.03 [[ 9.93656608e-01 -1.12428838e-01 -2.51017247e-03 5.98958452e+01] [ 1.12428539e-01 9.93659779e-01 -2.60237814e-04 4.16566607e+00] [ 2.52351566e-03 -2.36279999e-05 9.99996816e-01 3.19013826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40263999999999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:59.96, Y:4.17, Z:0.03 [[ 9.93406258e-01 -1.14619827e-01 -2.51016940e-03 5.99565506e+01] [ 1.14619535e-01 9.93409429e-01 -2.60267448e-04 4.16821957e+00] [ 2.52345776e-03 -2.91631376e-05 9.99996816e-01 3.17607578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.02, Y:4.17, Z:0.03 [[ 9.93205412e-01 -1.16347362e-01 -2.51016940e-03 6.00163691e+01] [ 1.16347076e-01 9.93208583e-01 -2.60267448e-04 4.16832297e+00] [ 2.52340322e-03 -3.35518307e-05 9.99996816e-01 3.31418526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:4.17, Z:0.03 [[ 9.93120106e-01 -1.17073288e-01 -2.51016905e-03 6.00761827e+01] [ 1.17073004e-01 9.93123277e-01 -2.60270828e-04 4.16644935e+00] [ 2.52337807e-03 -3.53928382e-05 9.99996816e-01 3.13191279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.13, Y:4.17, Z:0.03 [[ 9.93104707e-01 -1.17203837e-01 -2.51014475e-03 6.01349061e+01] [ 1.17203552e-01 9.93107879e-01 -2.60504930e-04 4.16803944e+00] [ 2.52337671e-03 -3.54892094e-05 9.99996816e-01 3.15411552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:4.17, Z:0.03 [[ 9.93360829e-01 -1.15012884e-01 -2.51010084e-03 6.01930751e+01] [ 1.15012592e-01 9.93364000e-01 -2.60927358e-04 4.16630422e+00] [ 2.52345382e-03 -2.94981873e-05 9.99996816e-01 3.05931871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.25, Y:4.17, Z:0.03 [[ 9.93709001e-01 -1.11964821e-01 -2.51008536e-03 6.02532764e+01] [ 1.11964518e-01 9.93712171e-01 -2.61076240e-04 4.16609313e+00] [ 2.52353372e-03 -2.16066880e-05 9.99996816e-01 3.31511257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.31, Y:4.17, Z:0.03 [[ 9.94177630e-01 -1.07724370e-01 -2.51007878e-03 6.03113678e+01] [ 1.07724054e-01 9.94180798e-01 -2.61139459e-04 4.16793936e+00] [ 2.52360321e-03 -1.07768543e-05 9.99996816e-01 3.22108287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.37, Y:4.17, Z:0.03 [[ 9.94752368e-01 -1.02281113e-01 -2.51006249e-03 6.03694247e+01] [ 1.02280779e-01 9.94755535e-01 -2.61295908e-04 4.16822546e+00] [ 2.52362419e-03 3.19357527e-06 9.99996816e-01 3.22288073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.43, Y:4.17, Z:0.03 [[ 9.95236576e-01 -9.74569565e-02 -2.51004687e-03 6.04281757e+01] [ 9.74566071e-02 9.95239741e-01 -2.61445918e-04 4.17102415e+00] [ 2.52357812e-03 1.55798883e-05 9.99996816e-01 3.35722625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.49, Y:4.17, Z:0.03 [[ 9.95432894e-01 -9.54308815e-02 -2.51000334e-03 6.04865131e+01] [ 9.54305246e-02 9.95436058e-01 -2.61863092e-04 4.17375599e+00] [ 2.52353766e-03 2.11361997e-05 9.99996816e-01 3.35803205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.54, Y:4.18, Z:0.03 [[ 9.95406157e-01 -9.57093700e-02 -2.50995862e-03 6.05440401e+01] [ 9.57090129e-02 9.95409321e-01 -2.62291064e-04 4.17772332e+00] [ 2.52353992e-03 2.08604774e-05 9.99996816e-01 3.36243717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:60.60, Y:4.18, Z:0.04 [[ 9.95178711e-01 -9.80460769e-02 -2.50990771e-03 6.06031619e+01] [ 9.80457259e-02 9.95181876e-01 -2.62777343e-04 4.18205898e+00] [ 2.52357895e-03 1.54246942e-05 9.99996816e-01 3.54062876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:60.66, Y:4.18, Z:0.03 [[ 9.94755318e-01 -1.02252418e-01 -2.50986256e-03 6.06610282e+01] [ 1.02252080e-01 9.94758485e-01 -2.63207834e-04 4.18382363e+00] [ 2.52362072e-03 5.18872595e-06 9.99996816e-01 3.28714885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.72, Y:4.19, Z:0.03 [[ 9.94146127e-01 -1.08014718e-01 -2.50984665e-03 6.07196391e+01] [ 1.08014397e-01 9.94149295e-01 -2.63359494e-04 4.18519613e+00] [ 2.52360898e-03 -9.28175231e-06 9.99996816e-01 3.21043227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.78, Y:4.19, Z:0.03 [[ 9.93880311e-01 -1.10433822e-01 -2.50979569e-03 6.07772393e+01] [ 1.10433508e-01 9.93883479e-01 -2.63844241e-04 4.18703902e+00] [ 2.52358180e-03 -1.49359455e-05 9.99996816e-01 3.22392270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:4.19, Z:0.03 [[ 9.93840826e-01 -1.10788601e-01 -2.50977997e-03 6.08359670e+01] [ 1.10788288e-01 9.93843995e-01 -2.63993699e-04 4.18709538e+00] [ 2.52357724e-03 -1.56865104e-05 9.99996816e-01 3.14573909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.89, Y:4.19, Z:0.03 [[ 9.94256486e-01 -1.06994118e-01 -2.50972986e-03 6.08932615e+01] [ 1.06993791e-01 9.94259654e-01 -2.64469224e-04 4.18828523e+00] [ 2.52361979e-03 -5.57527143e-06 9.99996816e-01 3.04260928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:4.19, Z:0.03 [[ 9.94811146e-01 -1.01707845e-01 -2.50970817e-03 6.09517009e+01] [ 1.01707501e-01 9.94814311e-01 -2.64674908e-04 4.19257306e+00] [ 2.52361312e-03 8.04540165e-06 9.99996816e-01 2.69103745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:4.20, Z:0.03 [[ 9.95154396e-01 -9.82925694e-02 -2.50966498e-03 6.10096598e+01] [ 9.82922134e-02 9.95157561e-01 -2.65083806e-04 4.19676212e+00] [ 2.52356785e-03 1.71187890e-05 9.99996816e-01 2.55874297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.07, Y:4.20, Z:0.03 [[ 9.95556823e-01 -9.41292456e-02 -2.50961455e-03 6.10677588e+01] [ 9.41288752e-02 9.95559985e-01 -2.65560409e-04 4.20019211e+00] [ 2.52346882e-03 2.81532830e-05 9.99996816e-01 2.65135746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:61.12, Y:4.20, Z:0.02 [[ 9.95667363e-01 -9.29527020e-02 -2.50956190e-03 6.11248253e+01] [ 9.29523266e-02 9.95670525e-01 -2.66057020e-04 4.20055681e+00] [ 2.52342753e-03 3.16346745e-05 9.99996816e-01 2.41800143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:4.20, Z:0.03 [[ 9.95568036e-01 -9.40105749e-02 -2.50953910e-03 6.11840638e+01] [ 9.40102023e-02 9.95571198e-01 -2.66271902e-04 4.20380881e+00] [ 2.52345722e-03 2.91695159e-05 9.99996816e-01 2.61663765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:4.21, Z:0.03 [[ 9.95507903e-01 -9.46452158e-02 -2.50949437e-03 6.12423168e+01] [ 9.46448442e-02 9.95511066e-01 -2.66692745e-04 4.20664221e+00] [ 2.52347061e-03 2.79840318e-05 9.99996816e-01 2.71583281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:4.21, Z:0.03 [[ 9.95681204e-01 -9.28043255e-02 -2.50944313e-03 6.13013091e+01] [ 9.28039468e-02 9.95684366e-01 -2.67174037e-04 4.20723284e+00] [ 2.52340820e-03 3.31339402e-05 9.99996816e-01 3.03070666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.36, Y:4.21, Z:0.03 [[ 9.96207583e-01 -8.69721426e-02 -2.50939680e-03 6.13589130e+01] [ 8.69717443e-02 9.96210743e-01 -2.67608515e-04 4.21170562e+00] [ 2.52316253e-03 4.83470156e-05 9.99996816e-01 3.10247915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.42, Y:4.22, Z:0.03 [[ 9.96688225e-01 -8.12790631e-02 -2.50934415e-03 6.14151269e+01] [ 8.12786455e-02 9.96691381e-01 -2.68101273e-04 4.21964679e+00] [ 2.52283271e-03 6.32572877e-05 9.99996816e-01 3.04495256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:4.23, Z:0.03 [[ 9.97332182e-01 -7.29535663e-02 -2.50932139e-03 6.14724107e+01] [ 7.29531218e-02 9.97335335e-01 -2.68314146e-04 4.23002030e+00] [ 2.52220936e-03 8.45355038e-05 9.99996816e-01 3.07033930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.53, Y:4.24, Z:0.03 [[ 9.97436669e-01 -7.15108047e-02 -2.50927035e-03 6.15296826e+01] [ 7.15103546e-02 9.97439821e-01 -2.68790605e-04 4.23853843e+00] [ 2.52206760e-03 8.86627933e-05 9.99996816e-01 3.02852507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.59, Y:4.25, Z:0.03 [[ 9.97296993e-01 -7.34330340e-02 -2.50925457e-03 6.15872233e+01] [ 7.34325895e-02 9.97300147e-01 -2.68937877e-04 4.25016141e+00] [ 2.52222887e-03 8.39498758e-05 9.99996816e-01 3.02697602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:4.26, Z:0.03 [[ 9.97013463e-01 -7.71871681e-02 -2.50920365e-03 6.16451566e+01] [ 7.71867343e-02 9.97016617e-01 -2.69412095e-04 4.25909610e+00] [ 2.52251289e-03 7.49302500e-05 9.99996816e-01 3.31674920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.70, Y:4.27, Z:0.03 [[ 9.96636715e-01 -8.19082572e-02 -2.50915732e-03 6.17021224e+01] [ 8.19078373e-02 9.96639871e-01 -2.69842868e-04 4.27336129e+00] [ 2.52282859e-03 6.34156601e-05 9.99996816e-01 3.08825647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.76, Y:4.28, Z:0.03 [[ 9.96333450e-01 -8.55181875e-02 -2.50914093e-03 6.17595446e+01] [ 8.55177786e-02 9.96336608e-01 -2.69995188e-04 4.28351239e+00] [ 2.52303847e-03 5.44290783e-05 9.99996816e-01 2.96239593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.82, Y:4.30, Z:0.03 [[ 9.95977685e-01 -8.95664840e-02 -2.50909010e-03 6.18176346e+01] [ 8.95660868e-02 9.95980845e-01 -2.70466753e-04 4.29555803e+00] [ 2.52323043e-03 4.46494685e-05 9.99996816e-01 2.78638048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.88, Y:4.31, Z:0.03 [[ 9.95649594e-01 -9.31428502e-02 -2.50904513e-03 6.18751944e+01] [ 9.31424633e-02 9.95652755e-01 -2.70883327e-04 4.30908380e+00] [ 2.52336854e-03 3.60062315e-05 9.99996816e-01 2.55849629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.93, Y:4.32, Z:0.03 [[ 9.95345488e-01 -9.63382855e-02 -2.50900036e-03 6.19328504e+01] [ 9.63379077e-02 9.95348649e-01 -2.71297331e-04 4.31901775e+00] [ 2.52346644e-03 2.83227294e-05 9.99996816e-01 2.62048835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.99, Y:4.33, Z:0.03 [[ 9.94738098e-01 -1.02419833e-01 -2.50894843e-03 6.19895076e+01] [ 1.02419473e-01 9.94741262e-01 -2.71776692e-04 4.33020206e+00] [ 2.52358985e-03 1.33814526e-05 9.99996816e-01 3.04548925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.05, Y:4.34, Z:0.03 [[ 9.93975698e-01 -1.09571971e-01 -2.50893243e-03 6.20481106e+01] [ 1.09571634e-01 9.93978865e-01 -2.71924342e-04 4.33784164e+00] [ 2.52362110e-03 -4.62163819e-06 9.99996816e-01 3.15276896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:62.11, Y:4.34, Z:0.03 [[ 9.93681183e-01 -1.12211459e-01 -2.50888824e-03 6.21067284e+01] [ 1.12211130e-01 9.93684350e-01 -2.72331423e-04 4.34397526e+00] [ 2.52360169e-03 -1.09145727e-05 9.99996816e-01 3.13522392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.16, Y:4.35, Z:0.03 [[ 9.93326984e-01 -1.15304855e-01 -2.50884224e-03 6.21645695e+01] [ 1.15304534e-01 9.93330152e-01 -2.72754545e-04 4.35133436e+00] [ 2.52355857e-03 -1.83464349e-05 9.99996816e-01 3.00521679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.22, Y:4.36, Z:0.03 [[ 9.93338469e-01 -1.15205866e-01 -2.50878862e-03 6.22215818e+01] [ 1.15205543e-01 9.93341637e-01 -2.73246901e-04 4.35820015e+00] [ 2.52356384e-03 -1.75996975e-05 9.99996816e-01 2.66292556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:4.36, Z:0.03 [[ 9.93357947e-01 -1.15037796e-01 -2.50877210e-03 6.22806243e+01] [ 1.15037472e-01 9.93361115e-01 -2.73398452e-04 4.36335668e+00] [ 2.52356781e-03 -1.70202759e-05 9.99996816e-01 2.59065557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:4.37, Z:0.03 [[ 9.93301179e-01 -1.15526945e-01 -2.50872710e-03 6.23384068e+01] [ 1.15526622e-01 9.93304346e-01 -2.73810803e-04 4.36758304e+00] [ 2.52356206e-03 -1.78481728e-05 9.99996816e-01 2.57623601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:4.37, Z:0.03 [[ 9.93037727e-01 -1.17770029e-01 -2.50867556e-03 6.23959623e+01] [ 1.17769712e-01 9.93040895e-01 -2.74282178e-04 4.37084170e+00] [ 2.52351964e-03 -2.30734483e-05 9.99996816e-01 2.74153483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:4.37, Z:0.03 [[ 9.93020770e-01 -1.17912918e-01 -2.50862155e-03 6.24547178e+01] [ 1.17912600e-01 9.93023939e-01 -2.74775256e-04 4.37266102e+00] [ 2.52352081e-03 -2.29405532e-05 9.99996816e-01 2.93733293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.51, Y:4.37, Z:0.03 [[ 9.93205243e-01 -1.16348843e-01 -2.50857435e-03 6.25130337e+01] [ 1.16348519e-01 9.93208410e-01 -2.75205526e-04 4.37128474e+00] [ 2.52355699e-03 -1.85333390e-05 9.99996816e-01 2.80463160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.57, Y:4.38, Z:0.03 [[ 9.93391901e-01 -1.14744233e-01 -2.50852076e-03 6.25711135e+01] [ 1.14743902e-01 9.93395068e-01 -2.75693093e-04 4.37534425e+00] [ 2.52358635e-03 -1.39661760e-05 9.99996816e-01 2.83668392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.63, Y:4.38, Z:0.03 [[ 9.93785234e-01 -1.11286193e-01 -2.50850417e-03 6.26289351e+01] [ 1.11285851e-01 9.93788400e-01 -2.75844028e-04 4.37728287e+00] [ 2.52361997e-03 -5.03130007e-06 9.99996816e-01 2.78742959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.69, Y:4.38, Z:0.02 [[ 9.94108703e-01 -1.08358635e-01 -2.50845164e-03 6.26882769e+01] [ 1.08358283e-01 9.94111868e-01 -2.76320843e-04 4.37979617e+00] [ 2.52362330e-03 2.88144188e-06 9.99996816e-01 2.41419371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:4.39, Z:0.02 [[ 9.94402563e-01 -1.05627890e-01 -2.50840800e-03 6.27459769e+01] [ 1.05627528e-01 9.94405726e-01 -2.76716437e-04 4.38534534e+00] [ 2.52360426e-03 1.02105962e-05 9.99996816e-01 2.41632982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.80, Y:4.39, Z:0.02 [[ 9.94944857e-01 -1.00391431e-01 -2.50839140e-03 6.28029191e+01] [ 1.00391052e-01 9.94948019e-01 -2.76866854e-04 4.39002318e+00] [ 2.52351411e-03 2.36472001e-05 9.99996816e-01 2.33829394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:4.40, Z:0.03 [[ 9.95366026e-01 -9.61258642e-02 -2.50836843e-03 6.28604204e+01] [ 9.61254711e-02 9.95369186e-01 -2.77074832e-04 4.39620628e+00] [ 2.52338670e-03 3.46727783e-05 9.99996816e-01 2.57819934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:4.41, Z:0.03 [[ 9.95448003e-01 -9.52731938e-02 -2.50835218e-03 6.29180465e+01] [ 9.52727976e-02 9.95451163e-01 -2.77221879e-04 4.40557843e+00] [ 2.52335390e-03 3.69822367e-05 9.99996816e-01 2.57398922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:4.41, Z:0.03 [[ 9.95107502e-01 -9.87662271e-02 -2.50829986e-03 6.29754984e+01] [ 9.87658408e-02 9.95110663e-01 -2.77694377e-04 4.41257434e+00] [ 2.52346277e-03 2.86014123e-05 9.99996816e-01 2.76232786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.03, Y:4.42, Z:0.03 [[ 9.94548466e-01 -1.04245182e-01 -2.50827575e-03 6.30332669e+01] [ 1.04244813e-01 9.94551629e-01 -2.77912025e-04 4.41650533e+00] [ 2.52358072e-03 1.49222429e-05 9.99996816e-01 2.79176693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.09, Y:4.42, Z:0.03 [[ 9.94218320e-01 -1.07348219e-01 -2.50822463e-03 6.30907082e+01] [ 1.07347859e-01 9.94221484e-01 -2.78372605e-04 4.42064306e+00] [ 2.52361362e-03 7.51060051e-06 9.99996816e-01 2.92833641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.15, Y:4.42, Z:0.03 [[ 9.93896387e-01 -1.10289077e-01 -2.50817242e-03 6.31492478e+01] [ 1.10288725e-01 9.93899552e-01 -2.78842234e-04 4.42330198e+00] [ 2.52362470e-03 5.17150780e-07 9.99996816e-01 2.90519152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.21, Y:4.43, Z:0.03 [[ 9.93835603e-01 -1.10835482e-01 -2.50812299e-03 6.32072056e+01] [ 1.10835130e-01 9.93838768e-01 -2.79286187e-04 4.42816321e+00] [ 2.52362468e-03 -4.23581824e-07 9.99996816e-01 2.96076356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.27, Y:4.43, Z:0.03 [[ 9.94231822e-01 -1.07223102e-01 -2.50807013e-03 6.32655772e+01] [ 1.07222737e-01 9.94234985e-01 -2.79760033e-04 4.43146749e+00] [ 2.52360781e-03 9.22418295e-06 9.99996816e-01 2.88603365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:63.32, Y:4.44, Z:0.03 [[ 9.95090361e-01 -9.89387823e-02 -2.50802231e-03 6.33227544e+01] [ 9.89383903e-02 9.95093521e-01 -2.80188139e-04 4.43998263e+00] [ 2.52343822e-03 3.06728265e-05 9.99996816e-01 2.97687576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:63.38, Y:4.45, Z:0.03 [[ 9.96069994e-01 -8.85340408e-02 -2.50800537e-03 6.33786774e+01] [ 8.85336155e-02 9.96073150e-01 -2.80339643e-04 4.45196940e+00] [ 2.52297641e-03 5.71951240e-05 9.99996816e-01 2.94119007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.44, Y:4.46, Z:0.03 [[ 9.96612076e-01 -8.22075384e-02 -2.50798196e-03 6.34355198e+01] [ 8.22070925e-02 9.96615229e-01 -2.80548930e-04 4.46264044e+00] [ 2.52255625e-03 7.34245464e-05 9.99996816e-01 3.06550147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:4.47, Z:0.03 [[ 9.96651374e-01 -8.17297265e-02 -2.50792766e-03 6.34925947e+01] [ 8.17292779e-02 9.96654527e-01 -2.81033481e-04 4.47284718e+00] [ 2.52250625e-03 7.51212882e-05 9.99996816e-01 3.12603852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:4.48, Z:0.03 [[ 9.96278558e-01 -8.61553504e-02 -2.50791094e-03 6.35498661e+01] [ 8.61549154e-02 9.96281713e-01 -2.81182597e-04 4.48311794e+00] [ 2.52281120e-03 6.40673377e-05 9.99996816e-01 3.10270329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:4.49, Z:0.03 [[ 9.95667856e-01 -9.29474685e-02 -2.50785903e-03 6.36070597e+01] [ 9.29470538e-02 9.95671013e-01 -2.81644805e-04 4.49452325e+00] [ 2.52318072e-03 4.73265707e-05 9.99996816e-01 3.28908819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:4.50, Z:0.03 [[ 9.95314518e-01 -9.66577509e-02 -2.50780412e-03 6.36633867e+01] [ 9.66573468e-02 9.95317677e-01 -2.82132935e-04 4.50252722e+00] [ 2.52333210e-03 3.84133139e-05 9.99996816e-01 3.02134094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:4.51, Z:0.03 [[ 9.94968122e-01 -1.00160604e-01 -2.50778027e-03 6.37206196e+01] [ 1.00160211e-01 9.94971282e-01 -2.82344772e-04 4.51146991e+00] [ 2.52344917e-03 2.97442475e-05 9.99996816e-01 3.18389922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:4.52, Z:0.03 [[ 9.94921199e-01 -1.00625638e-01 -2.50772530e-03 6.37781683e+01] [ 1.00625245e-01 9.94924359e-01 -2.82832185e-04 4.52057662e+00] [ 2.52345715e-03 2.90552638e-05 9.99996816e-01 2.81032180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:4.53, Z:0.03 [[ 9.94787695e-01 -1.01937004e-01 -2.50770834e-03 6.38352531e+01] [ 1.01936615e-01 9.94790856e-01 -2.82982466e-04 4.52878057e+00] [ 2.52349171e-03 2.58801754e-05 9.99996816e-01 3.02193615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48264 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:4.54, Z:0.03 [[ 9.94788076e-01 -1.01933285e-01 -2.50765382e-03 6.38922159e+01] [ 1.01932895e-01 9.94791237e-01 -2.83464739e-04 4.53596030e+00] [ 2.52348654e-03 2.63749300e-05 9.99996816e-01 2.86587961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:4.54, Z:0.03 [[ 9.94798044e-01 -1.01835959e-01 -2.50763690e-03 6.39494273e+01] [ 1.01835568e-01 9.94801205e-01 -2.83614331e-04 4.54305481e+00] [ 2.52348235e-03 2.67723539e-05 9.99996816e-01 2.92006592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.01, Y:4.55, Z:0.03 [[ 9.94806588e-01 -1.01752468e-01 -2.50758261e-03 6.40075316e+01] [ 1.01752075e-01 9.94809748e-01 -2.84093591e-04 4.55110063e+00] [ 2.52347484e-03 2.74664434e-05 9.99996816e-01 3.07374472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66264 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:64.07, Y:4.56, Z:0.03 [[ 9.94709707e-01 -1.02695236e-01 -2.50753502e-03 6.40654215e+01] [ 1.02694845e-01 9.94712867e-01 -2.84513018e-04 4.55663964e+00] [ 2.52349548e-03 2.54969419e-05 9.99996816e-01 2.98420636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:64.12, Y:4.56, Z:0.03 [[ 9.94426519e-01 -1.05402141e-01 -2.50748028e-03 6.41239204e+01] [ 1.05401758e-01 9.94429680e-01 -2.84994573e-04 4.56215301e+00] [ 2.52355185e-03 1.91133312e-05 9.99996816e-01 2.85355384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.18, Y:4.57, Z:0.03 [[ 9.94146696e-01 -1.08009538e-01 -2.50743268e-03 6.41822713e+01] [ 1.08009162e-01 9.94149858e-01 -2.85412774e-04 4.56573363e+00] [ 2.52359115e-03 1.29164635e-05 9.99996816e-01 2.98964992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.24, Y:4.57, Z:0.03 [[ 9.94095837e-01 -1.08476632e-01 -2.50737679e-03 6.42396471e+01] [ 1.08476256e-01 9.94098999e-01 -2.85902932e-04 4.56911705e+00] [ 2.52359455e-03 1.22240683e-05 9.99996816e-01 3.13412339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90263999999999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:64.30, Y:4.57, Z:0.03 [[ 9.94110843e-01 -1.08339024e-01 -2.50735113e-03 6.42975664e+01] [ 1.08338647e-01 9.94114005e-01 -2.86127791e-04 4.57223796e+00] [ 2.52359168e-03 1.27997106e-05 9.99996816e-01 3.05266905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.35, Y:4.58, Z:0.03 [[ 9.94321056e-01 -1.06392440e-01 -2.50729628e-03 6.43546870e+01] [ 1.06392056e-01 9.94324217e-01 -2.86607631e-04 4.57617714e+00] [ 2.52355830e-03 1.82235959e-05 9.99996816e-01 3.10584397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.41, Y:4.58, Z:0.03 [[ 9.94457114e-01 -1.05113096e-01 -2.50727249e-03 6.44123836e+01] [ 1.05112707e-01 9.94460274e-01 -2.86815590e-04 4.58216577e+00] [ 2.52353096e-03 2.16796055e-05 9.99996816e-01 3.10010693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.47, Y:4.59, Z:0.03 [[ 9.94604230e-01 -1.03711808e-01 -2.50721859e-03 6.44716311e+01] [ 1.03711413e-01 9.94607390e-01 -2.87286036e-04 4.58567315e+00] [ 2.52349309e-03 2.57087250e-05 9.99996816e-01 2.87141560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.53, Y:4.59, Z:0.03 [[ 9.94567482e-01 -1.04063621e-01 -2.50717091e-03 6.45302660e+01] [ 1.04063226e-01 9.94570642e-01 -2.87701485e-04 4.58999773e+00] [ 2.52349784e-03 2.52342476e-05 9.99996816e-01 3.05178619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:4.59, Z:0.03 [[ 9.94405513e-01 -1.05600143e-01 -2.50712224e-03 6.45888301e+01] [ 1.05599752e-01 9.94408673e-01 -2.88125032e-04 4.59383596e+00] [ 2.52353014e-03 2.17616331e-05 9.99996816e-01 3.32980430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.65, Y:4.60, Z:0.04 [[ 9.94443109e-01 -1.05245511e-01 -2.50707343e-03 6.46475766e+01] [ 1.05245118e-01 9.94446269e-01 -2.88549091e-04 4.59888860e+00] [ 2.52351832e-03 2.30884148e-05 9.99996816e-01 3.59904842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:4.61, Z:0.03 [[ 9.94625773e-01 -1.03505011e-01 -2.50702421e-03 6.47047545e+01] [ 1.03504611e-01 9.94628932e-01 -2.88976099e-04 4.60620945e+00] [ 2.52346929e-03 2.79345096e-05 9.99996816e-01 3.38767756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:4.62, Z:0.03 [[ 9.95015832e-01 -9.96855505e-02 -2.50700686e-03 6.47633173e+01] [ 9.96851384e-02 9.95018990e-01 -2.89126571e-04 4.61521796e+00] [ 2.52334117e-03 3.77741899e-05 9.99996816e-01 3.09404427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:4.62, Z:0.03 [[ 9.95045334e-01 -9.93906323e-02 -2.50695818e-03 6.48211275e+01] [ 9.93902181e-02 9.95048492e-01 -2.89548018e-04 4.62321999e+00] [ 2.52332332e-03 3.89462842e-05 9.99996816e-01 3.01738323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:4.63, Z:0.03 [[ 9.94879043e-01 -1.01041602e-01 -2.50690827e-03 6.48780651e+01] [ 1.01041192e-01 9.94882201e-01 -2.89979485e-04 4.63314830e+00] [ 2.52337841e-03 3.51935114e-05 9.99996816e-01 3.11726751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:4.64, Z:0.03 [[ 9.94470743e-01 -1.04984083e-01 -2.50689070e-03 6.49365432e+01] [ 1.04983685e-01 9.94473902e-01 -2.90131342e-04 4.64151766e+00] [ 2.52349655e-03 2.53445080e-05 9.99996816e-01 3.36425646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62263999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:64.99, Y:4.65, Z:0.03 [[ 9.94183938e-01 -1.07666213e-01 -2.50684060e-03 6.49945582e+01] [ 1.07665822e-01 9.94187098e-01 -2.90563609e-04 4.64823199e+00] [ 2.52355246e-03 1.89726187e-05 9.99996816e-01 3.32714975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.05, Y:4.65, Z:0.04 [[ 9.93500385e-01 -1.13801144e-01 -2.50678312e-03 6.50531418e+01] [ 1.13800772e-01 9.93503548e-01 -2.91058648e-04 4.65391945e+00] [ 2.52362073e-03 3.89302631e-06 9.99996816e-01 3.56830180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:4.66, Z:0.03 [[ 9.93163818e-01 -1.16701958e-01 -2.50673266e-03 6.51101303e+01] [ 1.16701594e-01 9.93166981e-01 -2.91492597e-04 4.65948857e+00] [ 2.52362186e-03 -3.03979538e-06 9.99996816e-01 3.46667939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:4.66, Z:0.03 [[ 9.92812926e-01 -1.19650367e-01 -2.50669319e-03 6.51695765e+01] [ 1.19650011e-01 9.92816091e-01 -2.91831547e-04 4.66200023e+00] [ 2.52360309e-03 -1.01917368e-05 9.99996816e-01 3.29081017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:4.66, Z:0.03 [[ 9.92731857e-01 -1.20321142e-01 -2.50664748e-03 6.52278021e+01] [ 1.20320788e-01 9.92735021e-01 -2.92223649e-04 4.66451088e+00] [ 2.52359743e-03 -1.15020750e-05 9.99996816e-01 3.48645901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92264 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:4.67, Z:0.04 [[ 9.92964409e-01 -1.18386656e-01 -2.50659092e-03 6.52856785e+01] [ 1.18386294e-01 9.92967572e-01 -2.92708024e-04 4.66954642e+00] [ 2.52361623e-03 -6.09736094e-06 9.99996816e-01 3.52031482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.34, Y:4.67, Z:0.04 [[ 9.93321526e-01 -1.15351911e-01 -2.50657343e-03 6.53442864e+01] [ 1.15351539e-01 9.93324688e-01 -2.92857699e-04 4.67083501e+00] [ 2.52362297e-03 1.76475231e-06 9.99996816e-01 3.70907066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.40, Y:4.67, Z:0.04 [[ 9.93623802e-01 -1.12718487e-01 -2.50652492e-03 6.54034254e+01] [ 1.12718106e-01 9.93626963e-01 -2.93272290e-04 4.66991926e+00] [ 2.52360796e-03 8.87158525e-06 9.99996816e-01 4.04602436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.46, Y:4.67, Z:0.04 [[ 9.93926896e-01 -1.10013833e-01 -2.50647360e-03 6.54613510e+01] [ 1.10013442e-01 9.93930056e-01 -2.93710263e-04 4.67283179e+00] [ 2.52357164e-03 1.61807417e-05 9.99996816e-01 3.69542790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.52, Y:4.68, Z:0.04 [[ 9.94138929e-01 -1.08081026e-01 -2.50645547e-03 6.55196939e+01] [ 1.08080629e-01 9.94142088e-01 -2.93864913e-04 4.67543132e+00] [ 2.52353410e-03 2.12432664e-05 9.99996816e-01 3.63215361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.58, Y:4.68, Z:0.04 [[ 9.94726780e-01 -1.02529756e-01 -2.50639905e-03 6.55773577e+01] [ 1.02529340e-01 9.94729937e-01 -2.94345379e-04 4.67872110e+00] [ 2.52336933e-03 3.58137913e-05 9.99996816e-01 3.82980426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:4.68, Z:0.04 [[ 9.95333234e-01 -9.64648728e-02 -2.50634064e-03 6.56345621e+01] [ 9.64644361e-02 9.95336388e-01 -2.94841908e-04 4.68358193e+00] [ 2.52309392e-03 5.16932133e-05 9.99996816e-01 3.73866827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:4.69, Z:0.03 [[ 9.95628795e-01 -9.33649832e-02 -2.50631534e-03 6.56916403e+01] [ 9.33645361e-02 9.95631948e-01 -2.95056791e-04 4.69043001e+00] [ 2.52291560e-03 5.97660682e-05 9.99996816e-01 3.37413741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:4.70, Z:0.03 [[ 9.95625060e-01 -9.34048118e-02 -2.50629784e-03 6.57487565e+01] [ 9.34043645e-02 9.95628213e-01 -2.95205313e-04 4.69692257e+00] [ 2.52291444e-03 5.98146504e-05 9.99996816e-01 3.47096654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:65.81, Y:4.70, Z:0.04 [[ 9.95450743e-01 -9.52446151e-02 -2.50623994e-03 6.58060179e+01] [ 9.52441724e-02 9.95453897e-01 -2.95696081e-04 4.70338455e+00] [ 2.52300978e-03 5.56461342e-05 9.99996816e-01 3.65854710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.86, Y:4.71, Z:0.03 [[ 9.95172278e-01 -9.81114458e-02 -2.50618126e-03 6.58634517e+01] [ 9.81110108e-02 9.95175433e-01 -2.96192578e-04 4.71060969e+00] [ 2.52314991e-03 4.88786652e-05 9.99996816e-01 3.46604925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:4.72, Z:0.04 [[ 9.94868719e-01 -1.01143219e-01 -2.50616311e-03 6.59210293e+01] [ 1.01142793e-01 9.94871875e-01 -2.96346097e-04 4.72007567e+00] [ 2.52328459e-03 4.13451250e-05 9.99996816e-01 3.57891572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:4.73, Z:0.04 [[ 9.94618048e-01 -1.03579233e-01 -2.50610565e-03 6.59797262e+01] [ 1.03578814e-01 9.94621205e-01 -2.96831191e-04 4.72668411e+00] [ 2.52337137e-03 3.56542086e-05 9.99996816e-01 3.79670600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:4.73, Z:0.04 [[ 9.93978051e-01 -1.09550688e-01 -2.50605481e-03 6.60375695e+01] [ 1.09550287e-01 9.93981210e-01 -2.97259825e-04 4.73257718e+00] [ 2.52353641e-03 2.09307179e-05 9.99996816e-01 3.88199868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:4.74, Z:0.04 [[ 9.93191690e-01 -1.16464527e-01 -2.50599608e-03 6.60941662e+01] [ 1.16464147e-01 9.93194852e-01 -2.97754119e-04 4.73634782e+00] [ 2.52362020e-03 3.86822204e-06 9.99996816e-01 3.73091927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:4.74, Z:0.03 [[ 9.92593047e-01 -1.21460951e-01 -2.50595563e-03 6.61525941e+01] [ 1.21460585e-01 9.92596211e-01 -2.98094133e-04 4.73995014e+00] [ 2.52360886e-03 -8.48867440e-06 9.99996816e-01 3.49631428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:4.74, Z:0.03 [[ 9.92253432e-01 -1.24204861e-01 -2.50590690e-03 6.62119124e+01] [ 1.24204504e-01 9.92256596e-01 -2.98503266e-04 4.74240048e+00] [ 2.52357821e-03 -1.50540320e-05 9.99996816e-01 3.43088917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94264 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:66.27, Y:4.74, Z:0.04 [[ 9.92107395e-01 -1.25366012e-01 -2.50585762e-03 6.62716217e+01] [ 1.25365657e-01 9.92110560e-01 -2.98916379e-04 4.74256101e+00] [ 2.52356176e-03 -1.75913356e-05 9.99996816e-01 3.58151599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.33, Y:4.74, Z:0.04 [[ 9.92264544e-01 -1.24116057e-01 -2.50580781e-03 6.63305656e+01] [ 1.24115697e-01 9.92267708e-01 -2.99333323e-04 4.74044187e+00] [ 2.52358425e-03 -1.39922405e-05 9.99996816e-01 3.60807564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:4.74, Z:0.04 [[ 9.92473283e-01 -1.22435712e-01 -2.50578888e-03 6.63905784e+01] [ 1.22435346e-01 9.92476446e-01 -2.99491770e-04 4.73692634e+00] [ 2.52360493e-03 -9.55954860e-06 9.99996816e-01 4.05480868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:4.73, Z:0.04 [[ 9.92909138e-01 -1.18849335e-01 -2.50573675e-03 6.64496687e+01] [ 1.18848956e-01 9.92912300e-01 -2.99927260e-04 4.73350705e+00] [ 2.52362299e-03 -3.67976470e-09 9.99996816e-01 4.12650478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:4.73, Z:0.04 [[ 9.93712701e-01 -1.11932071e-01 -2.50567732e-03 6.65080360e+01] [ 1.11931669e-01 9.93715860e-01 -3.00422892e-04 4.73278269e+00] [ 2.52355825e-03 1.80693983e-05 9.99996816e-01 3.89782425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:4.73, Z:0.04 [[ 9.94318178e-01 -1.06419369e-01 -2.50564976e-03 6.65661497e+01] [ 1.06418949e-01 9.94321335e-01 -3.00652638e-04 4.73493653e+00] [ 2.52341628e-03 3.22957698e-05 9.99996816e-01 3.99339307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:4.74, Z:0.04 [[ 9.95047553e-01 -9.93684513e-02 -2.50559058e-03 6.66234609e+01] [ 9.93680079e-02 9.95050706e-01 -3.01144997e-04 4.73765173e+00] [ 2.52311399e-03 5.06780483e-05 9.99996816e-01 3.99698964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:4.74, Z:0.04 [[ 9.95412315e-01 -9.56454125e-02 -2.50556514e-03 6.66812095e+01] [ 9.56449568e-02 9.95415467e-01 -3.01356513e-04 4.74284546e+00] [ 2.52290166e-03 6.03293144e-05 9.99996816e-01 4.05697920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:4.75, Z:0.04 [[ 9.95421274e-01 -9.55521354e-02 -2.50550726e-03 6.67391328e+01] [ 9.55516782e-02 9.95424425e-01 -3.01836969e-04 4.75032871e+00] [ 2.52288429e-03 6.10495164e-05 9.99996816e-01 4.06304580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.80, Y:4.76, Z:0.04 [[ 9.95052493e-01 -9.93189792e-02 -2.50544757e-03 6.67974935e+01] [ 9.93185327e-02 9.95055646e-01 -3.02331621e-04 4.75638743e+00] [ 2.52308702e-03 5.19984561e-05 9.99996816e-01 3.82662590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:4.76, Z:0.04 [[ 9.94293212e-01 -1.06652391e-01 -2.50539530e-03 6.68549097e+01] [ 1.06651967e-01 9.94296367e-01 -3.02764180e-04 4.76069707e+00] [ 2.52339597e-03 3.38310324e-05 9.99996816e-01 3.80170982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.91, Y:4.76, Z:0.04 [[ 9.93468486e-01 -1.14079318e-01 -2.50533582e-03 6.69125830e+01] [ 1.14078916e-01 9.93471645e-01 -3.03255567e-04 4.76454194e+00] [ 2.52357529e-03 1.54688540e-05 9.99996816e-01 3.66875636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:66.97, Y:4.77, Z:0.04 [[ 9.92767705e-01 -1.20025031e-01 -2.50531740e-03 6.69717499e+01] [ 1.20024647e-01 9.92770866e-01 -3.03407665e-04 4.76786601e+00] [ 2.52362264e-03 5.13494237e-07 9.99996816e-01 4.17918987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.03, Y:4.77, Z:0.04 [[ 9.92405881e-01 -1.22980857e-01 -2.50526494e-03 6.70301866e+01] [ 1.22980482e-01 9.92409043e-01 -3.03840201e-04 4.77237345e+00] [ 2.52361411e-03 -6.56588619e-06 9.99996816e-01 4.05927863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.09, Y:4.78, Z:0.04 [[ 9.92154662e-01 -1.24991399e-01 -2.50521252e-03 6.70882446e+01] [ 1.24991029e-01 9.92157825e-01 -3.04271781e-04 4.77621528e+00] [ 2.52359756e-03 -1.12444251e-05 9.99996816e-01 4.17596415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.15, Y:4.78, Z:0.04 [[ 9.92456011e-01 -1.22575648e-01 -2.50515090e-03 6.71465962e+01] [ 1.22575269e-01 9.92459173e-01 -3.04778312e-04 4.77864144e+00] [ 2.52361839e-03 -4.59047822e-06 9.99996816e-01 4.03390615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.20, Y:4.78, Z:0.04 [[ 9.92953798e-01 -1.18475646e-01 -2.50513186e-03 6.72043028e+01] [ 1.18475254e-01 9.92956958e-01 -3.04934741e-04 4.78436380e+00] [ 2.52361545e-03 5.98997759e-06 9.99996816e-01 4.01188477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.26, Y:4.79, Z:0.04 [[ 9.93583287e-01 -1.13075087e-01 -2.50511330e-03 6.72625365e+01] [ 1.13074678e-01 9.93586445e-01 -3.05087110e-04 4.78798067e+00] [ 2.52354437e-03 1.98645744e-05 9.99996816e-01 3.74363155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.32, Y:4.79, Z:0.04 [[ 9.93886792e-01 -1.10375583e-01 -2.50509538e-03 6.73205484e+01] [ 1.10375164e-01 9.93889949e-01 -3.05234229e-04 4.79355773e+00] [ 2.52347952e-03 2.68679561e-05 9.99996816e-01 3.86669299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:67.38, Y:4.80, Z:0.04 [[ 9.93804534e-01 -1.11113784e-01 -2.50503638e-03 6.73795122e+01] [ 1.11113367e-01 9.93807691e-01 -3.05717612e-04 4.79689868e+00] [ 2.52349386e-03 2.54805225e-05 9.99996816e-01 4.18992863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:4.80, Z:0.04 [[ 9.93452306e-01 -1.14220140e-01 -2.50498273e-03 6.74368487e+01] [ 1.14219731e-01 9.93455464e-01 -3.06156580e-04 4.79967457e+00] [ 2.52355803e-03 1.80335073e-05 9.99996816e-01 4.15731685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.50, Y:4.80, Z:0.04 [[ 9.93286682e-01 -1.15651602e-01 -2.50495627e-03 6.74958337e+01] [ 1.15651197e-01 9.93289840e-01 -3.06372904e-04 4.80297342e+00] [ 2.52358013e-03 1.46149330e-05 9.99996816e-01 4.49480069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:4.81, Z:0.05 [[ 9.93370253e-01 -1.14931566e-01 -2.50490405e-03 6.75545972e+01] [ 1.14931158e-01 9.93373412e-01 -3.06799285e-04 4.80661478e+00] [ 2.52356601e-03 1.68737606e-05 9.99996816e-01 4.63823157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32263999999999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:4.81, Z:0.05 [[ 9.93412592e-01 -1.14565035e-01 -2.50485158e-03 6.76121849e+01] [ 1.14564625e-01 9.93415750e-01 -3.07227050e-04 4.81241465e+00] [ 2.52355649e-03 1.82358387e-05 9.99996816e-01 4.54021298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:4.82, Z:0.04 [[ 9.93720994e-01 -1.11858443e-01 -2.50479153e-03 6.76709391e+01] [ 1.11858022e-01 9.93724151e-01 -3.07715873e-04 4.81763304e+00] [ 2.52349246e-03 2.56026966e-05 9.99996816e-01 4.44058407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.73, Y:4.82, Z:0.05 [[ 9.94204876e-01 -1.07472747e-01 -2.50473764e-03 6.77278563e+01] [ 1.07472312e-01 9.94208030e-01 -3.08153961e-04 4.82462539e+00] [ 2.52334842e-03 3.71782261e-05 9.99996816e-01 4.54872476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.79, Y:4.83, Z:0.05 [[ 9.94460869e-01 -1.05077624e-01 -2.50471102e-03 6.77853514e+01] [ 1.05077180e-01 9.94464022e-01 -3.08370122e-04 4.83155892e+00] [ 2.52324780e-03 4.34740479e-05 9.99996816e-01 4.59507035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.84, Y:4.84, Z:0.05 [[ 9.94741283e-01 -1.02388992e-01 -2.50465095e-03 6.78420125e+01] [ 1.02388539e-01 9.94744435e-01 -3.08857269e-04 4.84230197e+00] [ 2.52311118e-03 5.07855244e-05 9.99996816e-01 4.56378533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.90, Y:4.85, Z:0.05 [[ 9.94774999e-01 -1.02060901e-01 -2.50463247e-03 6.79005453e+01] [ 1.02060446e-01 9.94778151e-01 -3.09007091e-04 4.85139330e+00] [ 2.52309120e-03 5.17686222e-05 9.99996816e-01 4.60721903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.96, Y:4.86, Z:0.05 [[ 9.94665757e-01 -1.03120123e-01 -2.50458161e-03 6.79577214e+01] [ 1.03119670e-01 9.94668909e-01 -3.09418760e-04 4.86268431e+00] [ 2.52313676e-03 4.94966151e-05 9.99996816e-01 4.78087763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:4.88, Z:0.04 [[ 9.94350569e-01 -1.06116324e-01 -2.50452062e-03 6.80145579e+01] [ 1.06115880e-01 9.94353722e-01 -3.09911664e-04 4.87606064e+00] [ 2.52326608e-03 4.23914310e-05 9.99996816e-01 4.49451122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:4.88, Z:0.04 [[ 9.93685766e-01 -1.12170966e-01 -2.50449223e-03 6.80728952e+01] [ 1.12170541e-01 9.93688922e-01 -3.10140875e-04 4.88454200e+00] [ 2.52347499e-03 2.72523255e-05 9.99996816e-01 4.43447866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.13, Y:4.89, Z:0.04 [[ 9.92854293e-01 -1.19306670e-01 -2.50443856e-03 6.81296697e+01] [ 1.19306266e-01 9.92857451e-01 -3.10573677e-04 4.89308576e+00] [ 2.52360400e-03 9.55919439e-06 9.99996816e-01 4.25104702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.19, Y:4.90, Z:0.04 [[ 9.92255479e-01 -1.24188533e-01 -2.50441954e-03 6.81869152e+01] [ 1.24188144e-01 9.92258640e-01 -3.10726990e-04 4.90260572e+00] [ 2.52362065e-03 -2.69865666e-06 9.99996816e-01 4.18137410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.24, Y:4.91, Z:0.04 [[ 9.92214089e-01 -1.24518793e-01 -2.50440068e-03 6.82443201e+01] [ 1.24518405e-01 9.92217250e-01 -3.10878935e-04 4.90882676e+00] [ 2.52361982e-03 -3.38551837e-06 9.99996816e-01 4.36643948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.30, Y:4.92, Z:0.04 [[ 9.92590947e-01 -1.21478150e-01 -2.50433919e-03 6.83008405e+01] [ 1.21477751e-01 9.92594106e-01 -3.11373491e-04 4.91755721e+00] [ 2.52361739e-03 4.84501630e-06 9.99996816e-01 4.31586099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.36, Y:4.93, Z:0.04 [[ 9.93029337e-01 -1.17840839e-01 -2.50431253e-03 6.83583636e+01] [ 1.17840428e-01 9.93032495e-01 -3.11587725e-04 4.92600988e+00] [ 2.52358148e-03 1.43064913e-05 9.99996816e-01 4.45374946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:68.42, Y:4.93, Z:0.04 [[ 9.93229129e-01 -1.16144852e-01 -2.50425134e-03 6.84150348e+01] [ 1.16144435e-01 9.93232285e-01 -3.12078731e-04 4.93347329e+00] [ 2.52354962e-03 1.91108290e-05 9.99996816e-01 4.41427379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.47, Y:4.94, Z:0.05 [[ 9.93422904e-01 -1.14475596e-01 -2.50422488e-03 6.84730477e+01] [ 1.14475172e-01 9.93426060e-01 -3.12290915e-04 4.94206749e+00] [ 2.52351195e-03 2.35653725e-05 9.99996816e-01 4.66299873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.53, Y:4.95, Z:0.05 [[ 9.93704890e-01 -1.12001429e-01 -2.50417056e-03 6.85299035e+01] [ 1.12000996e-01 9.93708045e-01 -3.12725928e-04 4.95114670e+00] [ 2.52344018e-03 3.02876862e-05 9.99996816e-01 4.73998457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.59, Y:4.96, Z:0.05 [[ 9.93886410e-01 -1.10379045e-01 -2.50415146e-03 6.85866709e+01] [ 1.10378607e-01 9.93889564e-01 -3.12878806e-04 4.95939068e+00] [ 2.52338526e-03 3.45612444e-05 9.99996816e-01 4.51610124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.64, Y:4.97, Z:0.04 [[ 9.93902429e-01 -1.10234705e-01 -2.50413270e-03 6.86433276e+01] [ 1.10234266e-01 9.93905583e-01 -3.13028873e-04 4.96983992e+00] [ 2.52337811e-03 3.50789269e-05 9.99996816e-01 4.39353059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.70, Y:4.98, Z:0.04 [[ 9.93833629e-01 -1.10853272e-01 -2.50407340e-03 6.87012375e+01] [ 1.10852834e-01 9.93836783e-01 -3.13502470e-04 4.97694652e+00] [ 2.52339303e-03 3.39856642e-05 9.99996816e-01 4.39346663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52264 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:68.76, Y:4.98, Z:0.05 [[ 9.93831071e-01 -1.10876200e-01 -2.50401378e-03 6.87587254e+01] [ 1.10875760e-01 9.93834225e-01 -3.13978009e-04 4.98474908e+00] [ 2.52338728e-03 3.44066698e-05 9.99996816e-01 4.70774123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.82, Y:5.00, Z:0.05 [[ 9.93901285e-01 -1.10245023e-01 -2.50395119e-03 6.88155917e+01] [ 1.10244581e-01 9.93904439e-01 -3.14476335e-04 4.99726973e+00] [ 2.52335765e-03 3.65113848e-05 9.99996816e-01 4.53157338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.87, Y:5.01, Z:0.05 [[ 9.93986629e-01 -1.09472883e-01 -2.50393198e-03 6.88740747e+01] [ 1.09472438e-01 9.93989782e-01 -3.14629244e-04 5.00687223e+00] [ 2.52332617e-03 3.86257232e-05 9.99996816e-01 4.76520390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.93, Y:5.02, Z:0.05 [[ 9.94103223e-01 -1.08409007e-01 -2.50387797e-03 6.89298849e+01] [ 1.08408557e-01 9.94106375e-01 -3.15058442e-04 5.01594472e+00] [ 2.52327623e-03 4.17588147e-05 9.99996816e-01 4.65066409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76263999999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:5.03, Z:0.05 [[ 9.94269692e-01 -1.06871467e-01 -2.50384749e-03 6.89868118e+01] [ 1.06871011e-01 9.94272844e-01 -3.15300532e-04 5.02731231e+00] [ 2.52320419e-03 4.59050496e-05 9.99996816e-01 4.97690353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.04, Y:5.04, Z:0.05 [[ 9.94333312e-01 -1.06277918e-01 -2.50378597e-03 6.90447910e+01] [ 1.06277459e-01 9.94336463e-01 -3.15788250e-04 5.04096173e+00] [ 2.52316701e-03 4.79027649e-05 9.99996816e-01 4.84798842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:5.05, Z:0.05 [[ 9.94301972e-01 -1.06570729e-01 -2.50373056e-03 6.91019862e+01] [ 1.06570270e-01 9.94305123e-01 -3.16226999e-04 5.05251481e+00] [ 2.52317266e-03 4.76018867e-05 9.99996816e-01 4.55187045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:5.07, Z:0.04 [[ 9.94102218e-01 -1.08418226e-01 -2.50371098e-03 6.91584607e+01] [ 1.08417773e-01 9.94105370e-01 -3.16381918e-04 5.06558109e+00] [ 2.52325410e-03 4.30691980e-05 9.99996816e-01 4.35070034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.22, Y:5.08, Z:0.04 [[ 9.93789640e-01 -1.11246942e-01 -2.50369201e-03 6.92155500e+01] [ 1.11246497e-01 9.93792794e-01 -3.16532011e-04 5.07734201e+00] [ 2.52336429e-03 3.60392672e-05 9.99996816e-01 4.48471235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:5.09, Z:0.05 [[ 9.93573086e-01 -1.13164721e-01 -2.50366379e-03 6.92730523e+01] [ 1.13164282e-01 9.93576240e-01 -3.16755048e-04 5.08763916e+00] [ 2.52342635e-03 3.13939757e-05 9.99996816e-01 4.57987418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.33, Y:5.10, Z:0.05 [[ 9.93380327e-01 -1.14844492e-01 -2.50364494e-03 6.93289879e+01] [ 1.14844058e-01 9.93383482e-01 -3.16903953e-04 5.10023428e+00] [ 2.52347420e-03 2.72774078e-05 9.99996816e-01 4.56711210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:5.11, Z:0.05 [[ 9.93335182e-01 -1.15234318e-01 -2.50361882e-03 6.93856506e+01] [ 1.15233885e-01 9.93338337e-01 -3.17110173e-04 5.11449642e+00] [ 2.52348253e-03 2.64949691e-05 9.99996816e-01 4.62575679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.44, Y:5.12, Z:0.05 [[ 9.93297588e-01 -1.15557922e-01 -2.50355697e-03 6.94430826e+01] [ 1.15557488e-01 9.93300743e-01 -3.17597764e-04 5.12428288e+00] [ 2.52348593e-03 2.61643381e-05 9.99996816e-01 4.66340142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.50, Y:5.14, Z:0.05 [[ 9.93387100e-01 -1.14785895e-01 -2.50349512e-03 6.94992452e+01] [ 1.14785458e-01 9.93390254e-01 -3.18084519e-04 5.13862945e+00] [ 2.52345927e-03 2.86162256e-05 9.99996816e-01 4.76538909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:5.15, Z:0.05 [[ 9.93441183e-01 -1.14316881e-01 -2.50347596e-03 6.95558110e+01] [ 1.14316442e-01 9.93444337e-01 -3.18235247e-04 5.15227659e+00] [ 2.52344367e-03 2.99595367e-05 9.99996816e-01 4.95529529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.61, Y:5.17, Z:0.05 [[ 9.93376850e-01 -1.14874572e-01 -2.50341504e-03 6.96127306e+01] [ 1.14874134e-01 9.93380004e-01 -3.18713739e-04 5.16641568e+00] [ 2.52345455e-03 2.90252161e-05 9.99996816e-01 4.87405989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.67, Y:5.18, Z:0.05 [[ 9.93157954e-01 -1.16751926e-01 -2.50335142e-03 6.96680821e+01] [ 1.16751492e-01 9.93161108e-01 -3.19212680e-04 5.18190650e+00] [ 2.52349997e-03 2.47585996e-05 9.99996816e-01 4.80521404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.73, Y:5.19, Z:0.05 [[ 9.92793635e-01 -1.19810401e-01 -2.50332382e-03 6.97261237e+01] [ 1.19809976e-01 9.92796791e-01 -3.19428989e-04 5.19487692e+00] [ 2.52356277e-03 1.72039003e-05 9.99996816e-01 5.17665469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:5.21, Z:0.05 [[ 9.92441689e-01 -1.22691595e-01 -2.50327129e-03 6.97820509e+01] [ 1.22691179e-01 9.92444846e-01 -3.19840098e-04 5.21162274e+00] [ 2.52360038e-03 1.02933410e-05 9.99996816e-01 4.87423619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66264 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:5.23, Z:0.05 [[ 9.92201112e-01 -1.24622181e-01 -2.50325110e-03 6.98385598e+01] [ 1.24621771e-01 9.92204269e-01 -3.19998079e-04 5.22527601e+00] [ 2.52361528e-03 5.54286571e-06 9.99996816e-01 4.90309666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.89, Y:5.24, Z:0.05 [[ 9.91962167e-01 -1.26510049e-01 -2.50318899e-03 6.98948720e+01] [ 1.26509643e-01 9.91965326e-01 -3.20483139e-04 5.24004986e+00] [ 2.52362102e-03 1.22960263e-06 9.99996816e-01 4.63830068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.95, Y:5.25, Z:0.05 [[ 9.91726640e-01 -1.28343315e-01 -2.50312624e-03 6.99516440e+01] [ 1.28342914e-01 9.91729799e-01 -3.20972549e-04 5.25126617e+00] [ 2.52361956e-03 -2.94148675e-06 9.99996816e-01 4.59458240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.01, Y:5.26, Z:0.05 [[ 9.91272175e-01 -1.31807473e-01 -2.50306609e-03 7.00082443e+01] [ 1.31807082e-01 9.91275335e-01 -3.21440960e-04 5.26217556e+00] [ 2.52359599e-03 -1.12863563e-05 9.99996816e-01 4.74510402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.07, Y:5.27, Z:0.05 [[ 9.90956712e-01 -1.34158599e-01 -2.50304605e-03 7.00662001e+01] [ 1.34158214e-01 9.90959873e-01 -3.21596916e-04 5.27123162e+00] [ 2.52356319e-03 -1.71155662e-05 9.99996816e-01 5.19688132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.12, Y:5.28, Z:0.05 [[ 9.90821751e-01 -1.35151742e-01 -2.50299135e-03 7.01227837e+01] [ 1.35151359e-01 9.90824912e-01 -3.22022057e-04 5.28078061e+00] [ 2.52354803e-03 -1.92162258e-05 9.99996816e-01 4.95993672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.18, Y:5.29, Z:0.05 [[ 9.90875690e-01 -1.34755713e-01 -2.50296610e-03 7.01813171e+01] [ 1.34755329e-01 9.90878851e-01 -3.22218226e-04 5.28978556e+00] [ 2.52355692e-03 -1.80098136e-05 9.99996816e-01 4.56096368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.24, Y:5.30, Z:0.05 [[ 9.91037881e-01 -1.33557678e-01 -2.50291276e-03 7.02403202e+01] [ 1.33557290e-01 9.91041042e-01 -3.22631971e-04 5.29588331e+00] [ 2.52357925e-03 -1.45417403e-05 9.99996816e-01 4.78305449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:70.30, Y:5.30, Z:0.05 [[ 9.91148584e-01 -1.32733642e-01 -2.50290493e-03 7.02982837e+01] [ 1.32733250e-01 9.91151744e-01 -3.22692714e-04 5.30349487e+00] [ 2.52359077e-03 -1.23822795e-05 9.99996816e-01 4.70626211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:70.36, Y:5.31, Z:0.05 [[ 9.91272753e-01 -1.31803132e-01 -2.50284846e-03 7.03553379e+01] [ 1.31802736e-01 9.91275912e-01 -3.23130123e-04 5.30981501e+00] [ 2.52360295e-03 -9.57218864e-06 9.99996816e-01 4.91569561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:5.31, Z:0.05 [[ 9.91233781e-01 -1.32095899e-01 -2.50282900e-03 7.04138112e+01] [ 1.32095504e-01 9.91236941e-01 -3.23280812e-04 5.31290329e+00] [ 2.52360063e-03 -1.01655962e-05 9.99996816e-01 4.63744348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.47, Y:5.32, Z:0.04 [[ 9.91174040e-01 -1.32543418e-01 -2.50276809e-03 7.04729088e+01] [ 1.32543023e-01 9.91177200e-01 -3.23751688e-04 5.31829753e+00] [ 2.52359782e-03 -1.08301798e-05 9.99996816e-01 4.42013131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.53, Y:5.32, Z:0.05 [[ 9.91491422e-01 -1.30147980e-01 -2.50273815e-03 7.05304962e+01] [ 1.30147576e-01 9.91494581e-01 -3.23982953e-04 5.32145252e+00] [ 2.52361704e-03 -4.49898614e-06 9.99996816e-01 4.50829185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.59, Y:5.32, Z:0.05 [[ 9.92020495e-01 -1.26051867e-01 -2.50271884e-03 7.05890636e+01] [ 1.26051450e-01 9.92023652e-01 -3.24132031e-04 5.32427582e+00] [ 2.52361373e-03 6.07427939e-06 9.99996816e-01 4.75249846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.65, Y:5.33, Z:0.05 [[ 9.92406024e-01 -1.22979753e-01 -2.50266519e-03 7.06463733e+01] [ 1.22979326e-01 9.92409180e-01 -3.24545735e-04 5.32623613e+00] [ 2.52358047e-03 1.43050641e-05 9.99996816e-01 4.72352858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:5.33, Z:0.05 [[ 9.92611358e-01 -1.21311285e-01 -2.50262309e-03 7.07046475e+01] [ 1.21310852e-01 9.92614513e-01 -3.24870031e-04 5.33004317e+00] [ 2.52355041e-03 1.88743446e-05 9.99996816e-01 4.58475376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:5.33, Z:0.04 [[ 9.92907227e-01 -1.18865364e-01 -2.50256064e-03 7.07629031e+01] [ 1.18864922e-01 9.92910381e-01 -3.25350443e-04 5.33254585e+00] [ 2.52349134e-03 2.55761325e-05 9.99996816e-01 4.44922846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:5.34, Z:0.04 [[ 9.93241767e-01 -1.16036757e-01 -2.50249667e-03 7.08196182e+01] [ 1.16036304e-01 9.93244919e-01 -3.25841733e-04 5.33958889e+00] [ 2.52340172e-03 3.32591537e-05 9.99996816e-01 4.35386501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:5.35, Z:0.05 [[ 9.93709157e-01 -1.11963606e-01 -2.50246900e-03 7.08782498e+01] [ 1.11963140e-01 9.93712307e-01 -3.26054101e-04 5.34780737e+00] [ 2.52324043e-03 4.38186598e-05 9.99996816e-01 4.50796264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80264 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:5.36, Z:0.04 [[ 9.93975713e-01 -1.09571981e-01 -2.50241455e-03 7.09355757e+01] [ 1.09571506e-01 9.93978862e-01 -3.26471465e-04 5.35555589e+00] [ 2.52311929e-03 5.03113767e-05 9.99996816e-01 4.43494025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:5.37, Z:0.05 [[ 9.94074665e-01 -1.08670592e-01 -2.50239537e-03 7.09928878e+01] [ 1.08670114e-01 9.94077814e-01 -3.26618426e-04 5.36571095e+00] [ 2.52306953e-03 5.27475136e-05 9.99996816e-01 4.52449310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:5.38, Z:0.05 [[ 9.94055150e-01 -1.08848969e-01 -2.50233236e-03 7.10498933e+01] [ 1.08848490e-01 9.94058298e-01 -3.27100399e-04 5.37644778e+00] [ 2.52306879e-03 5.27807361e-05 9.99996816e-01 4.78165198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:5.39, Z:0.04 [[ 9.93950863e-01 -1.09797184e-01 -2.50226801e-03 7.11063724e+01] [ 1.09796707e-01 9.93954011e-01 -3.27591936e-04 5.38710386e+00] [ 2.52310800e-03 5.08695003e-05 9.99996816e-01 4.33900175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.16, Y:5.40, Z:0.04 [[ 9.93788598e-01 -1.11256288e-01 -2.50224817e-03 7.11627877e+01] [ 1.11255816e-01 9.93791747e-01 -3.27743426e-04 5.40069740e+00] [ 2.52317710e-03 4.73180182e-05 9.99996816e-01 4.21501770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:71.22, Y:5.41, Z:0.04 [[ 9.93470436e-01 -1.14062402e-01 -2.50218335e-03 7.12199088e+01] [ 1.14061937e-01 9.93473586e-01 -3.28237557e-04 5.41111528e+00] [ 2.52329263e-03 4.06904284e-05 9.99996816e-01 4.34963562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.28, Y:5.42, Z:0.04 [[ 9.93010419e-01 -1.18000197e-01 -2.50211814e-03 7.12770641e+01] [ 1.17999743e-01 9.93013571e-01 -3.28733891e-04 5.42003134e+00] [ 2.52342793e-03 3.11868804e-05 9.99996816e-01 4.28618146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:71.33, Y:5.43, Z:0.04 [[ 9.91994620e-01 -1.26255351e-01 -2.50205251e-03 7.13343011e+01] [ 1.26254922e-01 9.91997775e-01 -3.29232700e-04 5.42784760e+00] [ 2.52359791e-03 1.07006222e-05 9.99996816e-01 4.21483570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:71.39, Y:5.44, Z:0.04 [[ 9.91075400e-01 -1.33278997e-01 -2.50198661e-03 7.13920340e+01] [ 1.33278590e-01 9.91078558e-01 -3.29732710e-04 5.43516877e+00] [ 2.52361173e-03 -6.67126961e-06 9.99996816e-01 3.96161371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34264 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:71.45, Y:5.44, Z:0.04 [[ 9.90791596e-01 -1.35372647e-01 -2.50192139e-03 7.14487253e+01] [ 1.35372245e-01 9.90794755e-01 -3.30226874e-04 5.44130669e+00] [ 2.52359427e-03 -1.15047018e-05 9.99996816e-01 3.78179598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40263999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.51, Y:5.45, Z:0.03 [[ 9.91126546e-01 -1.32898124e-01 -2.50189311e-03 7.15072751e+01] [ 1.32897713e-01 9.91129703e-01 -3.30440978e-04 5.44647790e+00] [ 2.52361556e-03 -4.98704673e-06 9.99996816e-01 3.49030311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.57, Y:5.45, Z:0.04 [[ 9.91519974e-01 -1.29930298e-01 -2.50183578e-03 7.15651787e+01] [ 1.29929876e-01 9.91523130e-01 -3.30874421e-04 5.45359957e+00] [ 2.52361866e-03 3.00538313e-06 9.99996816e-01 3.60358853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:5.46, Z:0.03 [[ 9.92039119e-01 -1.25905232e-01 -2.50177834e-03 7.16241373e+01] [ 1.25904797e-01 9.92042273e-01 -3.31308196e-04 5.45943849e+00] [ 2.52358331e-03 1.36847969e-05 9.99996816e-01 3.36239807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:5.47, Z:0.03 [[ 9.92346061e-01 -1.23462693e-01 -2.50172139e-03 7.16814698e+01] [ 1.23462249e-01 9.92349214e-01 -3.31737626e-04 5.46553911e+00] [ 2.52353848e-03 2.03303759e-05 9.99996816e-01 3.16943917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:5.47, Z:0.03 [[ 9.92481630e-01 -1.22368112e-01 -2.50165657e-03 7.17392531e+01] [ 1.22367664e-01 9.92484783e-01 -3.32225754e-04 5.46966435e+00] [ 2.52350992e-03 2.36060879e-05 9.99996816e-01 3.48268375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.80, Y:5.47, Z:0.04 [[ 9.92691070e-01 -1.20657286e-01 -2.50163652e-03 7.17980879e+01] [ 1.20656831e-01 9.92694222e-01 -3.32376691e-04 5.47468746e+00] [ 2.52346378e-03 2.81078389e-05 9.99996816e-01 3.65690122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.86, Y:5.48, Z:0.04 [[ 9.92864456e-01 -1.19222124e-01 -2.50157908e-03 7.18569187e+01] [ 1.19221664e-01 9.92867606e-01 -3.32808389e-04 5.47596539e+00] [ 2.52341496e-03 3.21911987e-05 9.99996816e-01 3.51113977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.92, Y:5.48, Z:0.03 [[ 9.93077999e-01 -1.17430112e-01 -2.50151731e-03 7.19155888e+01] [ 1.17429645e-01 9.93081149e-01 -3.33272091e-04 5.47574610e+00] [ 2.52334586e-03 3.72128929e-05 9.99996816e-01 3.36171462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:5.48, Z:0.03 [[ 9.92979513e-01 -1.18260004e-01 -2.50145207e-03 7.19736394e+01] [ 1.18259538e-01 9.92982664e-01 -3.33761006e-04 5.47682416e+00] [ 2.52336912e-03 3.55972742e-05 9.99996816e-01 3.28345128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:5.48, Z:0.03 [[ 9.92841259e-01 -1.19415150e-01 -2.50138573e-03 7.20320525e+01] [ 1.19414687e-01 9.92844409e-01 -3.34257492e-04 5.47724461e+00] [ 2.52340224e-03 3.31624358e-05 9.99996816e-01 2.92320957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:5.48, Z:0.03 [[ 9.92745124e-01 -1.20211735e-01 -2.50136504e-03 7.20906883e+01] [ 1.20211274e-01 9.92748275e-01 -3.34412210e-04 5.47522026e+00] [ 2.52342610e-03 3.12938140e-05 9.99996816e-01 2.70643292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.15, Y:5.48, Z:0.02 [[ 9.92796563e-01 -1.19786177e-01 -2.50129838e-03 7.21483768e+01] [ 1.19785713e-01 9.92799713e-01 -3.34910095e-04 5.47700518e+00] [ 2.52340591e-03 3.28777809e-05 9.99996816e-01 2.31654904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.21, Y:5.48, Z:0.02 [[ 9.93152725e-01 -1.16796438e-01 -2.50127781e-03 7.22072045e+01] [ 1.16795964e-01 9.93155874e-01 -3.35063602e-04 5.47701913e+00] [ 2.52329299e-03 4.06301756e-05 9.99996816e-01 1.95285438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.27, Y:5.48, Z:0.02 [[ 9.93730696e-01 -1.11772306e-01 -2.50125746e-03 7.22660727e+01] [ 1.11771816e-01 9.93733842e-01 -3.35215443e-04 5.47705888e+00] [ 2.52305199e-03 5.35437867e-05 9.99996816e-01 2.20602930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:5.48, Z:0.02 [[ 9.94309616e-01 -1.06499447e-01 -2.50123683e-03 7.23246621e+01] [ 1.06498940e-01 9.94312759e-01 -3.35369336e-04 5.47748286e+00] [ 2.52272834e-03 6.70818847e-05 9.99996816e-01 2.22379350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:5.48, Z:0.02 [[ 9.94677919e-01 -1.03002818e-01 -2.50120631e-03 7.23826634e+01] [ 1.03002299e-01 9.94681061e-01 -3.35596832e-04 5.48046913e+00] [ 2.52246996e-03 7.61807588e-05 9.99996816e-01 2.01098392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:5.48, Z:0.02 [[ 9.94639921e-01 -1.03369109e-01 -2.50114118e-03 7.24395772e+01] [ 1.03368590e-01 9.94643062e-01 -3.36081496e-04 5.48193052e+00] [ 2.52248317e-03 7.57406339e-05 9.99996816e-01 1.88545022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:5.48, Z:0.02 [[ 9.94335285e-01 -1.06259520e-01 -2.50111315e-03 7.24975161e+01] [ 1.06259010e-01 9.94338428e-01 -3.36290005e-04 5.48372337e+00] [ 2.52268693e-03 6.86192100e-05 9.99996816e-01 1.89923208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:5.49, Z:0.02 [[ 9.94034282e-01 -1.09039402e-01 -2.50104944e-03 7.25551904e+01] [ 1.09038900e-01 9.94037426e-01 -3.36763108e-04 5.48616358e+00] [ 2.52285720e-03 6.20423954e-05 9.99996816e-01 1.54756728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:5.49, Z:0.02 [[ 9.93869492e-01 -1.10531343e-01 -2.50102974e-03 7.26140119e+01] [ 1.10530845e-01 9.93872637e-01 -3.36909373e-04 5.48742959e+00] [ 2.52294407e-03 5.84030164e-05 9.99996816e-01 1.60514036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:5.49, Z:0.01 [[ 9.93711542e-01 -1.11942467e-01 -2.50096620e-03 7.26733804e+01] [ 1.11941972e-01 9.93714688e-01 -3.37380411e-04 5.48873530e+00] [ 2.52301404e-03 5.52957207e-05 9.99996816e-01 1.19589101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:5.49, Z:0.01 [[ 9.93525841e-01 -1.13578820e-01 -2.50091077e-03 7.27325232e+01] [ 1.13578329e-01 9.93528988e-01 -3.37790802e-04 5.49232153e+00] [ 2.52309322e-03 5.15546247e-05 9.99996816e-01 1.10992478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:5.50, Z:0.01 [[ 9.93280296e-01 -1.15706524e-01 -2.50085367e-03 7.27904410e+01] [ 1.15706039e-01 9.93283443e-01 -3.38213030e-04 5.49565327e+00] [ 2.52318999e-03 4.65764656e-05 9.99996816e-01 1.12884294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:5.50, Z:0.01 [[ 9.92804688e-01 -1.19718827e-01 -2.50078847e-03 7.28492281e+01] [ 1.19718353e-01 9.92807837e-01 -3.38694425e-04 5.49828653e+00] [ 2.52335049e-03 3.68671361e-05 9.99996816e-01 1.02336301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.91, Y:5.50, Z:0.01 [[ 9.92153896e-01 -1.24997572e-01 -2.50073011e-03 7.29085039e+01] [ 1.24997114e-01 9.92157047e-01 -3.39124761e-04 5.49693163e+00] [ 2.52350677e-03 2.38799063e-05 9.99996816e-01 1.05425076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.97, Y:5.50, Z:0.01 [[ 9.91775057e-01 -1.27968679e-01 -2.50067123e-03 7.29665711e+01] [ 1.27968230e-01 9.91778210e-01 -3.39558412e-04 5.49806002e+00] [ 2.52356407e-03 1.67590933e-05 9.99996816e-01 1.05101543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:5.50, Z:0.01 [[ 9.91867328e-01 -1.27251522e-01 -2.50065039e-03 7.30262529e+01] [ 1.27251070e-01 9.91870480e-01 -3.39711791e-04 5.49808092e+00] [ 2.52355014e-03 1.87385905e-05 9.99996816e-01 6.60783550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.09, Y:5.50, Z:0.01 [[ 9.91896442e-01 -1.27024386e-01 -2.50059279e-03 7.30850541e+01] [ 1.27023932e-01 9.91899594e-01 -3.40135277e-04 5.50372846e+00] [ 2.52354244e-03 1.97438421e-05 9.99996816e-01 5.83905159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.14, Y:5.51, Z:0.00 [[ 9.92118746e-01 -1.25276263e-01 -2.50053572e-03 7.31419559e+01] [ 1.25275803e-01 9.92121896e-01 -3.40554298e-04 5.50545063e+00] [ 2.52349961e-03 2.46136842e-05 9.99996816e-01 3.55751903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:5.51, Z:-0.00 [[ 9.92420315e-01 -1.22864421e-01 -2.50050751e-03 7.32013329e+01] [ 1.22863953e-01 9.92423465e-01 -3.40761322e-04 5.50710148e+00] [ 2.52342976e-03 3.09562232e-05 9.99996816e-01 -1.79571373e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.26, Y:5.51, Z:-0.00 [[ 9.92841909e-01 -1.19409766e-01 -2.50045207e-03 7.32602292e+01] [ 1.19409285e-01 9.92845057e-01 -3.41167635e-04 5.51138127e+00] [ 2.52330022e-03 4.01483320e-05 9.99996816e-01 -3.11206416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:5.51, Z:-0.01 [[ 9.93398891e-01 -1.14683871e-01 -2.50043545e-03 7.33184257e+01] [ 1.14683375e-01 9.93402037e-01 -3.41289400e-04 5.51480850e+00] [ 2.52307806e-03 5.22781360e-05 9.99996816e-01 -8.37917893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:5.52, Z:-0.01 [[ 9.93590622e-01 -1.13010725e-01 -2.50041486e-03 7.33766881e+01] [ 1.13010223e-01 9.93593767e-01 -3.41440125e-04 5.52144807e+00] [ 2.52298302e-03 5.66792642e-05 9.99996816e-01 -1.11153858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:5.53, Z:-0.00 [[ 9.93327624e-01 -1.15299524e-01 -2.50036077e-03 7.34354660e+01] [ 1.15299028e-01 9.93330769e-01 -3.41835838e-04 5.52747266e+00] [ 2.52309879e-03 5.12658138e-05 9.99996816e-01 -4.51198411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.49, Y:5.53, Z:-0.00 [[ 9.92854849e-01 -1.19302127e-01 -2.50030268e-03 7.34937164e+01] [ 1.19301643e-01 9.92857996e-01 -3.42260189e-04 5.53196406e+00] [ 2.52327787e-03 4.15244703e-05 9.99996816e-01 -1.64516096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.55, Y:5.54, Z:0.00 [[ 9.92422567e-01 -1.22846232e-01 -2.50028198e-03 7.35512647e+01] [ 1.22845759e-01 9.92425716e-01 -3.42411324e-04 5.53702401e+00] [ 2.52340807e-03 3.26676878e-05 9.99996816e-01 1.37985914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:73.61, Y:5.54, Z:-0.00 [[ 9.92219155e-01 -1.24478504e-01 -2.50026149e-03 7.36088916e+01] [ 1.24478036e-01 9.92222304e-01 -3.42560842e-04 5.54104552e+00] [ 2.52345668e-03 2.86677888e-05 9.99996816e-01 -6.61384646e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.67, Y:5.55, Z:0.00 [[ 9.92000671e-01 -1.26207838e-01 -2.50024133e-03 7.36674091e+01] [ 1.26207375e-01 9.92003821e-01 -3.42707981e-04 5.54921557e+00] [ 2.52350138e-03 2.44176536e-05 9.99996816e-01 6.78468574e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.73, Y:5.55, Z:-0.00 [[ 9.91721340e-01 -1.28384314e-01 -2.50018481e-03 7.37268884e+01] [ 1.28383857e-01 9.91724492e-01 -3.43119789e-04 5.55330390e+00] [ 2.52354571e-03 1.92958481e-05 9.99996816e-01 -2.32948919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:5.56, Z:-0.00 [[ 9.91528001e-01 -1.29869060e-01 -2.50015681e-03 7.37848606e+01] [ 1.29868607e-01 9.91531153e-01 -3.43323680e-04 5.56081975e+00] [ 2.52357049e-03 1.57231596e-05 9.99996816e-01 -4.13776094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:5.57, Z:-0.00 [[ 9.91662415e-01 -1.28838672e-01 -2.50009583e-03 7.38420696e+01] [ 1.28838215e-01 9.91665567e-01 -3.43767165e-04 5.56866144e+00] [ 2.52354945e-03 1.87930928e-05 9.99996816e-01 -3.88547424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:5.58, Z:-0.01 [[ 9.91780335e-01 -1.27927779e-01 -2.50007426e-03 7.38982405e+01] [ 1.27927318e-01 9.91783486e-01 -3.43923980e-04 5.57788555e+00] [ 2.52352979e-03 2.12692448e-05 9.99996816e-01 -7.40283202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:5.58, Z:-0.01 [[ 9.91646030e-01 -1.28964730e-01 -2.50002790e-03 7.39567504e+01] [ 1.28964272e-01 9.91649181e-01 -3.44260625e-04 5.58368714e+00] [ 2.52354810e-03 1.89704048e-05 9.99996816e-01 -7.82002366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:5.59, Z:-0.01 [[ 9.91592023e-01 -1.29379329e-01 -2.49996822e-03 7.40154037e+01] [ 1.29378871e-01 9.91595174e-01 -3.44693471e-04 5.59320759e+00] [ 2.52355263e-03 1.83522298e-05 9.99996816e-01 -1.22921368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.07, Y:5.60, Z:-0.01 [[ 9.91333044e-01 -1.31348946e-01 -2.49991317e-03 7.40724131e+01] [ 1.31348494e-01 9.91336196e-01 -3.45092275e-04 5.60027810e+00] [ 2.52358192e-03 1.37415464e-05 9.99996816e-01 -1.17693755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:74.13, Y:5.61, Z:-0.01 [[ 9.90943826e-01 -1.34253805e-01 -2.49989228e-03 7.41298028e+01] [ 1.34253361e-01 9.90946979e-01 -3.45243526e-04 5.60502401e+00] [ 2.52361096e-03 6.49799932e-06 9.99996816e-01 -1.24973624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.19, Y:5.61, Z:-0.01 [[ 9.90374510e-01 -1.38391043e-01 -2.49987175e-03 7.41880720e+01] [ 1.38390612e-01 9.90377665e-01 -3.45392164e-04 5.60920436e+00] [ 2.52361632e-03 -3.89118467e-06 9.99996816e-01 -9.44124979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:5.61, Z:-0.01 [[ 9.90317211e-01 -1.38800477e-01 -2.49980432e-03 7.42466243e+01] [ 1.38800046e-01 9.90320366e-01 -3.45879477e-04 5.61197552e+00] [ 2.52361537e-03 -4.44255598e-06 9.99996816e-01 -1.34870646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.31, Y:5.62, Z:-0.01 [[ 9.90874410e-01 -1.34765186e-01 -2.49974596e-03 7.43056177e+01] [ 1.34764741e-01 9.90877563e-01 -3.46300741e-04 5.61794176e+00] [ 2.52361147e-03 6.26292548e-06 9.99996816e-01 -6.49503946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.36, Y:5.62, Z:-0.01 [[ 9.91443322e-01 -1.30513950e-01 -2.49968466e-03 7.43630702e+01] [ 1.30513491e-01 9.91446473e-01 -3.46742654e-04 5.62257421e+00] [ 2.52355829e-03 1.75331175e-05 9.99996816e-01 -9.47777720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.42, Y:5.63, Z:-0.01 [[ 9.91580864e-01 -1.29464827e-01 -2.49966307e-03 7.44208235e+01] [ 1.29464364e-01 9.91584015e-01 -3.46898251e-04 5.63039384e+00] [ 2.52353706e-03 2.03603774e-05 9.99996816e-01 -1.03463175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:74.48, Y:5.64, Z:-0.01 [[ 9.91432748e-01 -1.30594250e-01 -2.49964236e-03 7.44791214e+01] [ 1.30593790e-01 9.91435899e-01 -3.47047418e-04 5.63593672e+00] [ 2.52355756e-03 1.76364058e-05 9.99996816e-01 -9.94172731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.54, Y:5.64, Z:-0.01 [[ 9.91129558e-01 -1.32875700e-01 -2.49958428e-03 7.45379818e+01] [ 1.32875247e-01 9.91132710e-01 -3.47465197e-04 5.64098168e+00] [ 2.52358942e-03 1.22501495e-05 9.99996816e-01 -6.26743934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.60, Y:5.65, Z:-0.01 [[ 9.90791715e-01 -1.35371820e-01 -2.49952424e-03 7.45969331e+01] [ 1.35371373e-01 9.90794868e-01 -3.47896541e-04 5.64642343e+00] [ 2.52361118e-03 6.32898122e-06 9.99996816e-01 -8.78330524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.66, Y:5.65, Z:-0.01 [[ 9.90589837e-01 -1.36841247e-01 -2.49949573e-03 7.46560291e+01] [ 1.36840805e-01 9.90592991e-01 -3.48101295e-04 5.65018937e+00] [ 2.52361756e-03 2.79259844e-06 9.99996816e-01 -1.11798844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.71, Y:5.66, Z:-0.02 [[ 9.90539675e-01 -1.37203878e-01 -2.49947824e-03 7.47138864e+01] [ 1.37203436e-01 9.90542829e-01 -3.48226794e-04 5.65638306e+00] [ 2.52361832e-03 1.99545216e-06 9.99996816e-01 -1.67983840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.77, Y:5.66, Z:-0.01 [[ 9.90481589e-01 -1.37622578e-01 -2.49944597e-03 7.47721773e+01] [ 1.37622137e-01 9.90484743e-01 -3.48458278e-04 5.66177898e+00] [ 2.52361883e-03 1.16241168e-06 9.99996816e-01 -8.61243265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.83, Y:5.67, Z:-0.01 [[ 9.90593893e-01 -1.36811885e-01 -2.49938617e-03 7.48305725e+01] [ 1.36811440e-01 9.90597046e-01 -3.48886706e-04 5.66861297e+00] [ 2.52361640e-03 3.66041916e-06 9.99996816e-01 -7.83015092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:5.68, Z:-0.01 [[ 9.90709645e-01 -1.35971144e-01 -2.49932491e-03 7.48877251e+01] [ 1.35970696e-01 9.90712798e-01 -3.49324963e-04 5.67713430e+00] [ 2.52361129e-03 6.24466230e-06 9.99996816e-01 -6.98507277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:5.69, Z:-0.00 [[ 9.90659893e-01 -1.36333161e-01 -2.49930329e-03 7.49459005e+01] [ 1.36332713e-01 9.90663045e-01 -3.49479609e-04 5.68520872e+00] [ 2.52361307e-03 5.47863309e-06 9.99996816e-01 -4.10396990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:5.69, Z:-0.00 [[ 9.90489406e-01 -1.37566312e-01 -2.49924318e-03 7.50041578e+01] [ 1.37565867e-01 9.90492559e-01 -3.49908950e-04 5.69430126e+00] [ 2.52361746e-03 2.77055297e-06 9.99996816e-01 -4.52797295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:5.70, Z:-0.01 [[ 9.90498848e-01 -1.37498313e-01 -2.49918148e-03 7.50622517e+01] [ 1.37497867e-01 9.90502001e-01 -3.50349076e-04 5.69965202e+00] [ 2.52361666e-03 3.38823279e-06 9.99996816e-01 -9.79908968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.12, Y:5.71, Z:-0.01 [[ 9.90563760e-01 -1.37029895e-01 -2.49916406e-03 7.51202092e+01] [ 1.37029446e-01 9.90566912e-01 -3.50473285e-04 5.71113820e+00] [ 2.52361455e-03 4.70706713e-06 9.99996816e-01 -7.76491733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:5.72, Z:-0.01 [[ 9.90778542e-01 -1.35468205e-01 -2.49910433e-03 7.51773637e+01] [ 1.35467751e-01 9.90781694e-01 -3.50898680e-04 5.72091395e+00] [ 2.52360244e-03 9.11484022e-06 9.99996816e-01 -1.28582866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24264 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:5.73, Z:-0.01 [[ 9.91073852e-01 -1.33290567e-01 -2.49908314e-03 7.52350105e+01] [ 1.33290105e-01 9.91077002e-01 -3.51049549e-04 5.73095096e+00] [ 2.52357542e-03 1.48129745e-05 9.99996816e-01 -6.84434583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.29, Y:5.74, Z:-0.01 [[ 9.91226523e-01 -1.32150429e-01 -2.49902121e-03 7.52926060e+01] [ 1.32149963e-01 9.91229673e-01 -3.51489860e-04 5.74009834e+00] [ 2.52355351e-03 1.81605110e-05 9.99996816e-01 -8.73443149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.35, Y:5.75, Z:-0.01 [[ 9.91216793e-01 -1.32223386e-01 -2.49899942e-03 7.53499126e+01] [ 1.32222920e-01 9.91219943e-01 -3.51644735e-04 5.75161528e+00] [ 2.52355372e-03 1.81311672e-05 9.99996816e-01 -8.37788599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:5.76, Z:-0.00 [[ 9.91212409e-01 -1.32256250e-01 -2.49893213e-03 7.54084942e+01] [ 1.32255783e-01 9.91215559e-01 -3.52122261e-04 5.75918433e+00] [ 2.52355078e-03 1.85297303e-05 9.99996816e-01 -3.52693765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.47, Y:5.77, Z:-0.00 [[ 9.91471415e-01 -1.30300377e-01 -2.49887164e-03 7.54652530e+01] [ 1.30299902e-01 9.91474564e-01 -3.52551003e-04 5.76924363e+00] [ 2.52350520e-03 2.39415117e-05 9.99996816e-01 -2.33456984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.52, Y:5.78, Z:0.00 [[ 9.91939402e-01 -1.26688507e-01 -2.49883955e-03 7.55233100e+01] [ 1.26688021e-01 9.91942549e-01 -3.52778285e-04 5.77998738e+00] [ 2.52339823e-03 3.33616439e-05 9.99996816e-01 3.14938777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.58, Y:5.79, Z:0.00 [[ 9.92291663e-01 -1.23899200e-01 -2.49877679e-03 7.55792654e+01] [ 1.23898703e-01 9.92294808e-01 -3.53222250e-04 5.79477839e+00] [ 2.52328719e-03 4.09042893e-05 9.99996816e-01 3.78775259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.64, Y:5.80, Z:0.00 [[ 9.92311485e-01 -1.23740343e-01 -2.49875481e-03 7.56358413e+01] [ 1.23739845e-01 9.92314630e-01 -3.53377699e-04 5.80413068e+00] [ 2.52327803e-03 4.14652156e-05 9.99996816e-01 2.14166038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.69, Y:5.82, Z:0.01 [[ 9.92027869e-01 -1.25993904e-01 -2.49872877e-03 7.56923186e+01] [ 1.25993413e-01 9.92031015e-01 -3.53561726e-04 5.81740248e+00] [ 2.52336306e-03 3.59197192e-05 9.99996816e-01 8.87078917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.75, Y:5.83, Z:0.01 [[ 9.91684085e-01 -1.28671798e-01 -2.49865746e-03 7.57491372e+01] [ 1.28671314e-01 9.91687233e-01 -3.54065000e-04 5.82931551e+00] [ 2.52344488e-03 2.96150876e-05 9.99996816e-01 7.06818422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:5.85, Z:0.00 [[ 9.91199079e-01 -1.32356121e-01 -2.49863541e-03 7.58057315e+01] [ 1.32355648e-01 9.91202228e-01 -3.54220533e-04 5.84553762e+00] [ 2.52353624e-03 2.03945566e-05 9.99996816e-01 5.28145160e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.86, Y:5.86, Z:0.01 [[ 9.90881429e-01 -1.34713585e-01 -2.49857636e-03 7.58631652e+01] [ 1.34713119e-01 9.90884579e-01 -3.54636563e-04 5.86041682e+00] [ 2.52357515e-03 1.48117702e-05 9.99996816e-01 1.00908935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:5.88, Z:0.01 [[ 9.90906800e-01 -1.34526840e-01 -2.49851409e-03 7.59184506e+01] [ 1.34526373e-01 9.90909950e-01 -3.55074747e-04 5.87997506e+00] [ 2.52356955e-03 1.57299442e-05 9.99996816e-01 7.99266807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:75.97, Y:5.90, Z:0.01 [[ 9.90777750e-01 -1.35474013e-01 -2.49848129e-03 7.59742922e+01] [ 1.35473548e-01 9.90780900e-01 -3.55305388e-04 5.89658899e+00] [ 2.52358218e-03 1.35505481e-05 9.99996816e-01 7.83433812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:76.03, Y:5.91, Z:0.01 [[ 9.90216323e-01 -1.39518431e-01 -2.49841142e-03 7.60312112e+01] [ 1.39517977e-01 9.90219474e-01 -3.55795999e-04 5.91402009e+00] [ 2.52361574e-03 3.74169755e-06 9.99996816e-01 7.28877751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.09, Y:5.93, Z:0.01 [[ 9.89784380e-01 -1.42550483e-01 -2.49835026e-03 7.60885279e+01] [ 1.42550038e-01 9.89787533e-01 -3.56224917e-04 5.92947677e+00] [ 2.52361598e-03 -3.55406640e-06 9.99996816e-01 1.17469671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.14, Y:5.95, Z:0.01 [[ 9.88946016e-01 -1.48254970e-01 -2.49828750e-03 7.61440846e+01] [ 1.48254542e-01 9.88949171e-01 -3.56664533e-04 5.94646673e+00] [ 2.52355664e-03 -1.76605017e-05 9.99996816e-01 1.00314806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.20, Y:5.96, Z:0.01 [[ 9.88428606e-01 -1.51666245e-01 -2.49824859e-03 7.62009026e+01] [ 1.51665828e-01 9.88431763e-01 -3.56936896e-04 5.96219483e+00] [ 2.52348353e-03 -2.60923013e-05 9.99996816e-01 1.21082275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:5.98, Z:0.01 [[ 9.87829191e-01 -1.55522502e-01 -2.49817779e-03 7.62571775e+01] [ 1.55522096e-01 9.87832349e-01 -3.57431721e-04 5.97949937e+00] [ 2.52336951e-03 -3.54403572e-05 9.99996816e-01 1.36367417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.31, Y:5.99, Z:0.01 [[ 9.87253932e-01 -1.59133379e-01 -2.49810571e-03 7.63135053e+01] [ 1.59132983e-01 9.87257092e-01 -3.57934796e-04 5.99391612e+00] [ 2.52323195e-03 -4.41584777e-05 9.99996816e-01 1.34246539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.37, Y:6.01, Z:0.01 [[ 9.87009072e-01 -1.60645110e-01 -2.49808347e-03 7.63706823e+01] [ 1.60644718e-01 9.87012232e-01 -3.58089908e-04 6.00775131e+00] [ 2.52316434e-03 -4.78659278e-05 9.99996816e-01 1.47089387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.43, Y:6.02, Z:0.02 [[ 9.87080501e-01 -1.60205631e-01 -2.49802184e-03 7.64284202e+01] [ 1.60205237e-01 9.87083661e-01 -3.58519374e-04 6.01988675e+00] [ 2.52319336e-03 -4.63086956e-05 9.99996816e-01 1.76748361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:76.48, Y:6.03, Z:0.02 [[ 9.87777400e-01 -1.55851111e-01 -2.49795910e-03 7.64848237e+01] [ 1.55850701e-01 9.87780558e-01 -3.58955929e-04 6.03459702e+00] [ 2.52337912e-03 -3.47401246e-05 9.99996816e-01 1.81999020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.54, Y:6.05, Z:0.02 [[ 9.88659995e-01 -1.50150505e-01 -2.49788765e-03 7.65411502e+01] [ 1.50150076e-01 9.88663151e-01 -3.59452489e-04 6.04764471e+00] [ 2.52354144e-03 -1.96817249e-05 9.99996816e-01 1.86855235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:6.06, Z:0.02 [[ 9.89848118e-01 -1.42107230e-01 -2.49786553e-03 7.65982564e+01] [ 1.42106775e-01 9.89851269e-01 -3.59606130e-04 6.06304020e+00] [ 2.52361799e-03 9.91835250e-07 9.99996816e-01 1.85302925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:6.08, Z:0.02 [[ 9.90413957e-01 -1.38108491e-01 -2.49780454e-03 7.66554926e+01] [ 1.38108022e-01 9.90417106e-01 -3.60029273e-04 6.07637679e+00] [ 2.52359144e-03 1.16111718e-05 9.99996816e-01 1.84997315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:6.09, Z:0.02 [[ 9.90560481e-01 -1.37053624e-01 -2.49774244e-03 7.67114503e+01] [ 1.37053150e-01 9.90563629e-01 -3.60459566e-04 6.09135440e+00] [ 2.52357511e-03 1.47335305e-05 9.99996816e-01 1.81273410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:6.10, Z:0.02 [[ 9.90441020e-01 -1.37914276e-01 -2.49772060e-03 7.67690827e+01] [ 1.37913805e-01 9.90444169e-01 -3.60610858e-04 6.10172483e+00] [ 2.52358619e-03 1.26936333e-05 9.99996816e-01 1.95556831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:6.11, Z:0.02 [[ 9.90237173e-01 -1.39370383e-01 -2.49765882e-03 7.68263619e+01] [ 1.39369915e-01 9.90240323e-01 -3.61038257e-04 6.11339004e+00] [ 2.52360051e-03 9.41500523e-06 9.99996816e-01 2.06733756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:6.13, Z:0.02 [[ 9.90276596e-01 -1.39089988e-01 -2.49758632e-03 7.68829714e+01] [ 1.39089519e-01 9.90279746e-01 -3.61539035e-04 6.12551573e+00] [ 2.52359561e-03 1.06355656e-05 9.99996816e-01 2.06931769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:6.14, Z:0.02 [[ 9.90151105e-01 -1.39980541e-01 -2.49756843e-03 7.69415029e+01] [ 1.39980074e-01 9.90154255e-01 -3.61662611e-04 6.13779848e+00] [ 2.52360374e-03 8.49082148e-06 9.99996816e-01 2.46602086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:6.15, Z:0.03 [[ 9.90105799e-01 -1.40300637e-01 -2.49756395e-03 7.69997677e+01] [ 1.40300171e-01 9.90108949e-01 -3.61693539e-04 6.14941031e+00] [ 2.52360625e-03 7.70621994e-06 9.99996816e-01 2.62033178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:6.16, Z:0.03 [[ 9.90024751e-01 -1.40871410e-01 -2.49752883e-03 7.70574534e+01] [ 1.40870945e-01 9.90027902e-01 -3.61935891e-04 6.15994357e+00] [ 2.52360965e-03 6.49624450e-06 9.99996816e-01 2.69592050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:6.17, Z:0.02 [[ 9.89672234e-01 -1.43327006e-01 -2.49751533e-03 7.71153106e+01] [ 1.43326549e-01 9.89675386e-01 -3.62029024e-04 6.16835845e+00] [ 2.52361798e-03 3.29818958e-07 9.99996816e-01 2.13255573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:6.18, Z:0.03 [[ 9.89632038e-01 -1.43604287e-01 -2.49750242e-03 7.71736540e+01] [ 1.43603831e-01 9.89635190e-01 -3.62118064e-04 6.17810619e+00] [ 2.52361799e-03 -2.87276471e-07 9.99996816e-01 2.52246072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:6.19, Z:0.03 [[ 9.90104809e-01 -1.40307624e-01 -2.49743920e-03 7.72311960e+01] [ 1.40307156e-01 9.90107959e-01 -3.62553559e-04 6.18651589e+00] [ 2.52360346e-03 8.55743186e-06 9.99996816e-01 2.67999427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40263999999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:6.20, Z:0.03 [[ 9.90954516e-01 -1.34174925e-01 -2.49741687e-03 7.72887492e+01] [ 1.34174437e-01 9.90957663e-01 -3.62707307e-04 6.20176622e+00] [ 2.52350061e-03 2.43369417e-05 9.99996816e-01 2.91216404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:6.21, Z:0.03 [[ 9.91619743e-01 -1.29166748e-01 -2.49735632e-03 7.73450802e+01] [ 1.29166243e-01 9.91622887e-01 -3.63123702e-04 6.21428029e+00] [ 2.52333920e-03 3.75064971e-05 9.99996816e-01 2.82896213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.40, Y:6.23, Z:0.03 [[ 9.92349178e-01 -1.23437727e-01 -2.49733498e-03 7.74015088e+01] [ 1.23437204e-01 9.92352319e-01 -3.63270456e-04 6.23277309e+00] [ 2.52307744e-03 5.22270929e-05 9.99996816e-01 2.96027893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:6.25, Z:0.03 [[ 9.92532687e-01 -1.21953388e-01 -2.49727472e-03 7.74580710e+01] [ 1.21952859e-01 9.92535827e-01 -3.63684203e-04 6.24757231e+00] [ 2.52298715e-03 5.64186665e-05 9.99996816e-01 3.01998191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.51, Y:6.26, Z:0.03 [[ 9.92332619e-01 -1.23570777e-01 -2.49725352e-03 7.75147840e+01] [ 1.23570252e-01 9.92335760e-01 -3.63829736e-04 6.26361621e+00] [ 2.52307269e-03 5.24538676e-05 9.99996816e-01 3.49560851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.57, Y:6.28, Z:0.03 [[ 9.91650030e-01 -1.28934021e-01 -2.49719489e-03 7.75704921e+01] [ 1.28933513e-01 9.91653174e-01 -3.64231700e-04 6.28056611e+00] [ 2.52331310e-03 3.92182672e-05 9.99996816e-01 3.46734926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.63, Y:6.29, Z:0.04 [[ 9.91159257e-01 -1.32654032e-01 -2.49717235e-03 7.76279972e+01] [ 1.32653535e-01 9.91162402e-01 -3.64386169e-04 6.29249583e+00] [ 2.52344064e-03 2.99059857e-05 9.99996816e-01 3.72066308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:6.31, Z:0.04 [[ 9.90553595e-01 -1.37103391e-01 -2.49710931e-03 7.76832121e+01] [ 1.37102906e-01 9.90556742e-01 -3.64817637e-04 6.30651191e+00] [ 2.52354620e-03 1.90104772e-05 9.99996816e-01 3.54505204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:6.32, Z:0.04 [[ 9.90229264e-01 -1.39426576e-01 -2.49707806e-03 7.77410997e+01] [ 1.39426099e-01 9.90232412e-01 -3.65031467e-04 6.31876204e+00] [ 2.52358271e-03 1.33069888e-05 9.99996816e-01 3.85199356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.80, Y:6.33, Z:0.04 [[ 9.90035887e-01 -1.40793135e-01 -2.49701673e-03 7.77990814e+01] [ 1.40792661e-01 9.90039036e-01 -3.65450474e-04 6.33180760e+00] [ 2.52359696e-03 1.02474536e-05 9.99996816e-01 4.20610484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.86, Y:6.34, Z:0.04 [[ 9.89976010e-01 -1.41213542e-01 -2.49698709e-03 7.78569384e+01] [ 1.41213069e-01 9.89979159e-01 -3.65652867e-04 6.34288732e+00] [ 2.52360032e-03 9.38035651e-06 9.99996816e-01 3.84232967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.91, Y:6.36, Z:0.04 [[ 9.89670657e-01 -1.43337906e-01 -2.49697333e-03 7.79146955e+01] [ 1.43337440e-01 9.89673807e-01 -3.65746872e-04 6.35617472e+00] [ 2.52361449e-03 4.05918393e-06 9.99996816e-01 4.23778228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:6.37, Z:0.04 [[ 9.89120012e-01 -1.47089660e-01 -2.49691465e-03 7.79729684e+01] [ 1.47089204e-01 9.89123163e-01 -3.66147015e-04 6.36654871e+00] [ 2.52361255e-03 -5.10584858e-06 9.99996816e-01 3.91357068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.03, Y:6.37, Z:0.04 [[ 9.88448770e-01 -1.51534797e-01 -2.49685098e-03 7.80302798e+01] [ 1.51534355e-01 9.88451923e-01 -3.66580688e-04 6.37336575e+00] [ 2.52356688e-03 -1.60124713e-05 9.99996816e-01 3.78923211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.09, Y:6.38, Z:0.04 [[ 9.87478538e-01 -1.57733647e-01 -2.49681776e-03 7.80878081e+01] [ 1.57733224e-01 9.87481694e-01 -3.66806801e-04 6.37947885e+00] [ 2.52341960e-03 -3.16172717e-05 9.99996816e-01 3.96295867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:78.15, Y:6.38, Z:0.04 [[ 9.87084238e-01 -1.60182623e-01 -2.49674624e-03 7.81460718e+01] [ 1.60182206e-01 9.87087395e-01 -3.67292981e-04 6.38321636e+00] [ 2.52334069e-03 -3.73852080e-05 9.99996816e-01 3.90091680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:6.39, Z:0.04 [[ 9.87243164e-01 -1.59200193e-01 -2.49667510e-03 7.82035235e+01] [ 1.59199772e-01 9.87246321e-01 -3.67775886e-04 6.38775529e+00] [ 2.52338330e-03 -3.43858770e-05 9.99996816e-01 3.95681207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:78.26, Y:6.39, Z:0.04 [[ 9.87818718e-01 -1.55589031e-01 -2.49660277e-03 7.82608820e+01] [ 1.55588597e-01 9.87821873e-01 -3.68266225e-04 6.39431742e+00] [ 2.52349701e-03 -2.46626533e-05 9.99996816e-01 4.21200806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.32, Y:6.40, Z:0.05 [[ 9.88941215e-01 -1.48287020e-01 -2.49658046e-03 7.83200458e+01] [ 1.48286562e-01 9.88944366e-01 -3.68417459e-04 6.39704599e+00] [ 2.52361071e-03 -5.86612369e-06 9.99996816e-01 4.56829110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.38, Y:6.40, Z:0.04 [[ 9.89942800e-01 -1.41446173e-01 -2.49651692e-03 7.83786001e+01] [ 1.41445693e-01 9.89945948e-01 -3.68847473e-04 6.39875396e+00] [ 2.52358888e-03 1.20163344e-05 9.99996816e-01 4.44278976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.44, Y:6.40, Z:0.04 [[ 9.90247067e-01 -1.39300082e-01 -2.49649446e-03 7.84359439e+01] [ 1.39299595e-01 9.90250214e-01 -3.68999459e-04 6.40407812e+00] [ 2.52355583e-03 1.76399649e-05 9.99996816e-01 4.14139410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.49, Y:6.41, Z:0.04 [[ 9.90630799e-01 -1.36544451e-01 -2.49647290e-03 7.84937452e+01] [ 1.36543954e-01 9.90633945e-01 -3.69145286e-04 6.40768015e+00] [ 2.52349553e-03 2.48084101e-05 9.99996816e-01 4.33846746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.55, Y:6.41, Z:0.04 [[ 9.90695928e-01 -1.36071104e-01 -2.49640009e-03 7.85508337e+01] [ 1.36070605e-01 9.90699073e-01 -3.69636970e-04 6.41412492e+00] [ 2.52347817e-03 2.65111701e-05 9.99996816e-01 4.12984758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.61, Y:6.42, Z:0.04 [[ 9.90755343e-01 -1.35637822e-01 -2.49636865e-03 7.86096973e+01] [ 1.35637321e-01 9.90758487e-01 -3.69849212e-04 6.41924979e+00] [ 2.52346397e-03 2.78293280e-05 9.99996816e-01 4.01935434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.67, Y:6.42, Z:0.04 [[ 9.90552418e-01 -1.37111908e-01 -2.49630688e-03 7.86686002e+01] [ 1.37111410e-01 9.90555563e-01 -3.70265684e-04 6.42289837e+00] [ 2.52349850e-03 2.44954126e-05 9.99996816e-01 4.40524815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.73, Y:6.43, Z:0.05 [[ 9.90136852e-01 -1.40081344e-01 -2.49624309e-03 7.87271951e+01] [ 1.40080854e-01 9.90139999e-01 -3.70695248e-04 6.42763264e+00] [ 2.52355761e-03 1.73631614e-05 9.99996816e-01 5.20368219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.78, Y:6.43, Z:0.04 [[ 9.89714498e-01 -1.43034895e-01 -2.49617535e-03 7.87849065e+01] [ 1.43034414e-01 9.89717646e-01 -3.71150826e-04 6.42932877e+00] [ 2.52359631e-03 1.02943760e-05 9.99996816e-01 4.46432745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.84, Y:6.43, Z:0.04 [[ 9.89503591e-01 -1.44486722e-01 -2.49614639e-03 7.88427498e+01] [ 1.44486245e-01 9.89506739e-01 -3.71345490e-04 6.43343954e+00] [ 2.52360817e-03 6.78887709e-06 9.99996816e-01 4.40239685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:6.44, Z:0.05 [[ 9.89282239e-01 -1.45994592e-01 -2.49611230e-03 7.89009522e+01] [ 1.45994119e-01 9.89285388e-01 -3.71574505e-04 6.43710256e+00] [ 2.52361529e-03 3.17434145e-06 9.99996816e-01 5.31495320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:6.44, Z:0.05 [[ 9.89179739e-01 -1.46687470e-01 -2.49603607e-03 7.89582529e+01] [ 1.46686999e-01 9.89182888e-01 -3.72085833e-04 6.44229185e+00] [ 2.52361650e-03 1.92372695e-06 9.99996816e-01 4.99092406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:6.44, Z:0.05 [[ 9.89391788e-01 -1.45250335e-01 -2.49600047e-03 7.90177933e+01] [ 1.45249858e-01 9.89394936e-01 -3.72324502e-04 6.44469330e+00] [ 2.52361048e-03 5.83109213e-06 9.99996816e-01 5.20630720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.08, Y:6.45, Z:0.05 [[ 9.89693442e-01 -1.43180518e-01 -2.49593976e-03 7.90766782e+01] [ 1.43180033e-01 9.89696589e-01 -3.72731058e-04 6.45025316e+00] [ 2.52359089e-03 1.15207465e-05 9.99996816e-01 5.18815893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:6.45, Z:0.05 [[ 9.90140201e-01 -1.40057680e-01 -2.49587374e-03 7.91349845e+01] [ 1.40057184e-01 9.90143346e-01 -3.73172582e-04 6.45483113e+00] [ 2.52353846e-03 1.99281279e-05 9.99996816e-01 4.89384120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:6.46, Z:0.05 [[ 9.90459751e-01 -1.37779723e-01 -2.49585031e-03 7.91934955e+01] [ 1.37779219e-01 9.90462896e-01 -3.73329236e-04 6.46193927e+00] [ 2.52348432e-03 2.58912757e-05 9.99996816e-01 4.73926589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:6.47, Z:0.05 [[ 9.91280790e-01 -1.31742807e-01 -2.49578527e-03 7.92523049e+01] [ 1.31742284e-01 9.91283931e-01 -3.73763548e-04 6.46839642e+00] [ 2.52327249e-03 4.17041741e-05 9.99996816e-01 5.04707425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:6.48, Z:0.04 [[ 9.91975417e-01 -1.26406262e-01 -2.49572284e-03 7.93096813e+01] [ 1.26405720e-01 9.91978555e-01 -3.74179909e-04 6.47855807e+00] [ 2.52300222e-03 5.57036280e-05 9.99996816e-01 4.31983995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.37, Y:6.49, Z:0.05 [[ 9.92924226e-01 -1.18723427e-01 -2.49569884e-03 7.93671873e+01] [ 1.18722861e-01 9.92927360e-01 -3.74339930e-04 6.49100776e+00] [ 2.52249058e-03 7.53946794e-05 9.99996816e-01 5.07712124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:6.50, Z:0.05 [[ 9.93189657e-01 -1.16482086e-01 -2.49563366e-03 7.94237471e+01] [ 1.16481512e-01 9.93192789e-01 -3.74774008e-04 6.50336471e+00] [ 2.52229981e-03 8.15264879e-05 9.99996816e-01 4.76247939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:79.48, Y:6.52, Z:0.05 [[ 9.92954907e-01 -1.18466556e-01 -2.49561056e-03 7.94806087e+01] [ 1.18465988e-01 9.92958040e-01 -3.74927744e-04 6.51870645e+00] [ 2.52245297e-03 7.66413733e-05 9.99996816e-01 4.82554047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.54, Y:6.53, Z:0.05 [[ 9.92436186e-01 -1.22736259e-01 -2.49554716e-03 7.95377532e+01] [ 1.22735703e-01 9.92439321e-01 -3.75349271e-04 6.53038479e+00] [ 2.52274809e-03 6.62174644e-05 9.99996816e-01 4.74829359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.59, Y:6.54, Z:0.05 [[ 9.91364324e-01 -1.31112738e-01 -2.49547470e-03 7.95946906e+01] [ 1.31112208e-01 9.91367464e-01 -3.75830365e-04 6.54216836e+00] [ 2.52320857e-03 4.53976188e-05 9.99996816e-01 4.57149292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.65, Y:6.55, Z:0.05 [[ 9.90639106e-01 -1.36484194e-01 -2.49545213e-03 7.96523230e+01] [ 1.36483680e-01 9.90642248e-01 -3.75980186e-04 6.55331179e+00] [ 2.52341566e-03 3.18721847e-05 9.99996816e-01 4.74568757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:79.71, Y:6.56, Z:0.05 [[ 9.89859092e-01 -1.42030808e-01 -2.49539014e-03 7.97096600e+01] [ 1.42030310e-01 9.89862238e-01 -3.76391143e-04 6.56477924e+00] [ 2.52355161e-03 1.81531588e-05 9.99996816e-01 5.10987424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:79.77, Y:6.58, Z:0.05 [[ 9.89489816e-01 -1.44581044e-01 -2.49531456e-03 7.97652855e+01] [ 1.44580553e-01 9.89492962e-01 -3.76891554e-04 6.57530169e+00] [ 2.52358757e-03 1.21563957e-05 9.99996816e-01 4.77550322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04263999999999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:79.82, Y:6.59, Z:0.05 [[ 9.89114373e-01 -1.47127603e-01 -2.49528187e-03 7.98230993e+01] [ 1.47127120e-01 9.89117520e-01 -3.77107858e-04 6.58514403e+00] [ 2.52360999e-03 5.87916624e-06 9.99996816e-01 4.73687759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.88, Y:6.60, Z:0.05 [[ 9.88799097e-01 -1.49231768e-01 -2.49521837e-03 7.98804369e+01] [ 1.49231290e-01 9.88802245e-01 -3.77527587e-04 6.59617707e+00] [ 2.52361663e-03 9.34280613e-07 9.99996816e-01 5.10312845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.94, Y:6.60, Z:0.05 [[ 9.88741021e-01 -1.49616064e-01 -2.49519520e-03 7.99381899e+01] [ 1.49615588e-01 9.88744170e-01 -3.77680622e-04 6.60448941e+00] [ 2.52361680e-03 1.08226962e-07 9.99996816e-01 5.14472713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.00, Y:6.61, Z:0.05 [[ 9.88829696e-01 -1.49028875e-01 -2.49517222e-03 7.99960400e+01] [ 1.49028396e-01 9.88832845e-01 -3.77832385e-04 6.61407288e+00] [ 2.52361618e-03 1.76036823e-06 9.99996816e-01 5.11416255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:6.62, Z:0.05 [[ 9.89063347e-01 -1.47470232e-01 -2.49510792e-03 8.00543356e+01] [ 1.47469747e-01 9.89066495e-01 -3.78256510e-04 6.62432391e+00] [ 2.52360922e-03 6.16671512e-06 9.99996816e-01 4.92029782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.11, Y:6.64, Z:0.05 [[ 9.89666255e-01 -1.43368329e-01 -2.49504286e-03 8.01118542e+01] [ 1.43367830e-01 9.89669400e-01 -3.78685195e-04 6.63514450e+00] [ 2.52355904e-03 1.70630784e-05 9.99996816e-01 4.90635230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.17, Y:6.65, Z:0.05 [[ 9.90049312e-01 -1.40698741e-01 -2.49497352e-03 8.01683569e+01] [ 1.40698232e-01 9.90052455e-01 -3.79141501e-04 6.64630668e+00] [ 2.52349939e-03 2.43304178e-05 9.99996816e-01 4.87894678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.23, Y:6.66, Z:0.05 [[ 9.90314921e-01 -1.38816905e-01 -2.49495066e-03 8.02261944e+01] [ 1.38816390e-01 9.90318063e-01 -3.79291854e-04 6.66061836e+00] [ 2.52344683e-03 2.92783382e-05 9.99996816e-01 4.95775890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.28, Y:6.67, Z:0.06 [[ 9.90274386e-01 -1.39105773e-01 -2.49491530e-03 8.02841644e+01] [ 1.39105259e-01 9.90277528e-01 -3.79524301e-04 6.67221954e+00] [ 2.52345258e-03 2.87773555e-05 9.99996816e-01 5.66554728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.34, Y:6.68, Z:0.05 [[ 9.89521304e-01 -1.44365384e-01 -2.49487962e-03 8.03420782e+01] [ 1.44364885e-01 9.89524449e-01 -3.79758722e-04 6.68302410e+00] [ 2.52356840e-03 1.56063354e-05 9.99996816e-01 5.08727556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:6.69, Z:0.06 [[ 9.88727516e-01 -1.49705291e-01 -2.49485864e-03 8.04008476e+01] [ 1.49704809e-01 9.88730664e-01 -3.79896511e-04 6.69166626e+00] [ 2.52361576e-03 2.12179791e-06 9.99996816e-01 5.85779658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:6.70, Z:0.05 [[ 9.87794165e-01 -1.55744866e-01 -2.49479360e-03 8.04581691e+01] [ 1.55744402e-01 9.87797316e-01 -3.80323175e-04 6.70149085e+00] [ 2.52358380e-03 -1.28691242e-05 9.99996816e-01 5.47527058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76263999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:6.71, Z:0.06 [[ 9.86487458e-01 -1.63817800e-01 -2.49477376e-03 8.05159679e+01] [ 1.63817361e-01 9.86490612e-01 -3.80453263e-04 6.70789460e+00] [ 2.52339591e-03 -3.33748822e-05 9.99996816e-01 5.57476921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82263999999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:6.71, Z:0.05 [[ 9.85726659e-01 -1.68335171e-01 -2.49469662e-03 8.05744293e+01] [ 1.68334746e-01 9.85729815e-01 -3.80958387e-04 6.70917464e+00] [ 2.52322553e-03 -4.44232841e-05 9.99996816e-01 5.48655398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.63, Y:6.72, Z:0.06 [[ 9.85721007e-01 -1.68368268e-01 -2.49467298e-03 8.06319814e+01] [ 1.68367842e-01 9.85724162e-01 -3.81113140e-04 6.71654372e+00] [ 2.52322679e-03 -4.43514788e-05 9.99996816e-01 5.50684723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:6.72, Z:0.06 [[ 9.86022982e-01 -1.66590683e-01 -2.49463823e-03 8.06906032e+01] [ 1.66590251e-01 9.86026137e-01 -3.81340462e-04 6.72209046e+00] [ 2.52330627e-03 -3.95719508e-05 9.99996816e-01 5.50209371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.75, Y:6.73, Z:0.06 [[ 9.86526665e-01 -1.63581527e-01 -2.49457256e-03 8.07494379e+01] [ 1.63581084e-01 9.86529819e-01 -3.81769535e-04 6.72569393e+00] [ 2.52342066e-03 -3.14390582e-05 9.99996816e-01 5.85200451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.81, Y:6.73, Z:0.06 [[ 9.86734904e-01 -1.62320690e-01 -2.49450518e-03 8.08068476e+01] [ 1.62320242e-01 9.86738057e-01 -3.82209330e-04 6.72593262e+00] [ 2.52346368e-03 -2.77693982e-05 9.99996816e-01 5.56187773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12263999999999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:80.87, Y:6.73, Z:0.06 [[ 9.86755990e-01 -1.62192461e-01 -2.49447187e-03 8.08650925e+01] [ 1.62192013e-01 9.86759142e-01 -3.82426592e-04 6.73045735e+00] [ 2.52346963e-03 -2.72216836e-05 9.99996816e-01 5.61426738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.92, Y:6.73, Z:0.06 [[ 9.86916549e-01 -1.61212603e-01 -2.49439593e-03 8.09247827e+01] [ 1.61212150e-01 9.86919701e-01 -3.82921308e-04 6.72868122e+00] [ 2.52350022e-03 -2.42155559e-05 9.99996816e-01 5.84466320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.98, Y:6.73, Z:0.06 [[ 9.87684633e-01 -1.56437989e-01 -2.49432981e-03 8.09845999e+01] [ 1.56437519e-01 9.87687782e-01 -3.83351484e-04 6.73046309e+00] [ 2.52358982e-03 -1.15763987e-05 9.99996816e-01 6.23790790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.04, Y:6.74, Z:0.05 [[ 9.88442690e-01 -1.51574491e-01 -2.49429464e-03 8.10424393e+01] [ 1.51574006e-01 9.88445837e-01 -3.83580214e-04 6.73663729e+00] [ 2.52361613e-03 1.07682861e-06 9.99996816e-01 5.49790990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:81.10, Y:6.74, Z:0.05 [[ 9.89437197e-01 -1.44940716e-01 -2.49425696e-03 8.11006620e+01] [ 1.44940209e-01 9.89440341e-01 -3.83825077e-04 6.74142990e+00] [ 2.52355034e-03 1.82526838e-05 9.99996816e-01 5.39406007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.16, Y:6.75, Z:0.06 [[ 9.89736223e-01 -1.42884525e-01 -2.49418037e-03 8.11592699e+01] [ 1.42884010e-01 9.89739366e-01 -3.84322104e-04 6.74708933e+00] [ 2.52350218e-03 2.39990150e-05 9.99996816e-01 6.01239698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.22, Y:6.75, Z:0.06 [[ 9.90050802e-01 -1.40688271e-01 -2.49411504e-03 8.12162372e+01] [ 1.40687748e-01 9.90053943e-01 -3.84745607e-04 6.75370745e+00] [ 2.52343762e-03 3.00262676e-05 9.99996816e-01 5.85663254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54263999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:81.27, Y:6.76, Z:0.06 [[ 9.90027338e-01 -1.40853291e-01 -2.49408489e-03 8.12746697e+01] [ 1.40852768e-01 9.90030479e-01 -3.84940960e-04 6.76130240e+00] [ 2.52344026e-03 2.98033134e-05 9.99996816e-01 5.58918528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.33, Y:6.77, Z:0.06 [[ 9.89951202e-01 -1.41387404e-01 -2.49401818e-03 8.13320056e+01] [ 1.41386881e-01 9.89954343e-01 -3.85372708e-04 6.77052619e+00] [ 2.52345097e-03 2.88787230e-05 9.99996816e-01 5.76977881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.39, Y:6.78, Z:0.06 [[ 9.89640953e-01 -1.43542903e-01 -2.49399467e-03 8.13898468e+01] [ 1.43542387e-01 9.89644095e-01 -3.85524770e-04 6.77638644e+00] [ 2.52350644e-03 2.35371521e-05 9.99996816e-01 5.71429565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.45, Y:6.79, Z:0.06 [[ 9.89387215e-01 -1.45281515e-01 -2.49397144e-03 8.14457701e+01] [ 1.45281005e-01 9.89390358e-01 -3.85674968e-04 6.78531432e+00] [ 2.52354274e-03 1.92552049e-05 9.99996816e-01 5.70263988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.50, Y:6.80, Z:0.06 [[ 9.89273376e-01 -1.46054674e-01 -2.49393930e-03 8.15024336e+01] [ 1.46054165e-01 9.89276519e-01 -3.85882690e-04 6.79542305e+00] [ 2.52355556e-03 1.74932487e-05 9.99996816e-01 5.67053071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:6.81, Z:0.06 [[ 9.89556374e-01 -1.44124818e-01 -2.49386557e-03 8.15607552e+01] [ 1.44124302e-01 9.89559516e-01 -3.86358655e-04 6.80524781e+00] [ 2.52351227e-03 2.28970356e-05 9.99996816e-01 5.97602697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90263999999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:6.82, Z:0.06 [[ 9.90212167e-01 -1.39548006e-01 -2.49380222e-03 8.16180759e+01] [ 1.39547474e-01 9.90215306e-01 -3.86767087e-04 6.81996055e+00] [ 2.52337371e-03 3.49776740e-05 9.99996816e-01 5.77425919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:6.83, Z:0.06 [[ 9.90453781e-01 -1.37822674e-01 -2.49373257e-03 8.16745480e+01] [ 1.37822136e-01 9.90456919e-01 -3.87215666e-04 6.83200060e+00] [ 2.52330178e-03 3.98276707e-05 9.99996816e-01 5.57963698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:6.84, Z:0.06 [[ 9.90194642e-01 -1.39672304e-01 -2.49369644e-03 8.17314040e+01] [ 1.39671771e-01 9.90197781e-01 -3.87448201e-04 6.84205153e+00] [ 2.52336846e-03 3.53501336e-05 9.99996816e-01 5.63306451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:6.85, Z:0.06 [[ 9.89725408e-01 -1.42959428e-01 -2.49362207e-03 8.17883546e+01] [ 1.42958904e-01 9.89728549e-01 -3.87926217e-04 6.85070501e+00] [ 2.52346667e-03 2.74549552e-05 9.99996816e-01 5.70908803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:6.86, Z:0.06 [[ 9.89061377e-01 -1.47483472e-01 -2.49359912e-03 8.18465619e+01] [ 1.47482962e-01 9.89064520e-01 -3.88073720e-04 6.86162777e+00] [ 2.52356488e-03 1.60653425e-05 9.99996816e-01 5.80176169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:81.91, Y:6.87, Z:0.06 [[ 9.88659056e-01 -1.50156763e-01 -2.49353276e-03 8.19051999e+01] [ 1.50156261e-01 9.88662200e-01 -3.88499618e-04 6.86952608e+00] [ 2.52359743e-03 9.67410830e-06 9.99996816e-01 5.79626944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26263999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:81.96, Y:6.88, Z:0.06 [[ 9.88668043e-01 -1.50097582e-01 -2.49346701e-03 8.19633512e+01] [ 1.50097078e-01 9.88671187e-01 -3.88921182e-04 6.87859339e+00] [ 2.52359512e-03 1.02518304e-05 9.99996816e-01 5.94912461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32263999999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:82.02, Y:6.89, Z:0.06 [[ 9.88944068e-01 -1.48268044e-01 -2.49340168e-03 8.20210762e+01] [ 1.48267533e-01 9.88947211e-01 -3.89339583e-04 6.88829360e+00] [ 2.52356925e-03 1.53445550e-05 9.99996816e-01 5.87041361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38264 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:82.08, Y:6.90, Z:0.06 [[ 9.89250425e-01 -1.46210052e-01 -2.49333353e-03 8.20785928e+01] [ 1.46209534e-01 9.89253567e-01 -3.89775537e-04 6.89882344e+00] [ 2.52352819e-03 2.10364845e-05 9.99996816e-01 5.79914069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:82.14, Y:6.91, Z:0.06 [[ 9.89524742e-01 -1.44341848e-01 -2.49325581e-03 8.21356148e+01] [ 1.44341323e-01 9.89527882e-01 -3.90271994e-04 6.91046130e+00] [ 2.52347873e-03 2.63039516e-05 9.99996816e-01 6.20363229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.19, Y:6.92, Z:0.06 [[ 9.89904207e-01 -1.41716069e-01 -2.49320303e-03 8.21921908e+01] [ 1.41715535e-01 9.89907346e-01 -3.90608893e-04 6.92216555e+00] [ 2.52339556e-03 3.33397852e-05 9.99996816e-01 5.69746788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.25, Y:6.93, Z:0.06 [[ 9.90035365e-01 -1.40796873e-01 -2.49316339e-03 8.22494608e+01] [ 1.40796335e-01 9.90038504e-01 -3.90861741e-04 6.93280134e+00] [ 2.52335987e-03 3.59386776e-05 9.99996816e-01 5.71780912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.31, Y:6.95, Z:0.06 [[ 9.90626611e-01 -1.36574899e-01 -2.49308649e-03 8.23073672e+01] [ 1.36574346e-01 9.90629747e-01 -3.91351643e-04 6.94575666e+00] [ 2.52317445e-03 4.71916945e-05 9.99996816e-01 5.90472939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:6.96, Z:0.06 [[ 9.90818060e-01 -1.35178981e-01 -2.49301996e-03 8.23641690e+01] [ 1.35178422e-01 9.90821195e-01 -3.91775020e-04 6.95781622e+00] [ 2.52309676e-03 5.11752600e-05 9.99996816e-01 5.86885440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.42, Y:6.97, Z:0.06 [[ 9.90515931e-01 -1.37375307e-01 -2.49294473e-03 8.24206048e+01] [ 1.37374755e-01 9.90519067e-01 -3.92253147e-04 6.97190228e+00] [ 2.52319518e-03 4.60653210e-05 9.99996816e-01 6.13820445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:82.48, Y:6.98, Z:0.06 [[ 9.90026170e-01 -1.40861524e-01 -2.49286856e-03 8.24779961e+01] [ 1.40860982e-01 9.90029307e-01 -3.92736619e-04 6.98183757e+00] [ 2.52333441e-03 3.76716179e-05 9.99996816e-01 5.90752828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.54, Y:6.99, Z:0.06 [[ 9.88930222e-01 -1.48360375e-01 -2.49284319e-03 8.25359045e+01] [ 1.48359856e-01 9.88933364e-01 -3.92897561e-04 6.99155835e+00] [ 2.52354623e-03 1.87104160e-05 9.99996816e-01 6.35531746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:82.59, Y:7.00, Z:0.06 [[ 9.87709867e-01 -1.56278613e-01 -2.49277589e-03 8.25932417e+01] [ 1.56278118e-01 9.87713012e-01 -3.93324124e-04 7.00123757e+00] [ 2.52361533e-03 -1.07620639e-06 9.99996816e-01 5.83657450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.65, Y:7.01, Z:0.06 [[ 9.87206567e-01 -1.59427038e-01 -2.49275209e-03 8.26503525e+01] [ 1.59426553e-01 9.87209714e-01 -3.93474900e-04 7.00872029e+00] [ 2.52359961e-03 -8.96986679e-06 9.99996816e-01 5.96947166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04263999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:82.71, Y:7.02, Z:0.06 [[ 9.87281481e-01 -1.58962463e-01 -2.49267681e-03 8.27080319e+01] [ 1.58961975e-01 9.87284627e-01 -3.93951231e-04 7.01836283e+00] [ 2.52360495e-03 -7.30007284e-06 9.99996816e-01 5.87797069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:7.03, Z:0.06 [[ 9.88260903e-01 -1.52755278e-01 -2.49260855e-03 8.27647169e+01] [ 1.52754770e-01 9.88264046e-01 -3.94382600e-04 7.02901154e+00] [ 2.52359944e-03 8.99505892e-06 9.99996816e-01 5.97196589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:7.04, Z:0.06 [[ 9.88958566e-01 -1.48171325e-01 -2.49258442e-03 8.28230134e+01] [ 1.48170801e-01 9.88961707e-01 -3.94535100e-04 7.04024234e+00] [ 2.52352933e-03 2.08506367e-05 9.99996816e-01 6.16414459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:7.05, Z:0.06 [[ 9.89560297e-01 -1.44097903e-01 -2.49252288e-03 8.28800458e+01] [ 1.44097366e-01 9.89563436e-01 -3.94923509e-04 7.05156125e+00] [ 2.52341715e-03 3.16346452e-05 9.99996816e-01 6.14721074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:7.06, Z:0.06 [[ 9.89509597e-01 -1.44445647e-01 -2.49244767e-03 8.29374602e+01] [ 1.44445109e-01 9.89512736e-01 -3.95397554e-04 7.06240044e+00] [ 2.52342217e-03 3.12277991e-05 9.99996816e-01 6.09674546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:7.07, Z:0.06 [[ 9.89186922e-01 -1.46639082e-01 -2.49237960e-03 8.29938175e+01] [ 1.46638550e-01 9.89190062e-01 -3.95826184e-04 7.07327203e+00] [ 2.52348072e-03 2.60671532e-05 9.99996816e-01 6.10836001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:7.08, Z:0.06 [[ 9.88742617e-01 -1.49605564e-01 -2.49233729e-03 8.30515183e+01] [ 1.49605041e-01 9.88745758e-01 -3.96092439e-04 7.08297112e+00] [ 2.52354555e-03 1.87672525e-05 9.99996816e-01 6.38285037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.11, Y:7.09, Z:0.07 [[ 9.88436879e-01 -1.51612419e-01 -2.49227077e-03 8.31088909e+01] [ 1.51611901e-01 9.88440021e-01 -3.96510521e-04 7.09438295e+00] [ 2.52357609e-03 1.40677116e-05 9.99996816e-01 6.76870174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.17, Y:7.11, Z:0.06 [[ 9.87821772e-01 -1.55569715e-01 -2.49220909e-03 8.31672574e+01] [ 1.55569209e-01 9.87824915e-01 -3.96897817e-04 7.10513149e+00] [ 2.52361152e-03 4.35330687e-06 9.99996816e-01 6.47440929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.23, Y:7.11, Z:0.06 [[ 9.87227598e-01 -1.59296763e-01 -2.49217362e-03 8.32260677e+01] [ 1.59296268e-01 9.87230744e-01 -3.97120446e-04 7.11250503e+00] [ 2.52361042e-03 -4.94569190e-06 9.99996816e-01 6.28152500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:7.12, Z:0.07 [[ 9.86397558e-01 -1.64358290e-01 -2.49210493e-03 8.32829710e+01] [ 1.64357810e-01 9.86400706e-01 -3.97551049e-04 7.12033704e+00] [ 2.52355487e-03 -1.74535256e-05 9.99996816e-01 6.54544313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.34, Y:7.13, Z:0.06 [[ 9.86055382e-01 -1.66398836e-01 -2.49206845e-03 8.33408517e+01] [ 1.66398362e-01 9.86058531e-01 -3.97779549e-04 7.12706611e+00] [ 2.52351541e-03 -2.24434439e-05 9.99996816e-01 6.40262220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.40, Y:7.14, Z:0.06 [[ 9.86117559e-01 -1.66029963e-01 -2.49204479e-03 8.33990203e+01] [ 1.66029488e-01 9.86120708e-01 -3.97927722e-04 7.13517732e+00] [ 2.52352490e-03 -2.13494063e-05 9.99996816e-01 6.35086459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.46, Y:7.14, Z:0.06 [[ 9.86721799e-01 -1.62400376e-01 -2.49197768e-03 8.34564109e+01] [ 1.62399888e-01 9.86724945e-01 -3.98347550e-04 7.14341765e+00] [ 2.52358833e-03 -1.16386854e-05 9.99996816e-01 6.45437616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.51, Y:7.15, Z:0.07 [[ 9.87637980e-01 -1.56732291e-01 -2.49195393e-03 8.35135471e+01] [ 1.56731785e-01 9.87641124e-01 -3.98496071e-04 7.15293986e+00] [ 2.52361338e-03 3.00146712e-06 9.99996816e-01 6.53077997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.57, Y:7.16, Z:0.07 [[ 9.88367840e-01 -1.52061842e-01 -2.49187655e-03 8.35713659e+01] [ 1.52061319e-01 9.88370981e-01 -3.98979386e-04 7.16429558e+00] [ 2.52356801e-03 1.54203583e-05 9.99996816e-01 6.84530935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.63, Y:7.18, Z:0.06 [[ 9.89166243e-01 -1.46778523e-01 -2.49180747e-03 8.36280003e+01] [ 1.46777982e-01 9.89169381e-01 -3.99410371e-04 7.17706192e+00] [ 2.52344451e-03 2.93407845e-05 9.99996816e-01 6.36340111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.69, Y:7.19, Z:0.06 [[ 9.89267384e-01 -1.46095292e-01 -2.49178090e-03 8.36850890e+01] [ 1.46094749e-01 9.89270522e-01 -3.99576034e-04 7.18887476e+00] [ 2.52342157e-03 3.12514336e-05 9.99996816e-01 6.29840643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12263999999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:7.20, Z:0.06 [[ 9.88669285e-01 -1.50089426e-01 -2.49170248e-03 8.37421637e+01] [ 1.50088894e-01 9.88672425e-01 -4.00064427e-04 7.20035765e+00] [ 2.52352298e-03 2.15545417e-05 9.99996816e-01 5.69501112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:7.21, Z:0.06 [[ 9.88007312e-01 -1.54386993e-01 -2.49167821e-03 8.38005321e+01] [ 1.54386474e-01 9.88010454e-01 -4.00215547e-04 7.21048504e+00] [ 2.52359219e-03 1.07344721e-05 9.99996816e-01 6.34306723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:7.22, Z:0.07 [[ 9.86910256e-01 -1.61251169e-01 -2.49161094e-03 8.38581434e+01] [ 1.61250671e-01 9.86913401e-01 -4.00633901e-04 7.22111740e+00] [ 2.52360691e-03 -6.38423115e-06 9.99996816e-01 6.61849004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.92, Y:7.23, Z:0.07 [[ 9.86224046e-01 -1.65396262e-01 -2.49153762e-03 8.39158192e+01] [ 1.65395777e-01 9.86227193e-01 -4.01089388e-04 7.23007370e+00] [ 2.52356084e-03 -1.65258004e-05 9.99996816e-01 6.58133434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.97, Y:7.24, Z:0.06 [[ 9.85611478e-01 -1.69008302e-01 -2.49151680e-03 8.39728022e+01] [ 1.69007828e-01 9.85614627e-01 -4.01218662e-04 7.23920548e+00] [ 2.52348469e-03 -2.56401242e-05 9.99996816e-01 6.31852356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.03, Y:7.25, Z:0.07 [[ 9.85545889e-01 -1.69390357e-01 -2.49149228e-03 8.40311584e+01] [ 1.69389884e-01 9.85549038e-01 -4.01370855e-04 7.24848263e+00] [ 2.52347617e-03 -2.64641923e-05 9.99996816e-01 6.62094359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:84.09, Y:7.26, Z:0.06 [[ 9.85645377e-01 -1.68810494e-01 -2.49142350e-03 8.40897420e+01] [ 1.68810018e-01 9.85648526e-01 -4.01797385e-04 7.25719473e+00] [ 2.52349551e-03 -2.45475091e-05 9.99996816e-01 6.45957880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.15, Y:7.26, Z:0.07 [[ 9.85863664e-01 -1.67530981e-01 -2.49135452e-03 8.41467812e+01] [ 1.67530499e-01 9.85866812e-01 -4.02224636e-04 7.26487760e+00] [ 2.52352882e-03 -2.08392122e-05 9.99996816e-01 6.57010339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:84.20, Y:7.27, Z:0.07 [[ 9.86436484e-01 -1.64124513e-01 -2.49133020e-03 8.42047878e+01] [ 1.64124021e-01 9.86439630e-01 -4.02375176e-04 7.27143722e+00] [ 2.52358647e-03 -1.19695753e-05 9.99996816e-01 6.81032479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.26, Y:7.28, Z:0.07 [[ 9.87018948e-01 -1.60584525e-01 -2.49130542e-03 8.42615918e+01] [ 1.60584020e-01 9.87022092e-01 -4.02528558e-04 7.28184351e+00] [ 2.52361335e-03 -2.76052710e-06 9.99996816e-01 7.13958276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:7.29, Z:0.06 [[ 9.88085305e-01 -1.53887047e-01 -2.49126824e-03 8.43202999e+01] [ 1.53886521e-01 9.88088446e-01 -4.02758557e-04 7.29002509e+00] [ 2.52357268e-03 1.45872106e-05 9.99996816e-01 6.35852846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.38, Y:7.30, Z:0.06 [[ 9.88898235e-01 -1.48573466e-01 -2.49120616e-03 8.43771479e+01] [ 1.48572922e-01 9.88901372e-01 -4.03142184e-04 7.29921266e+00] [ 2.52345342e-03 2.85408165e-05 9.99996816e-01 6.49018745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:7.31, Z:0.07 [[ 9.89381912e-01 -1.45317671e-01 -2.49112866e-03 8.44349710e+01] [ 1.45317116e-01 9.89385048e-01 -4.03620482e-04 7.31028043e+00] [ 2.52333864e-03 3.73311728e-05 9.99996816e-01 6.85648059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90263999999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:7.33, Z:0.06 [[ 9.89727133e-01 -1.42947534e-01 -2.49106306e-03 8.44914196e+01] [ 1.42946970e-01 9.89730267e-01 -4.04024961e-04 7.32509387e+00] [ 2.52323488e-03 4.37845506e-05 9.99996816e-01 6.35927916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:7.34, Z:0.07 [[ 9.89713861e-01 -1.43039392e-01 -2.49103783e-03 8.45495733e+01] [ 1.43038827e-01 9.89716995e-01 -4.04180419e-04 7.33645723e+00] [ 2.52323620e-03 4.37078324e-05 9.99996816e-01 6.75141074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:7.35, Z:0.07 [[ 9.89675276e-01 -1.43306120e-01 -2.49096807e-03 8.46060467e+01] [ 1.43305555e-01 9.89678409e-01 -4.04609949e-04 7.34885513e+00] [ 2.52324039e-03 4.34629006e-05 9.99996816e-01 6.71015865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.66, Y:7.36, Z:0.07 [[ 9.89644269e-01 -1.43520086e-01 -2.49094349e-03 8.46628770e+01] [ 1.43519522e-01 9.89647403e-01 -4.04761174e-04 7.36282147e+00] [ 2.52324712e-03 4.30705565e-05 9.99996816e-01 7.35390010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:7.38, Z:0.07 [[ 9.89489505e-01 -1.44583244e-01 -2.49085888e-03 8.47199208e+01] [ 1.44582682e-01 9.89492640e-01 -4.05281199e-04 7.37510902e+00] [ 2.52328340e-03 4.08864371e-05 9.99996816e-01 7.35341619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.78, Y:7.39, Z:0.07 [[ 9.88889920e-01 -1.48628808e-01 -2.49077308e-03 8.47766548e+01] [ 1.48628257e-01 9.88893056e-01 -4.05807809e-04 7.38914365e+00] [ 2.52342294e-03 3.10999903e-05 9.99996816e-01 6.75370147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.83, Y:7.40, Z:0.07 [[ 9.88458663e-01 -1.51470351e-01 -2.49074662e-03 8.48329807e+01] [ 1.51469809e-01 9.88461801e-01 -4.05970156e-04 7.40165737e+00] [ 2.52350033e-03 2.40118024e-05 9.99996816e-01 6.80657048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.89, Y:7.41, Z:0.07 [[ 9.87800159e-01 -1.55706909e-01 -2.49066596e-03 8.48886054e+01] [ 1.55706379e-01 9.87803299e-01 -4.06464428e-04 7.41183958e+00] [ 2.52357737e-03 1.36930491e-05 9.99996816e-01 6.62857618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.95, Y:7.42, Z:0.07 [[ 9.87549029e-01 -1.57291807e-01 -2.49063110e-03 8.49456443e+01] [ 1.57291282e-01 9.87552169e-01 -4.06677890e-04 7.42486185e+00] [ 2.52359525e-03 9.85979630e-06 9.99996816e-01 6.54724753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.00, Y:7.44, Z:0.07 [[ 9.87518213e-01 -1.57485160e-01 -2.49056309e-03 8.50023379e+01] [ 1.57484634e-01 9.87521354e-01 -4.07093973e-04 7.44087282e+00] [ 2.52359550e-03 9.78729498e-06 9.99996816e-01 6.53202505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.06, Y:7.45, Z:0.07 [[ 9.87349097e-01 -1.58541975e-01 -2.49049155e-03 8.50602462e+01] [ 1.58541452e-01 9.87352238e-01 -4.07531169e-04 7.45252597e+00] [ 2.52360321e-03 7.52938502e-06 9.99996816e-01 6.96576985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:85.12, Y:7.47, Z:0.07 [[ 9.87095532e-01 -1.60113111e-01 -2.49045069e-03 8.51171218e+01] [ 1.60112592e-01 9.87098674e-01 -4.07780752e-04 7.46558090e+00] [ 2.52361161e-03 3.76604468e-06 9.99996816e-01 6.57534017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:7.48, Z:0.06 [[ 9.86488242e-01 -1.63813143e-01 -2.49041281e-03 8.51728081e+01] [ 1.63812635e-01 9.86491386e-01 -4.08011947e-04 7.47809594e+00] [ 2.52360850e-03 -5.46209578e-06 9.99996816e-01 6.44281244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.23, Y:7.49, Z:0.07 [[ 9.86181551e-01 -1.65649470e-01 -2.49037801e-03 8.52305188e+01] [ 1.65648967e-01 9.86184695e-01 -4.08224272e-04 7.48855657e+00] [ 2.52359481e-03 -9.94529818e-06 9.99996816e-01 7.25105502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:85.29, Y:7.50, Z:0.07 [[ 9.85919602e-01 -1.67201486e-01 -2.49030912e-03 8.52889107e+01] [ 1.67200988e-01 9.85922747e-01 -4.08644076e-04 7.49684983e+00] [ 2.52357830e-03 -1.34919395e-05 9.99996816e-01 6.81520328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:85.35, Y:7.51, Z:0.07 [[ 9.85660405e-01 -1.68722743e-01 -2.49023980e-03 8.53464569e+01] [ 1.68722248e-01 9.85663551e-01 -4.09066067e-04 7.50592713e+00] [ 2.52355735e-03 -1.69586324e-05 9.99996816e-01 6.73308545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.40, Y:7.52, Z:0.07 [[ 9.85209155e-01 -1.71338029e-01 -2.49016172e-03 8.54039757e+01] [ 1.71337541e-01 9.85212302e-01 -4.09540813e-04 7.51572220e+00] [ 2.52350788e-03 -2.31748275e-05 9.99996816e-01 6.96153292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:85.46, Y:7.52, Z:0.07 [[ 9.84860688e-01 -1.73329813e-01 -2.49013741e-03 8.54627513e+01] [ 1.73329331e-01 9.84863836e-01 -4.09688562e-04 7.52161837e+00] [ 2.52345752e-03 -2.81276917e-05 9.99996816e-01 6.91821962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98263999999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:7.53, Z:0.07 [[ 9.84366041e-01 -1.76117282e-01 -2.49006668e-03 8.55211206e+01] [ 1.76116808e-01 9.84369190e-01 -4.10118003e-04 7.52650859e+00] [ 2.52337379e-03 -3.48363594e-05 9.99996816e-01 6.99498717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04263999999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:7.53, Z:0.07 [[ 9.84348443e-01 -1.76215614e-01 -2.48998658e-03 8.55796337e+01] [ 1.76215139e-01 9.84351592e-01 -4.10603771e-04 7.52963795e+00] [ 2.52337705e-03 -3.45961474e-05 9.99996816e-01 6.94606050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10264 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:7.54, Z:0.07 [[ 9.84595573e-01 -1.74829508e-01 -2.48994967e-03 8.56379441e+01] [ 1.74829028e-01 9.84598721e-01 -4.10827480e-04 7.53615219e+00] [ 2.52342602e-03 -3.08165626e-05 9.99996816e-01 6.82110918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:7.54, Z:0.08 [[ 9.85366732e-01 -1.70429468e-01 -2.48988236e-03 8.56967411e+01] [ 1.70428973e-01 9.85369878e-01 -4.11235026e-04 7.53925566e+00] [ 2.52354164e-03 -1.91307787e-05 9.99996816e-01 7.51350836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.75, Y:7.55, Z:0.07 [[ 9.86216238e-01 -1.65442841e-01 -2.48981159e-03 8.57545140e+01] [ 1.65442329e-01 9.86219380e-01 -4.11663014e-04 7.54668298e+00] [ 2.52360715e-03 -5.93147837e-06 9.99996816e-01 6.80445630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:85.81, Y:7.55, Z:0.07 [[ 9.87472593e-01 -1.57770970e-01 -2.48978643e-03 8.58120355e+01] [ 1.57770433e-01 9.87475732e-01 -4.11815147e-04 7.55307851e+00] [ 2.52357615e-03 1.38414886e-05 9.99996816e-01 6.73485937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:7.56, Z:0.07 [[ 9.87794321e-01 -1.55743958e-01 -2.48970807e-03 8.58703548e+01] [ 1.55743414e-01 9.87797459e-01 -4.12288320e-04 7.56267848e+00] [ 2.52353872e-03 1.95004265e-05 9.99996816e-01 6.85996765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.93, Y:7.57, Z:0.07 [[ 9.88431932e-01 -1.51644708e-01 -2.48963884e-03 8.59280199e+01] [ 1.51644149e-01 9.88435067e-01 -4.12705961e-04 7.56971808e+00] [ 2.52343101e-03 3.03925867e-05 9.99996816e-01 7.23720188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.98, Y:7.58, Z:0.07 [[ 9.88468638e-01 -1.51405261e-01 -2.48961437e-03 8.59848965e+01] [ 1.51404702e-01 9.88471773e-01 -4.12853546e-04 7.57914310e+00] [ 2.52342173e-03 3.11534619e-05 9.99996816e-01 7.43676996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:7.59, Z:0.07 [[ 9.88323370e-01 -1.52350644e-01 -2.48953502e-03 8.60430153e+01] [ 1.52350087e-01 9.88326505e-01 -4.13331457e-04 7.58728673e+00] [ 2.52344476e-03 2.92242630e-05 9.99996816e-01 7.38093233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.10, Y:7.60, Z:0.07 [[ 9.87943447e-01 -1.54795179e-01 -2.48946620e-03 8.61009114e+01] [ 1.54794627e-01 9.87946584e-01 -4.13745532e-04 7.59575581e+00] [ 2.52350544e-03 2.34011939e-05 9.99996816e-01 7.34124328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.16, Y:7.61, Z:0.07 [[ 9.87621420e-01 -1.56836647e-01 -2.48939635e-03 8.61582306e+01] [ 1.56836101e-01 9.87624557e-01 -4.14165374e-04 7.60564639e+00] [ 2.52354528e-03 1.86113768e-05 9.99996816e-01 6.90845009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:86.22, Y:7.61, Z:0.07 [[ 9.87182256e-01 -1.59577557e-01 -2.48937164e-03 8.62154626e+01] [ 1.59577020e-01 9.87185395e-01 -4.14313876e-04 7.61321190e+00] [ 2.52358652e-03 1.17568005e-05 9.99996816e-01 7.44469669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.27, Y:7.62, Z:0.07 [[ 9.87150944e-01 -1.59771137e-01 -2.48929024e-03 8.62723367e+01] [ 1.59770599e-01 9.87154083e-01 -4.14802322e-04 7.62124273e+00] [ 2.52358647e-03 1.17571094e-05 9.99996816e-01 7.28420985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.33, Y:7.63, Z:0.08 [[ 9.87311551e-01 -1.58775641e-01 -2.48925268e-03 8.63288127e+01] [ 1.58775099e-01 9.87314689e-01 -4.15027617e-04 7.63325773e+00] [ 2.52357201e-03 1.45302195e-05 9.99996816e-01 7.51620384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:7.64, Z:0.08 [[ 9.87438723e-01 -1.57982821e-01 -2.48917083e-03 8.63870907e+01] [ 1.57982276e-01 9.87441860e-01 -4.15517961e-04 7.64258232e+00] [ 2.52355617e-03 1.70536526e-05 9.99996816e-01 7.74295622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:7.65, Z:0.08 [[ 9.87526176e-01 -1.57435241e-01 -2.48909937e-03 8.64442860e+01] [ 1.57434693e-01 9.87529313e-01 -4.15945559e-04 7.65254170e+00] [ 2.52354308e-03 1.88865318e-05 9.99996816e-01 7.54494429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:86.50, Y:7.66, Z:0.08 [[ 9.87352324e-01 -1.58521899e-01 -2.48906178e-03 8.65017273e+01] [ 1.58521353e-01 9.87355462e-01 -4.16170421e-04 7.66333492e+00] [ 2.52356087e-03 1.63373918e-05 9.99996816e-01 7.76141365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:7.67, Z:0.07 [[ 9.86913404e-01 -1.61231939e-01 -2.48897948e-03 8.65583636e+01] [ 1.61231401e-01 9.86916542e-01 -4.16662030e-04 7.67230572e+00] [ 2.52359425e-03 9.90769444e-06 9.99996816e-01 7.43527405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:7.68, Z:0.08 [[ 9.86527192e-01 -1.63578433e-01 -2.48893812e-03 8.66170741e+01] [ 1.63577902e-01 9.86530332e-01 -4.16908958e-04 7.67963859e+00] [ 2.52361026e-03 4.15674912e-06 9.99996816e-01 7.74844150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:7.69, Z:0.08 [[ 9.86372405e-01 -1.64509224e-01 -2.48892811e-03 8.66753991e+01] [ 1.64508695e-01 9.86375545e-01 -4.16968708e-04 7.68818354e+00] [ 2.52361302e-03 1.83611065e-06 9.99996816e-01 7.72062967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.73, Y:7.69, Z:0.08 [[ 9.86293334e-01 -1.64982621e-01 -2.48885661e-03 8.67340728e+01] [ 1.64982093e-01 9.86296474e-01 -4.17395065e-04 7.69411784e+00] [ 2.52361343e-03 1.05719858e-06 9.99996816e-01 8.23260113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:86.79, Y:7.70, Z:0.08 [[ 9.86510580e-01 -1.63678590e-01 -2.48878266e-03 8.67926310e+01] [ 1.63678057e-01 9.86513720e-01 -4.17835546e-04 7.70315444e+00] [ 2.52360897e-03 4.84007814e-06 9.99996816e-01 7.80679931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.85, Y:7.71, Z:0.08 [[ 9.87236223e-01 -1.59243354e-01 -2.48870884e-03 8.68500346e+01] [ 1.59242806e-01 9.87239360e-01 -4.18274742e-04 7.71092506e+00] [ 2.52355880e-03 1.66269987e-05 9.99996816e-01 7.74455178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:7.72, Z:0.09 [[ 9.87659460e-01 -1.56596927e-01 -2.48868283e-03 8.69075341e+01] [ 1.56596370e-01 9.87662595e-01 -4.18429462e-04 7.72126666e+00] [ 2.52350371e-03 2.35471213e-05 9.99996816e-01 8.50948173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48263999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:7.73, Z:0.08 [[ 9.88075254e-01 -1.53951610e-01 -2.48861095e-03 8.69653627e+01] [ 1.53951044e-01 9.88078388e-01 -4.18856490e-04 7.73194337e+00] [ 2.52342633e-03 3.07374790e-05 9.99996816e-01 8.05066515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54263999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.02, Y:7.74, Z:0.08 [[ 9.88202025e-01 -1.53135772e-01 -2.48859437e-03 8.70223197e+01] [ 1.53135203e-01 9.88205158e-01 -4.18954988e-04 7.73995913e+00] [ 2.52339879e-03 3.29207641e-05 9.99996816e-01 7.53462021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:87.08, Y:7.75, Z:0.08 [[ 9.88216437e-01 -1.53042743e-01 -2.48856870e-03 8.70790342e+01] [ 1.53042173e-01 9.88219570e-01 -4.19107429e-04 7.75166376e+00] [ 2.52339364e-03 3.33128903e-05 9.99996816e-01 7.73579142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.14, Y:7.76, Z:0.08 [[ 9.88184758e-01 -1.53247157e-01 -2.48854339e-03 8.71364804e+01] [ 1.53246587e-01 9.88187891e-01 -4.19257673e-04 7.76159302e+00] [ 2.52339849e-03 3.29432605e-05 9.99996816e-01 7.94826199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:87.19, Y:7.77, Z:0.08 [[ 9.88119963e-01 -1.53664392e-01 -2.48846057e-03 8.71947611e+01] [ 1.53663822e-01 9.88123096e-01 -4.19748631e-04 7.77255347e+00] [ 2.52340578e-03 3.23756395e-05 9.99996816e-01 7.79294925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.25, Y:7.78, Z:0.08 [[ 9.88134632e-01 -1.53570042e-01 -2.48839386e-03 8.72517717e+01] [ 1.53569471e-01 9.88137764e-01 -4.20143745e-04 7.78390395e+00] [ 2.52339744e-03 3.30172567e-05 9.99996816e-01 7.85405803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:87.31, Y:7.79, Z:0.08 [[ 9.87954047e-01 -1.54727534e-01 -2.48836858e-03 8.73098509e+01] [ 1.54726966e-01 9.87957180e-01 -4.20293426e-04 7.79431255e+00] [ 2.52343257e-03 3.02128707e-05 9.99996816e-01 7.68085315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90263999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.37, Y:7.80, Z:0.08 [[ 9.87721560e-01 -1.56204763e-01 -2.48829772e-03 8.73671291e+01] [ 1.56204199e-01 9.87724694e-01 -4.20712505e-04 7.80359572e+00] [ 2.52347040e-03 2.68642590e-05 9.99996816e-01 7.70550463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:7.82, Z:0.07 [[ 9.87598048e-01 -1.56983768e-01 -2.48821537e-03 8.74236515e+01] [ 1.56983205e-01 9.87601183e-01 -4.21199000e-04 7.81589785e+00] [ 2.52348585e-03 2.53672857e-05 9.99996816e-01 7.49687067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:7.83, Z:0.08 [[ 9.87708311e-01 -1.56288520e-01 -2.48818990e-03 8.74814889e+01] [ 1.56287954e-01 9.87711445e-01 -4.21349404e-04 7.82692141e+00] [ 2.52346572e-03 2.72961984e-05 9.99996816e-01 7.64309885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.54, Y:7.84, Z:0.08 [[ 9.87817827e-01 -1.55594827e-01 -2.48812031e-03 8.75389374e+01] [ 1.55594258e-01 9.87820960e-01 -4.21759962e-04 7.83502581e+00] [ 2.52344106e-03 2.94847765e-05 9.99996816e-01 7.72183192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.60, Y:7.85, Z:0.09 [[ 9.87671112e-01 -1.56523433e-01 -2.48803925e-03 8.75970144e+01] [ 1.56522866e-01 9.87674245e-01 -4.22237586e-04 7.84664100e+00] [ 2.52346237e-03 2.75968322e-05 9.99996816e-01 8.60456092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20264 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:87.65, Y:7.86, Z:0.08 [[ 9.87246256e-01 -1.59181154e-01 -2.48799968e-03 8.76542356e+01] [ 1.59180594e-01 9.87249391e-01 -4.22470637e-04 7.85764820e+00] [ 2.52352553e-03 2.10412867e-05 9.99996816e-01 7.60872670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26263999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:87.71, Y:7.87, Z:0.08 [[ 9.87058278e-01 -1.60342653e-01 -2.48797338e-03 8.77116805e+01] [ 1.60342097e-01 9.87061413e-01 -4.22625434e-04 7.86638616e+00] [ 2.52354741e-03 1.82290634e-05 9.99996816e-01 8.09323021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32263999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:87.77, Y:7.87, Z:0.08 [[ 9.87042622e-01 -1.60439002e-01 -2.48789000e-03 8.77690378e+01] [ 1.60438445e-01 9.87045757e-01 -4.23115695e-04 7.87331721e+00] [ 2.52354553e-03 1.84800199e-05 9.99996816e-01 8.00373480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.83, Y:7.89, Z:0.08 [[ 9.87412073e-01 -1.58149325e-01 -2.48786425e-03 8.78260704e+01] [ 1.58148761e-01 9.87415207e-01 -4.23267058e-04 7.88590584e+00] [ 2.52349440e-03 2.44863541e-05 9.99996816e-01 8.04334543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:7.90, Z:0.08 [[ 9.87718584e-01 -1.56223592e-01 -2.48778193e-03 8.78831250e+01] [ 1.56223020e-01 9.87721716e-01 -4.23750392e-04 7.89680848e+00] [ 2.52343604e-03 2.98973313e-05 9.99996816e-01 7.84942263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:7.91, Z:0.08 [[ 9.87622609e-01 -1.56829186e-01 -2.48770044e-03 8.79406839e+01] [ 1.56828615e-01 9.87625742e-01 -4.24228228e-04 7.90512831e+00] [ 2.52344836e-03 2.88347747e-05 9.99996816e-01 7.97940643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:7.91, Z:0.08 [[ 9.87529397e-01 -1.57415059e-01 -2.48761628e-03 8.79974786e+01] [ 1.57414489e-01 9.87532530e-01 -4.24721133e-04 7.91346369e+00] [ 2.52345951e-03 2.78377585e-05 9.99996816e-01 8.03083163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62263999999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:7.92, Z:0.08 [[ 9.87464797e-01 -1.57819793e-01 -2.48758520e-03 8.80550221e+01] [ 1.57819224e-01 9.87467930e-01 -4.24903092e-04 7.92379578e+00] [ 2.52346873e-03 2.69880800e-05 9.99996816e-01 8.10490151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68263999999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:88.11, Y:7.93, Z:0.08 [[ 9.87454888e-01 -1.57881777e-01 -2.48750194e-03 8.81117574e+01] [ 1.57881207e-01 9.87458021e-01 -4.25389985e-04 7.93332111e+00] [ 2.52346507e-03 2.73236129e-05 9.99996816e-01 8.03098959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.17, Y:7.94, Z:0.08 [[ 9.87559970e-01 -1.57223145e-01 -2.48747639e-03 8.81703426e+01] [ 1.57222572e-01 9.87563103e-01 -4.25539327e-04 7.94259871e+00] [ 2.52344453e-03 2.91581703e-05 9.99996816e-01 8.18286587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:88.23, Y:7.95, Z:0.09 [[ 9.87932923e-01 -1.54862363e-01 -2.48743614e-03 8.82288199e+01] [ 1.54861781e-01 9.87936054e-01 -4.25774462e-04 7.95188622e+00] [ 2.52336429e-03 3.54278171e-05 9.99996816e-01 8.55849660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.29, Y:7.96, Z:0.08 [[ 9.88050233e-01 -1.54112137e-01 -2.48736799e-03 8.82857173e+01] [ 1.54111553e-01 9.88053363e-01 -4.26172268e-04 7.96404257e+00] [ 2.52333062e-03 3.77474669e-05 9.99996816e-01 7.96042933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:7.97, Z:0.08 [[ 9.88139203e-01 -1.53540643e-01 -2.48728387e-03 8.83414088e+01] [ 1.53540055e-01 9.88142333e-01 -4.26662617e-04 7.97390123e+00] [ 2.52330054e-03 3.97043553e-05 9.99996816e-01 7.84066228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98263999999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:88.40, Y:7.99, Z:0.08 [[ 9.88264035e-01 -1.52735101e-01 -2.48724809e-03 8.83996006e+01] [ 1.52734510e-01 9.88267164e-01 -4.26871109e-04 7.98568596e+00] [ 2.52326382e-03 4.19727451e-05 9.99996816e-01 8.42015337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.46, Y:8.00, Z:0.08 [[ 9.88294229e-01 -1.52539606e-01 -2.48721220e-03 8.84572840e+01] [ 1.52539014e-01 9.88297358e-01 -4.27080150e-04 7.99916404e+00] [ 2.52325188e-03 4.26839520e-05 9.99996816e-01 8.06517051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:8.01, Z:0.08 [[ 9.88300344e-01 -1.52499981e-01 -2.48713975e-03 8.85150394e+01] [ 1.52499388e-01 9.88303473e-01 -4.27501616e-04 8.01342528e+00] [ 2.52324284e-03 4.32127036e-05 9.99996816e-01 8.05518461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.57, Y:8.03, Z:0.08 [[ 9.88301498e-01 -1.52492501e-01 -2.48707168e-03 8.85711849e+01] [ 1.52491907e-01 9.88304627e-01 -4.27897258e-04 8.02698740e+00] [ 2.52323557e-03 4.36331974e-05 9.99996816e-01 7.94520834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.63, Y:8.04, Z:0.08 [[ 9.87959760e-01 -1.54691069e-01 -2.48704579e-03 8.86279908e+01] [ 1.54690481e-01 9.87962890e-01 -4.28047679e-04 8.04227813e+00] [ 2.52332410e-03 3.81715712e-05 9.99996816e-01 8.20315047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.68, Y:8.06, Z:0.08 [[ 9.87335843e-01 -1.58624548e-01 -2.48697536e-03 8.86845865e+01] [ 1.58623972e-01 9.87338975e-01 -4.28456514e-04 8.05560944e+00] [ 2.52345142e-03 2.85365654e-05 9.99996816e-01 8.12332812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34264 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:88.74, Y:8.07, Z:0.08 [[ 9.85683093e-01 -1.68590198e-01 -2.48695043e-03 8.87413186e+01] [ 1.68589653e-01 9.85686231e-01 -4.28601180e-04 8.06907210e+00] [ 2.52361075e-03 3.19082745e-06 9.99996816e-01 8.22066749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.80, Y:8.08, Z:0.09 [[ 9.84632439e-01 -1.74621808e-01 -2.48686541e-03 8.87980571e+01] [ 1.74621281e-01 9.84635579e-01 -4.29093936e-04 8.07759581e+00] [ 2.52358532e-03 -1.17598142e-05 9.99996816e-01 8.53672789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.86, Y:8.09, Z:0.09 [[ 9.83330870e-01 -1.81808182e-01 -2.48681904e-03 8.88565833e+01] [ 1.81807677e-01 9.83334015e-01 -4.29362478e-04 8.08666554e+00] [ 2.52343536e-03 -2.99174135e-05 9.99996816e-01 8.65540212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.91, Y:8.09, Z:0.08 [[ 9.82918673e-01 -1.84023636e-01 -2.48674402e-03 8.89128747e+01] [ 1.84023137e-01 9.82921818e-01 -4.29796521e-04 8.09362923e+00] [ 2.52336767e-03 -3.51634106e-05 9.99996816e-01 8.43968458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.97, Y:8.10, Z:0.09 [[ 9.82620533e-01 -1.85609012e-01 -2.48670739e-03 8.89709972e+01] [ 1.85608518e-01 9.82623678e-01 -4.30008336e-04 8.10060779e+00] [ 2.52331099e-03 -3.90190536e-05 9.99996816e-01 8.79454950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.03, Y:8.10, Z:0.08 [[ 9.82723893e-01 -1.85060980e-01 -2.48663237e-03 8.90293905e+01] [ 1.85060483e-01 9.82727039e-01 -4.30441739e-04 8.10400959e+00] [ 2.52333884e-03 -3.71720057e-05 9.99996816e-01 8.45254535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:8.11, Z:0.08 [[ 9.83032414e-01 -1.83415076e-01 -2.48659314e-03 8.90866675e+01] [ 1.83414573e-01 9.83035558e-01 -4.30668272e-04 8.11055955e+00] [ 2.52340053e-03 -3.27165489e-05 9.99996816e-01 8.44081621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:8.11, Z:0.08 [[ 9.83920428e-01 -1.78590056e-01 -2.48650817e-03 8.91452173e+01] [ 1.78589536e-01 9.83923570e-01 -4.31158296e-04 8.11381222e+00] [ 2.52353458e-03 -1.98388853e-05 9.99996816e-01 8.45332045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:8.12, Z:0.08 [[ 9.84658549e-01 -1.74474525e-01 -2.48642319e-03 8.92033428e+01] [ 1.74473992e-01 9.84661688e-01 -4.31647807e-04 8.11970034e+00] [ 2.52359720e-03 -8.79047485e-06 9.99996816e-01 8.28405466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:8.12, Z:0.09 [[ 9.85867092e-01 -1.67510877e-01 -2.48639689e-03 8.92618946e+01] [ 1.67510321e-01 9.85870228e-01 -4.31799221e-04 8.12478930e+00] [ 2.52359574e-03 9.19950129e-06 9.99996816e-01 8.51073856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.32, Y:8.13, Z:0.09 [[ 9.86814885e-01 -1.61833868e-01 -2.48632465e-03 8.93198070e+01] [ 1.61833293e-01 9.86818017e-01 -4.32214784e-04 8.13157198e+00] [ 2.52349695e-03 2.41458777e-05 9.99996816e-01 8.63686556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:8.14, Z:0.09 [[ 9.87157633e-01 -1.59729851e-01 -2.48624123e-03 8.93782841e+01] [ 1.59729268e-01 9.87160764e-01 -4.32694099e-04 8.14055059e+00] [ 2.52343396e-03 3.00117911e-05 9.99996816e-01 8.87811718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:8.15, Z:0.09 [[ 9.87573820e-01 -1.57136147e-01 -2.48616689e-03 8.94352528e+01] [ 1.57135554e-01 9.87576949e-01 -4.33120859e-04 8.14952979e+00] [ 2.52334005e-03 3.70736095e-05 9.99996816e-01 8.97440484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.49, Y:8.16, Z:0.09 [[ 9.87932155e-01 -1.54867289e-01 -2.48608208e-03 8.94922356e+01] [ 1.54866688e-01 9.87935282e-01 -4.33607103e-04 8.16033466e+00] [ 2.52323976e-03 4.33631010e-05 9.99996816e-01 9.09867001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18263999999999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:89.55, Y:8.17, Z:0.09 [[ 9.88141433e-01 -1.53526311e-01 -2.48605590e-03 8.95502320e+01] [ 1.53525705e-01 9.88144559e-01 -4.33757144e-04 8.17214784e+00] [ 2.52317575e-03 4.69399198e-05 9.99996816e-01 8.77294349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.61, Y:8.19, Z:0.09 [[ 9.88140028e-01 -1.53535353e-01 -2.48598370e-03 8.96080287e+01] [ 1.53534746e-01 9.88143154e-01 -4.34170577e-04 8.18597171e+00] [ 2.52316830e-03 4.73364498e-05 9.99996816e-01 8.61088485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.67, Y:8.20, Z:0.09 [[ 9.87585412e-01 -1.57063279e-01 -2.48591700e-03 8.96653540e+01] [ 1.57062683e-01 9.87588540e-01 -4.34552124e-04 8.20040933e+00] [ 2.52331532e-03 3.87125458e-05 9.99996816e-01 8.91777170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.72, Y:8.22, Z:0.09 [[ 9.86309699e-01 -1.64884805e-01 -2.48584205e-03 8.97210730e+01] [ 1.64884232e-01 9.86312831e-01 -4.34980433e-04 8.21658240e+00] [ 2.52353958e-03 1.91492621e-05 9.99996816e-01 8.77772978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:89.78, Y:8.23, Z:0.08 [[ 9.85135090e-01 -1.71763427e-01 -2.48575667e-03 8.97786071e+01] [ 1.71762875e-01 9.85138226e-01 -4.35467813e-04 8.22844453e+00] [ 2.52361136e-03 2.03390958e-06 9.99996816e-01 8.46990134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48263999999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:89.84, Y:8.24, Z:0.09 [[ 9.83534267e-01 -1.80704639e-01 -2.48568214e-03 8.98359017e+01] [ 1.80704115e-01 9.83537408e-01 -4.35892831e-04 8.23994454e+00] [ 2.52352922e-03 -2.04574540e-05 9.99996816e-01 8.61482106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54263999999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:8.25, Z:0.09 [[ 9.82811174e-01 -1.84596905e-01 -2.48560725e-03 8.98927622e+01] [ 1.84596392e-01 9.82814317e-01 -4.36319429e-04 8.25254075e+00] [ 2.52343361e-03 -3.00145209e-05 9.99996816e-01 8.73991244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:89.95, Y:8.26, Z:0.09 [[ 9.81948268e-01 -1.89133343e-01 -2.48556784e-03 8.99499110e+01] [ 1.89132843e-01 9.81951413e-01 -4.36543841e-04 8.26330704e+00] [ 2.52327185e-03 -4.14390449e-05 9.99996816e-01 8.74770635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.01, Y:8.27, Z:0.09 [[ 9.81436748e-01 -1.91770000e-01 -2.48548534e-03 9.00080012e+01] [ 1.91769508e-01 9.81439894e-01 -4.37013074e-04 8.27304919e+00] [ 2.52316046e-03 -4.77396089e-05 9.99996816e-01 8.83653545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.07, Y:8.28, Z:0.09 [[ 9.81410300e-01 -1.91905305e-01 -2.48541004e-03 9.00663011e+01] [ 1.91904813e-01 9.81413446e-01 -4.37440907e-04 8.28229071e+00] [ 2.52316206e-03 -4.76531358e-05 9.99996816e-01 8.95846055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:90.12, Y:8.29, Z:0.09 [[ 9.81792981e-01 -1.89937795e-01 -2.48533519e-03 9.01248363e+01] [ 1.89937295e-01 9.81796126e-01 -4.37865735e-04 8.28858561e+00] [ 2.52325971e-03 -4.21643376e-05 9.99996816e-01 9.25816744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.18, Y:8.30, Z:0.09 [[ 9.82118598e-01 -1.88246869e-01 -2.48526025e-03 9.01821374e+01] [ 1.88246362e-01 9.82121741e-01 -4.38290702e-04 8.29806740e+00] [ 2.52333497e-03 -3.73877504e-05 9.99996816e-01 8.67083464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90263999999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:8.31, Z:0.09 [[ 9.82563821e-01 -1.85909015e-01 -2.48523144e-03 9.02408000e+01] [ 1.85908501e-01 9.82566963e-01 -4.38454003e-04 8.30528241e+00] [ 2.52341886e-03 -3.12166102e-05 9.99996816e-01 8.69307904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:90.30, Y:8.31, Z:0.09 [[ 9.82758342e-01 -1.84877974e-01 -2.48515892e-03 9.02989815e+01] [ 1.84877455e-01 9.82761484e-01 -4.38864637e-04 8.31481852e+00] [ 2.52345487e-03 -2.81519726e-05 9.99996816e-01 8.85792195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:8.32, Z:0.09 [[ 9.82909838e-01 -1.84070840e-01 -2.48514219e-03 9.03582293e+01] [ 1.84070319e-01 9.82912979e-01 -4.38959343e-04 8.31973881e+00] [ 2.52347813e-03 -2.59834587e-05 9.99996816e-01 8.93615510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08264 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:8.32, Z:0.08 [[ 9.82735817e-01 -1.84997669e-01 -2.48510325e-03 9.04173003e+01] [ 1.84997149e-01 9.82738959e-01 -4.39179687e-04 8.32255948e+00] [ 2.52345500e-03 -2.81394087e-05 9.99996816e-01 8.26830597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.48, Y:8.33, Z:0.09 [[ 9.82492368e-01 -1.86286262e-01 -2.48508074e-03 9.04765285e+01] [ 1.86285746e-01 9.82495510e-01 -4.39307003e-04 8.32747565e+00] [ 2.52341753e-03 -3.13193435e-05 9.99996816e-01 8.95300182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:8.33, Z:0.09 [[ 9.82554074e-01 -1.85960525e-01 -2.48504251e-03 9.05344092e+01] [ 1.85960008e-01 9.82557216e-01 -4.39523165e-04 8.33138056e+00] [ 2.52343041e-03 -3.02632479e-05 9.99996816e-01 8.92045115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:8.34, Z:0.09 [[ 9.83468278e-01 -1.81063442e-01 -2.48501516e-03 9.05939274e+01] [ 1.81062909e-01 9.83471418e-01 -4.39677748e-04 8.33520782e+00] [ 2.52355095e-03 -1.75349569e-05 9.99996816e-01 9.14805388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:8.34, Z:0.09 [[ 9.84593522e-01 -1.74841134e-01 -2.48493963e-03 9.06522762e+01] [ 1.74840580e-01 9.84596657e-01 -4.40104232e-04 8.34413023e+00] [ 2.52361157e-03 -1.14451114e-06 9.99996816e-01 9.35209588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.71, Y:8.35, Z:0.09 [[ 9.86265657e-01 -1.65148051e-01 -2.48486417e-03 9.07098838e+01] [ 1.65147465e-01 9.86268787e-01 -4.40529839e-04 8.35333673e+00] [ 2.52349662e-03 2.41104324e-05 9.99996816e-01 8.97103483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.77, Y:8.36, Z:0.09 [[ 9.87185883e-01 -1.59555185e-01 -2.48483665e-03 9.07676319e+01] [ 1.59554581e-01 9.87189010e-01 -4.40685012e-04 8.36431410e+00] [ 2.52331702e-03 3.85709507e-05 9.99996816e-01 9.01770091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.82, Y:8.38, Z:0.08 [[ 9.87549964e-01 -1.57286030e-01 -2.48476285e-03 9.08245412e+01] [ 1.57285418e-01 9.87553089e-01 -4.41100767e-04 8.37641569e+00] [ 2.52321421e-03 4.47920830e-05 9.99996816e-01 8.41825707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.88, Y:8.39, Z:0.09 [[ 9.87340046e-01 -1.58598424e-01 -2.48473447e-03 9.08822581e+01] [ 1.58597816e-01 9.87343171e-01 -4.41260555e-04 8.38811833e+00] [ 2.52326884e-03 4.16007563e-05 9.99996816e-01 8.64781909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62263999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:90.94, Y:8.40, Z:0.09 [[ 9.86910849e-01 -1.61247646e-01 -2.48466195e-03 9.09398432e+01] [ 1.61247045e-01 9.86913976e-01 -4.41668523e-04 8.40016827e+00] [ 2.52336562e-03 3.52430586e-05 9.99996816e-01 8.83766792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.00, Y:8.41, Z:0.09 [[ 9.85778660e-01 -1.68030536e-01 -2.48458370e-03 9.09969457e+01] [ 1.68029956e-01 9.85781790e-01 -4.42108262e-04 8.41367504e+00] [ 2.52354506e-03 1.83363991e-05 9.99996816e-01 9.49019136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.05, Y:8.42, Z:0.09 [[ 9.85053915e-01 -1.72228373e-01 -2.48450550e-03 9.10539516e+01] [ 1.72227804e-01 9.85057048e-01 -4.42547286e-04 8.42337096e+00] [ 2.52359886e-03 8.03200913e-06 9.99996816e-01 9.05596328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:8.43, Z:0.09 [[ 9.84011552e-01 -1.78087320e-01 -2.48447544e-03 9.11119537e+01] [ 1.78086770e-01 9.84014688e-01 -4.42716010e-04 8.43389555e+00] [ 2.52360243e-03 -6.81453815e-06 9.99996816e-01 9.28974385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86264 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:91.17, Y:8.45, Z:0.09 [[ 9.83761999e-01 -1.79460740e-01 -2.48439781e-03 9.11685165e+01] [ 1.79460193e-01 9.83765136e-01 -4.43151233e-04 8.44572094e+00] [ 2.52359219e-03 -9.89516826e-06 9.99996816e-01 8.84146397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.23, Y:8.46, Z:0.09 [[ 9.84029585e-01 -1.77987653e-01 -2.48437015e-03 9.12258207e+01] [ 1.77987101e-01 9.84032721e-01 -4.43306218e-04 8.45913682e+00] [ 2.52360455e-03 -5.95940663e-06 9.99996816e-01 8.94570486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98263999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:8.47, Z:0.09 [[ 9.84321747e-01 -1.76364757e-01 -2.48429260e-03 9.12839151e+01] [ 1.76364198e-01 9.84324882e-01 -4.43740384e-04 8.47101592e+00] [ 2.52361119e-03 -1.35696395e-06 9.99996816e-01 8.70844501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04263999999999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:8.49, Z:0.09 [[ 9.84745391e-01 -1.73983747e-01 -2.48421572e-03 9.13411326e+01] [ 1.73983180e-01 9.84748524e-01 -4.44170367e-04 8.48657324e+00] [ 2.52360619e-03 5.18296959e-06 9.99996816e-01 9.18947135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.40, Y:8.50, Z:0.09 [[ 9.84796109e-01 -1.73696439e-01 -2.48413564e-03 9.13976598e+01] [ 1.73695870e-01 9.84799242e-01 -4.44617805e-04 8.49777433e+00] [ 2.52360342e-03 6.37378227e-06 9.99996816e-01 8.89217772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:8.51, Z:0.09 [[ 9.84224231e-01 -1.76908145e-01 -2.48409293e-03 9.14542158e+01] [ 1.76907586e-01 9.84227366e-01 -4.44856266e-04 8.50881039e+00] [ 2.52361094e-03 -1.61656687e-06 9.99996816e-01 8.75476914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:8.52, Z:0.09 [[ 9.83681441e-01 -1.79901786e-01 -2.48400427e-03 9.15120717e+01] [ 1.79901235e-01 9.83684577e-01 -4.45350794e-04 8.51987296e+00] [ 2.52359609e-03 -8.79212398e-06 9.99996816e-01 9.21245131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:8.53, Z:0.09 [[ 9.82899636e-01 -1.84125325e-01 -2.48392728e-03 9.15692020e+01] [ 1.84124786e-01 9.82902775e-01 -4.45779783e-04 8.52979134e+00] [ 2.52353837e-03 -1.91957923e-05 9.99996816e-01 9.12767319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34264 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:8.54, Z:0.09 [[ 9.82616694e-01 -1.85629371e-01 -2.48390006e-03 9.16265380e+01] [ 1.85628836e-01 9.82619833e-01 -4.45931415e-04 8.53869000e+00] [ 2.52350743e-03 -2.29038255e-05 9.99996816e-01 8.92583873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40263999999999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:91.68, Y:8.55, Z:0.09 [[ 9.82945012e-01 -1.83882934e-01 -2.48387329e-03 9.16839892e+01] [ 1.83882394e-01 9.82948150e-01 -4.46080456e-04 8.54857532e+00] [ 2.52354524e-03 -1.82680077e-05 9.99996816e-01 9.25755613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:8.56, Z:0.09 [[ 9.83305974e-01 -1.81942829e-01 -2.48378449e-03 9.17408123e+01] [ 1.81942282e-01 9.83309110e-01 -4.46574385e-04 8.55671313e+00] [ 2.52357892e-03 -1.27861569e-05 9.99996816e-01 9.01226279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:91.80, Y:8.57, Z:0.09 [[ 9.83949916e-01 -1.78427558e-01 -2.48372421e-03 9.17978072e+01] [ 1.78426998e-01 9.83953051e-01 -4.46909404e-04 8.56607240e+00] [ 2.52360896e-03 -3.42698294e-06 9.99996816e-01 8.99054828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:91.86, Y:8.57, Z:0.09 [[ 9.84394810e-01 -1.75956500e-01 -2.48363882e-03 9.18550180e+01] [ 1.75955931e-01 9.84397943e-01 -4.47383417e-04 8.57355875e+00] [ 2.52360897e-03 3.39093243e-06 9.99996816e-01 9.06773977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.91, Y:8.58, Z:0.09 [[ 9.85205246e-01 -1.71360598e-01 -2.48361227e-03 9.19133407e+01] [ 1.71360015e-01 9.85208376e-01 -4.47530780e-04 8.58184520e+00] [ 2.52356475e-03 1.53178375e-05 9.99996816e-01 9.27588748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.97, Y:8.59, Z:0.09 [[ 9.86141712e-01 -1.65886577e-01 -2.48353770e-03 9.19697300e+01] [ 1.65885975e-01 9.86144839e-01 -4.47944181e-04 8.59203816e+00] [ 2.52343581e-03 2.97523684e-05 9.99996816e-01 9.13297297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:8.60, Z:0.09 [[ 9.86916845e-01 -1.61210958e-01 -2.48350101e-03 9.20263256e+01] [ 1.61210340e-01 9.86919969e-01 -4.48147522e-04 8.60400464e+00] [ 2.52326303e-03 4.19182953e-05 9.99996816e-01 9.27778620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.08, Y:8.62, Z:0.09 [[ 9.87148627e-01 -1.59785546e-01 -2.48341525e-03 9.20829351e+01] [ 1.59784923e-01 9.87151750e-01 -4.48622278e-04 8.61529839e+00] [ 2.52319106e-03 4.60445516e-05 9.99996816e-01 9.29539453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.14, Y:8.63, Z:0.09 [[ 9.87278557e-01 -1.58980767e-01 -2.48333004e-03 9.21400654e+01] [ 1.58980140e-01 9.87281679e-01 -4.49093462e-04 8.62928509e+00] [ 2.52314347e-03 4.85801888e-05 9.99996816e-01 9.33808310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94264 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:8.64, Z:0.09 [[ 9.87095330e-01 -1.60114469e-01 -2.48325325e-03 9.21956748e+01] [ 1.60113845e-01 9.87098452e-01 -4.49517670e-04 8.64200626e+00] [ 2.52318972e-03 4.61135669e-05 9.99996816e-01 8.88943162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:8.66, Z:0.09 [[ 9.86835939e-01 -1.61705481e-01 -2.48319359e-03 9.22524234e+01] [ 1.61704861e-01 9.86839063e-01 -4.49847007e-04 8.65677117e+00] [ 2.52325516e-03 4.23807213e-05 9.99996816e-01 9.46907972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.31, Y:8.67, Z:0.09 [[ 9.86579917e-01 -1.63260225e-01 -2.48311383e-03 9.23083146e+01] [ 1.63259608e-01 9.86583041e-01 -4.50286832e-04 8.67249334e+00] [ 2.52331192e-03 3.88517543e-05 9.99996816e-01 9.38783655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.37, Y:8.69, Z:0.10 [[ 9.86403452e-01 -1.64323045e-01 -2.48308537e-03 9.23666964e+01] [ 1.64322432e-01 9.86406577e-01 -4.50443691e-04 8.68741309e+00] [ 2.52335002e-03 3.62925852e-05 9.99996816e-01 9.56711580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:8.70, Z:0.10 [[ 9.86130323e-01 -1.65954273e-01 -2.48308537e-03 9.24240693e+01] [ 1.65953665e-01 9.86133448e-01 -4.50443691e-04 8.70279206e+00] [ 2.52340660e-03 3.21190650e-05 9.99996816e-01 9.55399640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:92.48, Y:8.72, Z:0.09 [[ 9.85216892e-01 -1.71293641e-01 -2.48300246e-03 9.24804464e+01] [ 1.71293048e-01 9.85220020e-01 -4.50900275e-04 8.71838999e+00] [ 2.52354008e-03 1.89135070e-05 9.99996816e-01 8.78491687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:8.73, Z:0.09 [[ 9.84322974e-01 -1.76357925e-01 -2.48297379e-03 9.25371332e+01] [ 1.76357348e-01 9.84326106e-01 -4.51058089e-04 8.72900129e+00] [ 2.52360359e-03 6.09616658e-06 9.99996816e-01 9.00105194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:8.74, Z:0.09 [[ 9.82834494e-01 -1.84472741e-01 -2.48288635e-03 9.25951746e+01] [ 1.84472189e-01 9.82837630e-01 -4.51538888e-04 8.73648243e+00] [ 2.52357076e-03 -1.42354850e-05 9.99996816e-01 9.17871382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:8.75, Z:0.09 [[ 9.81893520e-01 -1.89417400e-01 -2.48280796e-03 9.26535158e+01] [ 1.89416862e-01 9.81896659e-01 -4.51969509e-04 8.74615843e+00] [ 2.52347173e-03 -2.64997620e-05 9.99996816e-01 9.09333757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48263999999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:8.75, Z:0.09 [[ 9.81180512e-01 -1.93076772e-01 -2.48273059e-03 9.27127145e+01] [ 1.93076245e-01 9.81183652e-01 -4.52394154e-04 8.75097967e+00] [ 2.52336147e-03 -3.54759713e-05 9.99996816e-01 9.37599730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:8.75, Z:0.09 [[ 9.81238224e-01 -1.92783256e-01 -2.48265297e-03 9.27728273e+01] [ 1.92782728e-01 9.81241364e-01 -4.52819715e-04 8.75252867e+00] [ 2.52337784e-03 -3.42885982e-05 9.99996816e-01 8.76365290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:8.76, Z:0.08 [[ 9.82368982e-01 -1.86935872e-01 -2.48264176e-03 9.28310535e+01] [ 1.86935324e-01 9.82372119e-01 -4.52881138e-04 8.75650920e+00] [ 2.52353778e-03 -1.91970608e-05 9.99996816e-01 8.41179111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:8.76, Z:0.10 [[ 9.83504473e-01 -1.80866768e-01 -2.48261392e-03 9.28895663e+01] [ 1.80866201e-01 9.83507607e-01 -4.53033697e-04 8.76408990e+00] [ 2.52360842e-03 -3.46028015e-06 9.99996816e-01 9.55323468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:8.77, Z:0.10 [[ 9.85405089e-01 -1.70207661e-01 -2.48259042e-03 9.29485423e+01] [ 1.70207059e-01 9.85408216e-01 -4.53162422e-04 8.76675420e+00] [ 2.52349672e-03 2.39941413e-05 9.99996816e-01 9.54281852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.00, Y:8.78, Z:0.10 [[ 9.86790818e-01 -1.61980612e-01 -2.48256222e-03 9.30049095e+01] [ 1.61979984e-01 9.86793940e-01 -4.53316874e-04 8.77731341e+00] [ 2.52320590e-03 4.52035414e-05 9.99996816e-01 9.79137555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:8.79, Z:0.11 [[ 9.88387297e-01 -1.51935475e-01 -2.48252907e-03 9.30636789e+01] [ 1.51934815e-01 9.88390412e-01 -4.53498347e-04 8.78617584e+00] [ 2.52261042e-03 7.10494103e-05 9.99996816e-01 1.05304998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:8.80, Z:0.10 [[ 9.88414152e-01 -1.51760672e-01 -2.48251730e-03 9.31211219e+01] [ 1.51760011e-01 9.88417267e-01 -4.53562752e-04 8.79631630e+00] [ 2.52259596e-03 7.15609889e-05 9.99996816e-01 1.00739190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:8.81, Z:0.10 [[ 9.88124920e-01 -1.53632610e-01 -2.48249374e-03 9.31774654e+01] [ 1.53631955e-01 9.88128037e-01 -4.53691686e-04 8.80590237e+00] [ 2.52272350e-03 6.69136951e-05 9.99996816e-01 9.83816262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.24, Y:8.82, Z:0.10 [[ 9.86655673e-01 -1.62801784e-01 -2.48245559e-03 9.32352429e+01] [ 1.62801157e-01 9.86658795e-01 -4.53900349e-04 8.81579598e+00] [ 2.52323242e-03 4.36967114e-05 9.99996816e-01 9.70356685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:8.82, Z:0.10 [[ 9.85066595e-01 -1.72155860e-01 -2.48237688e-03 9.32934910e+01] [ 1.72155262e-01 9.85069723e-01 -4.54330420e-04 8.82113145e+00] [ 2.52352995e-03 2.01914788e-05 9.99996816e-01 9.65023828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14264 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:93.35, Y:8.83, Z:0.09 [[ 9.84844250e-01 -1.73423301e-01 -2.48234896e-03 9.33505528e+01] [ 1.73422706e-01 9.84847378e-01 -4.54482909e-04 8.83157919e+00] [ 2.52355279e-03 1.70992050e-05 9.99996816e-01 9.47347822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.41, Y:8.84, Z:0.10 [[ 9.84847226e-01 -1.73406400e-01 -2.48225967e-03 9.34084157e+01] [ 1.73405804e-01 9.84850354e-01 -4.54970058e-04 8.84178858e+00] [ 2.52354903e-03 1.76377672e-05 9.99996816e-01 9.65690083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:8.85, Z:0.09 [[ 9.85398132e-01 -1.70247939e-01 -2.48218049e-03 9.34655051e+01] [ 1.70247332e-01 9.85401258e-01 -4.55401593e-04 8.85190809e+00] [ 2.52347496e-03 2.61672719e-05 9.99996816e-01 9.42289880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:8.86, Z:0.10 [[ 9.86021785e-01 -1.66597955e-01 -2.48215267e-03 9.35221924e+01] [ 1.66597336e-01 9.86024908e-01 -4.55553215e-04 8.86260465e+00] [ 2.52335859e-03 3.56653718e-05 9.99996816e-01 9.51714794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:8.88, Z:0.10 [[ 9.87310105e-01 -1.58784750e-01 -2.48206568e-03 9.35791034e+01] [ 1.58784105e-01 9.87313223e-01 -4.56026655e-04 8.87675233e+00] [ 2.52298635e-03 5.61271471e-05 9.99996816e-01 9.94734301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:8.89, Z:0.10 [[ 9.88553456e-01 -1.50850602e-01 -2.48198831e-03 9.36353716e+01] [ 1.50849931e-01 9.88556569e-01 -4.56447378e-04 8.89192759e+00] [ 2.52244121e-03 7.68148691e-05 9.99996816e-01 9.90808507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:93.69, Y:8.90, Z:0.10 [[ 9.88886134e-01 -1.48654144e-01 -2.48189886e-03 9.36920019e+01] [ 1.48653464e-01 9.88889245e-01 -4.56933258e-04 8.90413784e+00] [ 2.52224811e-03 8.29120998e-05 9.99996816e-01 9.54278491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.75, Y:8.92, Z:0.10 [[ 9.88770562e-01 -1.49420935e-01 -2.48187138e-03 9.37490123e+01] [ 1.49420258e-01 9.88773674e-01 -4.57082453e-04 8.91812353e+00] [ 2.52230677e-03 8.11078117e-05 9.99996816e-01 9.84964569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:8.93, Z:0.10 [[ 9.88439166e-01 -1.51597679e-01 -2.48179671e-03 9.38069228e+01] [ 1.51597008e-01 9.88442279e-01 -4.57487531e-04 8.93045095e+00] [ 2.52246684e-03 7.59656380e-05 9.99996816e-01 1.00999951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.86, Y:8.95, Z:0.10 [[ 9.88274281e-01 -1.52668877e-01 -2.48172027e-03 9.38636217e+01] [ 1.52668208e-01 9.88277394e-01 -4.57901821e-04 8.94622106e+00] [ 2.52253540e-03 7.36528057e-05 9.99996816e-01 1.00343111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.92, Y:8.96, Z:0.10 [[ 9.88586958e-01 -1.50630903e-01 -2.48164169e-03 9.39193763e+01] [ 1.50630226e-01 9.88590069e-01 -4.58327274e-04 8.96152757e+00] [ 2.52236458e-03 7.92861150e-05 9.99996816e-01 9.77595587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:8.98, Z:0.10 [[ 9.89058966e-01 -1.47499840e-01 -2.48161392e-03 9.39756612e+01] [ 1.47499154e-01 9.89062076e-01 -4.58477600e-04 8.97889139e+00] [ 2.52209559e-03 8.74254282e-05 9.99996816e-01 1.00453749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.03, Y:9.00, Z:0.10 [[ 9.89165414e-01 -1.46784285e-01 -2.48153889e-03 9.40317667e+01] [ 1.46783595e-01 9.89168522e-01 -4.58883359e-04 8.99681026e+00] [ 2.52201702e-03 8.96623480e-05 9.99996816e-01 1.01082127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92264 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:94.09, Y:9.01, Z:0.09 [[ 9.88825110e-01 -1.49059534e-01 -2.48146003e-03 9.40876480e+01] [ 1.49058850e-01 9.88828220e-01 -4.59309377e-04 9.01225482e+00] [ 2.52220215e-03 8.42930669e-05 9.99996816e-01 9.45958852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.15, Y:9.03, Z:0.10 [[ 9.88208777e-01 -1.53092310e-01 -2.48143220e-03 9.41450385e+01] [ 1.53091638e-01 9.88211890e-01 -4.59459693e-04 9.02549484e+00] [ 2.52252055e-03 7.41555797e-05 9.99996816e-01 9.84451393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.20, Y:9.04, Z:0.10 [[ 9.87125287e-01 -1.59929705e-01 -2.48135439e-03 9.42015003e+01] [ 1.59929054e-01 9.87128404e-01 -4.59879532e-04 9.04257152e+00] [ 2.52296380e-03 5.71180548e-05 9.99996816e-01 1.01321856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.26, Y:9.06, Z:0.10 [[ 9.86591692e-01 -1.63189079e-01 -2.48127621e-03 9.42580897e+01] [ 1.63188438e-01 9.86594811e-01 -4.60300979e-04 9.05791947e+00] [ 2.52313032e-03 4.92135348e-05 9.99996816e-01 1.02950339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.31, Y:9.07, Z:0.10 [[ 9.86243656e-01 -1.65279441e-01 -2.48119623e-03 9.43132009e+01] [ 1.65278805e-01 9.86246777e-01 -4.60731661e-04 9.07205929e+00] [ 2.52322126e-03 4.43045290e-05 9.99996816e-01 1.01560838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.37, Y:9.09, Z:0.10 [[ 9.85574009e-01 -1.69226822e-01 -2.48115665e-03 9.43692213e+01] [ 1.69226198e-01 9.85577131e-01 -4.60944724e-04 9.08621308e+00] [ 2.52337547e-03 3.44184322e-05 9.99996816e-01 1.01891914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:9.10, Z:0.10 [[ 9.84964882e-01 -1.72736864e-01 -2.48112944e-03 9.44249673e+01] [ 1.72736251e-01 9.84968007e-01 -4.61091143e-04 9.10174473e+00] [ 2.52348056e-03 2.55775862e-05 9.99996816e-01 1.01733354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:9.11, Z:0.10 [[ 9.83801811e-01 -1.79242409e-01 -2.48103935e-03 9.44828237e+01] [ 1.79241815e-01 9.83804939e-01 -4.61575414e-04 9.10918201e+00] [ 2.52359265e-03 9.39273203e-06 9.99996816e-01 9.95602899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:9.12, Z:0.10 [[ 9.83005677e-01 -1.83558396e-01 -2.48094949e-03 9.45389805e+01] [ 1.83557815e-01 9.83008807e-01 -4.62057868e-04 9.11968884e+00] [ 2.52360980e-03 -1.19216009e-06 9.99996816e-01 9.83812638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:9.13, Z:0.10 [[ 9.82974854e-01 -1.83723382e-01 -2.48088868e-03 9.45964089e+01] [ 1.83722800e-01 9.82977985e-01 -4.62384167e-04 9.13058869e+00] [ 2.52360974e-03 -1.28380569e-06 9.99996816e-01 9.89626787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:94.65, Y:9.14, Z:0.10 [[ 9.83522264e-01 -1.80770025e-01 -2.48079512e-03 9.46536221e+01] [ 1.80769432e-01 9.83525393e-01 -4.62885596e-04 9.14071572e+00] [ 2.52360083e-03 6.80636409e-06 9.99996816e-01 1.00710226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.71, Y:9.15, Z:0.10 [[ 9.83981508e-01 -1.78253299e-01 -2.48075453e-03 9.47110813e+01] [ 1.78252698e-01 9.83984635e-01 -4.63103030e-04 9.15330393e+00] [ 2.52357398e-03 1.34836298e-05 9.99996816e-01 9.87526592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:94.77, Y:9.17, Z:0.10 [[ 9.84515986e-01 -1.75277265e-01 -2.48067274e-03 9.47676941e+01] [ 1.75276654e-01 9.84519111e-01 -4.63540699e-04 9.16819385e+00] [ 2.52351787e-03 2.15592109e-05 9.99996816e-01 9.98195741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.82, Y:9.18, Z:0.10 [[ 9.84848170e-01 -1.73401062e-01 -2.48059039e-03 9.48239731e+01] [ 1.73400444e-01 9.84851294e-01 -4.63981007e-04 9.18085378e+00] [ 2.52346745e-03 2.68153717e-05 9.99996816e-01 1.01266366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76263999999999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:9.19, Z:0.10 [[ 9.84414174e-01 -1.75848178e-01 -2.48054688e-03 9.48818863e+01] [ 1.75847566e-01 9.84417299e-01 -4.64213518e-04 9.19272922e+00] [ 2.52352436e-03 2.07802364e-05 9.99996816e-01 9.98353173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.94, Y:9.21, Z:0.10 [[ 9.83491788e-01 -1.80935761e-01 -2.48046665e-03 9.49397908e+01] [ 1.80935164e-01 9.83494916e-01 -4.64641774e-04 9.20556435e+00] [ 2.52359666e-03 8.16772759e-06 9.99996816e-01 1.01675158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.00, Y:9.22, Z:0.11 [[ 9.82818118e-01 -1.84560004e-01 -2.48038422e-03 9.49983178e+01] [ 1.84559419e-01 9.82821248e-01 -4.65081407e-04 9.21591699e+00] [ 2.52360974e-03 -6.87836985e-07 9.99996816e-01 1.05335880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:95.06, Y:9.22, Z:0.10 [[ 9.80547240e-01 -1.96267570e-01 -2.48030461e-03 9.50556878e+01] [ 1.96267020e-01 9.80550376e-01 -4.65505593e-04 9.22119602e+00] [ 2.52342727e-03 -3.03517709e-05 9.99996816e-01 9.63189458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:9.23, Z:0.10 [[ 9.79982172e-01 -1.99069816e-01 -2.48026798e-03 9.51131712e+01] [ 1.99069275e-01 9.79985310e-01 -4.65700702e-04 9.22683035e+00] [ 2.52333313e-03 -3.73667617e-05 9.99996816e-01 9.63012832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:95.17, Y:9.23, Z:0.10 [[ 9.80563691e-01 -1.96185364e-01 -2.48017578e-03 9.51709157e+01] [ 1.96184813e-01 9.80566827e-01 -4.66191204e-04 9.23272160e+00] [ 2.52343798e-03 -2.94426528e-05 9.99996816e-01 9.67675354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:9.24, Z:0.10 [[ 9.80986380e-01 -1.94060741e-01 -2.48014745e-03 9.52276494e+01] [ 1.94060182e-01 9.80989515e-01 -4.66341860e-04 9.24261461e+00] [ 2.52349729e-03 -2.38228532e-05 9.99996816e-01 9.97879675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18263999999999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:95.28, Y:9.25, Z:0.10 [[ 9.82576679e-01 -1.85841112e-01 -2.48005717e-03 9.52835162e+01] [ 1.85840526e-01 9.82579809e-01 -4.66821469e-04 9.25128228e+00] [ 2.52360872e-03 -2.20724029e-06 9.99996816e-01 9.73182288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:9.26, Z:0.10 [[ 9.84039290e-01 -1.77934047e-01 -2.48001805e-03 9.53409728e+01] [ 1.77933435e-01 9.84042415e-01 -4.67029237e-04 9.26071517e+00] [ 2.52354335e-03 1.82969903e-05 9.99996816e-01 1.00359417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:9.27, Z:0.10 [[ 9.84604190e-01 -1.74781120e-01 -2.47992737e-03 9.53989062e+01] [ 1.74780497e-01 9.84607312e-01 -4.67510235e-04 9.27078918e+00] [ 2.52346658e-03 2.68695990e-05 9.99996816e-01 9.88470769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.45, Y:9.28, Z:0.10 [[ 9.85147809e-01 -1.71690548e-01 -2.47984738e-03 9.54549559e+01] [ 1.71689914e-01 9.85150930e-01 -4.67934125e-04 9.28333000e+00] [ 2.52336382e-03 3.52194940e-05 9.99996816e-01 9.98206500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.51, Y:9.29, Z:0.10 [[ 9.85051445e-01 -1.72242562e-01 -2.47981920e-03 9.55119683e+01] [ 1.72241930e-01 9.85054566e-01 -4.68083418e-04 9.29200686e+00] [ 2.52338112e-03 3.39574025e-05 9.99996816e-01 9.70127453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.57, Y:9.30, Z:0.10 [[ 9.84708868e-01 -1.74190403e-01 -2.47979176e-03 9.55687476e+01] [ 1.74189776e-01 9.84711990e-01 -4.68228790e-04 9.30425804e+00] [ 2.52344163e-03 2.91146708e-05 9.99996816e-01 9.77184180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:9.31, Z:0.10 [[ 9.83731071e-01 -1.79630263e-01 -2.47969922e-03 9.56262461e+01] [ 1.79629652e-01 9.83734196e-01 -4.68718358e-04 9.31490438e+00] [ 2.52356092e-03 1.56653044e-05 9.99996816e-01 9.71442693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:9.32, Z:0.10 [[ 9.82101408e-01 -1.88336605e-01 -2.47962356e-03 9.56844313e+01] [ 1.88336021e-01 9.82104538e-01 -4.69118250e-04 9.32309035e+00] [ 2.52360169e-03 -6.28074035e-06 9.99996816e-01 9.78412433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:95.74, Y:9.33, Z:0.09 [[ 9.81228825e-01 -1.92831130e-01 -2.47954172e-03 9.57415043e+01] [ 1.92830559e-01 9.81231958e-01 -4.69550418e-04 9.33330219e+00] [ 2.52354952e-03 -1.73950105e-05 9.99996816e-01 9.43059927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:95.80, Y:9.34, Z:0.09 [[ 9.80304669e-01 -1.97475588e-01 -2.47951350e-03 9.58000242e+01] [ 1.97475032e-01 9.80307804e-01 -4.69699376e-04 9.33999940e+00] [ 2.52344060e-03 -2.91935156e-05 9.99996816e-01 9.43607003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.86, Y:9.34, Z:0.10 [[ 9.80233534e-01 -1.97828389e-01 -2.47943539e-03 9.58577197e+01] [ 1.97827833e-01 9.80236669e-01 -4.70111346e-04 9.34449150e+00] [ 2.52343486e-03 -2.96824233e-05 9.99996816e-01 9.86217610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.91, Y:9.36, Z:0.10 [[ 9.80653715e-01 -1.95734884e-01 -2.47934186e-03 9.59147360e+01] [ 1.95734319e-01 9.80656849e-01 -4.70604096e-04 9.35549290e+00] [ 2.52349722e-03 -2.37926375e-05 9.99996816e-01 9.71890876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.97, Y:9.36, Z:0.10 [[ 9.81556533e-01 -1.91156025e-01 -2.47926012e-03 9.59734748e+01] [ 1.91155445e-01 9.81559664e-01 -4.71034373e-04 9.36018513e+00] [ 2.52358278e-03 -1.15772030e-05 9.99996816e-01 9.62862922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.03, Y:9.37, Z:0.09 [[ 9.82560932e-01 -1.85924365e-01 -2.47918100e-03 9.60319360e+01] [ 1.85923767e-01 9.82564059e-01 -4.71450388e-04 9.36802780e+00] [ 2.52360827e-03 2.29006167e-06 9.99996816e-01 9.49435302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:96.09, Y:9.38, Z:0.10 [[ 9.83301472e-01 -1.81967221e-01 -2.47910170e-03 9.60901233e+01] [ 1.81966610e-01 9.83304597e-01 -4.71867024e-04 9.37864723e+00] [ 2.52357643e-03 1.28738069e-05 9.99996816e-01 9.57386749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:96.15, Y:9.39, Z:0.10 [[ 9.84222771e-01 -1.76916338e-01 -2.47902269e-03 9.61480575e+01] [ 1.76915710e-01 9.84225893e-01 -4.72281745e-04 9.38945997e+00] [ 2.52347268e-03 2.62523878e-05 9.99996816e-01 1.00420817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.20, Y:9.40, Z:0.10 [[ 9.84836560e-01 -1.73467015e-01 -2.47894184e-03 9.62048598e+01] [ 1.73466375e-01 9.84839679e-01 -4.72705742e-04 9.39855505e+00] [ 2.52335914e-03 3.55248424e-05 9.99996816e-01 1.04937909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.26, Y:9.41, Z:0.10 [[ 9.85074441e-01 -1.72111011e-01 -2.47889925e-03 9.62611252e+01] [ 1.72110366e-01 9.85077560e-01 -4.72929003e-04 9.41248719e+00] [ 2.52330431e-03 3.92260179e-05 9.99996816e-01 9.89218201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.32, Y:9.42, Z:0.10 [[ 9.85031960e-01 -1.72353973e-01 -2.47887161e-03 9.63178051e+01] [ 1.72353328e-01 9.85035079e-01 -4.73073843e-04 9.42465285e+00] [ 2.52331164e-03 3.87510826e-05 9.99996816e-01 1.00558388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.37, Y:9.44, Z:0.10 [[ 9.84881275e-01 -1.73212963e-01 -2.47878235e-03 9.63742506e+01] [ 1.73212320e-01 9.84884393e-01 -4.73541046e-04 9.44149498e+00] [ 2.52333750e-03 3.70260677e-05 9.99996816e-01 9.81049458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:96.43, Y:9.46, Z:0.09 [[ 9.84601830e-01 -1.74794428e-01 -2.47870372e-03 9.64315167e+01] [ 1.74793788e-01 9.84604950e-01 -4.73952272e-04 9.45785563e+00] [ 2.52338817e-03 3.33922612e-05 9.99996816e-01 9.35904229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.49, Y:9.47, Z:0.10 [[ 9.84496617e-01 -1.75386050e-01 -2.47862896e-03 9.64882283e+01] [ 1.75385412e-01 9.84499737e-01 -4.74342920e-04 9.47174715e+00] [ 2.52340269e-03 3.22736383e-05 9.99996816e-01 9.62944156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:96.54, Y:9.49, Z:0.10 [[ 9.83929298e-01 -1.78541291e-01 -2.47853601e-03 9.65448537e+01] [ 1.78540662e-01 9.83932420e-01 -4.74828141e-04 9.48994187e+00] [ 2.52348836e-03 2.46778616e-05 9.99996816e-01 9.84749540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.60, Y:9.50, Z:0.10 [[ 9.83231514e-01 -1.82344859e-01 -2.47845426e-03 9.66023156e+01] [ 1.82344241e-01 9.83234637e-01 -4.75254443e-04 9.50275684e+00] [ 2.52356228e-03 1.53532848e-05 9.99996816e-01 1.03124321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.66, Y:9.52, Z:0.10 [[ 9.81931381e-01 -1.89221089e-01 -2.47837200e-03 9.66580176e+01] [ 1.89220491e-01 9.81934509e-01 -4.75683010e-04 9.51611465e+00] [ 2.52360825e-03 -1.87069307e-06 9.99996816e-01 1.03429198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.71, Y:9.53, Z:0.10 [[ 9.80729300e-01 -1.95355825e-01 -2.47830823e-03 9.67145667e+01] [ 1.95355246e-01 9.80732431e-01 -4.76015036e-04 9.52622769e+00] [ 2.52354957e-03 -1.73086214e-05 9.99996816e-01 1.01295346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:96.77, Y:9.54, Z:0.10 [[ 9.79674190e-01 -2.00580006e-01 -2.47827949e-03 9.67719360e+01] [ 2.00579443e-01 9.79677325e-01 -4.76164607e-04 9.53638609e+00] [ 2.52342332e-03 -3.06057456e-05 9.99996816e-01 1.00407995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:96.83, Y:9.55, Z:0.10 [[ 9.79422321e-01 -2.01806284e-01 -2.47823659e-03 9.68287582e+01] [ 2.01805724e-01 9.79425455e-01 -4.76387803e-04 9.54723670e+00] [ 2.52338605e-03 -3.35374819e-05 9.99996816e-01 1.00730532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:96.89, Y:9.55, Z:0.10 [[ 9.78990296e-01 -2.03891781e-01 -2.47814729e-03 9.68876558e+01] [ 2.03891227e-01 9.78993432e-01 -4.76851887e-04 9.55432511e+00] [ 2.52331610e-03 -3.84391221e-05 9.99996816e-01 9.91120623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.94, Y:9.56, Z:0.10 [[ 9.78911944e-01 -2.04267629e-01 -2.47806953e-03 9.69445170e+01] [ 2.04267075e-01 9.78915080e-01 -4.77255637e-04 9.56332443e+00] [ 2.52330751e-03 -3.89967719e-05 9.99996816e-01 1.00676860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98263999999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:97.00, Y:9.57, Z:0.10 [[ 9.79305697e-01 -2.02371468e-01 -2.47798153e-03 9.70021227e+01] [ 2.02370907e-01 9.79308832e-01 -4.77712084e-04 9.56900805e+00] [ 2.52338450e-03 -3.36452055e-05 9.99996816e-01 9.93816080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04263999999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:97.06, Y:9.58, Z:0.10 [[ 9.79758975e-01 -2.00165458e-01 -2.47788975e-03 9.70604932e+01] [ 2.00164889e-01 9.79762108e-01 -4.78187679e-04 9.57768898e+00] [ 2.52345914e-03 -2.74778560e-05 9.99996816e-01 9.86428449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.12, Y:9.58, Z:0.10 [[ 9.80482013e-01 -1.96593189e-01 -2.47780782e-03 9.71191802e+01] [ 1.96592607e-01 9.80485144e-01 -4.78611878e-04 9.58393742e+00] [ 2.52354559e-03 -1.78483597e-05 9.99996816e-01 1.02526535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:97.18, Y:9.59, Z:0.10 [[ 9.80805023e-01 -1.94975299e-01 -2.47772635e-03 9.71756289e+01] [ 1.94974711e-01 9.80808153e-01 -4.79033243e-04 9.59018520e+00] [ 2.52357385e-03 -1.32557672e-05 9.99996816e-01 9.82576288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:9.60, Z:0.10 [[ 9.80798255e-01 -1.95009345e-01 -2.47766299e-03 9.72344803e+01] [ 1.95008757e-01 9.80801384e-01 -4.79360750e-04 9.59753166e+00] [ 2.52357511e-03 -1.30097912e-05 9.99996816e-01 1.02380974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.29, Y:9.61, Z:0.11 [[ 9.80692884e-01 -1.95538563e-01 -2.47757955e-03 9.72921864e+01] [ 1.95537975e-01 9.80696013e-01 -4.79791620e-04 9.60572255e+00] [ 2.52357015e-03 -1.39326604e-05 9.99996816e-01 1.05751288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.35, Y:9.61, Z:0.10 [[ 9.81365714e-01 -1.92133279e-01 -2.47748465e-03 9.73488673e+01] [ 1.92132679e-01 9.81368841e-01 -4.80281128e-04 9.61176031e+00] [ 2.52360423e-03 -4.67433108e-06 9.99996816e-01 1.03540183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.41, Y:9.62, Z:0.10 [[ 9.82609570e-01 -1.85667161e-01 -2.47742043e-03 9.74065975e+01] [ 1.85666539e-01 9.82612693e-01 -4.80612195e-04 9.62147847e+00] [ 2.52357866e-03 1.22800664e-05 9.99996816e-01 1.01018315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.46, Y:9.63, Z:0.10 [[ 9.83449978e-01 -1.81162922e-01 -2.47734113e-03 9.74638728e+01] [ 1.81162285e-01 9.83453098e-01 -4.81020607e-04 9.63429869e+00] [ 2.52349190e-03 2.42589264e-05 9.99996816e-01 1.02476807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.52, Y:9.65, Z:0.10 [[ 9.84077445e-01 -1.77722946e-01 -2.47726203e-03 9.75214688e+01] [ 1.77722297e-01 9.84080562e-01 -4.81427602e-04 9.64773806e+00] [ 2.52338614e-03 3.34973457e-05 9.99996816e-01 1.04099710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:9.66, Z:0.10 [[ 9.84077665e-01 -1.77721730e-01 -2.47717872e-03 9.75785104e+01] [ 1.77721080e-01 9.84080782e-01 -4.81855896e-04 9.65934254e+00] [ 2.52338024e-03 3.39367486e-05 9.99996816e-01 1.03003568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.63, Y:9.68, Z:0.10 [[ 9.83715202e-01 -1.79717181e-01 -2.47714926e-03 9.76345547e+01] [ 1.79716537e-01 9.83718320e-01 -4.82007311e-04 9.67501851e+00] [ 2.52344210e-03 2.89732322e-05 9.99996816e-01 1.04108899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.69, Y:9.69, Z:0.10 [[ 9.83180829e-01 -1.82617968e-01 -2.47705736e-03 9.76903307e+01] [ 1.82617332e-01 9.83183949e-01 -4.82479129e-04 9.68928117e+00] [ 2.52351239e-03 2.20106234e-05 9.99996816e-01 1.00021304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.75, Y:9.70, Z:0.10 [[ 9.82564596e-01 -1.85905025e-01 -2.47702893e-03 9.77465978e+01] [ 1.85904399e-01 9.82567718e-01 -4.82625042e-04 9.70184926e+00] [ 2.52357108e-03 1.37197050e-05 9.99996816e-01 1.00536915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:9.72, Z:0.10 [[ 9.81594565e-01 -1.90960664e-01 -2.47693751e-03 9.78038263e+01] [ 1.90960053e-01 9.81597690e-01 -4.83093740e-04 9.71565173e+00] [ 2.52360804e-03 1.20606959e-06 9.99996816e-01 1.02750952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.86, Y:9.73, Z:0.10 [[ 9.80924877e-01 -1.94371425e-01 -2.47685748e-03 9.78607706e+01] [ 1.94370824e-01 9.80928004e-01 -4.83503733e-04 9.72898489e+00] [ 2.52359817e-03 -7.14798953e-06 9.99996816e-01 1.03108809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.92, Y:9.74, Z:0.10 [[ 9.79982962e-01 -1.99065970e-01 -2.47677467e-03 9.79175493e+01] [ 1.99065383e-01 9.79986091e-01 -4.83927559e-04 9.74119609e+00] [ 2.52353824e-03 -1.87993357e-05 9.99996816e-01 1.02716631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:97.97, Y:9.75, Z:0.10 [[ 9.79633968e-01 -2.00776378e-01 -2.47667919e-03 9.79745131e+01] [ 2.00775795e-01 9.79637099e-01 -4.84415733e-04 9.75373569e+00] [ 2.52350605e-03 -2.27071271e-05 9.99996816e-01 1.02959122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.03, Y:9.77, Z:0.10 [[ 9.79190568e-01 -2.02927813e-01 -2.47663450e-03 9.80306672e+01] [ 2.02927236e-01 9.79193700e-01 -4.84644098e-04 9.76554716e+00] [ 2.52345267e-03 -2.80176642e-05 9.99996816e-01 1.01687888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.09, Y:9.78, Z:0.10 [[ 9.79328320e-01 -2.02261980e-01 -2.47660507e-03 9.80879789e+01] [ 2.02261401e-01 9.79331451e-01 -4.84794443e-04 9.77686566e+00] [ 2.52347272e-03 -2.61486830e-05 9.99996816e-01 1.04070139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:9.79, Z:0.11 [[ 9.79183960e-01 -2.02959697e-01 -2.47652394e-03 9.81458787e+01] [ 2.02959119e-01 9.79187092e-01 -4.85208558e-04 9.78596995e+00] [ 2.52345805e-03 -2.75246779e-05 9.99996816e-01 1.07173293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.20, Y:9.80, Z:0.11 [[ 9.78701722e-01 -2.05272517e-01 -2.47644168e-03 9.82028650e+01] [ 2.05271946e-01 9.78704855e-01 -4.85628017e-04 9.79633236e+00] [ 2.52339158e-03 -3.30590250e-05 9.99996816e-01 1.07197026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.26, Y:9.80, Z:0.11 [[ 9.78254724e-01 -2.07392292e-01 -2.47634622e-03 9.82603028e+01] [ 2.07391726e-01 9.78257857e-01 -4.86114295e-04 9.80315315e+00] [ 2.52332151e-03 -3.80301113e-05 9.99996816e-01 1.06271845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.32, Y:9.81, Z:0.11 [[ 9.77589246e-01 -2.10506851e-01 -2.47625140e-03 9.83184862e+01] [ 2.10506293e-01 9.77592381e-01 -4.86596814e-04 9.80729037e+00] [ 2.52319647e-03 -4.55746916e-05 9.99996816e-01 1.07379303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.38, Y:9.81, Z:0.11 [[ 9.77374670e-01 -2.11500883e-01 -2.47615511e-03 9.83778231e+01] [ 2.11500328e-01 9.77377805e-01 -4.87086352e-04 9.81069523e+00] [ 2.52315824e-03 -4.76417550e-05 9.99996816e-01 1.06571252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.44, Y:9.82, Z:0.10 [[ 9.77552198e-01 -2.10678832e-01 -2.47606904e-03 9.84350797e+01] [ 2.10678273e-01 9.77555332e-01 -4.87523458e-04 9.81828006e+00] [ 2.52320537e-03 -4.50743206e-05 9.99996816e-01 1.04769420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54263999999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:98.49, Y:9.83, Z:0.10 [[ 9.77929217e-01 -2.08921793e-01 -2.47603861e-03 9.84929629e+01] [ 2.08921228e-01 9.77932351e-01 -4.87677980e-04 9.82519428e+00] [ 2.52328482e-03 -4.03824808e-05 9.99996816e-01 1.03883299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60264 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:98.55, Y:9.83, Z:0.10 [[ 9.78952978e-01 -2.04070909e-01 -2.47594264e-03 9.85519907e+01] [ 2.04070327e-01 9.78956109e-01 -4.88164718e-04 9.82935793e+00] [ 2.52345939e-03 -2.73761202e-05 9.99996816e-01 1.03726389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:9.84, Z:0.10 [[ 9.80695211e-01 -1.95526912e-01 -2.47585744e-03 9.86098131e+01] [ 1.95526302e-01 9.80698336e-01 -4.88596450e-04 9.83565383e+00] [ 2.52360303e-03 -4.93105062e-06 9.99996816e-01 1.01366498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.67, Y:9.85, Z:0.10 [[ 9.81267061e-01 -1.92636513e-01 -2.47581237e-03 9.86668413e+01] [ 1.92635893e-01 9.81270184e-01 -4.88824730e-04 9.84564714e+00] [ 2.52360635e-03 2.73727947e-06 9.99996816e-01 1.02592100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.72, Y:9.86, Z:0.11 [[ 9.82839029e-01 -1.84448675e-01 -2.47578261e-03 9.87245836e+01] [ 1.84448028e-01 9.82842147e-01 -4.88975401e-04 9.85571061e+00] [ 2.52349436e-03 2.39308875e-05 9.99996816e-01 1.05645104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.78, Y:9.87, Z:0.11 [[ 9.83583435e-01 -1.80436963e-01 -2.47570114e-03 9.87819880e+01] [ 1.80436303e-01 9.83586550e-01 -4.89387560e-04 9.86686425e+00] [ 2.52336995e-03 3.46471366e-05 9.99996816e-01 1.05133222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.84, Y:9.88, Z:0.10 [[ 9.84313809e-01 -1.76409175e-01 -2.47560867e-03 9.88401004e+01] [ 1.76408501e-01 9.84316921e-01 -4.89854852e-04 9.87830212e+00] [ 2.52319840e-03 4.54524805e-05 9.99996816e-01 1.03434760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.90, Y:9.89, Z:0.10 [[ 9.84519526e-01 -1.75257455e-01 -2.47552801e-03 9.88965987e+01] [ 1.75256776e-01 9.84522637e-01 -4.90262172e-04 9.89229989e+00] [ 2.52313546e-03 4.88196229e-05 9.99996816e-01 1.04354777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02264 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:98.95, Y:9.91, Z:0.11 [[ 9.84569112e-01 -1.74978671e-01 -2.47543624e-03 9.89536394e+01] [ 1.74977990e-01 9.84572223e-01 -4.90725071e-04 9.90735865e+00] [ 2.52311218e-03 5.00058907e-05 9.99996816e-01 1.06574551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.01, Y:9.92, Z:0.11 [[ 9.84366822e-01 -1.76113124e-01 -2.47535260e-03 9.90092474e+01] [ 1.76112446e-01 9.84369933e-01 -4.91146620e-04 9.92267781e+00] [ 2.52316004e-03 4.75280364e-05 9.99996816e-01 1.09415283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:9.94, Z:0.11 [[ 9.84259247e-01 -1.76713347e-01 -2.47525597e-03 9.90646575e+01] [ 1.76712670e-01 9.84262359e-01 -4.91633139e-04 9.94132747e+00] [ 2.52317942e-03 4.64853735e-05 9.99996816e-01 1.09942041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.12, Y:9.96, Z:0.11 [[ 9.83991759e-01 -1.78196780e-01 -2.47515922e-03 9.91207471e+01] [ 1.78196106e-01 9.83994871e-01 -4.92119724e-04 9.95868919e+00] [ 2.52323813e-03 4.31780175e-05 9.99996816e-01 1.08004530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:9.98, Z:0.11 [[ 9.83432661e-01 -1.81256934e-01 -2.47507453e-03 9.91754643e+01] [ 1.81256268e-01 9.83435775e-01 -4.92545311e-04 9.97892653e+00] [ 2.52335409e-03 3.57623724e-05 9.99996816e-01 1.06327220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32263999999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:10.00, Z:0.11 [[ 9.82749341e-01 -1.84925949e-01 -2.47504457e-03 9.92319177e+01] [ 1.84925294e-01 9.82752458e-01 -4.92695840e-04 9.99597097e+00] [ 2.52346838e-03 2.64981677e-05 9.99996816e-01 1.06059636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:10.02, Z:0.11 [[ 9.81546830e-01 -1.91205899e-01 -2.47495983e-03 9.92867611e+01] [ 1.91205264e-01 9.81549950e-01 -4.93121141e-04 1.00158992e+01] [ 2.52358437e-03 1.07961458e-05 9.99996816e-01 1.06839025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.34, Y:10.03, Z:0.11 [[ 9.79987689e-01 -1.99042722e-01 -2.47486248e-03 9.93424710e+01] [ 1.99042110e-01 9.79990814e-01 -4.93609210e-04 1.00319239e+01] [ 2.52359182e-03 -8.87090202e-06 9.99996816e-01 1.07663642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.40, Y:10.05, Z:0.11 [[ 9.78871445e-01 -2.04461659e-01 -2.47483239e-03 9.93990797e+01] [ 2.04461064e-01 9.78874573e-01 -4.93760060e-04 1.00452040e+01] [ 2.52350550e-03 -2.26792392e-05 9.99996816e-01 1.09660075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:99.46, Y:10.06, Z:0.11 [[ 9.77357635e-01 -2.11579605e-01 -2.47473501e-03 9.94564377e+01] [ 2.11579031e-01 9.77360767e-01 -4.94247645e-04 1.00582883e+01] [ 2.52328163e-03 -4.05453269e-05 9.99996816e-01 1.09006684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62263999999999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:99.51, Y:10.07, Z:0.11 [[ 9.76600146e-01 -2.15048903e-01 -2.47464883e-03 9.95128217e+01] [ 2.15048340e-01 9.76603280e-01 -4.94678755e-04 1.00686419e+01] [ 2.52313029e-03 -4.90657776e-05 9.99996816e-01 1.08826609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.57, Y:10.08, Z:0.11 [[ 9.76016521e-01 -2.17682400e-01 -2.47461237e-03 9.95698517e+01] [ 2.17681844e-01 9.76019656e-01 -4.94861059e-04 1.00773580e+01] [ 2.52299286e-03 -5.56856159e-05 9.99996816e-01 1.11328691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74264 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:99.63, Y:10.08, Z:0.11 [[ 9.76250592e-01 -2.16630236e-01 -2.47451450e-03 9.96277287e+01] [ 2.16629676e-01 9.76253726e-01 -4.95349980e-04 1.00845397e+01] [ 2.52306178e-03 -5.24675628e-05 9.99996816e-01 1.05497113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:99.69, Y:10.09, Z:0.11 [[ 9.77460266e-01 -2.11104962e-01 -2.47448422e-03 9.96850614e+01] [ 2.11104384e-01 9.77463398e-01 -4.95501188e-04 1.00924908e+01] [ 2.52332051e-03 -3.80417440e-05 9.99996816e-01 1.08096713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.74, Y:10.10, Z:0.11 [[ 9.78742150e-01 -2.05079697e-01 -2.47438773e-03 9.97430683e+01] [ 2.05079098e-01 9.78745277e-01 -4.95982567e-04 1.01024519e+01] [ 2.52351126e-03 -2.20061608e-05 9.99996816e-01 1.09962914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.80, Y:10.11, Z:0.11 [[ 9.80873284e-01 -1.94631647e-01 -2.47430326e-03 9.97995071e+01] [ 1.94631014e-01 9.80876405e-01 -4.96403611e-04 1.01118253e+01] [ 2.52360154e-03 5.33288679e-06 9.99996816e-01 1.08131785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.86, Y:10.12, Z:0.11 [[ 9.82467739e-01 -1.86416253e-01 -2.47426126e-03 9.98568475e+01] [ 1.86415594e-01 9.82470854e-01 -4.96612869e-04 1.01230978e+01] [ 2.52346628e-03 2.66652410e-05 9.99996816e-01 1.11502688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04263999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:99.91, Y:10.14, Z:0.11 [[ 9.82925942e-01 -1.83984973e-01 -2.47417884e-03 9.99141553e+01] [ 1.83984305e-01 9.82929056e-01 -4.97023160e-04 1.01358680e+01] [ 2.52338706e-03 3.33268837e-05 9.99996816e-01 1.09060065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:10.15, Z:0.11 [[ 9.82882896e-01 -1.84214799e-01 -2.47409539e-03 9.99713068e+01] [ 1.84214130e-01 9.82886009e-01 -4.97438193e-04 1.01455157e+01] [ 2.52338922e-03 3.31601601e-05 9.99996816e-01 1.09365712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:100.03, Y:10.16, Z:0.11 [[ 9.82740903e-01 -1.84970801e-01 -2.47399819e-03 1.00027823e+02] [ 1.84970134e-01 9.82744016e-01 -4.97921172e-04 1.01569721e+01] [ 2.52340779e-03 3.17117266e-05 9.99996816e-01 1.10350652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:10.17, Z:0.11 [[ 9.82813105e-01 -1.84586782e-01 -2.47389812e-03 1.00083950e+02] [ 1.84586112e-01 9.82816218e-01 -4.98417851e-04 1.01699516e+01] [ 2.52338854e-03 3.32043604e-05 9.99996816e-01 1.09717470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.14, Y:10.18, Z:0.11 [[ 9.82653318e-01 -1.85435531e-01 -2.47386717e-03 1.00141010e+02] [ 1.85434863e-01 9.82656432e-01 -4.98571404e-04 1.01827439e+01] [ 2.52341434e-03 3.11816226e-05 9.99996816e-01 1.10524933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:10.20, Z:0.11 [[ 9.82426487e-01 -1.86633540e-01 -2.47378137e-03 1.00196941e+02] [ 1.86632875e-01 9.82429601e-01 -4.98996769e-04 1.01973793e+01] [ 2.52344558e-03 2.85387126e-05 9.99996816e-01 1.05861229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.25, Y:10.21, Z:0.11 [[ 9.81689003e-01 -1.90474623e-01 -2.47375100e-03 1.00253849e+02] [ 1.90473970e-01 9.81692120e-01 -4.99147273e-04 1.02124295e+01] [ 2.52353676e-03 1.88222150e-05 9.99996816e-01 1.11961473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.31, Y:10.23, Z:0.11 [[ 9.81154816e-01 -1.93207423e-01 -2.47366495e-03 1.00311204e+02] [ 1.93206778e-01 9.81157934e-01 -4.99573351e-04 1.02256599e+01] [ 2.52357728e-03 1.22299645e-05 9.99996816e-01 1.14763125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:100.37, Y:10.24, Z:0.11 [[ 9.81328301e-01 -1.92324329e-01 -2.47357250e-03 1.00366602e+02] [ 1.92323680e-01 9.81331418e-01 -5.00030726e-04 1.02409292e+01] [ 2.52356248e-03 1.49677383e-05 9.99996816e-01 1.11807089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.42, Y:10.25, Z:0.11 [[ 9.81510376e-01 -1.91392956e-01 -2.47353298e-03 1.00422468e+02] [ 1.91392303e-01 9.81513493e-01 -5.00226149e-04 1.02544386e+01] [ 2.52354575e-03 1.75619839e-05 9.99996816e-01 1.11637472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.48, Y:10.27, Z:0.11 [[ 9.82027822e-01 -1.88719999e-01 -2.47349075e-03 1.00478000e+02] [ 1.88719337e-01 9.82030937e-01 -5.00434838e-04 1.02717472e+01] [ 2.52348651e-03 2.46453984e-05 9.99996816e-01 1.13672549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.53, Y:10.29, Z:0.11 [[ 9.82439258e-01 -1.86566307e-01 -2.47339125e-03 1.00533922e+02] [ 1.86565637e-01 9.82442371e-01 -5.00926148e-04 1.02880293e+01] [ 2.52342031e-03 3.06796988e-05 9.99996816e-01 1.12491784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.59, Y:10.31, Z:0.11 [[ 9.82698597e-01 -1.85195439e-01 -2.47336057e-03 1.00589366e+02] [ 1.85194764e-01 9.82701709e-01 -5.01077570e-04 1.03081854e+01] [ 2.52337294e-03 3.43547975e-05 9.99996816e-01 1.13678142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.65, Y:10.33, Z:0.11 [[ 9.82420492e-01 -1.86665101e-01 -2.47332958e-03 1.00645099e+02] [ 1.86664431e-01 9.82423605e-01 -5.01230509e-04 1.03256149e+01] [ 2.52341961e-03 3.07364655e-05 9.99996816e-01 1.13021747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.70, Y:10.34, Z:0.11 [[ 9.81737022e-01 -1.90226975e-01 -2.47323062e-03 1.00700361e+02] [ 1.90226315e-01 9.81740137e-01 -5.01718340e-04 1.03430394e+01] [ 2.52351013e-03 2.20819238e-05 9.99996816e-01 1.11425788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:100.76, Y:10.36, Z:0.12 [[ 9.81432520e-01 -1.91791793e-01 -2.47313116e-03 1.00756211e+02] [ 1.91791136e-01 9.81435636e-01 -5.02208120e-04 1.03629250e+01] [ 2.52353845e-03 1.85587458e-05 9.99996816e-01 1.16345225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:100.81, Y:10.38, Z:0.11 [[ 9.81554929e-01 -1.91164342e-01 -2.47303876e-03 1.00812867e+02] [ 1.91163683e-01 9.81558044e-01 -5.02662720e-04 1.03790819e+01] [ 2.52352228e-03 2.06358733e-05 9.99996816e-01 1.13442148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:100.87, Y:10.40, Z:0.11 [[ 9.81808786e-01 -1.89856243e-01 -2.47301294e-03 1.00867220e+02] [ 1.89855578e-01 9.81811900e-01 -5.02789709e-04 1.04019564e+01] [ 2.52349130e-03 2.41280508e-05 9.99996816e-01 1.09806134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:10.42, Z:0.11 [[ 9.81951600e-01 -1.89116209e-01 -2.47292665e-03 1.00922970e+02] [ 1.89115541e-01 9.81954713e-01 -5.03213799e-04 1.04198224e+01] [ 2.52346786e-03 2.64627339e-05 9.99996816e-01 1.12314242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18263999999999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:10.44, Z:0.11 [[ 9.81873441e-01 -1.89521585e-01 -2.47283429e-03 1.00978022e+02] [ 1.89520918e-01 9.81876554e-01 -5.03667231e-04 1.04386790e+01] [ 2.52347382e-03 2.58836527e-05 9.99996816e-01 1.13098122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:10.46, Z:0.12 [[ 9.81413095e-01 -1.91891175e-01 -2.47273841e-03 1.01032929e+02] [ 1.91890514e-01 9.81416210e-01 -5.04137527e-04 1.04611759e+01] [ 2.52352510e-03 2.02721263e-05 9.99996816e-01 1.16839107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:10.48, Z:0.12 [[ 9.80433016e-01 -1.96837463e-01 -2.47270854e-03 1.01090162e+02] [ 1.96836818e-01 9.80436134e-01 -5.04283968e-04 1.04757611e+01] [ 2.52359478e-03 7.69657136e-06 9.99996816e-01 1.17387369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:10.49, Z:0.12 [[ 9.78610044e-01 -2.05709183e-01 -2.47262490e-03 1.01147266e+02] [ 2.05708564e-01 9.78613168e-01 -5.04693753e-04 1.04906887e+01] [ 2.52356343e-03 -1.47417418e-05 9.99996816e-01 1.15937895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.20, Y:10.51, Z:0.11 [[ 9.77469501e-01 -2.11062219e-01 -2.47254048e-03 1.01203193e+02] [ 2.11061617e-01 9.77472628e-01 -5.05107012e-04 1.05058272e+01] [ 2.52344964e-03 -2.81316907e-05 9.99996816e-01 1.13758947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.26, Y:10.52, Z:0.11 [[ 9.76450557e-01 -2.15727133e-01 -2.47251077e-03 1.01260922e+02] [ 2.15726545e-01 9.76453687e-01 -5.05252398e-04 1.05184808e+01] [ 2.52328891e-03 -4.00322206e-05 9.99996816e-01 1.12823609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.32, Y:10.53, Z:0.11 [[ 9.76395823e-01 -2.15974730e-01 -2.47242509e-03 1.01316333e+02] [ 2.15974141e-01 9.76398953e-01 -5.05671306e-04 1.05298276e+01] [ 2.52328549e-03 -4.02445350e-05 9.99996816e-01 1.11411475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.37, Y:10.54, Z:0.11 [[ 9.76507054e-01 -2.15471254e-01 -2.47238301e-03 1.01372878e+02] [ 2.15470663e-01 9.76510183e-01 -5.05876988e-04 1.05413924e+01] [ 2.52330913e-03 -3.87335586e-05 9.99996816e-01 1.09840239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.43, Y:10.55, Z:0.11 [[ 9.75946183e-01 -2.17997559e-01 -2.47235343e-03 1.01430564e+02] [ 2.17996976e-01 9.75949313e-01 -5.06021496e-04 1.05500912e+01] [ 2.52320308e-03 -4.51158240e-05 9.99996816e-01 1.10466006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.49, Y:10.56, Z:0.11 [[ 9.75318336e-01 -2.20789566e-01 -2.47225822e-03 1.01489068e+02] [ 2.20788991e-01 9.75321468e-01 -5.06486215e-04 1.05581235e+01] [ 2.52307339e-03 -5.18621056e-05 9.99996816e-01 1.13701909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.55, Y:10.57, Z:0.11 [[ 9.74626936e-01 -2.23821860e-01 -2.47217005e-03 1.01546564e+02] [ 2.23821294e-01 9.74630069e-01 -5.06916212e-04 1.05652400e+01] [ 2.52291020e-03 -5.92701054e-05 9.99996816e-01 1.13377898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.61, Y:10.57, Z:0.11 [[ 9.74447077e-01 -2.24603612e-01 -2.47212344e-03 1.01605552e+02] [ 2.24603048e-01 9.74450211e-01 -5.07143450e-04 1.05705291e+01] [ 2.52286745e-03 -6.10620056e-05 9.99996816e-01 1.11459853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.66, Y:10.58, Z:0.11 [[ 9.74687978e-01 -2.23555886e-01 -2.47204130e-03 1.01663413e+02] [ 2.23555318e-01 9.74691111e-01 -5.07543490e-04 1.05789237e+01] [ 2.52294102e-03 -5.79414408e-05 9.99996816e-01 1.12439830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:101.72, Y:10.58, Z:0.11 [[ 9.75599288e-01 -2.19544801e-01 -2.47194234e-03 1.01722178e+02] [ 2.19544218e-01 9.75602418e-01 -5.08025005e-04 1.05832932e+01] [ 2.52316718e-03 -4.70718167e-05 9.99996816e-01 1.11982234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:101.78, Y:10.59, Z:0.11 [[ 9.76968203e-01 -2.13370617e-01 -2.47185616e-03 1.01781089e+02] [ 2.13370013e-01 9.76971330e-01 -5.08444011e-04 1.05908016e+01] [ 2.52341961e-03 -3.06863488e-05 9.99996816e-01 1.11312888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.84, Y:10.60, Z:0.11 [[ 9.77715300e-01 -2.09920660e-01 -2.47176893e-03 1.01839203e+02] [ 2.09920044e-01 9.77718424e-01 -5.08867706e-04 1.06006297e+01] [ 2.52351587e-03 -2.13461005e-05 9.99996816e-01 1.10494060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.90, Y:10.61, Z:0.11 [[ 9.78476711e-01 -2.06342474e-01 -2.47168075e-03 1.01896427e+02] [ 2.06341846e-01 9.78479833e-01 -5.09295654e-04 1.06094244e+01] [ 2.52357909e-03 -1.16772313e-05 9.99996816e-01 1.13405588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.95, Y:10.62, Z:0.11 [[ 9.78938336e-01 -2.04141189e-01 -2.47163397e-03 1.01954630e+02] [ 2.04140553e-01 9.78941456e-01 -5.09522562e-04 1.06194163e+01] [ 2.52359950e-03 -5.76955833e-06 9.99996816e-01 1.13498848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.01, Y:10.63, Z:0.11 [[ 9.79430575e-01 -2.01766299e-01 -2.47154773e-03 1.02011579e+02] [ 2.01765654e-01 9.79433694e-01 -5.09940548e-04 1.06278753e+01] [ 2.52360594e-03 7.77919155e-07 9.99996816e-01 1.13794858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.07, Y:10.64, Z:0.11 [[ 9.79704914e-01 -2.00429969e-01 -2.47147890e-03 1.02068478e+02] [ 2.00429319e-01 9.79708032e-01 -5.10273915e-04 1.06398568e+01] [ 2.52360192e-03 4.56102822e-06 9.99996816e-01 1.13453692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.13, Y:10.65, Z:0.12 [[ 9.79511725e-01 -2.01371975e-01 -2.47144794e-03 1.02126030e+02] [ 2.01371328e-01 9.79514843e-01 -5.10423861e-04 1.06506187e+01] [ 2.52360500e-03 2.28740464e-06 9.99996816e-01 1.15166342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.18, Y:10.66, Z:0.11 [[ 9.79119248e-01 -2.03271714e-01 -2.47136451e-03 1.02183659e+02] [ 2.03271072e-01 9.79122367e-01 -5.10827476e-04 1.06616367e+01] [ 2.52360505e-03 -2.19589838e-06 9.99996816e-01 1.12901775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.24, Y:10.67, Z:0.11 [[ 9.78432017e-01 -2.06554305e-01 -2.47127609e-03 1.02240879e+02] [ 2.06553673e-01 9.78435138e-01 -5.11254883e-04 1.06715984e+01] [ 2.52358526e-03 -1.02230057e-05 9.99996816e-01 1.10595593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.30, Y:10.68, Z:0.11 [[ 9.77926246e-01 -2.08935754e-01 -2.47124503e-03 1.02299401e+02] [ 2.08935129e-01 9.77929369e-01 -5.11404956e-04 1.06806862e+01] [ 2.52355387e-03 -1.62135708e-05 9.99996816e-01 1.13720244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:10.69, Z:0.11 [[ 9.77637832e-01 -2.10281153e-01 -2.47115787e-03 1.02356505e+02] [ 2.10280531e-01 9.77640955e-01 -5.11825790e-04 1.06921907e+01] [ 2.52353245e-03 -1.92561343e-05 9.99996816e-01 1.13563247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:10.70, Z:0.12 [[ 9.77647278e-01 -2.10237231e-01 -2.47105923e-03 1.02413855e+02] [ 2.10236608e-01 9.77650401e-01 -5.12301543e-04 1.07000671e+01] [ 2.52353691e-03 -1.86569024e-05 9.99996816e-01 1.15530768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:10.71, Z:0.11 [[ 9.77725092e-01 -2.09875054e-01 -2.47095839e-03 1.02471931e+02] [ 2.09874428e-01 9.77728215e-01 -5.12787469e-04 1.07080291e+01] [ 2.52354703e-03 -1.72258045e-05 9.99996816e-01 1.14102095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:10.72, Z:0.11 [[ 9.77771875e-01 -2.09656994e-01 -2.47086980e-03 1.02529210e+02] [ 2.09656366e-01 9.77774997e-01 -5.13214000e-04 1.07163820e+01] [ 2.52355361e-03 -1.62273685e-05 9.99996816e-01 1.12211409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:10.72, Z:0.11 [[ 9.78237569e-01 -2.07473261e-01 -2.47083855e-03 1.02587219e+02] [ 2.07472626e-01 9.78240689e-01 -5.13364413e-04 1.07244655e+01] [ 2.52358419e-03 -1.04390063e-05 9.99996816e-01 1.12563143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.64, Y:10.73, Z:0.11 [[ 9.78956867e-01 -2.04052315e-01 -2.47075070e-03 1.02644171e+02] [ 2.04051668e-01 9.78959985e-01 -5.13786879e-04 1.07333476e+01] [ 2.52360547e-03 -1.18560852e-06 9.99996816e-01 1.13605146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98263999999999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:10.74, Z:0.11 [[ 9.80093095e-01 -1.98523096e-01 -2.47071950e-03 1.02701980e+02] [ 1.98522432e-01 9.80096210e-01 -5.13936866e-04 1.07419446e+01] [ 2.52357115e-03 1.32127313e-05 9.99996816e-01 1.13130878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:10.75, Z:0.12 [[ 9.80822260e-01 -1.94888663e-01 -2.47063382e-03 1.02759281e+02] [ 1.94887985e-01 9.80825371e-01 -5.14348431e-04 1.07533018e+01] [ 2.52350101e-03 2.29875434e-05 9.99996816e-01 1.16467358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:10.77, Z:0.12 [[ 9.81160738e-01 -1.93177386e-01 -2.47054848e-03 1.02815664e+02] [ 1.93176702e-01 9.81163848e-01 -5.14757996e-04 1.07655276e+01] [ 2.52345246e-03 2.78079273e-05 9.99996816e-01 1.15033309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:10.78, Z:0.12 [[ 9.81719701e-01 -1.90316380e-01 -2.47044998e-03 1.02873086e+02] [ 1.90315686e-01 9.81722809e-01 -5.15230273e-04 1.07781518e+01] [ 2.52335386e-03 3.56463257e-05 9.99996816e-01 1.20729996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.93, Y:10.79, Z:0.11 [[ 9.82069132e-01 -1.88504953e-01 -2.47035703e-03 1.02929461e+02] [ 1.88504252e-01 9.82072238e-01 -5.15675594e-04 1.07912870e+01] [ 2.52327646e-03 4.07562788e-05 9.99996816e-01 1.13879605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:10.80, Z:0.12 [[ 9.81995203e-01 -1.88889699e-01 -2.47032387e-03 1.02986551e+02] [ 1.88888999e-01 9.81998310e-01 -5.15834395e-04 1.08041997e+01] [ 2.52328966e-03 3.99299000e-05 9.99996816e-01 1.17920456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34263999999999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:10.82, Z:0.11 [[ 9.81427890e-01 -1.91815520e-01 -2.47023552e-03 1.03043932e+02] [ 1.91814828e-01 9.81430999e-01 -5.16257102e-04 1.08187784e+01] [ 2.52339184e-03 3.28413161e-05 9.99996816e-01 1.13877984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:10.83, Z:0.12 [[ 9.81082102e-01 -1.93576360e-01 -2.47014701e-03 1.03100780e+02] [ 1.93575672e-01 9.81085211e-01 -5.16680254e-04 1.08310597e+01] [ 2.52344179e-03 2.87453807e-05 9.99996816e-01 1.15676048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.16, Y:10.84, Z:0.12 [[ 9.80734102e-01 -1.95331819e-01 -2.47011567e-03 1.03157506e+02] [ 1.95331136e-01 9.80737213e-01 -5.16830065e-04 1.08440844e+01] [ 2.52348771e-03 2.43823696e-05 9.99996816e-01 1.16168169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:103.21, Y:10.86, Z:0.11 [[ 9.80589426e-01 -1.96056822e-01 -2.47001405e-03 1.03213958e+02] [ 1.96056141e-01 9.80592536e-01 -5.17315266e-04 1.08615417e+01] [ 2.52350053e-03 2.30124577e-05 9.99996816e-01 1.12429208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.27, Y:10.88, Z:0.11 [[ 9.80631227e-01 -1.95847634e-01 -2.46992502e-03 1.03269739e+02] [ 1.95846951e-01 9.80634337e-01 -5.17739968e-04 1.08757953e+01] [ 2.52349144e-03 2.39846963e-05 9.99996816e-01 1.10664597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.33, Y:10.89, Z:0.11 [[ 9.80439581e-01 -1.96804797e-01 -2.46989356e-03 1.03325895e+02] [ 1.96804117e-01 9.80442691e-01 -5.17890002e-04 1.08902556e+01] [ 2.52351233e-03 2.16746338e-05 9.99996816e-01 1.10202127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.38, Y:10.90, Z:0.11 [[ 9.80105332e-01 -1.98462687e-01 -2.46984682e-03 1.03382977e+02] [ 1.98462011e-01 9.80108444e-01 -5.18112849e-04 1.09039495e+01] [ 2.52354379e-03 1.76343995e-05 9.99996816e-01 1.14923384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76263999999999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:103.44, Y:10.92, Z:0.11 [[ 9.79036221e-01 -2.03671249e-01 -2.46976049e-03 1.03439748e+02] [ 2.03670589e-01 9.79039337e-01 -5.18524019e-04 1.09187515e+01] [ 2.52360111e-03 4.63622336e-06 9.99996816e-01 1.13597933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82263999999999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:103.50, Y:10.93, Z:0.11 [[ 9.77771540e-01 -2.09658570e-01 -2.46967117e-03 1.03496282e+02] [ 2.09657928e-01 9.77774659e-01 -5.18949077e-04 1.09298625e+01] [ 2.52358401e-03 -1.03725026e-05 9.99996816e-01 1.13218322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.55, Y:10.94, Z:0.11 [[ 9.76992810e-01 -2.13257944e-01 -2.46956950e-03 1.03552721e+02] [ 2.13257313e-01 9.76995931e-01 -5.19432460e-04 1.09413129e+01] [ 2.52353245e-03 -1.91719772e-05 9.99996816e-01 1.14434438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.61, Y:10.95, Z:0.11 [[ 9.76708537e-01 -2.14556136e-01 -2.46946832e-03 1.03609083e+02] [ 2.14555507e-01 9.76711659e-01 -5.19913046e-04 1.09522059e+01] [ 2.52350903e-03 -2.20345175e-05 9.99996816e-01 1.13301075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.67, Y:10.96, Z:0.11 [[ 9.76978090e-01 -2.13325369e-01 -2.46943725e-03 1.03665747e+02] [ 2.13324736e-01 9.76981211e-01 -5.20060587e-04 1.09630601e+01] [ 2.52353591e-03 -1.87042498e-05 9.99996816e-01 1.11545504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:10.97, Z:0.11 [[ 9.77507171e-01 -2.10887726e-01 -2.46939140e-03 1.03723296e+02] [ 2.10887085e-01 9.77510290e-01 -5.20278200e-04 1.09735669e+01] [ 2.52357579e-03 -1.21870822e-05 9.99996816e-01 1.14198606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:10.99, Z:0.12 [[ 9.78879583e-01 -2.04422757e-01 -2.46930512e-03 1.03780806e+02] [ 2.04422094e-01 9.78882698e-01 -5.20687374e-04 1.09867462e+01] [ 2.52360041e-03 4.90971550e-06 9.99996816e-01 1.15310169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:11.00, Z:0.12 [[ 9.79807820e-01 -1.99926336e-01 -2.46921946e-03 1.03839144e+02] [ 1.99925657e-01 9.79810931e-01 -5.21093291e-04 1.09972343e+01] [ 2.52354849e-03 1.69109578e-05 9.99996816e-01 1.16590354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:11.01, Z:0.12 [[ 9.81139994e-01 -1.93282732e-01 -2.46913420e-03 1.03895183e+02] [ 1.93282032e-01 9.81143101e-01 -5.21496961e-04 1.10109509e+01] [ 2.52337034e-03 3.44222506e-05 9.99996816e-01 1.16106878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.95, Y:11.02, Z:0.12 [[ 9.82352034e-01 -1.87025092e-01 -2.46903525e-03 1.03952330e+02] [ 1.87024370e-01 9.82355136e-01 -5.21965009e-04 1.10233103e+01] [ 2.52309001e-03 5.09836256e-05 9.99996816e-01 1.17798065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:11.04, Z:0.12 [[ 9.83123758e-01 -1.82925070e-01 -2.46894912e-03 1.04009065e+02] [ 1.82924334e-01 9.83126856e-01 -5.22372098e-04 1.10391647e+01] [ 2.52284514e-03 6.19255458e-05 9.99996816e-01 1.16397545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:11.05, Z:0.12 [[ 9.83264197e-01 -1.82168670e-01 -2.46886259e-03 1.04065816e+02] [ 1.82167932e-01 9.83267294e-01 -5.22780768e-04 1.10522481e+01] [ 2.52278611e-03 6.42840215e-05 9.99996816e-01 1.16340229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48263999999999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:104.12, Y:11.07, Z:0.11 [[ 9.83443249e-01 -1.81199564e-01 -2.46876352e-03 1.04121971e+02] [ 1.81198821e-01 9.83446345e-01 -5.23248187e-04 1.10670845e+01] [ 2.52270880e-03 6.72478576e-05 9.99996816e-01 1.13999340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54263999999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:104.18, Y:11.09, Z:0.12 [[ 9.83236853e-01 -1.82316200e-01 -2.46866511e-03 1.04177288e+02] [ 1.82315459e-01 9.83239950e-01 -5.23712077e-04 1.10851807e+01] [ 2.52277135e-03 6.48572024e-05 9.99996816e-01 1.16003113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:11.10, Z:0.12 [[ 9.82141401e-01 -1.88128077e-01 -2.46863476e-03 1.04233917e+02] [ 1.88127354e-01 9.82144503e-01 -5.23855091e-04 1.11036244e+01] [ 2.52310791e-03 5.00820470e-05 9.99996816e-01 1.16226855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:11.12, Z:0.12 [[ 9.81015700e-01 -1.93912617e-01 -2.46854841e-03 1.04290722e+02] [ 1.93911911e-01 9.81018805e-01 -5.24261687e-04 1.11190660e+01] [ 2.52335336e-03 3.56280061e-05 9.99996816e-01 1.15719617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:11.14, Z:0.12 [[ 9.79136624e-01 -2.03188036e-01 -2.46845871e-03 1.04347194e+02] [ 2.03187359e-01 9.79139736e-01 -5.24683696e-04 1.11351020e+01] [ 2.52357546e-03 1.21774162e-05 9.99996816e-01 1.15298034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:11.15, Z:0.11 [[ 9.77334247e-01 -2.11687686e-01 -2.46836714e-03 1.04402471e+02] [ 2.11687035e-01 9.77337364e-01 -5.25114121e-04 1.11491142e+01] [ 2.52358763e-03 -9.30930757e-06 9.99996816e-01 1.14894011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:11.16, Z:0.12 [[ 9.76293314e-01 -2.16437686e-01 -2.46832203e-03 1.04458836e+02] [ 2.16437050e-01 9.76296434e-01 -5.25326082e-04 1.11631112e+01] [ 2.52351436e-03 -2.13639962e-05 9.99996816e-01 1.16445958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.51, Y:11.18, Z:0.12 [[ 9.75510554e-01 -2.19938781e-01 -2.46821815e-03 1.04514302e+02] [ 2.19938155e-01 9.75513676e-01 -5.25813675e-04 1.11778465e+01] [ 2.52342738e-03 -2.99185577e-05 9.99996816e-01 1.16910093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:11.19, Z:0.12 [[ 9.75224216e-01 -2.21204964e-01 -2.46816190e-03 1.04571798e+02] [ 2.21204341e-01 9.75227339e-01 -5.26077615e-04 1.11901652e+01] [ 2.52338994e-03 -3.29244958e-05 9.99996816e-01 1.20399025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:11.20, Z:0.12 [[ 9.75228741e-01 -2.21185014e-01 -2.46807359e-03 1.04629760e+02] [ 2.21184390e-01 9.75231864e-01 -5.26491576e-04 1.12024268e+01] [ 2.52339605e-03 -3.24496354e-05 9.99996816e-01 1.22390525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:104.69, Y:11.21, Z:0.12 [[ 9.75610483e-01 -2.19495089e-01 -2.46798584e-03 1.04686603e+02] [ 2.19494458e-01 9.75613604e-01 -5.26902574e-04 1.12127990e+01] [ 2.52345309e-03 -2.76575408e-05 9.99996816e-01 1.16878245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.74, Y:11.22, Z:0.12 [[ 9.76010394e-01 -2.17709947e-01 -2.46795483e-03 1.04744265e+02] [ 2.17709310e-01 9.76013514e-01 -5.27047813e-04 1.12233297e+01] [ 2.52350081e-03 -2.28925992e-05 9.99996816e-01 1.17028301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.80, Y:11.23, Z:0.12 [[ 9.76982765e-01 -2.13303975e-01 -2.46786843e-03 1.04801056e+02] [ 2.13303323e-01 9.76985882e-01 -5.27452057e-04 1.12347843e+01] [ 2.52358024e-03 -1.10929668e-05 9.99996816e-01 1.19639694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:11.25, Z:0.12 [[ 9.78108089e-01 -2.08082857e-01 -2.46783794e-03 1.04858497e+02] [ 2.08082188e-01 9.78111203e-01 -5.27594685e-04 1.12456320e+01] [ 2.52360334e-03 2.53151004e-06 9.99996816e-01 1.19734130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:11.26, Z:0.12 [[ 9.78673497e-01 -2.05407148e-01 -2.46773758e-03 1.04915508e+02] [ 2.05406470e-01 9.78676608e-01 -5.28063682e-04 1.12580508e+01] [ 2.52358510e-03 9.91266714e-06 9.99996816e-01 1.21225143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.97, Y:11.27, Z:0.12 [[ 9.78817934e-01 -2.04717763e-01 -2.46763354e-03 1.04971197e+02] [ 2.04717081e-01 9.78821045e-01 -5.28549411e-04 1.12697183e+01] [ 2.52357509e-03 1.21869065e-05 9.99996816e-01 1.20624951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.03, Y:11.28, Z:0.12 [[ 9.78165383e-01 -2.07813365e-01 -2.46758867e-03 1.05028115e+02] [ 2.07812693e-01 9.78168495e-01 -5.28758818e-04 1.12789744e+01] [ 2.52360064e-03 4.41732696e-06 9.99996816e-01 1.18405772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.08, Y:11.29, Z:0.12 [[ 9.77541747e-01 -2.10727415e-01 -2.46754131e-03 1.05084809e+02] [ 2.10726751e-01 9.77544862e-01 -5.28979705e-04 1.12903596e+01] [ 2.52360286e-03 -2.87721946e-06 9.99996816e-01 1.17190291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.14, Y:11.30, Z:0.12 [[ 9.76696658e-01 -2.14610226e-01 -2.46751016e-03 1.05142108e+02] [ 2.14609574e-01 9.76699775e-01 -5.29125008e-04 1.12986842e+01] [ 2.52357225e-03 -1.27566763e-05 9.99996816e-01 1.16544665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62263999999999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:11.31, Z:0.12 [[ 9.76243712e-01 -2.16661319e-01 -2.46741146e-03 1.05199747e+02] [ 2.16660672e-01 9.76246830e-01 -5.29584840e-04 1.13085361e+01] [ 2.52354317e-03 -1.75871559e-05 9.99996816e-01 1.17365061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:11.32, Z:0.12 [[ 9.76270589e-01 -2.16540178e-01 -2.46732050e-03 1.05257043e+02] [ 2.16539530e-01 9.76273707e-01 -5.30008299e-04 1.13165465e+01] [ 2.52354822e-03 -1.68409060e-05 9.99996816e-01 1.20966630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:105.31, Y:11.33, Z:0.12 [[ 9.76787351e-01 -2.14197069e-01 -2.46721583e-03 1.05314846e+02] [ 2.14196413e-01 9.76790466e-01 -5.30495066e-04 1.13295176e+01] [ 2.52358339e-03 -1.02879107e-05 9.99996816e-01 1.20498037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.37, Y:11.34, Z:0.12 [[ 9.77323438e-01 -2.11737601e-01 -2.46712417e-03 1.05371042e+02] [ 2.11736935e-01 9.77326552e-01 -5.30921018e-04 1.13401294e+01] [ 2.52360190e-03 -3.49975661e-06 9.99996816e-01 1.21040967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.43, Y:11.35, Z:0.12 [[ 9.77711353e-01 -2.09939094e-01 -2.46707880e-03 1.05427903e+02] [ 2.09938422e-01 9.77714466e-01 -5.31131748e-04 1.13501404e+01] [ 2.52360395e-03 1.35890882e-06 9.99996816e-01 1.23363468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.49, Y:11.36, Z:0.12 [[ 9.78302283e-01 -2.07167944e-01 -2.46697424e-03 1.05485792e+02] [ 2.07167262e-01 9.78305394e-01 -5.31616974e-04 1.13615504e+01] [ 2.52358820e-03 9.00580137e-06 9.99996816e-01 1.24038040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.54, Y:11.38, Z:0.12 [[ 9.79371445e-01 -2.02053178e-01 -2.46688335e-03 1.05541755e+02] [ 2.02052479e-01 9.79374552e-01 -5.32038385e-04 1.13771053e+01] [ 2.52350282e-03 2.26233051e-05 9.99996816e-01 1.21986876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.60, Y:11.39, Z:0.13 [[ 9.80053281e-01 -1.98719605e-01 -2.46685110e-03 1.05598730e+02] [ 1.98718895e-01 9.80056385e-01 -5.32187860e-04 1.13906436e+01] [ 2.52340934e-03 3.13625330e-05 9.99996816e-01 1.26028823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:105.65, Y:11.41, Z:0.12 [[ 9.80470152e-01 -1.96652476e-01 -2.46680015e-03 1.05654433e+02] [ 1.96651759e-01 9.80473254e-01 -5.32423952e-04 1.14068044e+01] [ 2.52333406e-03 3.69252056e-05 9.99996816e-01 1.22860797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16264 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:105.71, Y:11.42, Z:0.12 [[ 9.80561481e-01 -1.96196578e-01 -2.46669208e-03 1.05709075e+02] [ 1.96195858e-01 9.80564583e-01 -5.32924156e-04 1.14226944e+01] [ 2.52330879e-03 3.86101302e-05 9.99996816e-01 1.19724584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.76, Y:11.44, Z:0.12 [[ 9.80367930e-01 -1.97161452e-01 -2.46664598e-03 1.05764534e+02] [ 1.97160734e-01 9.80371032e-01 -5.33137434e-04 1.14394515e+01] [ 2.52334242e-03 3.63451099e-05 9.99996816e-01 1.20365316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.82, Y:11.46, Z:0.13 [[ 9.80072647e-01 -1.98624073e-01 -2.46661501e-03 1.05819970e+02] [ 1.98623359e-01 9.80075750e-01 -5.33280672e-04 1.14567370e+01] [ 2.52339194e-03 3.27264391e-05 9.99996816e-01 1.25011494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.88, Y:11.47, Z:0.12 [[ 9.79922787e-01 -1.99362104e-01 -2.46650883e-03 1.05876822e+02] [ 1.99361392e-01 9.79925890e-01 -5.33771336e-04 1.14714336e+01] [ 2.52340964e-03 3.13280618e-05 9.99996816e-01 1.21595344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.93, Y:11.49, Z:0.12 [[ 9.79471612e-01 -2.01567054e-01 -2.46641555e-03 1.05931908e+02] [ 2.01566348e-01 9.79474717e-01 -5.34202035e-04 1.14906904e+01] [ 2.52346920e-03 2.60893556e-05 9.99996816e-01 1.15544793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.99, Y:11.51, Z:0.12 [[ 9.78491968e-01 -2.06270178e-01 -2.46638277e-03 1.05987900e+02] [ 2.06269487e-01 9.78495076e-01 -5.34353303e-04 1.15072977e+01] [ 2.52356455e-03 1.41209059e-05 9.99996816e-01 1.20995983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.04, Y:11.52, Z:0.12 [[ 9.77479263e-01 -2.11017081e-01 -2.46627510e-03 1.06043711e+02] [ 2.11016403e-01 9.77482374e-01 -5.34849792e-04 1.15201867e+01] [ 2.52360288e-03 2.38007894e-06 9.99996816e-01 1.21172002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:11.53, Z:0.13 [[ 9.75697203e-01 -2.19109300e-01 -2.46621687e-03 1.06101232e+02] [ 2.19108647e-01 9.75700320e-01 -5.35118182e-04 1.15335773e+01] [ 2.52353796e-03 -1.82561277e-05 9.99996816e-01 1.26324881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.16, Y:11.55, Z:0.13 [[ 9.74897358e-01 -2.22641101e-01 -2.46612367e-03 1.06158151e+02] [ 2.22640459e-01 9.74900477e-01 -5.35547332e-04 1.15461030e+01] [ 2.52345999e-03 -2.69552273e-05 9.99996816e-01 1.26404588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.22, Y:11.56, Z:0.13 [[ 9.74438412e-01 -2.24641269e-01 -2.46601731e-03 1.06215007e+02] [ 2.24640632e-01 9.74441532e-01 -5.36036628e-04 1.15556976e+01] [ 2.52340564e-03 -3.16330064e-05 9.99996816e-01 1.26311412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.27, Y:11.57, Z:0.13 [[ 9.74572844e-01 -2.24057338e-01 -2.46591186e-03 1.06273188e+02] [ 2.24056697e-01 9.74575963e-01 -5.36521311e-04 1.15655256e+01] [ 2.52342996e-03 -2.96249664e-05 9.99996816e-01 1.29468008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.33, Y:11.58, Z:0.13 [[ 9.74871703e-01 -2.22753410e-01 -2.46581953e-03 1.06331042e+02] [ 2.22752765e-01 9.74874821e-01 -5.36945307e-04 1.15762326e+01] [ 2.52347177e-03 -2.58153321e-05 9.99996816e-01 1.29391421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.39, Y:11.59, Z:0.13 [[ 9.75637944e-01 -2.19373021e-01 -2.46572605e-03 1.06388650e+02] [ 2.19372363e-01 9.75641060e-01 -5.37374250e-04 1.15856334e+01] [ 2.52354899e-03 -1.66294420e-05 9.99996816e-01 1.27517888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.45, Y:11.59, Z:0.13 [[ 9.76751258e-01 -2.14361612e-01 -2.46567617e-03 1.06446446e+02] [ 2.14360938e-01 9.76754370e-01 -5.37603032e-04 1.15948441e+01] [ 2.52360142e-03 -3.44021720e-06 9.99996816e-01 1.28625031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.50, Y:11.61, Z:0.13 [[ 9.77471220e-01 -2.11054342e-01 -2.46556968e-03 1.06503907e+02] [ 2.11053656e-01 9.77474330e-01 -5.38090937e-04 1.16065297e+01] [ 2.52359750e-03 5.60090984e-06 9.99996816e-01 1.27836913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.56, Y:11.62, Z:0.13 [[ 9.78093966e-01 -2.08149260e-01 -2.46547593e-03 1.06561931e+02] [ 2.08148564e-01 9.78097074e-01 -5.38520177e-04 1.16174397e+01] [ 2.52356737e-03 1.35380632e-05 9.99996816e-01 1.30057579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.62, Y:11.63, Z:0.13 [[ 9.78407731e-01 -2.06669382e-01 -2.46538138e-03 1.06618955e+02] [ 2.06668680e-01 9.78410837e-01 -5.38952688e-04 1.16278173e+01] [ 2.52354088e-03 1.77983626e-05 9.99996816e-01 1.32225285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.68, Y:11.64, Z:0.13 [[ 9.78713712e-01 -2.05215479e-01 -2.46534790e-03 1.06675413e+02] [ 2.05214772e-01 9.78716816e-01 -5.39105767e-04 1.16418112e+01] [ 2.52351030e-03 2.17043983e-05 9.99996816e-01 1.30802063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24264 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:106.73, Y:11.65, Z:0.13 [[ 9.79371070e-01 -2.02055017e-01 -2.46529888e-03 1.06732503e+02] [ 2.02054299e-01 9.79374172e-01 -5.39329859e-04 1.16542487e+01] [ 2.52342435e-03 3.00798238e-05 9.99996816e-01 1.29477769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:11.67, Z:0.13 [[ 9.80037213e-01 -1.98798851e-01 -2.46520405e-03 1.06788135e+02] [ 1.98798122e-01 9.80040313e-01 -5.39762962e-04 1.16691003e+01] [ 2.52330361e-03 3.89098535e-05 9.99996816e-01 1.30521319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:11.69, Z:0.13 [[ 9.80486954e-01 -1.96568708e-01 -2.46509627e-03 1.06844042e+02] [ 1.96567971e-01 9.80490051e-01 -5.40254747e-04 1.16852075e+01] [ 2.52319955e-03 4.51537601e-05 9.99996816e-01 1.26464753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:11.70, Z:0.13 [[ 9.79674995e-01 -2.00576237e-01 -2.46504718e-03 1.06901708e+02] [ 2.00575512e-01 9.79678096e-01 -5.40478655e-04 1.16984510e+01] [ 2.52335990e-03 3.50653242e-05 9.99996816e-01 1.30271600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48263999999999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:11.71, Z:0.13 [[ 9.78783698e-01 -2.04881422e-01 -2.46495389e-03 1.06958529e+02] [ 2.04880709e-01 9.78786801e-01 -5.40903765e-04 1.17131293e+01] [ 2.52348547e-03 2.44062860e-05 9.99996816e-01 1.29086673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:11.72, Z:0.13 [[ 9.78191796e-01 -2.07689032e-01 -2.46485958e-03 1.07015827e+02] [ 2.07688327e-01 9.78194902e-01 -5.41333171e-04 1.17248434e+01] [ 2.52354204e-03 1.76051039e-05 9.99996816e-01 1.29055325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.07, Y:11.74, Z:0.13 [[ 9.78717856e-01 -2.05195720e-01 -2.46476558e-03 1.07072218e+02] [ 2.05195006e-01 9.78720959e-01 -5.41760866e-04 1.17376895e+01] [ 2.52348474e-03 2.44734449e-05 9.99996816e-01 1.29423576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:11.75, Z:0.13 [[ 9.79456534e-01 -2.01640331e-01 -2.46473246e-03 1.07128289e+02] [ 2.01639605e-01 9.79459635e-01 -5.41911467e-04 1.17528712e+01] [ 2.52337717e-03 3.37910460e-05 9.99996816e-01 1.30934705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.18, Y:11.77, Z:0.13 [[ 9.80565387e-01 -1.96177079e-01 -2.46462732e-03 1.07183484e+02] [ 1.96176336e-01 9.80568484e-01 -5.42389254e-04 1.17711232e+01] [ 2.52314021e-03 4.83465732e-05 9.99996816e-01 1.32066500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.24, Y:11.78, Z:0.13 [[ 9.80959643e-01 -1.94196046e-01 -2.46451987e-03 1.07240546e+02] [ 1.94195295e-01 9.80962738e-01 -5.42877036e-04 1.17843190e+01] [ 2.52302673e-03 5.39423008e-05 9.99996816e-01 1.30439091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.29, Y:11.80, Z:0.13 [[ 9.81112209e-01 -1.93423782e-01 -2.46442533e-03 1.07294428e+02] [ 1.93423027e-01 9.81115303e-01 -5.43305890e-04 1.18035022e+01] [ 2.52297368e-03 5.63674349e-05 9.99996816e-01 1.27306949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90263999999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:107.35, Y:11.82, Z:0.13 [[ 9.80743021e-01 -1.95287103e-01 -2.46437870e-03 1.07351114e+02] [ 1.95286354e-01 9.80746116e-01 -5.43517315e-04 1.18194050e+01] [ 2.52307176e-03 5.17912840e-05 9.99996816e-01 1.27689426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.41, Y:11.84, Z:0.13 [[ 9.79726709e-01 -2.00323494e-01 -2.46428544e-03 1.07405989e+02] [ 2.00322760e-01 9.79729808e-01 -5.43939792e-04 1.18351226e+01] [ 2.52329782e-03 3.92598822e-05 9.99996816e-01 1.26975328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02264 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:107.46, Y:11.85, Z:0.13 [[ 9.78382191e-01 -2.06790271e-01 -2.46423938e-03 1.07462616e+02] [ 2.06789556e-01 9.78385294e-01 -5.44148395e-04 1.18507755e+01] [ 2.52350016e-03 2.28061308e-05 9.99996816e-01 1.27024226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.52, Y:11.87, Z:0.13 [[ 9.77506474e-01 -2.10891015e-01 -2.46414956e-03 1.07519689e+02] [ 2.10890313e-01 9.77509580e-01 -5.44554816e-04 1.18655756e+01] [ 2.52357152e-03 1.26405867e-05 9.99996816e-01 1.26271249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.58, Y:11.88, Z:0.13 [[ 9.77170227e-01 -2.12443581e-01 -2.46405917e-03 1.07575826e+02] [ 2.12442883e-01 9.77173334e-01 -5.44963552e-04 1.18796452e+01] [ 2.52358692e-03 9.05032572e-06 9.99996816e-01 1.27109206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20263999999999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:107.63, Y:11.89, Z:0.13 [[ 9.76931650e-01 -2.13538009e-01 -2.46395289e-03 1.07633095e+02] [ 2.13537312e-01 9.76934757e-01 -5.45443630e-04 1.18938036e+01] [ 2.52359417e-03 6.71526794e-06 9.99996816e-01 1.25633721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.69, Y:11.91, Z:0.12 [[ 9.76650852e-01 -2.14818626e-01 -2.46385868e-03 1.07689646e+02] [ 2.14817932e-01 9.76653960e-01 -5.45868885e-04 1.19059426e+01] [ 2.52360014e-03 3.84228531e-06 9.99996816e-01 1.23921034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.75, Y:11.92, Z:0.13 [[ 9.76508001e-01 -2.15467058e-01 -2.46382535e-03 1.07745893e+02] [ 2.15466366e-01 9.76511110e-01 -5.46019248e-04 1.19187052e+01] [ 2.52360199e-03 2.32066933e-06 9.99996816e-01 1.27532814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.80, Y:11.93, Z:0.13 [[ 9.76494503e-01 -2.15528226e-01 -2.46371838e-03 1.07803634e+02] [ 2.15527533e-01 9.76497611e-01 -5.46501486e-04 1.19318850e+01] [ 2.52360161e-03 2.65655130e-06 9.99996816e-01 1.30197271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:11.94, Z:0.13 [[ 9.76232705e-01 -2.16710951e-01 -2.46362494e-03 1.07860376e+02] [ 2.16710261e-01 9.76235814e-01 -5.46922405e-04 1.19423375e+01] [ 2.52360297e-03 3.07348219e-08 9.99996816e-01 1.30485009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50264 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:11.95, Z:0.13 [[ 9.76000174e-01 -2.17755808e-01 -2.46359200e-03 1.07917030e+02] [ 2.17755121e-01 9.76003283e-01 -5.47070722e-04 1.19543405e+01] [ 2.52360171e-03 -2.51865577e-06 9.99996816e-01 1.27642506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:11.96, Z:0.13 [[ 9.76553983e-01 -2.15258562e-01 -2.46348809e-03 1.07975151e+02] [ 2.15257866e-01 9.76557091e-01 -5.47538254e-04 1.19645792e+01] [ 2.52359906e-03 4.41547382e-06 9.99996816e-01 1.28467654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.03, Y:11.98, Z:0.13 [[ 9.76967068e-01 -2.13375912e-01 -2.46339722e-03 1.08031751e+02] [ 2.13375209e-01 9.76970173e-01 -5.47946757e-04 1.19768899e+01] [ 2.52358425e-03 9.69803876e-06 9.99996816e-01 1.28544525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68263999999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:108.09, Y:11.99, Z:0.13 [[ 9.77243262e-01 -2.12107377e-01 -2.46329175e-03 1.08089289e+02] [ 2.12106668e-01 9.77246366e-01 -5.48420499e-04 1.19901230e+01] [ 2.52356695e-03 1.34596317e-05 9.99996816e-01 1.33708856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.15, Y:12.00, Z:0.13 [[ 9.77091326e-01 -2.12806186e-01 -2.46319483e-03 1.08145477e+02] [ 2.12805479e-01 9.77094431e-01 -5.48855472e-04 1.20011636e+01] [ 2.52357379e-03 1.21005654e-05 9.99996816e-01 1.30944709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:12.01, Z:0.13 [[ 9.76420699e-01 -2.15862345e-01 -2.46314689e-03 1.08202941e+02] [ 2.15861646e-01 9.76423806e-01 -5.49070540e-04 1.20120426e+01] [ 2.52359891e-03 4.42489778e-06 9.99996816e-01 1.28428957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.26, Y:12.02, Z:0.13 [[ 9.75550380e-01 -2.19762118e-01 -2.46305582e-03 1.08261194e+02] [ 2.19761431e-01 9.75553490e-01 -5.49478740e-04 1.20216373e+01] [ 2.52359732e-03 -5.24047956e-06 9.99996816e-01 1.28598002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.32, Y:12.03, Z:0.13 [[ 9.75048530e-01 -2.21978149e-01 -2.46296103e-03 1.08319490e+02] [ 2.21977468e-01 9.75051640e-01 -5.49903307e-04 1.20325741e+01] [ 2.52358071e-03 -1.05394420e-05 9.99996816e-01 1.30524444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:12.04, Z:0.13 [[ 9.74741778e-01 -2.23321296e-01 -2.46286614e-03 1.08376612e+02] [ 2.23320618e-01 9.74744889e-01 -5.50327991e-04 1.20443763e+01] [ 2.52356614e-03 -1.35811029e-05 9.99996816e-01 1.30015113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04263999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:108.43, Y:12.06, Z:0.13 [[ 9.74393243e-01 -2.24837147e-01 -2.46275806e-03 1.08434296e+02] [ 2.24836473e-01 9.74396355e-01 -5.50811230e-04 1.20552085e+01] [ 2.52354530e-03 -1.70110949e-05 9.99996816e-01 1.27132508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:108.49, Y:12.06, Z:0.13 [[ 9.74061170e-01 -2.26271459e-01 -2.46266199e-03 1.08492019e+02] [ 2.26270789e-01 9.74064282e-01 -5.51240388e-04 1.20626319e+01] [ 2.52352105e-03 -2.02866150e-05 9.99996816e-01 1.25288102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:108.55, Y:12.07, Z:0.13 [[ 9.73892205e-01 -2.26997596e-01 -2.46262810e-03 1.08549715e+02] [ 2.26996928e-01 9.73895318e-01 -5.51391763e-04 1.20723307e+01] [ 2.52350658e-03 -2.20128727e-05 9.99996816e-01 1.26461429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.61, Y:12.08, Z:0.13 [[ 9.74424983e-01 -2.24699552e-01 -2.46253262e-03 1.08607284e+02] [ 2.24698875e-01 9.74428094e-01 -5.51817860e-04 1.20783343e+01] [ 2.52355419e-03 -1.56232003e-05 9.99996816e-01 1.26179293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:12.09, Z:0.13 [[ 9.75208174e-01 -2.21275742e-01 -2.46249883e-03 1.08665552e+02] [ 2.21275054e-01 9.75211283e-01 -5.51968617e-04 1.20856594e+01] [ 2.52359390e-03 -6.60525278e-06 9.99996816e-01 1.28635026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:12.09, Z:0.13 [[ 9.75465786e-01 -2.20137313e-01 -2.46240776e-03 1.08724097e+02] [ 2.20136620e-01 9.75468894e-01 -5.52374567e-04 1.20946230e+01] [ 2.52360043e-03 -3.24363070e-06 9.99996816e-01 1.30812164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40263999999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:12.10, Z:0.13 [[ 9.75678315e-01 -2.19193436e-01 -2.46231308e-03 1.08782576e+02] [ 2.19192739e-01 9.75681422e-01 -5.52796312e-04 1.21011608e+01] [ 2.52360245e-03 -3.69774664e-07 9.99996816e-01 1.27085322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.84, Y:12.11, Z:0.13 [[ 9.76265904e-01 -2.16561357e-01 -2.46221765e-03 1.08841243e+02] [ 2.16560650e-01 9.76269009e-01 -5.53221016e-04 1.21096423e+01] [ 2.52359308e-03 6.87135917e-06 9.99996816e-01 1.29181262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.90, Y:12.12, Z:0.13 [[ 9.76951304e-01 -2.13448090e-01 -2.46212129e-03 1.08898414e+02] [ 2.13447373e-01 9.76954407e-01 -5.53649537e-04 1.21196985e+01] [ 2.52355568e-03 1.53553163e-05 9.99996816e-01 1.29939223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:12.13, Z:0.13 [[ 9.78329181e-01 -2.07040944e-01 -2.46201170e-03 1.08954399e+02] [ 2.07040205e-01 9.78332278e-01 -5.54136447e-04 1.21318441e+01] [ 2.52339445e-03 3.23924492e-05 9.99996816e-01 1.30102780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:12.15, Z:0.13 [[ 9.79108593e-01 -2.03323148e-01 -2.46197101e-03 1.09011637e+02] [ 2.03322397e-01 9.79111687e-01 -5.54317206e-04 1.21463335e+01] [ 2.52325010e-03 4.21628939e-05 9.99996816e-01 1.34747230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70263999999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:12.16, Z:0.13 [[ 9.79711961e-01 -2.00395641e-01 -2.46187455e-03 1.09069157e+02] [ 2.00394879e-01 9.79715053e-01 -5.54745277e-04 1.21595082e+01] [ 2.52310409e-03 5.01435317e-05 9.99996816e-01 1.33774431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.12, Y:12.17, Z:0.13 [[ 9.79429081e-01 -2.01773673e-01 -2.46177842e-03 1.09124959e+02] [ 2.01772915e-01 9.79432174e-01 -5.55171511e-04 1.21738367e+01] [ 2.52316399e-03 4.70309148e-05 9.99996816e-01 1.34600770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.18, Y:12.19, Z:0.14 [[ 9.78400232e-01 -2.06704924e-01 -2.46166895e-03 1.09181912e+02] [ 2.06704180e-01 9.78403328e-01 -5.55656521e-04 1.21879521e+01] [ 2.52336203e-03 3.48172078e-05 9.99996816e-01 1.35621717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:109.24, Y:12.20, Z:0.13 [[ 9.77390588e-01 -2.11427480e-01 -2.46157386e-03 1.09239136e+02] [ 2.11426750e-01 9.77393687e-01 -5.56077417e-04 1.22027779e+01] [ 2.52349680e-03 2.30622733e-05 9.99996816e-01 1.32715869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.30, Y:12.22, Z:0.13 [[ 9.76962503e-01 -2.13396833e-01 -2.46147757e-03 1.09295934e+02] [ 2.13396108e-01 9.76965604e-01 -5.56503332e-04 1.22152649e+01] [ 2.52353497e-03 1.84131544e-05 9.99996816e-01 1.33555084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.35, Y:12.23, Z:0.13 [[ 9.76644792e-01 -2.14846207e-01 -2.46136721e-03 1.09352485e+02] [ 2.14845486e-01 9.76647893e-01 -5.56991035e-04 1.22281175e+01] [ 2.52355651e-03 1.51687604e-05 9.99996816e-01 1.32551734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:109.41, Y:12.24, Z:0.13 [[ 9.76442579e-01 -2.15763372e-01 -2.46133316e-03 1.09409785e+02] [ 2.15762653e-01 9.76445681e-01 -5.57141429e-04 1.22417568e+01] [ 2.52356885e-03 1.29528415e-05 9.99996816e-01 1.27361431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.47, Y:12.25, Z:0.13 [[ 9.76296943e-01 -2.16421398e-01 -2.46123700e-03 1.09467139e+02] [ 2.16420680e-01 9.76300045e-01 -5.57565898e-04 1.22541784e+01] [ 2.52357499e-03 1.16872967e-05 9.99996816e-01 1.29083301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:12.27, Z:0.13 [[ 9.75931047e-01 -2.18065434e-01 -2.46114094e-03 1.09523405e+02] [ 2.18064721e-01 9.75934151e-01 -5.57989620e-04 1.22657592e+01] [ 2.52358974e-03 7.87138223e-06 9.99996816e-01 1.30759395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.58, Y:12.28, Z:0.13 [[ 9.75874335e-01 -2.18319092e-01 -2.46110700e-03 1.09581317e+02] [ 2.18318379e-01 9.75877438e-01 -5.58139258e-04 1.22766255e+01] [ 2.52359125e-03 7.36888513e-06 9.99996816e-01 1.33857243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.64, Y:12.29, Z:0.13 [[ 9.76857450e-01 -2.13877222e-01 -2.46101087e-03 1.09639303e+02] [ 2.13876493e-01 9.76860550e-01 -5.58562825e-04 1.22886511e+01] [ 2.52352829e-03 1.92838822e-05 9.99996816e-01 1.32436658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.70, Y:12.30, Z:0.13 [[ 9.77768799e-01 -2.09671458e-01 -2.46091477e-03 1.09695237e+02] [ 2.09670715e-01 9.77771895e-01 -5.58985912e-04 1.23012843e+01] [ 2.52341669e-03 3.05772253e-05 9.99996816e-01 1.31845538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:12.32, Z:0.13 [[ 9.79059518e-01 -2.03559337e-01 -2.46087383e-03 1.09752293e+02] [ 2.03558574e-01 9.79062610e-01 -5.59166085e-04 1.23178603e+01] [ 2.52317303e-03 4.65249100e-05 9.99996816e-01 1.29831924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:12.33, Z:0.13 [[ 9.79806426e-01 -1.99933270e-01 -2.46078850e-03 1.09809772e+02] [ 1.99932495e-01 9.79809514e-01 -5.59541353e-04 1.23327073e+01] [ 2.52297491e-03 5.62506295e-05 9.99996816e-01 1.29357799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:12.35, Z:0.13 [[ 9.80542656e-01 -1.96290716e-01 -2.46070242e-03 1.09866197e+02] [ 1.96289928e-01 9.80545741e-01 -5.59919660e-04 1.23490486e+01] [ 2.52273830e-03 6.60140100e-05 9.99996816e-01 1.29229963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.92, Y:12.37, Z:0.13 [[ 9.80782043e-01 -1.95091079e-01 -2.46060569e-03 1.09922696e+02] [ 1.95090286e-01 9.80785127e-01 -5.60344420e-04 1.23653868e+01] [ 2.52264366e-03 6.95354776e-05 9.99996816e-01 1.30651453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.98, Y:12.39, Z:0.14 [[ 9.80905198e-01 -1.94470917e-01 -2.46050925e-03 1.09978435e+02] [ 1.94470122e-01 9.80908282e-01 -5.60767569e-04 1.23866973e+01] [ 2.52258688e-03 7.15642905e-05 9.99996816e-01 1.35277779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.03, Y:12.40, Z:0.14 [[ 9.80355780e-01 -1.97221935e-01 -2.46041419e-03 1.10033608e+02] [ 1.97221147e-01 9.80358865e-01 -5.61184314e-04 1.24043383e+01] [ 2.52276672e-03 6.49145753e-05 9.99996816e-01 1.36580210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:110.09, Y:12.42, Z:0.13 [[ 9.79720760e-01 -2.00352637e-01 -2.46030367e-03 1.10088726e+02] [ 2.00351858e-01 9.79723848e-01 -5.61668433e-04 1.24230438e+01] [ 2.52294993e-03 5.73518124e-05 9.99996816e-01 1.34963593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:12.44, Z:0.13 [[ 9.77852038e-01 -2.09282916e-01 -2.46019323e-03 1.10142520e+02] [ 2.09282164e-01 9.77855132e-01 -5.62151788e-04 1.24413294e+01] [ 2.52336134e-03 3.48267089e-05 9.99996816e-01 1.32373213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:12.46, Z:0.13 [[ 9.75917402e-01 -2.18126503e-01 -2.46014538e-03 1.10198664e+02] [ 2.18125779e-01 9.75920503e-01 -5.62361085e-04 1.24586384e+01] [ 2.52357218e-03 1.21968418e-05 9.99996816e-01 1.34350654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:110.25, Y:12.47, Z:0.13 [[ 9.74976252e-01 -2.22295426e-01 -2.46004880e-03 1.10254332e+02] [ 2.22294714e-01 9.74979355e-01 -5.62783297e-04 1.24747670e+01] [ 2.52360094e-03 1.84450620e-06 9.99996816e-01 1.34004716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:12.49, Z:0.13 [[ 9.74502254e-01 -2.24364225e-01 -2.45993729e-03 1.10309867e+02] [ 2.24363518e-01 9.74505359e-01 -5.63270256e-04 1.24895630e+01] [ 2.52359977e-03 -3.01205189e-06 9.99996816e-01 1.34454539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.36, Y:12.51, Z:0.14 [[ 9.74039267e-01 -2.26365753e-01 -2.45988910e-03 1.10364987e+02] [ 2.26365052e-01 9.74042374e-01 -5.63480629e-04 1.25066142e+01] [ 2.52358894e-03 -7.98066631e-06 9.99996816e-01 1.36398492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:12.52, Z:0.13 [[ 9.73760620e-01 -2.27561431e-01 -2.45977884e-03 1.10421696e+02] [ 2.27560733e-01 9.73763726e-01 -5.63961564e-04 1.25191044e+01] [ 2.52357931e-03 -1.05855128e-05 9.99996816e-01 1.33924281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.48, Y:12.53, Z:0.13 [[ 9.73721240e-01 -2.27729874e-01 -2.45974485e-03 1.10478601e+02] [ 2.27729176e-01 9.73724347e-01 -5.64109785e-04 1.25338575e+01] [ 2.52357809e-03 -1.08699866e-05 9.99996816e-01 1.33094468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:12.55, Z:0.13 [[ 9.73857192e-01 -2.27147792e-01 -2.45964902e-03 1.10535050e+02] [ 2.27147091e-01 9.73860298e-01 -5.64527300e-04 1.25467263e+01] [ 2.52358566e-03 -8.93314814e-06 9.99996816e-01 1.32922730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32263999999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:110.59, Y:12.56, Z:0.13 [[ 9.74004757e-01 -2.26514202e-01 -2.45953770e-03 1.10592090e+02] [ 2.26513498e-01 9.74007862e-01 -5.65011890e-04 1.25589746e+01] [ 2.52359227e-03 -6.79421735e-06 9.99996816e-01 1.33631168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:12.57, Z:0.13 [[ 9.74342998e-01 -2.25054824e-01 -2.45950322e-03 1.10649537e+02] [ 2.25054115e-01 9.74346102e-01 -5.65161946e-04 1.25734396e+01] [ 2.52359979e-03 -2.85973437e-06 9.99996816e-01 1.34980301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:12.58, Z:0.13 [[ 9.74801848e-01 -2.23058981e-01 -2.45940548e-03 1.10706063e+02] [ 2.23058264e-01 9.74804950e-01 -5.65586965e-04 1.25845134e+01] [ 2.52359988e-03 2.74450412e-06 9.99996816e-01 1.34489576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.76, Y:12.60, Z:0.14 [[ 9.75740775e-01 -2.18915261e-01 -2.45937087e-03 1.10763362e+02] [ 2.18914531e-01 9.75743874e-01 -5.65737390e-04 1.25990669e+01] [ 2.52356461e-03 1.36210189e-05 9.99996816e-01 1.35308185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:110.82, Y:12.61, Z:0.13 [[ 9.76385907e-01 -2.16019703e-01 -2.45927309e-03 1.10820253e+02] [ 2.16018962e-01 9.76389004e-01 -5.66162121e-04 1.26122295e+01] [ 2.52350938e-03 2.15430961e-05 9.99996816e-01 1.33189737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.88, Y:12.63, Z:0.14 [[ 9.77216983e-01 -2.12228462e-01 -2.45917524e-03 1.10877211e+02] [ 2.12227708e-01 9.77220077e-01 -5.66586835e-04 1.26275841e+01] [ 2.52340127e-03 3.17731525e-05 9.99996816e-01 1.39063727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:12.64, Z:0.14 [[ 9.77667401e-01 -2.10143775e-01 -2.45907565e-03 1.10932650e+02] [ 2.10143014e-01 9.77670493e-01 -5.67018722e-04 1.26430871e+01] [ 2.52332116e-03 3.75981507e-05 9.99996816e-01 1.35608781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:12.66, Z:0.14 [[ 9.77521960e-01 -2.10819286e-01 -2.45902269e-03 1.10989398e+02] [ 2.10818526e-01 9.77525052e-01 -5.67248336e-04 1.26568121e+01] [ 2.52334317e-03 3.60901664e-05 9.99996816e-01 1.35855033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:12.67, Z:0.13 [[ 9.77298068e-01 -2.11854759e-01 -2.45892452e-03 1.11045455e+02] [ 2.11854001e-01 9.77301161e-01 -5.67673540e-04 1.26701972e+01] [ 2.52337413e-03 3.38532548e-05 9.99996816e-01 1.34290391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.10, Y:12.68, Z:0.14 [[ 9.77256032e-01 -2.12048583e-01 -2.45888986e-03 1.11102005e+02] [ 2.12047826e-01 9.77259125e-01 -5.67823645e-04 1.26848233e+01] [ 2.52337875e-03 3.35068332e-05 9.99996816e-01 1.39214599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.16, Y:12.70, Z:0.14 [[ 9.77134359e-01 -2.12608558e-01 -2.45877959e-03 1.11159061e+02] [ 2.12607801e-01 9.77137452e-01 -5.68300739e-04 1.27001140e+01] [ 2.52339122e-03 3.25504573e-05 9.99996816e-01 1.37826690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:12.72, Z:0.14 [[ 9.77033859e-01 -2.13069924e-01 -2.45868310e-03 1.11215280e+02] [ 2.13069167e-01 9.77036953e-01 -5.68717898e-04 1.27151837e+01] [ 2.52340092e-03 3.17870842e-05 9.99996816e-01 1.36858291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:12.73, Z:0.14 [[ 9.76999705e-01 -2.13226481e-01 -2.45864901e-03 1.11271764e+02] [ 2.13225724e-01 9.77002798e-01 -5.68865198e-04 1.27285630e+01] [ 2.52340409e-03 3.15339139e-05 9.99996816e-01 1.37287448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:12.74, Z:0.14 [[ 9.77177813e-01 -2.12408752e-01 -2.45854130e-03 1.11328563e+02] [ 2.12407992e-01 9.77180905e-01 -5.69330338e-04 1.27421688e+01] [ 2.52337036e-03 3.41231522e-05 9.99996816e-01 1.38716180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:12.76, Z:0.14 [[ 9.77423438e-01 -2.11275601e-01 -2.45843163e-03 1.11384024e+02] [ 2.11274836e-01 9.77426529e-01 -5.69803499e-04 1.27594107e+01] [ 2.52332188e-03 3.75345538e-05 9.99996816e-01 1.39167081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.44, Y:12.77, Z:0.14 [[ 9.77338614e-01 -2.11667640e-01 -2.45832009e-03 1.11440701e+02] [ 2.11666875e-01 9.77341705e-01 -5.70284314e-04 1.27740770e+01] [ 2.52332949e-03 3.70159483e-05 9.99996816e-01 1.40114220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.50, Y:12.79, Z:0.14 [[ 9.76829012e-01 -2.14007100e-01 -2.45822130e-03 1.11497224e+02] [ 2.14006341e-01 9.76832104e-01 -5.70709865e-04 1.27865710e+01] [ 2.52340545e-03 3.14110083e-05 9.99996816e-01 1.40012727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:12.80, Z:0.14 [[ 9.76433286e-01 -2.15805455e-01 -2.45818645e-03 1.11553156e+02] [ 2.15804702e-01 9.76436380e-01 -5.70859926e-04 1.28014719e+01] [ 2.52345736e-03 2.69184411e-05 9.99996816e-01 1.37542846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40263999999999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:12.82, Z:0.14 [[ 9.75720495e-01 -2.19005648e-01 -2.45813520e-03 1.11610005e+02] [ 2.19004904e-01 9.75723591e-01 -5.71080502e-04 1.28154734e+01] [ 2.52353036e-03 1.88712857e-05 9.99996816e-01 1.39006558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.67, Y:12.83, Z:0.14 [[ 9.75168787e-01 -2.21449307e-01 -2.45803507e-03 1.11666393e+02] [ 2.21448569e-01 9.75171885e-01 -5.71511175e-04 1.28292569e+01] [ 2.52356744e-03 1.29915090e-05 9.99996816e-01 1.38947861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:12.84, Z:0.14 [[ 9.74938444e-01 -2.22461208e-01 -2.45798262e-03 1.11723124e+02] [ 2.22460474e-01 9.74941542e-01 -5.71736677e-04 1.28418431e+01] [ 2.52357859e-03 1.06040888e-05 9.99996816e-01 1.40349265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.78, Y:12.86, Z:0.14 [[ 9.74732790e-01 -2.23360574e-01 -2.45793059e-03 1.11780130e+02] [ 2.23359842e-01 9.74735889e-01 -5.71960238e-04 1.28562325e+01] [ 2.52358653e-03 8.50540904e-06 9.99996816e-01 1.43119169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.84, Y:12.87, Z:0.14 [[ 9.74665487e-01 -2.23654080e-01 -2.45783301e-03 1.11837565e+02] [ 2.23653348e-01 9.74668586e-01 -5.72379257e-04 1.28702085e+01] [ 2.52358758e-03 8.17572588e-06 9.99996816e-01 1.44478296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.90, Y:12.88, Z:0.15 [[ 9.74448032e-01 -2.24599625e-01 -2.45773477e-03 1.11896195e+02] [ 2.24598895e-01 9.74451132e-01 -5.72800808e-04 1.28797573e+01] [ 2.52359327e-03 6.16010787e-06 9.99996816e-01 1.45976697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.95, Y:12.89, Z:0.15 [[ 9.73892934e-01 -2.26994521e-01 -2.45763527e-03 1.11952912e+02] [ 2.26993797e-01 9.73896035e-01 -5.73227399e-04 1.28895954e+01] [ 2.52360072e-03 3.94152763e-07 9.99996816e-01 1.48538402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.01, Y:12.90, Z:0.15 [[ 9.73488116e-01 -2.28724394e-01 -2.45760008e-03 1.12010547e+02] [ 2.28723676e-01 9.73491218e-01 -5.73378226e-04 1.29022336e+01] [ 2.52359768e-03 -3.93443434e-06 9.99996816e-01 1.50126164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:12.91, Z:0.15 [[ 9.73147540e-01 -2.30169126e-01 -2.45750170e-03 1.12067939e+02] [ 2.30168410e-01 9.73150643e-01 -5.73799540e-04 1.29096668e+01] [ 2.52359030e-03 -7.24765032e-06 9.99996816e-01 1.47679788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.13, Y:12.92, Z:0.15 [[ 9.73338314e-01 -2.29361042e-01 -2.45746695e-03 1.12125502e+02] [ 2.29360324e-01 9.73341416e-01 -5.73948361e-04 1.29185393e+01] [ 2.52359575e-03 -4.99948575e-06 9.99996816e-01 1.46238906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.18, Y:12.93, Z:0.15 [[ 9.73751823e-01 -2.27599096e-01 -2.45735325e-03 1.12183007e+02] [ 2.27598371e-01 9.73754924e-01 -5.74434725e-04 1.29304753e+01] [ 2.52360065e-03 6.72633738e-08 9.99996816e-01 1.45333659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:112.24, Y:12.94, Z:0.14 [[ 9.74513135e-01 -2.24316991e-01 -2.45725374e-03 1.12239552e+02] [ 2.24316254e-01 9.74516233e-01 -5.74860109e-04 1.29385569e+01] [ 2.52358455e-03 9.00677198e-06 9.99996816e-01 1.41723948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12263999999999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:112.30, Y:12.95, Z:0.14 [[ 9.74826226e-01 -2.22952442e-01 -2.45717655e-03 1.12297489e+02] [ 2.22951701e-01 9.74829323e-01 -5.75189861e-04 1.29488806e+01] [ 2.52356773e-03 1.28784714e-05 9.99996816e-01 1.38204179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:112.35, Y:12.96, Z:0.14 [[ 9.74987547e-01 -2.22245913e-01 -2.45707852e-03 1.12354571e+02] [ 2.22245168e-01 9.74990643e-01 -5.75608298e-04 1.29611041e+01] [ 2.52355516e-03 1.51370932e-05 9.99996816e-01 1.36469378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.41, Y:12.97, Z:0.14 [[ 9.74757043e-01 -2.23254720e-01 -2.45698011e-03 1.12413454e+02] [ 2.23253977e-01 9.74760140e-01 -5.76028082e-04 1.29693102e+01] [ 2.52356726e-03 1.29568494e-05 9.99996816e-01 1.39637495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:112.47, Y:12.98, Z:0.14 [[ 9.74293031e-01 -2.25271069e-01 -2.45688092e-03 1.12472003e+02] [ 2.25270331e-01 9.74296128e-01 -5.76450806e-04 1.29784880e+01] [ 2.52358726e-03 8.16962277e-06 9.99996816e-01 1.42566106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.53, Y:12.99, Z:0.14 [[ 9.74054114e-01 -2.26301892e-01 -2.45677654e-03 1.12528050e+02] [ 2.26301157e-01 9.74057213e-01 -5.76895356e-04 1.29896756e+01] [ 2.52359341e-03 5.95592257e-06 9.99996816e-01 1.41890609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.59, Y:13.00, Z:0.14 [[ 9.73679479e-01 -2.27908393e-01 -2.45672515e-03 1.12586877e+02] [ 2.27907663e-01 9.73682579e-01 -5.77114096e-04 1.29977447e+01] [ 2.52359963e-03 2.01766583e-06 9.99996816e-01 1.42258650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.64, Y:13.01, Z:0.14 [[ 9.73492272e-01 -2.28706713e-01 -2.45662935e-03 1.12643723e+02] [ 2.28705984e-01 9.73495372e-01 -5.77521599e-04 1.30089877e+01] [ 2.52360037e-03 3.66981469e-07 9.99996816e-01 1.43780406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.70, Y:13.02, Z:0.14 [[ 9.73236546e-01 -2.29792495e-01 -2.45651747e-03 1.12699646e+02] [ 2.29791769e-01 9.73239646e-01 -5.77997095e-04 1.30207041e+01] [ 2.52359959e-03 -1.95959814e-06 9.99996816e-01 1.43476356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.76, Y:13.03, Z:0.14 [[ 9.72752031e-01 -2.31834968e-01 -2.45644166e-03 1.12758056e+02] [ 2.31834247e-01 9.72755132e-01 -5.78319110e-04 1.30290063e+01] [ 2.52359082e-03 -6.92621398e-06 9.99996816e-01 1.42330212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.81, Y:13.04, Z:0.14 [[ 9.72574794e-01 -2.32577379e-01 -2.45634193e-03 1.12813902e+02] [ 2.32576659e-01 9.72577895e-01 -5.78742402e-04 1.30402869e+01] [ 2.52358625e-03 -8.41752626e-06 9.99996816e-01 1.41579033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.87, Y:13.05, Z:0.14 [[ 9.72263624e-01 -2.33874777e-01 -2.45629258e-03 1.12871181e+02] [ 2.33874061e-01 9.72266727e-01 -5.78951761e-04 1.30527321e+01] [ 2.52357376e-03 -1.15693844e-05 9.99996816e-01 1.43855065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:13.06, Z:0.15 [[ 9.71532823e-01 -2.36892257e-01 -2.45619274e-03 1.12928308e+02] [ 2.36891549e-01 9.71535927e-01 -5.79375027e-04 1.30641912e+01] [ 2.52352895e-03 -1.89694472e-05 9.99996816e-01 1.46921959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:13.08, Z:0.14 [[ 9.71046602e-01 -2.38877510e-01 -2.45615750e-03 1.12985223e+02] [ 2.38876808e-01 9.71049708e-01 -5.79524365e-04 1.30751852e+01] [ 2.52348636e-03 -2.39738997e-05 9.99996816e-01 1.43154853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:13.09, Z:0.14 [[ 9.71114358e-01 -2.38601909e-01 -2.45612270e-03 1.13041734e+02] [ 2.38601206e-01 9.71117464e-01 -5.79671825e-04 1.30873448e+01] [ 2.52349445e-03 -2.31062070e-05 9.99996816e-01 1.43454415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:13.10, Z:0.14 [[ 9.71204791e-01 -2.38233542e-01 -2.45608849e-03 1.13097967e+02] [ 2.38232838e-01 9.71207897e-01 -5.79816766e-04 1.31009206e+01] [ 2.52350433e-03 -2.20001081e-05 9.99996816e-01 1.44515864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:13.11, Z:0.15 [[ 9.71448639e-01 -2.37237242e-01 -2.45597846e-03 1.13153252e+02] [ 2.37236533e-01 9.71451744e-01 -5.80282451e-04 1.31130130e+01] [ 2.52352916e-03 -1.89332178e-05 9.99996816e-01 1.45592090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:13.13, Z:0.15 [[ 9.71357757e-01 -2.37609083e-01 -2.45593076e-03 1.13208384e+02] [ 2.37608375e-01 9.71360862e-01 -5.80484256e-04 1.31283739e+01] [ 2.52352335e-03 -1.96918312e-05 9.99996816e-01 1.45112303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:13.14, Z:0.15 [[ 9.70539994e-01 -2.40927558e-01 -2.45585694e-03 1.13265424e+02] [ 2.40926860e-01 9.70543101e-01 -5.80796376e-04 1.31415770e+01] [ 2.52344487e-03 -2.79957906e-05 9.99996816e-01 1.47553043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.32, Y:13.15, Z:0.14 [[ 9.69506276e-01 -2.45054176e-01 -2.45576020e-03 1.13322067e+02] [ 2.45053490e-01 9.69509386e-01 -5.81205154e-04 1.31526498e+01] [ 2.52330931e-03 -3.83105628e-05 9.99996816e-01 1.44321897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.38, Y:13.16, Z:0.14 [[ 9.69128313e-01 -2.46544686e-01 -2.45572611e-03 1.13379660e+02] [ 2.46544004e-01 9.69131423e-01 -5.81349164e-04 1.31641668e+01] [ 2.52324988e-03 -4.20426127e-05 9.99996816e-01 1.41499007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:13.18, Z:0.14 [[ 9.69923737e-01 -2.43396618e-01 -2.45563538e-03 1.13436496e+02] [ 2.43395925e-01 9.69926845e-01 -5.81732121e-04 1.31776616e+01] [ 2.52337831e-03 -3.34558524e-05 9.99996816e-01 1.43754681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.49, Y:13.19, Z:0.14 [[ 9.70765195e-01 -2.40018555e-01 -2.45553473e-03 1.13492462e+02] [ 2.40017850e-01 9.70768300e-01 -5.82156673e-04 1.31906434e+01] [ 2.52348368e-03 -2.42347306e-05 9.99996816e-01 1.44775046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:13.20, Z:0.14 [[ 9.71612028e-01 -2.36567196e-01 -2.45548137e-03 1.13547752e+02] [ 2.36566479e-01 9.71615130e-01 -5.82381680e-04 1.32040389e+01] [ 2.52355525e-03 -1.50355372e-05 9.99996816e-01 1.43852671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:113.60, Y:13.22, Z:0.14 [[ 9.72751130e-01 -2.31838757e-01 -2.45543217e-03 1.13603285e+02] [ 2.31838025e-01 9.72754229e-01 -5.82589022e-04 1.32213097e+01] [ 2.52359874e-03 -2.54841604e-06 9.99996816e-01 1.42839394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.66, Y:13.23, Z:0.14 [[ 9.73307885e-01 -2.29490157e-01 -2.45532016e-03 1.13659970e+02] [ 2.29489416e-01 9.73310982e-01 -5.83060718e-04 1.32349834e+01] [ 2.52359677e-03 4.02760453e-06 9.99996816e-01 1.43442918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.72, Y:13.25, Z:0.14 [[ 9.73268660e-01 -2.29656455e-01 -2.45528546e-03 1.13716438e+02] [ 2.29655715e-01 9.73271757e-01 -5.83206797e-04 1.32515758e+01] [ 2.52359720e-03 3.74656115e-06 9.99996816e-01 1.44762633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.77, Y:13.27, Z:0.15 [[ 9.72748798e-01 -2.31848545e-01 -2.45518916e-03 1.13772807e+02] [ 2.31847810e-01 9.72751897e-01 -5.83611922e-04 1.32686947e+01] [ 2.52359949e-03 -1.52243512e-06 9.99996816e-01 1.46029638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.83, Y:13.28, Z:0.14 [[ 9.71509530e-01 -2.36987777e-01 -2.45509318e-03 1.13830555e+02] [ 2.36987058e-01 9.71512632e-01 -5.84015397e-04 1.32800562e+01] [ 2.52355855e-03 -1.44487861e-05 9.99996816e-01 1.44800070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.89, Y:13.29, Z:0.15 [[ 9.70205455e-01 -2.42271228e-01 -2.45499621e-03 1.13888263e+02] [ 2.42270524e-01 9.70208561e-01 -5.84422751e-04 1.32910865e+01] [ 2.52344716e-03 -2.77630774e-05 9.99996816e-01 1.46229332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.95, Y:13.30, Z:0.14 [[ 9.69611683e-01 -2.44636786e-01 -2.45489747e-03 1.13945065e+02] [ 2.44636090e-01 9.69614790e-01 -5.84837220e-04 1.33027736e+01] [ 2.52337759e-03 -3.34915161e-05 9.99996816e-01 1.44784000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:13.31, Z:0.15 [[ 9.69346406e-01 -2.45685814e-01 -2.45486274e-03 1.14002223e+02] [ 2.45685120e-01 9.69349514e-01 -5.84982958e-04 1.33105196e+01] [ 2.52334202e-03 -3.60721190e-05 9.99996816e-01 1.45446772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.06, Y:13.32, Z:0.15 [[ 9.69277504e-01 -2.45957504e-01 -2.45482873e-03 1.14059121e+02] [ 2.45956810e-01 9.69280612e-01 -5.85125629e-04 1.33200059e+01] [ 2.52333394e-03 -3.66327359e-05 9.99996816e-01 1.47655206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:13.33, Z:0.15 [[ 9.69229924e-01 -2.46144936e-01 -2.45471658e-03 1.14117342e+02] [ 2.46144242e-01 9.69233031e-01 -5.85595757e-04 1.33279228e+01] [ 2.52333382e-03 -3.66374214e-05 9.99996816e-01 1.48319773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10264 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:114.17, Y:13.34, Z:0.14 [[ 9.69282029e-01 -2.45939675e-01 -2.45459940e-03 1.14174418e+02] [ 2.45938979e-01 9.69285136e-01 -5.86086507e-04 1.33377847e+01] [ 2.52334864e-03 -3.55985520e-05 9.99996816e-01 1.41322251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.23, Y:13.34, Z:0.14 [[ 9.70009616e-01 -2.43054149e-01 -2.45456330e-03 1.14232537e+02] [ 2.43053444e-01 9.70012721e-01 -5.86237670e-04 1.33442097e+01] [ 2.52344512e-03 -2.79338857e-05 9.99996816e-01 1.44480088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22264 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:114.29, Y:13.35, Z:0.14 [[ 9.71473755e-01 -2.37134391e-01 -2.45444920e-03 1.14288980e+02] [ 2.37133665e-01 9.71476855e-01 -5.86714971e-04 1.33549751e+01] [ 2.52357089e-03 -1.20543402e-05 9.99996816e-01 1.40397297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.35, Y:13.37, Z:0.15 [[ 9.72558805e-01 -2.32644250e-01 -2.45439981e-03 1.14346756e+02] [ 2.32643510e-01 9.72561902e-01 -5.86921537e-04 1.33660916e+01] [ 2.52359967e-03 -1.84476912e-07 9.99996816e-01 1.47242615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.40, Y:13.38, Z:0.15 [[ 9.73984505e-01 -2.26601323e-01 -2.45429859e-03 1.14403421e+02] [ 2.26600563e-01 9.73987598e-01 -5.87344478e-04 1.33779518e+01] [ 2.52354943e-03 1.59189789e-05 9.99996816e-01 1.51575521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40263999999999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:114.46, Y:13.39, Z:0.15 [[ 9.74805990e-01 -2.23040934e-01 -2.45426278e-03 1.14459733e+02] [ 2.23040162e-01 9.74809079e-01 -5.87494074e-04 1.33931221e+01] [ 2.52347287e-03 2.52935745e-05 9.99996816e-01 1.51108574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.52, Y:13.41, Z:0.15 [[ 9.74991733e-01 -2.22227580e-01 -2.45422747e-03 1.14516691e+02] [ 2.22226805e-01 9.74994822e-01 -5.87641565e-04 1.34067134e+01] [ 2.52344923e-03 2.75505404e-05 9.99996816e-01 1.54721575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:13.42, Z:0.15 [[ 9.75225536e-01 -2.21199301e-01 -2.45412542e-03 1.14573365e+02] [ 2.21198522e-01 9.75228624e-01 -5.88067414e-04 1.34195577e+01] [ 2.52341346e-03 3.06494429e-05 9.99996816e-01 1.53669924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:13.44, Z:0.15 [[ 9.75257196e-01 -2.21059673e-01 -2.45408941e-03 1.14628397e+02] [ 2.21058892e-01 9.75260283e-01 -5.88217656e-04 1.34390042e+01] [ 2.52340714e-03 3.11652150e-05 9.99996816e-01 1.48389217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:13.45, Z:0.15 [[ 9.75075464e-01 -2.21859903e-01 -2.45405390e-03 1.14684438e+02] [ 2.21859125e-01 9.75078552e-01 -5.88365765e-04 1.34546886e+01] [ 2.52343010e-03 2.92467704e-05 9.99996816e-01 1.50581168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70263999999999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:114.74, Y:13.47, Z:0.15 [[ 9.74461846e-01 -2.24539725e-01 -2.45393634e-03 1.14740593e+02] [ 2.24538954e-01 9.74464936e-01 -5.88855705e-04 1.34693037e+01] [ 2.52349641e-03 2.28131182e-05 9.99996816e-01 1.48374205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76263999999999 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:114.80, Y:13.49, Z:0.15 [[ 9.73750829e-01 -2.27603384e-01 -2.45390009e-03 1.14795691e+02] [ 2.27602623e-01 9.73753921e-01 -5.89006729e-04 1.34861516e+01] [ 2.52355476e-03 1.50316960e-05 9.99996816e-01 1.47841520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.85, Y:13.50, Z:0.15 [[ 9.73009375e-01 -2.30752541e-01 -2.45378189e-03 1.14852167e+02] [ 2.30751788e-01 9.73012469e-01 -5.89498725e-04 1.35011047e+01] [ 2.52358870e-03 7.37322692e-06 9.99996816e-01 1.48385871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:13.51, Z:0.15 [[ 9.72188468e-01 -2.34187023e-01 -2.45366536e-03 1.14908469e+02] [ 2.34186280e-01 9.72191565e-01 -5.89983359e-04 1.35123678e+01] [ 2.52359921e-03 -1.03974412e-06 9.99996816e-01 1.47539329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:114.97, Y:13.52, Z:0.15 [[ 9.71056497e-01 -2.38837308e-01 -2.45361485e-03 1.14965846e+02] [ 2.38836579e-01 9.71059597e-01 -5.90193330e-04 1.35231483e+01] [ 2.52356643e-03 -1.29019100e-05 9.99996816e-01 1.48430456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:115.02, Y:13.54, Z:0.15 [[ 9.70514523e-01 -2.41030166e-01 -2.45350127e-03 1.15021801e+02] [ 2.41029443e-01 9.70517624e-01 -5.90665110e-04 1.35365402e+01] [ 2.52353434e-03 -1.81169770e-05 9.99996816e-01 1.49679860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:115.08, Y:13.55, Z:0.15 [[ 9.70358326e-01 -2.41658228e-01 -2.45344857e-03 1.15077668e+02] [ 2.41657507e-01 9.70361428e-01 -5.90883938e-04 1.35473765e+01] [ 2.52352382e-03 -1.95251149e-05 9.99996816e-01 1.47780778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.14, Y:13.56, Z:0.15 [[ 9.70330277e-01 -2.41770829e-01 -2.45340009e-03 1.15135145e+02] [ 2.41770107e-01 9.70333379e-01 -5.91085174e-04 1.35566442e+01] [ 2.52352315e-03 -1.96109621e-05 9.99996816e-01 1.49882059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18263999999999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:13.57, Z:0.14 [[ 9.70388220e-01 -2.41538161e-01 -2.45328736e-03 1.15192794e+02] [ 2.41537438e-01 9.70391321e-01 -5.91552698e-04 1.35684985e+01] [ 2.52353131e-03 -1.85249718e-05 9.99996816e-01 1.44777746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:13.58, Z:0.15 [[ 9.70867860e-01 -2.39602966e-01 -2.45318882e-03 1.15250700e+02] [ 2.39602235e-01 9.70870959e-01 -5.91961048e-04 1.35786885e+01] [ 2.52356540e-03 -1.30735683e-05 9.99996816e-01 1.45255461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:13.59, Z:0.14 [[ 9.72010806e-01 -2.34923338e-01 -2.45308564e-03 1.15308180e+02] [ 2.34922591e-01 9.72013902e-01 -5.92388335e-04 1.35889671e+01] [ 2.52359919e-03 -4.77370404e-07 9.99996816e-01 1.44687854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:13.60, Z:0.15 [[ 9.72844708e-01 -2.31445797e-01 -2.45296798e-03 1.15365297e+02] [ 2.31445038e-01 9.72847801e-01 -5.92875126e-04 1.36014369e+01] [ 2.52358296e-03 9.04816252e-06 9.99996816e-01 1.45738360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:115.42, Y:13.62, Z:0.14 [[ 9.74120856e-01 -2.26014473e-01 -2.45285019e-03 1.15421613e+02] [ 2.26013696e-01 9.74123943e-01 -5.93362063e-04 1.36161399e+01] [ 2.52348851e-03 2.36286251e-05 9.99996816e-01 1.42767810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:115.48, Y:13.63, Z:0.15 [[ 9.74958293e-01 -2.22374257e-01 -2.45279596e-03 1.15477558e+02] [ 2.22373467e-01 9.74961378e-01 -5.93586126e-04 1.36342994e+01] [ 2.52337961e-03 3.32849740e-05 9.99996816e-01 1.48143126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.53, Y:13.65, Z:0.15 [[ 9.75309977e-01 -2.20826703e-01 -2.45269389e-03 1.15534996e+02] [ 2.20825907e-01 9.75313061e-01 -5.94007601e-04 1.36479623e+01] [ 2.52331712e-03 3.77231876e-05 9.99996816e-01 1.50781492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.59, Y:13.67, Z:0.15 [[ 9.75468134e-01 -2.20127019e-01 -2.45259289e-03 1.15589964e+02] [ 2.20126220e-01 9.75471216e-01 -5.94424304e-04 1.36664116e+01] [ 2.52328262e-03 3.99619642e-05 9.99996816e-01 1.52299853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:115.65, Y:13.69, Z:0.15 [[ 9.75020362e-01 -2.22101958e-01 -2.45247577e-03 1.15645704e+02] [ 2.22101164e-01 9.75023445e-01 -5.94907132e-04 1.36864676e+01] [ 2.52335141e-03 3.53488434e-05 9.99996816e-01 1.48402004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.70, Y:13.70, Z:0.15 [[ 9.74335818e-01 -2.25085984e-01 -2.45237321e-03 1.15701349e+02] [ 2.25085199e-01 9.74338903e-01 -5.95329609e-04 1.37016844e+01] [ 2.52344298e-03 2.80580490e-05 9.99996816e-01 1.47733261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.76, Y:13.72, Z:0.15 [[ 9.72971764e-01 -2.30911091e-01 -2.45233694e-03 1.15756952e+02] [ 2.30910324e-01 9.72974855e-01 -5.95478992e-04 1.37175873e+01] [ 2.52356488e-03 1.31143286e-05 9.99996816e-01 1.48159933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84263999999999 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:13.74, Z:0.15 [[ 9.72370671e-01 -2.33429356e-01 -2.45222565e-03 1.15813482e+02] [ 2.33428596e-01 9.72373763e-01 -5.95936917e-04 1.37360637e+01] [ 2.52358906e-03 7.05198934e-06 9.99996816e-01 1.45554435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90263999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:115.87, Y:13.75, Z:0.14 [[ 9.72178389e-01 -2.34228879e-01 -2.45217017e-03 1.15869135e+02] [ 2.34228120e-01 9.72181481e-01 -5.96165139e-04 1.37520214e+01] [ 2.52359352e-03 5.21165540e-06 9.99996816e-01 1.43914707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96264 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:115.92, Y:13.77, Z:0.15 [[ 9.72481857e-01 -2.32965716e-01 -2.45213396e-03 1.15924486e+02] [ 2.32964953e-01 9.72484949e-01 -5.96314051e-04 1.37704095e+01] [ 2.52358409e-03 8.64332509e-06 9.99996816e-01 1.45812001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:115.98, Y:13.79, Z:0.15 [[ 9.72573771e-01 -2.32581699e-01 -2.45201663e-03 1.15980260e+02] [ 2.32580934e-01 9.72576862e-01 -5.96796086e-04 1.37864424e+01] [ 2.52357849e-03 1.01359011e-05 9.99996816e-01 1.47381849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.04, Y:13.80, Z:0.15 [[ 9.72204570e-01 -2.34120185e-01 -2.45198035e-03 1.16038325e+02] [ 2.34119424e-01 9.72207663e-01 -5.96945127e-04 1.37982359e+01] [ 2.52359099e-03 6.29655390e-06 9.99996816e-01 1.52401625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:116.09, Y:13.81, Z:0.15 [[ 9.71689361e-01 -2.36249391e-01 -2.45187486e-03 1.16093632e+02] [ 2.36248636e-01 9.71692454e-01 -5.97378101e-04 1.38103352e+01] [ 2.52359851e-03 1.21385373e-06 9.99996816e-01 1.51217467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20263999999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.15, Y:13.82, Z:0.15 [[ 9.71409968e-01 -2.37395583e-01 -2.45179347e-03 1.16151284e+02] [ 2.37394830e-01 9.71413062e-01 -5.97711941e-04 1.38232234e+01] [ 2.52359838e-03 -1.41975880e-06 9.99996816e-01 1.50781373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26263999999999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:13.83, Z:0.15 [[ 9.71377521e-01 -2.37528318e-01 -2.45169025e-03 1.16209077e+02] [ 2.37527565e-01 9.71380614e-01 -5.98135029e-04 1.38345594e+01] [ 2.52359839e-03 -1.32909375e-06 9.99996816e-01 1.48499462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:13.84, Z:0.15 [[ 9.71827816e-01 -2.35679203e-01 -2.45158807e-03 1.16267340e+02] [ 2.35678443e-01 9.71830908e-01 -5.98553567e-04 1.38442197e+01] [ 2.52359569e-03 3.90454677e-06 9.99996816e-01 1.53514385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.32, Y:13.86, Z:0.16 [[ 9.72389864e-01 -2.33349402e-01 -2.45148517e-03 1.16324497e+02] [ 2.33348633e-01 9.72392954e-01 -5.98974703e-04 1.38581689e+01] [ 2.52357730e-03 1.03862158e-05 9.99996816e-01 1.56095623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.38, Y:13.87, Z:0.16 [[ 9.73648342e-01 -2.28041437e-01 -2.45138219e-03 1.16379364e+02] [ 2.28040650e-01 9.73651428e-01 -5.99395887e-04 1.38723274e+01] [ 2.52347886e-03 2.45860239e-05 9.99996816e-01 1.55265363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.44, Y:13.88, Z:0.15 [[ 9.74990863e-01 -2.22231429e-01 -2.45130211e-03 1.16437464e+02] [ 2.22230623e-01 9.74993944e-01 -5.99723188e-04 1.38844344e+01] [ 2.52328205e-03 3.99702325e-05 9.99996816e-01 1.53253484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:13.90, Z:0.15 [[ 9.75634988e-01 -2.19386331e-01 -2.45120979e-03 1.16493774e+02] [ 2.19385516e-01 9.75638066e-01 -6.00100270e-04 1.39010228e+01] [ 2.52314738e-03 4.77188949e-05 9.99996816e-01 1.52119772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62263999999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:13.92, Z:0.15 [[ 9.76201456e-01 -2.16851814e-01 -2.45110595e-03 1.16549469e+02] [ 2.16850990e-01 9.76204532e-01 -6.00524123e-04 1.39181407e+01] [ 2.52300548e-03 5.47077721e-05 9.99996816e-01 1.50385419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:13.94, Z:0.15 [[ 9.76138044e-01 -2.17137079e-01 -2.45105093e-03 1.16605044e+02] [ 2.17136254e-01 9.76141120e-01 -6.00748584e-04 1.39357516e+01] [ 2.52301640e-03 5.42015281e-05 9.99996816e-01 1.52089956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:116.66, Y:13.95, Z:0.15 [[ 9.75970673e-01 -2.17888131e-01 -2.45093943e-03 1.16660546e+02] [ 2.17887308e-01 9.75973749e-01 -6.01203175e-04 1.39511563e+01] [ 2.52304758e-03 5.27280728e-05 9.99996816e-01 1.52708907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.72, Y:13.97, Z:0.15 [[ 9.75096572e-01 -2.21767149e-01 -2.45082158e-03 1.16715441e+02] [ 2.21766337e-01 9.75099651e-01 -6.01683172e-04 1.39688270e+01] [ 2.52322883e-03 4.31894735e-05 9.99996816e-01 1.53356551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:13.98, Z:0.15 [[ 9.74175490e-01 -2.25778894e-01 -2.45070425e-03 1.16771520e+02] [ 2.25778093e-01 9.74178572e-01 -6.02160713e-04 1.39837724e+01] [ 2.52337874e-03 3.32948757e-05 9.99996816e-01 1.53691503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:116.83, Y:14.00, Z:0.15 [[ 9.72632665e-01 -2.32335306e-01 -2.45058668e-03 1.16827420e+02] [ 2.32334525e-01 9.72635752e-01 -6.02638795e-04 1.39978177e+01] [ 2.52354249e-03 1.67902843e-05 9.99996816e-01 1.53950033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.88, Y:14.02, Z:0.16 [[ 9.71801731e-01 -2.35786749e-01 -2.45055022e-03 1.16883057e+02] [ 2.35785979e-01 9.71804820e-01 -6.02787018e-04 1.40151198e+01] [ 2.52358571e-03 7.98408526e-06 9.99996816e-01 1.55943958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.94, Y:14.03, Z:0.16 [[ 9.71925986e-01 -2.35274037e-01 -2.45043386e-03 1.16939106e+02] [ 2.35273264e-01 9.71929075e-01 -6.03259669e-04 1.40315305e+01] [ 2.52357925e-03 9.80217655e-06 9.99996816e-01 1.55164362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.99, Y:14.05, Z:0.15 [[ 9.72489168e-01 -2.32935213e-01 -2.45032986e-03 1.16994208e+02] [ 2.32934431e-01 9.72492255e-01 -6.03681793e-04 1.40475723e+01] [ 2.52354556e-03 1.63078116e-05 9.99996816e-01 1.53526114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:14.07, Z:0.15 [[ 9.72571580e-01 -2.32590881e-01 -2.45027830e-03 1.17049305e+02] [ 2.32590097e-01 9.72574667e-01 -6.03891029e-04 1.40654900e+01] [ 2.52353814e-03 1.74167849e-05 9.99996816e-01 1.53848251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:14.08, Z:0.15 [[ 9.72081215e-01 -2.34631858e-01 -2.45015707e-03 1.17104303e+02] [ 2.34631079e-01 9.72084303e-01 -6.04382470e-04 1.40826123e+01] [ 2.52356661e-03 1.26258473e-05 9.99996816e-01 1.53040938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:14.10, Z:0.15 [[ 9.71647858e-01 -2.36420044e-01 -2.45011961e-03 1.17160264e+02] [ 2.36419271e-01 9.71650947e-01 -6.04534305e-04 1.40970826e+01] [ 2.52358506e-03 8.13897151e-06 9.99996816e-01 1.52096225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.22, Y:14.11, Z:0.15 [[ 9.71494480e-01 -2.37049518e-01 -2.45000002e-03 1.17215922e+02] [ 2.37048746e-01 9.71497569e-01 -6.05018588e-04 1.41131075e+01] [ 2.52358842e-03 7.00278784e-06 9.99996816e-01 1.52439602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:14.13, Z:0.15 [[ 9.71358779e-01 -2.37604966e-01 -2.44987997e-03 1.17271410e+02] [ 2.37604195e-01 9.71361869e-01 -6.05504306e-04 1.41279237e+01] [ 2.52359081e-03 6.06016650e-06 9.99996816e-01 1.51789081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:14.14, Z:0.15 [[ 9.71046930e-01 -2.38876242e-01 -2.44984303e-03 1.17328193e+02] [ 2.38875474e-01 9.71050020e-01 -6.05653719e-04 1.41428212e+01] [ 2.52359641e-03 2.91077000e-06 9.99996816e-01 1.54870511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:14.16, Z:0.15 [[ 9.71032700e-01 -2.38934079e-01 -2.44973624e-03 1.17384419e+02] [ 2.38933311e-01 9.71035790e-01 -6.06085346e-04 1.41574735e+01] [ 2.52359601e-03 3.20509971e-06 9.99996816e-01 1.50768701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.44, Y:14.17, Z:0.15 [[ 9.71924069e-01 -2.35281963e-01 -2.44967966e-03 1.17440736e+02] [ 2.35281182e-01 9.71927157e-01 -6.06313942e-04 1.41715849e+01] [ 2.52356492e-03 1.29275862e-05 9.99996816e-01 1.47890822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:14.19, Z:0.15 [[ 9.72819403e-01 -2.31552171e-01 -2.44964354e-03 1.17497381e+02] [ 2.31551378e-01 9.72822487e-01 -6.06459859e-04 1.41868879e+01] [ 2.52349542e-03 2.27575806e-05 9.99996816e-01 1.45983650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70263999999999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:117.55, Y:14.21, Z:0.15 [[ 9.73725128e-01 -2.27713360e-01 -2.44954325e-03 1.17553732e+02] [ 2.27712554e-01 9.73728209e-01 -6.06864660e-04 1.42058380e+01] [ 2.52338055e-03 3.31276203e-05 9.99996816e-01 1.47167988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.61, Y:14.22, Z:0.15 [[ 9.73945233e-01 -2.26770112e-01 -2.44943915e-03 1.17610450e+02] [ 2.26769302e-01 9.73948312e-01 -6.07284527e-04 1.42216586e+01] [ 2.52334111e-03 3.60042638e-05 9.99996816e-01 1.51011516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.67, Y:14.24, Z:0.15 [[ 9.74002845e-01 -2.26522534e-01 -2.44933159e-03 1.17666100e+02] [ 2.26521722e-01 9.74005924e-01 -6.07718026e-04 1.42394186e+01] [ 2.52332531e-03 3.70922758e-05 9.99996816e-01 1.50587411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:14.26, Z:0.15 [[ 9.73929432e-01 -2.26837964e-01 -2.44927465e-03 1.17721401e+02] [ 2.26837152e-01 9.73932511e-01 -6.07947461e-04 1.42570282e+01] [ 2.52333377e-03 3.65114407e-05 9.99996816e-01 1.50979041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:14.28, Z:0.15 [[ 9.73567622e-01 -2.28385827e-01 -2.44915537e-03 1.17776559e+02] [ 2.28385019e-01 9.73570702e-01 -6.08427587e-04 1.42750673e+01] [ 2.52338215e-03 3.29950028e-05 9.99996816e-01 1.51280155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.83, Y:14.29, Z:0.15 [[ 9.72028149e-01 -2.34851614e-01 -2.44903430e-03 1.17833200e+02] [ 2.34850825e-01 9.72031234e-01 -6.08914521e-04 1.42915843e+01] [ 2.52354239e-03 1.67243287e-05 9.99996816e-01 1.53799727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:14.31, Z:0.15 [[ 9.70007479e-01 -2.43062737e-01 -2.44892892e-03 1.17889063e+02] [ 2.43061973e-01 9.70010570e-01 -6.09338063e-04 1.43059374e+01] [ 2.52359431e-03 -4.17901694e-06 9.99996816e-01 1.53429796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12263999999999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:117.94, Y:14.32, Z:0.16 [[ 9.68730101e-01 -2.48104806e-01 -2.44889175e-03 1.17944975e+02] [ 2.48104058e-01 9.68733196e-01 -6.09487418e-04 1.43197869e+01] [ 2.52353948e-03 -1.71511719e-05 9.99996816e-01 1.55329447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18263999999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:118.00, Y:14.33, Z:0.16 [[ 9.67104801e-01 -2.54366481e-01 -2.44877177e-03 1.18002680e+02] [ 2.54365752e-01 9.67107901e-01 -6.09969064e-04 1.43319782e+01] [ 2.52338221e-03 -3.29796628e-05 9.99996816e-01 1.56468486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.06, Y:14.34, Z:0.16 [[ 9.66132759e-01 -2.58033905e-01 -2.44866721e-03 1.18060817e+02] [ 2.58033186e-01 9.66135861e-01 -6.10388536e-04 1.43407563e+01] [ 2.52324614e-03 -4.21210411e-05 9.99996816e-01 1.55620165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.12, Y:14.35, Z:0.15 [[ 9.65670558e-01 -2.59758309e-01 -2.44856265e-03 1.18118744e+02] [ 2.59757595e-01 9.65673661e-01 -6.10807664e-04 1.43523346e+01] [ 2.52317483e-03 -4.61937680e-05 9.99996816e-01 1.54410599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.18, Y:14.36, Z:0.16 [[ 9.65381075e-01 -2.60832102e-01 -2.44845872e-03 1.18177381e+02] [ 2.60831391e-01 9.65384178e-01 -6.11223987e-04 1.43603534e+01] [ 2.52313015e-03 -4.85708249e-05 9.99996816e-01 1.56555921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.24, Y:14.37, Z:0.15 [[ 9.65523262e-01 -2.60305275e-01 -2.44835395e-03 1.18236375e+02] [ 2.60304561e-01 9.65526365e-01 -6.11643405e-04 1.43675481e+01] [ 2.52316429e-03 -4.67617635e-05 9.99996816e-01 1.54816468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.29, Y:14.38, Z:0.16 [[ 9.65650535e-01 -2.59832735e-01 -2.44825005e-03 1.18293695e+02] [ 2.59832018e-01 9.65653638e-01 -6.12058986e-04 1.43752981e+01] [ 2.52319453e-03 -4.50986643e-05 9.99996816e-01 1.55030353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54263999999999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:118.35, Y:14.38, Z:0.15 [[ 9.65697871e-01 -2.59656750e-01 -2.44816766e-03 1.18352006e+02] [ 2.59656031e-01 9.65700974e-01 -6.12388367e-04 1.43821157e+01] [ 2.52320867e-03 -4.42993557e-05 9.99996816e-01 1.53300081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:118.41, Y:14.39, Z:0.15 [[ 9.66462087e-01 -2.56797668e-01 -2.44804709e-03 1.18410626e+02] [ 2.56796939e-01 9.66465186e-01 -6.12869991e-04 1.43872034e+01] [ 2.52333587e-03 -3.63353869e-05 9.99996816e-01 1.53363387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.47, Y:14.40, Z:0.15 [[ 9.67022930e-01 -2.54677560e-01 -2.44800994e-03 1.18468425e+02] [ 2.54676824e-01 9.67026028e-01 -6.13018325e-04 1.43982450e+01] [ 2.52341134e-03 -3.06486192e-05 9.99996816e-01 1.54651031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72264 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:118.53, Y:14.41, Z:0.15 [[ 9.68164279e-01 -2.50303689e-01 -2.44790484e-03 1.18526699e+02] [ 2.50302938e-01 9.68167373e-01 -6.13437731e-04 1.44096327e+01] [ 2.52352732e-03 -1.88092754e-05 9.99996816e-01 1.50909828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.58, Y:14.42, Z:0.15 [[ 9.70099163e-01 -2.42696563e-01 -2.44780682e-03 1.18584288e+02] [ 2.42695787e-01 9.70102252e-01 -6.13828589e-04 1.44177506e+01] [ 2.52359700e-03 1.40219846e-06 9.99996816e-01 1.48347616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.64, Y:14.43, Z:0.15 [[ 9.71169400e-01 -2.38377861e-01 -2.44775136e-03 1.18641568e+02] [ 2.38377071e-01 9.71172485e-01 -6.14049695e-04 1.44282370e+01] [ 2.52356462e-03 1.28584760e-05 9.99996816e-01 1.50614739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.70, Y:14.44, Z:0.15 [[ 9.71376282e-01 -2.37533426e-01 -2.44762826e-03 1.18699022e+02] [ 2.37532632e-01 9.71379365e-01 -6.14539987e-04 1.44393902e+01] [ 2.52354937e-03 1.55579864e-05 9.99996816e-01 1.52028852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:118.76, Y:14.45, Z:0.15 [[ 9.71168538e-01 -2.38381376e-01 -2.44751959e-03 1.18755398e+02] [ 2.38380583e-01 9.71171622e-01 -6.14972471e-04 1.44501945e+01] [ 2.52355955e-03 1.38007681e-05 9.99996816e-01 1.52616859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:118.81, Y:14.46, Z:0.16 [[ 9.70814683e-01 -2.39818393e-01 -2.44747359e-03 1.18813067e+02] [ 2.39817604e-01 9.70817768e-01 -6.15155469e-04 1.44583751e+01] [ 2.52357645e-03 1.02547090e-05 9.99996816e-01 1.55513369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.87, Y:14.47, Z:0.16 [[ 9.70635601e-01 -2.40542181e-01 -2.44743623e-03 1.18870358e+02] [ 2.40541394e-01 9.70638686e-01 -6.15304096e-04 1.44684403e+01] [ 2.52358287e-03 8.52633863e-06 9.99996816e-01 1.58596873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.93, Y:14.48, Z:0.16 [[ 9.70461642e-01 -2.41243054e-01 -2.44731522e-03 1.18928466e+02] [ 2.41242268e-01 9.70464728e-01 -6.15785003e-04 1.44775918e+01] [ 2.52358696e-03 7.19984992e-06 9.99996816e-01 1.57348475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.99, Y:14.49, Z:0.16 [[ 9.70195757e-01 -2.42310140e-01 -2.44720918e-03 1.18986268e+02] [ 2.42309356e-01 9.70198844e-01 -6.16206129e-04 1.44880331e+01] [ 2.52359251e-03 4.85888978e-06 9.99996816e-01 1.55969898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.04, Y:14.50, Z:0.15 [[ 9.70165396e-01 -2.42431675e-01 -2.44710368e-03 1.19042869e+02] [ 2.42430890e-01 9.70168482e-01 -6.16624812e-04 1.44987252e+01] [ 2.52359225e-03 4.97453000e-06 9.99996816e-01 1.54061463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.10, Y:14.51, Z:0.16 [[ 9.70497059e-01 -2.41100539e-01 -2.44705155e-03 1.19098832e+02] [ 2.41099750e-01 9.70500144e-01 -6.16831637e-04 1.45120986e+01] [ 2.52358232e-03 8.64977233e-06 9.99996816e-01 1.55234486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:119.16, Y:14.52, Z:0.16 [[ 9.70881111e-01 -2.39549328e-01 -2.44692994e-03 1.19156658e+02] [ 2.39548532e-01 9.70884195e-01 -6.17313660e-04 1.45241996e+01] [ 2.52356268e-03 1.31796954e-05 9.99996816e-01 1.56115632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.21, Y:14.54, Z:0.16 [[ 9.71164485e-01 -2.38397893e-01 -2.44682229e-03 1.19212231e+02] [ 2.38397093e-01 9.71167568e-01 -6.17740058e-04 1.45396421e+01] [ 2.52354238e-03 1.66118828e-05 9.99996816e-01 1.58031057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.27, Y:14.55, Z:0.16 [[ 9.70744544e-01 -2.40102151e-01 -2.44676556e-03 1.19268684e+02] [ 2.40101356e-01 9.70747628e-01 -6.17964683e-04 1.45534884e+01] [ 2.52356651e-03 1.24141163e-05 9.99996816e-01 1.61531545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:14.57, Z:0.16 [[ 9.69331270e-01 -2.45745608e-01 -2.44664194e-03 1.19325762e+02] [ 2.45744830e-01 9.69334357e-01 -6.18453718e-04 1.45656957e+01] [ 2.52359638e-03 -1.76307987e-06 9.99996816e-01 1.61928473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62263999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:119.38, Y:14.58, Z:0.16 [[ 9.67953814e-01 -2.51116364e-01 -2.44651827e-03 1.19381580e+02] [ 2.51115602e-01 9.67956906e-01 -6.18942557e-04 1.45784324e+01] [ 2.52355086e-03 -1.52510988e-05 9.99996816e-01 1.58603295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.44, Y:14.59, Z:0.16 [[ 9.66248276e-01 -2.57601017e-01 -2.44646459e-03 1.19439039e+02] [ 2.57600275e-01 9.66251373e-01 -6.19154691e-04 1.45858547e+01] [ 2.52339464e-03 -3.19527975e-05 9.99996816e-01 1.58200479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.50, Y:14.59, Z:0.16 [[ 9.65501794e-01 -2.60384908e-01 -2.44642699e-03 1.19497662e+02] [ 2.60384175e-01 9.65504893e-01 -6.19303214e-04 1.45930813e+01] [ 2.52329444e-03 -3.90725076e-05 9.99996816e-01 1.56505088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.55, Y:14.60, Z:0.16 [[ 9.66210153e-01 -2.57743973e-01 -2.44631858e-03 1.19554935e+02] [ 2.57743229e-01 9.66213250e-01 -6.19731151e-04 1.46047338e+01] [ 2.52339739e-03 -3.17315196e-05 9.99996816e-01 1.56456692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.61, Y:14.62, Z:0.16 [[ 9.69000465e-01 -2.47046786e-01 -2.44619467e-03 1.19611987e+02] [ 2.47046007e-01 9.69003553e-01 -6.20219840e-04 1.46166592e+01] [ 2.52359465e-03 -3.32931256e-06 9.99996816e-01 1.55362877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.67, Y:14.63, Z:0.16 [[ 9.71952994e-01 -2.35162486e-01 -2.44615648e-03 1.19669537e+02] [ 2.35161669e-01 9.71956071e-01 -6.20370442e-04 1.46282685e+01] [ 2.52344450e-03 2.77286682e-05 9.99996816e-01 1.57381412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98263999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.73, Y:14.64, Z:0.16 [[ 9.73276382e-01 -2.29623825e-01 -2.44604916e-03 1.19725449e+02] [ 2.29622990e-01 9.73279455e-01 -6.20793288e-04 1.46427288e+01] [ 2.52323833e-03 4.25343233e-05 9.99996816e-01 1.58176680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.78, Y:14.66, Z:0.16 [[ 9.73948967e-01 -2.26754110e-01 -2.44592714e-03 1.19781616e+02] [ 2.26753265e-01 9.73952037e-01 -6.21273675e-04 1.46553561e+01] [ 2.52309208e-03 5.04668884e-05 9.99996816e-01 1.55379102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:119.84, Y:14.67, Z:0.15 [[ 9.73572881e-01 -2.28363444e-01 -2.44587304e-03 1.19838211e+02] [ 2.28362603e-01 9.73575952e-01 -6.21486594e-04 1.46668137e+01] [ 2.52316799e-03 4.65165587e-05 9.99996816e-01 1.54365747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.90, Y:14.68, Z:0.16 [[ 9.72737306e-01 -2.31896857e-01 -2.44575726e-03 1.19895633e+02] [ 2.31896026e-01 9.72740380e-01 -6.21941911e-04 1.46769607e+01] [ 2.52331322e-03 3.78247107e-05 9.99996816e-01 1.55717063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.95, Y:14.69, Z:0.16 [[ 9.72128245e-01 -2.34436973e-01 -2.44564137e-03 1.19952440e+02] [ 2.34436149e-01 9.72131321e-01 -6.22397281e-04 1.46898112e+01] [ 2.52339751e-03 3.17032314e-05 9.99996816e-01 1.58028961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28264000000001 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:14.70, Z:0.15 [[ 9.71608713e-01 -2.36580914e-01 -2.44551851e-03 1.20009135e+02] [ 2.36580096e-01 9.71611790e-01 -6.22879646e-04 1.47000203e+01] [ 2.52345605e-03 2.66342877e-05 9.99996816e-01 1.54158799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.07, Y:14.71, Z:0.15 [[ 9.71797854e-01 -2.35802780e-01 -2.44546205e-03 1.20066214e+02] [ 2.35801959e-01 9.71800930e-01 -6.23101234e-04 1.47126321e+01] [ 2.52343130e-03 2.88837002e-05 9.99996816e-01 1.54445432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.12, Y:14.73, Z:0.15 [[ 9.72450375e-01 -2.33097167e-01 -2.44535626e-03 1.20122617e+02] [ 2.33096336e-01 9.72453449e-01 -6.23516132e-04 1.47255325e+01] [ 2.52333497e-03 3.63349131e-05 9.99996816e-01 1.54831471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:120.18, Y:14.74, Z:0.15 [[ 9.72665789e-01 -2.32196648e-01 -2.44523940e-03 1.20179079e+02] [ 2.32195813e-01 9.72668862e-01 -6.23974081e-04 1.47399020e+01] [ 2.52329291e-03 3.91438932e-05 9.99996816e-01 1.51879471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.24, Y:14.75, Z:0.16 [[ 9.72674468e-01 -2.32160289e-01 -2.44520049e-03 1.20236567e+02] [ 2.32159453e-01 9.72677541e-01 -6.24126533e-04 1.47535123e+01] [ 2.52328899e-03 3.93955359e-05 9.99996816e-01 1.56569708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.29, Y:14.77, Z:0.16 [[ 9.72546477e-01 -2.32695876e-01 -2.44509388e-03 1.20293105e+02] [ 2.32695041e-01 9.72549550e-01 -6.24543897e-04 1.47675312e+01] [ 2.52330374e-03 3.84367463e-05 9.99996816e-01 1.55741960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:14.78, Z:0.16 [[ 9.72078070e-01 -2.34644940e-01 -2.44497274e-03 1.20349856e+02] [ 2.34644110e-01 9.72081144e-01 -6.25017793e-04 1.47797300e+01] [ 2.52336916e-03 3.38676391e-05 9.99996816e-01 1.56606308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:14.79, Z:0.15 [[ 9.71758306e-01 -2.35965710e-01 -2.44493525e-03 1.20407332e+02] [ 2.35964884e-01 9.71761382e-01 -6.25164405e-04 1.47927570e+01] [ 2.52341102e-03 3.05898413e-05 9.99996816e-01 1.54983710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.46, Y:14.81, Z:0.15 [[ 9.71460425e-01 -2.37189092e-01 -2.44482987e-03 1.20463697e+02] [ 2.37188269e-01 9.71463501e-01 -6.25576226e-04 1.48057375e+01] [ 2.52344284e-03 2.78375822e-05 9.99996816e-01 1.53458539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.52, Y:14.82, Z:0.16 [[ 9.71741754e-01 -2.36033869e-01 -2.44479271e-03 1.20520474e+02] [ 2.36033042e-01 9.71744828e-01 -6.25721408e-04 1.48197358e+01] [ 2.52340612e-03 3.09877567e-05 9.99996816e-01 1.57570805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:14.84, Z:0.16 [[ 9.73051454e-01 -2.30575131e-01 -2.44468671e-03 1.20577041e+02] [ 2.30574285e-01 9.73054524e-01 -6.26135297e-04 1.48371266e+01] [ 2.52318469e-03 4.55799711e-05 9.99996816e-01 1.60938179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.63, Y:14.86, Z:0.16 [[ 9.74081863e-01 -2.26182554e-01 -2.44457812e-03 1.20631992e+02] [ 2.26181694e-01 9.74084929e-01 -6.26558952e-04 1.48557160e+01] [ 2.52294341e-03 5.74008915e-05 9.99996816e-01 1.62012175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.69, Y:14.88, Z:0.16 [[ 9.75019422e-01 -2.22106170e-01 -2.44453986e-03 1.20687831e+02] [ 2.22105297e-01 9.75022484e-01 -6.26708191e-04 1.48763332e+01] [ 2.52267709e-03 6.81074067e-05 9.99996816e-01 1.63321067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.74, Y:14.89, Z:0.16 [[ 9.74964109e-01 -2.22348851e-01 -2.44443665e-03 1.20744062e+02] [ 2.22347977e-01 9.74967171e-01 -6.27110515e-04 1.48938848e+01] [ 2.52268279e-03 6.78947008e-05 9.99996816e-01 1.64790927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.80, Y:14.91, Z:0.16 [[ 9.74150099e-01 -2.25888491e-01 -2.44433031e-03 1.20799432e+02] [ 2.25887627e-01 9.74153164e-01 -6.27524726e-04 1.49131288e+01] [ 2.52290272e-03 5.91593009e-05 9.99996816e-01 1.64171996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.85, Y:14.93, Z:0.16 [[ 9.72953502e-01 -2.30988115e-01 -2.44422222e-03 1.20854730e+02] [ 2.30987266e-01 9.72956571e-01 -6.27945468e-04 1.49314743e+01] [ 2.52317001e-03 4.63775352e-05 9.99996816e-01 1.60135722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.91, Y:14.95, Z:0.16 [[ 9.71882545e-01 -2.35453486e-01 -2.44418394e-03 1.20910405e+02] [ 2.35452651e-01 9.71885618e-01 -6.28094408e-04 1.49496252e+01] [ 2.52335424e-03 3.49444029e-05 9.99996816e-01 1.58957403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.97, Y:14.97, Z:0.16 [[ 9.69864581e-01 -2.43632349e-01 -2.44408064e-03 1.20966737e+02] [ 2.43631538e-01 9.69867660e-01 -6.28496132e-04 1.49666547e+01] [ 2.52355676e-03 1.41010116e-05 9.99996816e-01 1.62312931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:14.98, Z:0.16 [[ 9.67764878e-01 -2.51843540e-01 -2.44397185e-03 1.21022792e+02] [ 2.51842755e-01 9.67767963e-01 -6.28918883e-04 1.49796947e+01] [ 2.52358682e-03 -6.85099842e-06 9.99996816e-01 1.60029070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42264 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:121.08, Y:14.99, Z:0.16 [[ 9.66924206e-01 -2.55052165e-01 -2.44393321e-03 1.21079888e+02] [ 2.55051389e-01 9.66927295e-01 -6.29069012e-04 1.49940085e+01] [ 2.52355114e-03 -1.50665053e-05 9.99996816e-01 1.59535123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.14, Y:15.01, Z:0.16 [[ 9.66856677e-01 -2.55308039e-01 -2.44382413e-03 1.21137244e+02] [ 2.55307263e-01 9.66859765e-01 -6.29492470e-04 1.50078539e+01] [ 2.52354971e-03 -1.52970520e-05 9.99996816e-01 1.58094799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.19, Y:15.02, Z:0.16 [[ 9.68065092e-01 -2.50687068e-01 -2.44371500e-03 1.21194235e+02] [ 2.50686276e-01 9.68068176e-01 -6.29915844e-04 1.50240270e+01] [ 2.52359448e-03 -2.80627444e-06 9.99996816e-01 1.59502546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.25, Y:15.04, Z:0.16 [[ 9.68974800e-01 -2.47147456e-01 -2.44360702e-03 1.21251314e+02] [ 2.47146652e-01 9.68977882e-01 -6.30334449e-04 1.50383763e+01] [ 2.52358671e-03 6.84890323e-06 9.99996816e-01 1.60598383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.31, Y:15.05, Z:0.16 [[ 9.70025363e-01 -2.42991410e-01 -2.44350007e-03 1.21307494e+02] [ 2.42990592e-01 9.70028440e-01 -6.30748776e-04 1.50548424e+01] [ 2.52353109e-03 1.80947830e-05 9.99996816e-01 1.62733394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:121.36, Y:15.07, Z:0.17 [[ 9.70740384e-01 -2.40119006e-01 -2.44338988e-03 1.21364292e+02] [ 2.40118177e-01 9.70743459e-01 -6.31175319e-04 1.50710056e+01] [ 2.52346193e-03 2.60050462e-05 9.99996816e-01 1.65124256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.42, Y:15.09, Z:0.16 [[ 9.71264186e-01 -2.37991412e-01 -2.44327728e-03 1.21418271e+02] [ 2.37990576e-01 9.71267258e-01 -6.31610903e-04 1.50893192e+01] [ 2.52339319e-03 3.19840818e-05 9.99996816e-01 1.64030347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84264000000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:121.47, Y:15.11, Z:0.16 [[ 9.71758096e-01 -2.35966593e-01 -2.44322192e-03 1.21472863e+02] [ 2.35965750e-01 9.71761167e-01 -6.31824984e-04 1.51095203e+01] [ 2.52331777e-03 3.74643519e-05 9.99996816e-01 1.63241523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.53, Y:15.13, Z:0.16 [[ 9.71813350e-01 -2.35738931e-01 -2.44309859e-03 1.21526922e+02] [ 2.35738086e-01 9.71816420e-01 -6.32301487e-04 1.51287802e+01] [ 2.52330141e-03 3.85476386e-05 9.99996816e-01 1.64580420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:15.15, Z:0.17 [[ 9.71459960e-01 -2.37191016e-01 -2.44304546e-03 1.21582840e+02] [ 2.37190175e-01 9.71463031e-01 -6.32506720e-04 1.51488397e+01] [ 2.52335326e-03 3.49885722e-05 9.99996816e-01 1.65034155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:15.17, Z:0.16 [[ 9.70420469e-01 -2.41408671e-01 -2.44293756e-03 1.21638342e+02] [ 2.41407842e-01 9.70423543e-01 -6.32923200e-04 1.51699414e+01] [ 2.52347727e-03 2.44573436e-05 9.99996816e-01 1.63918840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:121.69, Y:15.19, Z:0.16 [[ 9.69413518e-01 -2.45420994e-01 -2.44282774e-03 1.21694837e+02] [ 2.45420177e-01 9.69416595e-01 -6.33346753e-04 1.51876372e+01] [ 2.52355434e-03 1.44556877e-05 9.99996816e-01 1.64185189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:121.75, Y:15.21, Z:0.16 [[ 9.68121038e-01 -2.50470934e-01 -2.44271796e-03 1.21749821e+02] [ 2.50470132e-01 9.68124120e-01 -6.33769888e-04 1.52073969e+01] [ 2.52359511e-03 1.73807145e-06 9.99996816e-01 1.63558488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.80, Y:15.23, Z:0.17 [[ 9.67397600e-01 -2.53250702e-01 -2.44259335e-03 1.21803684e+02] [ 2.53249908e-01 9.67400683e-01 -6.34249785e-04 1.52284147e+01] [ 2.52359068e-03 -5.01482043e-06 9.99996816e-01 1.65168558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.86, Y:15.24, Z:0.17 [[ 9.67029935e-01 -2.54651014e-01 -2.44255479e-03 1.21859900e+02] [ 2.54650224e-01 9.67033019e-01 -6.34398253e-04 1.52447592e+01] [ 2.52358129e-03 -8.51502315e-06 9.99996816e-01 1.65072570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:121.91, Y:15.26, Z:0.16 [[ 9.66809142e-01 -2.55487998e-01 -2.44244553e-03 1.21914453e+02] [ 2.55487210e-01 9.66812227e-01 -6.34818624e-04 1.52636503e+01] [ 2.52357474e-03 -1.02651424e-05 9.99996816e-01 1.64444305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.97, Y:15.28, Z:0.17 [[ 9.66921551e-01 -2.55062244e-01 -2.44238787e-03 1.21970651e+02] [ 2.55061454e-01 9.66924636e-01 -6.35040360e-04 1.52809024e+01] [ 2.52357982e-03 -8.92479178e-06 9.99996816e-01 1.67239267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:15.30, Z:0.16 [[ 9.67372226e-01 -2.53347610e-01 -2.44227712e-03 1.22025713e+02] [ 2.53346814e-01 9.67375309e-01 -6.35466032e-04 1.52991678e+01] [ 2.52359238e-03 -4.01093499e-06 9.99996816e-01 1.60856359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.08, Y:15.31, Z:0.16 [[ 9.67518406e-01 -2.52788785e-01 -2.44223808e-03 1.22081347e+02] [ 2.52787986e-01 9.67521488e-01 -6.35616013e-04 1.53142093e+01] [ 2.52359442e-03 -2.39825305e-06 9.99996816e-01 1.61209415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.14, Y:15.33, Z:0.16 [[ 9.67960974e-01 -2.51088807e-01 -2.44211800e-03 1.22137263e+02] [ 2.51088002e-01 9.67964055e-01 -6.36077060e-04 1.53307616e+01] [ 2.52359427e-03 2.51124273e-06 9.99996816e-01 1.63294766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:122.19, Y:15.35, Z:0.16 [[ 9.68288987e-01 -2.49820885e-01 -2.44199173e-03 1.22192369e+02] [ 2.49820074e-01 9.68292066e-01 -6.36561467e-04 1.53473873e+01] [ 2.52358756e-03 6.31690351e-06 9.99996816e-01 1.62686187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68264000000002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:122.25, Y:15.36, Z:0.16 [[ 9.68525346e-01 -2.48902977e-01 -2.44186451e-03 1.22248767e+02] [ 2.48902162e-01 9.68528424e-01 -6.37049081e-04 1.53629782e+01] [ 2.52357860e-03 9.21282471e-06 9.99996816e-01 1.64284346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.31, Y:15.38, Z:0.17 [[ 9.68407254e-01 -2.49362044e-01 -2.44175348e-03 1.22306264e+02] [ 2.49361229e-01 9.68410332e-01 -6.37474394e-04 1.53760655e+01] [ 2.52358121e-03 8.45617838e-06 9.99996816e-01 1.68613732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.36, Y:15.39, Z:0.17 [[ 9.68419526e-01 -2.49314380e-01 -2.44164243e-03 1.22361637e+02] [ 2.49313564e-01 9.68422604e-01 -6.37899418e-04 1.53917851e+01] [ 2.52357922e-03 9.01967370e-06 9.99996816e-01 1.67120056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.42, Y:15.41, Z:0.17 [[ 9.69187059e-01 -2.46313790e-01 -2.44160332e-03 1.22417972e+02] [ 2.46312964e-01 9.69190134e-01 -6.38049079e-04 1.54071477e+01] [ 2.52353814e-03 1.69903572e-05 9.99996816e-01 1.68197852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.47, Y:15.42, Z:0.17 [[ 9.70977342e-01 -2.39159028e-01 -2.44147768e-03 1.22474395e+02] [ 2.39158178e-01 9.70980411e-01 -6.38529493e-04 1.54224348e+01] [ 2.52333709e-03 3.60983152e-05 9.99996816e-01 1.70605374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.53, Y:15.44, Z:0.17 [[ 9.72268821e-01 -2.33853330e-01 -2.44136759e-03 1.22529730e+02] [ 2.33852462e-01 9.72271885e-01 -6.38950139e-04 1.54417185e+01] [ 2.52309368e-03 5.03114758e-05 9.99996816e-01 1.72594826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.58, Y:15.46, Z:0.17 [[ 9.73435253e-01 -2.28949444e-01 -2.44123754e-03 1.22583846e+02] [ 2.28948560e-01 9.73438312e-01 -6.39446623e-04 1.54627273e+01] [ 2.52279510e-03 6.35420660e-05 9.99996816e-01 1.69619470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:122.64, Y:15.48, Z:0.17 [[ 9.73661647e-01 -2.27984731e-01 -2.44117751e-03 1.22638682e+02] [ 2.27983843e-01 9.73664705e-01 -6.39675736e-04 1.54846236e+01] [ 2.52272468e-03 6.62787009e-05 9.99996816e-01 1.70615405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:122.69, Y:15.51, Z:0.17 [[ 9.73534664e-01 -2.28526363e-01 -2.44106799e-03 1.22692606e+02] [ 2.28525476e-01 9.73537722e-01 -6.40093387e-04 1.55056458e+01] [ 2.52274999e-03 6.53068756e-05 9.99996816e-01 1.68718526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:15.53, Z:0.17 [[ 9.72731469e-01 -2.31921388e-01 -2.44102920e-03 1.22746765e+02] [ 2.31920511e-01 9.72734530e-01 -6.40241297e-04 1.55287554e+01] [ 2.52295904e-03 5.66581184e-05 9.99996816e-01 1.69506567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.80, Y:15.55, Z:0.17 [[ 9.71893838e-01 -2.35406902e-01 -2.44090508e-03 1.22801863e+02] [ 2.35406035e-01 9.71896902e-01 -6.40714128e-04 1.55461094e+01] [ 2.52313662e-03 4.81023258e-05 9.99996816e-01 1.72900678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34264000000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:122.86, Y:15.57, Z:0.17 [[ 9.70522504e-01 -2.40998158e-01 -2.44077810e-03 1.22855419e+02] [ 2.40997307e-01 9.70525572e-01 -6.41197500e-04 1.55687119e+01] [ 2.52336498e-03 3.40756531e-05 9.99996816e-01 1.66994810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.91, Y:15.59, Z:0.17 [[ 9.68937300e-01 -2.47294461e-01 -2.44073867e-03 1.22910364e+02] [ 2.47293630e-01 9.68940374e-01 -6.41347573e-04 1.55884726e+01] [ 2.52353194e-03 1.78464607e-05 9.99996816e-01 1.66897816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46264000000002 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:15.60, Z:0.17 [[ 9.67546467e-01 -2.52681374e-01 -2.44069981e-03 1.22966421e+02] [ 2.52680560e-01 9.67549546e-01 -6.41495422e-04 1.56041437e+01] [ 2.52359193e-03 3.95923538e-06 9.99996816e-01 1.67276783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:123.02, Y:15.62, Z:0.17 [[ 9.67146002e-01 -2.54209862e-01 -2.44057277e-03 1.23020199e+02] [ 2.54209052e-01 9.67149082e-01 -6.41978380e-04 1.56231744e+01] [ 2.52359495e-03 4.71134979e-07 9.99996816e-01 1.66691155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:123.08, Y:15.64, Z:0.17 [[ 9.67392681e-01 -2.53269509e-01 -2.44051788e-03 1.23075335e+02] [ 2.53268695e-01 9.67395760e-01 -6.42186976e-04 1.56417557e+01] [ 2.52359303e-03 3.14020229e-06 9.99996816e-01 1.66890081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:123.13, Y:15.66, Z:0.17 [[ 9.67548395e-01 -2.52673997e-01 -2.44039627e-03 1.23131761e+02] [ 2.52673180e-01 9.67551472e-01 -6.42648760e-04 1.56578524e+01] [ 2.52358964e-03 5.17108927e-06 9.99996816e-01 1.70160129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:15.67, Z:0.17 [[ 9.67578448e-01 -2.52558886e-01 -2.44028410e-03 1.23187759e+02] [ 2.52558068e-01 9.67581526e-01 -6.43074422e-04 1.56735477e+01] [ 2.52358797e-03 5.91151486e-06 9.99996816e-01 1.70969519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.24, Y:15.69, Z:0.17 [[ 9.67544894e-01 -2.52687401e-01 -2.44024464e-03 1.23243348e+02] [ 2.52686583e-01 9.67547972e-01 -6.43224140e-04 1.56900686e+01] [ 2.52358838e-03 5.73115516e-06 9.99996816e-01 1.67045529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.30, Y:15.71, Z:0.17 [[ 9.67603868e-01 -2.52461483e-01 -2.44020554e-03 1.23300225e+02] [ 2.52460663e-01 9.67606945e-01 -6.43372413e-04 1.57057283e+01] [ 2.52358658e-03 6.47372499e-06 9.99996816e-01 1.71029769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.36, Y:15.72, Z:0.17 [[ 9.67961077e-01 -2.51088428e-01 -2.44009476e-03 1.23356022e+02] [ 2.51087603e-01 9.67964153e-01 -6.43792314e-04 1.57216754e+01] [ 2.52357305e-03 1.04883595e-05 9.99996816e-01 1.72045495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.41, Y:15.74, Z:0.17 [[ 9.68795115e-01 -2.47850905e-01 -2.44005569e-03 1.23412063e+02] [ 2.47850069e-01 9.68798188e-01 -6.43940355e-04 1.57392372e+01] [ 2.52352273e-03 1.90783002e-05 9.99996816e-01 1.73560970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:123.47, Y:15.76, Z:0.17 [[ 9.69513330e-01 -2.45026428e-01 -2.43994910e-03 1.23468231e+02] [ 2.45025582e-01 9.69516400e-01 -6.44343995e-04 1.57564443e+01] [ 2.52345197e-03 2.68501449e-05 9.99996816e-01 1.71756130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.52, Y:15.77, Z:0.17 [[ 9.70802277e-01 -2.39868683e-01 -2.43984017e-03 1.23524673e+02] [ 2.39867820e-01 9.70805343e-01 -6.44756175e-04 1.57742509e+01] [ 2.52326669e-03 4.06916195e-05 9.99996816e-01 1.73989275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.58, Y:15.79, Z:0.17 [[ 9.71417648e-01 -2.37364278e-01 -2.43972847e-03 1.23579197e+02] [ 2.37363406e-01 9.71420711e-01 -6.45178591e-04 1.57945986e+01] [ 2.52314511e-03 4.76356116e-05 9.99996816e-01 1.73300838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.64, Y:15.81, Z:0.18 [[ 9.70401595e-01 -2.41484561e-01 -2.43968907e-03 1.23635048e+02] [ 2.41483702e-01 9.70404661e-01 -6.45327524e-04 1.58135999e+01] [ 2.52332228e-03 3.70817100e-05 9.99996816e-01 1.77296751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:15.83, Z:0.18 [[ 9.68984775e-01 -2.47108386e-01 -2.43957824e-03 1.23690724e+02] [ 2.47107543e-01 9.68987846e-01 -6.45746222e-04 1.58277404e+01] [ 2.52349097e-03 2.28800719e-05 9.99996816e-01 1.75008629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:15.84, Z:0.17 [[ 9.67099201e-01 -2.54387861e-01 -2.43953906e-03 1.23747723e+02] [ 2.54387041e-01 9.67102278e-01 -6.45894231e-04 1.58441191e+01] [ 2.52359143e-03 4.05667336e-06 9.99996816e-01 1.72640720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:15.86, Z:0.18 [[ 9.66686545e-01 -2.55951505e-01 -2.43943675e-03 1.23803129e+02] [ 2.55950689e-01 9.66689623e-01 -6.46280379e-04 1.58596587e+01] [ 2.52359463e-03 3.75029090e-07 9.99996816e-01 1.75293115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.86, Y:15.88, Z:0.17 [[ 9.65948193e-01 -2.58724058e-01 -2.43931063e-03 1.23859289e+02] [ 2.58723250e-01 9.65951273e-01 -6.46756062e-04 1.58766286e+01] [ 2.52358656e-03 -6.37352407e-06 9.99996816e-01 1.74016414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:15.89, Z:0.17 [[ 9.65469718e-01 -2.60503883e-01 -2.43919977e-03 1.23916552e+02] [ 2.60503080e-01 9.65472800e-01 -6.47173912e-04 1.58908177e+01] [ 2.52357234e-03 -1.05922361e-05 9.99996816e-01 1.74331497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.97, Y:15.90, Z:0.18 [[ 9.64332932e-01 -2.64681030e-01 -2.43908713e-03 1.23973396e+02] [ 2.64680238e-01 9.64336016e-01 -6.47598155e-04 1.59044016e+01] [ 2.52350651e-03 -2.10779348e-05 9.99996816e-01 1.78671043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:124.03, Y:15.92, Z:0.17 [[ 9.62913496e-01 -2.69799278e-01 -2.43897463e-03 1.24029908e+02] [ 2.69798502e-01 9.62916584e-01 -6.48021574e-04 1.59179843e+01] [ 2.52336487e-03 -3.40429811e-05 9.99996816e-01 1.73994133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66264 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:124.09, Y:15.93, Z:0.18 [[ 9.61485789e-01 -2.74843826e-01 -2.43893504e-03 1.24088541e+02] [ 2.74843066e-01 9.61488881e-01 -6.48170513e-04 1.59270484e+01] [ 2.52315459e-03 -4.71176470e-05 9.99996816e-01 1.75696382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.15, Y:15.94, Z:0.18 [[ 9.61161144e-01 -2.75977005e-01 -2.43882452e-03 1.24145456e+02] [ 2.75976247e-01 9.61164237e-01 -6.48586097e-04 1.59368558e+01] [ 2.52310576e-03 -4.96618848e-05 9.99996816e-01 1.77292124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78264000000001 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:124.20, Y:15.95, Z:0.17 [[ 9.61637836e-01 -2.74311366e-01 -2.43878567e-03 1.24202815e+02] [ 2.74310603e-01 9.61640927e-01 -6.48732165e-04 1.59508382e+01] [ 2.52319072e-03 -4.51393715e-05 9.99996816e-01 1.74636464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:124.26, Y:15.96, Z:0.17 [[ 9.63671545e-01 -2.67079027e-01 -2.43867838e-03 1.24259806e+02] [ 2.67078240e-01 9.63674630e-01 -6.49135231e-04 1.59645309e+01] [ 2.52346289e-03 -2.57647773e-05 9.99996816e-01 1.73285203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.32, Y:15.98, Z:0.17 [[ 9.65560401e-01 -2.60167570e-01 -2.43856709e-03 1.24317277e+02] [ 2.60166759e-01 9.65563481e-01 -6.49553038e-04 1.59774248e+01] [ 2.52358396e-03 -7.25140504e-06 9.99996816e-01 1.74868829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.37, Y:15.99, Z:0.18 [[ 9.66514035e-01 -2.56602172e-01 -2.43845360e-03 1.24373604e+02] [ 2.56601349e-01 9.66517111e-01 -6.49978787e-04 1.59914945e+01] [ 2.52359310e-03 2.50313563e-06 9.99996816e-01 1.76756803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.43, Y:16.01, Z:0.18 [[ 9.66649386e-01 -2.56091816e-01 -2.43841341e-03 1.24430168e+02] [ 2.56090990e-01 9.66652462e-01 -6.50129523e-04 1.60055445e+01] [ 2.52359118e-03 3.99159824e-06 9.99996816e-01 1.78967996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:124.49, Y:16.02, Z:0.18 [[ 9.66191191e-01 -2.57815121e-01 -2.43828605e-03 1.24486604e+02] [ 2.57814300e-01 9.66194268e-01 -6.50606865e-04 1.60183479e+01] [ 2.52359429e-03 -1.43889340e-08 9.99996816e-01 1.80154456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:16.03, Z:0.18 [[ 9.65552761e-01 -2.60195926e-01 -2.43824669e-03 1.24544398e+02] [ 2.60195112e-01 9.65555840e-01 -6.50754334e-04 1.60314431e+01] [ 2.52358695e-03 -6.08222580e-06 9.99996816e-01 1.82667057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:16.04, Z:0.18 [[ 9.64539518e-01 -2.63927214e-01 -2.43813217e-03 1.24602824e+02] [ 2.63926411e-01 9.64542599e-01 -6.51183091e-04 1.60424952e+01] [ 2.52354728e-03 -1.53956499e-05 9.99996816e-01 1.83700070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.66, Y:16.05, Z:0.18 [[ 9.64013093e-01 -2.65843586e-01 -2.43806964e-03 1.24660356e+02] [ 2.65842789e-01 9.64016176e-01 -6.51417143e-04 1.60522172e+01] [ 2.52351364e-03 -2.01685778e-05 9.99996816e-01 1.80211540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:124.72, Y:16.06, Z:0.18 [[ 9.64335924e-01 -2.64670139e-01 -2.43802967e-03 1.24718443e+02] [ 2.64669337e-01 9.64339005e-01 -6.51566682e-04 1.60636159e+01] [ 2.52353735e-03 -1.69425403e-05 9.99996816e-01 1.78912563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.78, Y:16.08, Z:0.18 [[ 9.65262682e-01 -2.61269998e-01 -2.43791854e-03 1.24775286e+02] [ 2.61269184e-01 9.65265760e-01 -6.51982241e-04 1.60753841e+01] [ 2.52358269e-03 -7.61886171e-06 9.99996816e-01 1.78256166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:124.83, Y:16.09, Z:0.18 [[ 9.66628399e-01 -2.56171027e-01 -2.43780865e-03 1.24832409e+02] [ 2.56170197e-01 9.66631473e-01 -6.52392880e-04 1.60893246e+01] [ 2.52358672e-03 6.12756482e-06 9.99996816e-01 1.81437314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:16.10, Z:0.18 [[ 9.67683546e-01 -2.52155928e-01 -2.43769501e-03 1.24889015e+02] [ 2.52155084e-01 9.67686616e-01 -6.52817216e-04 1.61038231e+01] [ 2.52353657e-03 1.70432905e-05 9.99996816e-01 1.81153857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:16.12, Z:0.18 [[ 9.67727063e-01 -2.51988869e-01 -2.43756711e-03 1.24945006e+02] [ 2.51988023e-01 9.67730133e-01 -6.53294418e-04 1.61182381e+01] [ 2.52353007e-03 1.79729702e-05 9.99996816e-01 1.82284400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.00, Y:16.13, Z:0.18 [[ 9.66448884e-01 -2.56847451e-01 -2.43743830e-03 1.25002648e+02] [ 2.56846619e-01 9.66451958e-01 -6.53774654e-04 1.61305595e+01] [ 2.52358737e-03 5.79199841e-06 9.99996816e-01 1.83458845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:125.06, Y:16.14, Z:0.18 [[ 9.64181184e-01 -2.65233300e-01 -2.43732352e-03 1.25059762e+02] [ 2.65232494e-01 9.64184265e-01 -6.54202310e-04 1.61418864e+01] [ 2.52354522e-03 -1.56878373e-05 9.99996816e-01 1.83119339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74264000000002 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:16.15, Z:0.18 [[ 9.62412412e-01 -2.71581312e-01 -2.43719332e-03 1.25118694e+02] [ 2.71580525e-01 9.62415497e-01 -6.54686974e-04 1.61501973e+01] [ 2.52339337e-03 -3.18153730e-05 9.99996816e-01 1.81804601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:125.17, Y:16.16, Z:0.18 [[ 9.61969931e-01 -2.73144490e-01 -2.43707959e-03 1.25174849e+02] [ 2.73143706e-01 9.61973018e-01 -6.55110064e-04 1.61626344e+01] [ 2.52334451e-03 -3.54767696e-05 9.99996816e-01 1.80233664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:125.23, Y:16.17, Z:0.18 [[ 9.62430341e-01 -2.71517770e-01 -2.43702033e-03 1.25233619e+02] [ 2.71516981e-01 9.62433426e-01 -6.55330467e-04 1.61723847e+01] [ 2.52340369e-03 -3.09824750e-05 9.99996816e-01 1.80475987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.29, Y:16.19, Z:0.18 [[ 9.63376606e-01 -2.68140965e-01 -2.43691527e-03 1.25290192e+02] [ 2.68140164e-01 9.63379688e-01 -6.55720882e-04 1.61858828e+01] [ 2.52350031e-03 -2.17287040e-05 9.99996816e-01 1.82822898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:125.35, Y:16.20, Z:0.18 [[ 9.65019784e-01 -2.62165745e-01 -2.43687530e-03 1.25347208e+02] [ 2.62164925e-01 9.65022861e-01 -6.55869418e-04 1.61971090e+01] [ 2.52358686e-03 -5.93626530e-06 9.99996816e-01 1.84628434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.41, Y:16.21, Z:0.19 [[ 9.66636121e-01 -2.56141897e-01 -2.43683640e-03 1.25405132e+02] [ 2.56141057e-01 9.66639193e-01 -6.56013915e-04 1.62092662e+01] [ 2.52357422e-03 9.95289588e-06 9.99996816e-01 1.88128419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:125.46, Y:16.22, Z:0.19 [[ 9.67517651e-01 -2.52791725e-01 -2.43672359e-03 1.25461399e+02] [ 2.52790874e-01 9.67520720e-01 -6.56432645e-04 1.62229931e+01] [ 2.52352131e-03 1.91286847e-05 9.99996816e-01 1.88104245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:125.52, Y:16.24, Z:0.19 [[ 9.68407529e-01 -2.49361025e-01 -2.43659308e-03 1.25517951e+02] [ 2.49360161e-01 9.68410594e-01 -6.56916730e-04 1.62374678e+01] [ 2.52343198e-03 2.85738628e-05 9.99996816e-01 1.87073360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.57, Y:16.25, Z:0.19 [[ 9.69359069e-01 -2.45636028e-01 -2.43646378e-03 1.25573804e+02] [ 2.45635152e-01 9.69362130e-01 -6.57395955e-04 1.62529146e+01] [ 2.52329585e-03 3.87715807e-05 9.99996816e-01 1.88359575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28264000000001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:125.63, Y:16.27, Z:0.19 [[ 9.69607980e-01 -2.44651650e-01 -2.43633248e-03 1.25629975e+02] [ 2.44650769e-01 9.69611040e-01 -6.57882210e-04 1.62693740e+01] [ 2.52324683e-03 4.18372253e-05 9.99996816e-01 1.87528394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.69, Y:16.29, Z:0.19 [[ 9.70166827e-01 -2.42426058e-01 -2.43621914e-03 1.25686374e+02] [ 2.42425169e-01 9.70169884e-01 -6.58301640e-04 1.62857519e+01] [ 2.52313591e-03 4.80615774e-05 9.99996816e-01 1.90767242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:16.30, Z:0.19 [[ 9.70514452e-01 -2.41030628e-01 -2.43610482e-03 1.25741057e+02] [ 2.41029734e-01 9.70517508e-01 -6.58724428e-04 1.63044135e+01] [ 2.52305514e-03 5.21278819e-05 9.99996816e-01 1.88435472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46264000000002 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:16.32, Z:0.19 [[ 9.70503309e-01 -2.41075493e-01 -2.43606463e-03 1.25796684e+02] [ 2.41074599e-01 9.70506365e-01 -6.58873001e-04 1.63234907e+01] [ 2.52305437e-03 5.21651233e-05 9.99996816e-01 1.90498345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.85, Y:16.34, Z:0.19 [[ 9.70323489e-01 -2.41798246e-01 -2.43594650e-03 1.25851478e+02] [ 2.41797353e-01 9.70326546e-01 -6.59309471e-04 1.63440918e+01] [ 2.52308343e-03 5.07380516e-05 9.99996816e-01 1.89243740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:16.36, Z:0.19 [[ 9.69915076e-01 -2.43431329e-01 -2.43590476e-03 1.25906588e+02] [ 2.43430440e-01 9.69918134e-01 -6.59463648e-04 1.63633966e+01] [ 2.52316231e-03 4.66503662e-05 9.99996816e-01 1.89003893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:125.96, Y:16.38, Z:0.18 [[ 9.68900622e-01 -2.47438177e-01 -2.43577447e-03 1.25961127e+02] [ 2.47437299e-01 9.68903683e-01 -6.59944544e-04 1.63827229e+01] [ 2.52332633e-03 3.67192232e-05 9.99996816e-01 1.84257696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:16.40, Z:0.19 [[ 9.68372967e-01 -2.49495219e-01 -2.43573415e-03 1.26016893e+02] [ 2.49494348e-01 9.68376030e-01 -6.60093331e-04 1.64004539e+01] [ 2.52339669e-03 3.15146348e-05 9.99996816e-01 1.85364221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.07, Y:16.42, Z:0.18 [[ 9.67752541e-01 -2.51891023e-01 -2.43562089e-03 1.26071493e+02] [ 2.51890158e-01 9.67755605e-01 -6.60510959e-04 1.64197095e+01] [ 2.52346255e-03 2.57022277e-05 9.99996816e-01 1.84786446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.13, Y:16.44, Z:0.19 [[ 9.67387316e-01 -2.53290048e-01 -2.43549115e-03 1.26126471e+02] [ 2.53289187e-01 9.67390382e-01 -6.60989012e-04 1.64408823e+01] [ 2.52349265e-03 2.25488147e-05 9.99996816e-01 1.86809914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.18, Y:16.46, Z:0.19 [[ 9.66758484e-01 -2.55679687e-01 -2.43537532e-03 1.26181093e+02] [ 2.55678832e-01 9.66761551e-01 -6.61415510e-04 1.64602790e+01] [ 2.52353773e-03 1.67551399e-05 9.99996816e-01 1.87237656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:16.48, Z:0.19 [[ 9.66266125e-01 -2.57534162e-01 -2.43533451e-03 1.26236592e+02] [ 2.57533312e-01 9.66269194e-01 -6.61565728e-04 1.64771248e+01] [ 2.52356449e-03 1.20687904e-05 9.99996816e-01 1.85959723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.29, Y:16.49, Z:0.19 [[ 9.65849690e-01 -2.59091577e-01 -2.43527465e-03 1.26293509e+02] [ 2.59090732e-01 9.65852760e-01 -6.61786005e-04 1.64932102e+01] [ 2.52357992e-03 8.22871689e-06 9.99996816e-01 1.88827947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:126.35, Y:16.51, Z:0.19 [[ 9.65406858e-01 -2.60736781e-01 -2.43516517e-03 1.26349843e+02] [ 2.60735940e-01 9.65409929e-01 -6.62188610e-04 1.65096407e+01] [ 2.52358956e-03 4.34634583e-06 9.99996816e-01 1.91409971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.41, Y:16.52, Z:0.19 [[ 9.65309749e-01 -2.61096072e-01 -2.43504946e-03 1.26405673e+02] [ 2.61095231e-01 9.65312820e-01 -6.62613832e-04 1.65244284e+01] [ 2.52359033e-03 3.84778951e-06 9.99996816e-01 1.89010712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18264000000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:126.46, Y:16.54, Z:0.18 [[ 9.65330349e-01 -2.61019899e-01 -2.43500855e-03 1.26463171e+02] [ 2.61019058e-01 9.65333420e-01 -6.62764117e-04 1.65386581e+01] [ 2.52358976e-03 4.20267865e-06 9.99996816e-01 1.84429948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24264000000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:126.52, Y:16.55, Z:0.19 [[ 9.65750527e-01 -2.59460960e-01 -2.43489967e-03 1.26519908e+02] [ 2.59460113e-01 9.65753597e-01 -6.63163915e-04 1.65508484e+01] [ 2.52357826e-03 8.69155770e-06 9.99996816e-01 1.86477921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.58, Y:16.57, Z:0.19 [[ 9.66345673e-01 -2.57235518e-01 -2.43476817e-03 1.26575936e+02] [ 2.57234662e-01 9.66348740e-01 -6.63646348e-04 1.65655224e+01] [ 2.52354857e-03 1.50050099e-05 9.99996816e-01 1.87383698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.63, Y:16.58, Z:0.19 [[ 9.67610914e-01 -2.52434528e-01 -2.43463572e-03 1.26631504e+02] [ 2.52433656e-01 9.67613977e-01 -6.64131886e-04 1.65804808e+01] [ 2.52343737e-03 2.80372655e-05 9.99996816e-01 1.86151562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.69, Y:16.60, Z:0.19 [[ 9.68641119e-01 -2.48452121e-01 -2.43450441e-03 1.26687178e+02] [ 2.48451236e-01 9.68644177e-01 -6.64612902e-04 1.65953152e+01] [ 2.52329300e-03 3.89157569e-05 9.99996816e-01 1.90994809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:126.74, Y:16.61, Z:0.19 [[ 9.69549925e-01 -2.44881637e-01 -2.43446383e-03 1.26743386e+02] [ 2.44880740e-01 9.69552980e-01 -6.64761515e-04 1.66141874e+01] [ 2.52312955e-03 4.83661747e-05 9.99996816e-01 1.94112130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.80, Y:16.63, Z:0.20 [[ 9.70088183e-01 -2.42740583e-01 -2.43435104e-03 1.26798767e+02] [ 2.42739678e-01 9.70091236e-01 -6.65174291e-04 1.66329423e+01] [ 2.52300740e-03 5.43641333e-05 9.99996816e-01 1.96697916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:126.85, Y:16.65, Z:0.19 [[ 9.70695553e-01 -2.40300266e-01 -2.43421956e-03 1.26853451e+02] [ 2.40299352e-01 9.70698603e-01 -6.65655083e-04 1.66510221e+01] [ 2.52285062e-03 6.12070459e-05 9.99996816e-01 1.91185348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.91, Y:16.67, Z:0.19 [[ 9.70635464e-01 -2.40542869e-01 -2.43417892e-03 1.26909572e+02] [ 2.40541955e-01 9.70638514e-01 -6.65803679e-04 1.66695027e+01] [ 2.52286213e-03 6.07305081e-05 9.99996816e-01 1.91846475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.96, Y:16.69, Z:0.19 [[ 9.69714633e-01 -2.44228592e-01 -2.43406338e-03 1.26964796e+02] [ 2.44227688e-01 9.69717687e-01 -6.66225780e-04 1.66903606e+01] [ 2.52306570e-03 5.15832142e-05 9.99996816e-01 1.88590515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.02, Y:16.71, Z:0.19 [[ 9.68268489e-01 -2.49900399e-01 -2.43394792e-03 1.27020425e+02] [ 2.49899513e-01 9.68271547e-01 -6.66647329e-04 1.67086559e+01] [ 2.52331795e-03 3.72512017e-05 9.99996816e-01 1.91311276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.07, Y:16.73, Z:0.19 [[ 9.67528982e-01 -2.52748385e-01 -2.43383199e-03 1.27074793e+02] [ 2.52747507e-01 9.67532042e-01 -6.67070322e-04 1.67288380e+01] [ 2.52341138e-03 3.02649031e-05 9.99996816e-01 1.89539706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.13, Y:16.75, Z:0.19 [[ 9.67461835e-01 -2.53005286e-01 -2.43379110e-03 1.27129146e+02] [ 2.53004408e-01 9.67464896e-01 -6.67219461e-04 1.67497735e+01] [ 2.52341750e-03 2.97494873e-05 9.99996816e-01 1.89691689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.18, Y:16.77, Z:0.19 [[ 9.67442191e-01 -2.53080390e-01 -2.43365681e-03 1.27184837e+02] [ 2.53079511e-01 9.67445252e-01 -6.67708914e-04 1.67666768e+01] [ 2.52341376e-03 3.00610996e-05 9.99996816e-01 1.87095222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.24, Y:16.79, Z:0.19 [[ 9.67112794e-01 -2.54336238e-01 -2.43361544e-03 1.27239340e+02] [ 2.54335362e-01 9.67115855e-01 -6.67859682e-04 1.67883525e+01] [ 2.52344899e-03 2.69411794e-05 9.99996816e-01 1.91375284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:16.81, Z:0.19 [[ 9.66870082e-01 -2.55257364e-01 -2.43355325e-03 1.27294297e+02] [ 2.55256491e-01 9.66873145e-01 -6.68086203e-04 1.68071876e+01] [ 2.52347121e-03 2.47722991e-05 9.99996816e-01 1.88857498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:16.82, Z:0.19 [[ 9.66829571e-01 -2.55410765e-01 -2.43351228e-03 1.27350801e+02] [ 2.55409893e-01 9.66832633e-01 -6.68235411e-04 1.68248526e+01] [ 2.52347360e-03 2.45266459e-05 9.99996816e-01 1.92238837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.41, Y:16.84, Z:0.19 [[ 9.67087256e-01 -2.54433325e-01 -2.43339658e-03 1.27406433e+02] [ 2.54432448e-01 9.67090318e-01 -6.68656467e-04 1.68413696e+01] [ 2.52344276e-03 2.75140986e-05 9.99996816e-01 1.92904759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:127.46, Y:16.86, Z:0.19 [[ 9.67509871e-01 -2.52821536e-01 -2.43326412e-03 1.27461197e+02] [ 2.52820652e-01 9.67512930e-01 -6.69138146e-04 1.68598222e+01] [ 2.52338703e-03 3.22183389e-05 9.99996816e-01 1.88466897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:16.88, Z:0.19 [[ 9.67817114e-01 -2.51642829e-01 -2.43322331e-03 1.27515779e+02] [ 2.51641942e-01 9.67820172e-01 -6.69286503e-04 1.68804069e+01] [ 2.52334375e-03 3.54458919e-05 9.99996816e-01 1.90902515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.57, Y:16.89, Z:0.19 [[ 9.67502572e-01 -2.52849469e-01 -2.43308923e-03 1.27570816e+02] [ 2.52848584e-01 9.67505630e-01 -6.69773588e-04 1.68944333e+01] [ 2.52337942e-03 3.28045010e-05 9.99996816e-01 1.88349950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.63, Y:16.91, Z:0.19 [[ 9.66595209e-01 -2.56296279e-01 -2.43303130e-03 1.27626612e+02] [ 2.56295404e-01 9.66598271e-01 -6.69983959e-04 1.69110773e+01] [ 2.52347824e-03 2.40285443e-05 9.99996816e-01 1.88554425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.68, Y:16.93, Z:0.19 [[ 9.66502933e-01 -2.56644038e-01 -2.43290688e-03 1.27682337e+02] [ 2.56643163e-01 9.66505995e-01 -6.70435459e-04 1.69285157e+01] [ 2.52348235e-03 2.35889208e-05 9.99996816e-01 1.89958138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.74, Y:16.95, Z:0.19 [[ 9.66901079e-01 -2.55139932e-01 -2.43279018e-03 1.27738086e+02] [ 2.55139052e-01 9.66904139e-01 -6.70858673e-04 1.69450723e+01] [ 2.52343773e-03 2.79541959e-05 9.99996816e-01 1.90316234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:16.97, Z:0.19 [[ 9.67886070e-01 -2.51377479e-01 -2.43265541e-03 1.27792667e+02] [ 2.51376585e-01 9.67889127e-01 -6.71346986e-04 1.69660087e+01] [ 2.52330224e-03 3.82747852e-05 9.99996816e-01 1.91866089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.85, Y:16.99, Z:0.19 [[ 9.68278570e-01 -2.49861348e-01 -2.43261371e-03 1.27847483e+02] [ 2.49860449e-01 9.68281625e-01 -6.71498077e-04 1.69855814e+01] [ 2.52323657e-03 4.23832447e-05 9.99996816e-01 1.90915838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:17.01, Z:0.19 [[ 9.67664933e-01 -2.52227399e-01 -2.43257333e-03 1.27903279e+02] [ 2.52226507e-01 9.67667989e-01 -6.71644309e-04 1.70054915e+01] [ 2.52333044e-03 3.63671692e-05 9.99996816e-01 1.89707131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.96, Y:17.02, Z:0.19 [[ 9.66809677e-01 -2.55486070e-01 -2.43246157e-03 1.27959942e+02] [ 2.55485188e-01 9.66812736e-01 -6.72048841e-04 1.70229044e+01] [ 2.52343394e-03 2.82854220e-05 9.99996816e-01 1.90047551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:128.01, Y:17.04, Z:0.19 [[ 9.66112894e-01 -2.58108428e-01 -2.43234449e-03 1.28014483e+02] [ 2.58107552e-01 9.66115955e-01 -6.72472312e-04 1.70416469e+01] [ 2.52349759e-03 2.18776887e-05 9.99996816e-01 1.87267070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.07, Y:17.06, Z:0.19 [[ 9.65776901e-01 -2.59362797e-01 -2.43230338e-03 1.28070862e+02] [ 2.59361926e-01 9.65779964e-01 -6.72620986e-04 1.70581863e+01] [ 2.52352273e-03 1.87549244e-05 9.99996816e-01 1.88824352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:17.08, Z:0.19 [[ 9.65840531e-01 -2.59125749e-01 -2.43219270e-03 1.28126284e+02] [ 2.59124876e-01 9.65843593e-01 -6.73020935e-04 1.70770746e+01] [ 2.52351479e-03 1.97892649e-05 9.99996816e-01 1.86894020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:17.10, Z:0.19 [[ 9.66698830e-01 -2.55905173e-01 -2.43208292e-03 1.28181498e+02] [ 2.55904288e-01 9.66701889e-01 -6.73417428e-04 1.70956724e+01] [ 2.52343015e-03 2.86113905e-05 9.99996816e-01 1.87008429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:128.24, Y:17.12, Z:0.19 [[ 9.67648739e-01 -2.52289521e-01 -2.43204415e-03 1.28237106e+02] [ 2.52288625e-01 9.67651795e-01 -6.73557406e-04 1.71166945e+01] [ 2.52330336e-03 3.81899010e-05 9.99996816e-01 1.87808048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:17.14, Z:0.19 [[ 9.67991741e-01 -2.50970267e-01 -2.43192913e-03 1.28291489e+02] [ 2.50969366e-01 9.67994795e-01 -6.73972459e-04 1.71365569e+01] [ 2.52324178e-03 4.20600633e-05 9.99996816e-01 1.88432761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:128.35, Y:17.15, Z:0.19 [[ 9.67850251e-01 -2.51515364e-01 -2.43179641e-03 1.28345328e+02] [ 2.51514463e-01 9.67853305e-01 -6.74450968e-04 1.71539218e+01] [ 2.52325698e-03 4.11355694e-05 9.99996816e-01 1.87489833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.40, Y:17.18, Z:0.19 [[ 9.67443077e-01 -2.53077023e-01 -2.43170616e-03 1.28399856e+02] [ 2.53076127e-01 9.67446132e-01 -6.74776201e-04 1.71751935e+01] [ 2.52331508e-03 3.74007869e-05 9.99996816e-01 1.89427068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.46, Y:17.19, Z:0.19 [[ 9.66996175e-01 -2.54779286e-01 -2.43157632e-03 1.28456609e+02] [ 2.54778394e-01 9.66999232e-01 -6.75243765e-04 1.71925963e+01] [ 2.52337056e-03 3.34450278e-05 9.99996816e-01 1.87319018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40264000000002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:128.51, Y:17.21, Z:0.18 [[ 9.66233579e-01 -2.57656278e-01 -2.43147187e-03 1.28511587e+02] [ 2.57655394e-01 9.66236638e-01 -6.75619668e-04 1.72103035e+01] [ 2.52345486e-03 2.63245668e-05 9.99996816e-01 1.84678544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.57, Y:17.23, Z:0.19 [[ 9.65254827e-01 -2.61299077e-01 -2.43133831e-03 1.28566588e+02] [ 2.61298203e-01 9.65257889e-01 -6.76099975e-04 1.72305740e+01] [ 2.52353278e-03 1.73044337e-05 9.99996816e-01 1.87120036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.62, Y:17.25, Z:0.19 [[ 9.64332325e-01 -2.64683314e-01 -2.43120635e-03 1.28622359e+02] [ 2.64682449e-01 9.64335389e-01 -6.76574158e-04 1.72490106e+01] [ 2.52357621e-03 8.94467824e-06 9.99996816e-01 1.89139012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:128.68, Y:17.26, Z:0.19 [[ 9.62802481e-01 -2.70195248e-01 -2.43108941e-03 1.28678374e+02] [ 2.70194400e-01 9.62805550e-01 -6.76994087e-04 1.72646875e+01] [ 2.52358696e-03 -5.05515829e-06 9.99996816e-01 1.88441247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.74, Y:17.28, Z:0.19 [[ 9.61543241e-01 -2.74642834e-01 -2.43104815e-03 1.28735399e+02] [ 2.74642000e-01 9.61546314e-01 -6.77142215e-04 1.72779517e+01] [ 2.52353765e-03 -1.65664056e-05 9.99996816e-01 1.91155265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.79, Y:17.29, Z:0.19 [[ 9.61378292e-01 -2.75219678e-01 -2.43093453e-03 1.28790800e+02] [ 2.75218844e-01 9.61381365e-01 -6.77549885e-04 1.72937473e+01] [ 2.52353021e-03 -1.76572407e-05 9.99996816e-01 1.93046086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.85, Y:17.31, Z:0.19 [[ 9.61587929e-01 -2.74486332e-01 -2.43080057e-03 1.28847014e+02] [ 2.74485495e-01 9.61591001e-01 -6.78030126e-04 1.73091623e+01] [ 2.52354596e-03 -1.52339127e-05 9.99996816e-01 1.90520227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:17.32, Z:0.19 [[ 9.61710047e-01 -2.74058162e-01 -2.43075902e-03 1.28903772e+02] [ 2.74057323e-01 9.61713119e-01 -6.78179069e-04 1.73243026e+01] [ 2.52355335e-03 -1.39556851e-05 9.99996816e-01 1.89332829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:128.96, Y:17.34, Z:0.19 [[ 9.61360687e-01 -2.75281167e-01 -2.43064397e-03 1.28960070e+02] [ 2.75280331e-01 9.61363760e-01 -6.78591153e-04 1.73381177e+01] [ 2.52353639e-03 -1.67376193e-05 9.99996816e-01 1.86893908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.02, Y:17.35, Z:0.19 [[ 9.60771561e-01 -2.77330308e-01 -2.43060344e-03 1.29016039e+02] [ 2.77329479e-01 9.60774635e-01 -6.78736291e-04 1.73518520e+01] [ 2.52349628e-03 -2.19674591e-05 9.99996816e-01 1.89913225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:17.36, Z:0.19 [[ 9.60200612e-01 -2.79300695e-01 -2.43046918e-03 1.29073269e+02] [ 2.79299870e-01 9.60203687e-01 -6.79216710e-04 1.73626555e+01] [ 2.52345117e-03 -2.66454275e-05 9.99996816e-01 1.91445122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06264000000002 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:17.37, Z:0.19 [[ 9.59826972e-01 -2.80582033e-01 -2.43042767e-03 1.29131357e+02] [ 2.80581212e-01 9.59830048e-01 -6.79365226e-04 1.73740068e+01] [ 2.52341518e-03 -2.98592753e-05 9.99996816e-01 1.90102965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:17.39, Z:0.19 [[ 9.59676728e-01 -2.81095486e-01 -2.43031283e-03 1.29188623e+02] [ 2.81094665e-01 9.59679804e-01 -6.79775796e-04 1.73870509e+01] [ 2.52340405e-03 -3.07829601e-05 9.99996816e-01 1.91406655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.25, Y:17.40, Z:0.19 [[ 9.59718256e-01 -2.80953667e-01 -2.43019883e-03 1.29247012e+02] [ 2.80952845e-01 9.59721333e-01 -6.80183093e-04 1.73952961e+01] [ 2.52341360e-03 -2.99871442e-05 9.99996816e-01 1.92421136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:17.41, Z:0.19 [[ 9.60205953e-01 -2.79282335e-01 -2.43008430e-03 1.29302499e+02] [ 2.79281507e-01 9.60209028e-01 -6.80592055e-04 1.74067064e+01] [ 2.52346622e-03 -2.51690619e-05 9.99996816e-01 1.91860095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.36, Y:17.42, Z:0.19 [[ 9.61295144e-01 -2.75509966e-01 -2.43002767e-03 1.29360648e+02] [ 2.75509125e-01 9.61298215e-01 -6.80794156e-04 1.74189743e+01] [ 2.52354684e-03 -1.50506817e-05 9.99996816e-01 1.92251340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:17.43, Z:0.19 [[ 9.62054581e-01 -2.72846254e-01 -2.42991822e-03 1.29418969e+02] [ 2.72845404e-01 9.62057650e-01 -6.81184609e-04 1.74283209e+01] [ 2.52358008e-03 -7.65524315e-06 9.99996816e-01 1.93284629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:17.44, Z:0.19 [[ 9.62501342e-01 -2.71266036e-01 -2.42980076e-03 1.29476911e+02] [ 2.71265179e-01 9.62504409e-01 -6.81603328e-04 1.74364423e+01] [ 2.52358978e-03 -3.07622070e-06 9.99996816e-01 1.88934989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.53, Y:17.45, Z:0.19 [[ 9.62784961e-01 -2.70257683e-01 -2.42975931e-03 1.29532196e+02] [ 2.70256823e-01 9.62788027e-01 -6.81751061e-04 1.74497545e+01] [ 2.52359163e-03 -2.79363873e-07 9.99996816e-01 1.90649329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:129.59, Y:17.46, Z:0.19 [[ 9.63906464e-01 -2.66230022e-01 -2.42970169e-03 1.29588585e+02] [ 2.66229149e-01 9.63909526e-01 -6.81956361e-04 1.74637491e+01] [ 2.52356986e-03 1.04847319e-05 9.99996816e-01 1.89178523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.64, Y:17.48, Z:0.19 [[ 9.64909202e-01 -2.62572523e-01 -2.42956776e-03 1.29644822e+02] [ 2.62571637e-01 9.64912260e-01 -6.82433169e-04 1.74777194e+01] [ 2.52350791e-03 2.05504615e-05 9.99996816e-01 1.87359177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66264 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:129.70, Y:17.49, Z:0.19 [[ 9.65365634e-01 -2.60889421e-01 -2.42952633e-03 1.29701338e+02] [ 2.60888529e-01 9.65368691e-01 -6.82580614e-04 1.74923019e+01] [ 2.52346672e-03 2.51043152e-05 9.99996816e-01 1.85785364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.76, Y:17.51, Z:0.19 [[ 9.65481527e-01 -2.60460206e-01 -2.42948558e-03 1.29756972e+02] [ 2.60459312e-01 9.65484583e-01 -6.82725635e-04 1.75081727e+01] [ 2.52345373e-03 2.63768459e-05 9.99996816e-01 1.91696725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.81, Y:17.52, Z:0.19 [[ 9.65000796e-01 -2.62235700e-01 -2.42944540e-03 1.29813603e+02] [ 2.62234812e-01 9.65003854e-01 -6.82868568e-04 1.75224476e+01] [ 2.52349669e-03 2.18835540e-05 9.99996816e-01 1.92542088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:17.54, Z:0.19 [[ 9.65019422e-01 -2.62167149e-01 -2.42931094e-03 1.29868971e+02] [ 2.62166259e-01 9.65022479e-01 -6.83346588e-04 1.75385675e+01] [ 2.52349069e-03 2.25593683e-05 9.99996816e-01 1.88086298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90264000000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:129.93, Y:17.56, Z:0.18 [[ 9.65118075e-01 -2.61803742e-01 -2.42926934e-03 1.29925132e+02] [ 2.61802851e-01 9.65121132e-01 -6.83494428e-04 1.75553162e+01] [ 2.52348058e-03 2.36631876e-05 9.99996816e-01 1.82564820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.98, Y:17.57, Z:0.18 [[ 9.64525220e-01 -2.63979543e-01 -2.42915132e-03 1.29981320e+02] [ 2.63978657e-01 9.64528279e-01 -6.83913627e-04 1.75680825e+01] [ 2.52352435e-03 1.84078378e-05 9.99996816e-01 1.83644746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.04, Y:17.59, Z:0.19 [[ 9.63737326e-01 -2.66841652e-01 -2.42901746e-03 1.30037434e+02] [ 2.66840774e-01 9.63740387e-01 -6.84388711e-04 1.75854531e+01] [ 2.52356564e-03 1.14100447e-05 9.99996816e-01 1.87998634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.09, Y:17.60, Z:0.19 [[ 9.63264384e-01 -2.68543901e-01 -2.42890002e-03 1.30094089e+02] [ 2.68543028e-01 9.63267446e-01 -6.84805251e-04 1.75998411e+01] [ 2.52358060e-03 7.38434168e-06 9.99996816e-01 1.89761379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:130.15, Y:17.61, Z:0.19 [[ 9.62701636e-01 -2.70554360e-01 -2.42878279e-03 1.30152194e+02] [ 2.70553493e-01 9.62704699e-01 -6.85220799e-04 1.76116076e+01] [ 2.52359008e-03 2.54751865e-06 9.99996816e-01 1.89705619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.21, Y:17.63, Z:0.19 [[ 9.62493674e-01 -2.71293254e-01 -2.42866548e-03 1.30208322e+02] [ 2.71292388e-01 9.62496738e-01 -6.85636328e-04 1.76257462e+01] [ 2.52359111e-03 1.04217102e-06 9.99996816e-01 1.91877827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.26, Y:17.64, Z:0.19 [[ 9.62558773e-01 -2.71062190e-01 -2.42853150e-03 1.30264576e+02] [ 2.71061321e-01 9.62561837e-01 -6.86110548e-04 1.76397920e+01] [ 2.52359037e-03 2.14076954e-06 9.99996816e-01 1.89947434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.32, Y:17.65, Z:0.19 [[ 9.62747611e-01 -2.70390718e-01 -2.42839811e-03 1.30321544e+02] [ 2.70389847e-01 9.62750674e-01 -6.86582345e-04 1.76512371e+01] [ 2.52358741e-03 4.39131941e-06 9.99996816e-01 1.85298750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.38, Y:17.67, Z:0.19 [[ 9.63084901e-01 -2.69186881e-01 -2.42835690e-03 1.30377822e+02] [ 2.69186005e-01 9.63087962e-01 -6.86728055e-04 1.76657423e+01] [ 2.52357949e-03 7.69772807e-06 9.99996816e-01 1.87505647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:130.43, Y:17.68, Z:0.19 [[ 9.63207258e-01 -2.68748732e-01 -2.42822229e-03 1.30434878e+02] [ 2.68747854e-01 9.63210319e-01 -6.87203709e-04 1.76797715e+01] [ 2.52357389e-03 9.34007126e-06 9.99996816e-01 1.86193606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.49, Y:17.69, Z:0.19 [[ 9.62740666e-01 -2.70415449e-01 -2.42810380e-03 1.30491247e+02] [ 2.70414575e-01 9.62743727e-01 -6.87622135e-04 1.76924093e+01] [ 2.52358535e-03 5.40713575e-06 9.99996816e-01 1.86303693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.55, Y:17.70, Z:0.19 [[ 9.62377991e-01 -2.71703344e-01 -2.42804271e-03 1.30549743e+02] [ 2.71702474e-01 9.62381054e-01 -6.87837757e-04 1.77030980e+01] [ 2.52359012e-03 2.25470743e-06 9.99996816e-01 1.88791506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:17.72, Z:0.19 [[ 9.62550631e-01 -2.71091106e-01 -2.42792771e-03 1.30607271e+02] [ 2.71090233e-01 9.62553693e-01 -6.88243436e-04 1.77165586e+01] [ 2.52358746e-03 4.28166439e-06 9.99996816e-01 1.89932332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:17.73, Z:0.19 [[ 9.63180367e-01 -2.68845097e-01 -2.42781357e-03 1.30663985e+02] [ 2.68844215e-01 9.63183427e-01 -6.88645856e-04 1.77286360e+01] [ 2.52356886e-03 1.05865355e-05 9.99996816e-01 1.87313886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:17.74, Z:0.19 [[ 9.63555153e-01 -2.67498734e-01 -2.42767671e-03 1.30721156e+02] [ 2.67497847e-01 9.63558211e-01 -6.89128001e-04 1.77412869e+01] [ 2.52354869e-03 1.46145445e-05 9.99996816e-01 1.91208968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:17.75, Z:0.19 [[ 9.64385502e-01 -2.64489529e-01 -2.42755482e-03 1.30776233e+02] [ 2.64488631e-01 9.64388557e-01 -6.89557094e-04 1.77542191e+01] [ 2.52348672e-03 2.29382140e-05 9.99996816e-01 1.88515468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.83, Y:17.77, Z:0.19 [[ 9.65177905e-01 -2.61583101e-01 -2.42749461e-03 1.30832748e+02] [ 2.61582193e-01 9.65180957e-01 -6.89768987e-04 1.77682893e+01] [ 2.52340348e-03 3.07604213e-05 9.99996816e-01 1.88743972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.89, Y:17.78, Z:0.19 [[ 9.65760773e-01 -2.59422892e-01 -2.42735995e-03 1.30888484e+02] [ 2.59421976e-01 9.65763823e-01 -6.90242537e-04 1.77837908e+01] [ 2.52332114e-03 3.68986500e-05 9.99996816e-01 1.86064545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:17.80, Z:0.18 [[ 9.66255668e-01 -2.57573469e-01 -2.42731839e-03 1.30945052e+02] [ 2.57572547e-01 9.66258716e-01 -6.90388679e-04 1.77993628e+01] [ 2.52324335e-03 4.18813942e-05 9.99996816e-01 1.84480936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.00, Y:17.82, Z:0.18 [[ 9.66676641e-01 -2.55989025e-01 -2.42720204e-03 1.31001269e+02] [ 2.55988097e-01 9.66679687e-01 -6.90797469e-04 1.78162502e+01] [ 2.52316348e-03 4.64429448e-05 9.99996816e-01 1.82781120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:17.83, Z:0.18 [[ 9.67005598e-01 -2.54743564e-01 -2.42708602e-03 1.31057110e+02] [ 2.54742631e-01 9.67008642e-01 -6.91204866e-04 1.78337420e+01] [ 2.52309315e-03 5.01166955e-05 9.99996816e-01 1.83221243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.11, Y:17.85, Z:0.19 [[ 9.66719850e-01 -2.55825803e-01 -2.42696747e-03 1.31113336e+02] [ 2.55824872e-01 9.66722895e-01 -6.91620881e-04 1.78517715e+01] [ 2.52313948e-03 4.77249915e-05 9.99996816e-01 1.88864873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.17, Y:17.87, Z:0.19 [[ 9.66106955e-01 -2.58130706e-01 -2.42684712e-03 1.31170027e+02] [ 2.58129781e-01 9.66110003e-01 -6.92042928e-04 1.78689124e+01] [ 2.52323880e-03 4.21459705e-05 9.99996816e-01 1.90261714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.23, Y:17.89, Z:0.19 [[ 9.65425916e-01 -2.60666286e-01 -2.42672654e-03 1.31226293e+02] [ 2.60665369e-01 9.65428965e-01 -6.92465488e-04 1.78871616e+01] [ 2.52333450e-03 3.59605601e-05 9.99996816e-01 1.91650057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.28, Y:17.91, Z:0.19 [[ 9.64496219e-01 -2.64085508e-01 -2.42660573e-03 1.31281466e+02] [ 2.64084600e-01 9.64499271e-01 -6.92888564e-04 1.79055368e+01] [ 2.52344129e-03 2.74591950e-05 9.99996816e-01 1.87043057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40264000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:131.34, Y:17.92, Z:0.19 [[ 9.63954925e-01 -2.66054532e-01 -2.42656305e-03 1.31337322e+02] [ 2.66053630e-01 9.63957979e-01 -6.93038003e-04 1.79236827e+01] [ 2.52349072e-03 2.24614874e-05 9.99996816e-01 1.86508006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.39, Y:17.94, Z:0.19 [[ 9.63704019e-01 -2.66961938e-01 -2.42644632e-03 1.31392066e+02] [ 2.66961038e-01 9.63707073e-01 -6.93446477e-04 1.79447618e+01] [ 2.52350729e-03 2.05105291e-05 9.99996816e-01 1.87745276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52264 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:17.96, Z:0.18 [[ 9.63816999e-01 -2.66553758e-01 -2.42632868e-03 1.31445800e+02] [ 2.66552856e-01 9.63820053e-01 -6.93857829e-04 1.79645412e+01] [ 2.52349465e-03 2.20071310e-05 9.99996816e-01 1.83327839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.50, Y:17.98, Z:0.19 [[ 9.62796227e-01 -2.70217577e-01 -2.42627050e-03 1.31502154e+02] [ 2.70216686e-01 9.62799284e-01 -6.94061223e-04 1.79817313e+01] [ 2.52355904e-03 1.26207534e-05 9.99996816e-01 1.90970106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:18.00, Z:0.19 [[ 9.61948477e-01 -2.73220135e-01 -2.42614847e-03 1.31556396e+02] [ 2.73219253e-01 9.61951536e-01 -6.94487532e-04 1.79998158e+01] [ 2.52358522e-03 5.19075159e-06 9.99996816e-01 1.88523034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.61, Y:18.02, Z:0.19 [[ 9.60422181e-01 -2.78537877e-01 -2.42608844e-03 1.31610672e+02] [ 2.78537011e-01 9.60425245e-01 -6.94697166e-04 1.80171479e+01] [ 2.52357606e-03 -8.55285395e-06 9.99996816e-01 1.89550468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.67, Y:18.03, Z:0.19 [[ 9.59445885e-01 -2.81882437e-01 -2.42602981e-03 1.31667057e+02] [ 2.81881581e-01 9.59448952e-01 -6.94901851e-04 1.80304602e+01] [ 2.52353239e-03 -1.71323978e-05 9.99996816e-01 1.90924374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.72, Y:18.05, Z:0.19 [[ 9.58989650e-01 -2.83430707e-01 -2.42589513e-03 1.31724278e+02] [ 2.83429855e-01 9.58992718e-01 -6.95371694e-04 1.80460676e+01] [ 2.52350546e-03 -2.07168473e-05 9.99996816e-01 1.89283722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.78, Y:18.06, Z:0.19 [[ 9.59060807e-01 -2.83189837e-01 -2.42583048e-03 1.31780849e+02] [ 2.83188984e-01 9.59063875e-01 -6.95597168e-04 1.80599566e+01] [ 2.52351243e-03 -1.98484871e-05 9.99996816e-01 1.87925339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.84, Y:18.07, Z:0.19 [[ 9.59503900e-01 -2.81684897e-01 -2.42569400e-03 1.31837306e+02] [ 2.81684037e-01 9.59506966e-01 -6.96072771e-04 1.80741472e+01] [ 2.52354348e-03 -1.53947402e-05 9.99996816e-01 1.88824549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.90, Y:18.09, Z:0.19 [[ 9.60516167e-01 -2.78213604e-01 -2.42565181e-03 1.31895423e+02] [ 2.78212733e-01 9.60519230e-01 -6.96219760e-04 1.80860160e+01] [ 2.52358302e-03 -6.11688581e-06 9.99996816e-01 1.89965578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:131.95, Y:18.10, Z:0.19 [[ 9.61494070e-01 -2.74814974e-01 -2.42553723e-03 1.31952855e+02] [ 2.74814091e-01 9.61497129e-01 -6.96618735e-04 1.80992972e+01] [ 2.52358834e-03 3.22297468e-06 9.99996816e-01 1.91031732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.01, Y:18.11, Z:0.19 [[ 9.62256414e-01 -2.72133626e-01 -2.42542329e-03 1.32009124e+02] [ 2.72132734e-01 9.62259471e-01 -6.97015205e-04 1.81129036e+01] [ 2.52356781e-03 1.06702816e-05 9.99996816e-01 1.94288297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:18.13, Z:0.20 [[ 9.63012771e-01 -2.69444838e-01 -2.42537949e-03 1.32065627e+02] [ 2.69443936e-01 9.63015825e-01 -6.97167582e-04 1.81283516e+01] [ 2.52352703e-03 1.78774886e-05 9.99996816e-01 1.97189576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.12, Y:18.14, Z:0.19 [[ 9.64287337e-01 -2.64847220e-01 -2.42525929e-03 1.32121438e+02] [ 2.64846303e-01 9.64290386e-01 -6.97585453e-04 1.81439403e+01] [ 2.52340779e-03 3.03518612e-05 9.99996816e-01 1.91398297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:18.16, Z:0.20 [[ 9.65324836e-01 -2.61040379e-01 -2.42519527e-03 1.32177828e+02] [ 2.61039450e-01 9.65327881e-01 -6.97807960e-04 1.81617646e+01] [ 2.52326467e-03 4.05397159e-05 9.99996816e-01 1.95460586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36264 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:132.23, Y:18.18, Z:0.19 [[ 9.65258826e-01 -2.61284364e-01 -2.42507558e-03 1.32233157e+02] [ 2.61283434e-01 9.65261871e-01 -6.98223666e-04 1.81782396e+01] [ 2.52326792e-03 4.03344798e-05 9.99996816e-01 1.89579940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.29, Y:18.20, Z:0.19 [[ 9.64861225e-01 -2.62748806e-01 -2.42502956e-03 1.32289279e+02] [ 2.62747880e-01 9.64864272e-01 -6.98383480e-04 1.81963531e+01] [ 2.52332380e-03 3.66717647e-05 9.99996816e-01 1.91823457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.35, Y:18.21, Z:0.19 [[ 9.63501403e-01 -2.67692297e-01 -2.42490872e-03 1.32346018e+02] [ 2.67691386e-01 9.63504454e-01 -6.98802802e-04 1.82105146e+01] [ 2.52347448e-03 2.41703062e-05 9.99996816e-01 1.92589522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.40, Y:18.23, Z:0.19 [[ 9.62850279e-01 -2.70024928e-01 -2.42477123e-03 1.32401737e+02] [ 2.70024023e-01 9.62853332e-01 -6.99279563e-04 1.82271460e+01] [ 2.52352197e-03 1.85550414e-05 9.99996816e-01 1.91236600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.46, Y:18.24, Z:0.19 [[ 9.62853466e-01 -2.70013563e-01 -2.42472878e-03 1.32457510e+02] [ 2.70012658e-01 9.62856519e-01 -6.99426717e-04 1.82417269e+01] [ 2.52352061e-03 1.87379752e-05 9.99996816e-01 1.93684182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.51, Y:18.26, Z:0.19 [[ 9.64295821e-01 -2.64816334e-01 -2.42458988e-03 1.32512547e+02] [ 2.64815411e-01 9.64298869e-01 -6.99907876e-04 1.82582071e+01] [ 2.52337632e-03 3.28494752e-05 9.99996816e-01 1.93953163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.57, Y:18.28, Z:0.19 [[ 9.66091467e-01 -2.58188689e-01 -2.42454721e-03 1.32568876e+02] [ 2.58187745e-01 9.66094508e-01 -7.00055661e-04 1.82770145e+01] [ 2.52308820e-03 5.03294242e-05 9.99996816e-01 1.94374944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.62, Y:18.29, Z:0.19 [[ 9.66501911e-01 -2.56647966e-01 -2.42452986e-03 1.32623630e+02] [ 2.56647017e-01 9.66504950e-01 -7.00115746e-04 1.82944377e+01] [ 2.52300339e-03 5.44148504e-05 9.99996816e-01 1.89665965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.68, Y:18.31, Z:0.19 [[ 9.66126724e-01 -2.58056728e-01 -2.42448645e-03 1.32679285e+02] [ 2.58055783e-01 9.66129765e-01 -7.00266047e-04 1.83104907e+01] [ 2.52307689e-03 5.08929932e-05 9.99996816e-01 1.89971182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.74, Y:18.33, Z:0.19 [[ 9.65914815e-01 -2.58848782e-01 -2.42435104e-03 1.32735391e+02] [ 2.58847839e-01 9.65917856e-01 -7.00734530e-04 1.83274315e+01] [ 2.52310824e-03 4.93118375e-05 9.99996816e-01 1.90928796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.79, Y:18.34, Z:0.19 [[ 9.65480190e-01 -2.60465211e-01 -2.42424135e-03 1.32791696e+02] [ 2.60464271e-01 9.65483232e-01 -7.01113795e-04 1.83433753e+01] [ 2.52318013e-03 4.54832222e-05 9.99996816e-01 1.90372052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:132.85, Y:18.36, Z:0.19 [[ 9.65118542e-01 -2.61802070e-01 -2.42411896e-03 1.32846725e+02] [ 2.61801134e-01 9.65121585e-01 -7.01536705e-04 1.83605245e+01] [ 2.52323330e-03 4.24289883e-05 9.99996816e-01 1.91331877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:18.38, Z:0.19 [[ 9.64779449e-01 -2.63048928e-01 -2.42398137e-03 1.32902876e+02] [ 2.63047994e-01 9.64782494e-01 -7.02011808e-04 1.83766640e+01] [ 2.52327824e-03 3.96631298e-05 9.99996816e-01 1.92682448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:18.39, Z:0.19 [[ 9.64500755e-01 -2.64068967e-01 -2.42384244e-03 1.32957837e+02] [ 2.64068035e-01 9.64503800e-01 -7.02491170e-04 1.83935250e+01] [ 2.52331136e-03 3.74939541e-05 9.99996816e-01 1.94203778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.01, Y:18.41, Z:0.20 [[ 9.64419820e-01 -2.64364401e-01 -2.42374599e-03 1.33013150e+02] [ 2.64363469e-01 9.64422865e-01 -7.02823764e-04 1.84098974e+01] [ 2.52331764e-03 3.70672693e-05 9.99996816e-01 1.96169054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.07, Y:18.43, Z:0.19 [[ 9.64269278e-01 -2.64912978e-01 -2.42370230e-03 1.33068388e+02] [ 2.64912048e-01 9.64272323e-01 -7.02974390e-04 1.84254760e+01] [ 2.52333609e-03 3.57886662e-05 9.99996816e-01 1.94427596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.12, Y:18.44, Z:0.19 [[ 9.64175570e-01 -2.65253833e-01 -2.42365962e-03 1.33124289e+02] [ 2.65252904e-01 9.64178616e-01 -7.03121520e-04 1.84427269e+01] [ 2.52334646e-03 3.50498409e-05 9.99996816e-01 1.94467180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:133.18, Y:18.46, Z:0.19 [[ 9.63723718e-01 -2.66890843e-01 -2.42353792e-03 1.33181139e+02] [ 2.66889918e-01 9.63726765e-01 -7.03540737e-04 1.84592283e+01] [ 2.52339694e-03 3.12010564e-05 9.99996816e-01 1.92195297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.24, Y:18.47, Z:0.19 [[ 9.63325980e-01 -2.68322907e-01 -2.42341711e-03 1.33235653e+02] [ 2.68321985e-01 9.63329028e-01 -7.03956661e-04 1.84745127e+01] [ 2.52343574e-03 2.78836513e-05 9.99996816e-01 1.92734626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:18.49, Z:0.20 [[ 9.62782501e-01 -2.70266504e-01 -2.42332339e-03 1.33292561e+02] [ 2.70265588e-01 9.62785550e-01 -7.04279138e-04 1.84890871e+01] [ 2.52348380e-03 2.31267107e-05 9.99996816e-01 1.95676423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:18.50, Z:0.20 [[ 9.62647874e-01 -2.70745634e-01 -2.42320180e-03 1.33348050e+02] [ 2.70744717e-01 9.62650924e-01 -7.04697245e-04 1.85049531e+01] [ 2.52349115e-03 2.23062197e-05 9.99996816e-01 1.95267446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:18.52, Z:0.20 [[ 9.62625378e-01 -2.70825606e-01 -2.42315900e-03 1.33403325e+02] [ 2.70824690e-01 9.62628428e-01 -7.04844355e-04 1.85213864e+01] [ 2.52349164e-03 2.22497785e-05 9.99996816e-01 1.96890573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.46, Y:18.54, Z:0.20 [[ 9.62864327e-01 -2.69974846e-01 -2.42302605e-03 1.33459111e+02] [ 2.69973926e-01 9.62867375e-01 -7.05301125e-04 1.85374830e+01] [ 2.52346629e-03 2.49554383e-05 9.99996816e-01 1.96716253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.52, Y:18.55, Z:0.20 [[ 9.63009741e-01 -2.69455689e-01 -2.42289186e-03 1.33515156e+02] [ 2.69454766e-01 9.63012788e-01 -7.05761788e-04 1.85523669e+01] [ 2.52344738e-03 2.67957162e-05 9.99996816e-01 1.98071376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:18.57, Z:0.20 [[ 9.63606277e-01 -2.67314560e-01 -2.42275086e-03 1.33570995e+02] [ 2.67313629e-01 9.63609322e-01 -7.06245501e-04 1.85688550e+01] [ 2.52337501e-03 3.29082748e-05 9.99996816e-01 1.97733723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:18.59, Z:0.20 [[ 9.64806503e-01 -2.62949696e-01 -2.42268563e-03 1.33626419e+02] [ 2.62948751e-01 9.64809543e-01 -7.06469173e-04 1.85880938e+01] [ 2.52319607e-03 4.45638907e-05 9.99996816e-01 1.98009789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.68, Y:18.61, Z:0.20 [[ 9.65680634e-01 -2.59721089e-01 -2.42256855e-03 1.33681478e+02] [ 2.59720133e-01 9.65683671e-01 -7.06870420e-04 1.86095444e+01] [ 2.52302405e-03 5.34212495e-05 9.99996816e-01 1.96829162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.74, Y:18.63, Z:0.20 [[ 9.65789360e-01 -2.59316495e-01 -2.42244617e-03 1.33736130e+02] [ 2.59315536e-01 9.65792396e-01 -7.07289581e-04 1.86296366e+01] [ 2.52299195e-03 5.49148245e-05 9.99996816e-01 1.97687020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:18.65, Z:0.20 [[ 9.64855901e-01 -2.62768381e-01 -2.42230763e-03 1.33791605e+02] [ 2.62767432e-01 9.64858941e-01 -7.07763713e-04 1.86509439e+01] [ 2.52316310e-03 4.63864394e-05 9.99996816e-01 1.98877039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.85, Y:18.67, Z:0.20 [[ 9.63050635e-01 -2.69309503e-01 -2.42218720e-03 1.33846101e+02] [ 2.69308573e-01 9.63053680e-01 -7.08175633e-04 1.86713989e+01] [ 2.52341473e-03 2.96932134e-05 9.99996816e-01 2.02810484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:18.69, Z:0.21 [[ 9.61565018e-01 -2.74566659e-01 -2.42214467e-03 1.33902592e+02] [ 2.74565746e-01 9.61568068e-01 -7.08321062e-04 1.86885257e+01] [ 2.52353832e-03 1.60587960e-05 9.99996816e-01 2.05584523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:18.70, Z:0.21 [[ 9.59530376e-01 -2.81594730e-01 -2.42202426e-03 1.33958183e+02] [ 2.81593838e-01 9.59533433e-01 -7.08732572e-04 1.87036865e+01] [ 2.52358861e-03 -1.97667445e-06 9.99996816e-01 2.05059897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:18.72, Z:0.20 [[ 9.58145374e-01 -2.86271857e-01 -2.42198187e-03 1.34015014e+02] [ 2.86270980e-01 9.58148435e-01 -7.08877409e-04 1.87182763e+01] [ 2.52354979e-03 -1.41355104e-05 9.99996816e-01 2.03146569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:134.07, Y:18.73, Z:0.20 [[ 9.57561118e-01 -2.88220124e-01 -2.42186323e-03 1.34071751e+02] [ 2.88219252e-01 9.57564180e-01 -7.09282507e-04 1.87330541e+01] [ 2.52351897e-03 -1.88462578e-05 9.99996816e-01 2.01290583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:18.75, Z:0.20 [[ 9.57512646e-01 -2.88381115e-01 -2.42174186e-03 1.34128286e+02] [ 2.88380243e-01 9.57515709e-01 -7.09696656e-04 1.87466903e+01] [ 2.52351898e-03 -1.88389812e-05 9.99996816e-01 2.03057691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.19, Y:18.76, Z:0.20 [[ 9.57824327e-01 -2.87344208e-01 -2.42160275e-03 1.34186677e+02] [ 2.87343331e-01 9.57827388e-01 -7.10171013e-04 1.87577374e+01] [ 2.52354096e-03 -1.56123261e-05 9.99996816e-01 2.01005396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.24, Y:18.77, Z:0.20 [[ 9.58650260e-01 -2.84576555e-01 -2.42148190e-03 1.34242171e+02] [ 2.84575668e-01 9.58653318e-01 -7.10582812e-04 1.87731192e+01] [ 2.52357687e-03 -7.89443243e-06 9.99996816e-01 2.01449279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.30, Y:18.79, Z:0.20 [[ 9.59134811e-01 -2.82939132e-01 -2.42134505e-03 1.34297826e+02] [ 2.82938238e-01 9.59137867e-01 -7.11048836e-04 1.87858259e+01] [ 2.52358727e-03 -3.09941186e-06 9.99996816e-01 2.00050875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.36, Y:18.80, Z:0.20 [[ 9.60232282e-01 -2.79191872e-01 -2.42125218e-03 1.34355800e+02] [ 2.79190966e-01 9.60235335e-01 -7.11364929e-04 1.87977330e+01] [ 2.52357921e-03 7.08383410e-06 9.99996816e-01 2.01620324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:134.41, Y:18.81, Z:0.21 [[ 9.61397113e-01 -2.75154009e-01 -2.42113371e-03 1.34412216e+02] [ 2.75153089e-01 9.61400162e-01 -7.11767943e-04 1.88128003e+01] [ 2.52352414e-03 1.81092289e-05 9.99996816e-01 2.06650588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:18.83, Z:0.20 [[ 9.62375080e-01 -2.71713718e-01 -2.42106124e-03 1.34468763e+02] [ 2.71712786e-01 9.62378125e-01 -7.12014346e-04 1.88254227e+01] [ 2.52344044e-03 2.73915680e-05 9.99996816e-01 2.03414893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.53, Y:18.84, Z:0.20 [[ 9.62486726e-01 -2.71317970e-01 -2.42099269e-03 1.34525247e+02] [ 2.71317037e-01 9.62489770e-01 -7.12247340e-04 1.88414762e+01] [ 2.52342621e-03 2.86720471e-05 9.99996816e-01 2.02981434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.58, Y:18.86, Z:0.20 [[ 9.62587174e-01 -2.70961385e-01 -2.42087423e-03 1.34580887e+02] [ 2.70960449e-01 9.62590218e-01 -7.12649762e-04 1.88569266e+01] [ 2.52341042e-03 3.00263508e-05 9.99996816e-01 2.03668393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:134.64, Y:18.87, Z:0.20 [[ 9.62879815e-01 -2.69919621e-01 -2.42073247e-03 1.34636209e+02] [ 2.69918681e-01 9.62882857e-01 -7.13130984e-04 1.88729900e+01] [ 2.52336984e-03 3.32585160e-05 9.99996816e-01 1.99381428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:18.89, Z:0.20 [[ 9.63414117e-01 -2.68006306e-01 -2.42068876e-03 1.34692454e+02] [ 2.68005360e-01 9.63417157e-01 -7.13279321e-04 1.88900722e+01] [ 2.52329644e-03 3.84258056e-05 9.99996816e-01 2.00067601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.75, Y:18.91, Z:0.20 [[ 9.63638451e-01 -2.67198572e-01 -2.42056725e-03 1.34748868e+02] [ 2.67197622e-01 9.63641490e-01 -7.13691410e-04 1.89077861e+01] [ 2.52325636e-03 4.09706700e-05 9.99996816e-01 2.01287090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:18.93, Z:0.20 [[ 9.63498145e-01 -2.67704063e-01 -2.42044402e-03 1.34802723e+02] [ 2.67703113e-01 9.63501185e-01 -7.14109107e-04 1.89253414e+01] [ 2.52327059e-03 4.00823999e-05 9.99996816e-01 1.99493858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.86, Y:18.94, Z:0.20 [[ 9.62967693e-01 -2.69605941e-01 -2.42034895e-03 1.34858642e+02] [ 2.69604997e-01 9.62970734e-01 -7.14431188e-04 1.89428306e+01] [ 2.52334010e-03 3.54359823e-05 9.99996816e-01 2.03102088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.91, Y:18.96, Z:0.20 [[ 9.62378607e-01 -2.71701231e-01 -2.42022651e-03 1.34912980e+02] [ 2.71700292e-01 9.62381650e-01 -7.14845724e-04 1.89604975e+01] [ 2.52340605e-03 3.03759812e-05 9.99996816e-01 2.00433449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.97, Y:18.98, Z:0.20 [[ 9.61591016e-01 -2.74475612e-01 -2.42016613e-03 1.34969082e+02] [ 2.74474681e-01 9.61594061e-01 -7.15050088e-04 1.89792327e+01] [ 2.52348119e-03 2.33114130e-05 9.99996816e-01 1.99096034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:19.00, Z:0.20 [[ 9.60958674e-01 -2.76681350e-01 -2.42004596e-03 1.35024122e+02] [ 2.76680426e-01 9.60961722e-01 -7.15456552e-04 1.89958731e+01] [ 2.52352502e-03 1.79448323e-05 9.99996816e-01 1.98262258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.08, Y:19.01, Z:0.20 [[ 9.60356519e-01 -2.78764237e-01 -2.41990784e-03 1.35080592e+02] [ 2.78763318e-01 9.60359568e-01 -7.15923429e-04 1.90125581e+01] [ 2.52355550e-03 1.29601943e-05 9.99996816e-01 2.01598485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:19.03, Z:0.20 [[ 9.60625091e-01 -2.77837324e-01 -2.41978265e-03 1.35135619e+02] [ 2.77836401e-01 9.60628139e-01 -7.16346321e-04 1.90294688e+01] [ 2.52353905e-03 1.58365479e-05 9.99996816e-01 2.01078617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.19, Y:19.05, Z:0.20 [[ 9.61346156e-01 -2.75332005e-01 -2.41964109e-03 1.35190293e+02] [ 2.75331073e-01 9.61349201e-01 -7.16824152e-04 1.90474168e+01] [ 2.52348466e-03 2.29137665e-05 9.99996816e-01 2.01680683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.24, Y:19.07, Z:0.20 [[ 9.62441109e-01 -2.71479756e-01 -2.41957571e-03 1.35244994e+02] [ 2.71478811e-01 9.62444150e-01 -7.17044768e-04 1.90662405e+01] [ 2.52336963e-03 3.32498256e-05 9.99996816e-01 1.99532472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:135.30, Y:19.09, Z:0.20 [[ 9.62564161e-01 -2.71043136e-01 -2.41944006e-03 1.35301056e+02] [ 2.71042188e-01 9.62567202e-01 -7.17502172e-04 1.90859348e+01] [ 2.52334769e-03 3.48715479e-05 9.99996816e-01 1.97921526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.36, Y:19.11, Z:0.20 [[ 9.62397627e-01 -2.71633860e-01 -2.41932516e-03 1.35356555e+02] [ 2.71632914e-01 9.62400667e-01 -7.17889404e-04 1.91054414e+01] [ 2.52336322e-03 3.37267164e-05 9.99996816e-01 1.99159884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.41, Y:19.12, Z:0.20 [[ 9.62080016e-01 -2.72756651e-01 -2.41920163e-03 1.35410155e+02] [ 2.72755707e-01 9.62083057e-01 -7.18305449e-04 1.91237330e+01] [ 2.52339549e-03 3.12162661e-05 9.99996816e-01 1.97060253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.47, Y:19.14, Z:0.20 [[ 9.60752193e-01 -2.77397499e-01 -2.41910576e-03 1.35465872e+02] [ 2.77396568e-01 9.60755238e-01 -7.18628178e-04 1.91431953e+01] [ 2.52351419e-03 1.93719616e-05 9.99996816e-01 1.99721970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.52, Y:19.16, Z:0.20 [[ 9.58788658e-01 -2.84109938e-01 -2.41898631e-03 1.35521611e+02] [ 2.84109028e-01 9.58791710e-01 -7.19030043e-04 1.91608290e+01] [ 2.52358760e-03 2.14200243e-06 9.99996816e-01 2.02812034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.58, Y:19.18, Z:0.21 [[ 9.57450403e-01 -2.88587725e-01 -2.41886661e-03 1.35577855e+02] [ 2.88586828e-01 9.57453458e-01 -7.19432496e-04 1.91773105e+01] [ 2.52357158e-03 -9.23210854e-06 9.99996816e-01 2.05168632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.64, Y:19.19, Z:0.20 [[ 9.56829390e-01 -2.90640101e-01 -2.41874722e-03 1.35635896e+02] [ 2.90639210e-01 9.56832447e-01 -7.19833655e-04 1.91897051e+01] [ 2.52354835e-03 -1.42247827e-05 9.99996816e-01 2.03586463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:135.69, Y:19.21, Z:0.20 [[ 9.57344247e-01 -2.88939689e-01 -2.41863302e-03 1.35691759e+02] [ 2.88938791e-01 9.57347302e-01 -7.20217168e-04 1.92074503e+01] [ 2.52357112e-03 -9.34113745e-06 9.99996816e-01 2.01863988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:19.22, Z:0.20 [[ 9.57450783e-01 -2.88586466e-01 -2.41850885e-03 1.35747125e+02] [ 2.88585566e-01 9.57453838e-01 -7.20633876e-04 1.92234724e+01] [ 2.52357576e-03 -7.97527710e-06 9.99996816e-01 2.04647103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.80, Y:19.24, Z:0.21 [[ 9.57267940e-01 -2.89192395e-01 -2.41846596e-03 1.35803759e+02] [ 2.89191497e-01 9.57270995e-01 -7.20777805e-04 1.92396842e+01] [ 2.52357077e-03 -9.42230592e-06 9.99996816e-01 2.06288252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.86, Y:19.26, Z:0.21 [[ 9.57190679e-01 -2.89448021e-01 -2.41834738e-03 1.35859505e+02] [ 2.89447122e-01 9.57193733e-01 -7.21175419e-04 1.92566806e+01] [ 2.52356976e-03 -9.68130255e-06 9.99996816e-01 2.10494068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.92, Y:19.27, Z:0.21 [[ 9.56728740e-01 -2.90971251e-01 -2.41830416e-03 1.35915849e+02] [ 2.90970358e-01 9.56731797e-01 -7.21320342e-04 1.92710848e+01] [ 2.52355196e-03 -1.35469228e-05 9.99996816e-01 2.10563830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.97, Y:19.29, Z:0.21 [[ 9.55909334e-01 -2.93652000e-01 -2.41816770e-03 1.35972107e+02] [ 2.93651114e-01 9.55912393e-01 -7.21777506e-04 1.92860940e+01] [ 2.52350788e-03 -2.01437840e-05 9.99996816e-01 2.07239348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.03, Y:19.30, Z:0.20 [[ 9.54585547e-01 -2.97927150e-01 -2.41812227e-03 1.36029894e+02] [ 2.97926277e-01 9.54588609e-01 -7.21929674e-04 1.92981547e+01] [ 2.52339443e-03 -3.12785338e-05 9.99996816e-01 2.04548357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:136.09, Y:19.31, Z:0.20 [[ 9.54349102e-01 -2.98683686e-01 -2.41800535e-03 1.36087656e+02] [ 2.98682814e-01 9.54352165e-01 -7.22321086e-04 1.93119609e+01] [ 2.52337416e-03 -3.28701616e-05 9.99996816e-01 2.02253186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.14, Y:19.32, Z:0.20 [[ 9.55861892e-01 -2.93806394e-01 -2.41789552e-03 1.36144726e+02] [ 2.93805506e-01 9.55864950e-01 -7.22688547e-04 1.93229961e+01] [ 2.52351209e-03 -1.96005733e-05 9.99996816e-01 2.04293482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.20, Y:19.34, Z:0.21 [[ 9.57387528e-01 -2.88796253e-01 -2.41776647e-03 1.36199939e+02] [ 2.88795348e-01 9.57390581e-01 -7.23120022e-04 1.93393437e+01] [ 2.52358120e-03 -5.93361772e-06 9.99996816e-01 2.06355819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.26, Y:19.36, Z:0.21 [[ 9.59947201e-01 -2.80170532e-01 -2.41762748e-03 1.36256371e+02] [ 2.80169599e-01 9.59950245e-01 -7.23584399e-04 1.93552239e+01] [ 2.52352912e-03 1.72570965e-05 9.99996816e-01 2.08435195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74264 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:136.31, Y:19.37, Z:0.21 [[ 9.60634285e-01 -2.77805555e-01 -2.41750770e-03 1.36311039e+02] [ 2.77804612e-01 9.60637327e-01 -7.23984386e-04 1.93733542e+01] [ 2.52347501e-03 2.38894344e-05 9.99996816e-01 2.08115584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.37, Y:19.39, Z:0.21 [[ 9.62578847e-01 -2.70990997e-01 -2.41736744e-03 1.36366314e+02] [ 2.70990032e-01 9.62581881e-01 -7.24452383e-04 1.93889709e+01] [ 2.52323417e-03 4.22600586e-05 9.99996816e-01 2.10722465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:19.41, Z:0.21 [[ 9.63199527e-01 -2.68776538e-01 -2.41730277e-03 1.36420486e+02] [ 2.68775565e-01 9.63202559e-01 -7.24668118e-04 1.94090541e+01] [ 2.52312600e-03 4.82880702e-05 9.99996816e-01 2.12270444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:136.47, Y:19.43, Z:0.21 [[ 9.63287104e-01 -2.68462496e-01 -2.41715927e-03 1.36474827e+02] [ 2.68461521e-01 9.63290136e-01 -7.25146443e-04 1.94279698e+01] [ 2.52310031e-03 4.96099627e-05 9.99996816e-01 2.08468283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.53, Y:19.45, Z:0.21 [[ 9.63004627e-01 -2.69474018e-01 -2.41709806e-03 1.36530251e+02] [ 2.69473046e-01 9.63007659e-01 -7.25350432e-04 1.94470583e+01] [ 2.52314704e-03 4.71730463e-05 9.99996816e-01 2.08801340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.58, Y:19.47, Z:0.21 [[ 9.62498165e-01 -2.71277424e-01 -2.41697208e-03 1.36584544e+02] [ 2.71276457e-01 9.62501199e-01 -7.25769966e-04 1.94666867e+01] [ 2.52322353e-03 4.28846384e-05 9.99996816e-01 2.07784693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.64, Y:19.49, Z:0.21 [[ 9.61666145e-01 -2.74212300e-01 -2.41682859e-03 1.36638576e+02] [ 2.74211341e-01 9.61669181e-01 -7.26247489e-04 1.94879637e+01] [ 2.52333556e-03 3.56858164e-05 9.99996816e-01 2.07612739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:136.69, Y:19.51, Z:0.21 [[ 9.60961662e-01 -2.76671001e-01 -2.41668559e-03 1.36692836e+02] [ 2.76670048e-01 9.60964701e-01 -7.26723025e-04 1.95084589e+01] [ 2.52341273e-03 2.97284479e-05 9.99996816e-01 2.06382076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.75, Y:19.53, Z:0.21 [[ 9.60112817e-01 -2.79602465e-01 -2.41664132e-03 1.36747416e+02] [ 2.79601521e-01 9.60115858e-01 -7.26870191e-04 1.95300240e+01] [ 2.52349035e-03 2.21807968e-05 9.99996816e-01 2.11414332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.80, Y:19.55, Z:0.21 [[ 9.60266989e-01 -2.79072516e-01 -2.41651540e-03 1.36800641e+02] [ 2.79071570e-01 9.60270030e-01 -7.27288587e-04 1.95531186e+01] [ 2.52347357e-03 2.40104765e-05 9.99996816e-01 2.12604772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.85, Y:19.58, Z:0.21 [[ 9.60671537e-01 -2.77676717e-01 -2.41647103e-03 1.36854527e+02] [ 2.77675766e-01 9.60674575e-01 -7.27435965e-04 1.95769102e+01] [ 2.52343432e-03 2.78315807e-05 9.99996816e-01 2.11081440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.91, Y:19.60, Z:0.21 [[ 9.60448739e-01 -2.78446371e-01 -2.41633394e-03 1.36908671e+02] [ 2.78445421e-01 9.60451778e-01 -7.27891063e-04 1.95983251e+01] [ 2.52345085e-03 2.62849325e-05 9.99996816e-01 2.09363442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46264000000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:19.62, Z:0.21 [[ 9.59364122e-01 -2.82160670e-01 -2.41619752e-03 1.36962987e+02] [ 2.82159731e-01 9.59367164e-01 -7.28343620e-04 1.96205471e+01] [ 2.52353049e-03 1.69930945e-05 9.99996816e-01 2.09870638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:19.64, Z:0.21 [[ 9.57818136e-01 -2.87364893e-01 -2.41607190e-03 1.37016017e+02] [ 2.87363969e-01 9.57821183e-01 -7.28760104e-04 1.96416122e+01] [ 2.52358491e-03 3.72763464e-06 9.99996816e-01 2.11115142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.07, Y:19.66, Z:0.21 [[ 9.56384997e-01 -2.92099129e-01 -2.41600984e-03 1.37070554e+02] [ 2.92098219e-01 9.56388048e-01 -7.28965765e-04 1.96604355e+01] [ 2.52357320e-03 -8.54025219e-06 9.99996816e-01 2.09363909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.13, Y:19.68, Z:0.21 [[ 9.55858452e-01 -2.93817602e-01 -2.41586588e-03 1.37125817e+02] [ 2.93816697e-01 9.55861505e-01 -7.29442566e-04 1.96772534e+01] [ 2.52355626e-03 -1.25778923e-05 9.99996816e-01 2.07325931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:19.70, Z:0.20 [[ 9.56252300e-01 -2.92533250e-01 -2.41582142e-03 1.37179572e+02] [ 2.92532341e-01 9.56255352e-01 -7.29589776e-04 1.96965423e+01] [ 2.52357143e-03 -9.03399301e-06 9.99996816e-01 2.03035117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.23, Y:19.72, Z:0.20 [[ 9.56905290e-01 -2.90390135e-01 -2.41576091e-03 1.37234945e+02] [ 2.90389218e-01 9.56908339e-01 -7.29790090e-04 1.97170366e+01] [ 2.52358560e-03 -3.17092452e-06 9.99996816e-01 2.03466264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:137.29, Y:19.74, Z:0.20 [[ 9.57491839e-01 -2.88450244e-01 -2.41563601e-03 1.37290221e+02] [ 2.88449320e-01 9.57494886e-01 -7.30203259e-04 1.97367554e+01] [ 2.52358644e-03 2.37509604e-06 9.99996816e-01 2.02690317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:137.35, Y:19.75, Z:0.20 [[ 9.57345548e-01 -2.88935404e-01 -2.41551082e-03 1.37345579e+02] [ 2.88934480e-01 9.57348595e-01 -7.30617180e-04 1.97540803e+01] [ 2.52358706e-03 1.52874233e-06 9.99996816e-01 2.03271713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.40, Y:19.77, Z:0.21 [[ 9.56408911e-01 -2.92020822e-01 -2.41544426e-03 1.37400698e+02] [ 2.92019907e-01 9.56411961e-01 -7.30837143e-04 1.97726229e+01] [ 2.52357945e-03 -6.37865349e-06 9.99996816e-01 2.05674482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.46, Y:19.79, Z:0.20 [[ 9.55162286e-01 -2.96072921e-01 -2.41530428e-03 1.37456966e+02] [ 2.96072018e-01 9.55165339e-01 -7.31299455e-04 1.97877699e+01] [ 2.52353290e-03 -1.65943542e-05 9.99996816e-01 2.02882250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.51, Y:19.80, Z:0.20 [[ 9.54395237e-01 -2.98536259e-01 -2.41516566e-03 1.37512245e+02] [ 2.98535363e-01 9.54398293e-01 -7.31756973e-04 1.98046747e+01] [ 2.52348598e-03 -2.26269889e-05 9.99996816e-01 2.04249474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.57, Y:19.82, Z:0.21 [[ 9.53850951e-01 -3.00270763e-01 -2.41502393e-03 1.37567377e+02] [ 3.00269871e-01 9.53854008e-01 -7.32224437e-04 1.98209584e+01] [ 2.52344585e-03 -2.67259492e-05 9.99996816e-01 2.05481741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:137.62, Y:19.84, Z:0.20 [[ 9.54059959e-01 -2.99606013e-01 -2.41495804e-03 1.37623832e+02] [ 2.99605118e-01 9.54063015e-01 -7.32441673e-04 1.98362357e+01] [ 2.52346608e-03 -2.47405180e-05 9.99996816e-01 2.03308603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.68, Y:19.85, Z:0.20 [[ 9.54582874e-01 -2.97935741e-01 -2.41481970e-03 1.37680157e+02] [ 2.97934840e-01 9.54585928e-01 -7.32897491e-04 1.98498661e+01] [ 2.52350927e-03 -1.98475290e-05 9.99996816e-01 2.01040445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:137.74, Y:19.87, Z:0.20 [[ 9.54943168e-01 -2.96778898e-01 -2.41477700e-03 1.37736650e+02] [ 2.96777993e-01 9.54946221e-01 -7.33038170e-04 1.98666696e+01] [ 2.52353243e-03 -1.66428798e-05 9.99996816e-01 1.96832538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.79, Y:19.88, Z:0.20 [[ 9.55429253e-01 -2.95210286e-01 -2.41465192e-03 1.37791516e+02] [ 2.95209375e-01 9.55432304e-01 -7.33449954e-04 1.98815451e+01] [ 2.52355842e-03 -1.20683425e-05 9.99996816e-01 1.95898212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.85, Y:19.90, Z:0.20 [[ 9.55965002e-01 -2.93470756e-01 -2.41455485e-03 1.37848165e+02] [ 2.93469839e-01 9.55968051e-01 -7.33769386e-04 1.98968246e+01] [ 2.52357715e-03 -7.14116978e-06 9.99996816e-01 1.97928935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.91, Y:19.91, Z:0.20 [[ 9.56683842e-01 -2.91118872e-01 -2.41442987e-03 1.37905802e+02] [ 2.91117946e-01 9.56686888e-01 -7.34180367e-04 1.99112327e+01] [ 2.52358716e-03 -5.05372216e-07 9.99996816e-01 1.95723276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:137.96, Y:19.93, Z:0.19 [[ 9.56989360e-01 -2.90112972e-01 -2.41431469e-03 1.37961443e+02] [ 2.90112042e-01 9.56992405e-01 -7.34558962e-04 1.99279763e+01] [ 2.52358590e-03 2.54334766e-06 9.99996816e-01 1.94899691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.02, Y:19.94, Z:0.20 [[ 9.57129793e-01 -2.89649326e-01 -2.41416868e-03 1.38018909e+02] [ 2.89648393e-01 9.57132837e-01 -7.35038508e-04 1.99400653e+01] [ 2.52358353e-03 4.26717544e-06 9.99996816e-01 1.96851387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.07, Y:19.96, Z:0.20 [[ 9.57247935e-01 -2.89258643e-01 -2.41404210e-03 1.38074839e+02] [ 2.89257708e-01 9.57250979e-01 -7.35453991e-04 1.99562137e+01] [ 2.52358059e-03 5.73152941e-06 9.99996816e-01 1.96657134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:19.97, Z:0.20 [[ 9.57961338e-01 -2.86887171e-01 -2.41389724e-03 1.38129670e+02] [ 2.86886227e-01 9.57964379e-01 -7.35929142e-04 1.99717887e+01] [ 2.52355620e-03 1.24777934e-05 9.99996816e-01 1.95263723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.19, Y:19.99, Z:0.20 [[ 9.58734510e-01 -2.84292653e-01 -2.41383469e-03 1.38185305e+02] [ 2.84291701e-01 9.58737548e-01 -7.36134236e-04 1.99884632e+01] [ 2.52351151e-03 1.95241256e-05 9.99996816e-01 1.96120950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84264000000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:138.24, Y:20.01, Z:0.19 [[ 9.59341021e-01 -2.82239224e-01 -2.41369586e-03 1.38240954e+02] [ 2.82238264e-01 9.59344057e-01 -7.36589172e-04 2.00064194e+01] [ 2.52345914e-03 2.54028781e-05 9.99996816e-01 1.92979195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.30, Y:20.02, Z:0.19 [[ 9.59748961e-01 -2.80848904e-01 -2.41356886e-03 1.38295475e+02] [ 2.80847938e-01 9.59751995e-01 -7.37005094e-04 2.00244726e+01] [ 2.52341460e-03 2.94940365e-05 9.99996816e-01 1.93625584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:20.04, Z:0.19 [[ 9.58799132e-01 -2.84074638e-01 -2.41347016e-03 1.38350434e+02] [ 2.84073682e-01 9.58802169e-01 -7.37328160e-04 2.00435986e+01] [ 2.52349665e-03 2.13462454e-05 9.99996816e-01 1.92250137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.41, Y:20.06, Z:0.20 [[ 9.56271138e-01 -2.92471686e-01 -2.41332545e-03 1.38406111e+02] [ 2.92470755e-01 9.56274183e-01 -7.37801500e-04 2.00604010e+01] [ 2.52358687e-03 -2.88836658e-07 9.99996816e-01 1.95278412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.46, Y:20.08, Z:0.20 [[ 9.54099524e-01 -2.99480006e-01 -2.41325853e-03 1.38463008e+02] [ 2.99479097e-01 9.54102576e-01 -7.38020322e-04 2.00769470e+01] [ 2.52351851e-03 -1.85756475e-05 9.99996816e-01 1.96577311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.52, Y:20.09, Z:0.20 [[ 9.51011334e-01 -3.09146597e-01 -2.41313347e-03 1.38519390e+02] [ 3.09145719e-01 9.51014395e-01 -7.38428996e-04 2.00902876e+01] [ 2.52320748e-03 -4.37555362e-05 9.99996816e-01 1.97338371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.58, Y:20.10, Z:0.20 [[ 9.48855330e-01 -3.15701979e-01 -2.41298739e-03 1.38575747e+02] [ 3.15701120e-01 9.48858397e-01 -7.38906045e-04 2.01017443e+01] [ 2.52285745e-03 -6.06678821e-05 9.99996816e-01 1.95350605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.63, Y:20.11, Z:0.19 [[ 9.48344402e-01 -3.17233467e-01 -2.41292416e-03 1.38633491e+02] [ 3.17232613e-01 9.48347470e-01 -7.39112461e-04 2.01132489e+01] [ 2.52276173e-03 -6.45250710e-05 9.99996816e-01 1.94487337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:138.69, Y:20.13, Z:0.19 [[ 9.49227229e-01 -3.14582017e-01 -2.41280333e-03 1.38689844e+02] [ 3.14581153e-01 9.49230294e-01 -7.39506687e-04 2.01289340e+01] [ 2.52294152e-03 -5.70625710e-05 9.99996816e-01 1.91990111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:20.14, Z:0.19 [[ 9.51822973e-01 -3.06638560e-01 -2.41267748e-03 1.38746846e+02] [ 3.06637670e-01 9.51826030e-01 -7.39917052e-04 2.01414090e+01] [ 2.52333633e-03 -3.55477528e-05 9.99996816e-01 1.91712211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44264 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:20.15, Z:0.19 [[ 9.55335383e-01 -2.95513936e-01 -2.41253509e-03 1.38803540e+02] [ 2.95513008e-01 9.55338429e-01 -7.40381032e-04 2.01547937e+01] [ 2.52358040e-03 -5.62330551e-06 9.99996816e-01 1.93276666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.86, Y:20.17, Z:0.19 [[ 9.59100354e-01 -2.83055988e-01 -2.41238774e-03 1.38858061e+02] [ 2.83055020e-01 9.59103387e-01 -7.40860847e-04 2.01745835e+01] [ 2.52343435e-03 2.77214417e-05 9.99996816e-01 1.93178128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.91, Y:20.19, Z:0.19 [[ 9.60892459e-01 -2.76911291e-01 -2.41234186e-03 1.38913927e+02] [ 2.76910303e-01 9.60895486e-01 -7.41010200e-04 2.01916212e+01] [ 2.52320250e-03 4.40287968e-05 9.99996816e-01 1.92389695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.97, Y:20.21, Z:0.19 [[ 9.62199295e-01 -2.72335634e-01 -2.41220234e-03 1.38967845e+02] [ 2.72334631e-01 9.62202317e-01 -7.41464112e-04 2.02136221e+01] [ 2.52295378e-03 5.65100124e-05 9.99996816e-01 1.90742786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.02, Y:20.23, Z:0.19 [[ 9.62145477e-01 -2.72525712e-01 -2.41206275e-03 1.39022796e+02] [ 2.72524708e-01 9.62148499e-01 -7.41917923e-04 2.02334517e+01] [ 2.52295426e-03 5.64862778e-05 9.99996816e-01 1.88565668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:20.25, Z:0.19 [[ 9.61990513e-01 -2.73072218e-01 -2.41194070e-03 1.39077222e+02] [ 2.73071214e-01 9.61993535e-01 -7.42314483e-04 2.02534034e+01] [ 2.52297683e-03 5.54679129e-05 9.99996816e-01 1.88903690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:139.13, Y:20.27, Z:0.19 [[ 9.61495114e-01 -2.74811442e-01 -2.41179355e-03 1.39131100e+02] [ 2.74810443e-01 9.61498138e-01 -7.42792281e-04 2.02733255e+01] [ 2.52306282e-03 5.14050942e-05 9.99996816e-01 1.87689890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.19, Y:20.29, Z:0.19 [[ 9.60292850e-01 -2.78983557e-01 -2.41174810e-03 1.39185164e+02] [ 2.78982571e-01 9.60295878e-01 -7.42939835e-04 2.02942372e+01] [ 2.52325975e-03 4.06041273e-05 9.99996816e-01 1.88484831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:139.24, Y:20.32, Z:0.18 [[ 9.57500192e-01 -2.88422548e-01 -2.41170389e-03 1.39240096e+02] [ 2.88421591e-01 9.57503229e-01 -7.43083312e-04 2.03161992e+01] [ 2.52353624e-03 1.59149423e-05 9.99996816e-01 1.82641954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:139.30, Y:20.34, Z:0.18 [[ 9.54501144e-01 -2.98197503e-01 -2.41158225e-03 1.39295553e+02] [ 2.98196577e-01 9.54504190e-01 -7.43477867e-04 2.03363555e+01] [ 2.52356861e-03 -9.47509628e-06 9.99996816e-01 1.83413204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:139.35, Y:20.36, Z:0.18 [[ 9.52491579e-01 -3.04555376e-01 -2.41145369e-03 1.39351261e+02] [ 3.04554469e-01 9.52494631e-01 -7.43894600e-04 2.03555852e+01] [ 2.52345380e-03 -2.58656577e-05 9.99996816e-01 1.81055039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.41, Y:20.38, Z:0.18 [[ 9.51045152e-01 -3.09042561e-01 -2.41132579e-03 1.39406246e+02] [ 3.09041667e-01 9.51048208e-01 -7.44308966e-04 2.03750989e+01] [ 2.52331022e-03 -3.73287084e-05 9.99996816e-01 1.80580967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:139.46, Y:20.39, Z:0.18 [[ 9.50471521e-01 -3.10802306e-01 -2.41119932e-03 1.39461840e+02] [ 3.10801416e-01 9.50474579e-01 -7.44718447e-04 2.03947330e+01] [ 2.52324387e-03 -4.15704870e-05 9.99996816e-01 1.80309629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:139.52, Y:20.41, Z:0.18 [[ 9.50239519e-01 -3.11510905e-01 -2.41107195e-03 1.39517303e+02] [ 3.11510017e-01 9.50242577e-01 -7.45130581e-04 2.04116258e+01] [ 2.52321952e-03 -4.30205390e-05 9.99996816e-01 1.77358145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.57, Y:20.43, Z:0.18 [[ 9.51282232e-01 -3.08312021e-01 -2.41102705e-03 1.39571989e+02] [ 3.08311122e-01 9.51285287e-01 -7.45275825e-04 2.04316055e+01] [ 2.52335206e-03 -3.43788054e-05 9.99996816e-01 1.80849193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:20.45, Z:0.18 [[ 9.52175020e-01 -3.05543645e-01 -2.41098320e-03 1.39626585e+02] [ 3.05542737e-01 9.52178072e-01 -7.45417672e-04 2.04497844e+01] [ 2.52344297e-03 -2.68903191e-05 9.99996816e-01 1.82631752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:20.47, Z:0.18 [[ 9.53628711e-01 -3.00975862e-01 -2.41083860e-03 1.39680405e+02] [ 3.00974938e-01 9.53631758e-01 -7.45885031e-04 2.04717786e+01] [ 2.52354565e-03 -1.43046179e-05 9.99996816e-01 1.82783557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:20.49, Z:0.18 [[ 9.54897829e-01 -2.96924779e-01 -2.41079377e-03 1.39735590e+02] [ 2.96923842e-01 9.54900872e-01 -7.46029912e-04 2.04928967e+01] [ 2.52358384e-03 -3.43980344e-06 9.99996816e-01 1.81845046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:20.51, Z:0.18 [[ 9.55315667e-01 -2.95577681e-01 -2.41066538e-03 1.39790718e+02] [ 2.95576739e-01 9.55318708e-01 -7.46444554e-04 2.05108827e+01] [ 2.52358609e-03 5.53565977e-07 9.99996816e-01 1.78657541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.85, Y:20.53, Z:0.18 [[ 9.55847548e-01 -2.93853116e-01 -2.41061997e-03 1.39845912e+02] [ 2.93852168e-01 9.55850588e-01 -7.46591175e-04 2.05317624e+01] [ 2.52358066e-03 5.26144024e-06 9.99996816e-01 1.79326503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.90, Y:20.55, Z:0.18 [[ 9.54503159e-01 -2.98191060e-01 -2.41049443e-03 1.39900713e+02] [ 2.98190124e-01 9.54506203e-01 -7.46996280e-04 2.05501830e+01] [ 2.52357950e-03 -5.77532318e-06 9.99996816e-01 1.77774977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.96, Y:20.56, Z:0.18 [[ 9.52852460e-01 -3.03424420e-01 -2.41045002e-03 1.39958005e+02] [ 3.03423501e-01 9.52855509e-01 -7.47139552e-04 2.05649012e+01] [ 2.52351097e-03 -1.94734238e-05 9.99996816e-01 1.78990239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:140.01, Y:20.58, Z:0.18 [[ 9.51294160e-01 -3.08275221e-01 -2.41032232e-03 1.40014427e+02] [ 3.08274316e-01 9.51297213e-01 -7.47551301e-04 2.05794415e+01] [ 2.52338445e-03 -3.18992777e-05 9.99996816e-01 1.76392826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82264 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:140.07, Y:20.60, Z:0.17 [[ 9.51657228e-01 -3.07152587e-01 -2.41027743e-03 1.40071316e+02] [ 3.07151678e-01 9.51660280e-01 -7.47696018e-04 2.05951879e+01] [ 2.52342205e-03 -2.87704356e-05 9.99996816e-01 1.72348260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.13, Y:20.61, Z:0.17 [[ 9.52745080e-01 -3.03761425e-01 -2.41024272e-03 1.40126790e+02] [ 3.03760505e-01 9.52748128e-01 -7.47807885e-04 2.06127221e+01] [ 2.52350943e-03 -1.96662628e-05 9.99996816e-01 1.74437832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:140.18, Y:20.63, Z:0.17 [[ 9.55131884e-01 -2.96171026e-01 -2.41010292e-03 1.40183545e+02] [ 2.96170080e-01 9.55134924e-01 -7.48258165e-04 2.06288126e+01] [ 2.52358586e-03 8.84855102e-07 9.99996816e-01 1.73541902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.24, Y:20.65, Z:0.18 [[ 9.57063068e-01 -2.89869758e-01 -2.40997368e-03 1.40239832e+02] [ 2.89868792e-01 9.57066102e-01 -7.48674185e-04 2.06456364e+01] [ 2.52352212e-03 1.79522530e-05 9.99996816e-01 1.75736935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.29, Y:20.66, Z:0.18 [[ 9.58650963e-01 -2.84574287e-01 -2.40984417e-03 1.40294351e+02] [ 2.84573303e-01 9.58653991e-01 -7.49090837e-04 2.06641967e+01] [ 2.52337872e-03 3.23393387e-05 9.99996816e-01 1.77354405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.35, Y:20.68, Z:0.18 [[ 9.59133110e-01 -2.82944996e-01 -2.40977533e-03 1.40349681e+02] [ 2.82944006e-01 9.59136136e-01 -7.49312206e-04 2.06799252e+01] [ 2.52331674e-03 3.68586599e-05 9.99996816e-01 1.77899107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.41, Y:20.69, Z:0.17 [[ 9.58827877e-01 -2.83977631e-01 -2.40962791e-03 1.40406185e+02] [ 2.83976644e-01 9.58830905e-01 -7.49785989e-04 2.06940636e+01] [ 2.52334816e-03 3.46376626e-05 9.99996816e-01 1.73587619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.46, Y:20.71, Z:0.17 [[ 9.58278319e-01 -2.85826622e-01 -2.40958230e-03 1.40463372e+02] [ 2.85825639e-01 9.58281348e-01 -7.49932537e-04 2.07091119e+01] [ 2.52340846e-03 2.99236895e-05 9.99996816e-01 1.73315517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.52, Y:20.72, Z:0.17 [[ 9.58001713e-01 -2.86752355e-01 -2.40945340e-03 1.40521493e+02] [ 2.86751374e-01 9.58004742e-01 -7.50346453e-04 2.07210202e+01] [ 2.52343139e-03 2.79191140e-05 9.99996816e-01 1.73670997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.58, Y:20.74, Z:0.17 [[ 9.58380854e-01 -2.85482632e-01 -2.40932355e-03 1.40576871e+02] [ 2.85481647e-01 9.58383882e-01 -7.50763145e-04 2.07372512e+01] [ 2.52338670e-03 3.16993693e-05 9.99996816e-01 1.71244668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.63, Y:20.75, Z:0.17 [[ 9.60231258e-01 -2.79195500e-01 -2.40927780e-03 1.40632754e+02] [ 2.79194495e-01 9.60234279e-01 -7.50909957e-04 2.07541097e+01] [ 2.52312181e-03 4.83901155e-05 9.99996816e-01 1.73130925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.69, Y:20.77, Z:0.17 [[ 9.61947392e-01 -2.73224105e-01 -2.40914836e-03 1.40687919e+02] [ 2.73223079e-01 9.61950406e-01 -7.51324988e-04 2.07719131e+01] [ 2.52276134e-03 6.45001784e-05 9.99996816e-01 1.73033515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:20.79, Z:0.18 [[ 9.62669725e-01 -2.70668056e-01 -2.40907988e-03 1.40743104e+02] [ 2.70667022e-01 9.62672737e-01 -7.51544511e-04 2.07921314e+01] [ 2.52257461e-03 7.14306709e-05 9.99996816e-01 1.75124514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:20.81, Z:0.17 [[ 9.62677086e-01 -2.70641875e-01 -2.40895218e-03 1.40796707e+02] [ 2.70640840e-01 9.62680097e-01 -7.51953611e-04 2.08124819e+01] [ 2.52256045e-03 7.19276693e-05 9.99996816e-01 1.71216658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.85, Y:20.83, Z:0.17 [[ 9.60671414e-01 -2.77677209e-01 -2.40885324e-03 1.40851941e+02] [ 2.77676196e-01 9.60674432e-01 -7.52270436e-04 2.08333941e+01] [ 2.52301207e-03 5.38035008e-05 9.99996816e-01 1.71966532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.91, Y:20.85, Z:0.17 [[ 9.58589837e-01 -2.84780128e-01 -2.40872557e-03 1.40907932e+02] [ 2.84779136e-01 9.58592863e-01 -7.52678992e-04 2.08490211e+01] [ 2.52333516e-03 3.55556454e-05 9.99996816e-01 1.73949525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.96, Y:20.87, Z:0.17 [[ 9.55761863e-01 -2.94131704e-01 -2.40857528e-03 1.40962556e+02] [ 2.94130740e-01 9.55764898e-01 -7.53159622e-04 2.08683218e+01] [ 2.52355983e-03 1.14052145e-05 9.99996816e-01 1.74229913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84264000000002 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:141.02, Y:20.89, Z:0.17 [[ 9.53917378e-01 -3.00059719e-01 -2.40852879e-03 1.41016945e+02] [ 3.00058773e-01 9.53920419e-01 -7.53308274e-04 2.08882809e+01] [ 2.52358226e-03 -4.10633983e-06 9.99996816e-01 1.72278079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.07, Y:20.90, Z:0.17 [[ 9.52005443e-01 -3.06071618e-01 -2.40848300e-03 1.41072129e+02] [ 3.06070691e-01 9.52008490e-01 -7.53454619e-04 2.09046465e+01] [ 2.52350734e-03 -1.98731600e-05 9.99996816e-01 1.74738899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96264000000002 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:141.13, Y:20.92, Z:0.18 [[ 9.50893842e-01 -3.09507838e-01 -2.40843861e-03 1.41127881e+02] [ 3.09506922e-01 9.50896891e-01 -7.53596483e-04 2.09225801e+01] [ 2.52342081e-03 -2.88381671e-05 9.99996816e-01 1.75340759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:141.18, Y:20.94, Z:0.18 [[ 9.49401173e-01 -3.14056703e-01 -2.40831347e-03 1.41183529e+02] [ 3.14055800e-01 9.49404227e-01 -7.53996213e-04 2.09370469e+01] [ 2.52326055e-03 -4.04999239e-05 9.99996816e-01 1.75971658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.24, Y:20.95, Z:0.18 [[ 9.48177935e-01 -3.17730710e-01 -2.40826951e-03 1.41241663e+02] [ 3.17729819e-01 9.48180992e-01 -7.54136599e-04 2.09469828e+01] [ 2.52308773e-03 -5.01233506e-05 9.99996816e-01 1.78150604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:141.30, Y:20.96, Z:0.18 [[ 9.48119467e-01 -3.17905140e-01 -2.40814166e-03 1.41296867e+02] [ 3.17904248e-01 9.48122523e-01 -7.54544615e-04 2.09626185e+01] [ 2.52308696e-03 -5.01600273e-05 9.99996816e-01 1.75768347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:20.98, Z:0.18 [[ 9.49701018e-01 -3.13148810e-01 -2.40808745e-03 1.41355043e+02] [ 3.13147903e-01 9.49704070e-01 -7.54717587e-04 2.09752354e+01] [ 2.52330937e-03 -3.73314737e-05 9.99996816e-01 1.76140033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.41, Y:20.99, Z:0.18 [[ 9.52664917e-01 -3.04012758e-01 -2.40797106e-03 1.41412208e+02] [ 3.04011821e-01 9.52667960e-01 -7.55088741e-04 2.09900207e+01] [ 2.52355349e-03 -1.27051143e-05 9.99996816e-01 1.76510482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.47, Y:21.01, Z:0.18 [[ 9.55666829e-01 -2.94440342e-01 -2.40784504e-03 1.41468259e+02] [ 2.94439373e-01 9.55669862e-01 -7.55490394e-04 2.10088515e+01] [ 2.52355179e-03 1.30327242e-05 9.99996816e-01 1.77318147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:21.03, Z:0.18 [[ 9.56982093e-01 -2.90136998e-01 -2.40771482e-03 1.41523783e+02] [ 2.90136014e-01 9.56985121e-01 -7.55905177e-04 2.10262834e+01] [ 2.52346332e-03 2.48229373e-05 9.99996816e-01 1.75030224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.58, Y:21.04, Z:0.18 [[ 9.57632742e-01 -2.87982179e-01 -2.40764532e-03 1.41579852e+02] [ 2.87981188e-01 9.57635768e-01 -7.56126487e-04 2.10441359e+01] [ 2.52339822e-03 3.07349219e-05 9.99996816e-01 1.79652499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:21.06, Z:0.18 [[ 9.57203263e-01 -2.89406493e-01 -2.40751503e-03 1.41634165e+02] [ 2.89405505e-01 9.57206290e-01 -7.56541107e-04 2.10638977e+01] [ 2.52343643e-03 2.74155134e-05 9.99996816e-01 1.78132340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.69, Y:21.08, Z:0.18 [[ 9.56251535e-01 -2.92535820e-01 -2.40746905e-03 1.41690458e+02] [ 2.92534842e-01 9.56254565e-01 -7.56687391e-04 2.10818299e+01] [ 2.52351143e-03 1.93149013e-05 9.99996816e-01 1.79568423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:21.10, Z:0.18 [[ 9.54025927e-01 -2.99714424e-01 -2.40734500e-03 1.41747331e+02] [ 2.99713467e-01 9.54028964e-01 -7.57081838e-04 2.10962542e+01] [ 2.52358520e-03 7.61985035e-07 9.99996816e-01 1.81774122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68264000000002 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:141.81, Y:21.11, Z:0.18 [[ 9.50695014e-01 -3.10118036e-01 -2.40722105e-03 1.41805517e+02] [ 3.10117112e-01 9.50698061e-01 -7.57475737e-04 2.11068593e+01] [ 2.52344727e-03 -2.63920341e-05 9.99996816e-01 1.84538271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74264 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:141.86, Y:21.12, Z:0.19 [[ 9.48850006e-01 -3.15718025e-01 -2.40709659e-03 1.41862935e+02] [ 3.15717118e-01 9.48853059e-01 -7.57871029e-04 2.11190246e+01] [ 2.52325451e-03 -4.08556702e-05 9.99996816e-01 1.87404281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.92, Y:21.13, Z:0.19 [[ 9.47358915e-01 -3.20164477e-01 -2.40696647e-03 1.41920982e+02] [ 3.20163584e-01 9.47361971e-01 -7.58284066e-04 2.11263326e+01] [ 2.52304412e-03 -5.22558416e-05 9.99996816e-01 1.89590525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:141.98, Y:21.13, Z:0.19 [[ 9.47285926e-01 -3.20380372e-01 -2.40681742e-03 1.41980787e+02] [ 3.20379477e-01 9.47288982e-01 -7.58756853e-04 2.11322444e+01] [ 2.52304243e-03 -5.23352213e-05 9.99996816e-01 1.89447692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.04, Y:21.14, Z:0.19 [[ 9.48103558e-01 -3.17952591e-01 -2.40668664e-03 1.42038052e+02] [ 3.17951688e-01 9.48106612e-01 -7.59171459e-04 2.11446044e+01] [ 2.52317605e-03 -4.54369188e-05 9.99996816e-01 1.89975300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.10, Y:21.15, Z:0.19 [[ 9.50375241e-01 -3.11096623e-01 -2.40653856e-03 1.42095851e+02] [ 3.11095697e-01 9.50378288e-01 -7.59640590e-04 2.11535654e+01] [ 2.52344361e-03 -2.67201803e-05 9.99996816e-01 1.89004004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:142.15, Y:21.16, Z:0.19 [[ 9.53137249e-01 -3.02528665e-01 -2.40649292e-03 1.42154105e+02] [ 3.02527711e-01 9.53140287e-01 -7.59785121e-04 2.11636220e+01] [ 2.52358213e-03 -3.85129549e-06 9.99996816e-01 1.86979680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10264 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:142.21, Y:21.18, Z:0.19 [[ 9.55223836e-01 -2.95874353e-01 -2.40636554e-03 1.42211687e+02] [ 2.95873377e-01 9.55226867e-01 -7.60188362e-04 2.11768254e+01] [ 2.52354525e-03 1.41705463e-05 9.99996816e-01 1.87362175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.27, Y:21.19, Z:0.19 [[ 9.57795711e-01 -2.87439709e-01 -2.40623438e-03 1.42268591e+02] [ 2.87438705e-01 9.57798733e-01 -7.60603280e-04 2.11913406e+01] [ 2.52331583e-03 3.68576646e-05 9.99996816e-01 1.91721600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.33, Y:21.21, Z:0.19 [[ 9.59215617e-01 -2.82665192e-01 -2.40610132e-03 1.42325743e+02] [ 2.82664172e-01 9.59218634e-01 -7.61023983e-04 2.12060566e+01] [ 2.52309221e-03 4.98674530e-05 9.99996816e-01 1.93597733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.38, Y:21.22, Z:0.20 [[ 9.59815491e-01 -2.80621514e-01 -2.40596788e-03 1.42381142e+02] [ 2.80620487e-01 9.59818505e-01 -7.61445600e-04 2.12249227e+01] [ 2.52297052e-03 5.56834036e-05 9.99996816e-01 1.96136923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.44, Y:21.25, Z:0.20 [[ 9.61216483e-01 -2.75784489e-01 -2.40583627e-03 1.42435487e+02] [ 2.75783446e-01 9.61219491e-01 -7.61861232e-04 2.12466587e+01] [ 2.52264622e-03 6.88237588e-05 9.99996816e-01 2.00458608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.49, Y:21.27, Z:0.19 [[ 9.62229037e-01 -2.72230587e-01 -2.40569849e-03 1.42489363e+02] [ 2.72229531e-01 9.62232041e-01 -7.62296039e-04 2.12687508e+01] [ 2.52236046e-03 7.86012128e-05 9.99996816e-01 1.93943529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46264000000002 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:142.54, Y:21.29, Z:0.20 [[ 9.61298409e-01 -2.75498787e-01 -2.40565028e-03 1.42542722e+02] [ 2.75497740e-01 9.61301417e-01 -7.62448153e-04 2.12912967e+01] [ 2.52260856e-03 7.01889815e-05 9.99996816e-01 2.00056973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.60, Y:21.31, Z:0.20 [[ 9.59341704e-01 -2.82236971e-01 -2.40549994e-03 1.42597727e+02] [ 2.82235945e-01 9.59344719e-01 -7.62922179e-04 2.13126072e+01] [ 2.52302850e-03 5.29845163e-05 9.99996816e-01 1.98055004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:21.33, Z:0.20 [[ 9.55694176e-01 -2.94351584e-01 -2.40536876e-03 1.42652136e+02] [ 2.94350595e-01 9.55697203e-01 -7.63335521e-04 2.13348731e+01] [ 2.52349322e-03 2.14935842e-05 9.99996816e-01 1.95768603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:142.71, Y:21.35, Z:0.20 [[ 9.52637737e-01 -3.04097941e-01 -2.40523665e-03 1.42707038e+02] [ 3.04096982e-01 9.52640773e-01 -7.63751572e-04 2.13539618e+01] [ 2.52358178e-03 -3.84663798e-06 9.99996816e-01 1.95326087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:142.76, Y:21.37, Z:0.20 [[ 9.51120769e-01 -3.08809809e-01 -2.40518977e-03 1.42762639e+02] [ 3.08808865e-01 9.51123810e-01 -7.63899182e-04 2.13737888e+01] [ 2.52353282e-03 -1.61835454e-05 9.99996816e-01 2.00532078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76264 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:142.82, Y:21.39, Z:0.20 [[ 9.49474635e-01 -3.13834564e-01 -2.40505583e-03 1.42817346e+02] [ 3.13833635e-01 9.49477680e-01 -7.64320639e-04 2.13921139e+01] [ 2.52341707e-03 -2.90843549e-05 9.99996816e-01 2.01676504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82264 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:142.87, Y:21.41, Z:0.21 [[ 9.47595663e-01 -3.19463106e-01 -2.40500873e-03 1.42874222e+02] [ 3.19462194e-01 9.47598714e-01 -7.64468837e-04 2.14083837e+01] [ 2.52320276e-03 -4.39020097e-05 9.99996816e-01 2.05746067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:21.42, Z:0.20 [[ 9.46242032e-01 -3.23450511e-01 -2.40487263e-03 1.42930595e+02] [ 3.23449611e-01 9.46245087e-01 -7.64896741e-04 2.14224799e+01] [ 2.52300515e-03 -5.40776680e-05 9.99996816e-01 2.04439753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:21.44, Z:0.21 [[ 9.45644260e-01 -3.25194020e-01 -2.40482472e-03 1.42987033e+02] [ 3.25193125e-01 9.45647316e-01 -7.65047338e-04 2.14381944e+01] [ 2.52290486e-03 -5.85698413e-05 9.99996816e-01 2.06005335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:143.04, Y:21.45, Z:0.20 [[ 9.45506692e-01 -3.25593785e-01 -2.40469183e-03 1.43042979e+02] [ 3.25592891e-01 9.45509748e-01 -7.65464805e-04 2.14519076e+01] [ 2.52289015e-03 -5.91984682e-05 9.99996816e-01 2.04710020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.10, Y:21.46, Z:0.21 [[ 9.45769313e-01 -3.24830146e-01 -2.40464500e-03 1.43101264e+02] [ 3.24829248e-01 9.45772369e-01 -7.65611873e-04 2.14635680e+01] [ 2.52294062e-03 -5.70068137e-05 9.99996816e-01 2.07077091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12264000000002 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:143.16, Y:21.48, Z:0.21 [[ 9.47264793e-01 -3.20442865e-01 -2.40451100e-03 1.43159203e+02] [ 3.20441953e-01 9.47267844e-01 -7.66032497e-04 2.14761082e+01] [ 2.52318560e-03 -4.48705849e-05 9.99996816e-01 2.08916013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:143.22, Y:21.49, Z:0.21 [[ 9.49876377e-01 -3.12616517e-01 -2.40437716e-03 1.43216230e+02] [ 3.12615579e-01 9.49879420e-01 -7.66452362e-04 2.14867118e+01] [ 2.52347405e-03 -2.36107632e-05 9.99996816e-01 2.09657710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.27, Y:21.50, Z:0.21 [[ 9.51661504e-01 -3.07139385e-01 -2.40422368e-03 1.43271407e+02] [ 3.07138427e-01 9.51664541e-01 -7.66933500e-04 2.15012409e+01] [ 2.52356991e-03 -8.56839127e-06 9.99996816e-01 2.08769560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:143.33, Y:21.51, Z:0.21 [[ 9.53180367e-01 -3.02392803e-01 -2.40415730e-03 1.43327949e+02] [ 3.02391830e-01 9.53183399e-01 -7.67141511e-04 2.15139094e+01] [ 2.52358090e-03 4.22670032e-06 9.99996816e-01 2.06462825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.38, Y:21.53, Z:0.20 [[ 9.54392013e-01 -2.98546656e-01 -2.40411114e-03 1.43384314e+02] [ 2.98545670e-01 9.54395041e-01 -7.67286164e-04 2.15268165e+01] [ 2.52354246e-03 1.45548171e-05 9.99996816e-01 2.04970807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.44, Y:21.54, Z:0.21 [[ 9.56512421e-01 -2.91681691e-01 -2.40406545e-03 1.43441887e+02] [ 2.91680683e-01 9.56515442e-01 -7.67429277e-04 2.15414208e+01] [ 2.52337080e-03 3.28361824e-05 9.99996816e-01 2.07157712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.50, Y:21.56, Z:0.21 [[ 9.58725015e-01 -2.84324757e-01 -2.40393522e-03 1.43497771e+02] [ 2.84323725e-01 9.58728027e-01 -7.67837019e-04 2.15562408e+01] [ 2.52303514e-03 5.26487425e-05 9.99996816e-01 2.11643662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.55, Y:21.58, Z:0.21 [[ 9.60907216e-01 -2.76860151e-01 -2.40378016e-03 1.43551568e+02] [ 2.76859095e-01 9.60910220e-01 -7.68322117e-04 2.15766684e+01] [ 2.52253470e-03 7.27778665e-05 9.99996816e-01 2.11309139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60264 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:143.61, Y:21.60, Z:0.21 [[ 9.61750992e-01 -2.73914680e-01 -2.40373263e-03 1.43606239e+02] [ 2.73913614e-01 9.61753992e-01 -7.68470796e-04 2.15978621e+01] [ 2.52229489e-03 8.06624583e-05 9.99996816e-01 2.11322484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.66, Y:21.62, Z:0.21 [[ 9.61541497e-01 -2.74649179e-01 -2.40360063e-03 1.43661136e+02] [ 2.74648115e-01 9.61544498e-01 -7.68883448e-04 2.16200590e+01] [ 2.52234217e-03 7.91689604e-05 9.99996816e-01 2.12772110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:143.72, Y:21.64, Z:0.21 [[ 9.60383907e-01 -2.78670010e-01 -2.40346868e-03 1.43716269e+02] [ 2.78668956e-01 9.60386912e-01 -7.69295690e-04 2.16407261e+01] [ 2.52263950e-03 6.90470920e-05 9.99996816e-01 2.13523765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78264000000001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:143.77, Y:21.66, Z:0.22 [[ 9.57107722e-01 -2.89722336e-01 -2.40333643e-03 1.43770236e+02] [ 2.89721316e-01 9.57110739e-01 -7.69708619e-04 2.16621274e+01] [ 2.52326089e-03 4.03962689e-05 9.99996816e-01 2.18081085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.83, Y:21.68, Z:0.22 [[ 9.53457209e-01 -3.01518782e-01 -2.40326584e-03 1.43825345e+02] [ 3.01517799e-01 9.53460237e-01 -7.69928966e-04 2.16793784e+01] [ 2.52356646e-03 9.46689711e-06 9.99996816e-01 2.18280574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90264000000002 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:143.88, Y:21.70, Z:0.22 [[ 9.50717833e-01 -3.10048103e-01 -2.40321977e-03 1.43881647e+02] [ 3.10047147e-01 9.50720870e-01 -7.70072732e-04 2.16974712e+01] [ 2.52355078e-03 -1.29895555e-05 9.99996816e-01 2.18504029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96264000000002 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:143.94, Y:21.72, Z:0.22 [[ 9.50310268e-01 -3.11295068e-01 -2.40308340e-03 1.43937075e+02] [ 3.11294115e-01 9.50313307e-01 -7.70498045e-04 2.17157960e+01] [ 2.52353438e-03 -1.58535162e-05 9.99996816e-01 2.15993799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:143.99, Y:21.74, Z:0.21 [[ 9.51341957e-01 -3.08127744e-01 -2.40294861e-03 1.43991504e+02] [ 3.08126780e-01 9.51344992e-01 -7.70918197e-04 2.17363960e+01] [ 2.52357441e-03 -7.00599242e-06 9.99996816e-01 2.12781915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.05, Y:21.76, Z:0.22 [[ 9.52763288e-01 -3.03704369e-01 -2.40290162e-03 1.44046696e+02] [ 3.03703390e-01 9.52766318e-01 -7.71064620e-04 2.17557644e+01] [ 2.52357943e-03 4.87269318e-06 9.99996816e-01 2.15188591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:144.10, Y:21.78, Z:0.22 [[ 9.53266339e-01 -3.02121687e-01 -2.40277377e-03 1.44101315e+02] [ 3.02120702e-01 9.53269367e-01 -7.71462829e-04 2.17752976e+01] [ 2.52356628e-03 9.48184871e-06 9.99996816e-01 2.15943609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.16, Y:21.80, Z:0.22 [[ 9.53541055e-01 -3.01253519e-01 -2.40262293e-03 1.44155401e+02] [ 3.01252531e-01 9.53544082e-01 -7.71932312e-04 2.17966716e+01] [ 2.52355420e-03 1.22729129e-05 9.99996816e-01 2.16288437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:144.21, Y:21.82, Z:0.22 [[ 9.53499028e-01 -3.01386515e-01 -2.40257641e-03 1.44210686e+02] [ 3.01385526e-01 9.53502055e-01 -7.72077088e-04 2.18156754e+01] [ 2.52355516e-03 1.20729974e-05 9.99996816e-01 2.17219412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.27, Y:21.83, Z:0.22 [[ 9.53179438e-01 -3.02395746e-01 -2.40244623e-03 1.44267100e+02] [ 3.02394760e-01 9.53182466e-01 -7.72481955e-04 2.18330644e+01] [ 2.52356488e-03 9.82676667e-06 9.99996816e-01 2.17660193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.32, Y:21.85, Z:0.22 [[ 9.52793593e-01 -3.03609286e-01 -2.40231016e-03 1.44321406e+02] [ 3.03608303e-01 9.52796621e-01 -7.72904886e-04 2.18505066e+01] [ 2.52357410e-03 7.05751488e-06 9.99996816e-01 2.16050222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:144.38, Y:21.87, Z:0.22 [[ 9.52457988e-01 -3.04660482e-01 -2.40224295e-03 1.44377134e+02] [ 3.04659502e-01 9.52461018e-01 -7.73113718e-04 2.18668152e+01] [ 2.52357996e-03 4.49219725e-06 9.99996816e-01 2.16664190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50264 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:144.43, Y:21.88, Z:0.22 [[ 9.52229653e-01 -3.05373406e-01 -2.40208978e-03 1.44431902e+02] [ 3.05372426e-01 9.52232683e-01 -7.73589308e-04 2.18849096e+01] [ 2.52358200e-03 3.10269355e-06 9.99996816e-01 2.16682442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:21.90, Z:0.22 [[ 9.51772836e-01 -3.06794229e-01 -2.40193506e-03 1.44489412e+02] [ 3.06793252e-01 9.51775867e-01 -7.74069407e-04 2.18973786e+01] [ 2.52358385e-03 -1.59234642e-07 9.99996816e-01 2.17794542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.54, Y:21.91, Z:0.22 [[ 9.52127940e-01 -3.05690394e-01 -2.40180020e-03 1.44544766e+02] [ 3.05689413e-01 9.52130969e-01 -7.74487627e-04 2.19133672e+01] [ 2.52358178e-03 3.20641488e-06 9.99996816e-01 2.18167776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.60, Y:21.93, Z:0.22 [[ 9.52717717e-01 -3.03847303e-01 -2.40175263e-03 1.44601494e+02] [ 3.03846316e-01 9.52720744e-01 -7.74635122e-04 2.19289175e+01] [ 2.52357035e-03 8.24491470e-06 9.99996816e-01 2.21600721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.66, Y:21.94, Z:0.22 [[ 9.53649439e-01 -3.00910252e-01 -2.40162282e-03 1.44658673e+02] [ 3.00909255e-01 9.53652463e-01 -7.75037385e-04 2.19446442e+01] [ 2.52353021e-03 1.64434357e-05 9.99996816e-01 2.24541482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.71, Y:21.96, Z:0.22 [[ 9.54668494e-01 -2.97661385e-01 -2.40148779e-03 1.44714120e+02] [ 2.97660376e-01 9.54671514e-01 -7.75455550e-04 2.19631449e+01] [ 2.52345516e-03 2.54752234e-05 9.99996816e-01 2.21461187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86264 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:144.77, Y:21.98, Z:0.22 [[ 9.55756503e-01 -2.94149181e-01 -2.40135185e-03 1.44770177e+02] [ 2.94148160e-01 9.55759519e-01 -7.75876292e-04 2.19815245e+01] [ 2.52333826e-03 3.51955844e-05 9.99996816e-01 2.18366981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.82, Y:22.00, Z:0.22 [[ 9.56105063e-01 -2.93014237e-01 -2.40121555e-03 1.44824081e+02] [ 2.93013211e-01 9.56108077e-01 -7.76297882e-04 2.20009166e+01] [ 2.52328791e-03 3.86344575e-05 9.99996816e-01 2.17676005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:22.02, Z:0.22 [[ 9.55523725e-01 -2.94904467e-01 -2.40110998e-03 1.44878317e+02] [ 2.94903447e-01 9.55526742e-01 -7.76624260e-04 2.20197946e+01] [ 2.52335476e-03 3.39872963e-05 9.99996816e-01 2.18100782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04264 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:144.93, Y:22.04, Z:0.22 [[ 9.54451237e-01 -2.98357288e-01 -2.40106270e-03 1.44934740e+02] [ 2.98356278e-01 9.54454257e-01 -7.76770425e-04 2.20375859e+01] [ 2.52345963e-03 2.50173636e-05 9.99996816e-01 2.17091841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:22.05, Z:0.22 [[ 9.53581911e-01 -3.01124186e-01 -2.40092894e-03 1.44991585e+02] [ 3.01123184e-01 9.53584933e-01 -7.77183651e-04 2.20539299e+01] [ 2.52351845e-03 1.81329061e-05 9.99996816e-01 2.20159619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:22.07, Z:0.22 [[ 9.52609884e-01 -3.04185215e-01 -2.40079230e-03 1.45046923e+02] [ 3.04184221e-01 9.52612909e-01 -7.77605505e-04 2.20708587e+01] [ 2.52356183e-03 1.04715545e-05 9.99996816e-01 2.20931891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.10, Y:22.09, Z:0.22 [[ 9.52371745e-01 -3.04929984e-01 -2.40071990e-03 1.45101961e+02] [ 3.04928992e-01 9.52374771e-01 -7.77828970e-04 2.20879044e+01] [ 2.52356844e-03 8.73323517e-06 9.99996816e-01 2.19456333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:22.11, Z:0.22 [[ 9.52396354e-01 -3.04853115e-01 -2.40067294e-03 1.45158512e+02] [ 3.04852123e-01 9.52399380e-01 -7.77973857e-04 2.21053751e+01] [ 2.52356718e-03 9.08922212e-06 9.99996816e-01 2.20997929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34264000000002 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:22.12, Z:0.22 [[ 9.52926088e-01 -3.03193187e-01 -2.40053760e-03 1.45213294e+02] [ 3.03192188e-01 9.52929111e-01 -7.78391263e-04 2.21236173e+01] [ 2.52354509e-03 1.39250944e-05 9.99996816e-01 2.23245487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40264000000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:22.14, Z:0.22 [[ 9.54294168e-01 -2.98859297e-01 -2.40037989e-03 1.45267788e+02] [ 2.98858283e-01 9.54297186e-01 -7.78877290e-04 2.21430432e+01] [ 2.52345050e-03 2.59046412e-05 9.99996816e-01 2.23579045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.32, Y:22.16, Z:0.23 [[ 9.55446151e-01 -2.95155706e-01 -2.40033126e-03 1.45322856e+02] [ 2.95154680e-01 9.55449165e-01 -7.79027131e-04 2.21633314e+01] [ 2.52332880e-03 3.58494682e-05 9.99996816e-01 2.27710914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:22.18, Z:0.23 [[ 9.56283695e-01 -2.92430733e-01 -2.40019620e-03 1.45375609e+02] [ 2.92429698e-01 9.56286706e-01 -7.79443030e-04 2.21839909e+01] [ 2.52320882e-03 4.34800118e-05 9.99996816e-01 2.26994687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:145.43, Y:22.21, Z:0.23 [[ 9.56624616e-01 -2.91313548e-01 -2.40012973e-03 1.45430842e+02] [ 2.91312509e-01 9.56627626e-01 -7.79647660e-04 2.22050330e+01] [ 2.52315233e-03 4.66423308e-05 9.99996816e-01 2.26369051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:22.23, Z:0.22 [[ 9.56817886e-01 -2.90678126e-01 -2.39999614e-03 1.45484393e+02] [ 2.90677084e-01 9.56820895e-01 -7.80058668e-04 2.22266267e+01] [ 2.52311245e-03 4.87502061e-05 9.99996816e-01 2.23384600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.54, Y:22.25, Z:0.23 [[ 9.56134824e-01 -2.92917119e-01 -2.39994912e-03 1.45537902e+02] [ 2.92916083e-01 9.56137835e-01 -7.80203295e-04 2.22510086e+01] [ 2.52321706e-03 4.29958434e-05 9.99996816e-01 2.26192238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.59, Y:22.27, Z:0.22 [[ 9.54416463e-01 -2.98468519e-01 -2.39979857e-03 1.45592658e+02] [ 2.98467500e-01 9.54419479e-01 -7.80666101e-04 2.22714909e+01] [ 2.52341876e-03 2.88186992e-05 9.99996816e-01 2.24801044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.65, Y:22.29, Z:0.22 [[ 9.52674606e-01 -3.03982463e-01 -2.39966365e-03 1.45648670e+02] [ 3.03981459e-01 9.52677628e-01 -7.81080602e-04 2.22882239e+01] [ 2.52354068e-03 1.46623948e-05 9.99996816e-01 2.23923253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.70, Y:22.31, Z:0.22 [[ 9.50230455e-01 -3.11538640e-01 -2.39951036e-03 1.45703844e+02] [ 3.11537660e-01 9.50233485e-01 -7.81551233e-04 2.23051577e+01] [ 2.52357850e-03 -4.88405883e-06 9.99996816e-01 2.23933635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.76, Y:22.32, Z:0.23 [[ 9.48666751e-01 -3.16268301e-01 -2.39946288e-03 1.45760569e+02] [ 3.16267336e-01 9.48669785e-01 -7.81696988e-04 2.23221450e+01] [ 2.52352391e-03 -1.73017900e-05 9.99996816e-01 2.27470608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:22.34, Z:0.23 [[ 9.48271880e-01 -3.17450287e-01 -2.39932797e-03 1.45816101e+02] [ 3.17449324e-01 9.48274915e-01 -7.82110844e-04 2.23360734e+01] [ 2.52350384e-03 -2.00113238e-05 9.99996816e-01 2.27220235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.87, Y:22.35, Z:0.23 [[ 9.48470814e-01 -3.16855423e-01 -2.39922324e-03 1.45873052e+02] [ 3.16854457e-01 9.48473848e-01 -7.82432004e-04 2.23500303e+01] [ 2.52351832e-03 -1.80906573e-05 9.99996816e-01 2.28712798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.93, Y:22.36, Z:0.23 [[ 9.49197870e-01 -3.14670697e-01 -2.39906976e-03 1.45930279e+02] [ 3.14669723e-01 9.49200902e-01 -7.82902305e-04 2.23646741e+01] [ 2.52355560e-03 -1.17854166e-05 9.99996816e-01 2.25890273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.99, Y:22.38, Z:0.22 [[ 9.49968694e-01 -3.12335918e-01 -2.39893547e-03 1.45986958e+02] [ 3.12334936e-01 9.49971723e-01 -7.83313579e-04 2.23795059e+01] [ 2.52357783e-03 -5.14797789e-06 9.99996816e-01 2.24600381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:146.04, Y:22.39, Z:0.23 [[ 9.51395844e-01 -3.07961350e-01 -2.39879971e-03 1.46043735e+02] [ 3.07960353e-01 9.51398868e-01 -7.83729106e-04 2.23939703e+01] [ 2.52357360e-03 6.90140792e-06 9.99996816e-01 2.26187837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.10, Y:22.41, Z:0.23 [[ 9.53002440e-01 -3.02953125e-01 -2.39866475e-03 1.46100549e+02] [ 3.02952111e-01 9.53005458e-01 -7.84141942e-04 2.24075917e+01] [ 2.52349885e-03 2.06086342e-05 9.99996816e-01 2.28004537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:22.43, Z:0.23 [[ 9.53731695e-01 -3.00649466e-01 -2.39861709e-03 1.46156981e+02] [ 3.00648444e-01 9.53734710e-01 -7.84287697e-04 2.24251480e+01] [ 2.52344006e-03 2.68595380e-05 9.99996816e-01 2.29631738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:22.44, Z:0.23 [[ 9.54430800e-01 -2.98422680e-01 -2.39848707e-03 1.46212731e+02] [ 2.98421650e-01 9.54433813e-01 -7.84685136e-04 2.24432605e+01] [ 2.52336500e-03 3.31671944e-05 9.99996816e-01 2.25986931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:22.46, Z:0.23 [[ 9.54702516e-01 -2.97552270e-01 -2.39835717e-03 1.46269277e+02] [ 2.97551236e-01 9.54705528e-01 -7.85081955e-04 2.24591362e+01] [ 2.52332777e-03 3.58855775e-05 9.99996816e-01 2.26802085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.32, Y:22.48, Z:0.22 [[ 9.55041642e-01 -2.96461987e-01 -2.39822044e-03 1.46323400e+02] [ 2.96460949e-01 9.55044653e-01 -7.85499420e-04 2.24794839e+01] [ 2.52327832e-03 3.92059484e-05 9.99996816e-01 2.23871760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.38, Y:22.50, Z:0.22 [[ 9.55373161e-01 -2.95391894e-01 -2.39817216e-03 1.46379010e+02] [ 2.95390853e-01 9.55376170e-01 -7.85646791e-04 2.24993828e+01] [ 2.52323023e-03 4.21877393e-05 9.99996816e-01 2.24765196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.43, Y:22.52, Z:0.22 [[ 9.55174745e-01 -2.96032864e-01 -2.39803649e-03 1.46433027e+02] [ 2.96031824e-01 9.55177754e-01 -7.86060685e-04 2.25217103e+01] [ 2.52325090e-03 4.09301994e-05 9.99996816e-01 2.24256757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.49, Y:22.54, Z:0.23 [[ 9.53698318e-01 -3.00755330e-01 -2.39788253e-03 1.46488449e+02] [ 3.00754303e-01 9.53701332e-01 -7.86530036e-04 2.25416116e+01] [ 2.52341687e-03 2.89388818e-05 9.99996816e-01 2.27156893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.54, Y:22.56, Z:0.23 [[ 9.52124853e-01 -3.05700042e-01 -2.39774675e-03 1.46544760e+02] [ 3.05699030e-01 9.52127872e-01 -7.86943752e-04 2.25594988e+01] [ 2.52353025e-03 1.62798475e-05 9.99996816e-01 2.30734579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.60, Y:22.58, Z:0.23 [[ 9.50431468e-01 -3.10924872e-01 -2.39761084e-03 1.46598753e+02] [ 3.10923875e-01 9.50434492e-01 -7.87357637e-04 2.25800080e+01] [ 2.52358111e-03 2.85502308e-06 9.99996816e-01 2.34189083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:22.60, Z:0.23 [[ 9.50157076e-01 -3.11762381e-01 -2.39756279e-03 1.46653099e+02] [ 3.11761386e-01 9.50160101e-01 -7.87503914e-04 2.25993938e+01] [ 2.52358260e-03 7.84917324e-07 9.99996816e-01 2.31499344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96264000000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:146.71, Y:22.62, Z:0.23 [[ 9.50413770e-01 -3.10978968e-01 -2.39751590e-03 1.46708115e+02] [ 3.10977970e-01 9.50416794e-01 -7.87646636e-04 2.26193194e+01] [ 2.52358091e-03 3.01558014e-06 9.99996816e-01 2.33105948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:22.64, Z:0.23 [[ 9.50060968e-01 -3.12055139e-01 -2.39737055e-03 1.46762202e+02] [ 3.12054144e-01 9.50063993e-01 -7.88088798e-04 2.26391871e+01] [ 2.52358260e-03 6.22992978e-07 9.99996816e-01 2.32660666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:146.82, Y:22.66, Z:0.23 [[ 9.48730298e-01 -3.16077642e-01 -2.39721323e-03 1.46815725e+02] [ 3.16076659e-01 9.48733326e-01 -7.88567040e-04 2.26581843e+01] [ 2.52356449e-03 -9.56570541e-06 9.99996816e-01 2.33374155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:22.68, Z:0.23 [[ 9.48197308e-01 -3.17672976e-01 -2.39710673e-03 1.46870376e+02] [ 3.17671997e-01 9.48200338e-01 -7.88890652e-04 2.26750283e+01] [ 2.52354665e-03 -1.34696901e-05 9.99996816e-01 2.32437623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.93, Y:22.69, Z:0.23 [[ 9.46912935e-01 -3.21481176e-01 -2.39704044e-03 1.46925728e+02] [ 3.21480209e-01 9.46915969e-01 -7.89092020e-04 2.26892252e+01] [ 2.52347410e-03 -2.33996202e-05 9.99996816e-01 2.30435287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.98, Y:22.70, Z:0.23 [[ 9.46374366e-01 -3.23063172e-01 -2.39697480e-03 1.46981771e+02] [ 3.23062209e-01 9.46377402e-01 -7.89291373e-04 2.27039542e+01] [ 2.52343375e-03 -2.74068497e-05 9.99996816e-01 2.30135525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.04, Y:22.72, Z:0.23 [[ 9.46507853e-01 -3.22671875e-01 -2.39682599e-03 1.47037750e+02] [ 3.22670910e-01 9.46510887e-01 -7.89742980e-04 2.27191213e+01] [ 2.52344975e-03 -2.58880922e-05 9.99996816e-01 2.31405663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.09, Y:22.73, Z:0.23 [[ 9.47734963e-01 -3.19049676e-01 -2.39667082e-03 1.47094053e+02] [ 3.19048698e-01 9.47737993e-01 -7.90213612e-04 2.27325026e+01] [ 2.52353339e-03 -1.57416360e-05 9.99996816e-01 2.31688211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.15, Y:22.75, Z:0.23 [[ 9.49356512e-01 -3.14191771e-01 -2.39651678e-03 1.47149184e+02] [ 3.14190776e-01 9.49359537e-01 -7.90680514e-04 2.27478512e+01] [ 2.52358137e-03 -2.32577056e-06 9.99996816e-01 2.30620324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:147.20, Y:22.77, Z:0.24 [[ 9.52508692e-01 -3.04501969e-01 -2.39641239e-03 1.47204373e+02] [ 3.04500943e-01 9.52511706e-01 -7.90996753e-04 2.27668757e+01] [ 2.52347093e-03 2.37214493e-05 9.99996816e-01 2.35165418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:22.79, Z:0.23 [[ 9.55950729e-01 -2.93517396e-01 -2.39627620e-03 1.47257215e+02] [ 2.93516334e-01 9.55953731e-01 -7.91409114e-04 2.27878023e+01] [ 2.52302152e-03 5.32019125e-05 9.99996816e-01 2.33830068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.31, Y:22.81, Z:0.23 [[ 9.57855357e-01 -2.87240968e-01 -2.39620899e-03 1.47311832e+02] [ 2.87239886e-01 9.57858351e-01 -7.91612580e-04 2.28108355e+01] [ 2.52261235e-03 6.99635534e-05 9.99996816e-01 2.32592026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.36, Y:22.83, Z:0.23 [[ 9.58328318e-01 -2.85659051e-01 -2.39607318e-03 1.47364570e+02] [ 2.85657962e-01 9.58331311e-01 -7.92023427e-04 2.28326699e+01] [ 2.52248061e-03 7.45610956e-05 9.99996816e-01 2.32245376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:22.86, Z:0.23 [[ 9.58000106e-01 -2.86757835e-01 -2.39600657e-03 1.47417630e+02] [ 2.86756749e-01 9.58003100e-01 -7.92224894e-04 2.28553612e+01] [ 2.52255841e-03 7.18804769e-05 9.99996816e-01 2.31145374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:22.88, Z:0.23 [[ 9.57539268e-01 -2.88292925e-01 -2.39585741e-03 1.47472207e+02] [ 2.88291843e-01 9.57542263e-01 -7.92675730e-04 2.28776942e+01] [ 2.52265753e-03 6.83119907e-05 9.99996816e-01 2.32750091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.53, Y:22.90, Z:0.24 [[ 9.56855833e-01 -2.90553222e-01 -2.39572676e-03 1.47525505e+02] [ 2.90552146e-01 9.56858830e-01 -7.93070391e-04 2.29025527e+01] [ 2.52280146e-03 6.27704782e-05 9.99996816e-01 2.35711861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.58, Y:22.93, Z:0.24 [[ 9.55614375e-01 -2.94610636e-01 -2.39559640e-03 1.47578108e+02] [ 2.94609572e-01 9.55617377e-01 -7.93463969e-04 2.29273018e+01] [ 2.52303647e-03 5.24799452e-05 9.99996816e-01 2.36334414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:147.63, Y:22.95, Z:0.24 [[ 9.53777964e-01 -3.00502674e-01 -2.39544845e-03 1.47631358e+02] [ 3.00501628e-01 9.53780971e-01 -7.93910390e-04 2.29503570e+01] [ 2.52330534e-03 3.73780777e-05 9.99996816e-01 2.35145136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.69, Y:22.97, Z:0.24 [[ 9.52548925e-01 -3.04376095e-01 -2.39529931e-03 1.47686283e+02] [ 3.04375060e-01 9.52551937e-01 -7.94360091e-04 2.29695888e+01] [ 2.52343122e-03 2.75974795e-05 9.99996816e-01 2.35540011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.74, Y:22.99, Z:0.23 [[ 9.50975872e-01 -3.09255806e-01 -2.39514344e-03 1.47741083e+02] [ 3.09254785e-01 9.50978888e-01 -7.94829784e-04 2.29871706e+01] [ 2.52353657e-03 1.51543770e-05 9.99996816e-01 2.33264738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.80, Y:23.00, Z:0.23 [[ 9.49821634e-01 -3.12782875e-01 -2.39509527e-03 1.47795957e+02] [ 3.12781865e-01 9.49824654e-01 -7.94974912e-04 2.30048425e+01] [ 2.52357508e-03 5.94200351e-06 9.99996816e-01 2.31457358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:147.85, Y:23.02, Z:0.23 [[ 9.49194415e-01 -3.14681149e-01 -2.39504815e-03 1.47851302e+02] [ 3.14680144e-01 9.49197437e-01 -7.95116841e-04 2.30207181e+01] [ 2.52358185e-03 1.04636665e-06 9.99996816e-01 2.32131557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:23.04, Z:0.23 [[ 9.48910658e-01 -3.15535779e-01 -2.39489903e-03 1.47908050e+02] [ 3.15534776e-01 9.48913680e-01 -7.95565736e-04 2.30364416e+01] [ 2.52358191e-03 -7.53124079e-07 9.99996816e-01 2.34036845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:23.05, Z:0.23 [[ 9.49114127e-01 -3.14923228e-01 -2.39476234e-03 1.47964313e+02] [ 3.14922222e-01 9.49117148e-01 -7.95977000e-04 2.30539162e+01] [ 2.52358165e-03 1.30913879e-06 9.99996816e-01 2.31109383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:23.07, Z:0.23 [[ 9.49440035e-01 -3.13939304e-01 -2.39462671e-03 1.48020774e+02] [ 3.13938294e-01 9.49443054e-01 -7.96384801e-04 2.30700247e+01] [ 2.52357819e-03 4.35458765e-06 9.99996816e-01 2.32540896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.08, Y:23.09, Z:0.23 [[ 9.50207510e-01 -3.11608654e-01 -2.39448869e-03 1.48076202e+02] [ 3.11607636e-01 9.50210527e-01 -7.96799581e-04 2.30855198e+01] [ 2.52355801e-03 1.09839861e-05 9.99996816e-01 2.34236246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.13, Y:23.10, Z:0.23 [[ 9.50885631e-01 -3.09533170e-01 -2.39444002e-03 1.48131202e+02] [ 3.09532145e-01 9.50888646e-01 -7.96945804e-04 2.31007911e+01] [ 2.52352699e-03 1.66481578e-05 9.99996816e-01 2.33667731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:148.19, Y:23.12, Z:0.23 [[ 9.51414495e-01 -3.07903762e-01 -2.39437277e-03 1.48186857e+02] [ 3.07902730e-01 9.51417507e-01 -7.97147817e-04 2.31167163e+01] [ 2.52349298e-03 2.11840749e-05 9.99996816e-01 2.34488471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.24, Y:23.13, Z:0.23 [[ 9.51875198e-01 -3.06476550e-01 -2.39421635e-03 1.48242053e+02] [ 3.06475514e-01 9.51878208e-01 -7.97617329e-04 2.31317238e+01] [ 2.52345338e-03 2.54634661e-05 9.99996816e-01 2.32938945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70264 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:148.30, Y:23.15, Z:0.23 [[ 9.53090609e-01 -3.02675666e-01 -2.39411026e-03 1.48297084e+02] [ 3.02674616e-01 9.53093616e-01 -7.97935651e-04 2.31512549e+01] [ 2.52332691e-03 3.58685714e-05 9.99996816e-01 2.33427178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.35, Y:23.17, Z:0.23 [[ 9.54375059e-01 -2.98600929e-01 -2.39397346e-03 1.48353498e+02] [ 2.98599866e-01 9.54378061e-01 -7.98345881e-04 2.31692798e+01] [ 2.52314257e-03 4.70812452e-05 9.99996816e-01 2.34375003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.41, Y:23.19, Z:0.24 [[ 9.55426347e-01 -2.95219857e-01 -2.39383660e-03 1.48406929e+02] [ 2.95218782e-01 9.55429345e-01 -7.98756024e-04 2.31918217e+01] [ 2.52295038e-03 5.64470247e-05 9.99996816e-01 2.35308020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:23.21, Z:0.24 [[ 9.55623082e-01 -2.94582407e-01 -2.39378833e-03 1.48460507e+02] [ 2.94581330e-01 9.55626078e-01 -7.98900670e-04 2.32130416e+01] [ 2.52290864e-03 5.82825720e-05 9.99996816e-01 2.36919482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.51, Y:23.24, Z:0.24 [[ 9.55789254e-01 -2.94042807e-01 -2.39363227e-03 1.48513382e+02] [ 2.94041727e-01 9.55792249e-01 -7.99367960e-04 2.32365983e+01] [ 2.52286357e-03 6.01995385e-05 9.99996816e-01 2.36204923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:148.57, Y:23.26, Z:0.24 [[ 9.55409655e-01 -2.95273876e-01 -2.39358411e-03 1.48568407e+02] [ 2.95272799e-01 9.55412652e-01 -7.99512153e-04 2.32586317e+01] [ 2.52293559e-03 5.71013513e-05 9.99996816e-01 2.35474072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06264000000002 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:23.28, Z:0.23 [[ 9.54629493e-01 -2.97786503e-01 -2.39345249e-03 1.48621689e+02] [ 2.97785433e-01 9.54632493e-01 -7.99905968e-04 2.32800428e+01] [ 2.52306872e-03 5.08785411e-05 9.99996816e-01 2.33710651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12264000000002 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:23.30, Z:0.23 [[ 9.52685377e-01 -3.03948753e-01 -2.39335063e-03 1.48675461e+02] [ 3.03947701e-01 9.52688383e-01 -8.00210633e-04 2.33026714e+01] [ 2.52334037e-03 3.48955463e-05 9.99996816e-01 2.33094658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.73, Y:23.32, Z:0.23 [[ 9.51052313e-01 -3.09020663e-01 -2.39320162e-03 1.48730105e+02] [ 3.09019627e-01 9.51055324e-01 -8.00656021e-04 2.33211442e+01] [ 2.52348640e-03 2.19194878e-05 9.99996816e-01 2.34532564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.78, Y:23.34, Z:0.24 [[ 9.49124709e-01 -3.14891346e-01 -2.39305008e-03 1.48784323e+02] [ 3.14890327e-01 9.49127726e-01 -8.01108695e-04 2.33407464e+01] [ 2.52357238e-03 6.80373311e-06 9.99996816e-01 2.37701216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.84, Y:23.36, Z:0.24 [[ 9.49014879e-01 -3.15222197e-01 -2.39300318e-03 1.48840247e+02] [ 3.15221179e-01 9.49017896e-01 -8.01248767e-04 2.33593378e+01] [ 2.52357424e-03 6.07171620e-06 9.99996816e-01 2.36833954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:148.89, Y:23.38, Z:0.23 [[ 9.50440066e-01 -3.10898624e-01 -2.39286379e-03 1.48894311e+02] [ 3.10897591e-01 9.50443078e-01 -8.01664839e-04 2.33792458e+01] [ 2.52351732e-03 1.79987949e-05 9.99996816e-01 2.32686157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.95, Y:23.40, Z:0.23 [[ 9.51466915e-01 -3.07741749e-01 -2.39281461e-03 1.48948540e+02] [ 3.07740706e-01 9.51469923e-01 -8.01811594e-04 2.33990004e+01] [ 2.52344204e-03 2.65307455e-05 9.99996816e-01 2.31943303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.00, Y:23.42, Z:0.23 [[ 9.52983792e-01 -3.03011826e-01 -2.39266655e-03 1.49002821e+02] [ 3.03010767e-01 9.52986795e-01 -8.02253174e-04 2.34192896e+01] [ 2.52327183e-03 3.95305452e-05 9.99996816e-01 2.33996073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.06, Y:23.44, Z:0.24 [[ 9.53690580e-01 -3.00779909e-01 -2.39262081e-03 1.49058368e+02] [ 3.00778842e-01 9.53693580e-01 -8.02389564e-04 2.34369323e+01] [ 2.52316977e-03 4.55816513e-05 9.99996816e-01 2.36446776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:23.46, Z:0.24 [[ 9.54844800e-01 -2.97095412e-01 -2.39246867e-03 1.49111852e+02] [ 2.97094332e-01 9.54847796e-01 -8.02842948e-04 2.34577375e+01] [ 2.52296439e-03 5.58015313e-05 9.99996816e-01 2.36111553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.17, Y:23.48, Z:0.23 [[ 9.55772210e-01 -2.94098212e-01 -2.39241245e-03 1.49167208e+02] [ 2.94097123e-01 9.55775202e-01 -8.03010456e-04 2.34790506e+01] [ 2.52277243e-03 6.38934618e-05 9.99996816e-01 2.32920438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:149.22, Y:23.50, Z:0.23 [[ 9.56165455e-01 -2.92817179e-01 -2.39228780e-03 1.49220668e+02] [ 2.92816085e-01 9.56168445e-01 -8.03381639e-04 2.35013064e+01] [ 2.52267405e-03 6.76654241e-05 9.99996816e-01 2.34705217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.27, Y:23.52, Z:0.23 [[ 9.56008192e-01 -2.93330215e-01 -2.39213472e-03 1.49274580e+02] [ 2.93329121e-01 9.56011182e-01 -8.03837171e-04 2.35227382e+01] [ 2.52269727e-03 6.67921450e-05 9.99996816e-01 2.33594048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.33, Y:23.54, Z:0.23 [[ 9.55321272e-01 -2.95559717e-01 -2.39198403e-03 1.49329489e+02] [ 2.95558629e-01 9.55324264e-01 -8.04285339e-04 2.35446760e+01] [ 2.52283473e-03 6.13793732e-05 9.99996816e-01 2.31725130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.38, Y:23.57, Z:0.23 [[ 9.54576152e-01 -2.97957462e-01 -2.39185304e-03 1.49382577e+02] [ 2.97956381e-01 9.54579147e-01 -8.04674695e-04 2.35672164e+01] [ 2.52297187e-03 5.54553990e-05 9.99996816e-01 2.31893620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.44, Y:23.59, Z:0.24 [[ 9.53650497e-01 -3.00906976e-01 -2.39180673e-03 1.49437292e+02] [ 3.00905903e-01 9.53653496e-01 -8.04812321e-04 2.35892943e+01] [ 2.52312849e-03 4.78009046e-05 9.99996816e-01 2.35304675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.49, Y:23.61, Z:0.24 [[ 9.52925464e-01 -3.03195219e-01 -2.39167562e-03 1.49491217e+02] [ 3.03194153e-01 9.52928464e-01 -8.05201763e-04 2.36106978e+01] [ 2.52322910e-03 4.21552005e-05 9.99996816e-01 2.36540630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.55, Y:23.63, Z:0.24 [[ 9.51259163e-01 -3.08383341e-01 -2.39151909e-03 1.49546153e+02] [ 3.08382290e-01 9.51262169e-01 -8.05666395e-04 2.36283681e+01] [ 2.52341573e-03 2.88954073e-05 9.99996816e-01 2.36768308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.60, Y:23.65, Z:0.24 [[ 9.50012013e-01 -3.12204191e-01 -2.39144642e-03 1.49601028e+02] [ 3.12203151e-01 9.50015023e-01 -8.05882045e-04 2.36474810e+01] [ 2.52350978e-03 1.89805151e-05 9.99996816e-01 2.36923085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:23.67, Z:0.24 [[ 9.49997427e-01 -3.12248571e-01 -2.39129103e-03 1.49656030e+02] [ 3.12247530e-01 9.50000437e-01 -8.06342863e-04 2.36674044e+01] [ 2.52350693e-03 1.93489264e-05 9.99996816e-01 2.37241210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:149.71, Y:23.69, Z:0.24 [[ 9.50813433e-01 -3.09754900e-01 -2.39114355e-03 1.49709258e+02] [ 3.09753851e-01 9.50816439e-01 -8.06779987e-04 2.36879389e+01] [ 2.52344265e-03 2.64313277e-05 9.99996816e-01 2.35712989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:23.71, Z:0.24 [[ 9.51564191e-01 -3.07440847e-01 -2.39103695e-03 1.49763574e+02] [ 3.07439789e-01 9.51567194e-01 -8.07095780e-04 2.37091360e+01] [ 2.52336653e-03 3.29035468e-05 9.99996816e-01 2.37739139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:23.73, Z:0.24 [[ 9.51778949e-01 -3.06775352e-01 -2.39087691e-03 1.49818219e+02] [ 3.06774291e-01 9.51781951e-01 -8.07569599e-04 2.37285977e+01] [ 2.52333594e-03 3.51681740e-05 9.99996816e-01 2.37985153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.87, Y:23.75, Z:0.24 [[ 9.51907559e-01 -3.06376050e-01 -2.39071850e-03 1.49871997e+02] [ 3.06374986e-01 9.51910560e-01 -8.08038263e-04 2.37496302e+01] [ 2.52331376e-03 3.67213816e-05 9.99996816e-01 2.39557330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.93, Y:23.77, Z:0.24 [[ 9.52162417e-01 -3.05583075e-01 -2.39066968e-03 1.49926759e+02] [ 3.05582008e-01 9.52165418e-01 -8.08182680e-04 2.37698552e+01] [ 2.52327995e-03 3.89755310e-05 9.99996816e-01 2.40388240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.98, Y:23.79, Z:0.24 [[ 9.52392862e-01 -3.04864103e-01 -2.39051263e-03 1.49980167e+02] [ 3.04863033e-01 9.52395862e-01 -8.08646958e-04 2.37891272e+01] [ 2.52324177e-03 4.13706603e-05 9.99996816e-01 2.40161170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:23.81, Z:0.24 [[ 9.52653001e-01 -3.04050235e-01 -2.39044487e-03 1.50033642e+02] [ 3.04049162e-01 9.52655999e-01 -8.08847222e-04 2.38119819e+01] [ 2.52320183e-03 4.37379744e-05 9.99996816e-01 2.37942006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68264000000002 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:23.83, Z:0.24 [[ 9.52831409e-01 -3.03490679e-01 -2.39037353e-03 1.50088130e+02] [ 3.03489604e-01 9.52834406e-01 -8.09057995e-04 2.38316931e+01] [ 2.52317170e-03 4.54423548e-05 9.99996816e-01 2.36220044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.14, Y:23.85, Z:0.24 [[ 9.52736355e-01 -3.03788947e-01 -2.39022223e-03 1.50143074e+02] [ 3.03787872e-01 9.52739352e-01 -8.09504741e-04 2.38528947e+01] [ 2.52317737e-03 4.51240732e-05 9.99996816e-01 2.36290652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.20, Y:23.87, Z:0.24 [[ 9.52242873e-01 -3.05332275e-01 -2.39008344e-03 1.50197613e+02] [ 3.05331204e-01 9.52245872e-01 -8.09914304e-04 2.38735689e+01] [ 2.52324007e-03 4.14680706e-05 9.99996816e-01 2.35321456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.25, Y:23.89, Z:0.23 [[ 9.51083402e-01 -3.08924992e-01 -2.39003449e-03 1.50251830e+02] [ 3.08923931e-01 9.51086404e-01 -8.10058733e-04 2.38932375e+01] [ 2.52337670e-03 3.20945651e-05 9.99996816e-01 2.34405512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.31, Y:23.91, Z:0.24 [[ 9.50692753e-01 -3.10125100e-01 -2.38987983e-03 1.50307497e+02] [ 3.10124043e-01 9.50695756e-01 -8.10514748e-04 2.39109398e+01] [ 2.52340958e-03 2.93913013e-05 9.99996816e-01 2.36396630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.36, Y:23.93, Z:0.24 [[ 9.50219608e-01 -3.11571798e-01 -2.38972058e-03 1.50362689e+02] [ 3.11570744e-01 9.50222613e-01 -8.10984015e-04 2.39270821e+01] [ 2.52344628e-03 2.60458929e-05 9.99996816e-01 2.36946813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.42, Y:23.95, Z:0.24 [[ 9.50283264e-01 -3.11377596e-01 -2.38967131e-03 1.50418091e+02] [ 3.11376541e-01 9.50286268e-01 -8.11129175e-04 2.39461869e+01] [ 2.52343928e-03 2.67148942e-05 9.99996816e-01 2.39573072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:23.96, Z:0.24 [[ 9.51069206e-01 -3.08968697e-01 -2.38952977e-03 1.50474120e+02] [ 3.08967633e-01 9.51072207e-01 -8.11545919e-04 2.39636362e+01] [ 2.52335764e-03 3.35489746e-05 9.99996816e-01 2.38390294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.53, Y:23.98, Z:0.24 [[ 9.52103846e-01 -3.05765527e-01 -2.38938915e-03 1.50528042e+02] [ 3.05764452e-01 9.52106843e-01 -8.11959751e-04 2.39836970e+01] [ 2.52322306e-03 4.24797394e-05 9.99996816e-01 2.39345329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.58, Y:24.00, Z:0.24 [[ 9.52617805e-01 -3.04160499e-01 -2.38933958e-03 1.50583406e+02] [ 3.04159418e-01 9.52620800e-01 -8.12105567e-04 2.40016419e+01] [ 2.52314502e-03 4.68860854e-05 9.99996816e-01 2.40444728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.64, Y:24.02, Z:0.24 [[ 9.53398460e-01 -3.01704605e-01 -2.38918029e-03 1.50637672e+02] [ 3.01703516e-01 9.53401452e-01 -8.12573931e-04 2.40228973e+01] [ 2.52300526e-03 5.38826396e-05 9.99996816e-01 2.40592441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.69, Y:24.04, Z:0.24 [[ 9.53720382e-01 -3.00685425e-01 -2.38902100e-03 1.50691820e+02] [ 3.00684331e-01 9.53723373e-01 -8.13041985e-04 2.40429000e+01] [ 2.52293504e-03 5.70735320e-05 9.99996816e-01 2.38860510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40264000000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:150.75, Y:24.06, Z:0.24 [[ 9.53178136e-01 -3.02399958e-01 -2.38886229e-03 1.50746851e+02] [ 3.02398868e-01 9.53181128e-01 -8.13508025e-04 2.40615080e+01] [ 2.52302325e-03 5.30288083e-05 9.99996816e-01 2.38062375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.80, Y:24.08, Z:0.24 [[ 9.52489568e-01 -3.04561843e-01 -2.38870099e-03 1.50801607e+02] [ 3.04560759e-01 9.52492562e-01 -8.13981382e-04 2.40794935e+01] [ 2.52312760e-03 4.78041874e-05 9.99996816e-01 2.38000862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.86, Y:24.10, Z:0.24 [[ 9.51281475e-01 -3.08314531e-01 -2.38865104e-03 1.50856234e+02] [ 3.08313458e-01 9.51284473e-01 -8.14127934e-04 2.40969395e+01] [ 2.52329412e-03 3.80115595e-05 9.99996816e-01 2.39393133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.91, Y:24.11, Z:0.24 [[ 9.50172607e-01 -3.11715113e-01 -2.38859317e-03 1.50912323e+02] [ 3.11714051e-01 9.50175609e-01 -8.14297691e-04 2.41135151e+01] [ 2.52341187e-03 2.91653065e-05 9.99996816e-01 2.40479598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.97, Y:24.13, Z:0.24 [[ 9.49386392e-01 -3.14101534e-01 -2.38843257e-03 1.50967982e+02] [ 3.14100478e-01 9.49389396e-01 -8.14768470e-04 2.41296188e+01] [ 2.52347258e-03 2.33222847e-05 9.99996816e-01 2.38022461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70264 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:151.02, Y:24.15, Z:0.24 [[ 9.48884393e-01 -3.15614804e-01 -2.38838284e-03 1.51022437e+02] [ 3.15613752e-01 9.48887399e-01 -8.14914229e-04 2.41481539e+01] [ 2.52350537e-03 1.94529230e-05 9.99996816e-01 2.39557004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.08, Y:24.16, Z:0.24 [[ 9.48938168e-01 -3.15453085e-01 -2.38822246e-03 1.51077863e+02] [ 3.15452032e-01 9.48941173e-01 -8.15383965e-04 2.41635454e+01] [ 2.52349801e-03 2.03793379e-05 9.99996816e-01 2.37859628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.13, Y:24.18, Z:0.24 [[ 9.50042955e-01 -3.12110045e-01 -2.38815329e-03 1.51132155e+02] [ 3.12108980e-01 9.50045956e-01 -8.15586502e-04 2.41841272e+01] [ 2.52340812e-03 2.94781210e-05 9.99996816e-01 2.39043278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.19, Y:24.20, Z:0.24 [[ 9.50944279e-01 -3.09352996e-01 -2.38799344e-03 1.51186859e+02] [ 3.09351921e-01 9.50947277e-01 -8.16054275e-04 2.42043823e+01] [ 2.52330469e-03 3.72917846e-05 9.99996816e-01 2.41519591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.24, Y:24.22, Z:0.24 [[ 9.51555015e-01 -3.07469268e-01 -2.38794200e-03 1.51241439e+02] [ 3.07468188e-01 9.51558010e-01 -8.16204778e-04 2.42225143e+01] [ 2.52322322e-03 4.24475504e-05 9.99996816e-01 2.41842652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:24.24, Z:0.24 [[ 9.50627558e-01 -3.10324899e-01 -2.38789107e-03 1.51296730e+02] [ 3.10323828e-01 9.50630557e-01 -8.16353755e-04 2.42438339e+01] [ 2.52333711e-03 3.50288808e-05 9.99996816e-01 2.40150727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.35, Y:24.26, Z:0.24 [[ 9.48688327e-01 -3.16203663e-01 -2.38775426e-03 1.51350475e+02] [ 3.16202609e-01 9.48691332e-01 -8.16753695e-04 2.42618272e+01] [ 2.52350228e-03 1.98305690e-05 9.99996816e-01 2.39209440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.41, Y:24.28, Z:0.24 [[ 9.47290540e-01 -3.20366870e-01 -2.38768721e-03 1.51405505e+02] [ 3.20365828e-01 9.47293549e-01 -8.16949662e-04 2.42793963e+01] [ 2.52356430e-03 8.95529480e-06 9.99996816e-01 2.40735011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.46, Y:24.30, Z:0.24 [[ 9.45416834e-01 -3.25854737e-01 -2.38752707e-03 1.51461994e+02] [ 3.25853711e-01 9.45419849e-01 -8.17417424e-04 2.42958698e+01] [ 2.52357482e-03 -5.18436252e-06 9.99996816e-01 2.39970442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.52, Y:24.31, Z:0.24 [[ 9.44452423e-01 -3.28639500e-01 -2.38738475e-03 1.51517288e+02] [ 3.28638483e-01 9.44455440e-01 -8.17832872e-04 2.43137330e+01] [ 2.52355070e-03 -1.21822633e-05 9.99996816e-01 2.38343442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.57, Y:24.33, Z:0.24 [[ 9.43707536e-01 -3.30772409e-01 -2.38733442e-03 1.51573943e+02] [ 3.30771398e-01 9.43710556e-01 -8.17979757e-04 2.43270706e+01] [ 2.52351783e-03 -1.77282822e-05 9.99996816e-01 2.39847077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.63, Y:24.34, Z:0.24 [[ 9.43507758e-01 -3.31341834e-01 -2.38717828e-03 1.51629076e+02] [ 3.31340824e-01 9.43510778e-01 -8.18435173e-04 2.43443384e+01] [ 2.52351025e-03 -1.87696840e-05 9.99996816e-01 2.40547168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:151.69, Y:24.36, Z:0.24 [[ 9.43583807e-01 -3.31125204e-01 -2.38701724e-03 1.51686002e+02] [ 3.31124192e-01 9.43586826e-01 -8.18904592e-04 2.43603682e+01] [ 2.52351797e-03 -1.76940433e-05 9.99996816e-01 2.42615782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.74, Y:24.37, Z:0.24 [[ 9.43452349e-01 -3.31499575e-01 -2.38687706e-03 1.51743505e+02] [ 3.31498563e-01 9.43455368e-01 -8.19312971e-04 2.43726292e+01] [ 2.52351388e-03 -1.82635704e-05 9.99996816e-01 2.44572203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.80, Y:24.39, Z:0.24 [[ 9.43822698e-01 -3.30443670e-01 -2.38671608e-03 1.51799674e+02] [ 3.30442654e-01 9.43825715e-01 -8.19781648e-04 2.43881795e+01] [ 2.52353567e-03 -1.49442694e-05 9.99996816e-01 2.42802094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:151.86, Y:24.40, Z:0.24 [[ 9.45349570e-01 -3.26049834e-01 -2.38666626e-03 1.51855904e+02] [ 3.26048803e-01 9.45352583e-01 -8.19926677e-04 2.44037228e+01] [ 2.52357807e-03 -3.05234565e-06 9.99996816e-01 2.43455747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:151.91, Y:24.42, Z:0.25 [[ 9.47615906e-01 -3.19403191e-01 -2.38651172e-03 1.51911400e+02] [ 3.19402138e-01 9.47618911e-01 -8.20376233e-04 2.44203134e+01] [ 2.52353443e-03 1.51446219e-05 9.99996816e-01 2.45271698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:24.44, Z:0.25 [[ 9.49368787e-01 -3.14154756e-01 -2.38646385e-03 1.51967056e+02] [ 3.14153686e-01 9.49371786e-01 -8.20515472e-04 2.44371754e+01] [ 2.52341028e-03 2.92553635e-05 9.99996816e-01 2.46125023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:24.46, Z:0.25 [[ 9.50509992e-01 -3.10684827e-01 -2.38630716e-03 1.52021900e+02] [ 3.10683744e-01 9.50512986e-01 -8.20970909e-04 2.44558453e+01] [ 2.52327915e-03 3.89542068e-05 9.99996816e-01 2.46167521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.08, Y:24.48, Z:0.24 [[ 9.51253362e-01 -3.08401278e-01 -2.38614540e-03 1.52076595e+02] [ 3.08400187e-01 9.51256353e-01 -8.21440795e-04 2.44753263e+01] [ 2.52316937e-03 4.55106289e-05 9.99996816e-01 2.44298063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.13, Y:24.50, Z:0.24 [[ 9.51394484e-01 -3.07965650e-01 -2.38609562e-03 1.52130858e+02] [ 3.07964557e-01 9.51397475e-01 -8.21585387e-04 2.44952772e+01] [ 2.52314542e-03 4.68189253e-05 9.99996816e-01 2.43979771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:152.18, Y:24.52, Z:0.24 [[ 9.51546896e-01 -3.07494411e-01 -2.38593513e-03 1.52184502e+02] [ 3.07493316e-01 9.51549886e-01 -8.22051174e-04 2.45171146e+01] [ 2.52311245e-03 4.85611370e-05 9.99996816e-01 2.41214586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:24.54, Z:0.24 [[ 9.50794581e-01 -3.09812802e-01 -2.38586131e-03 1.52238846e+02] [ 3.09811713e-01 9.50797574e-01 -8.22265388e-04 2.45373914e+01] [ 2.52321949e-03 4.26376960e-05 9.99996816e-01 2.43665896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08264 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:24.56, Z:0.24 [[ 9.49338158e-01 -3.14247307e-01 -2.38569964e-03 1.52293033e+02] [ 3.14246231e-01 9.49341155e-01 -8.22734188e-04 2.45573048e+01] [ 2.52338485e-03 3.13558388e-05 9.99996816e-01 2.43954480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:24.58, Z:0.24 [[ 9.48180813e-01 -3.17722291e-01 -2.38553634e-03 1.52347764e+02] [ 3.17721226e-01 9.48183814e-01 -8.23207396e-04 2.45760673e+01] [ 2.52347829e-03 2.26139287e-05 9.99996816e-01 2.44853428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.40, Y:24.59, Z:0.24 [[ 9.46487277e-01 -3.22732309e-01 -2.38548574e-03 1.52402824e+02] [ 3.22731258e-01 9.46490284e-01 -8.23353987e-04 2.45942397e+01] [ 2.52356201e-03 9.42325715e-06 9.99996816e-01 2.44184415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:152.46, Y:24.61, Z:0.24 [[ 9.45321371e-01 -3.26131592e-01 -2.38533128e-03 1.52458193e+02] [ 3.26130552e-01 9.45324381e-01 -8.23801235e-04 2.46130378e+01] [ 2.52357943e-03 8.27505680e-07 9.99996816e-01 2.42621813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.51, Y:24.63, Z:0.24 [[ 9.45249139e-01 -3.26340889e-01 -2.38519692e-03 1.52513448e+02] [ 3.26339848e-01 9.45252149e-01 -8.24190085e-04 2.46320571e+01] [ 2.52357944e-03 6.80168336e-07 9.99996816e-01 2.43992815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.57, Y:24.65, Z:0.24 [[ 9.45900495e-01 -3.24448094e-01 -2.38505459e-03 1.52568013e+02] [ 3.24447046e-01 9.45903502e-01 -8.24601738e-04 2.46510110e+01] [ 2.52357195e-03 6.16727506e-06 9.99996816e-01 2.44190963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:152.62, Y:24.67, Z:0.24 [[ 9.46710156e-01 -3.22077931e-01 -2.38489163e-03 1.52622791e+02] [ 3.22076874e-01 9.46713159e-01 -8.25072788e-04 2.46705717e+01] [ 2.52354603e-03 1.29863458e-05 9.99996816e-01 2.43554736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.68, Y:24.69, Z:0.24 [[ 9.46945473e-01 -3.21385413e-01 -2.38472989e-03 1.52676535e+02] [ 3.21384353e-01 9.46948476e-01 -8.25540002e-04 2.46909382e+01] [ 2.52353285e-03 1.53264949e-05 9.99996816e-01 2.42817169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.73, Y:24.71, Z:0.25 [[ 9.46934481e-01 -3.21417801e-01 -2.38468000e-03 1.52731174e+02] [ 3.21416741e-01 9.46937483e-01 -8.25684108e-04 2.47105211e+01] [ 2.52353244e-03 1.53926803e-05 9.99996816e-01 2.45366284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.79, Y:24.73, Z:0.25 [[ 9.47381246e-01 -3.20098560e-01 -2.38451832e-03 1.52785109e+02] [ 3.20097494e-01 9.47384247e-01 -8.26150763e-04 2.47300411e+01] [ 2.52350476e-03 1.94014024e-05 9.99996816e-01 2.45615471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.84, Y:24.75, Z:0.25 [[ 9.47592734e-01 -3.19471948e-01 -2.38445851e-03 1.52839203e+02] [ 3.19470880e-01 9.47595734e-01 -8.26323349e-04 2.47506195e+01] [ 2.52348984e-03 2.12529449e-05 9.99996816e-01 2.46889661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.89, Y:24.77, Z:0.25 [[ 9.47415668e-01 -3.19996669e-01 -2.38429639e-03 1.52893818e+02] [ 3.19995601e-01 9.47418668e-01 -8.26790850e-04 2.47708916e+01] [ 2.52349723e-03 2.03502468e-05 9.99996816e-01 2.47316497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.95, Y:24.79, Z:0.24 [[ 9.47380923e-01 -3.20099520e-01 -2.38413358e-03 1.52948704e+02] [ 3.20098451e-01 9.47383923e-01 -8.27260061e-04 2.47919020e+01] [ 2.52349538e-03 2.05729325e-05 9.99996816e-01 2.44333767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.00, Y:24.82, Z:0.24 [[ 9.48118060e-01 -3.17909516e-01 -2.38399048e-03 1.53003258e+02] [ 3.17908439e-01 9.48121057e-01 -8.27672243e-04 2.48150266e+01] [ 2.52343646e-03 2.68403080e-05 9.99996816e-01 2.40734331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.06, Y:24.84, Z:0.24 [[ 9.48689494e-01 -3.16200192e-01 -2.38384801e-03 1.53058154e+02] [ 3.16199109e-01 9.48692489e-01 -8.28082402e-04 2.48363542e+01] [ 2.52337851e-03 3.18224595e-05 9.99996816e-01 2.44428209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.11, Y:24.86, Z:0.24 [[ 9.48653999e-01 -3.16306667e-01 -2.38369828e-03 1.53111377e+02] [ 3.16305584e-01 9.48656993e-01 -8.28513162e-04 2.48585372e+01] [ 2.52337628e-03 3.19952463e-05 9.99996816e-01 2.43411473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.17, Y:24.88, Z:0.25 [[ 9.47480862e-01 -3.19803589e-01 -2.38364539e-03 1.53165168e+02] [ 3.19802516e-01 9.47483860e-01 -8.28665299e-04 2.48818083e+01] [ 2.52347567e-03 2.28487172e-05 9.99996816e-01 2.46875146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:153.22, Y:24.90, Z:0.25 [[ 9.45794009e-01 -3.24758389e-01 -2.38350066e-03 1.53219210e+02] [ 3.24757331e-01 9.45797012e-01 -8.29081387e-04 2.49036979e+01] [ 2.52355894e-03 1.00808963e-05 9.99996816e-01 2.46688970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:153.27, Y:24.92, Z:0.25 [[ 9.43967130e-01 -3.30030874e-01 -2.38333501e-03 1.53273745e+02] [ 3.30029832e-01 9.43970138e-01 -8.29557314e-04 2.49236737e+01] [ 2.52357660e-03 -3.49681466e-06 9.99996816e-01 2.46666718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:153.33, Y:24.94, Z:0.24 [[ 9.43064651e-01 -3.32600940e-01 -2.38317137e-03 1.53327730e+02] [ 3.32599904e-01 9.43067662e-01 -8.30027138e-04 2.49446538e+01] [ 2.52355966e-03 -9.87331863e-06 9.99996816e-01 2.44738291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.38, Y:24.96, Z:0.24 [[ 9.41391182e-01 -3.37308410e-01 -2.38312112e-03 1.53382202e+02] [ 3.37307389e-01 9.41394198e-01 -8.30171406e-04 2.49640815e+01] [ 2.52348019e-03 -2.23283211e-05 9.99996816e-01 2.43758648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:153.44, Y:24.98, Z:0.25 [[ 9.39919258e-01 -3.41388504e-01 -2.38296227e-03 1.53437611e+02] [ 3.41387495e-01 9.39922278e-01 -8.30627111e-04 2.49822476e+01] [ 2.52336587e-03 -3.27911043e-05 9.99996816e-01 2.47755823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.49, Y:25.00, Z:0.25 [[ 9.39304626e-01 -3.43075999e-01 -2.38291085e-03 1.53492913e+02] [ 3.43074995e-01 9.39307648e-01 -8.30774598e-04 2.49994373e+01] [ 2.52330521e-03 -3.71667055e-05 9.99996816e-01 2.47373030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.55, Y:25.02, Z:0.25 [[ 9.39727388e-01 -3.41916304e-01 -2.38286021e-03 1.53547891e+02] [ 3.41915296e-01 9.39730408e-01 -8.30919843e-04 2.50179498e+01] [ 2.52335123e-03 -3.38982200e-05 9.99996816e-01 2.47601934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:25.03, Z:0.25 [[ 9.41544182e-01 -3.36881100e-01 -2.38269970e-03 1.53602259e+02] [ 3.36880074e-01 9.41547197e-01 -8.31379852e-04 2.50349304e+01] [ 2.52350038e-03 -1.99031878e-05 9.99996816e-01 2.45952539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.66, Y:25.05, Z:0.25 [[ 9.42990524e-01 -3.32811048e-01 -2.38263033e-03 1.53656802e+02] [ 3.32810010e-01 9.42993534e-01 -8.31578609e-04 2.50541740e+01] [ 2.52356354e-03 -8.79247375e-06 9.99996816e-01 2.47396101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.71, Y:25.08, Z:0.25 [[ 9.45108342e-01 -3.26748445e-01 -2.38246719e-03 1.53712155e+02] [ 3.26747385e-01 9.45111345e-01 -8.32045736e-04 2.50750334e+01] [ 2.52356642e-03 7.90844147e-06 9.99996816e-01 2.49619318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:25.10, Z:0.25 [[ 9.47066667e-01 -3.21028118e-01 -2.38232529e-03 1.53765735e+02] [ 3.21027039e-01 9.47069663e-01 -8.32451820e-04 2.50963654e+01] [ 2.52346845e-03 2.35965357e-05 9.99996816e-01 2.49680999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.82, Y:25.12, Z:0.25 [[ 9.47512419e-01 -3.19710088e-01 -2.38215950e-03 1.53820412e+02] [ 3.19709005e-01 9.47515413e-01 -8.32925990e-04 2.51162262e+01] [ 2.52342768e-03 2.76098772e-05 9.99996816e-01 2.49920594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.87, Y:25.14, Z:0.25 [[ 9.48363539e-01 -3.17176488e-01 -2.38199244e-03 1.53873462e+02] [ 3.17175395e-01 9.48366530e-01 -8.33403470e-04 2.51386771e+01] [ 2.52333789e-03 3.48600712e-05 9.99996816e-01 2.49585196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.93, Y:25.16, Z:0.25 [[ 9.47803283e-01 -3.18846771e-01 -2.38191528e-03 1.53927813e+02] [ 3.18845683e-01 9.47806275e-01 -8.33623930e-04 2.51623342e+01] [ 2.52339255e-03 3.06480928e-05 9.99996816e-01 2.48715658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.98, Y:25.18, Z:0.25 [[ 9.46943661e-01 -3.21390774e-01 -2.38177090e-03 1.53981432e+02] [ 3.21389693e-01 9.46946656e-01 -8.34036246e-04 2.51828793e+01] [ 2.52346154e-03 2.43087178e-05 9.99996816e-01 2.47472695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.04, Y:25.20, Z:0.25 [[ 9.45098624e-01 -3.26776558e-01 -2.38169982e-03 1.54035817e+02] [ 3.26775494e-01 9.45101625e-01 -8.34239175e-04 2.52044058e+01] [ 2.52355818e-03 1.01571614e-05 9.99996816e-01 2.48658225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.09, Y:25.22, Z:0.25 [[ 9.42693808e-01 -3.33650584e-01 -2.38153487e-03 1.54090174e+02] [ 3.33649540e-01 9.42696817e-01 -8.34709806e-04 2.52229692e+01] [ 2.52356675e-03 -7.72224613e-06 9.99996816e-01 2.48227679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.15, Y:25.24, Z:0.25 [[ 9.40890527e-01 -3.38702443e-01 -2.38146397e-03 1.54146207e+02] [ 3.38701415e-01 9.40893540e-01 -8.34912020e-04 2.52410825e+01] [ 2.52349081e-03 -2.10444070e-05 9.99996816e-01 2.48373457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:154.20, Y:25.26, Z:0.25 [[ 9.40545496e-01 -3.39659386e-01 -2.38132264e-03 1.54202303e+02] [ 3.39658359e-01 9.40548511e-01 -8.35314934e-04 2.52594240e+01] [ 2.52347202e-03 -2.31844415e-05 9.99996816e-01 2.49159567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.26, Y:25.28, Z:0.25 [[ 9.40865652e-01 -3.38771537e-01 -2.38118215e-03 1.54258401e+02] [ 3.38770507e-01 9.40868665e-01 -8.35715238e-04 2.52767692e+01] [ 2.52349620e-03 -2.03785207e-05 9.99996816e-01 2.52136293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:154.31, Y:25.29, Z:0.25 [[ 9.41540559e-01 -3.36891237e-01 -2.38104248e-03 1.54313840e+02] [ 3.36890200e-01 9.41543570e-01 -8.36112963e-04 2.52934972e+01] [ 2.52353437e-03 -1.49156121e-05 9.99996816e-01 2.50977930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.37, Y:25.31, Z:0.25 [[ 9.42123239e-01 -3.35258309e-01 -2.38096856e-03 1.54369229e+02] [ 3.35257266e-01 9.42126247e-01 -8.36323415e-04 2.53116387e+01] [ 2.52355735e-03 -1.03172872e-05 9.99996816e-01 2.49538261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.42, Y:25.33, Z:0.25 [[ 9.42593751e-01 -3.33933157e-01 -2.38083165e-03 1.54424898e+02] [ 3.33932108e-01 9.42596757e-01 -8.36712996e-04 2.53300080e+01] [ 2.52357040e-03 -6.35569089e-06 9.99996816e-01 2.49318699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.48, Y:25.35, Z:0.25 [[ 9.44400467e-01 -3.28788822e-01 -2.38068712e-03 1.54478984e+02] [ 3.28787757e-01 9.44403468e-01 -8.37124025e-04 2.53507177e+01] [ 2.52356619e-03 7.83954279e-06 9.99996816e-01 2.50161859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.53, Y:25.37, Z:0.25 [[ 9.46246247e-01 -3.23438360e-01 -2.38052233e-03 1.54532668e+02] [ 3.23437277e-01 9.46249241e-01 -8.37592364e-04 2.53717103e+01] [ 2.52347695e-03 2.26189709e-05 9.99996816e-01 2.49141875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.59, Y:25.39, Z:0.25 [[ 9.46969352e-01 -3.21315080e-01 -2.38047144e-03 1.54586363e+02] [ 3.21313989e-01 9.46972343e-01 -8.37736965e-04 2.53948907e+01] [ 2.52341814e-03 2.84324556e-05 9.99996816e-01 2.49293637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.64, Y:25.42, Z:0.25 [[ 9.46693768e-01 -3.22126131e-01 -2.38031344e-03 1.54640763e+02] [ 3.22125042e-01 9.46696760e-01 -8.38185683e-04 2.54162088e+01] [ 2.52343653e-03 2.67465972e-05 9.99996816e-01 2.53560704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:25.44, Z:0.25 [[ 9.45542716e-01 -3.25489336e-01 -2.38016881e-03 1.54694084e+02] [ 3.25488256e-01 9.45545711e-01 -8.38596171e-04 2.54379455e+01] [ 2.52351252e-03 1.82115059e-05 9.99996816e-01 2.54600101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.75, Y:25.46, Z:0.26 [[ 9.44264183e-01 -3.29180022e-01 -2.38011786e-03 1.54747968e+02] [ 3.29178954e-01 9.44267183e-01 -8.38740751e-04 2.54597789e+01] [ 2.52356389e-03 8.50814245e-06 9.99996816e-01 2.56199929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.80, Y:25.48, Z:0.25 [[ 9.43885229e-01 -3.30265061e-01 -2.37995182e-03 1.54802337e+02] [ 3.30263995e-01 9.43888229e-01 -8.39211632e-04 2.54787875e+01] [ 2.52357079e-03 6.10706745e-06 9.99996816e-01 2.53449382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.86, Y:25.50, Z:0.25 [[ 9.44210545e-01 -3.29333846e-01 -2.37990075e-03 1.54857010e+02] [ 3.29332776e-01 9.44213545e-01 -8.39356426e-04 2.54992903e+01] [ 2.52356301e-03 8.74986611e-06 9.99996816e-01 2.53921058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96264000000002 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:154.91, Y:25.52, Z:0.26 [[ 9.45540547e-01 -3.25495638e-01 -2.37974166e-03 1.54910824e+02] [ 3.25494555e-01 9.45543542e-01 -8.39807247e-04 2.55247944e+01] [ 2.52350295e-03 1.94788515e-05 9.99996816e-01 2.56711203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02264 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:154.96, Y:25.55, Z:0.26 [[ 9.46809209e-01 -3.21786669e-01 -2.37959524e-03 1.54963293e+02] [ 3.21785573e-01 9.46812198e-01 -8.40221929e-04 2.55509425e+01] [ 2.52340201e-03 2.98104426e-05 9.99996816e-01 2.56160607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.02, Y:25.58, Z:0.26 [[ 9.47038774e-01 -3.21110415e-01 -2.37942859e-03 1.55016885e+02] [ 3.21109316e-01 9.47041763e-01 -8.40693598e-04 2.55758152e+01] [ 2.52337371e-03 3.21127486e-05 9.99996816e-01 2.55743775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.07, Y:25.60, Z:0.25 [[ 9.46422048e-01 -3.22923591e-01 -2.37928367e-03 1.55069718e+02] [ 3.22922497e-01 9.46425039e-01 -8.41103547e-04 2.56023534e+01] [ 2.52342581e-03 2.77147198e-05 9.99996816e-01 2.52776907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:25.63, Z:0.25 [[ 9.45458387e-01 -3.25734214e-01 -2.37913956e-03 1.55123856e+02] [ 3.25733128e-01 9.45461380e-01 -8.41510983e-04 2.56262266e+01] [ 2.52349349e-03 2.06490475e-05 9.99996816e-01 2.54344232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26264 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:155.18, Y:25.65, Z:0.26 [[ 9.43660799e-01 -3.30905783e-01 -2.37899470e-03 1.55176534e+02] [ 3.30904712e-01 9.43663798e-01 -8.41920306e-04 2.56515590e+01] [ 2.52356747e-03 7.26663455e-06 9.99996816e-01 2.57265291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:155.23, Y:25.68, Z:0.25 [[ 9.42026103e-01 -3.35531164e-01 -2.37882039e-03 1.55229702e+02] [ 3.35530107e-01 9.42029107e-01 -8.42412525e-04 2.56750384e+01] [ 2.52357370e-03 -4.59127026e-06 9.99996816e-01 2.54799651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:25.70, Z:0.26 [[ 9.40899536e-01 -3.38677433e-01 -2.37876696e-03 1.55283355e+02] [ 3.38676386e-01 9.40902543e-01 -8.42563377e-04 2.56967043e+01] [ 2.52354508e-03 -1.28647036e-05 9.99996816e-01 2.55758217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:25.72, Z:0.26 [[ 9.39294266e-01 -3.43104393e-01 -2.37860036e-03 1.55337844e+02] [ 3.43103358e-01 9.39297277e-01 -8.43033428e-04 2.57175675e+01] [ 2.52346131e-03 -2.42493059e-05 9.99996816e-01 2.56577962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.39, Y:25.73, Z:0.26 [[ 9.38035926e-01 -3.46529859e-01 -2.37854820e-03 1.55392263e+02] [ 3.46528835e-01 9.38038942e-01 -8.43180549e-04 2.57348882e+01] [ 2.52335808e-03 -3.33018894e-05 9.99996816e-01 2.56524459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.45, Y:25.75, Z:0.26 [[ 9.37815805e-01 -3.47125135e-01 -2.37847578e-03 1.55448199e+02] [ 3.47124112e-01 9.37818820e-01 -8.43384795e-04 2.57537711e+01] [ 2.52333941e-03 -3.46867030e-05 9.99996816e-01 2.55357066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.51, Y:25.77, Z:0.25 [[ 9.38422755e-01 -3.45480935e-01 -2.37833657e-03 1.55505192e+02] [ 3.45479906e-01 9.38425768e-01 -8.43777180e-04 2.57703405e+01] [ 2.52340125e-03 -2.98477881e-05 9.99996816e-01 2.54333251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.56, Y:25.79, Z:0.26 [[ 9.39225656e-01 -3.43292167e-01 -2.37819717e-03 1.55559817e+02] [ 3.43291129e-01 9.39228666e-01 -8.44169895e-04 2.57903930e+01] [ 2.52346787e-03 -2.35479697e-05 9.99996816e-01 2.55510749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:25.81, Z:0.26 [[ 9.40423992e-01 -3.39995678e-01 -2.37803509e-03 1.55615005e+02] [ 3.39994629e-01 9.40426998e-01 -8.44626249e-04 2.58099141e+01] [ 2.52353767e-03 -1.42123691e-05 9.99996816e-01 2.56989137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.67, Y:25.83, Z:0.26 [[ 9.42609623e-01 -3.33888372e-01 -2.37789162e-03 1.55669237e+02] [ 3.33887302e-01 9.42612622e-01 -8.45029948e-04 2.58315749e+01] [ 2.52357633e-03 2.58554105e-06 9.99996816e-01 2.57547391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.72, Y:25.85, Z:0.26 [[ 9.43848039e-01 -3.30371344e-01 -2.37772647e-03 1.55723240e+02] [ 3.30370262e-01 9.43851034e-01 -8.45494406e-04 2.58515579e+01] [ 2.52354671e-03 1.24881215e-05 9.99996816e-01 2.57267930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.78, Y:25.87, Z:0.26 [[ 9.43414036e-01 -3.31608659e-01 -2.37767510e-03 1.55778332e+02] [ 3.31607581e-01 9.43417033e-01 -8.45638838e-04 2.58729830e+01] [ 2.52356035e-03 9.33246266e-06 9.99996816e-01 2.56768209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.83, Y:25.89, Z:0.26 [[ 9.40717863e-01 -3.39181735e-01 -2.37753095e-03 1.55834743e+02] [ 3.39180680e-01 9.40720868e-01 -8.46043915e-04 2.58911503e+01] [ 2.52355562e-03 -1.05239410e-05 9.99996816e-01 2.57552002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.89, Y:25.91, Z:0.26 [[ 9.37216083e-01 -3.48741111e-01 -2.37738765e-03 1.55890944e+02] [ 3.48740086e-01 9.37219097e-01 -8.46446410e-04 2.59060638e+01] [ 2.52332377e-03 -3.57871835e-05 9.99996816e-01 2.58979901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:155.95, Y:25.92, Z:0.26 [[ 9.35231794e-01 -3.54028022e-01 -2.37722031e-03 1.55946802e+02] [ 3.54027013e-01 9.35234814e-01 -8.46916107e-04 2.59185044e+01] [ 2.52309123e-03 -4.95373362e-05 9.99996816e-01 2.56477464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.00, Y:25.93, Z:0.26 [[ 9.34568751e-01 -3.55774646e-01 -2.37714856e-03 1.56002512e+02] [ 3.55773641e-01 9.34571773e-01 -8.47117466e-04 2.59343855e+01] [ 2.52299886e-03 -5.40372846e-05 9.99996816e-01 2.57591862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:25.95, Z:0.26 [[ 9.34735939e-01 -3.55335159e-01 -2.37699138e-03 1.56059707e+02] [ 3.55334152e-01 9.34738959e-01 -8.47558270e-04 2.59468713e+01] [ 2.52303370e-03 -5.23830400e-05 9.99996816e-01 2.59205813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:25.96, Z:0.26 [[ 9.35697746e-01 -3.52794671e-01 -2.37682698e-03 1.56116145e+02] [ 3.52793654e-01 9.35700763e-01 -8.48019036e-04 2.59585841e+01] [ 2.52317542e-03 -4.50399772e-05 9.99996816e-01 2.58415781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.17, Y:25.97, Z:0.26 [[ 9.37058213e-01 -3.49165085e-01 -2.37675566e-03 1.56172907e+02] [ 3.49164056e-01 9.37061227e-01 -8.48218884e-04 2.59709739e+01] [ 2.52333399e-03 -3.50471758e-05 9.99996816e-01 2.58277131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40264000000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:156.23, Y:25.99, Z:0.26 [[ 9.38331196e-01 -3.45729544e-01 -2.37670658e-03 1.56228553e+02] [ 3.45728504e-01 9.38334206e-01 -8.48356403e-04 2.59861514e+01] [ 2.52344695e-03 -2.56559289e-05 9.99996816e-01 2.61075559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.29, Y:26.00, Z:0.26 [[ 9.41215324e-01 -3.37798855e-01 -2.37654482e-03 1.56285952e+02] [ 3.37797788e-01 9.41218324e-01 -8.48809303e-04 2.59992935e+01] [ 2.52357434e-03 -3.87926058e-06 9.99996816e-01 2.61617106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.34, Y:26.02, Z:0.26 [[ 9.44526329e-01 -3.28427111e-01 -2.37639220e-03 1.56340598e+02] [ 3.28426014e-01 9.44529318e-01 -8.49236363e-04 2.60164610e+01] [ 2.52348435e-03 2.16570864e-05 9.99996816e-01 2.61704863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.40, Y:26.04, Z:0.26 [[ 9.46393001e-01 -3.23008731e-01 -2.37632168e-03 1.56395917e+02] [ 3.23007617e-01 9.46395984e-01 -8.49433640e-04 2.60353136e+01] [ 2.52331578e-03 3.63280487e-05 9.99996816e-01 2.60114614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.45, Y:26.06, Z:0.26 [[ 9.48077283e-01 -3.18031162e-01 -2.37618137e-03 1.56451059e+02] [ 3.18030030e-01 9.48080259e-01 -8.49825964e-04 2.60568478e+01] [ 2.52308179e-03 5.00036573e-05 9.99996816e-01 2.57267269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.50, Y:26.08, Z:0.26 [[ 9.48496644e-01 -3.16778268e-01 -2.37604246e-03 1.56504811e+02] [ 3.16777131e-01 9.48499619e-01 -8.50214183e-04 2.60771150e+01] [ 2.52300474e-03 5.37493870e-05 9.99996816e-01 2.58127577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.56, Y:26.10, Z:0.26 [[ 9.47884110e-01 -3.18606448e-01 -2.37599347e-03 1.56559167e+02] [ 3.18605317e-01 9.47887086e-01 -8.50351065e-04 2.60981725e+01] [ 2.52310086e-03 4.90301100e-05 9.99996816e-01 2.59016484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:26.12, Z:0.26 [[ 9.46805498e-01 -3.21797615e-01 -2.37582996e-03 1.56612913e+02] [ 3.21796493e-01 9.46808478e-01 -8.50807644e-04 2.61230004e+01] [ 2.52324382e-03 4.10156059e-05 9.99996816e-01 2.57873576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:26.14, Z:0.25 [[ 9.46061822e-01 -3.23977445e-01 -2.37568300e-03 1.56666900e+02] [ 3.23976328e-01 9.46064804e-01 -8.51217808e-04 2.61428054e+01] [ 2.52332544e-03 3.56396161e-05 9.99996816e-01 2.54249771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.72, Y:26.17, Z:0.25 [[ 9.45516090e-01 -3.25566705e-01 -2.37563112e-03 1.56720746e+02] [ 3.25565594e-01 9.45519074e-01 -8.51362570e-04 2.61664731e+01] [ 2.52337984e-03 3.15532536e-05 9.99996816e-01 2.53380248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.77, Y:26.19, Z:0.26 [[ 9.45227981e-01 -3.26402239e-01 -2.37548974e-03 1.56774210e+02] [ 3.26401129e-01 9.45230965e-01 -8.51756852e-04 2.61903513e+01] [ 2.52340181e-03 2.97418750e-05 9.99996816e-01 2.56004831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.83, Y:26.21, Z:0.26 [[ 9.45146643e-01 -3.26637690e-01 -2.37534614e-03 1.56828434e+02] [ 3.26636580e-01 9.45149627e-01 -8.52157153e-04 2.62144549e+01] [ 2.52340416e-03 2.95385333e-05 9.99996816e-01 2.59544731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.88, Y:26.24, Z:0.26 [[ 9.45162471e-01 -3.26591888e-01 -2.37520213e-03 1.56882021e+02] [ 3.26590777e-01 9.45165455e-01 -8.52558352e-04 2.62374932e+01] [ 2.52339764e-03 3.00870503e-05 9.99996816e-01 2.59238721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.94, Y:26.26, Z:0.26 [[ 9.44807724e-01 -3.27616732e-01 -2.37503795e-03 1.56935972e+02] [ 3.27615623e-01 9.44810709e-01 -8.53015463e-04 2.62599634e+01] [ 2.52342343e-03 2.78360610e-05 9.99996816e-01 2.61055315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.99, Y:26.28, Z:0.26 [[ 9.44044877e-01 -3.29808476e-01 -2.37489082e-03 1.56990213e+02] [ 3.29807373e-01 9.44047863e-01 -8.53424913e-04 2.62799620e+01] [ 2.52347737e-03 2.24149158e-05 9.99996816e-01 2.62164113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.04, Y:26.30, Z:0.26 [[ 9.43902484e-01 -3.30215778e-01 -2.37483900e-03 1.57043943e+02] [ 3.30214676e-01 9.43905472e-01 -8.53569090e-04 2.63019853e+01] [ 2.52348550e-03 2.14792946e-05 9.99996816e-01 2.60522334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.10, Y:26.32, Z:0.26 [[ 9.44872395e-01 -3.27430172e-01 -2.37478884e-03 1.57098560e+02] [ 3.27429060e-01 9.44875379e-01 -8.53708604e-04 2.63229338e+01] [ 2.52340946e-03 2.90708155e-05 9.99996816e-01 2.59575488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.15, Y:26.35, Z:0.26 [[ 9.45905943e-01 -3.24432286e-01 -2.37464704e-03 1.57153300e+02] [ 3.24431164e-01 9.45908923e-01 -8.54102865e-04 2.63450761e+01] [ 2.52329837e-03 3.74914748e-05 9.99996816e-01 2.58420734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:157.21, Y:26.37, Z:0.26 [[ 9.47774621e-01 -3.18932013e-01 -2.37450489e-03 1.57205523e+02] [ 3.18930873e-01 9.47777594e-01 -8.54497877e-04 2.63736245e+01] [ 2.52302926e-03 5.25684864e-05 9.99996816e-01 2.61260929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.26, Y:26.40, Z:0.26 [[ 9.48244060e-01 -3.17533566e-01 -2.37436161e-03 1.57258518e+02] [ 3.17532420e-01 9.48247031e-01 -8.54895816e-04 2.63956974e+01] [ 2.52293946e-03 5.67130908e-05 9.99996816e-01 2.61242940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.31, Y:26.42, Z:0.26 [[ 9.48033080e-01 -3.18162917e-01 -2.37430095e-03 1.57312112e+02] [ 3.18161773e-01 9.48036052e-01 -8.55064252e-04 2.64166460e+01] [ 2.52297263e-03 5.52173979e-05 9.99996816e-01 2.62718121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.36, Y:26.44, Z:0.26 [[ 9.46472730e-01 -3.22775053e-01 -2.37413242e-03 1.57364361e+02] [ 3.22773922e-01 9.46475707e-01 -8.55531934e-04 2.64411428e+01] [ 2.52320302e-03 4.34296141e-05 9.99996816e-01 2.58265403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.42, Y:26.46, Z:0.26 [[ 9.43315348e-01 -3.31889316e-01 -2.37405948e-03 1.57417469e+02] [ 3.31888213e-01 9.43318335e-01 -8.55734270e-04 2.64649080e+01] [ 2.52350290e-03 1.93049107e-05 9.99996816e-01 2.60133867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.47, Y:26.48, Z:0.26 [[ 9.39181742e-01 -3.43412317e-01 -2.37389311e-03 1.57471832e+02] [ 3.43411250e-01 9.39184742e-01 -8.56195556e-04 2.64836276e+01] [ 2.52355229e-03 -1.10983679e-05 9.99996816e-01 2.61118583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84264000000002 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:157.53, Y:26.50, Z:0.26 [[ 9.36419008e-01 -3.50875771e-01 -2.37372480e-03 1.57528078e+02] [ 3.50874726e-01 9.36422016e-01 -8.56661922e-04 2.65011597e+01] [ 2.52339008e-03 -3.06855332e-05 9.99996816e-01 2.62430489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.59, Y:26.51, Z:0.26 [[ 9.33893578e-01 -3.57543216e-01 -2.37357903e-03 1.57585037e+02] [ 3.57542192e-01 9.33896593e-01 -8.57065637e-04 2.65135435e+01] [ 2.52311537e-03 -4.82465529e-05 9.99996816e-01 2.62948187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.64, Y:26.53, Z:0.26 [[ 9.34450476e-01 -3.56085206e-01 -2.37352786e-03 1.57641379e+02] [ 3.56084177e-01 9.34453489e-01 -8.57207318e-04 2.65286312e+01] [ 2.52319023e-03 -4.41579282e-05 9.99996816e-01 2.64878780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.70, Y:26.54, Z:0.26 [[ 9.37549132e-01 -3.47844781e-01 -2.37335975e-03 1.57697583e+02] [ 3.47843724e-01 9.37552136e-01 -8.57672500e-04 2.65424592e+01] [ 2.52348541e-03 -2.14481861e-05 9.99996816e-01 2.63763290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.75, Y:26.56, Z:0.27 [[ 9.40243041e-01 -3.40495802e-01 -2.37330771e-03 1.57752406e+02] [ 3.40494722e-01 9.40246036e-01 -8.57816492e-04 2.65618992e+01] [ 2.52357608e-03 -1.54276145e-06 9.99996816e-01 2.65501889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.81, Y:26.58, Z:0.26 [[ 9.44197170e-01 -3.29372241e-01 -2.37314093e-03 1.57805673e+02] [ 3.29371124e-01 9.44200152e-01 -8.58277631e-04 2.65808039e+01] [ 2.52341285e-03 2.87392153e-05 9.99996816e-01 2.64162029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.86, Y:26.61, Z:0.26 [[ 9.47463859e-01 -3.19854037e-01 -2.37306846e-03 1.57859851e+02] [ 3.19852890e-01 9.47466829e-01 -8.58477962e-04 2.66052687e+01] [ 2.52299129e-03 5.43440371e-05 9.99996816e-01 2.62955471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.91, Y:26.63, Z:0.26 [[ 9.48889866e-01 -3.15598466e-01 -2.37292003e-03 1.57913643e+02] [ 3.15597305e-01 9.48892830e-01 -8.58888035e-04 2.66277029e+01] [ 2.52271055e-03 6.61029862e-05 9.99996816e-01 2.62947436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:26.65, Z:0.26 [[ 9.49240313e-01 -3.14542840e-01 -2.37274911e-03 1.57965858e+02] [ 3.14541674e-01 9.49243276e-01 -8.59359966e-04 2.66522339e+01] [ 2.52262166e-03 6.94106463e-05 9.99996816e-01 2.60007278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:158.02, Y:26.68, Z:0.26 [[ 9.47169216e-01 -3.20725500e-01 -2.37269657e-03 1.58018963e+02] [ 3.20724353e-01 9.47172186e-01 -8.59504995e-04 2.66754519e+01] [ 2.52301737e-03 5.31151001e-05 9.99996816e-01 2.59435044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.07, Y:26.70, Z:0.26 [[ 9.44072277e-01 -3.29730052e-01 -2.37252849e-03 1.58072235e+02] [ 3.29728932e-01 9.44075257e-01 -8.59968712e-04 2.66994165e+01] [ 2.52340297e-03 2.95813350e-05 9.99996816e-01 2.61682918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.13, Y:26.72, Z:0.26 [[ 9.42232410e-01 -3.34951425e-01 -2.37247632e-03 1.58126306e+02] [ 3.34950321e-01 9.42235397e-01 -8.60112602e-04 2.67199580e+01] [ 2.52352711e-03 1.57642641e-05 9.99996816e-01 2.61086357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.18, Y:26.74, Z:0.26 [[ 9.40132868e-01 -3.40799886e-01 -2.37242517e-03 1.58180490e+02] [ 3.40798801e-01 9.40135861e-01 -8.60253663e-04 2.67409096e+01] [ 2.52357633e-03 2.33089235e-07 9.99996816e-01 2.62591621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.24, Y:26.76, Z:0.26 [[ 9.39087932e-01 -3.43668777e-01 -2.37225714e-03 1.58235808e+02] [ 3.43667699e-01 9.39090928e-01 -8.60716780e-04 2.67619873e+01] [ 2.52356665e-03 -6.97941356e-06 9.99996816e-01 2.60507186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:158.29, Y:26.78, Z:0.26 [[ 9.38787395e-01 -3.44488897e-01 -2.37210926e-03 1.58289849e+02] [ 3.44487821e-01 9.38790392e-01 -8.61124153e-04 2.67827610e+01] [ 2.52356109e-03 -8.75024880e-06 9.99996816e-01 2.59619669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:158.34, Y:26.80, Z:0.26 [[ 9.38657809e-01 -3.44841836e-01 -2.37194028e-03 1.58344388e+02] [ 3.44840759e-01 9.38660806e-01 -8.61589355e-04 2.68035919e+01] [ 2.52355943e-03 -9.20411008e-06 9.99996816e-01 2.60786853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:26.82, Z:0.26 [[ 9.38167182e-01 -3.46174398e-01 -2.37179316e-03 1.58400807e+02] [ 3.46173325e-01 9.38170180e-01 -8.61994145e-04 2.68213565e+01] [ 2.52354592e-03 -1.23569090e-05 9.99996816e-01 2.62447078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.45, Y:26.84, Z:0.26 [[ 9.37654376e-01 -3.47560996e-01 -2.37164575e-03 1.58454751e+02] [ 3.47559926e-01 9.37657376e-01 -8.62399539e-04 2.68396186e+01] [ 2.52352757e-03 -1.56563200e-05 9.99996816e-01 2.61017867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.51, Y:26.86, Z:0.26 [[ 9.37478440e-01 -3.48035273e-01 -2.37153123e-03 1.58509716e+02] [ 3.48034204e-01 9.37481439e-01 -8.62714331e-04 2.68580374e+01] [ 2.52352153e-03 -1.65979009e-05 9.99996816e-01 2.63270610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.56, Y:26.88, Z:0.26 [[ 9.38285504e-01 -3.45853566e-01 -2.37136215e-03 1.58564175e+02] [ 3.45852489e-01 9.38288501e-01 -8.63178846e-04 2.68777314e+01] [ 2.52355532e-03 -1.02333044e-05 9.99996816e-01 2.64221337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.62, Y:26.90, Z:0.26 [[ 9.39059262e-01 -3.43747116e-01 -2.37130993e-03 1.58619048e+02] [ 3.43746032e-01 9.39062256e-01 -8.63322276e-04 2.68955850e+01] [ 2.52357220e-03 -4.41760045e-06 9.99996816e-01 2.64317776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:26.92, Z:0.26 [[ 9.39379643e-01 -3.42870624e-01 -2.37114535e-03 1.58673304e+02] [ 3.42869535e-01 9.39382635e-01 -8.63774071e-04 2.69152874e+01] [ 2.52357552e-03 -1.58172599e-06 9.99996816e-01 2.61285400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:26.93, Z:0.26 [[ 9.39411804e-01 -3.42782497e-01 -2.37109448e-03 1.58729335e+02] [ 3.42781409e-01 9.39414796e-01 -8.63913697e-04 2.69341710e+01] [ 2.52357573e-03 -1.19637997e-06 9.99996816e-01 2.61029899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22264 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:26.95, Z:0.26 [[ 9.38667690e-01 -3.44814946e-01 -2.37095184e-03 1.58785105e+02] [ 3.44813863e-01 9.38670684e-01 -8.64304980e-04 2.69498932e+01] [ 2.52356826e-03 -6.24190420e-06 9.99996816e-01 2.61096647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.84, Y:26.97, Z:0.26 [[ 9.37408096e-01 -3.48224700e-01 -2.37078435e-03 1.58841227e+02] [ 3.48223627e-01 9.37411093e-01 -8.64764149e-04 2.69678948e+01] [ 2.52353179e-03 -1.49262106e-05 9.99996816e-01 2.63910252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.90, Y:26.98, Z:0.27 [[ 9.36761048e-01 -3.49961597e-01 -2.37063754e-03 1.58897232e+02] [ 3.49960529e-01 9.36764047e-01 -8.65166432e-04 2.69847831e+01] [ 2.52350304e-03 -1.91753533e-05 9.99996816e-01 2.65250518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:158.95, Y:27.00, Z:0.27 [[ 9.36785989e-01 -3.49894829e-01 -2.37049209e-03 1.58953930e+02] [ 3.49893759e-01 9.36788988e-01 -8.65564754e-04 2.70006482e+01] [ 2.52350752e-03 -1.85714545e-05 9.99996816e-01 2.67665750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:27.02, Z:0.27 [[ 9.37561324e-01 -3.47811939e-01 -2.37034643e-03 1.59008168e+02] [ 3.47810861e-01 9.37564321e-01 -8.65963478e-04 2.70191881e+01] [ 2.52354467e-03 -1.25383667e-05 9.99996816e-01 2.68310160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.06, Y:27.04, Z:0.27 [[ 9.38912461e-01 -3.44147892e-01 -2.37028474e-03 1.59063440e+02] [ 3.44146802e-01 9.38915453e-01 -8.66132297e-04 2.70385032e+01] [ 2.52357457e-03 -2.50350590e-06 9.99996816e-01 2.67413042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.12, Y:27.06, Z:0.27 [[ 9.41968104e-01 -3.35694017e-01 -2.37014174e-03 1.59117134e+02] [ 3.35692899e-01 9.41971086e-01 -8.66523447e-04 2.70604896e+01] [ 2.52349172e-03 2.05976978e-05 9.99996816e-01 2.68790181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.17, Y:27.09, Z:0.27 [[ 9.44875580e-01 -3.27421016e-01 -2.36997159e-03 1.59170629e+02] [ 3.27419871e-01 9.44878551e-01 -8.66988560e-04 2.70855599e+01] [ 2.52320559e-03 4.32205280e-05 9.99996816e-01 2.67881752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.22, Y:27.11, Z:0.27 [[ 9.45975075e-01 -3.24230691e-01 -2.36982378e-03 1.59222614e+02] [ 3.24229535e-01 9.45978042e-01 -8.67392386e-04 2.71112173e+01] [ 2.52303649e-03 5.21647150e-05 9.99996816e-01 2.67924924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:27.14, Z:0.27 [[ 9.45340644e-01 -3.26075835e-01 -2.36977121e-03 1.59275602e+02] [ 3.26074684e-01 9.45343613e-01 -8.67535988e-04 2.71362189e+01] [ 2.52313060e-03 4.73946307e-05 9.99996816e-01 2.68826343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:27.16, Z:0.27 [[ 9.42334081e-01 -3.34665301e-01 -2.36959990e-03 1.59328772e+02] [ 3.34664177e-01 9.42337060e-01 -8.68003658e-04 2.71581828e+01] [ 2.52345251e-03 2.49292305e-05 9.99996816e-01 2.69608585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.38, Y:27.18, Z:0.27 [[ 9.39784661e-01 -3.41758946e-01 -2.36942160e-03 1.59380751e+02] [ 3.41757843e-01 9.39787648e-01 -8.68490086e-04 2.71807033e+01] [ 2.52356741e-03 6.42524587e-06 9.99996816e-01 2.68204602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:27.20, Z:0.27 [[ 9.35998588e-01 -3.51995782e-01 -2.36930123e-03 1.59434232e+02] [ 3.51994710e-01 9.36001586e-01 -8.68818338e-04 2.72011555e+01] [ 2.52349010e-03 -2.07687634e-05 9.99996816e-01 2.66829854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00264 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:27.22, Z:0.27 [[ 9.31998251e-01 -3.62455027e-01 -2.36918410e-03 1.59489853e+02] [ 3.62453988e-01 9.32001261e-01 -8.69137636e-04 2.72203254e+01] [ 2.52310587e-03 -4.86854680e-05 9.99996816e-01 2.67753665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.55, Y:27.24, Z:0.27 [[ 9.28691428e-01 -3.70845816e-01 -2.36903519e-03 1.59545063e+02] [ 3.70844804e-01 9.28694447e-01 -8.69543341e-04 2.72389546e+01] [ 2.52257633e-03 -7.10069424e-05 9.99996816e-01 2.69126249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:27.26, Z:0.27 [[ 9.27209525e-01 -3.74535560e-01 -2.36898279e-03 1.59601902e+02] [ 3.74534559e-01 9.27212547e-01 -8.69686052e-04 2.72552153e+01] [ 2.52227892e-03 -8.08847343e-05 9.99996816e-01 2.72250674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18264000000002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:159.66, Y:27.27, Z:0.27 [[ 9.26054879e-01 -3.77381437e-01 -2.36883542e-03 1.59658747e+02] [ 3.77380445e-01 9.26057905e-01 -8.70087285e-04 2.72685123e+01] [ 2.52203356e-03 -8.82035878e-05 9.99996816e-01 2.72048135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:27.28, Z:0.27 [[ 9.25869931e-01 -3.77834965e-01 -2.36866781e-03 1.59716404e+02] [ 3.77833973e-01 9.25872956e-01 -8.70543325e-04 2.72813568e+01] [ 2.52200718e-03 -8.89532834e-05 9.99996816e-01 2.71639342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:27.29, Z:0.27 [[ 9.27308158e-01 -3.74291290e-01 -2.36851917e-03 1.59773065e+02] [ 3.74290285e-01 9.27311180e-01 -8.70947556e-04 2.72939002e+01] [ 2.52234239e-03 -7.88769431e-05 9.99996816e-01 2.68572119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:27.31, Z:0.27 [[ 9.28933768e-01 -3.70238364e-01 -2.36844138e-03 1.59830044e+02] [ 3.70237345e-01 9.28936784e-01 -8.71159034e-04 2.73078674e+01] [ 2.52266882e-03 -6.76364060e-05 9.99996816e-01 2.69339335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:27.32, Z:0.27 [[ 9.32346740e-01 -3.61557669e-01 -2.36827852e-03 1.59888836e+02] [ 3.61556621e-01 9.32349747e-01 -8.71601573e-04 2.73193955e+01] [ 2.52319811e-03 -4.36318932e-05 9.99996816e-01 2.71915641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.95, Y:27.34, Z:0.27 [[ 9.34853649e-01 -3.55025418e-01 -2.36813467e-03 1.59945256e+02] [ 3.55024348e-01 9.34856648e-01 -8.71992216e-04 2.73357335e+01] [ 2.52344584e-03 -2.55603647e-05 9.99996816e-01 2.74732614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.00, Y:27.35, Z:0.27 [[ 9.38025071e-01 -3.46559316e-01 -2.36798645e-03 1.60001938e+02] [ 3.46558218e-01 9.38028060e-01 -8.72394545e-04 2.73504360e+01] [ 2.52357419e-03 -2.31720993e-06 9.99996816e-01 2.73084114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.06, Y:27.36, Z:0.27 [[ 9.40200941e-01 -3.40612072e-01 -2.36790718e-03 1.60058301e+02] [ 3.40610954e-01 9.40203923e-01 -8.72609643e-04 2.73646310e+01] [ 2.52353700e-03 1.38932818e-05 9.99996816e-01 2.73033199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.11, Y:27.38, Z:0.27 [[ 9.42039710e-01 -3.35493039e-01 -2.36773728e-03 1.60113302e+02] [ 3.35491904e-01 9.42042685e-01 -8.73070432e-04 2.73825638e+01] [ 2.52341863e-03 2.81103293e-05 9.99996816e-01 2.73338935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.17, Y:27.40, Z:0.27 [[ 9.42789023e-01 -3.33381541e-01 -2.36765770e-03 1.60168352e+02] [ 3.33380399e-01 9.42791995e-01 -8.73286177e-04 2.74029702e+01] [ 2.52334622e-03 3.39939520e-05 9.99996816e-01 2.74570925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.22, Y:27.42, Z:0.27 [[ 9.42873550e-01 -3.33142407e-01 -2.36751187e-03 1.60223226e+02] [ 3.33141263e-01 9.42876522e-01 -8.73681342e-04 2.74224649e+01] [ 2.52333166e-03 3.50551326e-05 9.99996816e-01 2.72717152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84264000000002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:160.28, Y:27.44, Z:0.27 [[ 9.41670780e-01 -3.36527172e-01 -2.36734761e-03 1.60278319e+02] [ 3.36526038e-01 9.41673756e-01 -8.74126194e-04 2.74417372e+01] [ 2.52343633e-03 2.64649824e-05 9.99996816e-01 2.74383580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90264000000002 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:27.46, Z:0.27 [[ 9.38603915e-01 -3.44988531e-01 -2.36729671e-03 1.60333547e+02] [ 3.44987423e-01 9.38606900e-01 -8.74264031e-04 2.74589454e+01] [ 2.52357209e-03 3.90005013e-06 9.99996816e-01 2.72155218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:27.47, Z:0.27 [[ 9.36131644e-01 -3.51641779e-01 -2.36724620e-03 1.60389501e+02] [ 3.51640692e-01 9.36134637e-01 -8.74400761e-04 2.74745457e+01] [ 2.52353701e-03 -1.38658721e-05 9.99996816e-01 2.68353683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:27.49, Z:0.27 [[ 9.32990657e-01 -3.59892804e-01 -2.36719652e-03 1.60446955e+02] [ 3.59891743e-01 9.32993659e-01 -8.74535242e-04 2.74894619e+01] [ 2.52331829e-03 -3.60012721e-05 9.99996816e-01 2.67614515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.50, Y:27.51, Z:0.27 [[ 9.32602991e-01 -3.60896188e-01 -2.36705838e-03 1.60503093e+02] [ 3.60895130e-01 9.32605994e-01 -8.74908997e-04 2.75066082e+01] [ 2.52328415e-03 -3.83170927e-05 9.99996816e-01 2.69502191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.56, Y:27.52, Z:0.27 [[ 9.33921688e-01 -3.57469828e-01 -2.36692191e-03 1.60559605e+02] [ 3.57468758e-01 9.33924687e-01 -8.75278013e-04 2.75213366e+01] [ 2.52341229e-03 -2.86595163e-05 9.99996816e-01 2.70496842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.62, Y:27.54, Z:0.28 [[ 9.37508744e-01 -3.47953667e-01 -2.36676567e-03 1.60615859e+02] [ 3.47952565e-01 9.37511731e-01 -8.75700300e-04 2.75392524e+01] [ 2.52357371e-03 -2.54549764e-06 9.99996816e-01 2.75665642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.67, Y:27.56, Z:0.27 [[ 9.40940678e-01 -3.38563199e-01 -2.36661809e-03 1.60670329e+02] [ 3.38562066e-01 9.40943654e-01 -8.76098946e-04 2.75600399e+01] [ 2.52346914e-03 2.31100255e-05 9.99996816e-01 2.73199009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.73, Y:27.58, Z:0.27 [[ 9.42916977e-01 -3.33019481e-01 -2.36656558e-03 1.60725721e+02] [ 3.33018330e-01 9.42919946e-01 -8.76240769e-04 2.75798270e+01] [ 2.52328714e-03 3.81125787e-05 9.99996816e-01 2.70415999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.78, Y:27.60, Z:0.27 [[ 9.43341061e-01 -3.31816278e-01 -2.36642043e-03 1.60779930e+02] [ 3.31815123e-01 9.43344028e-01 -8.76632599e-04 2.75991453e+01] [ 2.52322955e-03 4.17494404e-05 9.99996816e-01 2.70592708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.83, Y:27.62, Z:0.27 [[ 9.44247326e-01 -3.29228475e-01 -2.36625500e-03 1.60834560e+02] [ 3.29227310e-01 9.44250289e-01 -8.77078921e-04 2.76204034e+01] [ 2.52309632e-03 4.91436585e-05 9.99996816e-01 2.73335777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.89, Y:27.64, Z:0.27 [[ 9.44597551e-01 -3.28222286e-01 -2.36610703e-03 1.60887856e+02] [ 3.28221117e-01 9.44600513e-01 -8.77477910e-04 2.76416622e+01] [ 2.52303372e-03 5.22571916e-05 9.99996816e-01 2.71646519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.94, Y:27.66, Z:0.28 [[ 9.45214707e-01 -3.26440744e-01 -2.36604424e-03 1.60942516e+02] [ 3.26439569e-01 9.45217667e-01 -8.77647194e-04 2.76636778e+01] [ 2.52292662e-03 5.71945740e-05 9.99996816e-01 2.77902128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.00, Y:27.69, Z:0.28 [[ 9.45565658e-01 -3.25422785e-01 -2.36589946e-03 1.60995528e+02] [ 3.25421607e-01 9.45568616e-01 -8.78037292e-04 2.76862711e+01] [ 2.52285362e-03 6.03271057e-05 9.99996816e-01 2.77617970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.05, Y:27.71, Z:0.28 [[ 9.45484114e-01 -3.25659627e-01 -2.36573457e-03 1.61049960e+02] [ 3.25658448e-01 9.45487072e-01 -8.78481337e-04 2.77093708e+01] [ 2.52285736e-03 6.01687001e-05 9.99996816e-01 2.77005012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.10, Y:27.73, Z:0.28 [[ 9.45169415e-01 -3.26571863e-01 -2.36558944e-03 1.61103625e+02] [ 3.26570686e-01 9.45172373e-01 -8.78871970e-04 2.77315570e+01] [ 2.52290465e-03 5.81507383e-05 9.99996816e-01 2.77586146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.16, Y:27.76, Z:0.28 [[ 9.44525495e-01 -3.28429589e-01 -2.36541739e-03 1.61157454e+02] [ 3.28428416e-01 9.44528455e-01 -8.79334808e-04 2.77562523e+01] [ 2.52300360e-03 5.36838595e-05 9.99996816e-01 2.76499913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.21, Y:27.78, Z:0.27 [[ 9.43589463e-01 -3.31109243e-01 -2.36526694e-03 1.61210053e+02] [ 3.31108078e-01 9.43592426e-01 -8.79739300e-04 2.77802893e+01] [ 2.52313778e-03 4.69537444e-05 9.99996816e-01 2.74493808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:161.26, Y:27.80, Z:0.27 [[ 9.43231645e-01 -3.32127189e-01 -2.36521369e-03 1.61261509e+02] [ 3.32126026e-01 9.43234609e-01 -8.79882443e-04 2.78039860e+01] [ 2.52318429e-03 4.43839409e-05 9.99996816e-01 2.73533132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:27.83, Z:0.28 [[ 9.42353631e-01 -3.34610282e-01 -2.36508396e-03 1.61314035e+02] [ 3.34609126e-01 9.42356598e-01 -8.80230996e-04 2.78300894e+01] [ 2.52328682e-03 3.81101961e-05 9.99996816e-01 2.75605427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.37, Y:27.86, Z:0.28 [[ 9.41044304e-01 -3.38275072e-01 -2.36491530e-03 1.61366230e+02] [ 3.38273927e-01 9.41047276e-01 -8.80683925e-04 2.78574815e+01] [ 2.52341051e-03 2.87734077e-05 9.99996816e-01 2.79745144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:161.42, Y:27.88, Z:0.28 [[ 9.39035002e-01 -3.43813429e-01 -2.36476412e-03 1.61418830e+02] [ 3.43812300e-01 9.39037979e-01 -8.81089657e-04 2.78817654e+01] [ 2.52353378e-03 1.43390348e-05 9.99996816e-01 2.80705768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:161.47, Y:27.90, Z:0.28 [[ 9.36853210e-01 -3.49714843e-01 -2.36471071e-03 1.61471907e+02] [ 3.49713733e-01 9.36856194e-01 -8.81232994e-04 2.79049330e+01] [ 2.52357413e-03 -1.38584942e-06 9.99996816e-01 2.82053621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.52, Y:27.93, Z:0.28 [[ 9.33363776e-01 -3.58924045e-01 -2.36453909e-03 1.61524731e+02] [ 3.58922963e-01 9.33366771e-01 -8.81693238e-04 2.79279016e+01] [ 2.52344312e-03 -2.57468461e-05 9.99996816e-01 2.82517110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28264000000001 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:161.58, Y:27.95, Z:0.28 [[ 9.29898446e-01 -3.67808766e-01 -2.36448629e-03 1.61578708e+02] [ 3.67807712e-01 9.29901451e-01 -8.81834807e-04 2.79482366e+01] [ 2.52308581e-03 -4.96594778e-05 9.99996816e-01 2.84019405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.63, Y:27.97, Z:0.28 [[ 9.27539238e-01 -3.73718305e-01 -2.36431465e-03 1.61633505e+02] [ 3.73717269e-01 9.27542249e-01 -8.82294772e-04 2.79675528e+01] [ 2.52273143e-03 -6.52221936e-05 9.99996816e-01 2.83610265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:27.99, Z:0.29 [[ 9.26844245e-01 -3.75438618e-01 -2.36414026e-03 1.61689239e+02] [ 3.75437587e-01 9.26847258e-01 -8.82761804e-04 2.79863366e+01] [ 2.52261979e-03 -6.94044162e-05 9.99996816e-01 2.85279446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.75, Y:28.00, Z:0.29 [[ 9.26799557e-01 -3.75548921e-01 -2.36398951e-03 1.61745550e+02] [ 3.75547889e-01 9.26802570e-01 -8.83165324e-04 2.80020372e+01] [ 2.52262334e-03 -6.92740373e-05 9.99996816e-01 2.86919600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.80, Y:28.02, Z:0.28 [[ 9.26990324e-01 -3.75077793e-01 -2.36393651e-03 1.61803468e+02] [ 3.75076759e-01 9.26993336e-01 -8.83307169e-04 2.80152231e+01] [ 2.52266229e-03 -6.78404449e-05 9.99996816e-01 2.83416036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.86, Y:28.03, Z:0.28 [[ 9.27278678e-01 -3.74364350e-01 -2.36378847e-03 1.61860854e+02] [ 3.74363313e-01 9.27281688e-01 -8.83703155e-04 2.80302626e+01] [ 2.52272472e-03 -6.54765879e-05 9.99996816e-01 2.80869814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.92, Y:28.04, Z:0.28 [[ 9.29294911e-01 -3.69330991e-01 -2.36363758e-03 1.61917473e+02] [ 3.69329937e-01 9.29297916e-01 -8.84106553e-04 2.80431878e+01] [ 2.52305142e-03 -5.13663965e-05 9.99996816e-01 2.77096528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:28.06, Z:0.28 [[ 9.32576691e-01 -3.60964166e-01 -2.36358431e-03 1.61974269e+02] [ 3.60963084e-01 9.32579686e-01 -8.84248939e-04 2.80576848e+01] [ 2.52341289e-03 -2.85367332e-05 9.99996816e-01 2.75819209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.03, Y:28.07, Z:0.28 [[ 9.36038173e-01 -3.51890541e-01 -2.36353357e-03 1.62031324e+02] [ 3.51889429e-01 9.36041157e-01 -8.84384543e-04 2.80732091e+01] [ 2.52357125e-03 -3.88478714e-06 9.99996816e-01 2.78302382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:28.09, Z:0.28 [[ 9.38582591e-01 -3.45046567e-01 -2.36337999e-03 1.62087099e+02] [ 3.45045433e-01 9.38585567e-01 -8.84794774e-04 2.80888881e+01] [ 2.52352975e-03 1.49795002e-05 9.99996816e-01 2.80598674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.14, Y:28.11, Z:0.28 [[ 9.39639692e-01 -3.42157368e-01 -2.36332564e-03 1.62143317e+02] [ 3.42156224e-01 9.39642664e-01 -8.84939909e-04 2.81070603e+01] [ 2.52347031e-03 2.28980850e-05 9.99996816e-01 2.81411221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.20, Y:28.12, Z:0.28 [[ 9.40721344e-01 -3.39172180e-01 -2.36317346e-03 1.62199733e+02] [ 3.39171026e-01 9.40724312e-01 -8.85346129e-04 2.81229594e+01] [ 2.52337950e-03 3.13440341e-05 9.99996816e-01 2.79943737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.25, Y:28.14, Z:0.28 [[ 9.41674220e-01 -3.36517578e-01 -2.36299923e-03 1.62254936e+02] [ 3.36516414e-01 9.41677184e-01 -8.85810904e-04 2.81395855e+01] [ 2.52327340e-03 3.89572655e-05 9.99996816e-01 2.77511958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:28.16, Z:0.27 [[ 9.42031629e-01 -3.35515761e-01 -2.36282392e-03 1.62309610e+02] [ 3.35514594e-01 9.42034592e-01 -8.86278269e-04 2.81584562e+01] [ 2.52322220e-03 4.21402545e-05 9.99996816e-01 2.74861128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.37, Y:28.18, Z:0.27 [[ 9.42039686e-01 -3.35493139e-01 -2.36276993e-03 1.62365263e+02] [ 3.35491971e-01 9.42042649e-01 -8.86422196e-04 2.81770246e+01] [ 2.52321860e-03 4.23545487e-05 9.99996816e-01 2.74970583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:28.20, Z:0.28 [[ 9.41694888e-01 -3.36459739e-01 -2.36261688e-03 1.62420888e+02] [ 3.36458573e-01 9.41697851e-01 -8.86829913e-04 2.81963419e+01] [ 2.52325380e-03 4.02004899e-05 9.99996816e-01 2.77722548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:162.48, Y:28.22, Z:0.28 [[ 9.41222113e-01 -3.37780037e-01 -2.36246506e-03 1.62475348e+02] [ 3.37778873e-01 9.41225077e-01 -8.87234178e-04 2.82156340e+01] [ 2.52330135e-03 3.70936406e-05 9.99996816e-01 2.79698906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:28.23, Z:0.28 [[ 9.40581956e-01 -3.39558542e-01 -2.36229123e-03 1.62530084e+02] [ 3.39557383e-01 9.40584922e-01 -8.87696758e-04 2.82331128e+01] [ 2.52336053e-03 3.28181225e-05 9.99996816e-01 2.76381216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.58, Y:28.25, Z:0.28 [[ 9.40030459e-01 -3.41082331e-01 -2.36217336e-03 1.62583745e+02] [ 3.41081176e-01 9.40033426e-01 -8.88010307e-04 2.82537662e+01] [ 2.52340654e-03 2.90638672e-05 9.99996816e-01 2.76973637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.64, Y:28.27, Z:0.28 [[ 9.39944429e-01 -3.41319340e-01 -2.36199919e-03 1.62637397e+02] [ 3.41318185e-01 9.39947396e-01 -8.88473342e-04 2.82733185e+01] [ 2.52340812e-03 2.89222917e-05 9.99996816e-01 2.76335826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.69, Y:28.29, Z:0.28 [[ 9.40359183e-01 -3.40174997e-01 -2.36192414e-03 1.62693430e+02] [ 3.40173837e-01 9.40362149e-01 -8.88672801e-04 2.82926407e+01] [ 2.52336833e-03 3.22068299e-05 9.99996816e-01 2.79119835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.75, Y:28.31, Z:0.28 [[ 9.40629002e-01 -3.39428198e-01 -2.36177306e-03 1.62747501e+02] [ 3.39427036e-01 9.40631967e-01 -8.89074136e-04 2.83127596e+01] [ 2.52333607e-03 3.46392873e-05 9.99996816e-01 2.79348745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.80, Y:28.33, Z:0.28 [[ 9.40652903e-01 -3.39361959e-01 -2.36159982e-03 1.62802308e+02] [ 3.39360795e-01 9.40655867e-01 -8.89534079e-04 2.83347175e+01] [ 2.52332675e-03 3.53084226e-05 9.99996816e-01 2.77718298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:162.86, Y:28.35, Z:0.28 [[ 9.40236080e-01 -3.40515106e-01 -2.36144897e-03 1.62857852e+02] [ 3.40513945e-01 9.40239045e-01 -8.89934370e-04 2.83530189e+01] [ 2.52336262e-03 3.26421004e-05 9.99996816e-01 2.79380012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:162.91, Y:28.37, Z:0.28 [[ 9.39460494e-01 -3.42649098e-01 -2.36127353e-03 1.62913050e+02] [ 3.42647942e-01 9.39463461e-01 -8.90399599e-04 2.83715689e+01] [ 2.52342483e-03 2.74097308e-05 9.99996816e-01 2.80342525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78264000000001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:162.97, Y:28.39, Z:0.28 [[ 9.38679886e-01 -3.44781810e-01 -2.36121950e-03 1.62968127e+02] [ 3.44780661e-01 9.38682855e-01 -8.90542857e-04 2.83913639e+01] [ 2.52347924e-03 2.18318471e-05 9.99996816e-01 2.83294813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:28.41, Z:0.28 [[ 9.38279692e-01 -3.45869404e-01 -2.36106669e-03 1.63023660e+02] [ 3.45868257e-01 9.38282663e-01 -8.90947827e-04 2.84086992e+01] [ 2.52349953e-03 1.93402334e-05 9.99996816e-01 2.81173466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.08, Y:28.43, Z:0.28 [[ 9.38037281e-01 -3.46526314e-01 -2.36089115e-03 1.63079060e+02] [ 3.46525168e-01 9.38040252e-01 -8.91412741e-04 2.84277181e+01] [ 2.52350890e-03 1.80701820e-05 9.99996816e-01 2.83235600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:28.45, Z:0.28 [[ 9.37689035e-01 -3.47467553e-01 -2.36073852e-03 1.63132821e+02] [ 3.47466409e-01 9.37692007e-01 -8.91816772e-04 2.84465514e+01] [ 2.52352303e-03 1.59694727e-05 9.99996816e-01 2.82540028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.19, Y:28.46, Z:0.28 [[ 9.36933430e-01 -3.49499892e-01 -2.36062040e-03 1.63187951e+02] [ 3.49498754e-01 9.36936404e-01 -8.92129330e-04 2.84637039e+01] [ 2.52355029e-03 1.08319069e-05 9.99996816e-01 2.81247245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.24, Y:28.48, Z:0.28 [[ 9.37414067e-01 -3.48208696e-01 -2.36044781e-03 1.63243490e+02] [ 3.48207553e-01 9.37417038e-01 -8.92585731e-04 2.84807535e+01] [ 2.52353011e-03 1.47966646e-05 9.99996816e-01 2.76971016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.30, Y:28.50, Z:0.28 [[ 9.38522911e-01 -3.45208885e-01 -2.36039433e-03 1.63299274e+02] [ 3.45207732e-01 9.38525879e-01 -8.92727144e-04 2.85007403e+01] [ 2.52346850e-03 2.30185060e-05 9.99996816e-01 2.77729594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:28.52, Z:0.28 [[ 9.40509248e-01 -3.39759891e-01 -2.36023930e-03 1.63353553e+02] [ 3.39758719e-01 9.40512209e-01 -8.93136830e-04 2.85220984e+01] [ 2.52328595e-03 3.80915673e-05 9.99996816e-01 2.78718398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:28.54, Z:0.28 [[ 9.41682918e-01 -3.36493255e-01 -2.36018404e-03 1.63407291e+02] [ 3.36492073e-01 9.41685875e-01 -8.93282825e-04 2.85433137e+01] [ 2.52313562e-03 4.70059569e-05 9.99996816e-01 2.79799788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.46, Y:28.56, Z:0.28 [[ 9.41266281e-01 -3.37656954e-01 -2.36012958e-03 1.63462801e+02] [ 3.37655775e-01 9.41269239e-01 -8.93426684e-04 2.85631389e+01] [ 2.52318911e-03 4.40410278e-05 9.99996816e-01 2.78428844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.52, Y:28.58, Z:0.28 [[ 9.40498094e-01 -3.39790768e-01 -2.35997675e-03 1.63517130e+02] [ 3.39789595e-01 9.40501054e-01 -8.93830209e-04 2.85839864e+01] [ 2.52327587e-03 3.87500625e-05 9.99996816e-01 2.78307848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.57, Y:28.61, Z:0.28 [[ 9.39041244e-01 -3.43796413e-01 -2.35980144e-03 1.63572226e+02] [ 3.43795251e-01 9.39044209e-01 -8.94292812e-04 2.86053152e+01] [ 2.52341254e-03 2.84893068e-05 9.99996816e-01 2.80814226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.63, Y:28.62, Z:0.28 [[ 9.37240172e-01 -3.48676487e-01 -2.35964808e-03 1.63626407e+02] [ 3.48675340e-01 9.37243142e-01 -8.94697288e-04 2.86247635e+01] [ 2.52352388e-03 1.57951452e-05 9.99996816e-01 2.80791240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.68, Y:28.64, Z:0.28 [[ 9.35731956e-01 -3.52704040e-01 -2.35959398e-03 1.63681335e+02] [ 3.52702904e-01 9.35734931e-01 -8.94839918e-04 2.86448526e+01] [ 2.52356817e-03 5.09465509e-06 9.99996816e-01 2.81718952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:163.74, Y:28.67, Z:0.28 [[ 9.35210689e-01 -3.54083888e-01 -2.35942843e-03 1.63735709e+02] [ 3.54082756e-01 9.35213666e-01 -8.95276224e-04 2.86654884e+01] [ 2.52357260e-03 1.83897282e-06 9.99996816e-01 2.81555865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.79, Y:28.68, Z:0.28 [[ 9.34384075e-01 -3.56259504e-01 -2.35925027e-03 1.63792426e+02] [ 3.56258378e-01 9.34387054e-01 -8.95745469e-04 2.86819743e+01] [ 2.52357075e-03 -3.53237222e-06 9.99996816e-01 2.80315964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.85, Y:28.70, Z:0.28 [[ 9.33359505e-01 -3.58935188e-01 -2.35909353e-03 1.63848654e+02] [ 3.58934069e-01 9.33362486e-01 -8.96158083e-04 2.86975662e+01] [ 2.52355207e-03 -1.03213752e-05 9.99996816e-01 2.81419159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:163.91, Y:28.71, Z:0.28 [[ 9.32385642e-01 -3.61457397e-01 -2.35903824e-03 1.63906308e+02] [ 3.61456286e-01 9.32388626e-01 -8.96303595e-04 2.87112494e+01] [ 2.52351599e-03 -1.69885985e-05 9.99996816e-01 2.84679828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.96, Y:28.73, Z:0.28 [[ 9.32852878e-01 -3.60249835e-01 -2.35889108e-03 1.63962087e+02] [ 3.60248720e-01 9.32855860e-01 -8.96690738e-04 2.87274922e+01] [ 2.52353806e-03 -1.33069549e-05 9.99996816e-01 2.83581312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.02, Y:28.74, Z:0.29 [[ 9.35020825e-01 -3.54584958e-01 -2.35872109e-03 1.64019629e+02] [ 3.54583823e-01 9.35023801e-01 -8.97137652e-04 2.87397855e+01] [ 2.52357188e-03 2.47804510e-06 9.99996816e-01 2.85833661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.07, Y:28.76, Z:0.28 [[ 9.39100556e-01 -3.43634373e-01 -2.35854913e-03 1.64074730e+02] [ 3.43633202e-01 9.39103518e-01 -8.97589513e-04 2.87566634e+01] [ 2.52336439e-03 3.24510214e-05 9.99996816e-01 2.83555267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.13, Y:28.78, Z:0.28 [[ 9.42070585e-01 -3.35406395e-01 -2.35849639e-03 1.64129777e+02] [ 3.35405198e-01 9.42073536e-01 -8.97728062e-04 2.87763782e+01] [ 2.52298077e-03 5.46712509e-05 9.99996816e-01 2.83672557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:28.80, Z:0.28 [[ 9.46258757e-01 -3.23401922e-01 -2.35832762e-03 1.64183586e+02] [ 3.23400686e-01 9.46261692e-01 -8.98171219e-04 2.87991195e+01] [ 2.52206538e-03 8.72176112e-05 9.99996816e-01 2.84749764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:28.82, Z:0.28 [[ 9.48928673e-01 -3.15481872e-01 -2.35815732e-03 1.64236264e+02] [ 3.15480611e-01 9.48931597e-01 -8.98618100e-04 2.88218585e+01] [ 2.52122772e-03 1.08771567e-04 9.99996816e-01 2.84445018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.29, Y:28.84, Z:0.29 [[ 9.49324603e-01 -3.14288464e-01 -2.35809462e-03 1.64290214e+02] [ 3.14287199e-01 9.49327525e-01 -8.98782619e-04 2.88443586e+01] [ 2.52108114e-03 1.12117501e-04 9.99996816e-01 2.85120329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.34, Y:28.87, Z:0.29 [[ 9.49620325e-01 -3.13393807e-01 -2.35793060e-03 1.64341983e+02] [ 3.13392538e-01 9.49623246e-01 -8.99212721e-04 2.88701349e+01] [ 2.52095340e-03 1.14952824e-04 9.99996816e-01 2.86730537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.39, Y:28.90, Z:0.28 [[ 9.48888727e-01 -3.15602003e-01 -2.35776001e-03 1.64393051e+02] [ 3.15600739e-01 9.48891650e-01 -8.99659783e-04 2.88975026e+01] [ 2.52119321e-03 1.09566224e-04 9.99996816e-01 2.82952606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.45, Y:28.92, Z:0.28 [[ 9.46466369e-01 -3.22793826e-01 -2.35770702e-03 1.64445306e+02] [ 3.22792584e-01 9.46469301e-01 -8.99798620e-04 2.89238799e+01] [ 2.52194676e-03 9.05787899e-05 9.99996816e-01 2.83105181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.50, Y:28.95, Z:0.29 [[ 9.43564982e-01 -3.31179055e-01 -2.35753792e-03 1.64498565e+02] [ 3.31177838e-01 9.43567925e-01 -9.00241450e-04 2.89483995e+01] [ 2.52263828e-03 6.86719949e-05 9.99996816e-01 2.85231455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:164.55, Y:28.97, Z:0.29 [[ 9.38236290e-01 -3.45987148e-01 -2.35738497e-03 1.64552226e+02] [ 3.45985977e-01 9.38239251e-01 -9.00641793e-04 2.89715360e+01] [ 2.52340160e-03 2.93926706e-05 9.99996816e-01 2.86970166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:28.99, Z:0.28 [[ 9.33088719e-01 -3.59638548e-01 -2.35722972e-03 1.64606626e+02] [ 3.59637420e-01 9.33091697e-01 -9.01047943e-04 2.89898713e+01] [ 2.52356306e-03 -6.99034479e-06 9.99996816e-01 2.84186228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.66, Y:29.01, Z:0.29 [[ 9.29907254e-01 -3.67786545e-01 -2.35714636e-03 1.64662096e+02] [ 3.67785442e-01 9.29910241e-01 -9.01265968e-04 2.90067923e+01] [ 2.52340804e-03 -2.88303549e-05 9.99996816e-01 2.85132491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70264 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:164.72, Y:29.02, Z:0.28 [[ 9.29273768e-01 -3.69384229e-01 -2.35709160e-03 1.64715836e+02] [ 3.69383131e-01 9.29276757e-01 -9.01409149e-04 2.90244940e+01] [ 2.52335676e-03 -3.30139998e-05 9.99996816e-01 2.84591864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:29.04, Z:0.29 [[ 9.29536497e-01 -3.68722587e-01 -2.35701655e-03 1.64772374e+02] [ 3.68721486e-01 9.29539484e-01 -9.01605357e-04 2.90427271e+01] [ 2.52338221e-03 -3.10075596e-05 9.99996816e-01 2.85306245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.83, Y:29.06, Z:0.28 [[ 9.31089168e-01 -3.64784054e-01 -2.35686963e-03 1.64828836e+02] [ 3.64782939e-01 9.31092151e-01 -9.01989260e-04 2.90582342e+01] [ 2.52349411e-03 -1.99134015e-05 9.99996816e-01 2.81831737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.89, Y:29.07, Z:0.28 [[ 9.33074386e-01 -3.59675736e-01 -2.35681388e-03 1.64885652e+02] [ 3.59674605e-01 9.33077363e-01 -9.02134909e-04 2.90730644e+01] [ 2.52356571e-03 -5.92712372e-06 9.99996816e-01 2.84717870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.94, Y:29.09, Z:0.29 [[ 9.34804486e-01 -3.55154923e-01 -2.35663455e-03 1.64942385e+02] [ 3.55153776e-01 9.34807456e-01 -9.02603108e-04 2.90886673e+01] [ 2.52356349e-03 6.78977300e-06 9.99996816e-01 2.85540837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:29.10, Z:0.28 [[ 9.36065654e-01 -3.51817479e-01 -2.35647843e-03 1.64998261e+02] [ 3.51816321e-01 9.36068620e-01 -9.03010534e-04 2.91042981e+01] [ 2.52352040e-03 1.62295752e-05 9.99996816e-01 2.84215582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.05, Y:29.12, Z:0.28 [[ 9.36891045e-01 -3.49613526e-01 -2.35630085e-03 1.65052343e+02] [ 3.49612360e-01 9.36894008e-01 -9.03473672e-04 2.91213002e+01] [ 2.52347076e-03 2.26644931e-05 9.99996816e-01 2.82915616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.11, Y:29.14, Z:0.28 [[ 9.38097249e-01 -3.46363969e-01 -2.35622399e-03 1.65108057e+02] [ 3.46362792e-01 9.38100208e-01 -9.03674057e-04 2.91376761e+01] [ 2.52337435e-03 3.16258261e-05 9.99996816e-01 2.81963008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.16, Y:29.15, Z:0.29 [[ 9.39346693e-01 -3.42960989e-01 -2.35605172e-03 1.65164287e+02] [ 3.42959800e-01 9.39349646e-01 -9.04122977e-04 2.91548938e+01] [ 2.52323526e-03 4.12539004e-05 9.99996816e-01 2.85050551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:29.18, Z:0.29 [[ 9.39993114e-01 -3.41185281e-01 -2.35590034e-03 1.65219143e+02] [ 3.41184085e-01 9.39996065e-01 -9.04517281e-04 2.91751689e+01] [ 2.52314503e-03 4.64443151e-05 9.99996816e-01 2.86803364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.27, Y:29.20, Z:0.28 [[ 9.40388849e-01 -3.40093021e-01 -2.35574943e-03 1.65274131e+02] [ 3.40091821e-01 9.40391799e-01 -9.04910125e-04 2.91961602e+01] [ 2.52308106e-03 4.97962772e-05 9.99996816e-01 2.83700878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.33, Y:29.22, Z:0.28 [[ 9.40010200e-01 -3.41138206e-01 -2.35560023e-03 1.65329324e+02] [ 3.41137008e-01 9.40013150e-01 -9.05298351e-04 2.92173597e+01] [ 2.52312705e-03 4.74072695e-05 9.99996816e-01 2.81550883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.38, Y:29.24, Z:0.28 [[ 9.39307359e-01 -3.43068707e-01 -2.35544793e-03 1.65383141e+02] [ 3.43067514e-01 9.39310311e-01 -9.05694448e-04 2.92379644e+01] [ 2.52321195e-03 4.26477957e-05 9.99996816e-01 2.82382548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:165.44, Y:29.26, Z:0.28 [[ 9.38641664e-01 -3.44885892e-01 -2.35539418e-03 1.65437260e+02] [ 3.44884704e-01 9.38644619e-01 -9.05834194e-04 2.92601237e+01] [ 2.52328751e-03 3.79142885e-05 9.99996816e-01 2.84919239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54264 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:165.49, Y:29.28, Z:0.29 [[ 9.37825044e-01 -3.47100330e-01 -2.35524064e-03 1.65490623e+02] [ 3.47099148e-01 9.37828001e-01 -9.06233247e-04 2.92816966e+01] [ 2.52336448e-03 3.23862155e-05 9.99996816e-01 2.85882606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:29.30, Z:0.29 [[ 9.37419769e-01 -3.48193380e-01 -2.35518637e-03 1.65545104e+02] [ 3.48192201e-01 9.37422727e-01 -9.06374268e-04 2.93017180e+01] [ 2.52339875e-03 2.95956309e-05 9.99996816e-01 2.86815167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66264 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:29.32, Z:0.29 [[ 9.37594862e-01 -3.47721625e-01 -2.35501168e-03 1.65599131e+02] [ 3.47720444e-01 9.37597819e-01 -9.06827943e-04 2.93238210e+01] [ 2.52337750e-03 3.13515154e-05 9.99996816e-01 2.87057780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:165.65, Y:29.35, Z:0.29 [[ 9.38150824e-01 -3.46218842e-01 -2.35483673e-03 1.65653602e+02] [ 3.46217656e-01 9.38153778e-01 -9.07282001e-04 2.93459924e+01] [ 2.52331710e-03 3.58813029e-05 9.99996816e-01 2.88226264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:29.37, Z:0.29 [[ 9.38748181e-01 -3.44595863e-01 -2.35468521e-03 1.65708789e+02] [ 3.44594670e-01 9.38751133e-01 -9.07675084e-04 2.93673630e+01] [ 2.52324449e-03 4.06663600e-05 9.99996816e-01 2.89096245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.76, Y:29.39, Z:0.29 [[ 9.39626044e-01 -3.42194905e-01 -2.35453595e-03 1.65762740e+02] [ 3.42193704e-01 9.39628993e-01 -9.08062091e-04 2.93894981e+01] [ 2.52312447e-03 4.75314107e-05 9.99996816e-01 2.89863736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.82, Y:29.41, Z:0.29 [[ 9.40663778e-01 -3.39331865e-01 -2.35436546e-03 1.65815025e+02] [ 3.39330653e-01 9.40666722e-01 -9.08503928e-04 2.94132517e+01] [ 2.52295757e-03 5.56883688e-05 9.99996816e-01 2.88444884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.87, Y:29.44, Z:0.29 [[ 9.42231384e-01 -3.34954440e-01 -2.35429145e-03 1.65868861e+02] [ 3.34953214e-01 9.42234323e-01 -9.08695662e-04 2.94382805e+01] [ 2.52266586e-03 6.76240821e-05 9.99996816e-01 2.87255513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:165.92, Y:29.46, Z:0.29 [[ 9.43292824e-01 -3.31953471e-01 -2.35413912e-03 1.65923141e+02] [ 3.31952235e-01 9.43295758e-01 -9.09090151e-04 2.94616713e+01] [ 2.52242507e-03 7.60764755e-05 9.99996816e-01 2.87553730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.98, Y:29.49, Z:0.29 [[ 9.44052187e-01 -3.29787701e-01 -2.35398821e-03 1.65976872e+02] [ 3.29786457e-01 9.44055118e-01 -9.09480745e-04 2.94861107e+01] [ 2.52223018e-03 8.22838556e-05 9.99996816e-01 2.86154742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:29.52, Z:0.29 [[ 9.44773661e-01 -3.27715104e-01 -2.35383903e-03 1.66028513e+02] [ 3.27713853e-01 9.44776589e-01 -9.09866656e-04 2.95152358e+01] [ 2.52202906e-03 8.82323930e-05 9.99996816e-01 2.88609639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:29.54, Z:0.29 [[ 9.44868106e-01 -3.27442700e-01 -2.35369002e-03 1.66082172e+02] [ 3.27441447e-01 9.44871034e-01 -9.10251968e-04 2.95403047e+01] [ 2.52198889e-03 8.93723877e-05 9.99996816e-01 2.90609632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:29.57, Z:0.29 [[ 9.44779701e-01 -3.27697692e-01 -2.35354203e-03 1.66133540e+02] [ 3.27696439e-01 9.44782628e-01 -9.10634464e-04 2.95681674e+01] [ 2.52199843e-03 8.91016172e-05 9.99996816e-01 2.91849965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:29.60, Z:0.29 [[ 9.43999211e-01 -3.29939313e-01 -2.35348974e-03 1.66184285e+02] [ 3.29938067e-01 9.44002141e-01 -9.10769565e-04 2.95976178e+01] [ 2.52219804e-03 8.32598956e-05 9.99996816e-01 2.90734916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.24, Y:29.63, Z:0.29 [[ 9.42613654e-01 -3.33877165e-01 -2.35331257e-03 1.66236443e+02] [ 3.33875929e-01 9.42616589e-01 -9.11227121e-04 2.96266340e+01] [ 2.52250940e-03 7.32207044e-05 9.99996816e-01 2.87373498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:166.29, Y:29.65, Z:0.29 [[ 9.41289955e-01 -3.37591000e-01 -2.35315682e-03 1.66289268e+02] [ 3.37589775e-01 9.41292894e-01 -9.11629167e-04 2.96513164e+01] [ 2.52276759e-03 6.37056972e-05 9.99996816e-01 2.85783836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.34, Y:29.68, Z:0.28 [[ 9.38925997e-01 -3.44111081e-01 -2.35307434e-03 1.66340747e+02] [ 3.44109876e-01 9.38928944e-01 -9.11842007e-04 2.96772656e+01] [ 2.52314454e-03 4.64360457e-05 9.99996816e-01 2.81583749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.39, Y:29.70, Z:0.28 [[ 9.36712348e-01 -3.50092047e-01 -2.35302000e-03 1.66393799e+02] [ 3.50090860e-01 9.36715302e-01 -9.11982208e-04 2.97019039e+01] [ 2.52338756e-03 3.04941982e-05 9.99996816e-01 2.80957377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62264000000002 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:166.45, Y:29.73, Z:0.28 [[ 9.35403745e-01 -3.53573610e-01 -2.35284006e-03 1.66446760e+02] [ 3.53572434e-01 9.35406704e-01 -9.12446212e-04 2.97257825e+01] [ 2.52347926e-03 2.16062196e-05 9.99996816e-01 2.83810741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.50, Y:29.75, Z:0.28 [[ 9.35246966e-01 -3.53988105e-01 -2.35266050e-03 1.66499770e+02] [ 3.53986928e-01 9.35249924e-01 -9.12908954e-04 2.97492407e+01] [ 2.52348446e-03 2.09842663e-05 9.99996816e-01 2.78446380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.55, Y:29.77, Z:0.28 [[ 9.35315784e-01 -3.53806231e-01 -2.35260522e-03 1.66553190e+02] [ 3.53805053e-01 9.35318743e-01 -9.13051385e-04 2.97711625e+01] [ 2.52347903e-03 2.16277564e-05 9.99996816e-01 2.78447391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.61, Y:29.79, Z:0.28 [[ 9.35456922e-01 -3.53432897e-01 -2.35243024e-03 1.66606136e+02] [ 3.53431717e-01 9.35459880e-01 -9.13501998e-04 2.97928855e+01] [ 2.52346576e-03 2.31183106e-05 9.99996816e-01 2.78244382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:29.82, Z:0.28 [[ 9.35716266e-01 -3.52745710e-01 -2.35231211e-03 1.66659035e+02] [ 3.52744527e-01 9.35719223e-01 -9.13806083e-04 2.98156368e+01] [ 2.52344483e-03 2.52979948e-05 9.99996816e-01 2.75367225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:166.71, Y:29.84, Z:0.28 [[ 9.36493838e-01 -3.50676145e-01 -2.35225899e-03 1.66713585e+02] [ 3.50674955e-01 9.36496792e-01 -9.13942793e-04 2.98363325e+01] [ 2.52338093e-03 3.10234771e-05 9.99996816e-01 2.81865344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.77, Y:29.86, Z:0.28 [[ 9.37914458e-01 -3.46858669e-01 -2.35207903e-03 1.66766684e+02] [ 3.46857466e-01 9.37917407e-01 -9.14405695e-04 2.98624498e+01] [ 2.52322541e-03 4.17981492e-05 9.99996816e-01 2.80880541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.82, Y:29.89, Z:0.28 [[ 9.38835686e-01 -3.44357405e-01 -2.35192288e-03 1.66819467e+02] [ 3.44356193e-01 9.38838631e-01 -9.14807156e-04 2.98857150e+01] [ 2.52309667e-03 4.89543941e-05 9.99996816e-01 2.78682158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.87, Y:29.91, Z:0.28 [[ 9.38618537e-01 -3.44948853e-01 -2.35186785e-03 1.66872956e+02] [ 3.44947643e-01 9.38621482e-01 -9.14948616e-04 2.99068412e+01] [ 2.52312416e-03 4.75164599e-05 9.99996816e-01 2.79156139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:166.93, Y:29.93, Z:0.28 [[ 9.37703330e-01 -3.47429034e-01 -2.35168859e-03 1.66926214e+02] [ 3.47427830e-01 9.37706278e-01 -9.15409119e-04 2.99303608e+01] [ 2.52323286e-03 4.13401144e-05 9.99996816e-01 2.82033706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.98, Y:29.95, Z:0.28 [[ 9.36071904e-01 -3.51800881e-01 -2.35163312e-03 1.66981418e+02] [ 3.51799691e-01 9.36074858e-01 -9.15551613e-04 2.99506282e+01] [ 2.52339650e-03 2.97183378e-05 9.99996816e-01 2.80216932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.03, Y:29.97, Z:0.28 [[ 9.34973358e-01 -3.54710150e-01 -2.35148171e-03 1.67034882e+02] [ 3.54708968e-01 9.34976315e-01 -9.15940325e-04 2.99724281e+01] [ 2.52347303e-03 2.22881529e-05 9.99996816e-01 2.80225944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.09, Y:29.99, Z:0.28 [[ 9.34688845e-01 -3.55459188e-01 -2.35130908e-03 1.67089571e+02] [ 3.55458008e-01 9.34691802e-01 -9.16383250e-04 2.99941328e+01] [ 2.52348617e-03 2.07415590e-05 9.99996816e-01 2.84243091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:30.02, Z:0.28 [[ 9.35074461e-01 -3.54443541e-01 -2.35114975e-03 1.67143046e+02] [ 3.54442357e-01 9.35077417e-01 -9.16791873e-04 3.00150631e+01] [ 2.52345799e-03 2.39216094e-05 9.99996816e-01 2.82579696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:167.20, Y:30.04, Z:0.28 [[ 9.36177060e-01 -3.51520960e-01 -2.35109349e-03 1.67195722e+02] [ 3.51519766e-01 9.36180011e-01 -9.16936121e-04 3.00369810e+01] [ 2.52336900e-03 3.19587285e-05 9.99996816e-01 2.82789031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:30.06, Z:0.28 [[ 9.36390546e-01 -3.50951874e-01 -2.35101654e-03 1.67250294e+02] [ 3.50950677e-01 9.36393497e-01 -9.17133387e-04 3.00571621e+01] [ 2.52334628e-03 3.37041884e-05 9.99996816e-01 2.77507180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.30, Y:30.08, Z:0.28 [[ 9.35941885e-01 -3.52146647e-01 -2.35096448e-03 1.67304256e+02] [ 3.52145454e-01 9.35944837e-01 -9.17266822e-04 3.00783947e+01] [ 2.52338550e-03 3.06269853e-05 9.99996816e-01 2.79502635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.36, Y:30.10, Z:0.28 [[ 9.35932455e-01 -3.52171711e-01 -2.35079006e-03 1.67359161e+02] [ 3.52170516e-01 9.35935407e-01 -9.17713594e-04 3.00993594e+01] [ 2.52338042e-03 3.10389866e-05 9.99996816e-01 2.82221830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70264 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:167.41, Y:30.12, Z:0.29 [[ 9.36535124e-01 -3.50565880e-01 -2.35063814e-03 1.67413339e+02] [ 3.50564679e-01 9.36538073e-01 -9.18102575e-04 3.01206949e+01] [ 2.52331755e-03 3.57846049e-05 9.99996816e-01 2.87791645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:167.47, Y:30.14, Z:0.29 [[ 9.38184779e-01 -3.46126849e-01 -2.35046017e-03 1.67465147e+02] [ 3.46125634e-01 9.38187722e-01 -9.18557963e-04 3.01435250e+01] [ 2.52311045e-03 4.82225831e-05 9.99996816e-01 2.86725734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.52, Y:30.17, Z:0.28 [[ 9.39526102e-01 -3.42469238e-01 -2.35033962e-03 1.67518392e+02] [ 3.42468011e-01 9.39529040e-01 -9.18866324e-04 3.01693495e+01] [ 2.52289577e-03 5.83827624e-05 9.99996816e-01 2.83680873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.57, Y:30.19, Z:0.28 [[ 9.40224301e-01 -3.40547706e-01 -2.35018408e-03 1.67570771e+02] [ 3.40546471e-01 9.40227236e-01 -9.19263969e-04 3.01932107e+01] [ 2.52276032e-03 6.39674295e-05 9.99996816e-01 2.79539638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.62, Y:30.22, Z:0.28 [[ 9.39981802e-01 -3.41216484e-01 -2.35012923e-03 1.67623219e+02] [ 3.41215251e-01 9.39984738e-01 -9.19404175e-04 3.02214433e+01] [ 2.52280147e-03 6.23232576e-05 9.99996816e-01 2.78433320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:167.68, Y:30.24, Z:0.28 [[ 9.39527774e-01 -3.42464653e-01 -2.34997937e-03 1.67676308e+02] [ 3.42463423e-01 9.39530712e-01 -9.19787055e-04 3.02441241e+01] [ 2.52287234e-03 5.93835062e-05 9.99996816e-01 2.81474674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.73, Y:30.27, Z:0.28 [[ 9.38344037e-01 -3.45694874e-01 -2.34980296e-03 1.67727980e+02] [ 3.45693653e-01 9.38346978e-01 -9.20237502e-04 3.02673629e+01] [ 2.52305190e-03 5.11874029e-05 9.99996816e-01 2.79570870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.78, Y:30.29, Z:0.28 [[ 9.35494789e-01 -3.53332675e-01 -2.34968387e-03 1.67779845e+02] [ 3.53331477e-01 9.35497739e-01 -9.20541495e-04 3.02926528e+01] [ 2.52338133e-03 3.09445013e-05 9.99996816e-01 2.79274095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:167.83, Y:30.32, Z:0.28 [[ 9.34444032e-01 -3.56102276e-01 -2.34951078e-03 1.67833593e+02] [ 3.56101086e-01 9.34446985e-01 -9.20983068e-04 3.03154760e+01] [ 2.52345743e-03 2.39437928e-05 9.99996816e-01 2.78937500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:167.89, Y:30.34, Z:0.29 [[ 9.33317088e-01 -3.59045531e-01 -2.34933860e-03 1.67886990e+02] [ 3.59044349e-01 9.33320045e-01 -9.21422048e-04 3.03392156e+01] [ 2.52351728e-03 1.64621944e-05 9.99996816e-01 2.85874175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30264 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:167.94, Y:30.36, Z:0.28 [[ 9.32992729e-01 -3.59887551e-01 -2.34917895e-03 1.67940399e+02] [ 3.59886370e-01 9.32995686e-01 -9.21828916e-04 3.03627606e+01] [ 2.52352858e-03 1.46221909e-05 9.99996816e-01 2.82782541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.00, Y:30.39, Z:0.28 [[ 9.32841241e-01 -3.60280031e-01 -2.34912265e-03 1.67995074e+02] [ 3.60278851e-01 9.32844199e-01 -9.21972371e-04 3.03851306e+01] [ 2.52353367e-03 1.37146429e-05 9.99996816e-01 2.80225245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.05, Y:30.41, Z:0.28 [[ 9.32738942e-01 -3.60544794e-01 -2.34897029e-03 1.68048821e+02] [ 3.60543615e-01 9.32741900e-01 -9.22360376e-04 3.04073551e+01] [ 2.52353524e-03 1.34152020e-05 9.99996816e-01 2.81785939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.10, Y:30.43, Z:0.28 [[ 9.32905740e-01 -3.60112987e-01 -2.34879033e-03 1.68104312e+02] [ 3.60111805e-01 9.32908697e-01 -9.22818406e-04 3.04278893e+01] [ 2.52352582e-03 1.50754611e-05 9.99996816e-01 2.80928585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:168.16, Y:30.45, Z:0.28 [[ 9.33557421e-01 -3.58420180e-01 -2.34863223e-03 1.68159223e+02] [ 3.58418992e-01 9.33560375e-01 -9.23220617e-04 3.04488119e+01] [ 2.52349088e-03 2.00850625e-05 9.99996816e-01 2.84859901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.21, Y:30.47, Z:0.28 [[ 9.34653769e-01 -3.55551427e-01 -2.34847366e-03 1.68212396e+02] [ 3.55550229e-01 9.34656719e-01 -9.23623804e-04 3.04715632e+01] [ 2.52341245e-03 2.82681223e-05 9.99996816e-01 2.83220588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:168.27, Y:30.49, Z:0.28 [[ 9.35357923e-01 -3.53694842e-01 -2.34841770e-03 1.68267851e+02] [ 3.53693637e-01 9.35360870e-01 -9.23766062e-04 3.04909865e+01] [ 2.52334932e-03 3.34315059e-05 9.99996816e-01 2.84138341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72264 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:30.51, Z:0.28 [[ 9.35843051e-01 -3.52409237e-01 -2.34826303e-03 1.68321549e+02] [ 3.52408027e-01 9.35845996e-01 -9.24159089e-04 3.05127913e+01] [ 2.52329475e-03 3.73211201e-05 9.99996816e-01 2.84723804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78264000000001 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:168.38, Y:30.53, Z:0.28 [[ 9.36374279e-01 -3.50995294e-01 -2.34818142e-03 1.68376777e+02] [ 3.50994079e-01 9.36377222e-01 -9.24366393e-04 3.05336227e+01] [ 2.52323185e-03 4.13551382e-05 9.99996816e-01 2.84872934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:30.55, Z:0.29 [[ 9.37193753e-01 -3.48801314e-01 -2.34802805e-03 1.68431683e+02] [ 3.48800091e-01 9.37196693e-01 -9.24755823e-04 3.05543278e+01] [ 2.52312017e-03 4.76829836e-05 9.99996816e-01 2.85220327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:30.57, Z:0.28 [[ 9.37661544e-01 -3.47541821e-01 -2.34786179e-03 1.68484531e+02] [ 3.47540593e-01 9.37664482e-01 -9.25177748e-04 3.05745076e+01] [ 2.52304456e-03 5.15263179e-05 9.99996816e-01 2.83020961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.54, Y:30.60, Z:0.28 [[ 9.37536969e-01 -3.47877737e-01 -2.34777979e-03 1.68538099e+02] [ 3.47876510e-01 9.37539907e-01 -9.25385778e-04 3.05951016e+01] [ 2.52305836e-03 5.08459365e-05 9.99996816e-01 2.83068144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:30.62, Z:0.28 [[ 9.37333436e-01 -3.48425772e-01 -2.34772409e-03 1.68592082e+02] [ 3.48424547e-01 9.37336374e-01 -9.25527079e-04 3.06173026e+01] [ 2.52308467e-03 4.95227759e-05 9.99996816e-01 2.82994511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:30.64, Z:0.28 [[ 9.37361845e-01 -3.48349337e-01 -2.34757008e-03 1.68645673e+02] [ 3.48348110e-01 9.37364783e-01 -9.25917551e-04 3.06405892e+01] [ 2.52307228e-03 5.01481845e-05 9.99996816e-01 2.83338720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:168.70, Y:30.67, Z:0.28 [[ 9.37458878e-01 -3.48088123e-01 -2.34738902e-03 1.68697743e+02] [ 3.48086894e-01 9.37461816e-01 -9.26376355e-04 3.06658899e+01] [ 2.52304818e-03 5.13443873e-05 9.99996816e-01 2.83698620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.75, Y:30.69, Z:0.28 [[ 9.37269373e-01 -3.48598067e-01 -2.34720637e-03 1.68748873e+02] [ 3.48596838e-01 9.37272311e-01 -9.26838893e-04 3.06934569e+01] [ 2.52306579e-03 5.04689874e-05 9.99996816e-01 2.83254048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:168.80, Y:30.72, Z:0.29 [[ 9.35560111e-01 -3.53159695e-01 -2.34712163e-03 1.68802243e+02] [ 3.53158481e-01 9.35563054e-01 -9.27053436e-04 3.07175702e+01] [ 2.52327819e-03 3.84083044e-05 9.99996816e-01 2.85855719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.85, Y:30.74, Z:0.28 [[ 9.33509572e-01 -3.58544796e-01 -2.34696352e-03 1.68854409e+02] [ 3.58543597e-01 9.33512522e-01 -9.27453553e-04 3.07399072e+01] [ 2.52345348e-03 2.42980266e-05 9.99996816e-01 2.83151869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.91, Y:30.76, Z:0.28 [[ 9.30087607e-01 -3.67330280e-01 -2.34684099e-03 1.68907200e+02] [ 3.67329109e-01 9.30090568e-01 -9.27763510e-04 3.07640746e+01] [ 2.52357030e-03 8.38335434e-07 9.99996816e-01 2.83254600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44264 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:168.96, Y:30.79, Z:0.29 [[ 9.27744403e-01 -3.73208810e-01 -2.34666477e-03 1.68961411e+02] [ 3.73207656e-01 9.27747371e-01 -9.28209019e-04 3.07859167e+01] [ 2.52352785e-03 -1.46525362e-05 9.99996816e-01 2.85459419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.02, Y:30.81, Z:0.28 [[ 9.27305363e-01 -3.74298354e-01 -2.34648038e-03 1.69016566e+02] [ 3.74297203e-01 9.27308331e-01 -9.28674921e-04 3.08072393e+01] [ 2.52351230e-03 -1.71158066e-05 9.99996816e-01 2.82575242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.07, Y:30.83, Z:0.28 [[ 9.28194735e-01 -3.72087394e-01 -2.34632139e-03 1.69068374e+02] [ 3.72086235e-01 9.28197700e-01 -9.29076423e-04 3.08299690e+01] [ 2.52354775e-03 -1.06700479e-05 9.99996816e-01 2.81810336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.12, Y:30.85, Z:0.28 [[ 9.29266253e-01 -3.69403202e-01 -2.34624270e-03 1.69123796e+02] [ 3.69402033e-01 9.29269215e-01 -9.29275108e-04 3.08508883e+01] [ 2.52356831e-03 -3.16282597e-06 9.99996816e-01 2.81878667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:30.87, Z:0.28 [[ 9.29767034e-01 -3.68140949e-01 -2.34608430e-03 1.69178885e+02] [ 3.68139775e-01 9.29769994e-01 -9.29674827e-04 3.08709171e+01] [ 2.52357016e-03 6.94059306e-07 9.99996816e-01 2.82550990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:30.89, Z:0.29 [[ 9.30435296e-01 -3.66448708e-01 -2.34592545e-03 1.69233317e+02] [ 3.66447528e-01 9.30438254e-01 -9.30075513e-04 3.08934899e+01] [ 2.52356375e-03 5.71650424e-06 9.99996816e-01 2.85651932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.29, Y:30.91, Z:0.29 [[ 9.30780864e-01 -3.65570076e-01 -2.34576365e-03 1.69287012e+02] [ 3.65568892e-01 9.30783820e-01 -9.30483395e-04 3.09140023e+01] [ 2.52355574e-03 8.53791782e-06 9.99996816e-01 2.86666647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.34, Y:30.94, Z:0.28 [[ 9.30679905e-01 -3.65827026e-01 -2.34567800e-03 1.69339825e+02] [ 3.65825842e-01 9.30682861e-01 -9.30699280e-04 3.09351184e+01] [ 2.52355726e-03 8.07348918e-06 9.99996816e-01 2.84904301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:169.39, Y:30.96, Z:0.29 [[ 9.30632949e-01 -3.65946462e-01 -2.34559960e-03 1.69393872e+02] [ 3.65945278e-01 9.30635905e-01 -9.30896815e-04 3.09558840e+01] [ 2.52355760e-03 7.96214915e-06 9.99996816e-01 2.87243632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.45, Y:30.98, Z:0.29 [[ 9.30917998e-01 -3.65220729e-01 -2.34541641e-03 1.69448614e+02] [ 3.65219542e-01 9.30920952e-01 -9.31358132e-04 3.09769291e+01] [ 2.52354858e-03 1.04261396e-05 9.99996816e-01 2.85972555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.50, Y:31.00, Z:0.29 [[ 9.31659333e-01 -3.63325456e-01 -2.34525409e-03 1.69502121e+02] [ 3.63324262e-01 9.31662285e-01 -9.31766701e-04 3.09996511e+01] [ 2.52351935e-03 1.60014320e-05 9.99996816e-01 2.86970912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:169.56, Y:31.02, Z:0.29 [[ 9.32584148e-01 -3.60945019e-01 -2.34519675e-03 1.69555954e+02] [ 3.60943816e-01 9.32587097e-01 -9.31910993e-04 3.10243896e+01] [ 2.52346886e-03 2.26011537e-05 9.99996816e-01 2.88017983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:169.61, Y:31.05, Z:0.29 [[ 9.33215005e-01 -3.59310806e-01 -2.34504386e-03 1.69609301e+02] [ 3.59309597e-01 9.33217951e-01 -9.32295576e-04 3.10485683e+01] [ 2.52342090e-03 2.74354567e-05 9.99996816e-01 2.87074508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:169.66, Y:31.07, Z:0.29 [[ 9.33074577e-01 -3.59675318e-01 -2.34488381e-03 1.69663362e+02] [ 3.59674110e-01 9.33077524e-01 -9.32697960e-04 3.10717155e+01] [ 2.52342681e-03 2.68827594e-05 9.99996816e-01 2.89604333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.72, Y:31.10, Z:0.29 [[ 9.31917169e-01 -3.62663608e-01 -2.34471658e-03 1.69715147e+02] [ 3.62662409e-01 9.31920118e-01 -9.33118152e-04 3.10954667e+01] [ 2.52349655e-03 1.92482626e-05 9.99996816e-01 2.86232239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:31.12, Z:0.29 [[ 9.30329199e-01 -3.66717990e-01 -2.34463399e-03 1.69768760e+02] [ 3.66716803e-01 9.30332153e-01 -9.33325640e-04 3.11164644e+01] [ 2.52355569e-03 8.48341486e-06 9.99996816e-01 2.86835671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40264000000002 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:169.82, Y:31.14, Z:0.29 [[ 9.29442807e-01 -3.68958767e-01 -2.34444747e-03 1.69821537e+02] [ 3.68957586e-01 9.29445764e-01 -9.33793920e-04 3.11392921e+01] [ 2.52356823e-03 2.90636314e-06 9.99996816e-01 2.86554337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.88, Y:31.16, Z:0.29 [[ 9.29058074e-01 -3.69926477e-01 -2.34436687e-03 1.69876150e+02] [ 3.69925298e-01 9.29061032e-01 -9.33996244e-04 3.11612275e+01] [ 2.52356984e-03 4.96139894e-07 9.99996816e-01 2.86244923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.93, Y:31.18, Z:0.29 [[ 9.28883353e-01 -3.70364983e-01 -2.34420547e-03 1.69930977e+02] [ 3.70363805e-01 9.28886311e-01 -9.34401165e-04 3.11831500e+01] [ 2.52356984e-03 -2.59167383e-07 9.99996816e-01 2.87507938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.99, Y:31.20, Z:0.29 [[ 9.28459028e-01 -3.71427434e-01 -2.34404430e-03 1.69985351e+02] [ 3.71426258e-01 9.28461987e-01 -9.34805297e-04 3.12040857e+01] [ 2.52356836e-03 -2.71118422e-06 9.99996816e-01 2.87965608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:31.23, Z:0.29 [[ 9.27615323e-01 -3.73529543e-01 -2.34398729e-03 1.70040095e+02] [ 3.73528373e-01 9.27618284e-01 -9.34948213e-04 3.12262313e+01] [ 2.52355625e-03 -8.27347078e-06 9.99996816e-01 2.86166814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.09, Y:31.25, Z:0.28 [[ 9.26871022e-01 -3.75372636e-01 -2.34382550e-03 1.70093894e+02] [ 3.75371470e-01 9.26873985e-01 -9.35353641e-04 3.12470010e+01] [ 2.52353704e-03 -1.28530390e-05 9.99996816e-01 2.83053767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:170.15, Y:31.27, Z:0.29 [[ 9.25880623e-01 -3.77808918e-01 -2.34376823e-03 1.70149447e+02] [ 3.77807760e-01 9.25883589e-01 -9.35497119e-04 3.12674749e+01] [ 2.52349570e-03 -1.93351703e-05 9.99996816e-01 2.89905263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.20, Y:31.29, Z:0.29 [[ 9.24728442e-01 -3.80620305e-01 -2.34360733e-03 1.70203993e+02] [ 3.80619155e-01 9.24731411e-01 -9.35900038e-04 3.12857105e+01] [ 2.52342987e-03 -2.65684560e-05 9.99996816e-01 2.91817835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.26, Y:31.31, Z:0.29 [[ 9.24047527e-01 -3.82270422e-01 -2.34355069e-03 1.70259745e+02] [ 3.82269277e-01 9.24050498e-01 -9.36041830e-04 3.13053590e+01] [ 2.52338029e-03 -3.09202924e-05 9.99996816e-01 2.90224386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:170.32, Y:31.32, Z:0.29 [[ 9.23974221e-01 -3.82447574e-01 -2.34339555e-03 1.70316330e+02] [ 3.82446429e-01 9.23977192e-01 -9.36430082e-04 3.13232141e+01] [ 2.52337945e-03 -3.09860037e-05 9.99996816e-01 2.89369322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.37, Y:31.34, Z:0.29 [[ 9.24209374e-01 -3.81878963e-01 -2.34323474e-03 1.70371399e+02] [ 3.81877815e-01 9.24212344e-01 -9.36832307e-04 3.13437431e+01] [ 2.52340302e-03 -2.90001598e-05 9.99996816e-01 2.87585139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.43, Y:31.36, Z:0.29 [[ 9.24923134e-01 -3.80146955e-01 -2.34307488e-03 1.70425223e+02] [ 3.80145800e-01 9.24926101e-01 -9.37231947e-04 3.13631845e+01] [ 2.52345698e-03 -2.38425656e-05 9.99996816e-01 2.85773914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.48, Y:31.38, Z:0.29 [[ 9.26305018e-01 -3.76767200e-01 -2.34299591e-03 1.70480607e+02] [ 3.76766034e-01 9.26307981e-01 -9.37429318e-04 3.13821439e+01] [ 2.52352843e-03 -1.44157965e-05 9.99996816e-01 2.85769243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.53, Y:31.40, Z:0.29 [[ 9.28532217e-01 -3.71244439e-01 -2.34281537e-03 1.70534506e+02] [ 3.71243254e-01 9.28535173e-01 -9.37880304e-04 3.14037471e+01] [ 2.52356932e-03 1.09767530e-06 9.99996816e-01 2.86168980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:170.59, Y:31.43, Z:0.29 [[ 9.31666185e-01 -3.63307901e-01 -2.34275953e-03 1.70586053e+02] [ 3.63306691e-01 9.31669130e-01 -9.38019767e-04 3.14289924e+01] [ 2.52346673e-03 2.27810836e-05 9.99996816e-01 2.87717979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:31.45, Z:0.29 [[ 9.33798632e-01 -3.57791318e-01 -2.34268239e-03 1.70639931e+02] [ 3.57790090e-01 9.33801569e-01 -9.38212385e-04 3.14531355e+01] [ 2.52328474e-03 3.79128969e-05 9.99996816e-01 2.86664574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.69, Y:31.48, Z:0.29 [[ 9.34195193e-01 -3.56754614e-01 -2.34252835e-03 1.70692414e+02] [ 3.56753382e-01 9.34198129e-01 -9.38596843e-04 3.14778460e+01] [ 2.52323435e-03 4.11277475e-05 9.99996816e-01 2.86601498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:31.50, Z:0.29 [[ 9.33659902e-01 -3.58153180e-01 -2.34235353e-03 1.70744606e+02] [ 3.58151951e-01 9.33662840e-01 -9.39032910e-04 3.15018413e+01] [ 2.52328607e-03 3.78188861e-05 9.99996816e-01 2.87306536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.80, Y:31.53, Z:0.29 [[ 9.32460893e-01 -3.61263335e-01 -2.34227780e-03 1.70797425e+02] [ 3.61262115e-01 9.32463834e-01 -9.39221766e-04 3.15273506e+01] [ 2.52339573e-03 2.96113331e-05 9.99996816e-01 2.88660822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.85, Y:31.55, Z:0.29 [[ 9.31340590e-01 -3.64141758e-01 -2.34212359e-03 1.70851192e+02] [ 3.64140547e-01 9.31343535e-01 -9.39606157e-04 3.15507262e+01] [ 2.52347151e-03 2.22311869e-05 9.99996816e-01 2.89985368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.90, Y:31.58, Z:0.29 [[ 9.30657778e-01 -3.65883335e-01 -2.34196939e-03 1.70903035e+02] [ 3.65882128e-01 9.30660725e-01 -9.39990352e-04 3.15770395e+01] [ 2.52350574e-03 1.79245880e-05 9.99996816e-01 2.90968600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:31.60, Z:0.29 [[ 9.29904986e-01 -3.67792379e-01 -2.34178603e-03 1.70956460e+02] [ 3.67791176e-01 9.29907934e-01 -9.40446938e-04 3.16001307e+01] [ 2.52353462e-03 1.32380582e-05 9.99996816e-01 2.90980594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.01, Y:31.63, Z:0.29 [[ 9.29361665e-01 -3.69163125e-01 -2.34160057e-03 1.71008285e+02] [ 3.69161926e-01 9.29364615e-01 -9.40908487e-04 3.16265934e+01] [ 2.52354943e-03 1.00145026e-05 9.99996816e-01 2.88293417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:31.65, Z:0.29 [[ 9.29346363e-01 -3.69201646e-01 -2.34154333e-03 1.71058919e+02] [ 3.69200447e-01 9.29349313e-01 -9.41050897e-04 3.16522691e+01] [ 2.52354923e-03 1.00633832e-05 9.99996816e-01 2.87739188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.11, Y:31.68, Z:0.29 [[ 9.29311772e-01 -3.69288706e-01 -2.34141983e-03 1.71111774e+02] [ 3.69287506e-01 9.29314722e-01 -9.41358087e-04 3.16763321e+01] [ 2.52354883e-03 1.01580624e-05 9.99996816e-01 2.88424537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90264000000002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:171.16, Y:31.70, Z:0.29 [[ 9.28978176e-01 -3.70127096e-01 -2.34123920e-03 1.71162727e+02] [ 3.70125898e-01 9.28981126e-01 -9.41807119e-04 3.17036247e+01] [ 2.52355536e-03 8.36499897e-06 9.99996816e-01 2.89865776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.21, Y:31.73, Z:0.29 [[ 9.28050885e-01 -3.72446069e-01 -2.34118343e-03 1.71213658e+02] [ 3.72444878e-01 9.28053838e-01 -9.41945731e-04 3.17318409e+01] [ 2.52356825e-03 2.21179170e-06 9.99996816e-01 2.88533004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.27, Y:31.76, Z:0.29 [[ 9.26825612e-01 -3.75484759e-01 -2.34099711e-03 1.71266308e+02] [ 3.75483576e-01 9.26828569e-01 -9.42408548e-04 3.17558550e+01] [ 2.52356305e-03 -5.55758900e-06 9.99996816e-01 2.86206962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.32, Y:31.78, Z:0.29 [[ 9.24241308e-01 -3.81801682e-01 -2.34093961e-03 1.71319557e+02] [ 3.81800519e-01 9.24244273e-01 -9.42551370e-04 3.17821162e+01] [ 2.52346772e-03 -2.26270463e-05 9.99996816e-01 2.87004390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.37, Y:31.80, Z:0.29 [[ 9.22300886e-01 -3.86465517e-01 -2.34077347e-03 1.71372805e+02] [ 3.86464368e-01 9.22303856e-01 -9.42963798e-04 3.18049409e+01] [ 2.52332739e-03 -3.49291923e-05 9.99996816e-01 2.86945261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.43, Y:31.83, Z:0.29 [[ 9.21263169e-01 -3.88932763e-01 -2.34071522e-03 1.71425524e+02] [ 3.88931622e-01 9.21266142e-01 -9.43108358e-04 3.18297414e+01] [ 2.52322742e-03 -4.15271727e-05 9.99996816e-01 2.90038246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.48, Y:31.85, Z:0.29 [[ 9.20579597e-01 -3.90547983e-01 -2.34063194e-03 1.71479388e+02] [ 3.90546846e-01 9.20582572e-01 -9.43314996e-04 3.18505437e+01] [ 2.52315474e-03 -4.57298832e-05 9.99996816e-01 2.90458901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:31.87, Z:0.29 [[ 9.19965575e-01 -3.91992173e-01 -2.34045640e-03 1.71533503e+02] [ 3.91991040e-01 9.19968551e-01 -9.43750323e-04 3.18741083e+01] [ 2.52308902e-03 -4.92201307e-05 9.99996816e-01 2.90843429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.59, Y:31.89, Z:0.29 [[ 9.19532840e-01 -3.93006208e-01 -2.34029707e-03 1.71587760e+02] [ 3.93005077e-01 9.19535817e-01 -9.44145262e-04 3.18927369e+01] [ 2.52304193e-03 -5.15760567e-05 9.99996816e-01 2.90760307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:171.64, Y:31.91, Z:0.29 [[ 9.19347459e-01 -3.93439669e-01 -2.34017285e-03 1.71643905e+02] [ 3.93438539e-01 9.19350436e-01 -9.44453054e-04 3.19117706e+01] [ 2.52302423e-03 -5.24336720e-05 9.99996816e-01 2.91263703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.70, Y:31.93, Z:0.29 [[ 9.20111515e-01 -3.91649491e-01 -2.34001804e-03 1.71699521e+02] [ 3.91648355e-01 9.20114489e-01 -9.44836470e-04 3.19299257e+01] [ 2.52312923e-03 -4.71092998e-05 9.99996816e-01 2.91159005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.75, Y:31.95, Z:0.29 [[ 9.21033838e-01 -3.89475537e-01 -2.33986129e-03 1.71753851e+02] [ 3.89474392e-01 9.21036810e-01 -9.45224487e-04 3.19490499e+01] [ 2.52324020e-03 -4.07323178e-05 9.99996816e-01 2.90132247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:171.81, Y:31.97, Z:0.29 [[ 9.23063205e-01 -3.84641190e-01 -2.33980584e-03 1.71809459e+02] [ 3.84640030e-01 9.23066170e-01 -9.45361738e-04 3.19675894e+01] [ 2.52342068e-03 -2.73543529e-05 9.99996816e-01 2.88608218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.86, Y:31.99, Z:0.29 [[ 9.25143332e-01 -3.79610776e-01 -2.33965106e-03 1.71864680e+02] [ 3.79609598e-01 9.25146290e-01 -9.45744637e-04 3.19871871e+01] [ 2.52353436e-03 -1.32046557e-05 9.99996816e-01 2.90106592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:171.92, Y:32.00, Z:0.29 [[ 9.26474958e-01 -3.76349146e-01 -2.33949127e-03 1.71919500e+02] [ 3.76347957e-01 9.26477911e-01 -9.46139744e-04 3.20048228e+01] [ 2.52356587e-03 -3.88798072e-06 9.99996816e-01 2.90546608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:171.97, Y:32.02, Z:0.29 [[ 9.28135510e-01 -3.72235145e-01 -2.33943499e-03 1.71972670e+02] [ 3.72233942e-01 9.28138458e-01 -9.46278883e-04 3.20246021e+01] [ 2.52355784e-03 7.45792310e-06 9.99996816e-01 2.90776115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.03, Y:32.05, Z:0.29 [[ 9.29955021e-01 -3.67665863e-01 -2.33931253e-03 1.72026699e+02] [ 3.67664645e-01 9.29957963e-01 -9.46581534e-04 3.20465212e+01] [ 2.52348803e-03 2.01957388e-05 9.99996816e-01 2.92382311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.08, Y:32.07, Z:0.29 [[ 9.30623620e-01 -3.65970224e-01 -2.33925397e-03 1.72079376e+02] [ 3.65969001e-01 9.30626560e-01 -9.46726235e-04 3.20690417e+01] [ 2.52344548e-03 2.49513602e-05 9.99996816e-01 2.91286836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:32.09, Z:0.29 [[ 9.30170168e-01 -3.67121217e-01 -2.33917266e-03 1.72133704e+02] [ 3.67119996e-01 9.30173108e-01 -9.46927092e-04 3.20892240e+01] [ 2.52347253e-03 2.20462750e-05 9.99996816e-01 2.92450151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.19, Y:32.11, Z:0.29 [[ 9.29597648e-01 -3.68568503e-01 -2.33898777e-03 1.72186863e+02] [ 3.68567286e-01 9.29600591e-01 -9.47383558e-04 3.21120407e+01] [ 2.52350015e-03 1.86111534e-05 9.99996816e-01 2.92614848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:32.14, Z:0.29 [[ 9.30009438e-01 -3.67528196e-01 -2.33880199e-03 1.72239251e+02] [ 3.67526974e-01 9.30012379e-01 -9.47841966e-04 3.21357780e+01] [ 2.52347345e-03 2.19291551e-05 9.99996816e-01 2.90809434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.29, Y:32.16, Z:0.29 [[ 9.30091169e-01 -3.67321315e-01 -2.33874462e-03 1.72294285e+02] [ 3.67320092e-01 9.30094109e-01 -9.47983507e-04 3.21555550e+01] [ 2.52346714e-03 2.26431992e-05 9.99996816e-01 2.91371343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.35, Y:32.18, Z:0.29 [[ 9.29616800e-01 -3.68520199e-01 -2.33856407e-03 1.72347616e+02] [ 3.68518979e-01 9.29619741e-01 -9.48428689e-04 3.21794411e+01] [ 2.52349046e-03 1.98699995e-05 9.99996816e-01 2.94355466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.40, Y:32.20, Z:0.29 [[ 9.28721080e-01 -3.70771745e-01 -2.33840156e-03 1.72401614e+02] [ 3.70770532e-01 9.28724024e-01 -9.48829210e-04 3.22015176e+01] [ 2.52352877e-03 1.41873014e-05 9.99996816e-01 2.93411922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34264000000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:172.46, Y:32.22, Z:0.29 [[ 9.28266659e-01 -3.71907975e-01 -2.33821609e-03 1.72457437e+02] [ 3.71906764e-01 9.28269604e-01 -9.49286029e-04 3.22215880e+01] [ 2.52354197e-03 1.15921904e-05 9.99996816e-01 2.93792989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.51, Y:32.24, Z:0.29 [[ 9.28153053e-01 -3.72191408e-01 -2.33805274e-03 1.72512020e+02] [ 3.72190196e-01 9.28155998e-01 -9.49688181e-04 3.22424493e+01] [ 2.52354346e-03 1.12556742e-05 9.99996816e-01 2.92227548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:32.26, Z:0.29 [[ 9.28121549e-01 -3.72269962e-01 -2.33786599e-03 1.72565516e+02] [ 3.72268750e-01 9.28124493e-01 -9.50147696e-04 3.22637876e+01] [ 2.52354213e-03 1.15381021e-05 9.99996816e-01 2.92546642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:32.28, Z:0.29 [[ 9.27745278e-01 -3.73206689e-01 -2.33780867e-03 1.72620897e+02] [ 3.73205480e-01 9.27748224e-01 -9.50288700e-04 3.22815223e+01] [ 2.52355194e-03 9.14284683e-06 9.99996816e-01 2.92010875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:32.30, Z:0.29 [[ 9.27602473e-01 -3.73561490e-01 -2.33762942e-03 1.72675820e+02] [ 3.73560281e-01 9.27605419e-01 -9.50729444e-04 3.23015803e+01] [ 2.52355362e-03 8.65348142e-06 9.99996816e-01 2.91781873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:32.32, Z:0.29 [[ 9.27836495e-01 -3.72979858e-01 -2.33746960e-03 1.72728935e+02] [ 3.72978646e-01 9.27839439e-01 -9.51122217e-04 3.23217200e+01] [ 2.52354591e-03 1.06596586e-05 9.99996816e-01 2.91640290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:172.78, Y:32.34, Z:0.30 [[ 9.28379057e-01 -3.71627317e-01 -2.33739048e-03 1.72783696e+02] [ 3.71626100e-01 9.28381999e-01 -9.51316615e-04 3.23429653e+01] [ 2.52352649e-03 1.45471130e-05 9.99996816e-01 2.97553739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.84, Y:32.36, Z:0.30 [[ 9.29638838e-01 -3.68464609e-01 -2.33722399e-03 1.72837913e+02] [ 3.68463381e-01 9.29641776e-01 -9.51725468e-04 3.23629565e+01] [ 2.52345822e-03 2.35795044e-05 9.99996816e-01 2.95661195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:172.89, Y:32.39, Z:0.30 [[ 9.30805051e-01 -3.65508542e-01 -2.33716525e-03 1.72891310e+02] [ 3.65507304e-01 9.30807985e-01 -9.51869715e-04 3.23864410e+01] [ 2.52336858e-03 3.17541720e-05 9.99996816e-01 2.96357963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.94, Y:32.41, Z:0.29 [[ 9.31317838e-01 -3.64199977e-01 -2.33697911e-03 1.72943893e+02] [ 3.64198734e-01 9.31320769e-01 -9.52326483e-04 3.24119138e+01] [ 2.52331447e-03 3.57938092e-05 9.99996816e-01 2.94778016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.00, Y:32.44, Z:0.30 [[ 9.31302705e-01 -3.64238674e-01 -2.33679314e-03 1.72997074e+02] [ 3.64237430e-01 9.31305636e-01 -9.52782599e-04 3.24364673e+01] [ 2.52330889e-03 3.61814849e-05 9.99996816e-01 2.97406172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:32.46, Z:0.30 [[ 9.31240393e-01 -3.64397956e-01 -2.33662626e-03 1.73047545e+02] [ 3.64396712e-01 9.31243324e-01 -9.53191673e-04 3.24647566e+01] [ 2.52330870e-03 3.61916625e-05 9.99996816e-01 2.97940753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.10, Y:32.49, Z:0.30 [[ 9.31458976e-01 -3.63838859e-01 -2.33656714e-03 1.73098554e+02] [ 3.63837612e-01 9.31461906e-01 -9.53336567e-04 3.24947269e+01] [ 2.52328418e-03 3.78628914e-05 9.99996816e-01 2.98252841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.15, Y:32.53, Z:0.30 [[ 9.30820735e-01 -3.65468604e-01 -2.33640878e-03 1.73148545e+02] [ 3.65467361e-01 9.30823666e-01 -9.53724537e-04 3.25262899e+01] [ 2.52334096e-03 3.38654240e-05 9.99996816e-01 2.97271799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18264000000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:173.20, Y:32.56, Z:0.30 [[ 9.27721680e-01 -3.73265357e-01 -2.33622574e-03 1.73199815e+02] [ 3.73264138e-01 9.27724621e-01 -9.54172682e-04 3.25551878e+01] [ 2.52353375e-03 1.31773970e-05 9.99996816e-01 2.96881327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:173.25, Y:32.58, Z:0.30 [[ 9.23128444e-01 -3.84484613e-01 -2.33605992e-03 1.73252724e+02] [ 3.84483429e-01 9.23131400e-01 -9.54578492e-04 3.25805102e+01] [ 2.52351100e-03 -1.69777679e-05 9.99996816e-01 2.96485237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.31, Y:32.60, Z:0.30 [[ 9.19440464e-01 -3.93222299e-01 -2.33589483e-03 1.73305694e+02] [ 3.93221141e-01 9.19443431e-01 -9.54982295e-04 3.26029907e+01] [ 2.52324349e-03 -4.04738656e-05 9.99996816e-01 2.96764772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.36, Y:32.63, Z:0.30 [[ 9.18458861e-01 -3.95509628e-01 -2.33570843e-03 1.73359533e+02] [ 3.95508477e-01 9.18461829e-01 -9.55437965e-04 3.26255254e+01] [ 2.52314396e-03 -4.62620197e-05 9.99996816e-01 2.97006147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:32.65, Z:0.29 [[ 9.18738168e-01 -3.94860385e-01 -2.33552206e-03 1.73413544e+02] [ 3.94859230e-01 9.18741136e-01 -9.55893330e-04 3.26469330e+01] [ 2.52318460e-03 -4.39867566e-05 9.99996816e-01 2.92874160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:32.67, Z:0.29 [[ 9.20009861e-01 -3.91888251e-01 -2.33546497e-03 1.73466965e+02] [ 3.91887087e-01 9.20012824e-01 -9.56032788e-04 3.26690053e+01] [ 2.52331574e-03 -3.56789729e-05 9.99996816e-01 2.94953411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.52, Y:32.69, Z:0.30 [[ 9.22199966e-01 -3.86706308e-01 -2.33528239e-03 1.73522160e+02] [ 3.86705125e-01 9.22202923e-01 -9.56478561e-04 3.26900380e+01] [ 2.52348054e-03 -2.10011748e-05 9.99996816e-01 2.97041776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.58, Y:32.71, Z:0.30 [[ 9.25583093e-01 -3.78537296e-01 -2.33512089e-03 1.73575458e+02] [ 3.78536087e-01 9.25586039e-01 -9.56872687e-04 3.27137071e+01] [ 2.52356730e-03 1.73765708e-06 9.99996816e-01 2.99205891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.63, Y:32.74, Z:0.30 [[ 9.29515934e-01 -3.68774562e-01 -2.33493430e-03 1.73629090e+02] [ 3.68773320e-01 9.29518866e-01 -9.57327782e-04 3.27373823e+01] [ 2.52340362e-03 2.87899518e-05 9.99996816e-01 2.97619152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.68, Y:32.76, Z:0.30 [[ 9.31716715e-01 -3.63178347e-01 -2.33476949e-03 1.73680128e+02] [ 3.63177087e-01 9.31719639e-01 -9.57729558e-04 3.27620288e+01] [ 2.52317723e-03 4.43978548e-05 9.99996816e-01 2.95770447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:32.79, Z:0.30 [[ 9.33997056e-01 -3.57273074e-01 -2.33464136e-03 1.73731523e+02] [ 3.57271794e-01 9.33999972e-01 -9.58041809e-04 3.27890121e+01] [ 2.52283750e-03 6.07067220e-05 9.99996816e-01 2.96633158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84264000000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:32.82, Z:0.30 [[ 9.34552029e-01 -3.55818851e-01 -2.33445343e-03 1.73783039e+02] [ 3.55817566e-01 9.34554943e-01 -9.58499522e-04 3.28173014e+01] [ 2.52272719e-03 6.51281375e-05 9.99996816e-01 2.97259791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90264000000002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:32.84, Z:0.29 [[ 9.33157561e-01 -3.59460035e-01 -2.33428313e-03 1.73835045e+02] [ 3.59458760e-01 9.33160479e-01 -9.58914061e-04 3.28421087e+01] [ 2.52295205e-03 5.57393862e-05 9.99996816e-01 2.93846242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.89, Y:32.87, Z:0.29 [[ 9.31383050e-01 -3.64033192e-01 -2.33422305e-03 1.73887333e+02] [ 3.64031931e-01 9.31385974e-01 -9.59060291e-04 3.28665928e+01] [ 2.52319239e-03 4.35207722e-05 9.99996816e-01 2.94900203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.94, Y:32.89, Z:0.30 [[ 9.28674021e-01 -3.70889627e-01 -2.33403242e-03 1.73940424e+02] [ 3.70888386e-01 9.28676954e-01 -9.59523999e-04 3.28932619e+01] [ 2.52343962e-03 2.54194920e-05 9.99996816e-01 2.96947271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:173.99, Y:32.92, Z:0.30 [[ 9.27323779e-01 -3.74252804e-01 -2.33386353e-03 1.73991473e+02] [ 3.74251574e-01 9.27326716e-01 -9.59934617e-04 3.29192462e+01] [ 2.52351223e-03 1.67180971e-05 9.99996816e-01 2.97025156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.04, Y:32.95, Z:0.29 [[ 9.27391316e-01 -3.74085419e-01 -2.33378057e-03 1.74043123e+02] [ 3.74084188e-01 9.27394252e-01 -9.60136275e-04 3.29459300e+01] [ 2.52350767e-03 1.73916358e-05 9.99996816e-01 2.94254690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.09, Y:32.98, Z:0.30 [[ 9.27403458e-01 -3.74055317e-01 -2.33369344e-03 1.74094476e+02] [ 3.74054084e-01 9.27406394e-01 -9.60348006e-04 3.29751720e+01] [ 2.52350549e-03 1.77024995e-05 9.99996816e-01 2.95770754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:33.00, Z:0.30 [[ 9.25763722e-01 -3.78095339e-01 -2.33354122e-03 1.74146004e+02] [ 3.78094118e-01 9.25766663e-01 -9.60717736e-04 3.30039836e+01] [ 2.52355757e-03 7.09941689e-06 9.99996816e-01 3.02211514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.20, Y:33.03, Z:0.30 [[ 9.23002872e-01 -3.84785985e-01 -2.33337269e-03 1.74199364e+02] [ 3.84784784e-01 9.23005821e-01 -9.61126893e-04 3.30271704e+01] [ 2.52354473e-03 -1.07234240e-05 9.99996816e-01 3.01428212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.25, Y:33.05, Z:0.30 [[ 9.20943890e-01 -3.89688217e-01 -2.33331449e-03 1.74253394e+02] [ 3.89687032e-01 9.20946846e-01 -9.61268146e-04 3.30508345e+01] [ 2.52345349e-03 -2.39883737e-05 9.99996816e-01 3.01939117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.31, Y:33.07, Z:0.30 [[ 9.19009349e-01 -3.94228833e-01 -2.33314820e-03 1.74306193e+02] [ 3.94227661e-01 9.19012310e-01 -9.61671601e-04 3.30736764e+01] [ 2.52331059e-03 -3.60063664e-05 9.99996816e-01 2.97127624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:174.36, Y:33.09, Z:0.30 [[ 9.18604031e-01 -3.95172356e-01 -2.33308984e-03 1.74359874e+02] [ 3.95171188e-01 9.18606993e-01 -9.61813152e-04 3.30940258e+01] [ 2.52327462e-03 -3.84444464e-05 9.99996816e-01 2.96202154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.41, Y:33.11, Z:0.30 [[ 9.18096804e-01 -3.96349359e-01 -2.33303218e-03 1.74414864e+02] [ 3.96348194e-01 9.18099768e-01 -9.61953014e-04 3.31134151e+01] [ 2.52322576e-03 -4.15271018e-05 9.99996816e-01 2.96750542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:33.14, Z:0.30 [[ 9.18251441e-01 -3.95990970e-01 -2.33297544e-03 1.74469473e+02] [ 3.95989804e-01 9.18254404e-01 -9.62090604e-04 3.31354650e+01] [ 2.52324416e-03 -4.03934019e-05 9.99996816e-01 3.01692620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.52, Y:33.16, Z:0.30 [[ 9.19141415e-01 -3.93920825e-01 -2.33280661e-03 1.74523967e+02] [ 3.93919651e-01 9.19144375e-01 -9.62499792e-04 3.31556026e+01] [ 2.52333478e-03 -3.42649436e-05 9.99996816e-01 3.01633274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.58, Y:33.17, Z:0.30 [[ 9.19557158e-01 -3.92949349e-01 -2.33274720e-03 1.74579513e+02] [ 3.92948171e-01 9.19560117e-01 -9.62643766e-04 3.31743033e+01] [ 2.52337152e-03 -3.14427783e-05 9.99996816e-01 3.03281216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:33.19, Z:0.30 [[ 9.19560267e-01 -3.92942074e-01 -2.33258638e-03 1.74634696e+02] [ 3.92940895e-01 9.19563225e-01 -9.63033278e-04 3.31928362e+01] [ 2.52337695e-03 -3.10014421e-05 9.99996816e-01 3.03235068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:33.21, Z:0.30 [[ 9.18642780e-01 -3.95082273e-01 -2.33240049e-03 1.74691836e+02] [ 3.95081100e-01 9.18645740e-01 -9.63483272e-04 3.32083230e+01] [ 2.52330494e-03 -3.63904013e-05 9.99996816e-01 3.02165747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:33.22, Z:0.30 [[ 9.17796335e-01 -3.97044644e-01 -2.33223801e-03 1.74749097e+02] [ 3.97043476e-01 9.17799297e-01 -9.63876429e-04 3.32210498e+01] [ 2.52322838e-03 -4.13576316e-05 9.99996816e-01 2.97303207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:33.23, Z:0.30 [[ 9.17496231e-01 -3.97737637e-01 -2.33218112e-03 1.74807007e+02] [ 3.97736471e-01 9.17499194e-01 -9.64014059e-04 3.32328718e+01] [ 2.52319897e-03 -4.31142236e-05 9.99996816e-01 3.00376589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.86, Y:33.25, Z:0.30 [[ 9.18019790e-01 -3.96527713e-01 -2.33199932e-03 1.74863786e+02] [ 3.96526542e-01 9.18022751e-01 -9.64453637e-04 3.32493003e+01] [ 2.52326103e-03 -3.93121007e-05 9.99996816e-01 3.02252730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:33.26, Z:0.30 [[ 9.19460035e-01 -3.93176558e-01 -2.33184170e-03 1.74920209e+02] [ 3.93175375e-01 9.19462992e-01 -9.64834578e-04 3.32635041e+01] [ 2.52339249e-03 -2.96959004e-05 9.99996816e-01 3.02651149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:174.98, Y:33.28, Z:0.30 [[ 9.21299413e-01 -3.88846956e-01 -2.33165881e-03 1.74977477e+02] [ 3.88845758e-01 9.21302363e-01 -9.65276364e-04 3.32779644e+01] [ 2.52350755e-03 -1.73470882e-05 9.99996816e-01 3.04440443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22264 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:175.03, Y:33.30, Z:0.30 [[ 9.23301062e-01 -3.84069933e-01 -2.33146881e-03 1.75034435e+02] [ 3.84068719e-01 9.23304005e-01 -9.65735053e-04 3.32953054e+01] [ 2.52356429e-03 -3.78004087e-06 9.99996816e-01 3.03277402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.09, Y:33.31, Z:0.30 [[ 9.24756444e-01 -3.80552342e-01 -2.33130325e-03 1.75088248e+02] [ 3.80551115e-01 9.24759382e-01 -9.66134544e-04 3.33137633e+01] [ 2.52355932e-03 6.25909111e-06 9.99996816e-01 3.01617851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.14, Y:33.33, Z:0.30 [[ 9.26510118e-01 -3.76262630e-01 -2.33122138e-03 1.75143450e+02] [ 3.76261390e-01 9.26513051e-01 -9.66332069e-04 3.33334658e+01] [ 2.52350168e-03 1.81678444e-05 9.99996816e-01 3.03711206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.20, Y:33.36, Z:0.30 [[ 9.27200497e-01 -3.74558147e-01 -2.33106143e-03 1.75196358e+02] [ 3.74556900e-01 9.27203427e-01 -9.66717753e-04 3.33559608e+01] [ 2.52346015e-03 2.32260384e-05 9.99996816e-01 3.03975994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.25, Y:33.38, Z:0.30 [[ 9.26566487e-01 -3.76123800e-01 -2.33087798e-03 1.75250751e+02] [ 3.76122557e-01 9.26569418e-01 -9.67159865e-04 3.33782501e+01] [ 2.52349210e-03 1.94421311e-05 9.99996816e-01 3.02490738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.30, Y:33.40, Z:0.30 [[ 9.24629298e-01 -3.80861167e-01 -2.33071344e-03 1.75304218e+02] [ 3.80859938e-01 9.24632236e-01 -9.67556228e-04 3.34007913e+01] [ 2.52355737e-03 6.95546043e-06 9.99996816e-01 3.04156286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.36, Y:33.43, Z:0.31 [[ 9.22750365e-01 -3.85391142e-01 -2.33065553e-03 1.75357880e+02] [ 3.85389927e-01 9.22753308e-01 -9.67695692e-04 3.34259583e+01] [ 2.52356145e-03 -5.26961289e-06 9.99996816e-01 3.05996025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.41, Y:33.45, Z:0.31 [[ 9.20807966e-01 -3.90009306e-01 -2.33049353e-03 1.75410471e+02] [ 3.90008105e-01 9.20810915e-01 -9.68085685e-04 3.34496072e+01] [ 2.52350631e-03 -1.74903541e-05 9.99996816e-01 3.06161998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.46, Y:33.47, Z:0.31 [[ 9.19540239e-01 -3.92988955e-01 -2.33030511e-03 1.75463698e+02] [ 3.92987762e-01 9.19543191e-01 -9.68539034e-04 3.34734981e+01] [ 2.52344134e-03 -2.51707730e-05 9.99996816e-01 3.08014879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.52, Y:33.50, Z:0.31 [[ 9.17872820e-01 -3.96867808e-01 -2.33024567e-03 1.75518204e+02] [ 3.96866627e-01 9.17875777e-01 -9.68682003e-04 3.34960728e+01] [ 2.52331476e-03 -3.56698586e-05 9.99996816e-01 3.08403102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.57, Y:33.52, Z:0.30 [[ 9.16734793e-01 -3.99489537e-01 -2.33007935e-03 1.75572051e+02] [ 3.99488364e-01 9.16737753e-01 -9.69081908e-04 3.35181674e+01] [ 2.52320979e-03 -4.24484852e-05 9.99996816e-01 3.04781132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.63, Y:33.54, Z:0.30 [[ 9.16038576e-01 -4.01083405e-01 -2.32999190e-03 1.75626257e+02] [ 4.01082237e-01 9.16041538e-01 -9.69292135e-04 3.35395830e+01] [ 2.52313635e-03 -4.66093736e-05 9.99996816e-01 3.04884952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.68, Y:33.56, Z:0.31 [[ 9.15927793e-01 -4.01336330e-01 -2.32980743e-03 1.75679176e+02] [ 4.01335161e-01 9.15930755e-01 -9.69735322e-04 3.35631844e+01] [ 2.52313229e-03 -4.68261061e-05 9.99996816e-01 3.07006544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.73, Y:33.59, Z:0.30 [[ 9.16796109e-01 -3.99348804e-01 -2.32961724e-03 1.75732128e+02] [ 3.99347627e-01 9.16799068e-01 -9.70192008e-04 3.35855232e+01] [ 2.52323593e-03 -4.08588583e-05 9.99996816e-01 3.04029285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.79, Y:33.61, Z:0.31 [[ 9.18243933e-01 -3.96008399e-01 -2.32953537e-03 1.75785923e+02] [ 3.96007212e-01 9.18246888e-01 -9.70388538e-04 3.36087521e+01] [ 2.52337062e-03 -3.14594185e-05 9.99996816e-01 3.07433010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.84, Y:33.63, Z:0.31 [[ 9.18522378e-01 -3.95362131e-01 -2.32937545e-03 1.75839280e+02] [ 3.95360941e-01 9.18525331e-01 -9.70772269e-04 3.36317581e+01] [ 2.52339695e-03 -2.92680167e-05 9.99996816e-01 3.08796369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:33.65, Z:0.31 [[ 9.17915117e-01 -3.96769976e-01 -2.32918491e-03 1.75894097e+02] [ 3.96768788e-01 9.17918071e-01 -9.71229220e-04 3.36533103e+01] [ 2.52335551e-03 -3.26418921e-05 9.99996816e-01 3.07392281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.95, Y:33.67, Z:0.30 [[ 9.16660203e-01 -3.99660665e-01 -2.32901844e-03 1.75949050e+02] [ 3.99659486e-01 9.16663161e-01 -9.71628258e-04 3.36708974e+01] [ 2.52324700e-03 -4.01613553e-05 9.99996816e-01 3.03092640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.00, Y:33.69, Z:0.31 [[ 9.16076304e-01 -4.00997234e-01 -2.32895959e-03 1.76004542e+02] [ 4.00996059e-01 9.16079263e-01 -9.71769297e-04 3.36894708e+01] [ 2.52318838e-03 -4.36887922e-05 9.99996816e-01 3.06087114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.06, Y:33.71, Z:0.31 [[ 9.17647920e-01 -3.97387559e-01 -2.32877681e-03 1.76060034e+02] [ 3.97386371e-01 9.17650874e-01 -9.72207117e-04 3.37066360e+01] [ 2.52334709e-03 -3.32803276e-05 9.99996816e-01 3.05791428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.11, Y:33.73, Z:0.31 [[ 9.19754092e-01 -3.92488201e-01 -2.32859499e-03 1.76114292e+02] [ 3.92486996e-01 9.19757040e-01 -9.72642415e-04 3.37265494e+01] [ 2.52349230e-03 -1.93514097e-05 9.99996816e-01 3.07245028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.17, Y:33.75, Z:0.30 [[ 9.23723312e-01 -3.83053288e-01 -2.32840224e-03 1.76167391e+02] [ 3.83052052e-01 9.23726246e-01 -9.73103612e-04 3.37489801e+01] [ 2.52355680e-03 6.97923462e-06 9.99996816e-01 3.03524779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.22, Y:33.77, Z:0.30 [[ 9.25576296e-01 -3.78553959e-01 -2.32834270e-03 1.76221369e+02] [ 3.78552709e-01 9.25579224e-01 -9.73246064e-04 3.37697345e+01] [ 2.52349178e-03 1.94130528e-05 9.99996816e-01 3.01957499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.28, Y:33.79, Z:0.30 [[ 9.26496544e-01 -3.76296072e-01 -2.32828410e-03 1.76275536e+02] [ 3.76294814e-01 9.26499469e-01 -9.73386235e-04 3.37920338e+01] [ 2.52343539e-03 2.57177511e-05 9.99996816e-01 3.02406744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:176.33, Y:33.82, Z:0.30 [[ 9.27459472e-01 -3.73916444e-01 -2.32812252e-03 1.76329326e+02] [ 3.73915177e-01 9.27462394e-01 -9.73772537e-04 3.38157434e+01] [ 2.52335565e-03 3.26142198e-05 9.99996816e-01 3.04555688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.38, Y:33.84, Z:0.31 [[ 9.28233446e-01 -3.71990928e-01 -2.32796161e-03 1.76383443e+02] [ 3.71989655e-01 9.28236364e-01 -9.74157072e-04 3.38379416e+01] [ 2.52327621e-03 3.82675413e-05 9.99996816e-01 3.07584530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78264000000001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:33.86, Z:0.31 [[ 9.28241612e-01 -3.71970551e-01 -2.32779745e-03 1.76435228e+02] [ 3.71969276e-01 9.28244530e-01 -9.74549180e-04 3.38638195e+01] [ 2.52326884e-03 3.87479698e-05 9.99996816e-01 3.09267358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84264000000002 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:33.89, Z:0.31 [[ 9.27855374e-01 -3.72932953e-01 -2.32760344e-03 1.76487345e+02] [ 3.72931680e-01 9.27858293e-01 -9.75012328e-04 3.38888824e+01] [ 2.52330038e-03 3.66333678e-05 9.99996816e-01 3.06666542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:33.91, Z:0.31 [[ 9.26453836e-01 -3.76401211e-01 -2.32754357e-03 1.76541314e+02] [ 3.76399949e-01 9.26456760e-01 -9.75155215e-04 3.39125643e+01] [ 2.52341808e-03 2.73490081e-05 9.99996816e-01 3.07875388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.59, Y:33.94, Z:0.31 [[ 9.24214754e-01 -3.81866039e-01 -2.32737997e-03 1.76593993e+02] [ 3.81864793e-01 9.24217684e-01 -9.75545518e-04 3.39371064e+01] [ 2.52353343e-03 1.28690870e-05 9.99996816e-01 3.09356093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.65, Y:33.96, Z:0.31 [[ 9.21916196e-01 -3.87382384e-01 -2.32718796e-03 1.76647620e+02] [ 3.87381155e-01 9.21919133e-01 -9.76003364e-04 3.39589529e+01] [ 2.52356562e-03 -1.71544941e-06 9.99996816e-01 3.07102739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:176.70, Y:33.98, Z:0.31 [[ 9.20128356e-01 -3.91610001e-01 -2.32712870e-03 1.76701954e+02] [ 3.91608784e-01 9.20131299e-01 -9.76144644e-04 3.39794079e+01] [ 2.52353195e-03 -1.31456726e-05 9.99996816e-01 3.09457709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.76, Y:34.00, Z:0.31 [[ 9.19946246e-01 -3.92037612e-01 -2.32693540e-03 1.76755724e+02] [ 3.92036396e-01 9.19949189e-01 -9.76605195e-04 3.40007378e+01] [ 2.52352831e-03 -1.38190871e-05 9.99996816e-01 3.10156059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20264 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:176.81, Y:34.02, Z:0.31 [[ 9.20954997e-01 -3.89662006e-01 -2.32687567e-03 1.76811289e+02] [ 3.89660782e-01 9.20957936e-01 -9.76747506e-04 3.40213484e+01] [ 2.52355601e-03 -7.15169600e-06 9.99996816e-01 3.13677572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.86, Y:34.04, Z:0.31 [[ 9.22316444e-01 -3.86428471e-01 -2.32670530e-03 1.76864975e+02] [ 3.86427235e-01 9.22319379e-01 -9.77153165e-04 3.40430503e+01] [ 2.52356519e-03 2.14213599e-06 9.99996816e-01 3.12163458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.92, Y:34.06, Z:0.31 [[ 9.23037584e-01 -3.84702749e-01 -2.32664508e-03 1.76918991e+02] [ 3.84701508e-01 9.23040516e-01 -9.77296544e-04 3.40637760e+01] [ 2.52355634e-03 7.01757164e-06 9.99996816e-01 3.12483679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.97, Y:34.09, Z:0.31 [[ 9.24223061e-01 -3.81845938e-01 -2.32646096e-03 1.76972948e+02] [ 3.81844686e-01 9.24225989e-01 -9.77734643e-04 3.40852880e+01] [ 2.52351968e-03 1.52981505e-05 9.99996816e-01 3.12843416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.03, Y:34.11, Z:0.31 [[ 9.25090258e-01 -3.79740179e-01 -2.32626913e-03 1.77026164e+02] [ 3.79738920e-01 9.25093182e-01 -9.78190830e-04 3.41066425e+01] [ 2.52347407e-03 2.15398799e-05 9.99996816e-01 3.11133901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.08, Y:34.13, Z:0.31 [[ 9.26319213e-01 -3.76732404e-01 -2.32618631e-03 1.77079402e+02] [ 3.76731135e-01 9.26322133e-01 -9.78387747e-04 3.41284996e+01] [ 2.52338823e-03 2.99525597e-05 9.99996816e-01 3.10561963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:34.15, Z:0.31 [[ 9.28259106e-01 -3.71926904e-01 -2.32599743e-03 1.77132857e+02] [ 3.71925618e-01 9.28262019e-01 -9.78836582e-04 3.41512415e+01] [ 2.52319073e-03 4.35159390e-05 9.99996816e-01 3.11556437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62264000000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:34.18, Z:0.31 [[ 9.30239924e-01 -3.66944511e-01 -2.32580437e-03 1.77184475e+02] [ 3.66943208e-01 9.30242830e-01 -9.79295096e-04 3.41808635e+01] [ 2.52290980e-03 5.75412798e-05 9.99996816e-01 3.11438054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.24, Y:34.21, Z:0.31 [[ 9.31495518e-01 -3.63745366e-01 -2.32563541e-03 1.77235083e+02] [ 3.63744053e-01 9.31498419e-01 -9.79696179e-04 3.42095680e+01] [ 2.52268565e-03 6.66465512e-05 9.99996816e-01 3.08872009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.29, Y:34.24, Z:0.31 [[ 9.31773588e-01 -3.63032468e-01 -2.32557578e-03 1.77286707e+02] [ 3.63031152e-01 9.31776487e-01 -9.79837709e-04 3.42354964e+01] [ 2.52262973e-03 6.87304432e-05 9.99996816e-01 3.10131709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.34, Y:34.27, Z:0.31 [[ 9.31795036e-01 -3.62977415e-01 -2.32538497e-03 1.77336366e+02] [ 3.62976097e-01 9.31797935e-01 -9.80290332e-04 3.42653892e+01] [ 2.52261216e-03 6.93705038e-05 9.99996816e-01 3.08149874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:34.29, Z:0.31 [[ 9.30459431e-01 -3.66387556e-01 -2.32532594e-03 1.77387115e+02] [ 3.66386249e-01 9.30462334e-01 -9.80430324e-04 3.42948897e+01] [ 2.52284568e-03 6.02831914e-05 9.99996816e-01 3.08096995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:177.44, Y:34.32, Z:0.31 [[ 9.27227773e-01 -3.74490653e-01 -2.32526773e-03 1.77439692e+02] [ 3.74489372e-01 9.27230688e-01 -9.80568369e-04 3.43223624e+01] [ 2.52327329e-03 3.84221740e-05 9.99996816e-01 3.10918392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:34.35, Z:0.31 [[ 9.23654249e-01 -3.83219810e-01 -2.32509403e-03 1.77491569e+02] [ 3.83218555e-01 9.23657175e-01 -9.80980079e-04 3.43486611e+01] [ 2.52352078e-03 1.50672459e-05 9.99996816e-01 3.07861811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:34.37, Z:0.30 [[ 9.22190621e-01 -3.86728656e-01 -2.32503237e-03 1.77543993e+02] [ 3.86727411e-01 9.22193552e-01 -9.81126195e-04 3.43719624e+01] [ 2.52355947e-03 5.63162763e-06 9.99996816e-01 3.04518997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:34.40, Z:0.30 [[ 9.21226636e-01 -3.89019384e-01 -2.32490066e-03 1.77597197e+02] [ 3.89018146e-01 9.21229569e-01 -9.81438197e-04 3.43954417e+01] [ 2.52356571e-03 -3.01534601e-07 9.99996816e-01 3.04868192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.65, Y:34.42, Z:0.31 [[ 9.21443756e-01 -3.88504827e-01 -2.32470524e-03 1.77649319e+02] [ 3.88503586e-01 9.21446688e-01 -9.81900850e-04 3.44206955e+01] [ 2.52356517e-03 1.61008263e-06 9.99996816e-01 3.06031449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:34.44, Z:0.31 [[ 9.22209530e-01 -3.86683564e-01 -2.32464522e-03 1.77702753e+02] [ 3.86682317e-01 9.22212460e-01 -9.82042942e-04 3.44446233e+01] [ 2.52355665e-03 6.75016061e-06 9.99996816e-01 3.06929263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.76, Y:34.47, Z:0.31 [[ 9.23466494e-01 -3.83672037e-01 -2.32447728e-03 1.77755316e+02] [ 3.83670779e-01 9.23469419e-01 -9.82440274e-04 3.44702605e+01] [ 2.52351855e-03 1.54166633e-05 9.99996816e-01 3.09000233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34264000000002 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:34.50, Z:0.31 [[ 9.24150881e-01 -3.82020610e-01 -2.32430926e-03 1.77807630e+02] [ 3.82019346e-01 9.24153804e-01 -9.82837639e-04 3.44951439e+01] [ 2.52348348e-03 2.03591672e-05 9.99996816e-01 3.10337184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:34.52, Z:0.31 [[ 9.24265244e-01 -3.81743836e-01 -2.32424975e-03 1.77861778e+02] [ 3.81742571e-01 9.24268166e-01 -9.82978352e-04 3.45191198e+01] [ 2.52347598e-03 2.12676515e-05 9.99996816e-01 3.11147116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.91, Y:34.54, Z:0.31 [[ 9.23410485e-01 -3.83806819e-01 -2.32408719e-03 1.77914651e+02] [ 3.83805559e-01 9.23413410e-01 -9.83362536e-04 3.45440045e+01] [ 2.52351453e-03 1.60496921e-05 9.99996816e-01 3.13589601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.97, Y:34.57, Z:0.31 [[ 9.22407501e-01 -3.86211084e-01 -2.32389505e-03 1.77967404e+02] [ 3.86209832e-01 9.22410428e-01 -9.83816402e-04 3.45684992e+01] [ 2.52354583e-03 9.96851259e-06 9.99996816e-01 3.10805478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.02, Y:34.59, Z:0.31 [[ 9.20980878e-01 -3.89600850e-01 -2.32383563e-03 1.78020315e+02] [ 3.89599607e-01 9.20983810e-01 -9.83956741e-04 3.45913835e+01] [ 2.52356537e-03 8.39895477e-07 9.99996816e-01 3.09015044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:34.61, Z:0.31 [[ 9.19635885e-01 -3.92765119e-01 -2.32377868e-03 1.78074361e+02] [ 3.92763887e-01 9.19638821e-01 -9.84091207e-04 3.46143832e+01] [ 2.52355379e-03 -7.69075921e-06 9.99996816e-01 3.11649304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:34.64, Z:0.31 [[ 9.18681968e-01 -3.94991194e-01 -2.32361699e-03 1.78127217e+02] [ 3.94989967e-01 9.18684906e-01 -9.84472845e-04 3.46376723e+01] [ 2.52352996e-03 -1.33879479e-05 9.99996816e-01 3.12915172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.18, Y:34.66, Z:0.31 [[ 9.18770482e-01 -3.94785263e-01 -2.32343281e-03 1.78182667e+02] [ 3.94784034e-01 9.18773419e-01 -9.84907321e-04 3.46575758e+01] [ 2.52353521e-03 -1.23504061e-05 9.99996816e-01 3.11854324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.23, Y:34.68, Z:0.31 [[ 9.20476091e-01 -3.90791976e-01 -2.32326499e-03 1.78234934e+02] [ 3.90790734e-01 9.20479023e-01 -9.85303030e-04 3.46816249e+01] [ 2.52356521e-03 -9.62551097e-07 9.99996816e-01 3.13023373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.29, Y:34.71, Z:0.32 [[ 9.22351290e-01 -3.86345312e-01 -2.32320559e-03 1.78288482e+02] [ 3.86344055e-01 9.22354216e-01 -9.85443073e-04 3.47065852e+01] [ 2.52353978e-03 1.13680205e-05 9.99996816e-01 3.16284200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.34, Y:34.73, Z:0.31 [[ 9.23850108e-01 -3.82747413e-01 -2.32303447e-03 1.78341674e+02] [ 3.82746144e-01 9.23853028e-01 -9.85846301e-04 3.47284236e+01] [ 2.52347255e-03 2.16417257e-05 9.99996816e-01 3.12912805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.39, Y:34.75, Z:0.31 [[ 9.25002421e-01 -3.79954108e-01 -2.32297388e-03 1.78394842e+02] [ 3.79952830e-01 9.25005338e-01 -9.85989040e-04 3.47539954e+01] [ 2.52339383e-03 2.94217481e-05 9.99996816e-01 3.13176935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.45, Y:34.78, Z:0.31 [[ 9.26972644e-01 -3.75121743e-01 -2.32280396e-03 1.78446031e+02] [ 3.75120449e-01 9.26975553e-01 -9.86389196e-04 3.47800996e+01] [ 2.52319852e-03 4.30245385e-05 9.99996816e-01 3.09201362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:34.81, Z:0.31 [[ 9.28066686e-01 -3.72406809e-01 -2.32270664e-03 1.78498128e+02] [ 3.72405505e-01 9.28069591e-01 -9.86618299e-04 3.48072836e+01] [ 2.52305677e-03 5.06588363e-05 9.99996816e-01 3.09183897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:34.83, Z:0.31 [[ 9.28381302e-01 -3.71621802e-01 -2.32254987e-03 1.78551193e+02] [ 3.71620495e-01 9.28384206e-01 -9.86987199e-04 3.48338686e+01] [ 2.52300458e-03 5.31933263e-05 9.99996816e-01 3.08748550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:34.86, Z:0.31 [[ 9.27998689e-01 -3.72576220e-01 -2.32239239e-03 1.78602493e+02] [ 3.72574915e-01 9.28001594e-01 -9.87357625e-04 3.48612335e+01] [ 2.52304981e-03 5.10014348e-05 9.99996816e-01 3.12033178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.65, Y:34.89, Z:0.31 [[ 9.28086426e-01 -3.72357616e-01 -2.32219706e-03 1.78654185e+02] [ 3.72356309e-01 9.28089329e-01 -9.87816804e-04 3.48884316e+01] [ 2.52302742e-03 5.20946404e-05 9.99996816e-01 3.10542213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.71, Y:34.91, Z:0.31 [[ 9.28268714e-01 -3.71902948e-01 -2.32210686e-03 1.78705656e+02] [ 3.71901640e-01 9.28271617e-01 -9.88028797e-04 3.49146315e+01] [ 2.52299671e-03 5.35608712e-05 9.99996816e-01 3.09205962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.76, Y:34.94, Z:0.31 [[ 9.28276311e-01 -3.71883986e-01 -2.32204747e-03 1.78757127e+02] [ 3.71882677e-01 9.28279213e-01 -9.88168345e-04 3.49440796e+01] [ 2.52299239e-03 5.37640344e-05 9.99996816e-01 3.11929483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.81, Y:34.97, Z:0.31 [[ 9.27310049e-01 -3.74286897e-01 -2.32188075e-03 1.78808319e+02] [ 3.74285595e-01 9.27312955e-01 -9.88559935e-04 3.49735036e+01] [ 2.52311513e-03 4.76550442e-05 9.99996816e-01 3.13067308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:35.00, Z:0.31 [[ 9.25362516e-01 -3.79076277e-01 -2.32171551e-03 1.78860153e+02] [ 3.79074989e-01 9.25365428e-01 -9.88947868e-04 3.49987509e+01] [ 2.52332194e-03 3.50310072e-05 9.99996816e-01 3.13424281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.91, Y:35.02, Z:0.31 [[ 9.23373994e-01 -3.83894619e-01 -2.32152282e-03 1.78913161e+02] [ 3.83893344e-01 9.23376912e-01 -9.89399995e-04 3.50243776e+01] [ 2.52346591e-03 2.23690654e-05 9.99996816e-01 3.13800067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.97, Y:35.05, Z:0.31 [[ 9.22454954e-01 -3.86097745e-01 -2.32135241e-03 1.78965479e+02] [ 3.86096476e-01 9.22457875e-01 -9.89799650e-04 3.50503083e+01] [ 2.52350922e-03 1.67796042e-05 9.99996816e-01 3.10624176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.02, Y:35.07, Z:0.31 [[ 9.22462034e-01 -3.86080830e-01 -2.32118386e-03 1.79019418e+02] [ 3.86079560e-01 9.22464955e-01 -9.90194759e-04 3.50730498e+01] [ 2.52350598e-03 1.72554268e-05 9.99996816e-01 3.10140815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78264000000001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:179.07, Y:35.10, Z:0.31 [[ 9.23558402e-01 -3.83450768e-01 -2.32101623e-03 1.79072216e+02] [ 3.83449490e-01 9.23561318e-01 -9.90587529e-04 3.50979585e+01] [ 2.52344236e-03 2.48729462e-05 9.99996816e-01 3.11465380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.12, Y:35.12, Z:0.31 [[ 9.24648665e-01 -3.80814206e-01 -2.32082493e-03 1.79124739e+02] [ 3.80812918e-01 9.24651577e-01 -9.91035518e-04 3.51225334e+01] [ 2.52335484e-03 3.25595545e-05 9.99996816e-01 3.13464228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90264000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:179.18, Y:35.15, Z:0.32 [[ 9.24409956e-01 -3.81393298e-01 -2.32076564e-03 1.79177800e+02] [ 3.81392011e-01 9.24412868e-01 -9.91174351e-04 3.51454756e+01] [ 2.52337287e-03 3.11299640e-05 9.99996816e-01 3.17822278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.23, Y:35.17, Z:0.32 [[ 9.24386132e-01 -3.81451036e-01 -2.32067812e-03 1.79231866e+02] [ 3.81449749e-01 9.24389045e-01 -9.91379228e-04 3.51694679e+01] [ 2.52337206e-03 3.11951247e-05 9.99996816e-01 3.17599546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:179.28, Y:35.19, Z:0.32 [[ 9.25140021e-01 -3.79618962e-01 -2.32051129e-03 1.79284167e+02] [ 3.79617668e-01 9.25142931e-01 -9.91769569e-04 3.51941056e+01] [ 2.52329915e-03 3.66186361e-05 9.99996816e-01 3.17972090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.34, Y:35.22, Z:0.32 [[ 9.25657694e-01 -3.78354926e-01 -2.32042265e-03 1.79336811e+02] [ 3.78353628e-01 9.25660601e-01 -9.91976909e-04 3.52187655e+01] [ 2.52324317e-03 4.02907305e-05 9.99996816e-01 3.17895853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14264 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:179.39, Y:35.24, Z:0.32 [[ 9.25382201e-01 -3.79028230e-01 -2.32022666e-03 1.79387525e+02] [ 3.79026933e-01 9.25385109e-01 -9.92435107e-04 3.52447813e+01] [ 2.52326412e-03 3.89533883e-05 9.99996816e-01 3.18154086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.44, Y:35.27, Z:0.31 [[ 9.25658190e-01 -3.78353712e-01 -2.32009433e-03 1.79438641e+02] [ 3.78352412e-01 9.25661097e-01 -9.92744367e-04 3.52691578e+01] [ 2.52322958e-03 4.11286676e-05 9.99996816e-01 3.14274956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.49, Y:35.29, Z:0.32 [[ 9.25907311e-01 -3.77743654e-01 -2.32001304e-03 1.79492078e+02] [ 3.77742352e-01 9.25910217e-01 -9.92934322e-04 3.52948863e+01] [ 2.52319841e-03 4.29979684e-05 9.99996816e-01 3.17584393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.54, Y:35.32, Z:0.32 [[ 9.25730963e-01 -3.78175623e-01 -2.31984551e-03 1.79544232e+02] [ 3.78174320e-01 9.25733869e-01 -9.93325569e-04 3.53210678e+01] [ 2.52321107e-03 4.22462376e-05 9.99996816e-01 3.18077836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:35.35, Z:0.32 [[ 9.25481229e-01 -3.78786371e-01 -2.31965077e-03 1.79596125e+02] [ 3.78785069e-01 9.25484135e-01 -9.93780111e-04 3.53452045e+01] [ 2.52323035e-03 4.10757592e-05 9.99996816e-01 3.18544355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:35.37, Z:0.32 [[ 9.25604858e-01 -3.78484170e-01 -2.31951871e-03 1.79647820e+02] [ 3.78482867e-01 9.25607763e-01 -9.94088257e-04 3.53699830e+01] [ 2.52321119e-03 4.22348286e-05 9.99996816e-01 3.16273154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.70, Y:35.40, Z:0.32 [[ 9.25990733e-01 -3.77539115e-01 -2.31938921e-03 1.79700478e+02] [ 3.77537809e-01 9.25993636e-01 -9.94390305e-04 3.53960949e+01] [ 2.52316089e-03 4.51390858e-05 9.99996816e-01 3.15617606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:35.42, Z:0.31 [[ 9.26096435e-01 -3.77279756e-01 -2.31921946e-03 1.79753037e+02] [ 3.77278448e-01 9.26099338e-01 -9.94786061e-04 3.54210998e+01] [ 2.52314025e-03 4.62763055e-05 9.99996816e-01 3.14783334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.80, Y:35.45, Z:0.32 [[ 9.25843130e-01 -3.77900941e-01 -2.31915973e-03 1.79804833e+02] [ 3.77899633e-01 9.25846033e-01 -9.94925298e-04 3.54506431e+01] [ 2.52316804e-03 4.47351397e-05 9.99996816e-01 3.16395387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:35.48, Z:0.32 [[ 9.25583797e-01 -3.78535675e-01 -2.31899430e-03 1.79856176e+02] [ 3.78534369e-01 9.25586701e-01 -9.95310726e-04 3.54772854e+01] [ 2.52319090e-03 4.34244358e-05 9.99996816e-01 3.17236581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.91, Y:35.50, Z:0.32 [[ 9.24689572e-01 -3.80714879e-01 -2.31880048e-03 1.79907538e+02] [ 3.80713578e-01 9.24692478e-01 -9.95762067e-04 3.55038740e+01] [ 2.52327880e-03 3.79719695e-05 9.99996816e-01 3.15082406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:179.96, Y:35.53, Z:0.32 [[ 9.22422415e-01 -3.86175493e-01 -2.31874129e-03 1.79959076e+02] [ 3.86174210e-01 9.22425329e-01 -9.95899888e-04 3.55321359e+01] [ 2.52345783e-03 2.32022951e-05 9.99996816e-01 3.20013822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.01, Y:35.56, Z:0.32 [[ 9.19597300e-01 -3.92855482e-01 -2.31864322e-03 1.80011537e+02] [ 3.92854219e-01 9.19600223e-01 -9.96128154e-04 3.55552702e+01] [ 2.52355923e-03 5.14798804e-06 9.99996816e-01 3.20686291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:180.07, Y:35.58, Z:0.32 [[ 9.16018152e-01 -4.01130116e-01 -2.31853529e-03 1.80065725e+02] [ 4.01128879e-01 9.16021086e-01 -9.96379313e-04 3.55769644e+01] [ 2.52350496e-03 -1.73299238e-05 9.99996816e-01 3.24348938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.12, Y:35.59, Z:0.32 [[ 9.13311705e-01 -4.07254655e-01 -2.31834375e-03 1.80121872e+02] [ 4.07253436e-01 9.13314647e-01 -9.96824769e-04 3.55930490e+01] [ 2.52333884e-03 -3.37417307e-05 9.99996816e-01 3.17294651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:35.61, Z:0.32 [[ 9.12324903e-01 -4.09460494e-01 -2.31825643e-03 1.80176920e+02] [ 4.09459282e-01 9.12327848e-01 -9.97027812e-04 3.56126486e+01] [ 2.52325340e-03 -3.96183124e-05 9.99996816e-01 3.19122952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.23, Y:35.63, Z:0.32 [[ 9.13758091e-01 -4.06252110e-01 -2.31807099e-03 1.80234481e+02] [ 4.06250887e-01 9.13761031e-01 -9.97458764e-04 3.56278242e+01] [ 2.52338267e-03 -3.02823796e-05 9.99996816e-01 3.18539949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:35.65, Z:0.32 [[ 9.15746017e-01 -4.01750991e-01 -2.31790909e-03 1.80289449e+02] [ 4.01749753e-01 9.15748951e-01 -9.97834858e-04 3.56488504e+01] [ 2.52350396e-03 -1.74561058e-05 9.99996816e-01 3.19039631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.35, Y:35.66, Z:0.32 [[ 9.19433834e-01 -3.93237908e-01 -2.31774676e-03 1.80346684e+02] [ 3.93236641e-01 9.19436756e-01 -9.98211761e-04 3.56632499e+01] [ 2.52355627e-03 6.36671478e-06 9.99996816e-01 3.17866201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:35.68, Z:0.32 [[ 9.20194409e-01 -3.91454823e-01 -2.31755512e-03 1.80399666e+02] [ 3.91453550e-01 9.20197327e-01 -9.98656508e-04 3.56832100e+01] [ 2.52353693e-03 1.17429577e-05 9.99996816e-01 3.17206896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:35.70, Z:0.32 [[ 9.20804948e-01 -3.90016509e-01 -2.31742470e-03 1.80456730e+02] [ 3.90015230e-01 9.20807864e-01 -9.98959046e-04 3.56999207e+01] [ 2.52351341e-03 1.60155028e-05 9.99996816e-01 3.16236320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.51, Y:35.72, Z:0.32 [[ 9.21041727e-01 -3.89457015e-01 -2.31725888e-03 1.80512120e+02] [ 3.89455734e-01 9.21044642e-01 -9.99343546e-04 3.57174824e+01] [ 2.52350024e-03 1.79673467e-05 9.99996816e-01 3.17128173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:35.74, Z:0.32 [[ 9.20876533e-01 -3.89847460e-01 -2.31720045e-03 1.80568596e+02] [ 3.89846179e-01 9.20879448e-01 -9.99479023e-04 3.57356956e+01] [ 2.52350663e-03 1.70450351e-05 9.99996816e-01 3.22135613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.62, Y:35.75, Z:0.32 [[ 9.21088889e-01 -3.89345464e-01 -2.31702857e-03 1.80624080e+02] [ 3.89344180e-01 9.21091803e-01 -9.99877310e-04 3.57520632e+01] [ 2.52349372e-03 1.88542901e-05 9.99996816e-01 3.19705966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.68, Y:35.77, Z:0.32 [[ 9.21796570e-01 -3.87667016e-01 -2.31694344e-03 1.80678708e+02] [ 3.87665727e-01 9.21799481e-01 -1.00007454e-03 3.57700632e+01] [ 2.52345318e-03 2.36657133e-05 9.99996816e-01 3.18516129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.73, Y:35.79, Z:0.32 [[ 9.23112893e-01 -3.84522066e-01 -2.31685952e-03 1.80732279e+02] [ 3.84520766e-01 9.23115800e-01 -1.00026892e-03 3.57896026e+01] [ 2.52335510e-03 3.24805423e-05 9.99996816e-01 3.16953199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.79, Y:35.81, Z:0.32 [[ 9.23954933e-01 -3.82494332e-01 -2.31677657e-03 1.80787455e+02] [ 3.82493026e-01 9.23957837e-01 -1.00046102e-03 3.58097174e+01] [ 2.52327454e-03 3.82300123e-05 9.99996816e-01 3.19912141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.84, Y:35.83, Z:0.32 [[ 9.24113860e-01 -3.82110204e-01 -2.31661102e-03 1.80842408e+02] [ 3.82108895e-01 9.24116762e-01 -1.00084420e-03 3.58304707e+01] [ 2.52325186e-03 3.96963147e-05 9.99996816e-01 3.21163514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.90, Y:35.85, Z:0.32 [[ 9.24205716e-01 -3.81887979e-01 -2.31644601e-03 1.80896955e+02] [ 3.81886669e-01 9.24208618e-01 -1.00122597e-03 3.58497717e+01] [ 2.52323553e-03 4.07189134e-05 9.99996816e-01 3.23370012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.95, Y:35.87, Z:0.32 [[ 9.25131101e-01 -3.79640725e-01 -2.31624862e-03 1.80950855e+02] [ 3.79639407e-01 9.25134000e-01 -1.00168241e-03 3.58721392e+01] [ 2.52311979e-03 4.73482960e-05 9.99996816e-01 3.23831923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.00, Y:35.90, Z:0.32 [[ 9.27292862e-01 -3.74329513e-01 -2.31605225e-03 1.81002830e+02] [ 3.74328177e-01 9.27295752e-01 -1.00213624e-03 3.58969193e+01] [ 2.52279459e-03 6.23101678e-05 9.99996816e-01 3.24257014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.05, Y:35.92, Z:0.32 [[ 9.29260450e-01 -3.69417991e-01 -2.31599165e-03 1.81054540e+02] [ 3.69416639e-01 9.29263333e-01 -1.00227628e-03 3.59243687e+01] [ 2.52242501e-03 7.58098537e-05 9.99996816e-01 3.24397770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.11, Y:35.95, Z:0.32 [[ 9.30036067e-01 -3.67460952e-01 -2.31580183e-03 1.81106738e+02] [ 3.67459593e-01 9.30038947e-01 -1.00271466e-03 3.59503539e+01] [ 2.52224438e-03 8.15972034e-05 9.99996816e-01 3.23200028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.16, Y:35.98, Z:0.33 [[ 9.29402931e-01 -3.69059384e-01 -2.31574332e-03 1.81159144e+02] [ 3.69058030e-01 9.29405813e-01 -1.00284978e-03 3.59763795e+01] [ 2.52237643e-03 7.74078538e-05 9.99996816e-01 3.25066888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.21, Y:36.01, Z:0.33 [[ 9.28658530e-01 -3.70928528e-01 -2.31555064e-03 1.81210573e+02] [ 3.70927178e-01 9.28661414e-01 -1.00329447e-03 3.60051650e+01] [ 2.52251307e-03 7.28173030e-05 9.99996816e-01 3.26203555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:181.26, Y:36.03, Z:0.32 [[ 9.27860085e-01 -3.72921307e-01 -2.31538342e-03 1.81261818e+02] [ 3.72919962e-01 9.27862972e-01 -1.00368023e-03 3.60326722e+01] [ 2.52265229e-03 6.78221283e-05 9.99996816e-01 3.23595488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.31, Y:36.06, Z:0.32 [[ 9.26898540e-01 -3.75304856e-01 -2.31532411e-03 1.81313250e+02] [ 3.75303519e-01 9.26901430e-01 -1.00381703e-03 3.60615083e+01] [ 2.52281464e-03 6.14872514e-05 9.99996816e-01 3.22476855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.36, Y:36.09, Z:0.32 [[ 9.25936588e-01 -3.77671914e-01 -2.31515336e-03 1.81363738e+02] [ 3.77670583e-01 9.25939481e-01 -1.00421068e-03 3.60901418e+01] [ 2.52295407e-03 5.54700953e-05 9.99996816e-01 3.22935148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:181.42, Y:36.12, Z:0.32 [[ 9.24885246e-01 -3.80239297e-01 -2.31495705e-03 1.81415094e+02] [ 3.80237973e-01 9.24888142e-01 -1.00466304e-03 3.61186388e+01] [ 2.52308869e-03 4.89634456e-05 9.99996816e-01 3.24617675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.47, Y:36.14, Z:0.32 [[ 9.22879660e-01 -3.85081518e-01 -2.31478739e-03 1.81467122e+02] [ 3.85080208e-01 9.22882562e-01 -1.00505379e-03 3.61448710e+01] [ 2.52330455e-03 3.61648918e-05 9.99996816e-01 3.23551271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:181.52, Y:36.18, Z:0.32 [[ 9.21560656e-01 -3.88227511e-01 -2.31472755e-03 1.81517560e+02] [ 3.88226210e-01 9.21563562e-01 -1.00519158e-03 3.61750497e+01] [ 2.52341159e-03 2.77071121e-05 9.99996816e-01 3.23954267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:36.20, Z:0.32 [[ 9.20523926e-01 -3.90679338e-01 -2.31453482e-03 1.81569160e+02] [ 3.90678044e-01 9.20526835e-01 -1.00563516e-03 3.62009491e+01] [ 2.52347229e-03 2.14732915e-05 9.99996816e-01 3.23808158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.62, Y:36.23, Z:0.32 [[ 9.19514638e-01 -3.93048946e-01 -2.31433902e-03 1.81620564e+02] [ 3.93047658e-01 9.19517551e-01 -1.00608556e-03 3.62277383e+01] [ 2.52351622e-03 1.54648650e-05 9.99996816e-01 3.24188736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.67, Y:36.26, Z:0.33 [[ 9.18752942e-01 -3.94826133e-01 -2.31427872e-03 1.81672577e+02] [ 3.94824851e-01 9.18755857e-01 -1.00622425e-03 3.62552388e+01] [ 2.52354076e-03 1.07367371e-05 9.99996816e-01 3.26516644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:36.28, Z:0.32 [[ 9.18017800e-01 -3.96532426e-01 -2.31410714e-03 1.81723905e+02] [ 3.96531148e-01 9.18020716e-01 -1.00661870e-03 3.62813270e+01] [ 2.52355525e-03 6.47832751e-06 9.99996816e-01 3.22732887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.78, Y:36.31, Z:0.32 [[ 9.17843860e-01 -3.96934874e-01 -2.31391331e-03 1.81776434e+02] [ 3.96933597e-01 9.17846777e-01 -1.00706405e-03 3.63080062e+01] [ 2.52355672e-03 5.85762205e-06 9.99996816e-01 3.23727291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:181.83, Y:36.34, Z:0.32 [[ 9.18406757e-01 -3.95630731e-01 -2.31375316e-03 1.81828393e+02] [ 3.95629448e-01 9.18409672e-01 -1.00743187e-03 3.63364343e+01] [ 2.52354429e-03 9.84335197e-06 9.99996816e-01 3.24334981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:36.36, Z:0.33 [[ 9.18388125e-01 -3.95673981e-01 -2.31358428e-03 1.81879114e+02] [ 3.95672698e-01 9.18391039e-01 -1.00781957e-03 3.63641085e+01] [ 2.52354305e-03 1.01473876e-05 9.99996816e-01 3.25150640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.93, Y:36.39, Z:0.33 [[ 9.17344231e-01 -3.98088193e-01 -2.31352431e-03 1.81931753e+02] [ 3.98086917e-01 9.17347149e-01 -1.00795721e-03 3.63907413e+01] [ 2.52356079e-03 3.65997407e-06 9.99996816e-01 3.28386689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:36.41, Z:0.33 [[ 9.15660044e-01 -4.01946928e-01 -2.31334413e-03 1.81985196e+02] [ 4.01945663e-01 9.15662966e-01 -1.00837057e-03 3.64137356e+01] [ 2.52355500e-03 -6.51400243e-06 9.99996816e-01 3.27718585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:182.04, Y:36.44, Z:0.33 [[ 9.13765022e-01 -4.06236548e-01 -2.31327999e-03 1.82038493e+02] [ 4.06235296e-01 9.13767950e-01 -1.00851768e-03 3.64364669e+01] [ 2.52349786e-03 -1.81877982e-05 9.99996816e-01 3.28320912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.09, Y:36.46, Z:0.32 [[ 9.12488307e-01 -4.09096247e-01 -2.31322107e-03 1.82092854e+02] [ 4.09095005e-01 9.12491238e-01 -1.00865281e-03 3.64562391e+01] [ 2.52343004e-03 -2.59432928e-05 9.99996816e-01 3.24782024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.15, Y:36.48, Z:0.32 [[ 9.12139711e-01 -4.09872903e-01 -2.31305968e-03 1.82148263e+02] [ 4.09871662e-01 9.12142644e-01 -1.00902276e-03 3.64763123e+01] [ 2.52341147e-03 -2.76878838e-05 9.99996816e-01 3.23209794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.20, Y:36.50, Z:0.32 [[ 9.12635939e-01 -4.08766795e-01 -2.31289250e-03 1.82202287e+02] [ 4.08765550e-01 9.12638870e-01 -1.00940585e-03 3.64986696e+01] [ 2.52344719e-03 -2.42107213e-05 9.99996816e-01 3.23064815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.26, Y:36.52, Z:0.32 [[ 9.13752487e-01 -4.06264745e-01 -2.31271372e-03 1.82256450e+02] [ 4.06263491e-01 9.13755414e-01 -1.00981529e-03 3.65193300e+01] [ 2.52350703e-03 -1.68499179e-05 9.99996816e-01 3.22489444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.31, Y:36.54, Z:0.32 [[ 9.14522847e-01 -4.04527645e-01 -2.31253066e-03 1.82310847e+02] [ 4.04526383e-01 9.14525770e-01 -1.01023432e-03 3.65403755e+01] [ 2.52353660e-03 -1.15972967e-05 9.99996816e-01 3.24206689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.36, Y:36.56, Z:0.32 [[ 9.14544951e-01 -4.04477669e-01 -2.31246972e-03 1.82364734e+02] [ 4.04476407e-01 9.14547875e-01 -1.01037381e-03 3.65608560e+01] [ 2.52353791e-03 -1.13071796e-05 9.99996816e-01 3.22749796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:36.58, Z:0.33 [[ 9.12248013e-01 -4.09631806e-01 -2.31241088e-03 1.82420484e+02] [ 4.09630560e-01 9.12250943e-01 -1.01050845e-03 3.65794015e+01] [ 2.52343541e-03 -2.53998407e-05 9.99996816e-01 3.25681509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:36.60, Z:0.33 [[ 9.08806462e-01 -4.17211540e-01 -2.31224512e-03 1.82476510e+02] [ 4.17210318e-01 9.08809402e-01 -1.01088760e-03 3.65961132e+01] [ 2.52314408e-03 -4.59913420e-05 9.99996816e-01 3.26778050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68264000000002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:182.53, Y:36.61, Z:0.33 [[ 9.05916225e-01 -4.23450643e-01 -2.31218671e-03 1.82533432e+02] [ 4.23449441e-01 9.05919173e-01 -1.01102119e-03 3.66094299e+01] [ 2.52277185e-03 -6.31936671e-05 9.99996816e-01 3.28807650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.59, Y:36.62, Z:0.33 [[ 9.04943281e-01 -4.25525925e-01 -2.31199286e-03 1.82590969e+02] [ 4.25524729e-01 9.04946232e-01 -1.01146428e-03 3.66210762e+01] [ 2.52263350e-03 -6.84923276e-05 9.99996816e-01 3.29640553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.65, Y:36.63, Z:0.33 [[ 9.05708296e-01 -4.23895197e-01 -2.31190307e-03 1.82648158e+02] [ 4.23893995e-01 9.05711244e-01 -1.01166949e-03 3.66343950e+01] [ 2.52275844e-03 -6.37243784e-05 9.99996816e-01 3.29598718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.70, Y:36.65, Z:0.33 [[ 9.06946952e-01 -4.21238510e-01 -2.31171478e-03 1.82704298e+02] [ 4.21237298e-01 9.06949896e-01 -1.01209954e-03 3.66518657e+01] [ 2.52294479e-03 -5.58598979e-05 9.99996816e-01 3.29781650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:182.76, Y:36.66, Z:0.33 [[ 9.09391992e-01 -4.15933722e-01 -2.31152960e-03 1.82761830e+02] [ 4.15932492e-01 9.09394929e-01 -1.01252229e-03 3.66629050e+01] [ 2.52323547e-03 -4.06606023e-05 9.99996816e-01 3.29788389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.82, Y:36.68, Z:0.33 [[ 9.09958987e-01 -4.14691814e-01 -2.31133180e-03 1.82817897e+02] [ 4.14690578e-01 9.09961921e-01 -1.01297363e-03 3.66797488e+01] [ 2.52329580e-03 -3.67230633e-05 9.99996816e-01 3.30065997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:36.69, Z:0.33 [[ 9.11509667e-01 -4.11272156e-01 -2.31113501e-03 1.82874624e+02] [ 4.11270908e-01 9.11512596e-01 -1.01342241e-03 3.66942975e+01] [ 2.52342109e-03 -2.67582677e-05 9.99996816e-01 3.26582055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.93, Y:36.71, Z:0.33 [[ 9.14844864e-01 -4.03798877e-01 -2.31107534e-03 1.82931479e+02] [ 4.03797605e-01 9.14847783e-01 -1.01355847e-03 3.67094351e+01] [ 2.52355592e-03 -5.95792922e-06 9.99996816e-01 3.28393783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.99, Y:36.73, Z:0.33 [[ 9.15951359e-01 -4.01282654e-01 -2.31088290e-03 1.82985530e+02] [ 4.01281373e-01 9.15954274e-01 -1.01399704e-03 3.67306642e+01] [ 2.52356249e-03 1.45770280e-06 9.99996816e-01 3.29383551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.04, Y:36.75, Z:0.33 [[ 9.19408034e-01 -3.93298268e-01 -2.31082304e-03 1.83040633e+02] [ 3.93296961e-01 9.19410938e-01 -1.01413344e-03 3.67501985e+01] [ 2.52345290e-03 2.35627593e-05 9.99996816e-01 3.31793031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:36.77, Z:0.33 [[ 9.21848363e-01 -3.87543877e-01 -2.31062711e-03 1.83094070e+02] [ 3.87542551e-01 9.21851258e-01 -1.01457965e-03 3.67726250e+01] [ 2.52324864e-03 3.98222632e-05 9.99996816e-01 3.29591855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.15, Y:36.80, Z:0.33 [[ 9.22523971e-01 -3.85932875e-01 -2.31056657e-03 1.83147511e+02] [ 3.85931544e-01 9.22526863e-01 -1.01471749e-03 3.67959037e+01] [ 2.52317258e-03 4.43806869e-05 9.99996816e-01 3.29857911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.20, Y:36.82, Z:0.33 [[ 9.22109570e-01 -3.86921959e-01 -2.31036690e-03 1.83199668e+02] [ 3.86920629e-01 9.22112464e-01 -1.01517192e-03 3.68180016e+01] [ 2.52321042e-03 4.21711248e-05 9.99996816e-01 3.29976883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.25, Y:36.84, Z:0.33 [[ 9.19936742e-01 -3.92060013e-01 -2.31028073e-03 1.83252054e+02] [ 3.92058699e-01 9.19939642e-01 -1.01536798e-03 3.68397347e+01] [ 2.52340401e-03 2.83086483e-05 9.99996816e-01 3.30748696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52264 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:183.31, Y:36.86, Z:0.33 [[ 9.18809996e-01 -3.94693367e-01 -2.31014748e-03 1.83305191e+02] [ 3.94692061e-01 9.18812900e-01 -1.01567106e-03 3.68617428e+01] [ 2.52347194e-03 2.14118559e-05 9.99996816e-01 3.32121502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.36, Y:36.88, Z:0.33 [[ 9.17323163e-01 -3.98136759e-01 -2.30995489e-03 1.83359827e+02] [ 3.98135463e-01 9.17326071e-01 -1.01610888e-03 3.68829372e+01] [ 2.52353214e-03 1.24252537e-05 9.99996816e-01 3.29513000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.41, Y:36.91, Z:0.33 [[ 9.16671748e-01 -3.99634298e-01 -2.30978301e-03 1.83413498e+02] [ 3.99633005e-01 9.16674658e-01 -1.01649945e-03 3.69055770e+01] [ 2.52354759e-03 8.73080401e-06 9.99996816e-01 3.31823074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:183.47, Y:36.93, Z:0.33 [[ 9.16615853e-01 -3.99762483e-01 -2.30972260e-03 1.83467030e+02] [ 3.99761190e-01 9.16618763e-01 -1.01663670e-03 3.69275503e+01] [ 2.52354828e-03 8.52785832e-06 9.99996816e-01 3.33128239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:36.95, Z:0.33 [[ 9.17058460e-01 -3.98746093e-01 -2.30952983e-03 1.83520991e+02] [ 3.98744796e-01 9.17061368e-01 -1.01707444e-03 3.69478597e+01] [ 2.52353504e-03 1.18037165e-05 9.99996816e-01 3.30556270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:36.97, Z:0.33 [[ 9.18150775e-01 -3.96224457e-01 -2.30944007e-03 1.83574693e+02] [ 3.96223152e-01 9.18153679e-01 -1.01727820e-03 3.69725597e+01] [ 2.52349140e-03 1.89611408e-05 9.99996816e-01 3.29807427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:36.99, Z:0.33 [[ 9.18531521e-01 -3.95341007e-01 -2.30927218e-03 1.83628605e+02] [ 3.95339698e-01 9.18534424e-01 -1.01765919e-03 3.69948282e+01] [ 2.52346840e-03 2.18050775e-05 9.99996816e-01 3.27717528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:183.68, Y:37.02, Z:0.33 [[ 9.18562266e-01 -3.95269568e-01 -2.30908152e-03 1.83682391e+02] [ 3.95268258e-01 9.18565168e-01 -1.01809161e-03 3.70189899e+01] [ 2.52346248e-03 2.24739073e-05 9.99996816e-01 3.27374783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:37.04, Z:0.33 [[ 9.18006742e-01 -3.96558053e-01 -2.30891622e-03 1.83735264e+02] [ 3.96556746e-01 9.18009646e-01 -1.01846636e-03 3.70438738e+01] [ 2.52348839e-03 1.93426799e-05 9.99996816e-01 3.26445315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.79, Y:37.07, Z:0.32 [[ 9.17288572e-01 -3.98216455e-01 -2.30874688e-03 1.83787839e+02] [ 3.98215152e-01 9.17291477e-01 -1.01885008e-03 3.70672941e+01] [ 2.52351670e-03 1.52015460e-05 9.99996816e-01 3.23824411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.84, Y:37.09, Z:0.33 [[ 9.17195611e-01 -3.98430521e-01 -2.30868707e-03 1.83840294e+02] [ 3.98429219e-01 9.17198517e-01 -1.01898559e-03 3.70909820e+01] [ 2.52351932e-03 1.47607264e-05 9.99996816e-01 3.25339404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.89, Y:37.12, Z:0.32 [[ 9.17525909e-01 -3.97669307e-01 -2.30849333e-03 1.83892106e+02] [ 3.97668000e-01 9.17528813e-01 -1.01942432e-03 3.71162547e+01] [ 2.52350290e-03 1.73343040e-05 9.99996816e-01 3.23192969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:37.14, Z:0.32 [[ 9.17949180e-01 -3.96691282e-01 -2.30843348e-03 1.83944961e+02] [ 3.96689972e-01 9.17952083e-01 -1.01955982e-03 3.71408460e+01] [ 2.52348181e-03 2.01716850e-05 9.99996816e-01 3.23967689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:37.16, Z:0.33 [[ 9.18377149e-01 -3.95699487e-01 -2.30823934e-03 1.83998490e+02] [ 3.95698173e-01 9.18380050e-01 -1.01999915e-03 3.71648149e+01] [ 2.52345410e-03 2.33778243e-05 9.99996816e-01 3.27081887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:37.19, Z:0.33 [[ 9.18858858e-01 -3.94579615e-01 -2.30806975e-03 1.84051359e+02] [ 3.94578297e-01 9.18861756e-01 -1.02038277e-03 3.71885862e+01] [ 2.52341926e-03 2.68735123e-05 9.99996816e-01 3.27652642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.10, Y:37.21, Z:0.33 [[ 9.19332070e-01 -3.93475816e-01 -2.30787535e-03 1.84103270e+02] [ 3.93474493e-01 9.19334967e-01 -1.02082225e-03 3.72141796e+01] [ 2.52337938e-03 3.03845500e-05 9.99996816e-01 3.26476292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.16, Y:37.24, Z:0.33 [[ 9.19721636e-01 -3.92564373e-01 -2.30768150e-03 1.84156430e+02] [ 3.92563046e-01 9.19724530e-01 -1.02126029e-03 3.72404961e+01] [ 2.52334169e-03 3.33647032e-05 9.99996816e-01 3.25566490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.21, Y:37.27, Z:0.32 [[ 9.19847126e-01 -3.92270238e-01 -2.30751651e-03 1.84208055e+02] [ 3.92268909e-01 9.19850020e-01 -1.02163294e-03 3.72671279e+01] [ 2.52332531e-03 3.45791407e-05 9.99996816e-01 3.21517444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:37.30, Z:0.32 [[ 9.19226364e-01 -3.93722704e-01 -2.30745367e-03 1.84259811e+02] [ 3.93721379e-01 9.19229259e-01 -1.02177486e-03 3.72953817e+01] [ 2.52337489e-03 3.07485480e-05 9.99996816e-01 3.24706446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:37.32, Z:0.33 [[ 9.17900328e-01 -3.96804315e-01 -2.30728340e-03 1.84312988e+02] [ 3.96802999e-01 9.17903227e-01 -1.02215921e-03 3.73197364e+01] [ 2.52346006e-03 2.27033064e-05 9.99996816e-01 3.31251932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:184.37, Y:37.34, Z:0.33 [[ 9.16920068e-01 -3.99064237e-01 -2.30710654e-03 1.84365736e+02] [ 3.99062927e-01 9.16922971e-01 -1.02255823e-03 3.73435299e+01] [ 2.52350541e-03 1.69234697e-05 9.99996816e-01 3.34029823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.42, Y:37.37, Z:0.33 [[ 9.15880619e-01 -4.01444104e-01 -2.30704429e-03 1.84419678e+02] [ 4.01442802e-01 9.15883525e-01 -1.02269867e-03 3.73674934e+01] [ 2.52354021e-03 1.05235700e-05 9.99996816e-01 3.32756488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.47, Y:37.39, Z:0.33 [[ 9.15346360e-01 -4.02660800e-01 -2.30686776e-03 1.84473443e+02] [ 4.02659500e-01 9.15349267e-01 -1.02309671e-03 3.73907181e+01] [ 2.52355065e-03 7.60562694e-06 9.99996816e-01 3.32024020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.53, Y:37.41, Z:0.33 [[ 9.15296535e-01 -4.02774045e-01 -2.30669083e-03 1.84526070e+02] [ 4.02772745e-01 9.15299442e-01 -1.02349546e-03 3.74137347e+01] [ 2.52355023e-03 7.72965261e-06 9.99996816e-01 3.30261681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.58, Y:37.44, Z:0.33 [[ 9.16509462e-01 -4.00006357e-01 -2.30660309e-03 1.84578465e+02] [ 4.00005047e-01 9.16512364e-01 -1.02369315e-03 3.74377751e+01] [ 2.52351402e-03 1.55715791e-05 9.99996816e-01 3.31865931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.63, Y:37.46, Z:0.33 [[ 9.16940847e-01 -3.99016494e-01 -2.30640641e-03 1.84631644e+02] [ 3.99015181e-01 9.16943748e-01 -1.02413609e-03 3.74614428e+01] [ 2.52349213e-03 1.87810435e-05 9.99996816e-01 3.32883448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:37.49, Z:0.33 [[ 9.18274615e-01 -3.95937384e-01 -2.30620385e-03 1.84684313e+02] [ 3.95936060e-01 9.18277511e-01 -1.02459203e-03 3.74862927e+01] [ 2.52340942e-03 2.77475855e-05 9.99996816e-01 3.28003138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:37.51, Z:0.33 [[ 9.18483997e-01 -3.95451424e-01 -2.30614135e-03 1.84736940e+02] [ 3.95450097e-01 9.18486892e-01 -1.02473268e-03 3.75130556e+01] [ 2.52339260e-03 2.92367439e-05 9.99996816e-01 3.31371003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:37.54, Z:0.33 [[ 9.17058595e-01 -3.98745804e-01 -2.30596642e-03 1.84788869e+02] [ 3.98744487e-01 9.17061494e-01 -1.02512617e-03 3.75386925e+01] [ 2.52347777e-03 2.06093689e-05 9.99996816e-01 3.32618779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.84, Y:37.56, Z:0.34 [[ 9.15399377e-01 -4.02540263e-01 -2.30587407e-03 1.84841433e+02] [ 4.02538957e-01 9.15402281e-01 -1.02533385e-03 3.75642171e+01] [ 2.52354054e-03 1.03858199e-05 9.99996816e-01 3.35996509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.89, Y:37.59, Z:0.34 [[ 9.11943724e-01 -4.10308821e-01 -2.30569831e-03 1.84894508e+02] [ 4.10307539e-01 9.11946639e-01 -1.02572895e-03 3.75870951e+01] [ 2.52353946e-03 -1.06383171e-05 9.99996816e-01 3.35573748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.95, Y:37.61, Z:0.33 [[ 9.10443650e-01 -4.13626696e-01 -2.30549760e-03 1.84947012e+02] [ 4.13625424e-01 9.10446569e-01 -1.02617988e-03 3.76102945e+01] [ 2.52348777e-03 -1.93334697e-05 9.99996816e-01 3.33355803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:185.00, Y:37.63, Z:0.33 [[ 9.09338574e-01 -4.16050529e-01 -2.30543573e-03 1.85001614e+02] [ 4.16049264e-01 9.09341496e-01 -1.02631885e-03 3.76322408e+01] [ 2.52342888e-03 -2.59035224e-05 9.99996816e-01 3.31698166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.05, Y:37.65, Z:0.33 [[ 9.09356034e-01 -4.16012366e-01 -2.30526470e-03 1.85054703e+02] [ 4.16011100e-01 9.09358956e-01 -1.02670286e-03 3.76541379e+01] [ 2.52343419e-03 -2.53772583e-05 9.99996816e-01 3.31138055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.11, Y:37.68, Z:0.33 [[ 9.10128866e-01 -4.14318879e-01 -2.30517345e-03 1.85108598e+02] [ 4.14317607e-01 9.10131785e-01 -1.02690771e-03 3.76751963e+01] [ 2.52347887e-03 -2.04555953e-05 9.99996816e-01 3.33076047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:37.70, Z:0.34 [[ 9.10995863e-01 -4.12409050e-01 -2.30497705e-03 1.85163361e+02] [ 4.12407771e-01 9.10998779e-01 -1.02734835e-03 3.76974719e+01] [ 2.52351903e-03 -1.46803458e-05 9.99996816e-01 3.35509007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.22, Y:37.72, Z:0.33 [[ 9.12387130e-01 -4.09321895e-01 -2.30480240e-03 1.85216285e+02] [ 4.09320605e-01 9.12390041e-01 -1.02774001e-03 3.77196804e+01] [ 2.52355525e-03 -5.70635747e-06 9.99996816e-01 3.34021647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:37.74, Z:0.34 [[ 9.14086998e-01 -4.05511588e-01 -2.30471552e-03 1.85270541e+02] [ 4.05510286e-01 9.14089903e-01 -1.02793480e-03 3.77415776e+01] [ 2.52355666e-03 5.03598778e-06 9.99996816e-01 3.38196410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.32, Y:37.77, Z:0.34 [[ 9.16219274e-01 -4.00670601e-01 -2.30454428e-03 1.85323237e+02] [ 4.00669282e-01 9.16222172e-01 -1.02831858e-03 3.77668106e+01] [ 2.52349159e-03 1.88052047e-05 9.99996816e-01 3.37758498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:37.79, Z:0.34 [[ 9.18311665e-01 -3.95851456e-01 -2.30435009e-03 1.85377124e+02] [ 3.95850120e-01 9.18314556e-01 -1.02875355e-03 3.77910936e+01] [ 2.52335182e-03 3.25391238e-05 9.99996816e-01 3.35584756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.43, Y:37.82, Z:0.34 [[ 9.19351340e-01 -3.93430813e-01 -2.30417948e-03 1.85429924e+02] [ 3.93429469e-01 9.19354227e-01 -1.02913553e-03 3.78163263e+01] [ 2.52325077e-03 3.96050209e-05 9.99996816e-01 3.39016592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.48, Y:37.84, Z:0.34 [[ 9.19567554e-01 -3.92925190e-01 -2.30400421e-03 1.85482155e+02] [ 3.92923844e-01 9.19570440e-01 -1.02952778e-03 3.78416180e+01] [ 2.52322156e-03 4.14221509e-05 9.99996816e-01 3.39295330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:37.87, Z:0.34 [[ 9.19348632e-01 -3.93437142e-01 -2.30394229e-03 1.85534828e+02] [ 3.93435797e-01 9.19351518e-01 -1.02966632e-03 3.78668379e+01] [ 2.52324182e-03 4.01689464e-05 9.99996816e-01 3.37668007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:37.89, Z:0.34 [[ 9.19279353e-01 -3.93598989e-01 -2.30377271e-03 1.85586164e+02] [ 3.93597643e-01 9.19282239e-01 -1.03004560e-03 3.78931098e+01] [ 2.52324224e-03 4.01401466e-05 9.99996816e-01 3.37396377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.64, Y:37.92, Z:0.34 [[ 9.18564301e-01 -3.95264871e-01 -2.30357690e-03 1.85639975e+02] [ 3.95263530e-01 9.18567189e-01 -1.03048333e-03 3.79170077e+01] [ 2.52330401e-03 3.60452629e-05 9.99996816e-01 3.38507319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.69, Y:37.94, Z:0.34 [[ 9.17146240e-01 -3.98544188e-01 -2.30340360e-03 1.85692495e+02] [ 3.98542856e-01 9.17149132e-01 -1.03087056e-03 3.79408794e+01] [ 2.52341208e-03 2.74540068e-05 9.99996816e-01 3.38823378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.75, Y:37.96, Z:0.34 [[ 9.15587001e-01 -4.02113340e-01 -2.30334242e-03 1.85746093e+02] [ 4.02112018e-01 9.15589898e-01 -1.03100722e-03 3.79625699e+01] [ 2.52349881e-03 1.77751409e-05 9.99996816e-01 3.38738243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.80, Y:37.98, Z:0.34 [[ 9.14129639e-01 -4.05415464e-01 -2.30328228e-03 1.85801449e+02] [ 4.05414153e-01 9.14132540e-01 -1.03114156e-03 3.79825361e+01] [ 2.52354602e-03 8.81382880e-06 9.99996816e-01 3.37036348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.85, Y:38.00, Z:0.34 [[ 9.13137881e-01 -4.07644338e-01 -2.30311337e-03 1.85854621e+02] [ 4.07643033e-01 9.13140785e-01 -1.03151871e-03 3.80020540e+01] [ 2.52355951e-03 3.07068998e-06 9.99996816e-01 3.35905169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:38.02, Z:0.34 [[ 9.12805202e-01 -4.08388735e-01 -2.30302978e-03 1.85909899e+02] [ 4.08387432e-01 9.12808108e-01 -1.03170528e-03 3.80216853e+01] [ 2.52356107e-03 1.21753177e-06 9.99996816e-01 3.37129166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:38.04, Z:0.34 [[ 9.14396521e-01 -4.04813167e-01 -2.30286483e-03 1.85964694e+02] [ 4.04811851e-01 9.14399420e-01 -1.03207334e-03 3.80411939e+01] [ 2.52353514e-03 1.14972981e-05 9.99996816e-01 3.37669302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:38.07, Z:0.34 [[ 9.17491393e-01 -3.97748969e-01 -2.30267850e-03 1.86017406e+02] [ 3.97747630e-01 9.17494282e-01 -1.03248889e-03 3.80653329e+01] [ 2.52336575e-03 3.14147516e-05 9.99996816e-01 3.41032199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.07, Y:38.09, Z:0.35 [[ 9.20582501e-01 -3.90541364e-01 -2.30259205e-03 1.86070784e+02] [ 3.90540002e-01 9.20585379e-01 -1.03268165e-03 3.80895218e+01] [ 2.52303748e-03 5.14143525e-05 9.99996816e-01 3.45492728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:38.12, Z:0.35 [[ 9.22590857e-01 -3.85773002e-01 -2.30241519e-03 1.86121959e+02] [ 3.85771624e-01 9.22593728e-01 -1.03307582e-03 3.81168861e+01] [ 2.52272658e-03 6.48998636e-05 9.99996816e-01 3.45738789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.17, Y:38.14, Z:0.34 [[ 9.22595918e-01 -3.85760899e-01 -2.30235304e-03 1.86174346e+02] [ 3.85759521e-01 9.22598788e-01 -1.03321432e-03 3.81441006e+01] [ 2.52272181e-03 6.50847040e-05 9.99996816e-01 3.41988931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.23, Y:38.17, Z:0.34 [[ 9.20616676e-01 -3.90460799e-01 -2.30218031e-03 1.86226240e+02] [ 3.90459434e-01 9.20619553e-01 -1.03359904e-03 3.81716985e+01] [ 2.52301212e-03 5.26404935e-05 9.99996816e-01 3.39426149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:186.28, Y:38.20, Z:0.34 [[ 9.17773023e-01 -3.97098701e-01 -2.30200718e-03 1.86279036e+02] [ 3.97097356e-01 9.17775910e-01 -1.03398450e-03 3.81971475e+01] [ 2.52332063e-03 3.48421191e-05 9.99996816e-01 3.37223318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:38.22, Z:0.34 [[ 9.15400170e-01 -4.02538483e-01 -2.30183466e-03 1.86330766e+02] [ 4.02537154e-01 9.15403064e-01 -1.03436841e-03 3.82230809e+01] [ 2.52347959e-03 2.02870477e-05 9.99996816e-01 3.38976780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:38.25, Z:0.34 [[ 9.14980679e-01 -4.03491090e-01 -2.30177369e-03 1.86383774e+02] [ 4.03489764e-01 9.14983574e-01 -1.03450408e-03 3.82490379e+01] [ 2.52349829e-03 1.78091217e-05 9.99996816e-01 3.42408962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.44, Y:38.27, Z:0.34 [[ 9.15095998e-01 -4.03229485e-01 -2.30159282e-03 1.86435893e+02] [ 4.03228157e-01 9.15098892e-01 -1.03490632e-03 3.82729350e+01] [ 2.52348978e-03 1.89715956e-05 9.99996816e-01 3.40060402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.49, Y:38.30, Z:0.34 [[ 9.16107539e-01 -4.00926027e-01 -2.30145271e-03 1.86488210e+02] [ 4.00924692e-01 9.16110430e-01 -1.03521781e-03 3.82990943e+01] [ 2.52343059e-03 2.56616221e-05 9.99996816e-01 3.41796078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.54, Y:38.32, Z:0.34 [[ 9.16760601e-01 -3.99430476e-01 -2.30127965e-03 1.86540443e+02] [ 3.99429135e-01 9.16763488e-01 -1.03560239e-03 3.83241855e+01] [ 2.52338031e-03 3.02013277e-05 9.99996816e-01 3.39015200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.59, Y:38.35, Z:0.34 [[ 9.16545089e-01 -3.99924748e-01 -2.30121845e-03 1.86591964e+02] [ 3.99923408e-01 9.16547978e-01 -1.03573835e-03 3.83501556e+01] [ 2.52339451e-03 2.89897723e-05 9.99996816e-01 3.43614561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:186.65, Y:38.37, Z:0.34 [[ 9.15877723e-01 -4.01450745e-01 -2.30101649e-03 1.86645388e+02] [ 4.01449409e-01 9.15880614e-01 -1.03618683e-03 3.83723466e+01] [ 2.52343437e-03 2.52787266e-05 9.99996816e-01 3.44312005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.70, Y:38.40, Z:0.34 [[ 9.15607613e-01 -4.02066419e-01 -2.30081205e-03 1.86698966e+02] [ 4.02065083e-01 9.15610504e-01 -1.03664058e-03 3.83962274e+01] [ 2.52344605e-03 2.40798137e-05 9.99996816e-01 3.42057513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.75, Y:38.42, Z:0.34 [[ 9.15495969e-01 -4.02320565e-01 -2.30063244e-03 1.86751011e+02] [ 4.02319230e-01 9.15498860e-01 -1.03703904e-03 3.84187770e+01] [ 2.52344851e-03 2.38163847e-05 9.99996816e-01 3.40987764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.80, Y:38.44, Z:0.34 [[ 9.16001125e-01 -4.01169099e-01 -2.30054363e-03 1.86804169e+02] [ 4.01167759e-01 9.16004014e-01 -1.03723602e-03 3.84436031e+01] [ 2.52341424e-03 2.72054303e-05 9.99996816e-01 3.43176634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.86, Y:38.47, Z:0.34 [[ 9.17230001e-01 -3.98351395e-01 -2.30037120e-03 1.86855823e+02] [ 3.98350046e-01 9.17232885e-01 -1.03761830e-03 3.84698389e+01] [ 2.52331281e-03 3.53816595e-05 9.99996816e-01 3.43326121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.91, Y:38.50, Z:0.34 [[ 9.18837132e-01 -3.94630249e-01 -2.30031024e-03 1.86907548e+02] [ 3.94628887e-01 9.18840010e-01 -1.03775343e-03 3.84957909e+01] [ 2.52314597e-03 4.57575135e-05 9.99996816e-01 3.42449736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.96, Y:38.52, Z:0.34 [[ 9.19978472e-01 -3.91962141e-01 -2.30011371e-03 1.86958600e+02] [ 3.91960769e-01 9.19981346e-01 -1.03818884e-03 3.85232431e+01] [ 2.52299242e-03 5.35570474e-05 9.99996816e-01 3.42980919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.01, Y:38.55, Z:0.34 [[ 9.19589908e-01 -3.92872895e-01 -2.29991239e-03 1.87009652e+02] [ 3.92871526e-01 9.19592782e-01 -1.03863462e-03 3.85510408e+01] [ 2.52303423e-03 5.15478256e-05 9.99996816e-01 3.42432874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.06, Y:38.58, Z:0.34 [[ 9.18549513e-01 -3.95299257e-01 -2.29985048e-03 1.87061319e+02] [ 3.95297895e-01 9.18552391e-01 -1.03877170e-03 3.85763889e+01] [ 2.52315884e-03 4.50371888e-05 9.99996816e-01 3.42581326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.11, Y:38.60, Z:0.34 [[ 9.16623219e-01 -3.99745651e-01 -2.29965250e-03 1.87112046e+02] [ 3.99744301e-01 9.16626103e-01 -1.03920980e-03 3.86046622e+01] [ 2.52334111e-03 3.32908523e-05 9.99996816e-01 3.41455171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:38.63, Z:0.34 [[ 9.15793860e-01 -4.01642027e-01 -2.29945573e-03 1.87164045e+02] [ 4.01640683e-01 9.15796747e-01 -1.03964502e-03 3.86296218e+01] [ 2.52339921e-03 2.85455584e-05 9.99996816e-01 3.40448535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:38.65, Z:0.34 [[ 9.14875991e-01 -4.03728416e-01 -2.29925765e-03 1.87216147e+02] [ 4.03727077e-01 9.14878880e-01 -1.04008290e-03 3.86538488e+01] [ 2.52345329e-03 2.32743026e-05 9.99996816e-01 3.40636472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.27, Y:38.68, Z:0.34 [[ 9.14326144e-01 -4.04972118e-01 -2.29919654e-03 1.87268243e+02] [ 4.04970783e-01 9.14329034e-01 -1.04021796e-03 3.86825009e+01] [ 2.52348143e-03 1.99910570e-05 9.99996816e-01 3.43224603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.32, Y:38.71, Z:0.34 [[ 9.14380329e-01 -4.04849761e-01 -2.29902530e-03 1.87320167e+02] [ 4.04848424e-01 9.14383219e-01 -1.04059630e-03 3.87077802e+01] [ 2.52347532e-03 2.07440170e-05 9.99996816e-01 3.43199538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:38.73, Z:0.34 [[ 9.14105492e-01 -4.05469931e-01 -2.29883066e-03 1.87371681e+02] [ 4.05468595e-01 9.14108382e-01 -1.04102610e-03 3.87337328e+01] [ 2.52348516e-03 1.95040388e-05 9.99996816e-01 3.44118346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:38.76, Z:0.35 [[ 9.13000337e-01 -4.07952326e-01 -2.29863609e-03 1.87425246e+02] [ 4.07950997e-01 9.13003231e-01 -1.04145556e-03 3.87576597e+01] [ 2.52352639e-03 1.31183917e-05 9.99996816e-01 3.45081152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.48, Y:38.78, Z:0.35 [[ 9.11466240e-01 -4.11368461e-01 -2.29847594e-03 1.87477970e+02] [ 4.11367142e-01 9.11469138e-01 -1.04180888e-03 3.87826512e+01] [ 2.52355720e-03 4.05613872e-06 9.99996816e-01 3.47798095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.53, Y:38.81, Z:0.35 [[ 9.10564604e-01 -4.13360400e-01 -2.29826625e-03 1.87531851e+02] [ 4.13359086e-01 9.10567504e-01 -1.04227126e-03 3.88052654e+01] [ 2.52356023e-03 -9.53919139e-07 9.99996816e-01 3.47180284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.58, Y:38.83, Z:0.34 [[ 9.10024667e-01 -4.14547734e-01 -2.29805822e-03 1.87584128e+02] [ 4.14546423e-01 9.10027569e-01 -1.04272972e-03 3.88298147e+01] [ 2.52355758e-03 -3.74204836e-06 9.99996816e-01 3.43502123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:187.64, Y:38.86, Z:0.34 [[ 9.09380566e-01 -4.15958780e-01 -2.29796505e-03 1.87637022e+02] [ 4.15957472e-01 9.09383469e-01 -1.04293502e-03 3.88560945e+01] [ 2.52354941e-03 -7.43089333e-06 9.99996816e-01 3.44188116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.69, Y:38.88, Z:0.34 [[ 9.09229503e-01 -4.16288880e-01 -2.29778877e-03 1.87690809e+02] [ 4.16287573e-01 9.09232406e-01 -1.04332326e-03 3.88796407e+01] [ 2.52354788e-03 -7.92061578e-06 9.99996816e-01 3.44738696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.74, Y:38.90, Z:0.34 [[ 9.09681641e-01 -4.15299930e-01 -2.29761078e-03 1.87743331e+02] [ 4.15298619e-01 9.09684543e-01 -1.04371509e-03 3.89029145e+01] [ 2.52355581e-03 -4.74612758e-06 9.99996816e-01 3.44391019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.80, Y:38.93, Z:0.35 [[ 9.09381159e-01 -4.15957485e-01 -2.29752270e-03 1.87796328e+02] [ 4.15956176e-01 9.09384061e-01 -1.04390893e-03 3.89272849e+01] [ 2.52355226e-03 -6.35764308e-06 9.99996816e-01 3.47839602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.85, Y:38.95, Z:0.35 [[ 9.08085736e-01 -4.18778005e-01 -2.29745869e-03 1.87851364e+02] [ 4.18776704e-01 9.08088642e-01 -1.04404980e-03 3.89470263e+01] [ 2.52352123e-03 -1.40354477e-05 9.99996816e-01 3.46628572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.91, Y:38.97, Z:0.35 [[ 9.06370021e-01 -4.22478530e-01 -2.29725469e-03 1.87906868e+02] [ 4.22477239e-01 9.06372932e-01 -1.04449846e-03 3.89656130e+01] [ 2.52344764e-03 -2.38357290e-05 9.99996816e-01 3.46025992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:38.98, Z:0.34 [[ 9.05049067e-01 -4.25300964e-01 -2.29719184e-03 1.87963320e+02] [ 4.25299682e-01 9.05051982e-01 -1.04463668e-03 3.89842585e+01] [ 2.52336301e-03 -3.15475059e-05 9.99996816e-01 3.44345478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.02, Y:39.00, Z:0.34 [[ 9.04847852e-01 -4.25728890e-01 -2.29701976e-03 1.88016338e+02] [ 4.25727609e-01 9.04850767e-01 -1.04501491e-03 3.90048500e+01] [ 2.52335313e-03 -3.23252342e-05 9.99996816e-01 3.43472705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.07, Y:39.02, Z:0.35 [[ 9.06240474e-01 -4.22756344e-01 -2.29693469e-03 1.88073012e+02] [ 4.22755053e-01 9.06243385e-01 -1.04520187e-03 3.90213286e+01] [ 2.52344759e-03 -2.38365066e-05 9.99996816e-01 3.47973097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:188.13, Y:39.04, Z:0.35 [[ 9.07971501e-01 -4.19025629e-01 -2.29675821e-03 1.88128321e+02] [ 4.19024325e-01 9.07974406e-01 -1.04558952e-03 3.90425894e+01] [ 2.52352648e-03 -1.30320717e-05 9.99996816e-01 3.48088147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:188.18, Y:39.06, Z:0.35 [[ 9.10671263e-01 -4.13125376e-01 -2.29657992e-03 1.88182849e+02] [ 4.13124052e-01 9.10674159e-01 -1.04598099e-03 3.90628720e+01] [ 2.52355727e-03 3.77242816e-06 9.99996816e-01 3.48953858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:188.24, Y:39.08, Z:0.35 [[ 9.12335031e-01 -4.09438051e-01 -2.29637570e-03 1.88237201e+02] [ 4.09436714e-01 9.12337921e-01 -1.04642914e-03 3.90817291e+01] [ 2.52351854e-03 1.44734410e-05 9.99996816e-01 3.46252118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.29, Y:39.10, Z:0.34 [[ 9.13006648e-01 -4.07938216e-01 -2.29623676e-03 1.88291020e+02] [ 4.07936874e-01 9.13009535e-01 -1.04673394e-03 3.91039586e+01] [ 2.52348883e-03 1.89553964e-05 9.99996816e-01 3.44346496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:39.13, Z:0.34 [[ 9.12621797e-01 -4.08798464e-01 -2.29614383e-03 1.88346260e+02] [ 4.08797124e-01 9.12624685e-01 -1.04693775e-03 3.91253919e+01] [ 2.52350408e-03 1.68012135e-05 9.99996816e-01 3.43209109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.40, Y:39.15, Z:0.35 [[ 9.11209243e-01 -4.11937428e-01 -2.29597031e-03 1.88401209e+02] [ 4.11936097e-01 9.11212135e-01 -1.04731814e-03 3.91469850e+01] [ 2.52354555e-03 8.53292127e-06 9.99996816e-01 3.46629125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.46, Y:39.17, Z:0.35 [[ 9.08939246e-01 -4.16922266e-01 -2.29579304e-03 1.88455994e+02] [ 4.16920950e-01 9.08942146e-01 -1.04770658e-03 3.91677448e+01] [ 2.52355526e-03 -4.86258340e-06 9.99996816e-01 3.48356312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40264000000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:188.51, Y:39.19, Z:0.35 [[ 9.07362457e-01 -4.20342839e-01 -2.29558711e-03 1.88510388e+02] [ 4.20341532e-01 9.07365361e-01 -1.04815760e-03 3.91879917e+01] [ 2.52352177e-03 -1.38717494e-05 9.99996816e-01 3.46818426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.57, Y:39.21, Z:0.35 [[ 9.06614955e-01 -4.21952668e-01 -2.29552383e-03 1.88566233e+02] [ 4.21951367e-01 9.06617861e-01 -1.04829618e-03 3.92073437e+01] [ 2.52349427e-03 -1.81984220e-05 9.99996816e-01 3.46073371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.62, Y:39.23, Z:0.35 [[ 9.06279199e-01 -4.22673331e-01 -2.29535086e-03 1.88621201e+02] [ 4.22672030e-01 9.06282106e-01 -1.04867476e-03 3.92291630e+01] [ 2.52348227e-03 -1.97884879e-05 9.99996816e-01 3.45926770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.67, Y:39.25, Z:0.35 [[ 9.05996848e-01 -4.23278210e-01 -2.29517459e-03 1.88674887e+02] [ 4.23276910e-01 9.05999755e-01 -1.04906043e-03 3.92505981e+01] [ 2.52347203e-03 -2.10489671e-05 9.99996816e-01 3.46460098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.73, Y:39.27, Z:0.35 [[ 9.08479245e-01 -4.17923671e-01 -2.29497377e-03 1.88730168e+02] [ 4.17922353e-01 9.08482144e-01 -1.04949956e-03 3.92713465e+01] [ 2.52355340e-03 -5.67227075e-06 9.99996816e-01 3.47315619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:39.29, Z:0.35 [[ 9.11620435e-01 -4.11026662e-01 -2.29479531e-03 1.88783022e+02] [ 4.11025321e-01 9.11623323e-01 -1.04988963e-03 3.92937852e+01] [ 2.52352155e-03 1.38818668e-05 9.99996816e-01 3.47828841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.83, Y:39.32, Z:0.35 [[ 9.17557318e-01 -3.97596910e-01 -2.29473220e-03 1.88833373e+02] [ 3.97595527e-01 9.17560186e-01 -1.05002754e-03 3.93224635e+01] [ 2.52304261e-03 5.10851939e-05 9.99996816e-01 3.49791314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.88, Y:39.35, Z:0.35 [[ 9.19305515e-01 -3.93537933e-01 -2.29453162e-03 1.88884919e+02] [ 3.93536536e-01 9.19308377e-01 -1.05046568e-03 3.93489306e+01] [ 2.52278023e-03 6.27168693e-05 9.99996816e-01 3.50000619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.94, Y:39.38, Z:0.35 [[ 9.20710748e-01 -3.90238970e-01 -2.29433319e-03 1.88935520e+02] [ 3.90237562e-01 9.20713604e-01 -1.05089890e-03 3.93803674e+01] [ 2.52252548e-03 7.22389232e-05 9.99996816e-01 3.49587465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.98, Y:39.41, Z:0.35 [[ 9.20540754e-01 -3.90639806e-01 -2.29415487e-03 1.88984730e+02] [ 3.90638398e-01 9.20543610e-01 -1.05128802e-03 3.94116987e+01] [ 2.52254455e-03 7.15684843e-05 9.99996816e-01 3.48782462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:39.44, Z:0.35 [[ 9.18523332e-01 -3.95360122e-01 -2.29395323e-03 1.89033484e+02] [ 3.95358728e-01 9.18526195e-01 -1.05172784e-03 3.94441849e+01] [ 2.52286737e-03 5.91021267e-05 9.99996816e-01 3.47322085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:39.47, Z:0.35 [[ 9.14490329e-01 -4.04601257e-01 -2.29375308e-03 1.89084254e+02] [ 4.04599890e-01 9.14493205e-01 -1.05216416e-03 3.94725356e+01] [ 2.52332855e-03 3.41417084e-05 9.99996816e-01 3.49957608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:39.50, Z:0.35 [[ 9.09892577e-01 -4.14837604e-01 -2.29369111e-03 1.89136410e+02] [ 4.14836270e-01 9.09895468e-01 -1.05229923e-03 3.94986774e+01] [ 2.52355244e-03 5.97299361e-06 9.99996816e-01 3.54280459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:39.52, Z:0.35 [[ 9.06357116e-01 -4.22506234e-01 -2.29362628e-03 1.89188497e+02] [ 4.22504924e-01 9.06360018e-01 -1.05244052e-03 3.95211649e+01] [ 2.52351384e-03 -1.51814385e-05 9.99996816e-01 3.53299850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.24, Y:39.54, Z:0.35 [[ 9.04484847e-01 -4.26499591e-01 -2.29353709e-03 1.89242035e+02] [ 4.26498293e-01 9.04487755e-01 -1.05263486e-03 3.95423827e+01] [ 2.52342455e-03 -2.60973756e-05 9.99996816e-01 3.49660351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.30, Y:39.56, Z:0.35 [[ 9.04609068e-01 -4.26236053e-01 -2.29347547e-03 1.89297237e+02] [ 4.26234754e-01 9.04611975e-01 -1.05276910e-03 3.95644055e+01] [ 2.52343352e-03 -2.52144735e-05 9.99996816e-01 3.48539748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.35, Y:39.58, Z:0.35 [[ 9.06268903e-01 -4.22695418e-01 -2.29331373e-03 1.89353438e+02] [ 4.22694107e-01 9.06271804e-01 -1.05312131e-03 3.95837722e+01] [ 2.52351512e-03 -1.49591049e-05 9.99996816e-01 3.47805402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.41, Y:39.61, Z:0.35 [[ 9.08292865e-01 -4.18328594e-01 -2.29313861e-03 1.89406497e+02] [ 4.18327268e-01 9.08295760e-01 -1.05350250e-03 3.96062136e+01] [ 2.52355829e-03 -2.39360694e-06 9.99996816e-01 3.47961624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.46, Y:39.63, Z:0.35 [[ 9.11481242e-01 -4.11335250e-01 -2.29307654e-03 1.89461696e+02] [ 4.11333901e-01 9.11484126e-01 -1.05363757e-03 3.96280039e+01] [ 2.52350114e-03 1.71507661e-05 9.99996816e-01 3.48912785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:189.51, Y:39.65, Z:0.35 [[ 9.14025435e-01 -4.05650400e-01 -2.29290332e-03 1.89514726e+02] [ 4.05649032e-01 9.14028310e-01 -1.05401439e-03 3.96511083e+01] [ 2.52333991e-03 3.32819530e-05 9.99996816e-01 3.49897477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.57, Y:39.67, Z:0.35 [[ 9.15495744e-01 -4.02321123e-01 -2.29269780e-03 1.89566623e+02] [ 4.02319743e-01 9.15498614e-01 -1.05446126e-03 3.96745582e+01] [ 2.52319369e-03 4.29572034e-05 9.99996816e-01 3.45066704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.62, Y:39.70, Z:0.35 [[ 9.16318703e-01 -4.00443228e-01 -2.29260874e-03 1.89620578e+02] [ 4.00441842e-01 9.16321570e-01 -1.05465485e-03 3.96974456e+01] [ 2.52309623e-03 4.83434979e-05 9.99996816e-01 3.49407917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.67, Y:39.72, Z:0.35 [[ 9.17233096e-01 -3.98344314e-01 -2.29242667e-03 1.89672278e+02] [ 3.98342920e-01 9.17235959e-01 -1.05505045e-03 3.97227409e+01] [ 2.52296953e-03 5.45552599e-05 9.99996816e-01 3.47945181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:39.75, Z:0.35 [[ 9.17515608e-01 -3.97693167e-01 -2.29236239e-03 1.89724326e+02] [ 3.97691771e-01 9.17518470e-01 -1.05519009e-03 3.97478942e+01] [ 2.52292672e-03 5.64997194e-05 9.99996816e-01 3.48663684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84264000000002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:39.77, Z:0.35 [[ 9.17831111e-01 -3.96964480e-01 -2.29216456e-03 1.89776130e+02] [ 3.96963080e-01 9.17833971e-01 -1.05561966e-03 3.97739184e+01] [ 2.52287001e-03 5.89758598e-05 9.99996816e-01 3.50951057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:39.80, Z:0.35 [[ 9.16911276e-01 -3.99084527e-01 -2.29196570e-03 1.89827092e+02] [ 3.99083133e-01 9.16914139e-01 -1.05605126e-03 3.98010036e+01] [ 2.52298947e-03 5.36204600e-05 9.99996816e-01 3.51656618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.88, Y:39.83, Z:0.35 [[ 9.15234404e-01 -4.02915293e-01 -2.29175871e-03 1.89879973e+02] [ 4.02913910e-01 9.15237272e-01 -1.05650026e-03 3.98278557e+01] [ 2.52318310e-03 4.35639259e-05 9.99996816e-01 3.50714434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.93, Y:39.85, Z:0.35 [[ 9.14133240e-01 -4.05407411e-01 -2.29157600e-03 1.89931883e+02] [ 4.05406035e-01 9.14136111e-01 -1.05689641e-03 3.98541908e+01] [ 2.52328601e-03 3.71253925e-05 9.99996816e-01 3.48204239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.98, Y:39.88, Z:0.35 [[ 9.13367157e-01 -4.07130428e-01 -2.29147883e-03 1.89982676e+02] [ 4.07129057e-01 9.13370031e-01 -1.05710704e-03 3.98820110e+01] [ 2.52334853e-03 3.25992330e-05 9.99996816e-01 3.50268690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.03, Y:39.91, Z:0.35 [[ 9.13011672e-01 -4.07926999e-01 -2.29127141e-03 1.90034706e+02] [ 4.07925629e-01 9.13014547e-01 -1.05755644e-03 3.99080202e+01] [ 2.52336995e-03 3.08930413e-05 9.99996816e-01 3.51973576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.09, Y:39.94, Z:0.35 [[ 9.13816488e-01 -4.06120890e-01 -2.29120755e-03 1.90085384e+02] [ 4.06119514e-01 9.13819359e-01 -1.05769477e-03 3.99356264e+01] [ 2.52330176e-03 3.60348201e-05 9.99996816e-01 3.53521075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.14, Y:39.97, Z:0.35 [[ 9.15433415e-01 -4.02462934e-01 -2.29114490e-03 1.90135514e+02] [ 4.02461547e-01 9.15436281e-01 -1.05783046e-03 3.99659735e+01] [ 2.52313472e-03 4.62756261e-05 9.99996816e-01 3.54778854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.19, Y:40.00, Z:0.36 [[ 9.17262445e-01 -3.98276737e-01 -2.29094341e-03 1.90185979e+02] [ 3.98275335e-01 9.17265304e-01 -1.05826665e-03 3.99974518e+01] [ 2.52288589e-03 5.82819948e-05 9.99996816e-01 3.57454443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:40.03, Z:0.36 [[ 9.19001977e-01 -3.94246267e-01 -2.29076143e-03 1.90234367e+02] [ 3.94244852e-01 9.19004829e-01 -1.05866042e-03 4.00284714e+01] [ 2.52259374e-03 6.97901149e-05 9.99996816e-01 3.55530911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:190.28, Y:40.06, Z:0.35 [[ 9.19126164e-01 -3.93956656e-01 -2.29067169e-03 1.90283901e+02] [ 3.93955239e-01 9.19129016e-01 -1.05885456e-03 4.00619118e+01] [ 2.52256562e-03 7.07988192e-05 9.99996816e-01 3.54249157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.33, Y:40.09, Z:0.35 [[ 9.18269042e-01 -3.95950400e-01 -2.29049675e-03 1.90333849e+02] [ 3.95948989e-01 9.18271897e-01 -1.05923285e-03 4.00946561e+01] [ 2.52270247e-03 6.57408647e-05 9.99996816e-01 3.53216949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.38, Y:40.13, Z:0.35 [[ 9.16927099e-01 -3.99048180e-01 -2.29032151e-03 1.90383490e+02] [ 3.99046778e-01 9.16929957e-01 -1.05961163e-03 4.01280370e+01] [ 2.52290050e-03 5.76411950e-05 9.99996816e-01 3.54497888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:40.16, Z:0.35 [[ 9.14191080e-01 -4.05276972e-01 -2.29014222e-03 1.90432736e+02] [ 4.05275588e-01 9.14193948e-01 -1.05999899e-03 4.01587953e+01] [ 2.52322734e-03 4.09028913e-05 9.99996816e-01 3.50127276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:40.19, Z:0.35 [[ 9.09868926e-01 -4.14889495e-01 -2.29007876e-03 1.90482924e+02] [ 4.14888141e-01 9.09871808e-01 -1.06013607e-03 4.01873816e+01] [ 2.52351742e-03 1.44583453e-05 9.99996816e-01 3.50089729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.54, Y:40.21, Z:0.35 [[ 9.05220578e-01 -4.24935833e-01 -2.28987826e-03 1.90535414e+02] [ 4.24934510e-01 9.05223474e-01 -1.06056898e-03 4.02119390e+01] [ 2.52352532e-03 -1.29994323e-05 9.99996816e-01 3.50776450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.59, Y:40.23, Z:0.35 [[ 9.02925299e-01 -4.29791416e-01 -2.28967759e-03 1.90588975e+02] [ 4.29790107e-01 9.02928202e-01 -1.06100203e-03 4.02336289e+01] [ 2.52342403e-03 -2.60752053e-05 9.99996816e-01 3.50904816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.64, Y:40.25, Z:0.35 [[ 9.01824542e-01 -4.32096348e-01 -2.28948048e-03 1.90643888e+02] [ 4.32095046e-01 9.01827447e-01 -1.06142719e-03 4.02529329e+01] [ 2.52335515e-03 -3.20520886e-05 9.99996816e-01 3.51962790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.70, Y:40.27, Z:0.35 [[ 9.03070318e-01 -4.29486623e-01 -2.28927701e-03 1.90699171e+02] [ 4.29485311e-01 9.03073220e-01 -1.06186585e-03 4.02743791e+01] [ 2.52344194e-03 -2.42713190e-05 9.99996816e-01 3.51802163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:190.75, Y:40.30, Z:0.35 [[ 9.04710353e-01 -4.26021053e-01 -2.28910067e-03 1.90752808e+02] [ 4.26019729e-01 9.04713249e-01 -1.06224585e-03 4.02976436e+01] [ 2.52351880e-03 -1.41772306e-05 9.99996816e-01 3.53464436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.81, Y:40.32, Z:0.35 [[ 9.07770365e-01 -4.19461233e-01 -2.28891322e-03 1.90807003e+02] [ 4.19459887e-01 9.07773250e-01 -1.06264962e-03 4.03194740e+01] [ 2.52355451e-03 4.53455524e-06 9.99996816e-01 3.52102960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:40.34, Z:0.35 [[ 9.10356296e-01 -4.13819014e-01 -2.28873805e-03 1.90860448e+02] [ 4.13817649e-01 9.10359173e-01 -1.06302677e-03 4.03420222e+01] [ 2.52347437e-03 2.06129172e-05 9.99996816e-01 3.52763345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.91, Y:40.37, Z:0.35 [[ 9.11753682e-01 -4.10731037e-01 -2.28867611e-03 1.90913120e+02] [ 4.10729662e-01 9.11756554e-01 -1.06316011e-03 4.03691958e+01] [ 2.52338830e-03 2.93129755e-05 9.99996816e-01 3.52440049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:40.39, Z:0.35 [[ 9.11547221e-01 -4.11189039e-01 -2.28849457e-03 1.90964787e+02] [ 4.11187665e-01 9.11550094e-01 -1.06355074e-03 4.03925295e+01] [ 2.52339785e-03 2.84759831e-05 9.99996816e-01 3.49930960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.02, Y:40.41, Z:0.35 [[ 9.08863232e-01 -4.17087987e-01 -2.28840466e-03 1.91018487e+02] [ 4.17086631e-01 9.08866113e-01 -1.06374416e-03 4.04144037e+01] [ 2.52352836e-03 1.23349600e-05 9.99996816e-01 3.51012443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.07, Y:40.44, Z:0.36 [[ 9.05136135e-01 -4.25115679e-01 -2.28820462e-03 1.91072492e+02] [ 4.25114347e-01 9.05139028e-01 -1.06417428e-03 4.04376118e+01] [ 2.52354048e-03 -9.52602363e-06 9.99996816e-01 3.55710045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.13, Y:40.46, Z:0.36 [[ 9.01983587e-01 -4.31764257e-01 -2.28802820e-03 1.91126172e+02] [ 4.31762946e-01 9.01986488e-01 -1.06455347e-03 4.04599111e+01] [ 2.52340666e-03 -2.76760380e-05 9.99996816e-01 3.56463847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.18, Y:40.48, Z:0.35 [[ 9.00461316e-01 -4.34930092e-01 -2.28782216e-03 1.91180559e+02] [ 4.34928790e-01 9.00464221e-01 -1.06499609e-03 4.04802659e+01] [ 2.52330084e-03 -3.60519445e-05 9.99996816e-01 3.53559930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:40.50, Z:0.36 [[ 9.00355983e-01 -4.35148102e-01 -2.28775892e-03 1.91235781e+02] [ 4.35146799e-01 9.00358889e-01 -1.06513190e-03 4.05013822e+01] [ 2.52329421e-03 -3.65130905e-05 9.99996816e-01 3.57907705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:191.29, Y:40.52, Z:0.36 [[ 9.00973538e-01 -4.33868011e-01 -2.28758548e-03 1.91290806e+02] [ 4.33866704e-01 9.00976441e-01 -1.06550429e-03 4.05229631e+01] [ 2.52334885e-03 -3.25160024e-05 9.99996816e-01 3.59441077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:40.55, Z:0.36 [[ 9.01356266e-01 -4.33072338e-01 -2.28740861e-03 1.91343720e+02] [ 4.33071027e-01 9.01359168e-01 -1.06588383e-03 4.05462043e+01] [ 2.52338153e-03 -2.98693258e-05 9.99996816e-01 3.57116215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:40.57, Z:0.36 [[ 9.02946098e-01 -4.29747732e-01 -2.28734590e-03 1.91399742e+02] [ 4.29746410e-01 9.02948995e-01 -1.06601841e-03 4.05660755e+01] [ 2.52347567e-03 -2.04215266e-05 9.99996816e-01 3.56726236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.45, Y:40.59, Z:0.35 [[ 9.04818592e-01 -4.25791127e-01 -2.28717124e-03 1.91454182e+02] [ 4.25789792e-01 9.04821483e-01 -1.06639300e-03 4.05884699e+01] [ 2.52354235e-03 -8.96195689e-06 9.99996816e-01 3.54878747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:40.61, Z:0.36 [[ 9.07033412e-01 -4.21052443e-01 -2.28699661e-03 1.91508351e+02] [ 4.21051091e-01 9.07036295e-01 -1.06676739e-03 4.06106587e+01] [ 2.52355395e-03 4.65124821e-06 9.99996816e-01 3.58214368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:40.63, Z:0.36 [[ 9.09709880e-01 -4.15238130e-01 -2.28681279e-03 1.91561860e+02] [ 4.15236759e-01 9.09712754e-01 -1.06716128e-03 4.06337244e+01] [ 2.52346882e-03 2.12384317e-05 9.99996816e-01 3.56003628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.61, Y:40.66, Z:0.36 [[ 9.10222165e-01 -4.14113971e-01 -2.28674762e-03 1.91614571e+02] [ 4.14112596e-01 9.10225037e-01 -1.06730093e-03 4.06576973e+01] [ 2.52343916e-03 2.45099708e-05 9.99996816e-01 3.58402181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.67, Y:40.68, Z:0.36 [[ 9.10611936e-01 -4.13256184e-01 -2.28653956e-03 1.91666679e+02] [ 4.13254806e-01 9.10614806e-01 -1.06774648e-03 4.06826964e+01] [ 2.52340961e-03 2.73792312e-05 9.99996816e-01 3.57048611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06264000000002 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:191.72, Y:40.71, Z:0.36 [[ 9.10365217e-01 -4.13799401e-01 -2.28647544e-03 1.91718246e+02] [ 4.13798024e-01 9.10368088e-01 -1.06788376e-03 4.07121585e+01] [ 2.52342394e-03 2.60252074e-05 9.99996816e-01 3.59560570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.77, Y:40.74, Z:0.36 [[ 9.09827145e-01 -4.14981131e-01 -2.28629706e-03 1.91770417e+02] [ 4.14979756e-01 9.09830017e-01 -1.06826554e-03 4.07365616e+01] [ 2.52345173e-03 2.31699895e-05 9.99996816e-01 3.56275999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.82, Y:40.76, Z:0.36 [[ 9.07268134e-01 -4.20546439e-01 -2.28609253e-03 1.91821392e+02] [ 4.20545081e-01 9.07271014e-01 -1.06870305e-03 4.07641145e+01] [ 2.52354475e-03 8.19524882e-06 9.99996816e-01 3.56901499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:40.79, Z:0.36 [[ 9.05067668e-01 -4.25261439e-01 -2.28602944e-03 1.91873831e+02] [ 4.25260096e-01 9.05070555e-01 -1.06883799e-03 4.07883883e+01] [ 2.52355351e-03 -4.78639229e-06 9.99996816e-01 3.57667020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:40.81, Z:0.36 [[ 9.01905697e-01 -4.31926948e-01 -2.28582863e-03 1.91927768e+02] [ 4.31925626e-01 9.01908593e-01 -1.06926728e-03 4.08121446e+01] [ 2.52345383e-03 -2.29297090e-05 9.99996816e-01 3.59224363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:191.98, Y:40.83, Z:0.36 [[ 9.00064480e-01 -4.35750739e-01 -2.28564842e-03 1.91981612e+02] [ 4.35749428e-01 9.00067382e-01 -1.06965235e-03 4.08347365e+01] [ 2.52333939e-03 -3.32139084e-05 9.99996816e-01 3.59692137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.04, Y:40.86, Z:0.36 [[ 9.00097948e-01 -4.35681604e-01 -2.28543735e-03 1.92035851e+02] [ 4.35680291e-01 9.00100849e-01 -1.07010314e-03 4.08559196e+01] [ 2.52334835e-03 -3.25223721e-05 9.99996816e-01 3.56912166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.09, Y:40.88, Z:0.36 [[ 9.01068644e-01 -4.33670470e-01 -2.28537246e-03 1.92090839e+02] [ 4.33669150e-01 9.01071541e-01 -1.07024170e-03 4.08780984e+01] [ 2.52341630e-03 -2.67342926e-05 9.99996816e-01 3.57390818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.15, Y:40.90, Z:0.36 [[ 9.02056227e-01 -4.31612490e-01 -2.28518936e-03 1.92145189e+02] [ 4.31611163e-01 9.02059121e-01 -1.07063250e-03 4.08992851e+01] [ 2.52347427e-03 -2.05425254e-05 9.99996816e-01 3.55489729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:40.92, Z:0.36 [[ 9.02785030e-01 -4.30086001e-01 -2.28509245e-03 1.92199198e+02] [ 4.30084668e-01 9.02787922e-01 -1.07083930e-03 4.09204394e+01] [ 2.52350686e-03 -1.60455347e-05 9.99996816e-01 3.57330974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.25, Y:40.94, Z:0.36 [[ 9.04427305e-01 -4.26621647e-01 -2.28488509e-03 1.92254956e+02] [ 4.26620302e-01 9.04430191e-01 -1.07128158e-03 4.09395515e+01] [ 2.52355097e-03 -5.88205503e-06 9.99996816e-01 3.61009620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:192.31, Y:40.96, Z:0.36 [[ 9.05124941e-01 -4.25139532e-01 -2.28470122e-03 1.92309666e+02] [ 4.25138181e-01 9.05127824e-01 -1.07167357e-03 4.09606023e+01] [ 2.52355744e-03 -1.31523924e-06 9.99996816e-01 3.62009460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:40.98, Z:0.36 [[ 9.06148873e-01 -4.22952717e-01 -2.28449006e-03 1.92364968e+02] [ 4.22951358e-01 9.06151753e-01 -1.07212352e-03 4.09784261e+01] [ 2.52355222e-03 5.27534872e-06 9.99996816e-01 3.61319486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.42, Y:41.00, Z:0.36 [[ 9.07051913e-01 -4.21012601e-01 -2.28428042e-03 1.92419401e+02] [ 4.21011234e-01 9.07054789e-01 -1.07256999e-03 4.09978866e+01] [ 2.52353297e-03 1.11689405e-05 9.99996816e-01 3.58060369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:41.02, Z:0.36 [[ 9.07969493e-01 -4.19030049e-01 -2.28421576e-03 1.92474711e+02] [ 4.19028676e-01 9.07972366e-01 -1.07270768e-03 4.10177548e+01] [ 2.52350154e-03 1.68339453e-05 9.99996816e-01 3.55767979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:41.04, Z:0.36 [[ 9.09260856e-01 -4.16220468e-01 -2.28403618e-03 1.92529085e+02] [ 4.16219086e-01 9.09263725e-01 -1.07308990e-03 4.10368019e+01] [ 2.52343323e-03 2.50591904e-05 9.99996816e-01 3.59277447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.58, Y:41.06, Z:0.36 [[ 9.10757235e-01 -4.12935881e-01 -2.28392491e-03 1.92583308e+02] [ 4.12934487e-01 9.10760099e-01 -1.07332668e-03 4.10594458e+01] [ 2.52332277e-03 3.44286740e-05 9.99996816e-01 3.63970879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08264 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:41.08, Z:0.36 [[ 9.12645536e-01 -4.08745532e-01 -2.28374183e-03 1.92635391e+02] [ 4.08744124e-01 9.12648392e-01 -1.07371607e-03 4.10831435e+01] [ 2.52312996e-03 4.64561288e-05 9.99996816e-01 3.63148415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:41.11, Z:0.36 [[ 9.14590219e-01 -4.04375464e-01 -2.28365161e-03 1.92688250e+02] [ 4.04374042e-01 9.14593068e-01 -1.07390792e-03 4.11091456e+01] [ 2.52287395e-03 5.87362433e-05 9.99996816e-01 3.64565757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.74, Y:41.14, Z:0.37 [[ 9.14999726e-01 -4.03447997e-01 -2.28347046e-03 1.92739112e+02] [ 4.03446572e-01 9.15002574e-01 -1.07429297e-03 4.11370721e+01] [ 2.52280270e-03 6.17194461e-05 9.99996816e-01 3.65251399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.79, Y:41.17, Z:0.37 [[ 9.14776851e-01 -4.03953091e-01 -2.28326006e-03 1.92788907e+02] [ 4.03951665e-01 9.14779699e-01 -1.07473996e-03 4.11664807e+01] [ 2.52282448e-03 6.08205371e-05 9.99996816e-01 3.66769153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.84, Y:41.20, Z:0.37 [[ 9.14864867e-01 -4.03753716e-01 -2.28316289e-03 1.92839130e+02] [ 4.03752290e-01 9.14867713e-01 -1.07494635e-03 4.11985008e+01] [ 2.52280560e-03 6.15984096e-05 9.99996816e-01 3.67775719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:41.23, Z:0.37 [[ 9.14727227e-01 -4.04065451e-01 -2.28298513e-03 1.92887519e+02] [ 4.04064025e-01 9.14730074e-01 -1.07532374e-03 4.12307162e+01] [ 2.52281633e-03 6.11557451e-05 9.99996816e-01 3.65546956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:41.26, Z:0.36 [[ 9.13418119e-01 -4.07016128e-01 -2.28292208e-03 1.92936774e+02] [ 4.07014711e-01 9.13420970e-01 -1.07545757e-03 4.12639965e+01] [ 2.52299748e-03 5.31595625e-05 9.99996816e-01 3.62161958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.99, Y:41.29, Z:0.36 [[ 9.12313070e-01 -4.09487059e-01 -2.28274300e-03 1.92986666e+02] [ 4.09485648e-01 9.12315925e-01 -1.07583755e-03 4.12945706e+01] [ 2.52312435e-03 4.67501609e-05 9.99996816e-01 3.60234943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.04, Y:41.33, Z:0.36 [[ 9.10109986e-01 -4.14360474e-01 -2.28267995e-03 1.93036453e+02] [ 4.14359078e-01 9.10112848e-01 -1.07597133e-03 4.13258485e+01] [ 2.52333634e-03 3.34030962e-05 9.99996816e-01 3.59713768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.09, Y:41.35, Z:0.36 [[ 9.08340890e-01 -4.18224364e-01 -2.28247327e-03 1.93086872e+02] [ 4.18222979e-01 9.08343757e-01 -1.07640957e-03 4.13546138e+01] [ 2.52345106e-03 2.31640518e-05 9.99996816e-01 3.59761892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.14, Y:41.38, Z:0.36 [[ 9.06499853e-01 -4.22199962e-01 -2.28226102e-03 1.93138811e+02] [ 4.22198589e-01 9.06502726e-01 -1.07685942e-03 4.13832268e+01] [ 2.52352584e-03 1.26055266e-05 9.99996816e-01 3.61131056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:41.41, Z:0.36 [[ 9.03651129e-01 -4.28263271e-01 -2.28207503e-03 1.93190040e+02] [ 4.28261916e-01 9.03654010e-01 -1.07725342e-03 4.14119177e+01] [ 2.52355433e-03 -3.86455258e-06 9.99996816e-01 3.63222202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:41.44, Z:0.36 [[ 9.01271231e-01 -4.33249306e-01 -2.28189065e-03 1.93242039e+02] [ 4.33247966e-01 9.01274119e-01 -1.07764384e-03 4.14403073e+01] [ 2.52349743e-03 -1.73750934e-05 9.99996816e-01 3.62511515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.29, Y:41.47, Z:0.36 [[ 9.00507018e-01 -4.34835492e-01 -2.28170476e-03 1.93292985e+02] [ 4.34834156e-01 9.00509908e-01 -1.07803729e-03 4.14655248e+01] [ 2.52346662e-03 -2.13830222e-05 9.99996816e-01 3.58977455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:41.49, Z:0.36 [[ 9.00608087e-01 -4.34626124e-01 -2.28161292e-03 1.93345775e+02] [ 4.34624787e-01 9.00610977e-01 -1.07823163e-03 4.14889681e+01] [ 2.52347327e-03 -2.05814031e-05 9.99996816e-01 3.63187825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.40, Y:41.52, Z:0.36 [[ 9.01319595e-01 -4.33148685e-01 -2.28140358e-03 1.93396907e+02] [ 4.33147343e-01 9.01322482e-01 -1.07867438e-03 4.15156366e+01] [ 2.52350673e-03 -1.59535401e-05 9.99996816e-01 3.64449204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.45, Y:41.54, Z:0.36 [[ 9.00794359e-01 -4.34239932e-01 -2.28133898e-03 1.93452134e+02] [ 4.34238592e-01 9.00797248e-01 -1.07881098e-03 4.15369358e+01] [ 2.52348668e-03 -1.88585806e-05 9.99996816e-01 3.62770257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:41.56, Z:0.36 [[ 8.99644579e-01 -4.36617027e-01 -2.28116239e-03 1.93506729e+02] [ 4.36615694e-01 8.99647471e-01 -1.07918425e-03 4.15599376e+01] [ 2.52343220e-03 -2.51090361e-05 9.99996816e-01 3.62896345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.56, Y:41.58, Z:0.36 [[ 8.98018999e-01 -4.39950763e-01 -2.28097624e-03 1.93561519e+02] [ 4.39949440e-01 8.98021896e-01 -1.07957757e-03 4.15817298e+01] [ 2.52332758e-03 -3.40330447e-05 9.99996816e-01 3.60761200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:41.60, Z:0.36 [[ 8.96906224e-01 -4.42214907e-01 -2.28079198e-03 1.93615062e+02] [ 4.42213590e-01 8.96909123e-01 -1.07996671e-03 4.16024896e+01] [ 2.52324051e-03 -3.99683423e-05 9.99996816e-01 3.59921329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:41.62, Z:0.36 [[ 8.96041423e-01 -4.43964602e-01 -2.28064894e-03 1.93670216e+02] [ 4.43963290e-01 8.96044324e-01 -1.08026868e-03 4.16203701e+01] [ 2.52316360e-03 -4.45589215e-05 9.99996816e-01 3.60317869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34264000000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:41.64, Z:0.36 [[ 8.95458778e-01 -4.45138603e-01 -2.28044674e-03 1.93726331e+02] [ 4.45137294e-01 8.95461681e-01 -1.08069536e-03 4.16392971e+01] [ 2.52311190e-03 -4.73937448e-05 9.99996816e-01 3.64171673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.78, Y:41.66, Z:0.37 [[ 8.95022372e-01 -4.46015419e-01 -2.28026870e-03 1.93780817e+02] [ 4.46014112e-01 8.95025275e-01 -1.08107089e-03 4.16591753e+01] [ 2.52307241e-03 -4.94493897e-05 9.99996816e-01 3.65059113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.84, Y:41.67, Z:0.36 [[ 8.95712172e-01 -4.44628503e-01 -2.28005952e-03 1.93837407e+02] [ 4.44627190e-01 8.95715073e-01 -1.08151190e-03 4.16739657e+01] [ 2.52315469e-03 -4.50530888e-05 9.99996816e-01 3.62983209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.89, Y:41.70, Z:0.36 [[ 8.97084017e-01 -4.41854126e-01 -2.27999466e-03 1.93892048e+02] [ 4.41852803e-01 8.97086913e-01 -1.08164862e-03 4.16964797e+01] [ 2.52328427e-03 -3.70923453e-05 9.99996816e-01 3.64069046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.95, Y:41.72, Z:0.36 [[ 9.00829884e-01 -4.34166239e-01 -2.27980984e-03 1.93946923e+02] [ 4.34164891e-01 9.00832769e-01 -1.08203801e-03 4.17178500e+01] [ 2.52351179e-03 -1.50812173e-05 9.99996816e-01 3.64797431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.00, Y:41.74, Z:0.36 [[ 9.04786397e-01 -4.25859577e-01 -2.27962540e-03 1.93998342e+02] [ 4.25858201e-01 9.04789269e-01 -1.08242647e-03 4.17442932e+01] [ 2.52354227e-03 8.56757125e-06 9.99996816e-01 3.64150993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.05, Y:41.77, Z:0.36 [[ 9.06362454e-01 -4.22494859e-01 -2.27941419e-03 1.94050956e+02] [ 4.22493471e-01 9.06365320e-01 -1.08287104e-03 4.17700499e+01] [ 2.52348942e-03 1.84360416e-05 9.99996816e-01 3.62112129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.10, Y:41.80, Z:0.36 [[ 9.05977775e-01 -4.23319119e-01 -2.27922790e-03 1.94102703e+02] [ 4.23317733e-01 9.05980642e-01 -1.08326302e-03 4.17957328e+01] [ 2.52350230e-03 1.65746303e-05 9.99996816e-01 3.61547170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:41.82, Z:0.36 [[ 9.04596837e-01 -4.26262089e-01 -2.27901485e-03 1.94154869e+02] [ 4.26260712e-01 9.04599708e-01 -1.08371104e-03 4.18217986e+01] [ 2.52354110e-03 8.86708679e-06 9.99996816e-01 3.62332920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.21, Y:41.85, Z:0.36 [[ 9.01954645e-01 -4.31824762e-01 -2.27891602e-03 1.94208260e+02] [ 4.31823402e-01 9.01957524e-01 -1.08391883e-03 4.18468835e+01] [ 2.52354844e-03 -6.44364353e-06 9.99996816e-01 3.60401080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.26, Y:41.87, Z:0.36 [[ 8.98083392e-01 -4.39819314e-01 -2.27873357e-03 1.94262267e+02] [ 4.39817978e-01 8.98086282e-01 -1.08430226e-03 4.18688627e+01] [ 2.52339644e-03 -2.84341361e-05 9.99996816e-01 3.60104925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.32, Y:41.89, Z:0.36 [[ 8.95703291e-01 -4.44646402e-01 -2.27866923e-03 1.94315955e+02] [ 4.44645081e-01 8.95706188e-01 -1.08443746e-03 4.18907621e+01] [ 2.52320935e-03 -4.18648663e-05 9.99996816e-01 3.60866607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06264000000002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:194.37, Y:41.91, Z:0.36 [[ 8.94695986e-01 -4.46669789e-01 -2.27846494e-03 1.94370412e+02] [ 4.46668474e-01 8.94698886e-01 -1.08486652e-03 4.19124931e+01] [ 2.52311714e-03 -4.70927375e-05 9.99996816e-01 3.64435234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:41.93, Z:0.36 [[ 8.96664516e-01 -4.42704816e-01 -2.27827917e-03 1.94424488e+02] [ 4.42703488e-01 8.96667410e-01 -1.08525650e-03 4.19325307e+01] [ 2.52330696e-03 -3.54911415e-05 9.99996816e-01 3.64837018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:41.96, Z:0.37 [[ 8.98192427e-01 -4.39596604e-01 -2.27821365e-03 1.94477025e+02] [ 4.39595265e-01 8.98195316e-01 -1.08539403e-03 4.19563474e+01] [ 2.52341636e-03 -2.65992297e-05 9.99996816e-01 3.65128199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:41.98, Z:0.37 [[ 8.99677340e-01 -4.36549532e-01 -2.27800389e-03 1.94530964e+02] [ 4.36548182e-01 8.99680224e-01 -1.08583409e-03 4.19767560e+01] [ 2.52349541e-03 -1.75581336e-05 9.99996816e-01 3.65967193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:42.00, Z:0.37 [[ 8.99845090e-01 -4.36203650e-01 -2.27793883e-03 1.94585453e+02] [ 4.36202298e-01 8.99847974e-01 -1.08597056e-03 4.19994048e+01] [ 2.52350296e-03 -1.64368755e-05 9.99996816e-01 3.65481377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:42.02, Z:0.37 [[ 9.00840523e-01 -4.34144174e-01 -2.27775803e-03 1.94640276e+02] [ 4.34142815e-01 9.00843402e-01 -1.08634965e-03 4.20195685e+01] [ 2.52353566e-03 -1.02444940e-05 9.99996816e-01 3.65189869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.69, Y:42.04, Z:0.36 [[ 9.03100848e-01 -4.29422484e-01 -2.27769420e-03 1.94693621e+02] [ 4.29421110e-01 9.03103721e-01 -1.08648345e-03 4.20446458e+01] [ 2.52355453e-03 3.11415706e-06 9.99996816e-01 3.61316732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.75, Y:42.07, Z:0.36 [[ 9.03867268e-01 -4.27806936e-01 -2.27751607e-03 1.94745745e+02] [ 4.27805555e-01 9.03870138e-01 -1.08685674e-03 4.20691903e+01] [ 2.52354361e-03 8.04020771e-06 9.99996816e-01 3.62085974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.80, Y:42.10, Z:0.36 [[ 9.05577969e-01 -4.24173732e-01 -2.27730791e-03 1.94796937e+02] [ 4.24172339e-01 9.05580833e-01 -1.08729271e-03 4.20950431e+01] [ 2.52348740e-03 1.86573020e-05 9.99996816e-01 3.60893351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:42.12, Z:0.36 [[ 9.05891428e-01 -4.23503879e-01 -2.27721796e-03 1.94848515e+02] [ 4.23502483e-01 9.05894290e-01 -1.08748108e-03 4.21204652e+01] [ 2.52347120e-03 2.07323282e-05 9.99996816e-01 3.62187544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.90, Y:42.14, Z:0.36 [[ 9.04473608e-01 -4.26523512e-01 -2.27715605e-03 1.94901781e+02] [ 4.26522126e-01 9.04476475e-01 -1.08761070e-03 4.21446484e+01] [ 2.52352561e-03 1.24577403e-05 9.99996816e-01 3.63136282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:42.17, Z:0.36 [[ 9.02713618e-01 -4.30235911e-01 -2.27697342e-03 1.94954279e+02] [ 4.30234535e-01 9.02716490e-01 -1.08799290e-03 4.21701309e+01] [ 2.52355507e-03 2.51340861e-06 9.99996816e-01 3.60587065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:42.19, Z:0.36 [[ 9.00028124e-01 -4.35825874e-01 -2.27679217e-03 1.95007758e+02] [ 4.35824515e-01 9.00031003e-01 -1.08837206e-03 4.21933417e+01] [ 2.52352425e-03 -1.27163805e-05 9.99996816e-01 3.61887762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:42.22, Z:0.36 [[ 8.98577705e-01 -4.38808529e-01 -2.27657700e-03 1.95061961e+02] [ 4.38807179e-01 8.98580589e-01 -1.08882195e-03 4.22170885e+01] [ 2.52347226e-03 -2.05872008e-05 9.99996816e-01 3.64709407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.12, Y:42.24, Z:0.37 [[ 8.97562314e-01 -4.40881741e-01 -2.27638954e-03 1.95115963e+02] [ 4.40880397e-01 8.97565201e-01 -1.08921374e-03 4.22370618e+01] [ 2.52342249e-03 -2.59783142e-05 9.99996816e-01 3.66846840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.17, Y:42.26, Z:0.37 [[ 8.98578977e-01 -4.38805926e-01 -2.27631052e-03 1.95169677e+02] [ 4.38804574e-01 8.98581860e-01 -1.08937886e-03 4.22600359e+01] [ 2.52347724e-03 -1.99625209e-05 9.99996816e-01 3.68013518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.22, Y:42.28, Z:0.37 [[ 8.99677455e-01 -4.36549306e-01 -2.27609869e-03 1.95222325e+02] [ 4.36547946e-01 8.99680334e-01 -1.08982126e-03 4.22839985e+01] [ 2.52352195e-03 -1.31385955e-05 9.99996816e-01 3.65963296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.28, Y:42.31, Z:0.37 [[ 9.00830544e-01 -4.34164888e-01 -2.27603307e-03 1.95275572e+02] [ 4.34163520e-01 9.00833419e-01 -1.08995829e-03 4.23100516e+01] [ 2.52354827e-03 -6.30280984e-06 9.99996816e-01 3.68027665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.33, Y:42.33, Z:0.37 [[ 9.01978716e-01 -4.31774497e-01 -2.27584819e-03 1.95328627e+02] [ 4.31773121e-01 9.01981587e-01 -1.09034419e-03 4.23335939e+01] [ 2.52355598e-03 8.17177788e-07 9.99996816e-01 3.67752401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:42.36, Z:0.37 [[ 9.03141799e-01 -4.29336362e-01 -2.27578259e-03 1.95380383e+02] [ 4.29334977e-01 9.03144666e-01 -1.09048108e-03 4.23590427e+01] [ 2.52354409e-03 7.78597994e-06 9.99996816e-01 3.69971431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.43, Y:42.39, Z:0.37 [[ 9.05563488e-01 -4.24204658e-01 -2.27557716e-03 1.95432449e+02] [ 4.24203256e-01 9.05566346e-01 -1.09090960e-03 4.23875963e+01] [ 2.52345503e-03 2.25806605e-05 9.99996816e-01 3.69305601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:42.41, Z:0.37 [[ 9.06702711e-01 -4.21764172e-01 -2.27540517e-03 1.95482166e+02] [ 4.21762761e-01 9.06705566e-01 -1.09126822e-03 4.24146246e+01] [ 2.52338037e-03 2.97746841e-05 9.99996816e-01 3.67923559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.53, Y:42.44, Z:0.37 [[ 9.06354745e-01 -4.22511419e-01 -2.27531385e-03 1.95534548e+02] [ 4.22510010e-01 9.06357601e-01 -1.09145860e-03 4.24422038e+01] [ 2.52340172e-03 2.79058011e-05 9.99996816e-01 3.70716110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.58, Y:42.47, Z:0.37 [[ 9.05321655e-01 -4.24720525e-01 -2.27512608e-03 1.95584879e+02] [ 4.24719123e-01 9.05324514e-01 -1.09184986e-03 4.24690738e+01] [ 2.52345846e-03 2.21857745e-05 9.99996816e-01 3.68984831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:195.64, Y:42.50, Z:0.37 [[ 9.04410223e-01 -4.26657912e-01 -2.27498050e-03 1.95636062e+02] [ 4.26656514e-01 9.04413084e-01 -1.09215311e-03 4.24980027e+01] [ 2.52349789e-03 1.71191891e-05 9.99996816e-01 3.66970102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.69, Y:42.52, Z:0.37 [[ 9.04503382e-01 -4.26460382e-01 -2.27479759e-03 1.95687317e+02] [ 4.26458982e-01 9.04506242e-01 -1.09253396e-03 4.25244373e+01] [ 2.52349106e-03 1.80927950e-05 9.99996816e-01 3.67324224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:42.55, Z:0.37 [[ 9.04784689e-01 -4.25863233e-01 -2.27458235e-03 1.95740855e+02] [ 4.25861830e-01 9.04787548e-01 -1.09298187e-03 4.25496823e+01] [ 2.52347458e-03 2.02554606e-05 9.99996816e-01 3.70105021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.79, Y:42.58, Z:0.36 [[ 9.05126428e-01 -4.25136421e-01 -2.27438909e-03 1.95790465e+02] [ 4.25135016e-01 9.05129285e-01 -1.09338389e-03 4.25787956e+01] [ 2.52345348e-03 2.27282179e-05 9.99996816e-01 3.63305375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.84, Y:42.61, Z:0.37 [[ 9.04659905e-01 -4.26128248e-01 -2.27430646e-03 1.95842439e+02] [ 4.26126845e-01 9.04662764e-01 -1.09355574e-03 4.26063260e+01] [ 2.52347536e-03 2.01529999e-05 9.99996816e-01 3.71505304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:42.63, Z:0.37 [[ 9.04027239e-01 -4.27468806e-01 -2.27411705e-03 1.95894698e+02] [ 4.27467406e-01 9.04030099e-01 -1.09394948e-03 4.26332172e+01] [ 2.52349954e-03 1.68492160e-05 9.99996816e-01 3.69515799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:42.66, Z:0.37 [[ 9.04515518e-01 -4.26434646e-01 -2.27392724e-03 1.95946506e+02] [ 4.26433242e-01 9.04518376e-01 -1.09434388e-03 4.26583920e+01] [ 2.52347512e-03 2.01728508e-05 9.99996816e-01 3.68478428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:42.69, Z:0.37 [[ 9.04814030e-01 -4.25800893e-01 -2.27379216e-03 1.95998860e+02] [ 4.25799487e-01 9.04816887e-01 -1.09462448e-03 4.26864718e+01] [ 2.52345762e-03 2.22520489e-05 9.99996816e-01 3.67964918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:196.05, Y:42.71, Z:0.37 [[ 9.05715430e-01 -4.23880159e-01 -2.27368499e-03 1.96050303e+02] [ 4.23878746e-01 9.05718284e-01 -1.09484704e-03 4.27123836e+01] [ 2.52340201e-03 2.78531200e-05 9.99996816e-01 3.70329398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:42.74, Z:0.37 [[ 9.06696882e-01 -4.21776712e-01 -2.27361707e-03 1.96100828e+02] [ 4.21775292e-01 9.06699732e-01 -1.09498808e-03 4.27407988e+01] [ 2.52332846e-03 3.38667711e-05 9.99996816e-01 3.68110225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:42.77, Z:0.37 [[ 9.06697482e-01 -4.21775422e-01 -2.27355069e-03 1.96153708e+02] [ 4.21774001e-01 9.06700332e-01 -1.09512589e-03 4.27665373e+01] [ 2.52332634e-03 3.40233142e-05 9.99996816e-01 3.71364961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:42.79, Z:0.37 [[ 9.06525367e-01 -4.22145225e-01 -2.27335239e-03 1.96204317e+02] [ 4.22143804e-01 9.06528217e-01 -1.09553738e-03 4.27943348e+01] [ 2.52333396e-03 3.34508017e-05 9.99996816e-01 3.66756662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.26, Y:42.82, Z:0.37 [[ 9.05919037e-01 -4.23444839e-01 -2.27328270e-03 1.96256626e+02] [ 4.23443422e-01 9.05921888e-01 -1.09568195e-03 4.28211204e+01] [ 2.52337743e-03 2.99925320e-05 9.99996816e-01 3.71550877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:42.85, Z:0.38 [[ 9.04641011e-01 -4.26168365e-01 -2.27309406e-03 1.96309602e+02] [ 4.26166956e-01 9.04643866e-01 -1.09607318e-03 4.28474672e+01] [ 2.52345231e-03 2.28351724e-05 9.99996816e-01 3.76920702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:42.87, Z:0.38 [[ 9.03272330e-01 -4.29061687e-01 -2.27290593e-03 1.96362617e+02] [ 4.29060286e-01 9.03275190e-01 -1.09646315e-03 4.28723690e+01] [ 2.52350987e-03 1.51911543e-05 9.99996816e-01 3.80930748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:42.90, Z:0.38 [[ 9.01580200e-01 -4.32606032e-01 -2.27271551e-03 1.96414484e+02] [ 4.32604641e-01 9.01583064e-01 -1.09685770e-03 4.28977592e+01] [ 2.52354907e-03 5.71790940e-06 9.99996816e-01 3.78931874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:42.92, Z:0.38 [[ 8.99990224e-01 -4.35904155e-01 -2.27264813e-03 1.96468528e+02] [ 4.35902775e-01 8.99993093e-01 -1.09699731e-03 4.29223784e+01] [ 2.52355330e-03 -3.36676802e-06 9.99996816e-01 3.75598163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.52, Y:42.95, Z:0.37 [[ 8.98969337e-01 -4.38005671e-01 -2.27247708e-03 1.96520797e+02] [ 4.38004296e-01 8.98972209e-01 -1.09735153e-03 4.29473313e+01] [ 2.52353993e-03 -8.86934444e-06 9.99996816e-01 3.72762019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58264 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:196.58, Y:42.97, Z:0.38 [[ 8.98739628e-01 -4.38476814e-01 -2.27241260e-03 1.96575407e+02] [ 4.38475441e-01 8.98742501e-01 -1.09748503e-03 4.29704431e+01] [ 2.52353553e-03 -1.00438284e-05 9.99996816e-01 3.76449990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.63, Y:42.99, Z:0.38 [[ 8.99120486e-01 -4.37695316e-01 -2.27222185e-03 1.96627930e+02] [ 4.37693939e-01 8.99123357e-01 -1.09787981e-03 4.29942123e+01] [ 2.52354459e-03 -7.41150259e-06 9.99996816e-01 3.75879902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:43.02, Z:0.38 [[ 8.99056740e-01 -4.37826239e-01 -2.27215451e-03 1.96680899e+02] [ 4.37824862e-01 8.99059611e-01 -1.09801918e-03 4.30181324e+01] [ 2.52354395e-03 -7.62419157e-06 9.99996816e-01 3.75001881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.73, Y:43.04, Z:0.38 [[ 8.98866009e-01 -4.38217682e-01 -2.27194574e-03 1.96734623e+02] [ 4.38216305e-01 8.98868880e-01 -1.09845096e-03 4.30399935e+01] [ 2.52354196e-03 -8.24343516e-06 9.99996816e-01 3.77494372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82264 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:43.06, Z:0.38 [[ 8.98598589e-01 -4.38765786e-01 -2.27172487e-03 1.96789235e+02] [ 4.38764410e-01 8.98601460e-01 -1.09890757e-03 4.30620669e+01] [ 2.52353833e-03 -9.27522811e-06 9.99996816e-01 3.79082301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:43.08, Z:0.38 [[ 8.98903631e-01 -4.38140505e-01 -2.27153021e-03 1.96842759e+02] [ 4.38139126e-01 8.98906501e-01 -1.09930980e-03 4.30848979e+01] [ 2.52354542e-03 -7.07269082e-06 9.99996816e-01 3.78987703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:43.11, Z:0.38 [[ 8.99573279e-01 -4.36763958e-01 -2.27146153e-03 1.96895895e+02] [ 4.36762575e-01 8.99576147e-01 -1.09945169e-03 4.31072164e+01] [ 2.52355348e-03 -3.05202540e-06 9.99996816e-01 3.77693716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.95, Y:43.13, Z:0.38 [[ 9.00830389e-01 -4.34165236e-01 -2.27124540e-03 1.96949891e+02] [ 4.34163843e-01 9.00833252e-01 -1.09989800e-03 4.31306432e+01] [ 2.52355085e-03 4.72891154e-06 9.99996816e-01 3.75940930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.00, Y:43.16, Z:0.38 [[ 9.02815898e-01 -4.30021274e-01 -2.27105590e-03 1.97002539e+02] [ 4.30019867e-01 9.02818755e-01 -1.10028912e-03 4.31558351e+01] [ 2.52349959e-03 1.67593496e-05 9.99996816e-01 3.75478311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.05, Y:43.18, Z:0.38 [[ 9.03705469e-01 -4.28148653e-01 -2.27086694e-03 1.97054474e+02] [ 4.28147239e-01 9.03708322e-01 -1.10067898e-03 4.31803421e+01] [ 2.52345557e-03 2.24242033e-05 9.99996816e-01 3.76050729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:43.21, Z:0.38 [[ 9.03133668e-01 -4.29353492e-01 -2.27080048e-03 1.97107372e+02] [ 4.29352081e-01 9.03136523e-01 -1.10081607e-03 4.32061003e+01] [ 2.52348208e-03 1.92111394e-05 9.99996816e-01 3.80990949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.16, Y:43.23, Z:0.38 [[ 9.01284885e-01 -4.33220961e-01 -2.27059960e-03 1.97160433e+02] [ 4.33219562e-01 9.01287745e-01 -1.10123027e-03 4.32320510e+01] [ 2.52353963e-03 8.85403369e-06 9.99996816e-01 3.82026434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:43.26, Z:0.38 [[ 8.99871539e-01 -4.36149124e-01 -2.27040008e-03 1.97212902e+02] [ 4.36147733e-01 8.99874403e-01 -1.10164146e-03 4.32573152e+01] [ 2.52355488e-03 1.10594575e-06 9.99996816e-01 3.80611698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:43.28, Z:0.38 [[ 8.98316129e-01 -4.39343803e-01 -2.27032962e-03 1.97265833e+02] [ 4.39342422e-01 8.98318998e-01 -1.10178664e-03 4.32819192e+01] [ 2.52354337e-03 -7.69939981e-06 9.99996816e-01 3.80307725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.32, Y:43.31, Z:0.38 [[ 8.96101971e-01 -4.43842431e-01 -2.27011195e-03 1.97319711e+02] [ 4.43841063e-01 8.96104847e-01 -1.10223495e-03 4.33068382e+01] [ 2.52347696e-03 -1.98539926e-05 9.99996816e-01 3.83849730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:43.33, Z:0.38 [[ 8.93593178e-01 -4.48872008e-01 -2.27000850e-03 1.97372487e+02] [ 4.48870655e-01 8.93596061e-01 -1.10244796e-03 4.33295040e+01] [ 2.52332868e-03 -3.38002325e-05 9.99996816e-01 3.81999618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.43, Y:43.35, Z:0.39 [[ 8.90156660e-01 -4.55648953e-01 -2.26992745e-03 1.97427970e+02] [ 4.55647622e-01 8.90159552e-01 -1.10261482e-03 4.33495407e+01] [ 2.52300289e-03 -5.27871219e-05 9.99996816e-01 3.85705649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:197.48, Y:43.37, Z:0.39 [[ 8.88553931e-01 -4.58766563e-01 -2.26973532e-03 1.97483703e+02] [ 4.58765241e-01 8.88556828e-01 -1.10301017e-03 4.33704008e+01] [ 2.52281300e-03 -6.11916514e-05 9.99996816e-01 3.86759568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.54, Y:43.39, Z:0.38 [[ 8.88004535e-01 -4.59829094e-01 -2.26954249e-03 1.97539596e+02] [ 4.59827774e-01 8.88007433e-01 -1.10340680e-03 4.33882400e+01] [ 2.52274915e-03 -6.37684251e-05 9.99996816e-01 3.83051156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:43.41, Z:0.38 [[ 8.90200699e-01 -4.55562910e-01 -2.26935092e-03 1.97596634e+02] [ 4.55561576e-01 8.90203590e-01 -1.10380065e-03 4.34051760e+01] [ 2.52303498e-03 -5.12249706e-05 9.99996816e-01 3.80509413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:43.43, Z:0.38 [[ 8.93088015e-01 -4.49876259e-01 -2.26915009e-03 1.97650569e+02] [ 4.49874906e-01 8.93090897e-01 -1.10421336e-03 4.34257386e+01] [ 2.52331666e-03 -3.46739700e-05 9.99996816e-01 3.75706679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:43.44, Z:0.38 [[ 8.99163339e-01 -4.37607292e-01 -2.26904624e-03 1.97706717e+02] [ 4.37605898e-01 8.99166202e-01 -1.10442671e-03 4.34439432e+01] [ 2.52355487e-03 1.11989002e-07 9.99996816e-01 3.80542655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:43.47, Z:0.38 [[ 9.03888826e-01 -4.27761431e-01 -2.26885997e-03 1.97760555e+02] [ 4.27760005e-01 9.03891673e-01 -1.10480924e-03 4.34675661e+01] [ 2.52339842e-03 2.80971761e-05 9.99996816e-01 3.82857274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:43.49, Z:0.38 [[ 9.10702114e-01 -4.13057517e-01 -2.26868662e-03 1.97813204e+02] [ 4.13056044e-01 9.10704937e-01 -1.10516510e-03 4.34927377e+01] [ 2.52260086e-03 6.93814750e-05 9.99996816e-01 3.80474673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.86, Y:43.52, Z:0.38 [[ 9.15749069e-01 -4.01744318e-01 -2.26849985e-03 1.97864615e+02] [ 4.01742809e-01 9.15751873e-01 -1.10554834e-03 4.35203778e+01] [ 2.52153075e-03 1.01051358e-04 9.99996816e-01 3.81381763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.92, Y:43.55, Z:0.38 [[ 9.17847179e-01 -3.96927463e-01 -2.26843564e-03 1.97915181e+02] [ 3.96925939e-01 9.17849975e-01 -1.10568007e-03 4.35493902e+01] [ 2.52095838e-03 1.14444382e-04 9.99996816e-01 3.81364963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.96, Y:43.58, Z:0.38 [[ 9.18628051e-01 -3.95116894e-01 -2.26823211e-03 1.97964381e+02] [ 3.95115364e-01 9.18630843e-01 -1.10609744e-03 4.35818780e+01] [ 2.52070576e-03 1.19878782e-04 9.99996816e-01 3.82562473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:43.62, Z:0.38 [[ 9.16521968e-01 -3.99977922e-01 -2.26805327e-03 1.98013342e+02] [ 3.99976406e-01 9.16524768e-01 -1.10646404e-03 4.36153882e+01] [ 2.52128818e-03 1.06930807e-04 9.99996816e-01 3.84916035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:43.65, Z:0.38 [[ 9.14230797e-01 -4.05187495e-01 -2.26786947e-03 1.98063134e+02] [ 4.05185994e-01 9.14233605e-01 -1.10684063e-03 4.36459003e+01] [ 2.52184047e-03 9.29988475e-05 9.99996816e-01 3.84134930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:43.67, Z:0.38 [[ 9.12710532e-01 -4.08600467e-01 -2.26765721e-03 1.98114337e+02] [ 4.08598976e-01 9.12713346e-01 -1.10727533e-03 4.36742265e+01] [ 2.52215422e-03 8.40594435e-05 9.99996816e-01 3.83842201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:43.71, Z:0.38 [[ 9.07037567e-01 -4.21043598e-01 -2.26744956e-03 1.98163037e+02] [ 4.21042143e-01 9.07040400e-01 -1.10770039e-03 4.37061588e+01] [ 2.52305851e-03 5.00340426e-05 9.99996816e-01 3.84861281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:43.73, Z:0.38 [[ 9.02616265e-01 -4.30440166e-01 -2.26738042e-03 1.98213006e+02] [ 4.30438741e-01 9.02619113e-01 -1.10784189e-03 4.37338738e+01] [ 2.52344055e-03 2.39877337e-05 9.99996816e-01 3.83207634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.27, Y:43.76, Z:0.39 [[ 8.96852634e-01 -4.42323651e-01 -2.26728581e-03 1.98265054e+02] [ 4.42322263e-01 8.96855500e-01 -1.10803548e-03 4.37602898e+01] [ 2.52353805e-03 -9.12644890e-06 9.99996816e-01 3.85364375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:43.79, Z:0.38 [[ 8.92704367e-01 -4.50637075e-01 -2.26709450e-03 1.98317910e+02] [ 4.50635713e-01 8.92707245e-01 -1.10842678e-03 4.37866294e+01] [ 2.52334989e-03 -3.21363197e-05 9.99996816e-01 3.83357407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.37, Y:43.81, Z:0.38 [[ 8.90950755e-01 -4.54094279e-01 -2.26690312e-03 1.98370658e+02] [ 4.54092927e-01 8.90953638e-01 -1.10881804e-03 4.38102734e+01] [ 2.52321351e-03 -4.14824047e-05 9.99996816e-01 3.83601201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.42, Y:43.83, Z:0.38 [[ 8.89359808e-01 -4.57202354e-01 -2.26683617e-03 1.98424902e+02] [ 4.57201012e-01 8.89362696e-01 -1.10895489e-03 4.38313197e+01] [ 2.52305632e-03 -5.01398869e-05 9.99996816e-01 3.84541997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:198.48, Y:43.85, Z:0.39 [[ 8.89365699e-01 -4.57190897e-01 -2.26662051e-03 1.98477318e+02] [ 4.57189554e-01 8.89368586e-01 -1.10939551e-03 4.38529401e+01] [ 2.52306661e-03 -4.96169048e-05 9.99996816e-01 3.85394998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80264 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:198.53, Y:43.87, Z:0.38 [[ 8.90543380e-01 -4.54892681e-01 -2.26652719e-03 1.98532592e+02] [ 4.54891330e-01 8.90546263e-01 -1.10958615e-03 4.38735589e+01] [ 2.52318993e-03 -4.28889672e-05 9.99996816e-01 3.83246677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.59, Y:43.89, Z:0.38 [[ 8.92822745e-01 -4.50402498e-01 -2.26634540e-03 1.98587529e+02] [ 4.50401131e-01 8.92825621e-01 -1.10995733e-03 4.38937507e+01] [ 2.52337879e-03 -2.97693835e-05 9.99996816e-01 3.80724172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.64, Y:43.91, Z:0.38 [[ 8.95345070e-01 -4.45367343e-01 -2.26613754e-03 1.98641678e+02] [ 4.45365959e-01 8.95347938e-01 -1.11038154e-03 4.39141673e+01] [ 2.52350925e-03 -1.50858837e-05 9.99996816e-01 3.79730616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.69, Y:43.94, Z:0.38 [[ 8.97043258e-01 -4.41936940e-01 -2.26592848e-03 1.98694348e+02] [ 4.41935544e-01 8.97046120e-01 -1.11080799e-03 4.39380563e+01] [ 2.52354944e-03 -4.95151421e-06 9.99996816e-01 3.81330532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.75, Y:43.96, Z:0.38 [[ 8.99882988e-01 -4.36125526e-01 -2.26570888e-03 1.98746983e+02] [ 4.36124110e-01 8.99885840e-01 -1.11125574e-03 4.39598469e+01] [ 2.52352633e-03 1.18698633e-05 9.99996816e-01 3.84785351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.80, Y:43.98, Z:0.39 [[ 9.01533403e-01 -4.32703583e-01 -2.26561403e-03 1.98799888e+02] [ 4.32702156e-01 9.01536249e-01 -1.11144908e-03 4.39834697e+01] [ 2.52346117e-03 2.16723928e-05 9.99996816e-01 3.88184660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:44.01, Z:0.38 [[ 9.03157144e-01 -4.29304136e-01 -2.26538092e-03 1.98852154e+02] [ 4.29302697e-01 9.03159985e-01 -1.11192401e-03 4.40092514e+01] [ 2.52335497e-03 3.17079745e-05 9.99996816e-01 3.81994352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.90, Y:44.04, Z:0.38 [[ 9.03633148e-01 -4.28301298e-01 -2.26530846e-03 1.98903939e+02] [ 4.28299856e-01 9.03635987e-01 -1.11207162e-03 4.40357858e+01] [ 2.52331596e-03 3.46734902e-05 9.99996816e-01 3.82284980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.96, Y:44.06, Z:0.38 [[ 9.03932726e-01 -4.27668676e-01 -2.26509012e-03 1.98955057e+02] [ 4.27667231e-01 9.03935563e-01 -1.11251615e-03 4.40603762e+01] [ 2.52328382e-03 3.69349324e-05 9.99996816e-01 3.79493777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:44.09, Z:0.38 [[ 9.03060129e-01 -4.29508176e-01 -2.26487112e-03 1.99007058e+02] [ 4.29506736e-01 9.03062969e-01 -1.11296181e-03 4.40861761e+01] [ 2.52334744e-03 3.22940331e-05 9.99996816e-01 3.79444879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.06, Y:44.11, Z:0.38 [[ 9.00243442e-01 -4.35381001e-01 -2.26480319e-03 1.99061075e+02] [ 4.35379578e-01 9.00246291e-01 -1.11310003e-03 4.41101978e+01] [ 2.52350328e-03 1.60119403e-05 9.99996816e-01 3.84427818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.11, Y:44.13, Z:0.38 [[ 8.96720341e-01 -4.42591800e-01 -2.26461636e-03 1.99114445e+02] [ 4.42590399e-01 8.96723201e-01 -1.11348001e-03 4.41333162e+01] [ 2.52355115e-03 -3.81728503e-06 9.99996816e-01 3.81701179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.17, Y:44.15, Z:0.38 [[ 8.95043299e-01 -4.45973501e-01 -2.26454455e-03 1.99168325e+02] [ 4.45972111e-01 8.95046164e-01 -1.11362602e-03 4.41546446e+01] [ 2.52351961e-03 -1.31802059e-05 9.99996816e-01 3.81489956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:199.22, Y:44.18, Z:0.38 [[ 8.94177482e-01 -4.47706939e-01 -2.26432513e-03 1.99222047e+02] [ 4.47705554e-01 8.94180349e-01 -1.11407200e-03 4.41769996e+01] [ 2.52349280e-03 -1.75728424e-05 9.99996816e-01 3.80628050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.28, Y:44.20, Z:0.38 [[ 8.95169589e-01 -4.45719956e-01 -2.26425726e-03 1.99276435e+02] [ 4.45718564e-01 8.95172453e-01 -1.11420992e-03 4.42004328e+01] [ 2.52352632e-03 -1.18146531e-05 9.99996816e-01 3.81452656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.33, Y:44.22, Z:0.38 [[ 8.98341530e-01 -4.39291895e-01 -2.26406943e-03 1.99329814e+02] [ 4.39290481e-01 8.98344383e-01 -1.11459147e-03 4.42235773e+01] [ 2.52354505e-03 6.69966137e-06 9.99996816e-01 3.81975160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.38, Y:44.25, Z:0.38 [[ 9.00933484e-01 -4.33951303e-01 -2.26385593e-03 1.99381992e+02] [ 4.33949871e-01 9.00936328e-01 -1.11502494e-03 4.42484262e+01] [ 2.52345657e-03 2.21633166e-05 9.99996816e-01 3.83031819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.43, Y:44.27, Z:0.38 [[ 9.04291345e-01 -4.26909873e-01 -2.26364117e-03 1.99433614e+02] [ 4.26908418e-01 9.04294177e-01 -1.11546076e-03 4.42749093e+01] [ 2.52319874e-03 4.23340393e-05 9.99996816e-01 3.83165904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.48, Y:44.30, Z:0.38 [[ 9.06477815e-01 -4.22247378e-01 -2.26342204e-03 1.99484166e+02] [ 4.22245907e-01 9.06480639e-01 -1.11590522e-03 4.43032785e+01] [ 2.52293631e-03 5.58226376e-05 9.99996816e-01 3.79980265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:199.54, Y:44.33, Z:0.38 [[ 9.07088219e-01 -4.20934484e-01 -2.26335456e-03 1.99535249e+02] [ 4.20933009e-01 9.07091041e-01 -1.11604208e-03 4.43307485e+01] [ 2.52284924e-03 5.96279750e-05 9.99996816e-01 3.82033253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.59, Y:44.36, Z:0.38 [[ 9.07159882e-01 -4.20780021e-01 -2.26313792e-03 1.99586702e+02] [ 4.20778544e-01 9.07162703e-01 -1.11648121e-03 4.43603258e+01] [ 2.52282730e-03 6.05470833e-05 9.99996816e-01 3.84467377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.64, Y:44.39, Z:0.38 [[ 9.06104521e-01 -4.23047842e-01 -2.26294851e-03 1.99635549e+02] [ 4.23046372e-01 9.06107345e-01 -1.11686498e-03 4.43898849e+01] [ 2.52296159e-03 5.46642503e-05 9.99996816e-01 3.83681919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.69, Y:44.42, Z:0.38 [[ 9.04710400e-01 -4.26021093e-01 -2.26285495e-03 1.99686120e+02] [ 4.26019631e-01 9.04713229e-01 -1.11705450e-03 4.44178033e+01] [ 2.52312359e-03 4.65901924e-05 9.99996816e-01 3.83426355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:199.74, Y:44.45, Z:0.38 [[ 9.02884694e-01 -4.29876854e-01 -2.26264577e-03 1.99736307e+02] [ 4.29875403e-01 9.02887528e-01 -1.11747806e-03 4.44464231e+01] [ 2.52329260e-03 3.62980712e-05 9.99996816e-01 3.83598831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:199.79, Y:44.47, Z:0.39 [[ 9.01048230e-01 -4.33713002e-01 -2.26243846e-03 1.99787054e+02] [ 4.33711562e-01 9.01051070e-01 -1.11789762e-03 4.44740757e+01] [ 2.52341933e-03 2.60339519e-05 9.99996816e-01 3.85567549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:44.50, Z:0.39 [[ 8.98781616e-01 -4.38390795e-01 -2.26222054e-03 1.99838051e+02] [ 4.38389369e-01 8.98784463e-01 -1.11833843e-03 4.45013298e+01] [ 2.52351795e-03 1.34085866e-05 9.99996816e-01 3.86210919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:44.53, Z:0.38 [[ 8.97511034e-01 -4.40986199e-01 -2.26200265e-03 1.99889263e+02] [ 4.40984780e-01 8.97513884e-01 -1.11877898e-03 4.45274788e+01] [ 2.52354487e-03 6.60773662e-06 9.99996816e-01 3.83817648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:44.55, Z:0.38 [[ 8.96087333e-01 -4.43872026e-01 -2.26193512e-03 1.99941222e+02] [ 4.43870615e-01 8.96090188e-01 -1.11891549e-03 4.45543547e+01] [ 2.52355315e-03 -1.36053492e-06 9.99996816e-01 3.84054679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.99, Y:44.58, Z:0.38 [[ 8.95226313e-01 -4.45606028e-01 -2.26172906e-03 1.99993004e+02] [ 4.45604622e-01 8.95229170e-01 -1.11933185e-03 4.45802473e+01] [ 2.52354685e-03 -5.78159546e-06 9.99996816e-01 3.84488440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.05, Y:44.60, Z:0.39 [[ 8.93861978e-01 -4.48336536e-01 -2.26166089e-03 2.00045748e+02] [ 4.48335139e-01 8.93864839e-01 -1.11946958e-03 4.46049302e+01] [ 2.52351826e-03 -1.33307546e-05 9.99996816e-01 3.86269464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:44.63, Z:0.38 [[ 8.92520774e-01 -4.51000614e-01 -2.26143758e-03 2.00098729e+02] [ 4.50999224e-01 8.92523639e-01 -1.11992050e-03 4.46283434e+01] [ 2.52347133e-03 -2.03542822e-05 9.99996816e-01 3.83115024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.15, Y:44.65, Z:0.38 [[ 8.91677145e-01 -4.52666273e-01 -2.26133462e-03 2.00150973e+02] [ 4.52664888e-01 8.91680012e-01 -1.12012836e-03 4.46528396e+01] [ 2.52343121e-03 -2.48339241e-05 9.99996816e-01 3.82314631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.20, Y:44.67, Z:0.38 [[ 8.90633517e-01 -4.54716204e-01 -2.26112150e-03 2.00204957e+02] [ 4.54714825e-01 8.90636386e-01 -1.12055841e-03 4.46736694e+01] [ 2.52337315e-03 -3.01585884e-05 9.99996816e-01 3.82969199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.26, Y:44.70, Z:0.38 [[ 8.90072539e-01 -4.55813299e-01 -2.26090157e-03 2.00258777e+02] [ 4.55811922e-01 8.90075410e-01 -1.12100196e-03 4.46956805e+01] [ 2.52334050e-03 -3.27728272e-05 9.99996816e-01 3.83817032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.31, Y:44.72, Z:0.39 [[ 8.90348246e-01 -4.55274521e-01 -2.26067607e-03 2.00313286e+02] [ 4.55273141e-01 8.90351116e-01 -1.12145655e-03 4.47181515e+01] [ 2.52336605e-03 -3.07382237e-05 9.99996816e-01 3.85927209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.37, Y:44.74, Z:0.38 [[ 8.92400399e-01 -4.51238759e-01 -2.26047869e-03 2.00366370e+02] [ 4.51237365e-01 8.92403262e-01 -1.12185425e-03 4.47409519e+01] [ 2.52348268e-03 -1.88692635e-05 9.99996816e-01 3.84561912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.42, Y:44.76, Z:0.39 [[ 8.94468485e-01 -4.47125284e-01 -2.26037425e-03 2.00419131e+02] [ 4.47123876e-01 8.94471341e-01 -1.12206465e-03 4.47642939e+01] [ 2.52354346e-03 -7.01582203e-06 9.99996816e-01 3.86348560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.47, Y:44.79, Z:0.39 [[ 8.97284512e-01 -4.41446935e-01 -2.26015395e-03 2.00472505e+02] [ 4.41445508e-01 8.97287358e-01 -1.12250821e-03 4.47872585e+01] [ 2.52353538e-03 9.47442647e-06 9.99996816e-01 3.86555991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:44.81, Z:0.39 [[ 8.98490204e-01 -4.38987751e-01 -2.26008603e-03 2.00525999e+02] [ 4.38986315e-01 8.98493046e-01 -1.12264496e-03 4.48110488e+01] [ 2.52349897e-03 1.65386580e-05 9.99996816e-01 3.89071036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:44.84, Z:0.39 [[ 8.99817107e-01 -4.36261467e-01 -2.25989838e-03 2.00578669e+02] [ 4.36260022e-01 8.99819944e-01 -1.12302256e-03 4.48357260e+01] [ 2.52343311e-03 2.46115931e-05 9.99996816e-01 3.91065733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.63, Y:44.86, Z:0.39 [[ 9.00938668e-01 -4.33940559e-01 -2.25983213e-03 2.00631121e+02] [ 4.33939107e-01 9.00941502e-01 -1.12315587e-03 4.48623349e+01] [ 2.52335944e-03 3.12650237e-05 9.99996816e-01 3.89767265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:44.89, Z:0.39 [[ 9.02902457e-01 -4.29839561e-01 -2.25964806e-03 2.00682502e+02] [ 4.29838094e-01 9.02905283e-01 -1.12352607e-03 4.48897964e+01] [ 2.52318412e-03 4.31516287e-05 9.99996816e-01 3.85206000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.73, Y:44.92, Z:0.38 [[ 9.03904944e-01 -4.27727420e-01 -2.25955107e-03 2.00734720e+02] [ 4.27725947e-01 9.03907767e-01 -1.12372110e-03 4.49169175e+01] [ 2.52307209e-03 4.92684391e-05 9.99996816e-01 3.83572339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:44.94, Z:0.38 [[ 9.03765714e-01 -4.28021529e-01 -2.25937180e-03 2.00785869e+02] [ 4.28020056e-01 9.03768537e-01 -1.12408142e-03 4.49437207e+01] [ 2.52308019e-03 4.88498052e-05 9.99996816e-01 3.81330743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.84, Y:44.97, Z:0.38 [[ 9.03184108e-01 -4.29247437e-01 -2.25930852e-03 2.00836835e+02] [ 4.29245967e-01 9.03186933e-01 -1.12420859e-03 4.49712672e+01] [ 2.52314159e-03 4.55682654e-05 9.99996816e-01 3.81781880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:45.00, Z:0.39 [[ 9.02729536e-01 -4.30202605e-01 -2.25910813e-03 2.00888691e+02] [ 4.30201137e-01 9.02732362e-01 -1.12461114e-03 4.49970511e+01] [ 2.52318066e-03 4.33488062e-05 9.99996816e-01 3.85619074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:45.03, Z:0.38 [[ 9.02765025e-01 -4.30128129e-01 -2.25901523e-03 2.00940698e+02] [ 4.30126660e-01 9.02767850e-01 -1.12479771e-03 4.50255476e+01] [ 2.52317346e-03 4.37653547e-05 9.99996816e-01 3.84756527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:45.05, Z:0.39 [[ 9.03188088e-01 -4.29239065e-01 -2.25884265e-03 2.00992023e+02] [ 4.29237593e-01 9.03190912e-01 -1.12514418e-03 4.50548390e+01] [ 2.52312199e-03 4.66366346e-05 9.99996816e-01 3.85168986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.04, Y:45.08, Z:0.39 [[ 9.02878771e-01 -4.29889315e-01 -2.25866052e-03 2.01044072e+02] [ 4.29887844e-01 9.02881595e-01 -1.12550969e-03 4.50831483e+01] [ 2.52314760e-03 4.52281015e-05 9.99996816e-01 3.86583443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.10, Y:45.11, Z:0.39 [[ 9.01882016e-01 -4.31976536e-01 -2.25848015e-03 2.01095089e+02] [ 4.31975071e-01 9.01884843e-01 -1.12587149e-03 4.51111375e+01] [ 2.52323909e-03 3.97961283e-05 9.99996816e-01 3.86202766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.15, Y:45.14, Z:0.39 [[ 9.00814686e-01 -4.34197881e-01 -2.25841648e-03 2.01146192e+02] [ 4.34196423e-01 9.00817517e-01 -1.12599920e-03 4.51413914e+01] [ 2.52332760e-03 3.37202569e-05 9.99996816e-01 3.87736090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:45.17, Z:0.39 [[ 8.99628254e-01 -4.36650782e-01 -2.25823506e-03 2.01196982e+02] [ 4.36649330e-01 8.99631088e-01 -1.12636293e-03 4.51687059e+01] [ 2.52340572e-03 2.72510860e-05 9.99996816e-01 3.89657209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:201.25, Y:45.20, Z:0.39 [[ 8.97117414e-01 -4.41786426e-01 -2.25801679e-03 2.01246592e+02] [ 4.41784990e-01 8.97120256e-01 -1.12680033e-03 4.51961070e+01] [ 2.52351769e-03 1.33142741e-05 9.99996816e-01 3.87257114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.30, Y:45.22, Z:0.39 [[ 8.95252084e-01 -4.45554271e-01 -2.25786793e-03 2.01299417e+02] [ 4.45552845e-01 8.95254931e-01 -1.12709853e-03 4.52212030e+01] [ 2.52355096e-03 3.03783234e-06 9.99996816e-01 3.89407868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.35, Y:45.24, Z:0.39 [[ 8.93171811e-01 -4.49709927e-01 -2.25764310e-03 2.01352926e+02] [ 4.49708514e-01 8.93174664e-01 -1.12754870e-03 4.52442949e+01] [ 2.52353946e-03 -8.18661248e-06 9.99996816e-01 3.89062996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.41, Y:45.27, Z:0.39 [[ 8.92815236e-01 -4.50417427e-01 -2.25757326e-03 2.01405571e+02] [ 4.50416015e-01 8.92818090e-01 -1.12768852e-03 4.52686274e+01] [ 2.52353281e-03 -1.00296618e-05 9.99996816e-01 3.88893399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:45.29, Z:0.39 [[ 8.92873078e-01 -4.50302753e-01 -2.25750555e-03 2.01458471e+02] [ 4.50301341e-01 8.92875932e-01 -1.12782405e-03 4.52927308e+01] [ 2.52353465e-03 -9.55404144e-06 9.99996816e-01 3.90324417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.51, Y:45.32, Z:0.39 [[ 8.94159616e-01 -4.47742655e-01 -2.25727881e-03 2.01510351e+02] [ 4.47741234e-01 8.94162465e-01 -1.12827768e-03 4.53167784e+01] [ 2.52355203e-03 -1.81646363e-06 9.99996816e-01 3.88239323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.56, Y:45.34, Z:0.39 [[ 8.97295785e-01 -4.41424035e-01 -2.25718495e-03 2.01563206e+02] [ 4.41422593e-01 8.97298624e-01 -1.12846542e-03 4.53399588e+01] [ 2.52350071e-03 1.61948353e-05 9.99996816e-01 3.88839124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.62, Y:45.37, Z:0.39 [[ 8.99738342e-01 -4.36423903e-01 -2.25696049e-03 2.01615878e+02] [ 4.36422444e-01 8.99741172e-01 -1.12891417e-03 4.53666315e+01] [ 2.52336540e-03 3.07391480e-05 9.99996816e-01 3.86414770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40264000000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:201.67, Y:45.39, Z:0.39 [[ 9.01590556e-01 -4.32584530e-01 -2.25676313e-03 2.01666719e+02] [ 4.32583058e-01 9.01593380e-01 -1.12930857e-03 4.53941344e+01] [ 2.52320411e-03 4.19364463e-05 9.99996816e-01 3.85041278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.72, Y:45.42, Z:0.39 [[ 9.04126646e-01 -4.27258605e-01 -2.25669437e-03 2.01719565e+02] [ 4.27257116e-01 9.04129461e-01 -1.12944594e-03 4.54209234e+01] [ 2.52290936e-03 5.69734458e-05 9.99996816e-01 3.89542543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.77, Y:45.45, Z:0.39 [[ 9.06229850e-01 -4.22779337e-01 -2.25650064e-03 2.01768212e+02] [ 4.22777833e-01 9.06232656e-01 -1.12983286e-03 4.54507503e+01] [ 2.52258456e-03 6.98898102e-05 9.99996816e-01 3.88559184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.82, Y:45.48, Z:0.39 [[ 9.07069310e-01 -4.20975266e-01 -2.25640531e-03 2.01818695e+02] [ 4.20973756e-01 9.07072114e-01 -1.13002322e-03 4.54799249e+01] [ 2.52243416e-03 7.51219648e-05 9.99996816e-01 3.87620743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.87, Y:45.51, Z:0.39 [[ 9.07156914e-01 -4.20786458e-01 -2.25620187e-03 2.01868616e+02] [ 4.20784946e-01 9.07159716e-01 -1.13042925e-03 4.55101246e+01] [ 2.52240477e-03 7.61009230e-05 9.99996816e-01 3.88824207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:45.54, Z:0.39 [[ 9.06548623e-01 -4.22095374e-01 -2.25598426e-03 2.01919308e+02] [ 4.22093865e-01 9.06551427e-01 -1.13086337e-03 4.55381399e+01] [ 2.52249795e-03 7.29455169e-05 9.99996816e-01 3.88314280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.97, Y:45.57, Z:0.39 [[ 9.05114707e-01 -4.25161473e-01 -2.25591824e-03 2.01969852e+02] [ 4.25159974e-01 9.05117516e-01 -1.13099507e-03 4.55692660e+01] [ 2.52272664e-03 6.45541299e-05 9.99996816e-01 3.91620144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:202.02, Y:45.60, Z:0.39 [[ 9.03844290e-01 -4.27855595e-01 -2.25573377e-03 2.02020182e+02] [ 4.27854103e-01 9.03847103e-01 -1.13136286e-03 4.56010894e+01] [ 2.52289836e-03 5.74509171e-05 9.99996816e-01 3.89154209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:202.07, Y:45.63, Z:0.39 [[ 9.02395612e-01 -4.30902626e-01 -2.25554649e-03 2.02070710e+02] [ 4.30901142e-01 9.02398429e-01 -1.13173611e-03 4.56303203e+01] [ 2.52306967e-03 4.93561414e-05 9.99996816e-01 3.87092548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.12, Y:45.66, Z:0.39 [[ 9.00845278e-01 -4.34134423e-01 -2.25548047e-03 2.02121330e+02] [ 4.34132949e-01 9.00848101e-01 -1.13186767e-03 4.56612712e+01] [ 2.52322801e-03 4.04592601e-05 9.99996816e-01 3.89284303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.17, Y:45.69, Z:0.39 [[ 8.98218443e-01 -4.39543561e-01 -2.25529654e-03 2.02172218e+02] [ 4.39542104e-01 8.98221274e-01 -1.13223404e-03 4.56917206e+01] [ 2.52342151e-03 2.56957112e-05 9.99996816e-01 3.90659568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.22, Y:45.72, Z:0.39 [[ 8.96549456e-01 -4.42937904e-01 -2.25510982e-03 2.02223064e+02] [ 4.42936457e-01 8.96552292e-01 -1.13260581e-03 4.57224609e+01] [ 2.52349792e-03 1.65667756e-05 9.99996816e-01 3.94560051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:45.75, Z:0.39 [[ 8.95493336e-01 -4.45069209e-01 -2.25493064e-03 2.02272922e+02] [ 4.45067767e-01 8.95496175e-01 -1.13296242e-03 4.57535241e+01] [ 2.52352846e-03 1.09633558e-05 9.99996816e-01 3.92168171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.32, Y:45.78, Z:0.39 [[ 8.94598069e-01 -4.46865987e-01 -2.25473719e-03 2.02322989e+02] [ 4.46864550e-01 8.94600911e-01 -1.13334730e-03 4.57821422e+01] [ 2.52354430e-03 6.32818417e-06 9.99996816e-01 3.91395247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.37, Y:45.81, Z:0.39 [[ 8.92352721e-01 -4.51333067e-01 -2.25451585e-03 2.02373996e+02] [ 4.51331643e-01 8.92355569e-01 -1.13378743e-03 4.58119801e+01] [ 2.52354553e-03 -5.79604609e-06 9.99996816e-01 3.92984920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.42, Y:45.84, Z:0.39 [[ 8.90334194e-01 -4.55302033e-01 -2.25432152e-03 2.02424254e+02] [ 4.55300620e-01 8.90337048e-01 -1.13417367e-03 4.58395804e+01] [ 2.52349755e-03 -1.66003916e-05 9.99996816e-01 3.94709313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.48, Y:45.87, Z:0.40 [[ 8.87255301e-01 -4.61273182e-01 -2.25420080e-03 2.02475275e+02] [ 4.61271788e-01 8.87258164e-01 -1.13441357e-03 4.58657245e+01] [ 2.52333262e-03 -3.32847798e-05 9.99996816e-01 3.96747740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.53, Y:45.89, Z:0.39 [[ 8.85344299e-01 -4.64930524e-01 -2.25408157e-03 2.02527271e+02] [ 4.64929141e-01 8.85347167e-01 -1.13465042e-03 4.58907567e+01] [ 2.52317835e-03 -4.34319299e-05 9.99996816e-01 3.94119660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.58, Y:45.91, Z:0.39 [[ 8.83118609e-01 -4.69144372e-01 -2.25386693e-03 2.02580822e+02] [ 4.69143002e-01 8.83121484e-01 -1.13507662e-03 4.59126950e+01] [ 2.52295312e-03 -5.49786082e-05 9.99996816e-01 3.92984219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:45.93, Z:0.39 [[ 8.82045827e-01 -4.71158232e-01 -2.25365345e-03 2.02635196e+02] [ 4.71156868e-01 8.82048704e-01 -1.13550032e-03 4.59339614e+01] [ 2.52283243e-03 -6.02609820e-05 9.99996816e-01 3.93210919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:45.96, Z:0.39 [[ 8.82403162e-01 -4.70488662e-01 -2.25344038e-03 2.02689055e+02] [ 4.70487294e-01 8.82406038e-01 -1.13592301e-03 4.59554129e+01] [ 2.52288829e-03 -5.78730120e-05 9.99996816e-01 3.92538350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.74, Y:45.97, Z:0.39 [[ 8.83987982e-01 -4.67504193e-01 -2.25321670e-03 2.02744312e+02] [ 4.67502814e-01 8.83990852e-01 -1.13636653e-03 4.59739595e+01] [ 2.52307907e-03 -4.88507907e-05 9.99996816e-01 3.89724261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.80, Y:46.00, Z:0.39 [[ 8.85754402e-01 -4.64148750e-01 -2.25314701e-03 2.02798312e+02] [ 4.64147360e-01 8.85757267e-01 -1.13650468e-03 4.59964401e+01] [ 2.52324857e-03 -3.91282146e-05 9.99996816e-01 3.92634720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.85, Y:46.02, Z:0.40 [[ 8.89456214e-01 -4.57014844e-01 -2.25307887e-03 2.02852378e+02] [ 4.57013430e-01 8.89459067e-01 -1.13663975e-03 4.60168005e+01] [ 2.52348267e-03 -1.86960166e-05 9.99996816e-01 3.95904504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.91, Y:46.04, Z:0.40 [[ 8.93799034e-01 -4.48462051e-01 -2.25288699e-03 2.02907408e+02] [ 4.48460610e-01 8.93801873e-01 -1.13701994e-03 4.60368049e+01] [ 2.52354491e-03 5.93624776e-06 9.99996816e-01 3.97400708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:46.06, Z:0.39 [[ 8.97456902e-01 -4.41096401e-01 -2.25266422e-03 2.02959936e+02] [ 4.41094935e-01 8.97459728e-01 -1.13746113e-03 4.60608083e+01] [ 2.52340543e-03 2.71835590e-05 9.99996816e-01 3.94443869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.01, Y:46.09, Z:0.40 [[ 8.98852697e-01 -4.38245085e-01 -2.25259642e-03 2.03013195e+02] [ 4.38243610e-01 8.98855519e-01 -1.13759539e-03 4.60855771e+01] [ 2.52330431e-03 3.53447004e-05 9.99996816e-01 4.00564615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:203.07, Y:46.11, Z:0.40 [[ 8.98883742e-01 -4.38181408e-01 -2.25240624e-03 2.03066346e+02] [ 4.38179931e-01 8.98886563e-01 -1.13797180e-03 4.61119309e+01] [ 2.52329579e-03 3.59451356e-05 9.99996816e-01 3.96694173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.12, Y:46.14, Z:0.40 [[ 8.98423245e-01 -4.39124811e-01 -2.25223122e-03 2.03119400e+02] [ 4.39123337e-01 8.98426068e-01 -1.13831810e-03 4.61358533e+01] [ 2.52332696e-03 3.36841596e-05 9.99996816e-01 3.95438869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.17, Y:46.16, Z:0.40 [[ 8.97662810e-01 -4.40677214e-01 -2.25216418e-03 2.03172743e+02] [ 4.40675744e-01 8.97665635e-01 -1.13845073e-03 4.61584890e+01] [ 2.52337968e-03 2.94707541e-05 9.99996816e-01 3.95633422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.22, Y:46.18, Z:0.39 [[ 8.97847446e-01 -4.40300912e-01 -2.25194642e-03 2.03224971e+02] [ 4.40299440e-01 8.97850269e-01 -1.13888131e-03 4.61847615e+01] [ 2.52336118e-03 3.10109229e-05 9.99996816e-01 3.94924392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.28, Y:46.21, Z:0.40 [[ 8.98429594e-01 -4.39111825e-01 -2.25175536e-03 2.03277231e+02] [ 4.39110349e-01 8.98432415e-01 -1.13925893e-03 4.62107337e+01] [ 2.52331208e-03 3.47748510e-05 9.99996816e-01 3.95134034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:203.33, Y:46.24, Z:0.40 [[ 8.99393474e-01 -4.37134201e-01 -2.25153817e-03 2.03328798e+02] [ 4.37132717e-01 8.99396291e-01 -1.13968800e-03 4.62390668e+01] [ 2.52322169e-03 4.08069522e-05 9.99996816e-01 3.95665258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.38, Y:46.27, Z:0.40 [[ 8.99467277e-01 -4.36982321e-01 -2.25134378e-03 2.03380628e+02] [ 4.36980836e-01 8.99470093e-01 -1.14007188e-03 4.62656563e+01] [ 2.52320766e-03 4.16632600e-05 9.99996816e-01 3.95773582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.43, Y:46.30, Z:0.40 [[ 8.98769452e-01 -4.38415790e-01 -2.25124102e-03 2.03431109e+02] [ 4.38414308e-01 8.98772270e-01 -1.14027476e-03 4.62965317e+01] [ 2.52326746e-03 3.78678460e-05 9.99996816e-01 4.00903123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:46.32, Z:0.40 [[ 8.97698164e-01 -4.40605196e-01 -2.25105649e-03 2.03483073e+02] [ 4.40603720e-01 8.97700986e-01 -1.14063893e-03 4.63249243e+01] [ 2.52334707e-03 3.21256122e-05 9.99996816e-01 4.02102816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56264000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:203.53, Y:46.35, Z:0.40 [[ 8.96932373e-01 -4.42162020e-01 -2.25085438e-03 2.03534094e+02] [ 4.42160549e-01 8.96935197e-01 -1.14103762e-03 4.63517178e+01] [ 2.52339401e-03 2.81945773e-05 9.99996816e-01 3.97578409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:46.38, Z:0.39 [[ 8.95666896e-01 -4.44719851e-01 -2.25078452e-03 2.03584846e+02] [ 4.44718387e-01 8.95669723e-01 -1.14117541e-03 4.63799382e+01] [ 2.52346291e-03 2.11477765e-05 9.99996816e-01 3.94443871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.64, Y:46.41, Z:0.39 [[ 8.94818901e-01 -4.46423643e-01 -2.25057108e-03 2.03636330e+02] [ 4.46422184e-01 8.94821731e-01 -1.14159619e-03 4.64070401e+01] [ 2.52349544e-03 1.68169956e-05 9.99996816e-01 3.92462706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:46.43, Z:0.39 [[ 8.93601439e-01 -4.48855661e-01 -2.25038321e-03 2.03688937e+02] [ 4.48854209e-01 8.93604272e-01 -1.14196641e-03 4.64330153e+01] [ 2.52353014e-03 1.03688539e-05 9.99996816e-01 3.94310691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:203.74, Y:46.46, Z:0.40 [[ 8.94384016e-01 -4.47294276e-01 -2.25018730e-03 2.03740316e+02] [ 4.47292817e-01 8.94386846e-01 -1.14235230e-03 4.64598686e+01] [ 2.52350557e-03 1.52090229e-05 9.99996816e-01 4.01475184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.79, Y:46.49, Z:0.40 [[ 8.95668500e-01 -4.44716624e-01 -2.25011957e-03 2.03791858e+02] [ 4.44715157e-01 8.95671326e-01 -1.14248569e-03 4.64872184e+01] [ 2.52344996e-03 2.26261663e-05 9.99996816e-01 4.00065119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.84, Y:46.52, Z:0.40 [[ 8.97499222e-01 -4.41010300e-01 -2.24990365e-03 2.03843251e+02] [ 4.41008820e-01 8.97502041e-01 -1.14291076e-03 4.65164273e+01] [ 2.52332853e-03 3.35341670e-05 9.99996816e-01 3.99622036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:46.55, Z:0.40 [[ 8.98433214e-01 -4.39104427e-01 -2.24970482e-03 2.03894135e+02] [ 4.39102941e-01 8.98436030e-01 -1.14330200e-03 4.65454412e+01] [ 2.52324484e-03 3.93284933e-05 9.99996816e-01 3.98085487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:46.57, Z:0.39 [[ 8.98226035e-01 -4.39528075e-01 -2.24964526e-03 2.03944986e+02] [ 4.39526589e-01 8.98228852e-01 -1.14341919e-03 4.65721838e+01] [ 2.52326111e-03 3.82699744e-05 9.99996816e-01 3.93839615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.00, Y:46.60, Z:0.40 [[ 8.97651679e-01 -4.40699901e-01 -2.24957181e-03 2.03996689e+02] [ 4.40698419e-01 8.97654497e-01 -1.14356366e-03 4.65987613e+01] [ 2.52330665e-03 3.51391022e-05 9.99996816e-01 3.99599865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.05, Y:46.63, Z:0.40 [[ 8.97494011e-01 -4.41020906e-01 -2.24934535e-03 2.04047469e+02] [ 4.41019424e-01 8.97496829e-01 -1.14400894e-03 4.66272003e+01] [ 2.52331218e-03 3.47361791e-05 9.99996816e-01 3.96571737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.10, Y:46.66, Z:0.40 [[ 8.97746854e-01 -4.40505990e-01 -2.24912460e-03 2.04097956e+02] [ 4.40504504e-01 8.97749671e-01 -1.14444276e-03 4.66565638e+01] [ 2.52328476e-03 3.66703668e-05 9.99996816e-01 3.96481191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.15, Y:46.69, Z:0.40 [[ 8.97764610e-01 -4.40469801e-01 -2.24905655e-03 2.04148232e+02] [ 4.40468316e-01 8.97767427e-01 -1.14457648e-03 4.66878248e+01] [ 2.52328109e-03 3.69221103e-05 9.99996816e-01 3.96362081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.20, Y:46.72, Z:0.39 [[ 8.97150469e-01 -4.41719343e-01 -2.24886265e-03 2.04198847e+02] [ 4.41717860e-01 8.97153287e-01 -1.14495734e-03 4.67164367e+01] [ 2.52332432e-03 3.38362165e-05 9.99996816e-01 3.90858078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.25, Y:46.75, Z:0.40 [[ 8.95827275e-01 -4.44396711e-01 -2.24879392e-03 2.04250631e+02] [ 4.44395236e-01 8.95830097e-01 -1.14509231e-03 4.67452347e+01] [ 2.52341253e-03 2.64516212e-05 9.99996816e-01 3.95252280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:46.77, Z:0.40 [[ 8.94895270e-01 -4.46270546e-01 -2.24859784e-03 2.04301356e+02] [ 4.46269076e-01 8.94898095e-01 -1.14547721e-03 4.67726859e+01] [ 2.52345866e-03 2.16024556e-05 9.99996816e-01 3.97927190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.35, Y:46.80, Z:0.40 [[ 8.94090452e-01 -4.47880796e-01 -2.24852842e-03 2.04352678e+02] [ 4.47879331e-01 8.94093279e-01 -1.14561347e-03 4.68007760e+01] [ 2.52349242e-03 1.72126560e-05 9.99996816e-01 3.98161307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:46.83, Z:0.40 [[ 8.93131105e-01 -4.49790812e-01 -2.24833232e-03 2.04403675e+02] [ 4.49789352e-01 8.93133935e-01 -1.14599820e-03 4.68286805e+01] [ 2.52352135e-03 1.22507017e-05 9.99996816e-01 3.95611191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.46, Y:46.86, Z:0.40 [[ 8.93322895e-01 -4.49409780e-01 -2.24826314e-03 2.04455046e+02] [ 4.49408319e-01 8.93325724e-01 -1.14613389e-03 4.68563489e+01] [ 2.52351508e-03 1.34794841e-05 9.99996816e-01 3.97310663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.51, Y:46.88, Z:0.40 [[ 8.94674806e-01 -4.46712366e-01 -2.24819447e-03 2.04505039e+02] [ 4.46710896e-01 8.94677630e-01 -1.14626858e-03 4.68848450e+01] [ 2.52346165e-03 2.12446524e-05 9.99996816e-01 3.97333770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.56, Y:46.91, Z:0.40 [[ 8.97962012e-01 -4.40067235e-01 -2.24809927e-03 2.04555686e+02] [ 4.40065744e-01 8.97964825e-01 -1.14645526e-03 4.69141917e+01] [ 2.52323146e-03 4.01617994e-05 9.99996816e-01 3.98878007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:46.95, Z:0.40 [[ 9.00317398e-01 -4.35228134e-01 -2.24787342e-03 2.04605805e+02] [ 4.35226627e-01 9.00320203e-01 -1.14689792e-03 4.69450883e+01] [ 2.52296809e-03 5.42377886e-05 9.99996816e-01 4.01158592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.65, Y:46.98, Z:0.41 [[ 9.03114987e-01 -4.29392907e-01 -2.24768746e-03 2.04654925e+02] [ 4.29391380e-01 9.03117781e-01 -1.14726224e-03 4.69783116e+01] [ 2.52255278e-03 7.09721047e-05 9.99996816e-01 4.06237691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.71, Y:47.01, Z:0.40 [[ 9.03721160e-01 -4.28115655e-01 -2.24747032e-03 2.04705150e+02] [ 4.28114123e-01 9.03723951e-01 -1.14768746e-03 4.70071692e+01] [ 2.52243573e-03 7.50156601e-05 9.99996816e-01 3.98375126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.75, Y:47.04, Z:0.40 [[ 9.04178600e-01 -4.27148697e-01 -2.24739434e-03 2.04753936e+02] [ 4.27147162e-01 9.04181389e-01 -1.14783623e-03 4.70408634e+01] [ 2.52234888e-03 7.78808390e-05 9.99996816e-01 3.96879708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:47.07, Z:0.40 [[ 9.03569926e-01 -4.28434754e-01 -2.24720143e-03 2.04803824e+02] [ 4.28433222e-01 9.03572718e-01 -1.14821378e-03 4.70699854e+01] [ 2.52244459e-03 7.47156880e-05 9.99996816e-01 3.95471801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:47.10, Z:0.40 [[ 9.01475669e-01 -4.32823946e-01 -2.24709919e-03 2.04852357e+02] [ 4.32822427e-01 9.01478468e-01 -1.14841383e-03 4.71023189e+01] [ 2.52277254e-03 6.26722049e-05 9.99996816e-01 3.95589587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:47.14, Z:0.40 [[ 8.98997102e-01 -4.37948812e-01 -2.24688239e-03 2.04901648e+02] [ 4.37947307e-01 8.98999909e-01 -1.14883785e-03 4.71357225e+01] [ 2.52307923e-03 4.87858061e-05 9.99996816e-01 3.97994631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:47.16, Z:0.40 [[ 8.97675869e-01 -4.40650639e-01 -2.24668481e-03 2.04951062e+02] [ 4.40649142e-01 8.97678680e-01 -1.14922411e-03 4.71645503e+01] [ 2.52320739e-03 4.16310133e-05 9.99996816e-01 3.96671999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30264 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:205.00, Y:47.20, Z:0.40 [[ 8.96035367e-01 -4.43976997e-01 -2.24653158e-03 2.05000174e+02] [ 4.43975510e-01 8.96038183e-01 -1.14952356e-03 4.71969306e+01] [ 2.52334009e-03 3.26087583e-05 9.99996816e-01 3.99198452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.05, Y:47.23, Z:0.40 [[ 8.94906796e-01 -4.46247444e-01 -2.24630548e-03 2.05049135e+02] [ 4.46245963e-01 8.94909614e-01 -1.14996523e-03 4.72270936e+01] [ 2.52340941e-03 2.67069487e-05 9.99996816e-01 3.98117066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:47.26, Z:0.40 [[ 8.92626719e-01 -4.50790966e-01 -2.24622153e-03 2.05098681e+02] [ 4.50789499e-01 8.92629545e-01 -1.15012917e-03 4.72562038e+01] [ 2.52351154e-03 1.40629478e-05 9.99996816e-01 3.96846659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.15, Y:47.28, Z:0.40 [[ 8.88609940e-01 -4.58658183e-01 -2.24607282e-03 2.05149733e+02] [ 4.58656741e-01 8.88612779e-01 -1.15041952e-03 4.72825593e+01] [ 2.52353834e-03 -7.90221545e-06 9.99996816e-01 3.95771013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:47.31, Z:0.40 [[ 8.85463868e-01 -4.64702802e-01 -2.24598023e-03 2.05202022e+02] [ 4.64701379e-01 8.85466716e-01 -1.15060025e-03 4.73080848e+01] [ 2.52342790e-03 -2.48951659e-05 9.99996816e-01 3.99383727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:47.33, Z:0.40 [[ 8.84097896e-01 -4.67296337e-01 -2.24575560e-03 2.05255840e+02] [ 4.67294920e-01 8.84100748e-01 -1.15103852e-03 4.73323216e+01] [ 2.52335029e-03 -3.17994537e-05 9.99996816e-01 4.00217873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.31, Y:47.36, Z:0.40 [[ 8.83581685e-01 -4.68271677e-01 -2.24556093e-03 2.05309243e+02] [ 4.68270263e-01 8.83584538e-01 -1.15141817e-03 4.73550085e+01] [ 2.52331944e-03 -3.41574033e-05 9.99996816e-01 4.01489222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.36, Y:47.38, Z:0.40 [[ 8.83935458e-01 -4.67603534e-01 -2.24533325e-03 2.05362797e+02] [ 4.67602117e-01 8.83938309e-01 -1.15186200e-03 4.73784454e+01] [ 2.52335082e-03 -3.17509205e-05 9.99996816e-01 4.02292196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.42, Y:47.40, Z:0.40 [[ 8.86317692e-01 -4.63072250e-01 -2.24510693e-03 2.05415719e+02] [ 4.63070817e-01 8.86320535e-01 -1.15230294e-03 4.74014728e+01] [ 2.52348390e-03 -1.83370189e-05 9.99996816e-01 3.99491020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.47, Y:47.43, Z:0.40 [[ 8.90331379e-01 -4.55307583e-01 -2.24500263e-03 2.05467438e+02] [ 4.55306125e-01 8.90334209e-01 -1.15250613e-03 4.74286262e+01] [ 2.52354742e-03 3.94892380e-06 9.99996816e-01 4.00659775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.52, Y:47.46, Z:0.40 [[ 8.92865723e-01 -4.50317402e-01 -2.24481299e-03 2.05518940e+02] [ 4.50315926e-01 8.92868544e-01 -1.15287538e-03 4.74555409e+01] [ 2.52348275e-03 1.84878643e-05 9.99996816e-01 4.01475144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.57, Y:47.48, Z:0.40 [[ 8.95088552e-01 -4.45882771e-01 -2.24459311e-03 2.05570425e+02] [ 4.45881281e-01 8.95091366e-01 -1.15330330e-03 4.74831958e+01] [ 2.52335399e-03 3.14865318e-05 9.99996816e-01 4.04080122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.62, Y:47.51, Z:0.40 [[ 8.95415342e-01 -4.45226155e-01 -2.24439191e-03 2.05622016e+02] [ 4.45224661e-01 8.95418154e-01 -1.15369473e-03 4.75110374e+01] [ 2.52332433e-03 3.37773398e-05 9.99996816e-01 4.02384599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.67, Y:47.54, Z:0.40 [[ 8.94748392e-01 -4.46564976e-01 -2.24419362e-03 2.05672891e+02] [ 4.46563486e-01 8.94751206e-01 -1.15408032e-03 4.75376255e+01] [ 2.52336680e-03 3.04365871e-05 9.99996816e-01 4.04411557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.73, Y:47.56, Z:0.40 [[ 8.92547491e-01 -4.50947824e-01 -2.24412315e-03 2.05725821e+02] [ 4.50946347e-01 8.92550312e-01 -1.15421732e-03 4.75606693e+01] [ 2.52348461e-03 1.82146380e-05 9.99996816e-01 3.98790247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.78, Y:47.59, Z:0.40 [[ 8.91110462e-01 -4.53780903e-01 -2.24405331e-03 2.05777904e+02] [ 4.53779435e-01 8.91113288e-01 -1.15435310e-03 4.75871201e+01] [ 2.52352911e-03 1.03508777e-05 9.99996816e-01 3.98049699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:47.61, Z:0.40 [[ 8.89215643e-01 -4.57482793e-01 -2.24383728e-03 2.05831189e+02] [ 4.57481336e-01 8.89218474e-01 -1.15477286e-03 4.76117459e+01] [ 2.52355028e-03 3.28408402e-07 9.99996816e-01 4.03991943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.88, Y:47.64, Z:0.40 [[ 8.88129812e-01 -4.59587210e-01 -2.24363566e-03 2.05882225e+02] [ 4.59585759e-01 8.88132646e-01 -1.15516447e-03 4.76362144e+01] [ 2.52354489e-03 -5.20699711e-06 9.99996816e-01 4.03027039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:47.66, Z:0.40 [[ 8.86866855e-01 -4.62019641e-01 -2.24353601e-03 2.05937744e+02] [ 4.62018197e-01 8.86869692e-01 -1.15535796e-03 4.76578687e+01] [ 2.52352217e-03 -1.19057829e-05 9.99996816e-01 4.04192277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.99, Y:47.68, Z:0.40 [[ 8.86386094e-01 -4.62941314e-01 -2.24333840e-03 2.05990732e+02] [ 4.62939872e-01 8.86388932e-01 -1.15574154e-03 4.76819514e+01] [ 2.52351084e-03 -1.40975593e-05 9.99996816e-01 4.03677843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:47.70, Z:0.40 [[ 8.86821645e-01 -4.62106414e-01 -2.24311128e-03 2.06044504e+02] [ 4.62104968e-01 8.86824482e-01 -1.15618217e-03 4.77047981e+01] [ 2.52352520e-03 -1.12254912e-05 9.99996816e-01 4.02521703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56264000000002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:47.73, Z:0.40 [[ 8.88296253e-01 -4.59265431e-01 -2.24304119e-03 2.06097825e+02] [ 4.59263975e-01 8.88299085e-01 -1.15631813e-03 4.77297492e+01] [ 2.52354838e-03 -2.99494983e-06 9.99996816e-01 4.03016759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.15, Y:47.75, Z:0.40 [[ 8.90171296e-01 -4.55620492e-01 -2.24284668e-03 2.06151178e+02] [ 4.55619024e-01 8.90174122e-01 -1.15669530e-03 4.77536334e+01] [ 2.52353815e-03 7.77333542e-06 9.99996816e-01 4.03717256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.20, Y:47.78, Z:0.40 [[ 8.90811824e-01 -4.54366882e-01 -2.24277773e-03 2.06201837e+02] [ 4.54365410e-01 8.90814648e-01 -1.15682897e-03 4.77810567e+01] [ 2.52352402e-03 1.14763086e-05 9.99996816e-01 4.00228376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.26, Y:47.81, Z:0.41 [[ 8.90709508e-01 -4.54567425e-01 -2.24267707e-03 2.06255167e+02] [ 4.54565952e-01 8.90712331e-01 -1.15702408e-03 4.78068751e+01] [ 2.52352558e-03 1.11277157e-05 9.99996816e-01 4.05665566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.31, Y:47.83, Z:0.40 [[ 8.90441122e-01 -4.55092935e-01 -2.24248806e-03 2.06307100e+02] [ 4.55091463e-01 8.90443946e-01 -1.15739030e-03 4.78331942e+01] [ 2.52353006e-03 1.00507451e-05 9.99996816e-01 4.01860273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.36, Y:47.86, Z:0.40 [[ 8.89003329e-01 -4.57895242e-01 -2.24241614e-03 2.06360100e+02] [ 4.57893779e-01 8.89006157e-01 -1.15752962e-03 4.78586602e+01] [ 2.52354906e-03 2.25928209e-06 9.99996816e-01 4.04346048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.41, Y:47.88, Z:0.41 [[ 8.87559463e-01 -4.60687715e-01 -2.24222516e-03 2.06412970e+02] [ 4.60686260e-01 8.87562296e-01 -1.15789944e-03 4.78835261e+01] [ 2.52354456e-03 -5.25772371e-06 9.99996816e-01 4.08464724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.47, Y:47.91, Z:0.41 [[ 8.84973857e-01 -4.65635313e-01 -2.24202487e-03 2.06466577e+02] [ 4.65633873e-01 8.84976697e-01 -1.15828713e-03 4.79071363e+01] [ 2.52347916e-03 -1.89088909e-05 9.99996816e-01 4.06445521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:47.93, Z:0.40 [[ 8.83098760e-01 -4.69181792e-01 -2.24182579e-03 2.06521654e+02] [ 4.69180363e-01 8.83101605e-01 -1.15867231e-03 4.79273119e+01] [ 2.52338791e-03 -2.85985561e-05 9.99996816e-01 4.04216636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.58, Y:47.95, Z:0.40 [[ 8.83302471e-01 -4.68798165e-01 -2.24175575e-03 2.06576580e+02] [ 4.68796733e-01 8.83305315e-01 -1.15880782e-03 4.79493308e+01] [ 2.52340175e-03 -2.73499604e-05 9.99996816e-01 4.02744391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.63, Y:47.97, Z:0.40 [[ 8.85007490e-01 -4.65571388e-01 -2.24156259e-03 2.06629554e+02] [ 4.65569945e-01 8.85010329e-01 -1.15918134e-03 4.79729765e+01] [ 2.52348771e-03 -1.77200044e-05 9.99996816e-01 4.03265654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:206.68, Y:48.00, Z:0.40 [[ 8.89005004e-01 -4.57891994e-01 -2.24133866e-03 2.06681807e+02] [ 4.57890526e-01 8.89007830e-01 -1.15961416e-03 4.79970914e+01] [ 2.52354566e-03 4.61505768e-06 9.99996816e-01 4.03754928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.74, Y:48.02, Z:0.40 [[ 8.93162159e-01 -4.49729178e-01 -2.24126934e-03 2.06735074e+02] [ 4.49727684e-01 8.93164971e-01 -1.15974812e-03 4.80218366e+01] [ 2.52339583e-03 2.78822647e-05 9.99996816e-01 4.02709933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.79, Y:48.05, Z:0.40 [[ 8.95282978e-01 -4.45492275e-01 -2.24107437e-03 2.06787187e+02] [ 4.45490767e-01 8.95285782e-01 -1.16012475e-03 4.80483059e+01] [ 2.52322864e-03 4.02620021e-05 9.99996816e-01 4.03717249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.84, Y:48.07, Z:0.40 [[ 8.97298333e-01 -4.41418940e-01 -2.24085264e-03 2.06838774e+02] [ 4.41417417e-01 8.97301129e-01 -1.16055289e-03 4.80742459e+01] [ 2.52300963e-03 5.22107898e-05 9.99996816e-01 4.04161201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:48.10, Z:0.40 [[ 8.98106088e-01 -4.39773163e-01 -2.24062870e-03 2.06890020e+02] [ 4.39771634e-01 8.98108881e-01 -1.16098507e-03 4.81007455e+01] [ 2.52289861e-03 5.73228150e-05 9.99996816e-01 4.04591578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.94, Y:48.13, Z:0.41 [[ 8.97755629e-01 -4.40488150e-01 -2.24055974e-03 2.06942866e+02] [ 4.40486623e-01 8.97758423e-01 -1.16111813e-03 4.81262377e+01] [ 2.52294016e-03 5.54637450e-05 9.99996816e-01 4.06596700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.99, Y:48.15, Z:0.40 [[ 8.96857427e-01 -4.42314070e-01 -2.24036780e-03 2.06994273e+02] [ 4.42312548e-01 8.96860224e-01 -1.16148837e-03 4.81530647e+01] [ 2.52303941e-03 5.07466788e-05 9.99996816e-01 4.04967886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:48.18, Z:0.40 [[ 8.96054011e-01 -4.43939400e-01 -2.24030003e-03 2.07046781e+02] [ 4.43937882e-01 8.96056810e-01 -1.16161908e-03 4.81791950e+01] [ 2.52312457e-03 4.63193850e-05 9.99996816e-01 4.04706103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:207.10, Y:48.21, Z:0.41 [[ 8.96007762e-01 -4.44032738e-01 -2.24011025e-03 2.07098302e+02] [ 4.44031220e-01 8.96010561e-01 -1.16198493e-03 4.82064396e+01] [ 2.52312179e-03 4.64686229e-05 9.99996816e-01 4.06201898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:48.24, Z:0.41 [[ 8.97243951e-01 -4.41529471e-01 -2.24004313e-03 2.07149851e+02] [ 4.41527945e-01 8.97246746e-01 -1.16211431e-03 4.82355541e+01] [ 2.52297913e-03 5.36583937e-05 9.99996816e-01 4.11130261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.20, Y:48.27, Z:0.41 [[ 8.99131563e-01 -4.37672727e-01 -2.23985718e-03 2.07198321e+02] [ 4.37671188e-01 8.99134350e-01 -1.16247261e-03 4.82674008e+01] [ 2.52271508e-03 6.48948632e-05 9.99996816e-01 4.06590168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.25, Y:48.30, Z:0.40 [[ 8.99775598e-01 -4.36347174e-01 -2.23979101e-03 2.07247083e+02] [ 4.36345631e-01 8.99778383e-01 -1.16260007e-03 4.82999219e+01] [ 2.52261279e-03 6.87561553e-05 9.99996816e-01 4.02290505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:48.33, Z:0.40 [[ 8.98864104e-01 -4.38221756e-01 -2.23961078e-03 2.07297239e+02] [ 4.38220217e-01 8.98866891e-01 -1.16294717e-03 4.83311887e+01] [ 2.52274073e-03 6.38887487e-05 9.99996816e-01 4.00415604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:48.36, Z:0.40 [[ 8.96286998e-01 -4.43468829e-01 -2.23943247e-03 2.07345722e+02] [ 4.43467306e-01 8.96289794e-01 -1.16329043e-03 4.83625110e+01] [ 2.52306351e-03 4.95269986e-05 9.99996816e-01 4.01112526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06264000000002 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:207.40, Y:48.39, Z:0.41 [[ 8.93974861e-01 -4.48111518e-01 -2.23936941e-03 2.07395835e+02] [ 4.48110009e-01 8.93977665e-01 -1.16341181e-03 4.83918801e+01] [ 2.52328447e-03 3.65770634e-05 9.99996816e-01 4.08635610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.45, Y:48.42, Z:0.41 [[ 8.90068036e-01 -4.55822199e-01 -2.23914168e-03 2.07446490e+02] [ 4.55820714e-01 8.90070852e-01 -1.16384994e-03 4.84223767e+01] [ 2.52350338e-03 1.52584703e-05 9.99996816e-01 4.08908730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:48.45, Z:0.41 [[ 8.86700801e-01 -4.62338270e-01 -2.23894332e-03 2.07495543e+02] [ 4.62336805e-01 8.86703628e-01 -1.16423140e-03 4.84516686e+01] [ 2.52354790e-03 -2.82098248e-06 9.99996816e-01 4.09066556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:48.48, Z:0.41 [[ 8.84742516e-01 -4.66074745e-01 -2.23884463e-03 2.07546231e+02] [ 4.66073290e-01 8.84745349e-01 -1.16442117e-03 4.84802232e+01] [ 2.52351467e-03 -1.32527654e-05 9.99996816e-01 4.10719754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:48.51, Z:0.41 [[ 8.82315632e-01 -4.70652859e-01 -2.23861421e-03 2.07597828e+02] [ 4.70651418e-01 8.82318472e-01 -1.16486398e-03 4.85066857e+01] [ 2.52341723e-03 -2.58292578e-05 9.99996816e-01 4.10923700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.65, Y:48.53, Z:0.41 [[ 8.81028515e-01 -4.73057867e-01 -2.23838676e-03 2.07650552e+02] [ 4.73056433e-01 8.81031358e-01 -1.16530088e-03 4.85333866e+01] [ 2.52334367e-03 -3.22199492e-05 9.99996816e-01 4.13687745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:207.70, Y:48.56, Z:0.41 [[ 8.79570735e-01 -4.75762875e-01 -2.23818710e-03 2.07702722e+02] [ 4.75761448e-01 8.79573582e-01 -1.16568424e-03 4.85573650e+01] [ 2.52323953e-03 -3.95413932e-05 9.99996816e-01 4.13685781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:48.58, Z:0.41 [[ 8.78194612e-01 -4.78298249e-01 -2.23808190e-03 2.07757363e+02] [ 4.78296831e-01 8.78197462e-01 -1.16588618e-03 4.85801755e+01] [ 2.52311917e-03 -4.65925190e-05 9.99996816e-01 4.10707812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.81, Y:48.60, Z:0.41 [[ 8.77920369e-01 -4.78801439e-01 -2.23788815e-03 2.07811339e+02] [ 4.78800021e-01 8.77923220e-01 -1.16625796e-03 4.86043735e+01] [ 2.52309996e-03 -4.76192753e-05 9.99996816e-01 4.10558830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:48.63, Z:0.41 [[ 8.78647590e-01 -4.77465607e-01 -2.23768960e-03 2.07863616e+02] [ 4.77464184e-01 8.78650438e-01 -1.16663880e-03 4.86306485e+01] [ 2.52317685e-03 -4.33522694e-05 9.99996816e-01 4.09382135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.92, Y:48.65, Z:0.41 [[ 8.81114788e-01 -4.72897161e-01 -2.23748984e-03 2.07916765e+02] [ 4.72895722e-01 8.81117628e-01 -1.16702180e-03 4.86534075e+01] [ 2.52337303e-03 -2.98192088e-05 9.99996816e-01 4.09648325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.97, Y:48.68, Z:0.41 [[ 8.82157514e-01 -4.70949163e-01 -2.23725382e-03 2.07967456e+02] [ 4.70947717e-01 8.82160351e-01 -1.16747408e-03 4.86786115e+01] [ 2.52343756e-03 -2.37335461e-05 9.99996816e-01 4.07111655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.02, Y:48.70, Z:0.41 [[ 8.84317491e-01 -4.66880682e-01 -2.23715269e-03 2.08019117e+02] [ 4.66879222e-01 8.84320320e-01 -1.16766784e-03 4.87044445e+01] [ 2.52352114e-03 -1.18910110e-05 9.99996816e-01 4.10346283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.07, Y:48.73, Z:0.41 [[ 8.86500879e-01 -4.62721501e-01 -2.23696107e-03 2.08071863e+02] [ 4.62720027e-01 8.86503701e-01 -1.16803481e-03 4.87313615e+01] [ 2.52354909e-03 3.77196831e-07 9.99996816e-01 4.11947724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.13, Y:48.76, Z:0.41 [[ 8.87247817e-01 -4.61287664e-01 -2.23675590e-03 2.08125040e+02] [ 4.61286184e-01 8.87250636e-01 -1.16842759e-03 4.87551121e+01] [ 2.52354432e-03 4.90023326e-06 9.99996816e-01 4.12339730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:48.78, Z:0.41 [[ 8.87081492e-01 -4.61607434e-01 -2.23668422e-03 2.08177550e+02] [ 4.61605955e-01 8.87084312e-01 -1.16856478e-03 4.87800379e+01] [ 2.52354567e-03 4.14542947e-06 9.99996816e-01 4.13508474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:48.81, Z:0.42 [[ 8.86584016e-01 -4.62562191e-01 -2.23661366e-03 2.08229060e+02] [ 4.62560715e-01 8.86586837e-01 -1.16869981e-03 4.88068919e+01] [ 2.52354858e-03 1.58095559e-06 9.99996816e-01 4.15874369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.28, Y:48.83, Z:0.41 [[ 8.85682306e-01 -4.64286389e-01 -2.23638244e-03 2.08281465e+02] [ 4.64284917e-01 8.85685130e-01 -1.16914210e-03 4.88304443e+01] [ 2.52354744e-03 -2.83016801e-06 9.99996816e-01 4.13835239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.33, Y:48.86, Z:0.42 [[ 8.85479172e-01 -4.64673687e-01 -2.23626645e-03 2.08334065e+02] [ 4.64672215e-01 8.85481996e-01 -1.16936392e-03 4.88562410e+01] [ 2.52354632e-03 -3.68349413e-06 9.99996816e-01 4.16132293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:208.39, Y:48.88, Z:0.41 [[ 8.85817486e-01 -4.64028427e-01 -2.23608517e-03 2.08386139e+02] [ 4.64026953e-01 8.85820309e-01 -1.16971046e-03 4.88822275e+01] [ 2.52354856e-03 -1.45380931e-06 9.99996816e-01 4.13582134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.44, Y:48.91, Z:0.41 [[ 8.86678724e-01 -4.62380623e-01 -2.23601549e-03 2.08438762e+02] [ 4.62379143e-01 8.86681544e-01 -1.16984365e-03 4.89092607e+01] [ 2.52354670e-03 3.38855186e-06 9.99996816e-01 4.13812448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.49, Y:48.94, Z:0.41 [[ 8.88316168e-01 -4.59226946e-01 -2.23581319e-03 2.08489482e+02] [ 4.59225455e-01 8.88318981e-01 -1.17023015e-03 4.89368880e+01] [ 2.52351652e-03 1.27920357e-05 9.99996816e-01 4.13523145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:208.54, Y:48.97, Z:0.42 [[ 8.90795446e-01 -4.54399026e-01 -2.23574181e-03 2.08539166e+02] [ 4.54397520e-01 8.90798251e-01 -1.17036652e-03 4.89681014e+01] [ 2.52340830e-03 2.66416329e-05 9.99996816e-01 4.16676576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.59, Y:49.00, Z:0.41 [[ 8.92195183e-01 -4.51644504e-01 -2.23554793e-03 2.08588526e+02] [ 4.51642988e-01 8.92197983e-01 -1.17073673e-03 4.89989271e+01] [ 2.52330816e-03 3.48561280e-05 9.99996816e-01 4.13401265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.64, Y:49.03, Z:0.42 [[ 8.93913176e-01 -4.48234578e-01 -2.23532834e-03 2.08639328e+02] [ 4.48233050e-01 8.93915970e-01 -1.17115586e-03 4.90293920e+01] [ 2.52314825e-03 4.49636124e-05 9.99996816e-01 4.17504434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.69, Y:49.06, Z:0.42 [[ 8.93716522e-01 -4.48626552e-01 -2.23511554e-03 2.08688311e+02] [ 4.48625024e-01 8.93719316e-01 -1.17156183e-03 4.90623824e+01] [ 2.52315968e-03 4.43154048e-05 9.99996816e-01 4.19257888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.74, Y:49.09, Z:0.42 [[ 8.91552664e-01 -4.52911529e-01 -2.23490365e-03 2.08737397e+02] [ 4.52910014e-01 8.91555464e-01 -1.17196590e-03 4.90939738e+01] [ 2.52333743e-03 3.26590807e-05 9.99996816e-01 4.19017010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.79, Y:49.12, Z:0.41 [[ 8.89732713e-01 -4.56476401e-01 -2.23482922e-03 2.08786652e+02] [ 4.56474897e-01 8.89735519e-01 -1.17210781e-03 4.91239942e+01] [ 2.52344649e-03 2.27192195e-05 9.99996816e-01 4.14666250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:49.15, Z:0.41 [[ 8.86975796e-01 -4.61810506e-01 -2.23472351e-03 2.08837120e+02] [ 4.61809018e-01 8.86978611e-01 -1.17230932e-03 4.91519054e+01] [ 2.52353672e-03 7.79452466e-06 9.99996816e-01 4.10056461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.89, Y:49.18, Z:0.41 [[ 8.85279749e-01 -4.65053517e-01 -2.23461874e-03 2.08888757e+02] [ 4.65052038e-01 8.85282569e-01 -1.17250900e-03 4.91791675e+01] [ 2.52354845e-03 -1.21553234e-06 9.99996816e-01 4.10215090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.94, Y:49.21, Z:0.41 [[ 8.83701119e-01 -4.68046300e-01 -2.23442682e-03 2.08938873e+02] [ 4.68044831e-01 8.83703944e-01 -1.17287462e-03 4.92080673e+01] [ 2.52353142e-03 -9.34130911e-06 9.99996816e-01 4.12424823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.99, Y:49.23, Z:0.41 [[ 8.83456419e-01 -4.68508020e-01 -2.23419703e-03 2.08990005e+02] [ 4.68506551e-01 8.83459244e-01 -1.17331219e-03 4.92347773e+01] [ 2.52352819e-03 -1.01657558e-05 9.99996816e-01 4.11645047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:49.26, Z:0.42 [[ 8.83919370e-01 -4.67633997e-01 -2.23412603e-03 2.09041912e+02] [ 4.67632525e-01 8.83922194e-01 -1.17344736e-03 4.92623488e+01] [ 2.52353746e-03 -7.51714156e-06 9.99996816e-01 4.16607348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.09, Y:49.29, Z:0.41 [[ 8.85529902e-01 -4.64577015e-01 -2.23392498e-03 2.09092217e+02] [ 4.64575532e-01 8.85532719e-01 -1.17382999e-03 4.92910305e+01] [ 2.52354809e-03 1.63467025e-06 9.99996816e-01 4.12347612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:49.32, Z:0.42 [[ 8.87309027e-01 -4.61169926e-01 -2.23385401e-03 2.09143559e+02] [ 4.61168432e-01 8.87311839e-01 -1.17396502e-03 4.93197318e+01] [ 2.52352247e-03 1.14868069e-05 9.99996816e-01 4.20912964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.19, Y:49.35, Z:0.41 [[ 8.89981834e-01 -4.55990511e-01 -2.23364116e-03 2.09192442e+02] [ 4.55989000e-01 8.89984636e-01 -1.17436986e-03 4.93507755e+01] [ 2.52340783e-03 2.66520424e-05 9.99996816e-01 4.14255651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.24, Y:49.38, Z:0.42 [[ 8.91679200e-01 -4.52662364e-01 -2.23352819e-03 2.09243530e+02] [ 4.52660842e-01 8.91681996e-01 -1.17458469e-03 4.93811374e+01] [ 2.52328716e-03 3.63219847e-05 9.99996816e-01 4.21320635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.29, Y:49.41, Z:0.42 [[ 8.92865982e-01 -4.50316945e-01 -2.23332707e-03 2.09291435e+02] [ 4.50315414e-01 8.92868774e-01 -1.17496696e-03 4.94138646e+01] [ 2.52317554e-03 4.33864244e-05 9.99996816e-01 4.21140694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.34, Y:49.44, Z:0.42 [[ 8.92368194e-01 -4.51302580e-01 -2.23325083e-03 2.09341144e+02] [ 4.51301051e-01 8.92370988e-01 -1.17511186e-03 4.94440833e+01] [ 2.52321926e-03 4.07639990e-05 9.99996816e-01 4.16349023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:49.48, Z:0.42 [[ 8.91252839e-01 -4.53501256e-01 -2.23320470e-03 2.09389185e+02] [ 4.53499735e-01 8.91255636e-01 -1.17519951e-03 4.94750402e+01] [ 2.52331073e-03 3.46421628e-05 9.99996816e-01 4.16106004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:49.50, Z:0.42 [[ 8.90422402e-01 -4.55129608e-01 -2.23310336e-03 2.09439229e+02] [ 4.55128091e-01 8.90425201e-01 -1.17539205e-03 4.95046642e+01] [ 2.52336723e-03 3.02473470e-05 9.99996816e-01 4.16590070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.49, Y:49.54, Z:0.41 [[ 8.89374030e-01 -4.57174855e-01 -2.23288147e-03 2.09488707e+02] [ 4.57173344e-01 8.89376833e-01 -1.17581343e-03 4.95369745e+01] [ 2.52342538e-03 2.49240401e-05 9.99996816e-01 4.13655776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:209.54, Y:49.57, Z:0.41 [[ 8.88939355e-01 -4.58019474e-01 -2.23268695e-03 2.09539343e+02] [ 4.58017964e-01 8.88942158e-01 -1.17618267e-03 4.95677270e+01] [ 2.52344412e-03 2.29443320e-05 9.99996816e-01 4.11724690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.59, Y:49.60, Z:0.41 [[ 8.88424500e-01 -4.59017346e-01 -2.23249290e-03 2.09589053e+02] [ 4.59015838e-01 8.88427305e-01 -1.17655088e-03 4.95979891e+01] [ 2.52346491e-03 2.05270319e-05 9.99996816e-01 4.10076256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.64, Y:49.63, Z:0.41 [[ 8.88272100e-01 -4.59312197e-01 -2.23227070e-03 2.09639264e+02] [ 4.59310689e-01 8.88274904e-01 -1.17697231e-03 4.96273253e+01] [ 2.52346778e-03 2.01658752e-05 9.99996816e-01 4.11736759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:49.66, Z:0.41 [[ 8.88328406e-01 -4.59203290e-01 -2.23203792e-03 2.09689461e+02] [ 4.59201781e-01 8.88331210e-01 -1.17741359e-03 4.96574032e+01] [ 2.52346114e-03 2.09741472e-05 9.99996816e-01 4.13230080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:49.69, Z:0.42 [[ 8.88215245e-01 -4.59422134e-01 -2.23184959e-03 2.09740456e+02] [ 4.59420624e-01 8.88218049e-01 -1.17777048e-03 4.96866502e+01] [ 2.52346291e-03 2.07559623e-05 9.99996816e-01 4.15383255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.79, Y:49.72, Z:0.42 [[ 8.88435910e-01 -4.58995266e-01 -2.23164346e-03 2.09791074e+02] [ 4.58993754e-01 8.88438712e-01 -1.17816092e-03 4.97160885e+01] [ 2.52344872e-03 2.24100628e-05 9.99996816e-01 4.18075254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.84, Y:49.75, Z:0.41 [[ 8.89580768e-01 -4.56772457e-01 -2.23143755e-03 2.09839708e+02] [ 4.56770938e-01 8.89583566e-01 -1.17855077e-03 4.97480252e+01] [ 2.52337971e-03 2.91602801e-05 9.99996816e-01 4.14880960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.89, Y:49.78, Z:0.42 [[ 8.90764958e-01 -4.54458811e-01 -2.23136564e-03 2.09890217e+02] [ 4.54457284e-01 8.90767752e-01 -1.17868691e-03 4.97779586e+01] [ 2.52329321e-03 3.58726284e-05 9.99996816e-01 4.17384453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.94, Y:49.81, Z:0.42 [[ 8.92562554e-01 -4.50918073e-01 -2.23116578e-03 2.09938752e+02] [ 4.50916534e-01 8.92565342e-01 -1.17906512e-03 4.98102850e+01] [ 2.52312301e-03 4.63198357e-05 9.99996816e-01 4.16622595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:49.85, Z:0.41 [[ 8.93645751e-01 -4.48767529e-01 -2.23093408e-03 2.09986184e+02] [ 4.48765982e-01 8.93648534e-01 -1.17950336e-03 4.98453845e+01] [ 2.52299378e-03 5.28908373e-05 9.99996816e-01 4.14239339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.04, Y:49.88, Z:0.42 [[ 8.93581406e-01 -4.48895638e-01 -2.23073327e-03 2.10035874e+02] [ 4.48894091e-01 8.93584189e-01 -1.17988301e-03 4.98762435e+01] [ 2.52299232e-03 5.29585352e-05 9.99996816e-01 4.15851156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:49.91, Z:0.41 [[ 8.92413885e-01 -4.51212237e-01 -2.23054434e-03 2.10083817e+02] [ 4.51210696e-01 8.92416671e-01 -1.18024008e-03 4.99092533e+01] [ 2.52311372e-03 4.68171694e-05 9.99996816e-01 4.13450815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.13, Y:49.94, Z:0.42 [[ 8.90554308e-01 -4.54871465e-01 -2.23047171e-03 2.10132646e+02] [ 4.54869935e-01 8.90557101e-01 -1.18037731e-03 4.99399330e+01] [ 2.52328238e-03 3.66155771e-05 9.99996816e-01 4.15930959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:49.97, Z:0.41 [[ 8.86774145e-01 -4.62197623e-01 -2.23023675e-03 2.10183423e+02] [ 4.62196115e-01 8.86776949e-01 -1.18082109e-03 4.99706254e+01] [ 2.52349524e-03 1.63148472e-05 9.99996816e-01 4.13817056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.23, Y:50.00, Z:0.41 [[ 8.82806062e-01 -4.69732353e-01 -2.23003329e-03 2.10232637e+02] [ 4.69730868e-01 8.82808879e-01 -1.18120520e-03 4.99984480e+01] [ 2.52354349e-03 -4.74036501e-06 9.99996816e-01 4.12670541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.28, Y:50.03, Z:0.41 [[ 8.80504504e-01 -4.74032537e-01 -2.22993285e-03 2.10283015e+02] [ 4.74031065e-01 8.80507327e-01 -1.18139479e-03 5.00273624e+01] [ 2.52349178e-03 -1.68340119e-05 9.99996816e-01 4.13962615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:210.33, Y:50.06, Z:0.42 [[ 8.78882946e-01 -4.77032279e-01 -2.22970121e-03 2.10334807e+02] [ 4.77030815e-01 8.78885774e-01 -1.18183181e-03 5.00556399e+01] [ 2.52342460e-03 -2.49443590e-05 9.99996816e-01 4.16543473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:210.39, Y:50.08, Z:0.41 [[ 8.78310688e-01 -4.78085101e-01 -2.22950647e-03 2.10385948e+02] [ 4.78083640e-01 8.78313518e-01 -1.18219908e-03 5.00832959e+01] [ 2.52339743e-03 -2.75524786e-05 9.99996816e-01 4.12429044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66264 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:210.44, Y:50.11, Z:0.41 [[ 8.77797788e-01 -4.79026171e-01 -2.22943161e-03 2.10436415e+02] [ 4.79024713e-01 8.77800619e-01 -1.18234023e-03 5.01117851e+01] [ 2.52336836e-03 -3.00971960e-05 9.99996816e-01 4.12647193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:50.14, Z:0.41 [[ 8.76629969e-01 -4.81159982e-01 -2.22920972e-03 2.10489405e+02] [ 4.81158530e-01 8.76632802e-01 -1.18275844e-03 5.01366003e+01] [ 2.52329439e-03 -3.57617722e-05 9.99996816e-01 4.13604263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:50.16, Z:0.41 [[ 8.75751666e-01 -4.82756720e-01 -2.22901278e-03 2.10540979e+02] [ 4.82755271e-01 8.75754502e-01 -1.18312948e-03 5.01621227e+01] [ 2.52323168e-03 -3.99400559e-05 9.99996816e-01 4.12274414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:50.19, Z:0.41 [[ 8.75639319e-01 -4.82960469e-01 -2.22894333e-03 2.10593774e+02] [ 4.82959021e-01 8.75642155e-01 -1.18326030e-03 5.01876625e+01] [ 2.52322469e-03 -4.03790459e-05 9.99996816e-01 4.11640571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90264000000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:50.21, Z:0.41 [[ 8.76758478e-01 -4.80925778e-01 -2.22874997e-03 2.10646930e+02] [ 4.80924323e-01 8.76761310e-01 -1.18362440e-03 5.02132965e+01] [ 2.52331723e-03 -3.41073423e-05 9.99996816e-01 4.11640975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:50.24, Z:0.42 [[ 8.79735672e-01 -4.75457864e-01 -2.22855703e-03 2.10699188e+02] [ 4.75456390e-01 8.79738495e-01 -1.18398755e-03 5.02411780e+01] [ 2.52348360e-03 -1.79855987e-05 9.99996816e-01 4.15246841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:50.27, Z:0.41 [[ 8.81502556e-01 -4.72173991e-01 -2.22836178e-03 2.10750194e+02] [ 4.72172506e-01 8.81505373e-01 -1.18435491e-03 5.02687384e+01] [ 2.52353447e-03 -8.15928215e-06 9.99996816e-01 4.14595068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:50.30, Z:0.42 [[ 8.83489046e-01 -4.68446519e-01 -2.22829263e-03 2.10800611e+02] [ 4.68445021e-01 8.83491856e-01 -1.18448500e-03 5.02970561e+01] [ 2.52354627e-03 2.64692849e-06 9.99996816e-01 4.16299414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:210.85, Y:50.32, Z:0.41 [[ 8.84370081e-01 -4.66781099e-01 -2.22806049e-03 2.10851760e+02] [ 4.66779596e-01 8.84372888e-01 -1.18492152e-03 5.03222432e+01] [ 2.52353525e-03 7.89596553e-06 9.99996816e-01 4.14633084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:50.35, Z:0.42 [[ 8.84426985e-01 -4.66673274e-01 -2.22795979e-03 2.10903193e+02] [ 4.66671769e-01 8.84429791e-01 -1.18511082e-03 5.03505571e+01] [ 2.52353356e-03 8.41805028e-06 9.99996816e-01 4.17494337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:50.38, Z:0.42 [[ 8.83466625e-01 -4.68488805e-01 -2.22776059e-03 2.10956121e+02] [ 4.68487305e-01 8.83469433e-01 -1.18548516e-03 5.03771037e+01] [ 2.52354491e-03 3.65901416e-06 9.99996816e-01 4.19342061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.01, Y:50.40, Z:0.42 [[ 8.82757203e-01 -4.69824178e-01 -2.22756898e-03 2.11008638e+02] [ 4.69822682e-01 8.82760014e-01 -1.18584508e-03 5.04029634e+01] [ 2.52354752e-03 2.50854041e-07 9.99996816e-01 4.18051936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.06, Y:50.43, Z:0.42 [[ 8.83155854e-01 -4.69074383e-01 -2.22736207e-03 2.11061117e+02] [ 4.69072884e-01 8.83158662e-01 -1.18623360e-03 5.04275587e+01] [ 2.52354590e-03 2.83400311e-06 9.99996816e-01 4.20014993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:50.45, Z:0.42 [[ 8.84632187e-01 -4.66284177e-01 -2.22713056e-03 2.11112374e+02] [ 4.66282667e-01 8.84634990e-01 -1.18666809e-03 5.04543050e+01] [ 2.52352218e-03 1.12924097e-05 9.99996816e-01 4.20947364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:50.48, Z:0.42 [[ 8.88907842e-01 -4.58080657e-01 -2.22689649e-03 2.11163219e+02] [ 4.58079121e-01 8.88910631e-01 -1.18710718e-03 5.04827916e+01] [ 2.52330281e-03 3.51340977e-05 9.99996816e-01 4.21386093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.21, Y:50.51, Z:0.42 [[ 8.90334010e-01 -4.55302527e-01 -2.22682415e-03 2.11214947e+02] [ 4.55300981e-01 8.90336794e-01 -1.18724287e-03 5.05114549e+01] [ 2.52317815e-03 4.31674828e-05 9.99996816e-01 4.21912504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.26, Y:50.54, Z:0.42 [[ 8.93488885e-01 -4.49079787e-01 -2.22661846e-03 2.11264017e+02] [ 4.49078220e-01 8.93491657e-01 -1.18762851e-03 5.05412667e+01] [ 2.52280497e-03 6.12070158e-05 9.99996816e-01 4.19019257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:50.57, Z:0.42 [[ 8.94173443e-01 -4.47715195e-01 -2.22651704e-03 2.11314959e+02] [ 4.47713624e-01 8.94176213e-01 -1.18781862e-03 5.05701418e+01] [ 2.52270302e-03 6.52738557e-05 9.99996816e-01 4.19608835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.37, Y:50.60, Z:0.42 [[ 8.93295851e-01 -4.49463644e-01 -2.22631196e-03 2.11366711e+02] [ 4.49462077e-01 8.93298623e-01 -1.18820288e-03 5.05990504e+01] [ 2.52281540e-03 6.07739045e-05 9.99996816e-01 4.20906253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.42, Y:50.63, Z:0.42 [[ 8.91296595e-01 -4.53415289e-01 -2.22620510e-03 2.11418469e+02] [ 4.53413734e-01 8.91299374e-01 -1.18840304e-03 5.06266263e+01] [ 2.52305532e-03 4.98276130e-05 9.99996816e-01 4.18713861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:50.65, Z:0.42 [[ 8.88653714e-01 -4.58573464e-01 -2.22616059e-03 2.11470160e+02] [ 4.58571925e-01 8.88656501e-01 -1.18848642e-03 5.06544715e+01] [ 2.52330041e-03 3.52981226e-05 9.99996816e-01 4.23537806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.52, Y:50.68, Z:0.42 [[ 8.87819681e-01 -4.60186114e-01 -2.22594050e-03 2.11521168e+02] [ 4.60184579e-01 8.87822471e-01 -1.18889849e-03 5.06818854e+01] [ 2.52335457e-03 3.11839857e-05 9.99996816e-01 4.21282224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.57, Y:50.71, Z:0.43 [[ 8.88226573e-01 -4.59400262e-01 -2.22586266e-03 2.11572518e+02] [ 4.59398725e-01 8.88229361e-01 -1.18904421e-03 5.07103676e+01] [ 2.52332379e-03 3.35821962e-05 9.99996816e-01 4.25047851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.62, Y:50.74, Z:0.43 [[ 8.89364897e-01 -4.57192658e-01 -2.22565979e-03 2.11622196e+02] [ 4.57191112e-01 8.89367681e-01 -1.18942382e-03 5.07386262e+01] [ 2.52322572e-03 4.02799167e-05 9.99996816e-01 4.25461755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.67, Y:50.77, Z:0.42 [[ 8.90452664e-01 -4.55070434e-01 -2.22555058e-03 2.11672019e+02] [ 4.55068881e-01 8.90455444e-01 -1.18962813e-03 5.07690534e+01] [ 2.52311822e-03 4.65287275e-05 9.99996816e-01 4.20618353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.72, Y:50.80, Z:0.42 [[ 8.92198240e-01 -4.51638514e-01 -2.22547484e-03 2.11721462e+02] [ 4.51636951e-01 8.92201014e-01 -1.18976980e-03 5.08008580e+01] [ 2.52291677e-03 5.64038514e-05 9.99996816e-01 4.20185682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.77, Y:50.83, Z:0.42 [[ 8.92488695e-01 -4.51064272e-01 -2.22528592e-03 2.11770369e+02] [ 4.51062706e-01 8.92491467e-01 -1.19012303e-03 5.08321531e+01] [ 2.52287068e-03 5.84278659e-05 9.99996816e-01 4.17096823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:50.87, Z:0.42 [[ 8.92680402e-01 -4.50684754e-01 -2.22521330e-03 2.11818924e+02] [ 4.50683186e-01 8.92683174e-01 -1.19025880e-03 5.08661746e+01] [ 2.52284197e-03 5.96544795e-05 9.99996816e-01 4.24135298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:50.90, Z:0.42 [[ 8.91759511e-01 -4.52504170e-01 -2.22509638e-03 2.11868241e+02] [ 4.52502607e-01 8.91762285e-01 -1.19047733e-03 5.08986512e+01] [ 2.52295299e-03 5.47575727e-05 9.99996816e-01 4.23122682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:50.93, Z:0.42 [[ 8.90358270e-01 -4.55255094e-01 -2.22488089e-03 2.11915167e+02] [ 4.55253539e-01 8.90361049e-01 -1.19087992e-03 5.09335042e+01] [ 2.52310144e-03 4.74248879e-05 9.99996816e-01 4.15683486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.96, Y:50.97, Z:0.42 [[ 8.87815215e-01 -4.60194736e-01 -2.22480522e-03 2.11962672e+02] [ 4.60193196e-01 8.87818001e-01 -1.19102129e-03 5.09672957e+01] [ 2.52332385e-03 3.35665948e-05 9.99996816e-01 4.18028323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.01, Y:51.00, Z:0.42 [[ 8.85946806e-01 -4.63781531e-01 -2.22457212e-03 2.12011929e+02] [ 4.63780001e-01 8.85949599e-01 -1.19145649e-03 5.09985965e+01] [ 2.52343430e-03 2.38550092e-05 9.99996816e-01 4.19737339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.06, Y:51.03, Z:0.43 [[ 8.82666887e-01 -4.69993851e-01 -2.22433851e-03 2.12061603e+02] [ 4.69992339e-01 8.82669689e-01 -1.19189246e-03 5.10314090e+01] [ 2.52353831e-03 6.62194840e-06 9.99996816e-01 4.27733434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.11, Y:51.06, Z:0.42 [[ 8.81106442e-01 -4.72912773e-01 -2.22414090e-03 2.12110923e+02] [ 4.72911271e-01 8.81109249e-01 -1.19226110e-03 5.10616240e+01] [ 2.52354662e-03 -1.31236663e-06 9.99996816e-01 4.22455839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.16, Y:51.09, Z:0.42 [[ 8.79838714e-01 -4.75267178e-01 -2.22402733e-03 2.12161043e+02] [ 4.75265682e-01 8.79841525e-01 -1.19247292e-03 5.10927800e+01] [ 2.52353484e-03 -7.82002004e-06 9.99996816e-01 4.20181670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.21, Y:51.12, Z:0.42 [[ 8.77961564e-01 -4.78725963e-01 -2.22382276e-03 2.12211038e+02] [ 4.78724477e-01 8.77964380e-01 -1.19285430e-03 5.11211421e+01] [ 2.52348749e-03 -1.73181662e-05 9.99996816e-01 4.19486024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:51.15, Z:0.42 [[ 8.75695935e-01 -4.82857831e-01 -2.22372183e-03 2.12262227e+02] [ 4.82856358e-01 8.75698758e-01 -1.19304242e-03 5.11498073e+01] [ 2.52338032e-03 -2.89958299e-05 9.99996816e-01 4.21967491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:212.31, Y:51.18, Z:0.42 [[ 8.73228576e-01 -4.87305767e-01 -2.22352071e-03 2.12314067e+02] [ 4.87304307e-01 8.73231406e-01 -1.19341713e-03 5.11756109e+01] [ 2.52320717e-03 -4.14052781e-05 9.99996816e-01 4.21943591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.37, Y:51.20, Z:0.42 [[ 8.72879148e-01 -4.87931398e-01 -2.22345026e-03 2.12367128e+02] [ 4.87929940e-01 8.72881979e-01 -1.19354838e-03 5.12009190e+01] [ 2.52317939e-03 -4.30644566e-05 9.99996816e-01 4.21082933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:51.23, Z:0.42 [[ 8.73604493e-01 -4.86631531e-01 -2.22325040e-03 2.12420369e+02] [ 4.86630068e-01 8.73607321e-01 -1.19392054e-03 5.12268468e+01] [ 2.52324721e-03 -3.88861480e-05 9.99996816e-01 4.23433012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.47, Y:51.25, Z:0.42 [[ 8.74797154e-01 -4.84484259e-01 -2.22304695e-03 2.12471910e+02] [ 4.84482788e-01 8.74799978e-01 -1.19429924e-03 5.12524223e+01] [ 2.52334061e-03 -3.22584112e-05 9.99996816e-01 4.22372933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.53, Y:51.28, Z:0.42 [[ 8.75842139e-01 -4.82592588e-01 -2.22297535e-03 2.12526075e+02] [ 4.82591110e-01 8.75844960e-01 -1.19443250e-03 5.12764832e+01] [ 2.52340603e-03 -2.66538244e-05 9.99996816e-01 4.23469297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.58, Y:51.30, Z:0.42 [[ 8.76035690e-01 -4.82241152e-01 -2.22277332e-03 2.12578691e+02] [ 4.82239673e-01 8.76038510e-01 -1.19480836e-03 5.12983872e+01] [ 2.52342078e-03 -2.52147111e-05 9.99996816e-01 4.21480174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.63, Y:51.32, Z:0.42 [[ 8.76601642e-01 -4.81211618e-01 -2.22267360e-03 2.12633609e+02] [ 4.81210134e-01 8.76604460e-01 -1.19499384e-03 5.13178226e+01] [ 2.52345050e-03 -2.20395002e-05 9.99996816e-01 4.21210562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.69, Y:51.34, Z:0.42 [[ 8.78925230e-01 -4.76954401e-01 -2.22244791e-03 2.12687671e+02] [ 4.76952903e-01 8.78928040e-01 -1.19541341e-03 5.13397632e+01] [ 2.52352948e-03 -9.32397754e-06 9.99996816e-01 4.22831006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:51.36, Z:0.42 [[ 8.81218293e-01 -4.72704329e-01 -2.22221919e-03 2.12741044e+02] [ 4.72702816e-01 8.81221095e-01 -1.19583845e-03 5.13635375e+01] [ 2.52354444e-03 3.34544715e-06 9.99996816e-01 4.23598531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.79, Y:51.39, Z:0.42 [[ 8.82596519e-01 -4.70125992e-01 -2.22198565e-03 2.12793196e+02] [ 4.70124470e-01 8.82599316e-01 -1.19627223e-03 5.13896378e+01] [ 2.52352168e-03 1.12158782e-05 9.99996816e-01 4.24183122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.84, Y:51.42, Z:0.42 [[ 8.87330780e-01 -4.61128127e-01 -2.22187623e-03 2.12843890e+02] [ 4.61126576e-01 8.87333561e-01 -1.19647542e-03 5.14154218e+01] [ 2.52327382e-03 3.71032871e-05 9.99996816e-01 4.23268973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:212.89, Y:51.44, Z:0.42 [[ 8.90939634e-01 -4.54116321e-01 -2.22177611e-03 2.12894219e+02] [ 4.54114748e-01 8.90942402e-01 -1.19666132e-03 5.14441719e+01] [ 2.52289798e-03 5.72116991e-05 9.99996816e-01 4.24029904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:51.47, Z:0.42 [[ 8.92004399e-01 -4.52021257e-01 -2.22154802e-03 2.12945054e+02] [ 4.52019676e-01 8.92007163e-01 -1.19708461e-03 5.14715634e+01] [ 2.52274443e-03 6.36213218e-05 9.99996816e-01 4.21229418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:51.50, Z:0.42 [[ 8.90920759e-01 -4.54153352e-01 -2.22132116e-03 2.12995917e+02] [ 4.54151777e-01 8.90923526e-01 -1.19750542e-03 5.15012381e+01] [ 2.52287838e-03 5.80654834e-05 9.99996816e-01 4.24300656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:51.53, Z:0.43 [[ 8.88765047e-01 -4.58357674e-01 -2.22112623e-03 2.13047330e+02] [ 4.58356111e-01 8.88767822e-01 -1.19786686e-03 5.15296992e+01] [ 2.52311699e-03 4.65554204e-05 9.99996816e-01 4.25746622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78264000000001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:51.56, Z:0.42 [[ 8.85128088e-01 -4.65342171e-01 -2.22090474e-03 2.13099026e+02] [ 4.65340629e-01 8.85130873e-01 -1.19827738e-03 5.15564147e+01] [ 2.52340035e-03 2.71517586e-05 9.99996816e-01 4.24011135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:51.58, Z:0.42 [[ 8.82772493e-01 -4.69795482e-01 -2.22078939e-03 2.13150054e+02] [ 4.69793953e-01 8.82775286e-01 -1.19849112e-03 5.15835466e+01] [ 2.52350370e-03 1.46815708e-05 9.99996816e-01 4.21911020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:51.61, Z:0.42 [[ 8.79634745e-01 -4.75644598e-01 -2.22071381e-03 2.13202335e+02] [ 4.75643088e-01 8.79637548e-01 -1.19863114e-03 5.16109352e+01] [ 2.52354568e-03 -1.90957992e-06 9.99996816e-01 4.23840106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:51.64, Z:0.42 [[ 8.78295747e-01 -4.78112591e-01 -2.22049274e-03 2.13252908e+02] [ 4.78111088e-01 8.78298554e-01 -1.19904055e-03 5.16379938e+01] [ 2.52353194e-03 -8.52998479e-06 9.99996816e-01 4.18557979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:213.30, Y:51.67, Z:0.43 [[ 8.77454136e-01 -4.79655406e-01 -2.22039937e-03 2.13303142e+02] [ 4.79653907e-01 8.77456946e-01 -1.19921343e-03 5.16672210e+01] [ 2.52351405e-03 -1.27684475e-05 9.99996816e-01 4.25678044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.35, Y:51.70, Z:0.42 [[ 8.78298828e-01 -4.78106933e-01 -2.22016357e-03 2.13354685e+02] [ 4.78105428e-01 8.78301634e-01 -1.19964981e-03 5.16955790e+01] [ 2.52353418e-03 -7.82123358e-06 9.99996816e-01 4.21905135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.40, Y:51.72, Z:0.42 [[ 8.78908713e-01 -4.76984849e-01 -2.21995284e-03 2.13404870e+02] [ 4.76983340e-01 8.78911516e-01 -1.20003964e-03 5.17248696e+01] [ 2.52354284e-03 -4.15522863e-06 9.99996816e-01 4.24779408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.46, Y:51.75, Z:0.42 [[ 8.79974575e-01 -4.75015600e-01 -2.21987837e-03 2.13455271e+02] [ 4.75014084e-01 8.79977375e-01 -1.20017738e-03 5.17538808e+01] [ 2.52354572e-03 1.65209333e-06 9.99996816e-01 4.21120107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.51, Y:51.79, Z:0.42 [[ 8.81562960e-01 -4.72061247e-01 -2.21980470e-03 2.13505589e+02] [ 4.72059721e-01 8.81565754e-01 -1.20031362e-03 5.17852180e+01] [ 2.52352535e-03 1.02716354e-05 9.99996816e-01 4.21002277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.56, Y:51.81, Z:0.42 [[ 8.82412459e-01 -4.70471386e-01 -2.21961177e-03 2.13555873e+02] [ 4.70469855e-01 8.82415250e-01 -1.20067028e-03 5.18142605e+01] [ 2.52350029e-03 1.52259825e-05 9.99996816e-01 4.17805297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:51.85, Z:0.42 [[ 8.82675491e-01 -4.69977714e-01 -2.21953761e-03 2.13605087e+02] [ 4.69976180e-01 8.82678281e-01 -1.20080735e-03 5.18465730e+01] [ 2.52349034e-03 1.67934104e-05 9.99996816e-01 4.22256713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.66, Y:51.88, Z:0.42 [[ 8.82759889e-01 -4.69819170e-01 -2.21935007e-03 2.13655132e+02] [ 4.69817635e-01 8.82762679e-01 -1.20115388e-03 5.18777793e+01] [ 2.52348453e-03 1.76406641e-05 9.99996816e-01 4.20568699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:51.91, Z:0.42 [[ 8.83788155e-01 -4.67882007e-01 -2.21914721e-03 2.13703439e+02] [ 4.67880465e-01 8.83790941e-01 -1.20152854e-03 5.19098340e+01] [ 2.52343579e-03 2.36010668e-05 9.99996816e-01 4.19898152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:51.94, Z:0.42 [[ 8.84711217e-01 -4.66134251e-01 -2.21891981e-03 2.13752021e+02] [ 4.66132702e-01 8.84713999e-01 -1.20194835e-03 5.19418212e+01] [ 2.52337871e-03 2.90660993e-05 9.99996816e-01 4.18675512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:51.98, Z:0.42 [[ 8.85397105e-01 -4.64830124e-01 -2.21869257e-03 2.13800143e+02] [ 4.64828570e-01 8.85399884e-01 -1.20236766e-03 5.19759625e+01] [ 2.52332686e-03 3.32611504e-05 9.99996816e-01 4.20523253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:52.01, Z:0.42 [[ 8.85048381e-01 -4.65493760e-01 -2.21849892e-03 2.13848632e+02] [ 4.65492208e-01 8.85051161e-01 -1.20272487e-03 5.20088285e+01] [ 2.52334597e-03 3.17757398e-05 9.99996816e-01 4.17991711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.90, Y:52.04, Z:0.42 [[ 8.82717301e-01 -4.69899187e-01 -2.21829028e-03 2.13897831e+02] [ 4.69897647e-01 8.82720088e-01 -1.20310955e-03 5.20412501e+01] [ 2.52346959e-03 1.96362314e-05 9.99996816e-01 4.24647187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:52.07, Z:0.42 [[ 8.79825798e-01 -4.75291116e-01 -2.21808790e-03 2.13948854e+02] [ 4.75289592e-01 8.79828594e-01 -1.20348255e-03 5.20710992e+01] [ 2.52354172e-03 4.62090058e-06 9.99996816e-01 4.21993832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.00, Y:52.10, Z:0.42 [[ 8.75306060e-01 -4.83564248e-01 -2.21788012e-03 2.13999848e+02] [ 4.83562749e-01 8.75308870e-01 -1.20386535e-03 5.20990390e+01] [ 2.52347638e-03 -1.87335707e-05 9.99996816e-01 4.19387456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.05, Y:52.13, Z:0.42 [[ 8.71724304e-01 -4.89991653e-01 -2.21780787e-03 2.14051329e+02] [ 4.89990175e-01 8.71727124e-01 -1.20399843e-03 5.21250036e+01] [ 2.52327246e-03 -3.71493782e-05 9.99996816e-01 4.19320796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:52.15, Z:0.42 [[ 8.70490310e-01 -4.92180559e-01 -2.21757234e-03 2.14103292e+02] [ 4.92179087e-01 8.70493134e-01 -1.20443208e-03 5.21507759e+01] [ 2.52317955e-03 -4.29962760e-05 9.99996816e-01 4.20107037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:52.18, Z:0.42 [[ 8.70363537e-01 -4.92404708e-01 -2.21733663e-03 2.14155965e+02] [ 4.92403236e-01 8.70366361e-01 -1.20486587e-03 5.21754445e+01] [ 2.52317684e-03 -4.31524105e-05 9.99996816e-01 4.20829218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:214.21, Y:52.20, Z:0.42 [[ 8.71800833e-01 -4.89855480e-01 -2.21710155e-03 2.14208582e+02] [ 4.89853998e-01 8.71803652e-01 -1.20529829e-03 5.21995077e+01] [ 2.52329920e-03 -3.52760014e-05 9.99996816e-01 4.19772086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.26, Y:52.22, Z:0.42 [[ 8.73504393e-01 -4.86811217e-01 -2.21702859e-03 2.14260904e+02] [ 4.86809725e-01 8.73507206e-01 -1.20543247e-03 5.22242215e+01] [ 2.52340850e-03 -2.63205240e-05 9.99996816e-01 4.19597192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:52.25, Z:0.42 [[ 8.76543516e-01 -4.81317515e-01 -2.21692060e-03 2.14312740e+02] [ 4.81316005e-01 8.76546319e-01 -1.20563104e-03 5.22497302e+01] [ 2.52352493e-03 -1.02512966e-05 9.99996816e-01 4.19380999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:52.28, Z:0.43 [[ 8.80171253e-01 -4.74651083e-01 -2.21684971e-03 2.14365795e+02] [ 4.74649552e-01 8.80174045e-01 -1.20576138e-03 5.22753107e+01] [ 2.52352952e-03 9.04978802e-06 9.99996816e-01 4.26218493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.42, Y:52.30, Z:0.43 [[ 8.81088165e-01 -4.72946860e-01 -2.21663692e-03 2.14417643e+02] [ 4.72945322e-01 8.81090953e-01 -1.20615244e-03 5.23037934e+01] [ 2.52350475e-03 1.43785793e-05 9.99996816e-01 4.26642550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.47, Y:52.33, Z:0.42 [[ 8.83194605e-01 -4.69001469e-01 -2.21641960e-03 2.14468360e+02] [ 4.68999918e-01 8.83197385e-01 -1.20655166e-03 5.23322991e+01] [ 2.52341049e-03 2.61193057e-05 9.99996816e-01 4.22088617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.52, Y:52.36, Z:0.42 [[ 8.84724007e-01 -4.66109986e-01 -2.21630421e-03 2.14519519e+02] [ 4.66108425e-01 8.84726783e-01 -1.20676358e-03 5.23602033e+01] [ 2.52330825e-03 3.46146509e-05 9.99996816e-01 4.21373495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.57, Y:52.39, Z:0.42 [[ 8.84829817e-01 -4.65909095e-01 -2.21607721e-03 2.14569420e+02] [ 4.65907532e-01 8.84832591e-01 -1.20718028e-03 5.23881101e+01] [ 2.52329362e-03 3.56620437e-05 9.99996816e-01 4.20005545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:214.62, Y:52.42, Z:0.43 [[ 8.83505256e-01 -4.68416004e-01 -2.21597897e-03 2.14620909e+02] [ 4.68414449e-01 8.83508034e-01 -1.20736059e-03 5.24160363e+01] [ 2.52338225e-03 2.87128593e-05 9.99996816e-01 4.25634964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.67, Y:52.44, Z:0.43 [[ 8.80237994e-01 -4.74527306e-01 -2.21577557e-03 2.14673020e+02] [ 4.74525770e-01 8.80240783e-01 -1.20773377e-03 5.24425582e+01] [ 2.52351867e-03 1.16505483e-05 9.99996816e-01 4.27305958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:52.47, Z:0.43 [[ 8.77640032e-01 -4.79315205e-01 -2.21554561e-03 2.14724703e+02] [ 4.79313682e-01 8.77642829e-01 -1.20815547e-03 5.24682512e+01] [ 2.52354501e-03 -1.61571570e-06 9.99996816e-01 4.26056937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.78, Y:52.49, Z:0.42 [[ 8.74215403e-01 -4.85533234e-01 -2.21531800e-03 2.14777062e+02] [ 4.85531731e-01 8.74218210e-01 -1.20857268e-03 5.24918702e+01] [ 2.52347354e-03 -1.90543297e-05 9.99996816e-01 4.20615675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:52.52, Z:0.42 [[ 8.72558804e-01 -4.88504070e-01 -2.21522705e-03 2.14829757e+02] [ 4.88502575e-01 8.72561616e-01 -1.20873938e-03 5.25172596e+01] [ 2.52339619e-03 -2.74479313e-05 9.99996816e-01 4.21182626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:52.54, Z:0.42 [[ 8.71412065e-01 -4.90546743e-01 -2.21502920e-03 2.14884416e+02] [ 4.90545254e-01 8.71414879e-01 -1.20910183e-03 5.25404983e+01] [ 2.52333036e-03 -3.29461414e-05 9.99996816e-01 4.22554298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:52.57, Z:0.42 [[ 8.71393412e-01 -4.90579878e-01 -2.21482972e-03 2.14936553e+02] [ 4.90578388e-01 8.71396226e-01 -1.20946713e-03 5.25653289e+01] [ 2.52333449e-03 -3.26259059e-05 9.99996816e-01 4.22857322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.99, Y:52.59, Z:0.42 [[ 8.72852884e-01 -4.87978420e-01 -2.21460078e-03 2.14989768e+02] [ 4.87976921e-01 8.72855693e-01 -1.20988618e-03 5.25876024e+01] [ 2.52342524e-03 -2.46214230e-05 9.99996816e-01 4.20003340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:52.61, Z:0.42 [[ 8.74797919e-01 -4.84482918e-01 -2.21452969e-03 2.15042170e+02] [ 4.84481407e-01 8.74800722e-01 -1.21001628e-03 5.26136952e+01] [ 2.52350439e-03 -1.43787423e-05 9.99996816e-01 4.19992318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.09, Y:52.64, Z:0.42 [[ 8.77186604e-01 -4.80144518e-01 -2.21432257e-03 2.15094185e+02] [ 4.80142993e-01 8.77189399e-01 -1.21039519e-03 5.26403164e+01] [ 2.52354490e-03 -1.44902023e-06 9.99996816e-01 4.18231404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.15, Y:52.67, Z:0.42 [[ 8.80412679e-01 -4.74203134e-01 -2.21411705e-03 2.15145991e+02] [ 4.74201588e-01 8.80415463e-01 -1.21077103e-03 5.26671352e+01] [ 2.52349430e-03 1.60403431e-05 9.99996816e-01 4.15361062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.20, Y:52.70, Z:0.42 [[ 8.81846653e-01 -4.71531101e-01 -2.21391307e-03 2.15196738e+02] [ 4.71529546e-01 8.81849432e-01 -1.21114389e-03 5.26952393e+01] [ 2.52342999e-03 2.41177671e-05 9.99996816e-01 4.15701845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.25, Y:52.72, Z:0.42 [[ 8.82854484e-01 -4.69641416e-01 -2.21368443e-03 2.15248054e+02] [ 4.69639854e-01 8.82857259e-01 -1.21156165e-03 5.27222729e+01] [ 2.52336689e-03 2.99982003e-05 9.99996816e-01 4.17578885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:52.75, Z:0.42 [[ 8.82192672e-01 -4.70883414e-01 -2.21361363e-03 2.15298832e+02] [ 4.70881855e-01 8.82195449e-01 -1.21169099e-03 5.27499471e+01] [ 2.52340506e-03 2.65944253e-05 9.99996816e-01 4.19355044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.35, Y:52.78, Z:0.42 [[ 8.80172949e-01 -4.74647956e-01 -2.21337521e-03 2.15349948e+02] [ 4.74646408e-01 8.80175731e-01 -1.21212634e-03 5.27761512e+01] [ 2.52349244e-03 1.63102204e-05 9.99996816e-01 4.17683571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.40, Y:52.80, Z:0.42 [[ 8.78176926e-01 -4.78330836e-01 -2.21321415e-03 2.15400599e+02] [ 4.78329300e-01 8.78179714e-01 -1.21242036e-03 5.28015254e+01] [ 2.52353781e-03 6.07441555e-06 9.99996816e-01 4.16583235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:52.83, Z:0.42 [[ 8.74534289e-01 -4.84958637e-01 -2.21311324e-03 2.15454099e+02] [ 4.84957121e-01 8.74537089e-01 -1.21260453e-03 5.28263571e+01] [ 2.52351265e-03 -1.28007841e-05 9.99996816e-01 4.18522152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:52.85, Z:0.42 [[ 8.72624753e-01 -4.88386264e-01 -2.21291099e-03 2.15506193e+02] [ 4.88384759e-01 8.72627559e-01 -1.21297350e-03 5.28515934e+01] [ 2.52344671e-03 -2.22813031e-05 9.99996816e-01 4.17779932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.56, Y:52.88, Z:0.42 [[ 8.71342855e-01 -4.90669678e-01 -2.21283962e-03 2.15559627e+02] [ 4.90668180e-01 8.71345664e-01 -1.21310369e-03 5.28760420e+01] [ 2.52338141e-03 -2.87407601e-05 9.99996816e-01 4.17878130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.61, Y:52.90, Z:0.42 [[ 8.70867563e-01 -4.91512759e-01 -2.21262819e-03 2.15611434e+02] [ 4.91511262e-01 8.70870373e-01 -1.21348921e-03 5.29017565e+01] [ 2.52335776e-03 -3.07432811e-05 9.99996816e-01 4.23952163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.66, Y:52.93, Z:0.42 [[ 8.71277000e-01 -4.90786608e-01 -2.21238130e-03 2.15663936e+02] [ 4.90785108e-01 8.71279808e-01 -1.21393915e-03 5.29258237e+01] [ 2.52338824e-03 -2.81265334e-05 9.99996816e-01 4.22351935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.72, Y:52.95, Z:0.42 [[ 8.71714416e-01 -4.90009268e-01 -2.21230481e-03 2.15716522e+02] [ 4.90007764e-01 8.71717223e-01 -1.21407854e-03 5.29507108e+01] [ 2.52341394e-03 -2.57167633e-05 9.99996816e-01 4.22928085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.77, Y:52.98, Z:0.42 [[ 8.72833810e-01 -4.88012548e-01 -2.21206793e-03 2.15767713e+02] [ 4.88011037e-01 8.72836613e-01 -1.21450999e-03 5.29756005e+01] [ 2.52346999e-03 -1.94481857e-05 9.99996816e-01 4.20112561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:53.00, Z:0.42 [[ 8.74025584e-01 -4.85874867e-01 -2.21190695e-03 2.15819786e+02] [ 4.85873349e-01 8.74028382e-01 -1.21480310e-03 5.30019039e+01] [ 2.52351175e-03 -1.29376488e-05 9.99996816e-01 4.20675015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.87, Y:53.03, Z:0.42 [[ 8.76153605e-01 -4.82026939e-01 -2.21167628e-03 2.15870667e+02] [ 4.82025407e-01 8.76156396e-01 -1.21522291e-03 5.30300874e+01] [ 2.52354450e-03 -1.36222502e-06 9.99996816e-01 4.23001876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:53.06, Z:0.43 [[ 8.77467936e-01 -4.79630201e-01 -2.21144764e-03 2.15922074e+02] [ 4.79628661e-01 8.77470723e-01 -1.21563884e-03 5.30577947e+01] [ 2.52353766e-03 6.01043417e-06 9.99996816e-01 4.25140260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.97, Y:53.09, Z:0.43 [[ 8.78648081e-01 -4.77464827e-01 -2.21124852e-03 2.15972975e+02] [ 4.77463278e-01 8.78650863e-01 -1.21600094e-03 5.30876448e+01] [ 2.52351310e-03 1.26469284e-05 9.99996816e-01 4.28943598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.02, Y:53.12, Z:0.42 [[ 8.78330445e-01 -4.78048890e-01 -2.21105208e-03 2.16023472e+02] [ 4.78047342e-01 8.78333228e-01 -1.21635802e-03 5.31150852e+01] [ 2.52351911e-03 1.13767083e-05 9.99996816e-01 4.23556072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:53.14, Z:0.42 [[ 8.78044435e-01 -4.78574009e-01 -2.21097655e-03 2.16074674e+02] [ 4.78572463e-01 8.78047219e-01 -1.21649529e-03 5.31438973e+01] [ 2.52352484e-03 1.00244293e-05 9.99996816e-01 4.23638836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:53.17, Z:0.42 [[ 8.77069111e-01 -4.80359124e-01 -2.21076967e-03 2.16123617e+02] [ 4.80357582e-01 8.77071897e-01 -1.21687114e-03 5.31728555e+01] [ 2.52353910e-03 5.32011652e-06 9.99996816e-01 4.22407184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:53.20, Z:0.42 [[ 8.76438495e-01 -4.81508750e-01 -2.21066736e-03 2.16174124e+02] [ 4.81507212e-01 8.76441283e-01 -1.21705697e-03 5.32015641e+01] [ 2.52354372e-03 2.22330129e-06 9.99996816e-01 4.23303687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:53.23, Z:0.42 [[ 8.75586055e-01 -4.83057112e-01 -2.21042835e-03 2.16223894e+02] [ 4.83055578e-01 8.75588845e-01 -1.21749092e-03 5.32308584e+01] [ 2.52354405e-03 -1.74166782e-06 9.99996816e-01 4.23613642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.27, Y:53.26, Z:0.42 [[ 8.74959920e-01 -4.84190307e-01 -2.21018869e-03 2.16273827e+02] [ 4.84188775e-01 8.74962712e-01 -1.21792583e-03 5.32602885e+01] [ 2.52354057e-03 -4.51227169e-06 9.99996816e-01 4.22652031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.32, Y:53.29, Z:0.42 [[ 8.73892836e-01 -4.86113595e-01 -2.21007708e-03 2.16324698e+02] [ 4.86112069e-01 8.73895630e-01 -1.21812833e-03 5.32891129e+01] [ 2.52352544e-03 -9.83151597e-06 9.99996816e-01 4.23307620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.38, Y:53.32, Z:0.42 [[ 8.71639204e-01 -4.90143056e-01 -2.20984029e-03 2.16376833e+02] [ 4.90141542e-01 8.71642005e-01 -1.21855774e-03 5.33170221e+01] [ 2.52345724e-03 -2.09918286e-05 9.99996816e-01 4.21895392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.43, Y:53.34, Z:0.42 [[ 8.70433989e-01 -4.92280193e-01 -2.20963206e-03 2.16427406e+02] [ 4.92278685e-01 8.70436793e-01 -1.21893521e-03 5.33432134e+01] [ 2.52340271e-03 -2.67521325e-05 9.99996816e-01 4.20277714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.48, Y:53.37, Z:0.42 [[ 8.69774157e-01 -4.93445068e-01 -2.20952930e-03 2.16478632e+02] [ 4.93443562e-01 8.69776962e-01 -1.21912145e-03 5.33707865e+01] [ 2.52336715e-03 -2.99176758e-05 9.99996816e-01 4.19705972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:216.53, Y:53.40, Z:0.42 [[ 8.70112953e-01 -4.92847409e-01 -2.20929770e-03 2.16529420e+02] [ 4.92845900e-01 8.70115757e-01 -1.21954102e-03 5.33981173e+01] [ 2.52339237e-03 -2.77048715e-05 9.99996816e-01 4.18514243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.58, Y:53.43, Z:0.42 [[ 8.70278588e-01 -4.92554869e-01 -2.20906307e-03 2.16580916e+02] [ 4.92553359e-01 8.70281392e-01 -1.21996587e-03 5.34260136e+01] [ 2.52340661e-03 -2.63712589e-05 9.99996816e-01 4.22016520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.63, Y:53.45, Z:0.42 [[ 8.70036402e-01 -4.92982536e-01 -2.20885596e-03 2.16631743e+02] [ 4.92981026e-01 8.70039205e-01 -1.22034076e-03 5.34534847e+01] [ 2.52339796e-03 -2.71831946e-05 9.99996816e-01 4.22298492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.68, Y:53.48, Z:0.42 [[ 8.69228113e-01 -4.94406320e-01 -2.20878259e-03 2.16683567e+02] [ 4.94404815e-01 8.69230918e-01 -1.22047354e-03 5.34803473e+01] [ 2.52335195e-03 -3.11628377e-05 9.99996816e-01 4.21787399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.74, Y:53.51, Z:0.42 [[ 8.68580027e-01 -4.95544002e-01 -2.20855667e-03 2.16736349e+02] [ 4.95542499e-01 8.68582835e-01 -1.22088222e-03 5.35069676e+01] [ 2.52331527e-03 -3.39997817e-05 9.99996816e-01 4.19333058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.79, Y:53.53, Z:0.42 [[ 8.68262498e-01 -4.96100149e-01 -2.20835379e-03 2.16788536e+02] [ 4.96098647e-01 8.68265305e-01 -1.22124909e-03 5.35313842e+01] [ 2.52329883e-03 -3.51965382e-05 9.99996816e-01 4.20460061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:53.56, Z:0.42 [[ 8.68690925e-01 -4.95349574e-01 -2.20811492e-03 2.16839306e+02] [ 4.95348069e-01 8.68693731e-01 -1.22168082e-03 5.35577127e+01] [ 2.52333467e-03 -3.25224189e-05 9.99996816e-01 4.18727129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.89, Y:53.58, Z:0.42 [[ 8.69191781e-01 -4.94470193e-01 -2.20801164e-03 2.16892075e+02] [ 4.94468684e-01 8.69194585e-01 -1.22186746e-03 5.35824401e+01] [ 2.52336880e-03 -2.97554609e-05 9.99996816e-01 4.15827721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.94, Y:53.61, Z:0.42 [[ 8.69667416e-01 -4.93633174e-01 -2.20794062e-03 2.16944038e+02] [ 4.93631662e-01 8.69670218e-01 -1.22199579e-03 5.36092716e+01] [ 2.52339786e-03 -2.71794802e-05 9.99996816e-01 4.18636811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.00, Y:53.64, Z:0.42 [[ 8.71132567e-01 -4.91042949e-01 -2.20773360e-03 2.16995428e+02] [ 4.91041428e-01 8.71135364e-01 -1.22236967e-03 5.36356527e+01] [ 2.52347083e-03 -1.92426289e-05 9.99996816e-01 4.19800670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.05, Y:53.66, Z:0.42 [[ 8.72231491e-01 -4.89088286e-01 -2.20766041e-03 2.17046716e+02] [ 4.89086759e-01 8.72234285e-01 -1.22250186e-03 5.36629344e+01] [ 2.52350844e-03 -1.34328496e-05 9.99996816e-01 4.20864474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.10, Y:53.69, Z:0.42 [[ 8.74262656e-01 -4.85448181e-01 -2.20741877e-03 2.17097037e+02] [ 4.85446640e-01 8.74265442e-01 -1.22293801e-03 5.36907947e+01] [ 2.52354298e-03 -2.41499566e-06 9.99996816e-01 4.21022268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.15, Y:53.72, Z:0.42 [[ 8.75560000e-01 -4.83104351e-01 -2.20731842e-03 2.17148278e+02] [ 4.83102803e-01 8.75562782e-01 -1.22311912e-03 5.37194036e+01] [ 2.52354002e-03 4.55246471e-06 9.99996816e-01 4.21546342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:53.75, Z:0.42 [[ 8.76412798e-01 -4.81555539e-01 -2.20711073e-03 2.17198091e+02] [ 4.81553984e-01 8.76415577e-01 -1.22349377e-03 5.37502220e+01] [ 2.52352643e-03 9.44263021e-06 9.99996816e-01 4.23705768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:53.78, Z:0.42 [[ 8.75607359e-01 -4.83018512e-01 -2.20690257e-03 2.17248803e+02] [ 4.83016962e-01 8.75610140e-01 -1.22386914e-03 5.37777688e+01] [ 2.52353772e-03 5.65744755e-06 9.99996816e-01 4.23056990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:53.80, Z:0.42 [[ 8.74040987e-01 -4.85847181e-01 -2.20665933e-03 2.17301156e+02] [ 4.85845639e-01 8.74043773e-01 -1.22430754e-03 5.38046188e+01] [ 2.52354321e-03 -2.00084352e-06 9.99996816e-01 4.19983017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.35, Y:53.83, Z:0.42 [[ 8.71065768e-01 -4.91161440e-01 -2.20644779e-03 2.17352070e+02] [ 4.91159913e-01 8.71068562e-01 -1.22468866e-03 5.38316058e+01] [ 2.52348715e-03 -1.69343324e-05 9.99996816e-01 4.18780897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.40, Y:53.86, Z:0.42 [[ 8.69576884e-01 -4.93792644e-01 -2.20620744e-03 2.17402414e+02] [ 4.93791125e-01 8.69579683e-01 -1.22512149e-03 5.38576706e+01] [ 2.52342914e-03 -2.40683241e-05 9.99996816e-01 4.17800652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:53.88, Z:0.42 [[ 8.69003922e-01 -4.94800280e-01 -2.20610358e-03 2.17455784e+02] [ 4.94798764e-01 8.69006722e-01 -1.22530848e-03 5.38831895e+01] [ 2.52340182e-03 -2.67794492e-05 9.99996816e-01 4.18882784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.51, Y:53.91, Z:0.42 [[ 8.68911984e-01 -4.94961714e-01 -2.20590203e-03 2.17507221e+02] [ 4.94960198e-01 8.68914783e-01 -1.22567122e-03 5.39102382e+01] [ 2.52340121e-03 -2.68332958e-05 9.99996816e-01 4.20020989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:217.56, Y:53.93, Z:0.42 [[ 8.68967285e-01 -4.94864621e-01 -2.20566159e-03 2.17560446e+02] [ 4.94863103e-01 8.68970083e-01 -1.22610375e-03 5.39341030e+01] [ 2.52340930e-03 -2.60564888e-05 9.99996816e-01 4.19482451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:53.96, Z:0.42 [[ 8.69119761e-01 -4.94596782e-01 -2.20542204e-03 2.17613356e+02] [ 4.94595262e-01 8.69122559e-01 -1.22653448e-03 5.39591719e+01] [ 2.52342206e-03 -2.47859366e-05 9.99996816e-01 4.21659708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.67, Y:53.98, Z:0.42 [[ 8.70273900e-01 -4.92563170e-01 -2.20518057e-03 2.17666930e+02] [ 4.92561642e-01 8.70276694e-01 -1.22696847e-03 5.39836790e+01] [ 2.52347673e-03 -1.83887233e-05 9.99996816e-01 4.19380059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:54.01, Z:0.42 [[ 8.70935810e-01 -4.91391853e-01 -2.20496920e-03 2.17718151e+02] [ 4.91390320e-01 8.70938601e-01 -1.22734821e-03 5.40105732e+01] [ 2.52350170e-03 -1.45590106e-05 9.99996816e-01 4.19495923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:54.04, Z:0.42 [[ 8.72726650e-01 -4.88204192e-01 -2.20472600e-03 2.17769609e+02] [ 4.88202649e-01 8.72729435e-01 -1.22778491e-03 5.40365667e+01] [ 2.52353902e-03 -4.83246124e-06 9.99996816e-01 4.19282381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:54.06, Z:0.42 [[ 8.75359404e-01 -4.83467737e-01 -2.20465097e-03 2.17822721e+02] [ 4.83466178e-01 8.75362181e-01 -1.22791962e-03 5.40612583e+01] [ 2.52352760e-03 8.99680936e-06 9.99996816e-01 4.20754237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.87, Y:54.09, Z:0.42 [[ 8.76455628e-01 -4.81477594e-01 -2.20440945e-03 2.17873729e+02] [ 4.81476027e-01 8.76458400e-01 -1.22835305e-03 5.40893842e+01] [ 2.52349765e-03 1.52266415e-05 9.99996816e-01 4.18890473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.93, Y:54.12, Z:0.42 [[ 8.76951253e-01 -4.80574283e-01 -2.20433478e-03 2.17925828e+02] [ 4.80572713e-01 8.76954023e-01 -1.22848704e-03 5.41157062e+01] [ 2.52347953e-03 1.79801044e-05 9.99996816e-01 4.20959990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.98, Y:54.14, Z:0.42 [[ 8.76966509e-01 -4.80546443e-01 -2.20425975e-03 2.17977239e+02] [ 4.80544873e-01 8.76969279e-01 -1.22862165e-03 5.41416378e+01] [ 2.52347785e-03 1.82143171e-05 9.99996816e-01 4.23207614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.03, Y:54.17, Z:0.43 [[ 8.76507397e-01 -4.81383344e-01 -2.20418481e-03 2.18029079e+02] [ 4.81381776e-01 8.76510168e-01 -1.22875608e-03 5.41689899e+01] [ 2.52349311e-03 1.59593942e-05 9.99996816e-01 4.25534019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.08, Y:54.20, Z:0.42 [[ 8.76037403e-01 -4.82238128e-01 -2.20397761e-03 2.18079019e+02] [ 4.82236562e-01 8.76040175e-01 -1.22912762e-03 5.41958975e+01] [ 2.52350513e-03 1.39231799e-05 9.99996816e-01 4.24174178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.13, Y:54.22, Z:0.42 [[ 8.75728610e-01 -4.82798659e-01 -2.20381685e-03 2.18130684e+02] [ 4.82797093e-01 8.75731383e-01 -1.22941580e-03 5.42234284e+01] [ 2.52351187e-03 1.26382203e-05 9.99996816e-01 4.24455005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.18, Y:54.25, Z:0.42 [[ 8.76301041e-01 -4.81758892e-01 -2.20361261e-03 2.18182298e+02] [ 4.81757323e-01 8.76303811e-01 -1.22978177e-03 5.42510919e+01] [ 2.52349243e-03 1.60525369e-05 9.99996816e-01 4.24039289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.23, Y:54.28, Z:0.42 [[ 8.77174890e-01 -4.80165969e-01 -2.20340587e-03 2.18232508e+02] [ 4.80164394e-01 8.77177657e-01 -1.23015208e-03 5.42806262e+01] [ 2.52345556e-03 2.10614687e-05 9.99996816e-01 4.23816794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.28, Y:54.31, Z:0.43 [[ 8.77754759e-01 -4.79105134e-01 -2.20317192e-03 2.18282891e+02] [ 4.79103554e-01 8.77757524e-01 -1.23057093e-03 5.43100073e+01] [ 2.52342358e-03 2.45919910e-05 9.99996816e-01 4.25411566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:54.34, Z:0.42 [[ 8.78284267e-01 -4.78133761e-01 -2.20292599e-03 2.18332823e+02] [ 4.78132177e-01 8.78287029e-01 -1.23101102e-03 5.43374601e+01] [ 2.52338925e-03 2.78878066e-05 9.99996816e-01 4.24692626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.38, Y:54.37, Z:0.42 [[ 8.79035693e-01 -4.76750876e-01 -2.20281967e-03 2.18382687e+02] [ 4.76749288e-01 8.79038453e-01 -1.23120125e-03 5.43674586e+01] [ 2.52333947e-03 3.20771351e-05 9.99996816e-01 4.23837527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.43, Y:54.40, Z:0.42 [[ 8.79502722e-01 -4.75888758e-01 -2.20258057e-03 2.18431620e+02] [ 4.75887166e-01 8.79505480e-01 -1.23162885e-03 5.43974321e+01] [ 2.52330000e-03 3.50411030e-05 9.99996816e-01 4.22346825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.48, Y:54.43, Z:0.42 [[ 8.79615111e-01 -4.75680992e-01 -2.20247753e-03 2.18481373e+02] [ 4.75679399e-01 8.79617867e-01 -1.23181308e-03 5.44277217e+01] [ 2.52328865e-03 3.58482139e-05 9.99996816e-01 4.22371170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:54.46, Z:0.42 [[ 8.79494278e-01 -4.75904366e-01 -2.20224531e-03 2.18531594e+02] [ 4.75902772e-01 8.79497034e-01 -1.23222809e-03 5.44566335e+01] [ 2.52329095e-03 3.56829073e-05 9.99996816e-01 4.22815692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.58, Y:54.49, Z:0.43 [[ 8.79238638e-01 -4.76376499e-01 -2.20201353e-03 2.18581646e+02] [ 4.76374906e-01 8.79241394e-01 -1.23264215e-03 5.44866126e+01] [ 2.52330320e-03 3.48026153e-05 9.99996816e-01 4.25073200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.63, Y:54.52, Z:0.42 [[ 8.79176134e-01 -4.76491844e-01 -2.20194057e-03 2.18631160e+02] [ 4.76490250e-01 8.79178890e-01 -1.23277248e-03 5.45195627e+01] [ 2.52330570e-03 3.46209327e-05 9.99996816e-01 4.23089833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.68, Y:54.55, Z:0.42 [[ 8.78970148e-01 -4.76871714e-01 -2.20175136e-03 2.18682009e+02] [ 4.76870121e-01 8.78972905e-01 -1.23311032e-03 5.45501591e+01] [ 2.52331522e-03 3.39177247e-05 9.99996816e-01 4.21700776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.73, Y:54.58, Z:0.42 [[ 8.78613124e-01 -4.77529194e-01 -2.20155968e-03 2.18730304e+02] [ 4.77527602e-01 8.78615882e-01 -1.23345245e-03 5.45822431e+01] [ 2.52333485e-03 3.24219968e-05 9.99996816e-01 4.17607985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.78, Y:54.61, Z:0.42 [[ 8.78159470e-01 -4.78362936e-01 -2.20145129e-03 2.18779758e+02] [ 4.78361346e-01 8.78162229e-01 -1.23364586e-03 5.46142677e+01] [ 2.52336183e-03 3.02485927e-05 9.99996816e-01 4.23846687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:54.65, Z:0.43 [[ 8.77076993e-01 -4.80344775e-01 -2.20123870e-03 2.18828333e+02] [ 4.80343190e-01 8.77079755e-01 -1.23402507e-03 5.46456129e+01] [ 2.52341940e-03 2.49849796e-05 9.99996816e-01 4.26203122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.88, Y:54.68, Z:0.43 [[ 8.76094418e-01 -4.82134552e-01 -2.20116376e-03 2.18879052e+02] [ 4.82132973e-01 8.76097183e-01 -1.23415875e-03 5.46760627e+01] [ 2.52346394e-03 1.99859623e-05 9.99996816e-01 4.28270671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.93, Y:54.71, Z:0.43 [[ 8.74495668e-01 -4.85028332e-01 -2.20095231e-03 2.18928102e+02] [ 4.85026761e-01 8.74498437e-01 -1.23453572e-03 5.47075200e+01] [ 2.52351415e-03 1.20753745e-05 9.99996816e-01 4.27562109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.98, Y:54.74, Z:0.43 [[ 8.72867850e-01 -4.87951711e-01 -2.20087742e-03 2.18978724e+02] [ 4.87950149e-01 8.72870625e-01 -1.23466921e-03 5.47385458e+01] [ 2.52354020e-03 3.78458787e-06 9.99996816e-01 4.27916420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.03, Y:54.77, Z:0.42 [[ 8.70273373e-01 -4.92564120e-01 -2.20076009e-03 2.19029595e+02] [ 4.92562572e-01 8.70276156e-01 -1.23487831e-03 5.47665712e+01] [ 2.52352578e-03 -9.33033982e-06 9.99996816e-01 4.24751916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.08, Y:54.80, Z:0.43 [[ 8.68598771e-01 -4.95511183e-01 -2.20068521e-03 2.19080527e+02] [ 4.95509644e-01 8.68601558e-01 -1.23501174e-03 5.47950280e+01] [ 2.52348073e-03 -1.77310638e-05 9.99996816e-01 4.26163009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:219.13, Y:54.82, Z:0.43 [[ 8.67951930e-01 -4.96643339e-01 -2.20044707e-03 2.19130571e+02] [ 4.96641802e-01 8.67954719e-01 -1.23543589e-03 5.48232950e+01] [ 2.52345943e-03 -2.05350384e-05 9.99996816e-01 4.28504325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:54.85, Z:0.43 [[ 8.68058704e-01 -4.96456689e-01 -2.20037379e-03 2.19182522e+02] [ 4.96455152e-01 8.68061493e-01 -1.23556640e-03 5.48492439e+01] [ 2.52346496e-03 -1.98427368e-05 9.99996816e-01 4.29822515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:54.88, Z:0.43 [[ 8.68813192e-01 -4.95135130e-01 -2.20030132e-03 2.19233935e+02] [ 4.95133588e-01 8.68815978e-01 -1.23569543e-03 5.48756142e+01] [ 2.52349316e-03 -1.58545975e-05 9.99996816e-01 4.29831215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.29, Y:54.90, Z:0.43 [[ 8.69754259e-01 -4.93480181e-01 -2.20007111e-03 2.19285803e+02] [ 4.93478633e-01 8.69757041e-01 -1.23610517e-03 5.49014242e+01] [ 2.52352075e-03 -1.05803442e-05 9.99996816e-01 4.30194329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.34, Y:54.93, Z:0.43 [[ 8.70285702e-01 -4.92542341e-01 -2.19983876e-03 2.19336876e+02] [ 4.92540789e-01 8.70288482e-01 -1.23651855e-03 5.49297994e+01] [ 2.52353207e-03 -7.38590347e-06 9.99996816e-01 4.31089577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:219.39, Y:54.96, Z:0.43 [[ 8.73035739e-01 -4.87651270e-01 -2.19959500e-03 2.19388007e+02] [ 4.87649701e-01 8.73038510e-01 -1.23695200e-03 5.49568844e+01] [ 2.52353236e-03 7.27145698e-06 9.99996816e-01 4.27675557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.44, Y:54.98, Z:0.43 [[ 8.75373250e-01 -4.83442691e-01 -2.19951967e-03 2.19439108e+02] [ 4.83441109e-01 8.75376013e-01 -1.23708594e-03 5.49848596e+01] [ 2.52346692e-03 1.95737156e-05 9.99996816e-01 4.28622306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.49, Y:55.02, Z:0.43 [[ 8.79176249e-01 -4.76491643e-01 -2.19944512e-03 2.19489236e+02] [ 4.76490038e-01 8.79178999e-01 -1.23721848e-03 5.50151868e+01] [ 2.52323022e-03 3.97194145e-05 9.99996816e-01 4.33364445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.54, Y:55.05, Z:0.43 [[ 8.81271333e-01 -4.72605545e-01 -2.19922985e-03 2.19537779e+02] [ 4.72603928e-01 8.81274075e-01 -1.23760100e-03 5.50450262e+01] [ 2.52302135e-03 5.12976182e-05 9.99996816e-01 4.33434484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.59, Y:55.08, Z:0.43 [[ 8.82354351e-01 -4.70580454e-01 -2.19906373e-03 2.19587503e+02] [ 4.70578829e-01 8.82357089e-01 -1.23789612e-03 5.50756459e+01] [ 2.52288919e-03 5.74301897e-05 9.99996816e-01 4.31852468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.64, Y:55.11, Z:0.43 [[ 8.82231652e-01 -4.70810447e-01 -2.19882237e-03 2.19636708e+02] [ 4.70808822e-01 8.82234390e-01 -1.23832468e-03 5.51071910e+01] [ 2.52289291e-03 5.72642602e-05 9.99996816e-01 4.28086891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:219.69, Y:55.14, Z:0.43 [[ 8.81047765e-01 -4.73022200e-01 -2.19861311e-03 2.19686585e+02] [ 4.73020581e-01 8.81050507e-01 -1.23869611e-03 5.51374870e+01] [ 2.52301995e-03 5.13611884e-05 9.99996816e-01 4.29060476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.74, Y:55.17, Z:0.43 [[ 8.77687118e-01 -4.79229057e-01 -2.19853994e-03 2.19737141e+02] [ 4.79227457e-01 8.77689871e-01 -1.23882596e-03 5.51677192e+01] [ 2.52331763e-03 3.37008817e-05 9.99996816e-01 4.31042935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.79, Y:55.20, Z:0.43 [[ 8.72704464e-01 -4.88243879e-01 -2.19833623e-03 2.19788873e+02] [ 4.88242306e-01 8.72707233e-01 -1.23918735e-03 5.51954115e+01] [ 2.52352956e-03 8.12357963e-06 9.99996816e-01 4.32080847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.84, Y:55.22, Z:0.43 [[ 8.69116131e-01 -4.94603193e-01 -2.19813175e-03 2.19840720e+02] [ 4.94601640e-01 8.69118911e-01 -1.23954995e-03 5.52217380e+01] [ 2.52352324e-03 -9.88671702e-06 9.99996816e-01 4.31389356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:55.25, Z:0.43 [[ 8.66202906e-01 -4.99687596e-01 -2.19789656e-03 2.19893054e+02] [ 4.99686059e-01 8.66205695e-01 -1.23996683e-03 5.52477474e+01] [ 2.52342657e-03 -2.41953945e-05 9.99996816e-01 4.31740752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.95, Y:55.27, Z:0.43 [[ 8.64387010e-01 -5.02822301e-01 -2.19765390e-03 2.19945688e+02] [ 5.02820773e-01 8.64389803e-01 -1.24039677e-03 5.52721369e+01] [ 2.52332878e-03 -3.28431721e-05 9.99996816e-01 4.30332072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.00, Y:55.30, Z:0.43 [[ 8.65263819e-01 -5.01311973e-01 -2.19757912e-03 2.19997834e+02] [ 5.01310439e-01 8.65266609e-01 -1.24052924e-03 5.52984728e+01] [ 2.52338399e-03 -2.82842814e-05 9.99996816e-01 4.28514019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:55.32, Z:0.43 [[ 8.68484518e-01 -4.95711421e-01 -2.19737525e-03 2.20049753e+02] [ 4.95709868e-01 8.68487298e-01 -1.24089026e-03 5.53236476e+01] [ 2.52351597e-03 -1.15666190e-05 9.99996816e-01 4.31051519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:55.35, Z:0.43 [[ 8.71074486e-01 -4.91146020e-01 -2.19713034e-03 2.20100045e+02] [ 4.91144451e-01 8.71077257e-01 -1.24132374e-03 5.53508471e+01] [ 2.52354148e-03 2.17705728e-06 9.99996816e-01 4.29769253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.15, Y:55.38, Z:0.43 [[ 8.74075664e-01 -4.85784836e-01 -2.19702437e-03 2.20150732e+02] [ 4.85783249e-01 8.74078425e-01 -1.24151128e-03 5.53799784e+01] [ 2.52347895e-03 1.78971593e-05 9.99996816e-01 4.29844650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12264000000002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:220.20, Y:55.41, Z:0.43 [[ 8.75403795e-01 -4.83387390e-01 -2.19681926e-03 2.20201882e+02] [ 4.83385796e-01 8.75406551e-01 -1.24187410e-03 5.54070509e+01] [ 2.52341625e-03 2.52300701e-05 9.99996816e-01 4.29335085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.25, Y:55.44, Z:0.43 [[ 8.76281229e-01 -4.81794958e-01 -2.19674662e-03 2.20253432e+02] [ 4.81793359e-01 8.76283982e-01 -1.24200257e-03 5.54354396e+01] [ 2.52336446e-03 2.99656088e-05 9.99996816e-01 4.34553817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.30, Y:55.46, Z:0.43 [[ 8.76512010e-01 -4.81374980e-01 -2.19652553e-03 2.20303691e+02] [ 4.81373378e-01 8.76514762e-01 -1.24239347e-03 5.54643299e+01] [ 2.52334418e-03 3.16238856e-05 9.99996816e-01 4.34072432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.35, Y:55.49, Z:0.43 [[ 8.77179801e-01 -4.80157030e-01 -2.19627624e-03 2.20354315e+02] [ 4.80155423e-01 8.77182550e-01 -1.24283399e-03 5.54920876e+01] [ 2.52329067e-03 3.56349233e-05 9.99996816e-01 4.33430863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:220.40, Y:55.52, Z:0.43 [[ 8.77704299e-01 -4.79197600e-01 -2.19619933e-03 2.20404535e+02] [ 4.79195990e-01 8.77707046e-01 -1.24296988e-03 5.55212753e+01] [ 2.52324781e-03 3.85500942e-05 9.99996816e-01 4.33820367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:220.45, Y:55.55, Z:0.44 [[ 8.79024015e-01 -4.76772440e-01 -2.19595766e-03 2.20453448e+02] [ 4.76770820e-01 8.79026757e-01 -1.24339670e-03 5.55529935e+01] [ 2.52312282e-03 4.60070200e-05 9.99996816e-01 4.35651433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.50, Y:55.58, Z:0.44 [[ 8.79030062e-01 -4.76761291e-01 -2.19588318e-03 2.20502540e+02] [ 4.76759672e-01 8.79032803e-01 -1.24352822e-03 5.55834789e+01] [ 2.52311947e-03 4.61901394e-05 9.99996816e-01 4.36651422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.55, Y:55.61, Z:0.44 [[ 8.78000799e-01 -4.78654130e-01 -2.19564181e-03 2.20553699e+02] [ 4.78652516e-01 8.78003543e-01 -1.24395425e-03 5.56134804e+01] [ 2.52320513e-03 4.12433521e-05 9.99996816e-01 4.37408614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:220.60, Y:55.64, Z:0.43 [[ 8.76163513e-01 -4.82009003e-01 -2.19552819e-03 2.20602965e+02] [ 4.82007398e-01 8.76166263e-01 -1.24415475e-03 5.56420456e+01] [ 2.52334152e-03 3.18221635e-05 9.99996816e-01 4.33887422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.65, Y:55.67, Z:0.43 [[ 8.73078831e-01 -4.87574133e-01 -2.19541441e-03 2.20653494e+02] [ 4.87572545e-01 8.73081591e-01 -1.24435549e-03 5.56704928e+01] [ 2.52349146e-03 1.59966445e-05 9.99996816e-01 4.34346133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.70, Y:55.70, Z:0.44 [[ 8.71605577e-01 -4.90202916e-01 -2.19533942e-03 2.20704688e+02] [ 4.90201337e-01 8.71608341e-01 -1.24448778e-03 5.56980413e+01] [ 2.52352769e-03 8.54416938e-06 9.99996816e-01 4.35802168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.76, Y:55.73, Z:0.44 [[ 8.71170104e-01 -4.90976407e-01 -2.19510695e-03 2.20755382e+02] [ 4.90974829e-01 8.71172869e-01 -1.24489769e-03 5.57257594e+01] [ 2.52353302e-03 6.77539015e-06 9.99996816e-01 4.38726846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.81, Y:55.75, Z:0.44 [[ 8.70523027e-01 -4.92122791e-01 -2.19503504e-03 2.20806304e+02] [ 4.92121216e-01 8.70525794e-01 -1.24502447e-03 5.57547491e+01] [ 2.52353954e-03 3.59915917e-06 9.99996816e-01 4.38210647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.86, Y:55.78, Z:0.44 [[ 8.69916873e-01 -4.93193488e-01 -2.19483180e-03 2.20857384e+02] [ 4.93191915e-01 8.69919642e-01 -1.24538266e-03 5.57813330e+01] [ 2.52354191e-03 9.06090522e-07 9.99996816e-01 4.39297753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.91, Y:55.81, Z:0.44 [[ 8.69654067e-01 -4.93656750e-01 -2.19459403e-03 2.20908044e+02] [ 4.93655178e-01 8.69656837e-01 -1.24580151e-03 5.58092957e+01] [ 2.52354203e-03 4.36405961e-08 9.99996816e-01 4.40171083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.96, Y:55.84, Z:0.44 [[ 8.69445534e-01 -4.94023935e-01 -2.19434793e-03 2.20960216e+02] [ 4.94022363e-01 8.69448303e-01 -1.24623485e-03 5.58350586e+01] [ 2.52354192e-03 -5.23625038e-07 9.99996816e-01 4.37866352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:221.01, Y:55.86, Z:0.44 [[ 8.70588604e-01 -4.92006776e-01 -2.19427207e-03 2.21013781e+02] [ 4.92005197e-01 8.70591369e-01 -1.24636839e-03 5.58604824e+01] [ 2.52353602e-03 5.48084832e-06 9.99996816e-01 4.43312198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:55.89, Z:0.44 [[ 8.73883539e-01 -4.86130380e-01 -2.19406861e-03 2.21064368e+02] [ 4.86128782e-01 8.73886293e-01 -1.24672646e-03 5.58891893e+01] [ 2.52343809e-03 2.28938276e-05 9.99996816e-01 4.40051752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.11, Y:55.92, Z:0.44 [[ 8.75778927e-01 -4.82707425e-01 -2.19399038e-03 2.21114646e+02] [ 4.82705815e-01 8.75781674e-01 -1.24686411e-03 5.59190742e+01] [ 2.52332713e-03 3.29254006e-05 9.99996816e-01 4.42270698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:55.95, Z:0.44 [[ 8.77768417e-01 -4.79080153e-01 -2.19375648e-03 2.21164326e+02] [ 4.79078531e-01 8.77771158e-01 -1.24727549e-03 5.59485069e+01] [ 2.52316110e-03 4.38374026e-05 9.99996816e-01 4.38906587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.21, Y:55.98, Z:0.44 [[ 8.78040062e-01 -4.78582112e-01 -2.19367947e-03 2.21214872e+02] [ 4.78580488e-01 8.78042801e-01 -1.24741092e-03 5.59760829e+01] [ 2.52313302e-03 4.54245721e-05 9.99996816e-01 4.35067509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.27, Y:56.01, Z:0.44 [[ 8.76932689e-01 -4.80608206e-01 -2.19360581e-03 2.21265477e+02] [ 4.80606589e-01 8.76935431e-01 -1.24754045e-03 5.60053177e+01] [ 2.52322884e-03 3.97475938e-05 9.99996816e-01 4.36576928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.32, Y:56.03, Z:0.44 [[ 8.75894939e-01 -4.82496886e-01 -2.19341694e-03 2.21315943e+02] [ 4.82495274e-01 8.75897685e-01 -1.24787243e-03 5.60335564e+01] [ 2.52330338e-03 3.46918440e-05 9.99996816e-01 4.40663715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:56.06, Z:0.44 [[ 8.75190037e-01 -4.83774317e-01 -2.19317822e-03 2.21367543e+02] [ 4.83772707e-01 8.75192784e-01 -1.24829185e-03 5.60608229e+01] [ 2.52334529e-03 3.14928214e-05 9.99996816e-01 4.40899710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.42, Y:56.09, Z:0.44 [[ 8.74754806e-01 -4.84560853e-01 -2.19293362e-03 2.21418074e+02] [ 4.84559245e-01 8.74757554e-01 -1.24872141e-03 5.60883531e+01] [ 2.52336676e-03 2.97187972e-05 9.99996816e-01 4.41609849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.47, Y:56.12, Z:0.44 [[ 8.74336300e-01 -4.85315594e-01 -2.19285782e-03 2.21468953e+02] [ 4.85313988e-01 8.74339049e-01 -1.24885449e-03 5.61154809e+01] [ 2.52338979e-03 2.76942388e-05 9.99996816e-01 4.44070096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:221.52, Y:56.14, Z:0.44 [[ 8.73564961e-01 -4.86702632e-01 -2.19261094e-03 2.21520777e+02] [ 4.86701029e-01 8.73567712e-01 -1.24928779e-03 5.61415497e+01] [ 2.52342578e-03 2.41880338e-05 9.99996816e-01 4.42196538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:221.57, Y:56.17, Z:0.44 [[ 8.73016509e-01 -4.87685726e-01 -2.19253489e-03 2.21571728e+02] [ 4.87684126e-01 8.73019262e-01 -1.24942126e-03 5.61683441e+01] [ 2.52345010e-03 2.15009277e-05 9.99996816e-01 4.41707707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:56.19, Z:0.45 [[ 8.72930296e-01 -4.87840027e-01 -2.19229557e-03 2.21624981e+02] [ 4.87838426e-01 8.72933049e-01 -1.24984103e-03 5.61933925e+01] [ 2.52344974e-03 2.15380745e-05 9.99996816e-01 4.45413734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.68, Y:56.22, Z:0.44 [[ 8.73443802e-01 -4.86920034e-01 -2.19209469e-03 2.21677600e+02] [ 4.86918430e-01 8.73446552e-01 -1.25019326e-03 5.62158621e+01] [ 2.52342169e-03 2.46022548e-05 9.99996816e-01 4.43198991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.73, Y:56.24, Z:0.44 [[ 8.73497396e-01 -4.86823885e-01 -2.19198657e-03 2.21730229e+02] [ 4.86822280e-01 8.73500145e-01 -1.25038279e-03 5.62402423e+01] [ 2.52341680e-03 2.50982137e-05 9.99996816e-01 4.42898500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.78, Y:56.26, Z:0.44 [[ 8.74227190e-01 -4.85512118e-01 -2.19174588e-03 2.21782949e+02] [ 4.85510508e-01 8.74229937e-01 -1.25080456e-03 5.62620457e+01] [ 2.52337063e-03 2.93716993e-05 9.99996816e-01 4.42232930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.84, Y:56.29, Z:0.44 [[ 8.75191088e-01 -4.83772423e-01 -2.19164180e-03 2.21835860e+02] [ 4.83770806e-01 8.75193831e-01 -1.25098688e-03 5.62873148e+01] [ 2.52330434e-03 3.46002489e-05 9.99996816e-01 4.41145865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.89, Y:56.31, Z:0.44 [[ 8.77404153e-01 -4.79746964e-01 -2.19142787e-03 2.21888905e+02] [ 4.79745335e-01 8.77406889e-01 -1.25136153e-03 5.63135069e+01] [ 2.52311081e-03 4.66225072e-05 9.99996816e-01 4.38844122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.94, Y:56.34, Z:0.44 [[ 8.78947786e-01 -4.76912977e-01 -2.19121562e-03 2.21940132e+02] [ 4.76911338e-01 8.78950516e-01 -1.25173308e-03 5.63402965e+01] [ 2.52293785e-03 5.51924449e-05 9.99996816e-01 4.40015529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.99, Y:56.37, Z:0.44 [[ 8.80724644e-01 -4.73623586e-01 -2.19097117e-03 2.21991382e+02] [ 4.73621935e-01 8.80727367e-01 -1.25216081e-03 5.63672521e+01] [ 2.52270116e-03 6.51168717e-05 9.99996816e-01 4.39969766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28264000000001 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:222.04, Y:56.40, Z:0.44 [[ 8.80624537e-01 -4.73809693e-01 -2.19072876e-03 2.22041546e+02] [ 4.73808042e-01 8.80627260e-01 -1.25258478e-03 5.63958219e+01] [ 2.52270227e-03 6.50719908e-05 9.99996816e-01 4.39377286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:56.43, Z:0.44 [[ 8.79194600e-01 -4.76457822e-01 -2.19065396e-03 2.22092212e+02] [ 4.76456179e-01 8.79197327e-01 -1.25271559e-03 5.64252830e+01] [ 2.52288325e-03 5.76301707e-05 9.99996816e-01 4.42706742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.14, Y:56.45, Z:0.44 [[ 8.75953945e-01 -4.82389768e-01 -2.19044407e-03 2.22142115e+02] [ 4.82388142e-01 8.75956683e-01 -1.25308248e-03 5.64538467e+01] [ 2.52320829e-03 4.09983006e-05 9.99996816e-01 4.44573562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.19, Y:56.48, Z:0.44 [[ 8.72037927e-01 -4.89433404e-01 -2.19033316e-03 2.22193677e+02] [ 4.89431800e-01 8.72040677e-01 -1.25327632e-03 5.64800969e+01] [ 2.52345491e-03 2.08857802e-05 9.99996816e-01 4.44339811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.25, Y:56.51, Z:0.44 [[ 8.68566173e-01 -4.95568368e-01 -2.19009673e-03 2.22245902e+02] [ 4.95566782e-01 8.68568934e-01 -1.25368934e-03 5.65058888e+01] [ 2.52353876e-03 3.57296747e-06 9.99996816e-01 4.44224676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.30, Y:56.53, Z:0.44 [[ 8.66807053e-01 -4.98638885e-01 -2.18985942e-03 2.22297124e+02] [ 4.98637308e-01 8.66809819e-01 -1.25410372e-03 5.65324419e+01] [ 2.52353653e-03 -4.87965845e-06 9.99996816e-01 4.43908480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:56.56, Z:0.44 [[ 8.65755078e-01 -5.00463137e-01 -2.18962074e-03 2.22348872e+02] [ 5.00461564e-01 8.65757846e-01 -1.25452031e-03 5.65594132e+01] [ 2.52352251e-03 -9.71369525e-06 9.99996816e-01 4.41601153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.40, Y:56.59, Z:0.44 [[ 8.65591959e-01 -5.00745211e-01 -2.18941543e-03 2.22400718e+02] [ 5.00743639e-01 8.65594728e-01 -1.25487851e-03 5.65859353e+01] [ 2.52352086e-03 -1.01230993e-05 9.99996816e-01 4.42416737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.45, Y:56.61, Z:0.44 [[ 8.66189602e-01 -4.99710697e-01 -2.18917520e-03 2.22452900e+02] [ 4.99709120e-01 8.66192369e-01 -1.25529747e-03 5.66120107e+01] [ 2.52353242e-03 -6.62519237e-06 9.99996816e-01 4.44110625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.50, Y:56.64, Z:0.44 [[ 8.67584819e-01 -4.97284415e-01 -2.18893014e-03 2.22503783e+02] [ 4.97282830e-01 8.67587581e-01 -1.25572465e-03 5.66383971e+01] [ 2.52354090e-03 9.30275167e-07 9.99996816e-01 4.42629036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.55, Y:56.67, Z:0.44 [[ 8.68004837e-01 -4.96550917e-01 -2.18876411e-03 2.22553396e+02] [ 4.96549328e-01 8.68007596e-01 -1.25601397e-03 5.66665813e+01] [ 2.52353877e-03 3.39685591e-06 9.99996816e-01 4.41618429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.60, Y:56.70, Z:0.44 [[ 8.68760437e-01 -4.95227738e-01 -2.18860250e-03 2.22603920e+02] [ 4.95226145e-01 8.68763194e-01 -1.25629552e-03 5.66960495e+01] [ 2.52352969e-03 7.56666531e-06 9.99996816e-01 4.42718323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.65, Y:56.72, Z:0.44 [[ 8.69573568e-01 -4.93798563e-01 -2.18835601e-03 2.22653663e+02] [ 4.93796964e-01 8.69576321e-01 -1.25672473e-03 5.67244634e+01] [ 2.52351144e-03 1.22110556e-05 9.99996816e-01 4.42113256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.70, Y:56.75, Z:0.44 [[ 8.70360533e-01 -4.92410148e-01 -2.18824954e-03 2.22702082e+02] [ 4.92408544e-01 8.70363284e-01 -1.25691009e-03 5.67543078e+01] [ 2.52348734e-03 1.64521674e-05 9.99996816e-01 4.40670487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:56.79, Z:0.44 [[ 8.71102378e-01 -4.91096589e-01 -2.18800852e-03 2.22750580e+02] [ 4.91094980e-01 8.71105126e-01 -1.25732952e-03 5.67853525e+01] [ 2.52345568e-03 2.07427389e-05 9.99996816e-01 4.42040841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:222.80, Y:56.82, Z:0.44 [[ 8.69951444e-01 -4.93132537e-01 -2.18776729e-03 2.22800292e+02] [ 4.93130933e-01 8.69954195e-01 -1.25774912e-03 5.68166041e+01] [ 2.52349435e-03 1.53249385e-05 9.99996816e-01 4.42620446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:222.85, Y:56.85, Z:0.44 [[ 8.68014960e-01 -4.96533225e-01 -2.18755816e-03 2.22851040e+02] [ 4.96531632e-01 8.68017716e-01 -1.25811276e-03 5.68467617e+01] [ 2.52353402e-03 5.86887480e-06 9.99996816e-01 4.41083036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:222.90, Y:56.88, Z:0.44 [[ 8.65080316e-01 -5.01628610e-01 -2.18734749e-03 2.22900574e+02] [ 5.01627032e-01 8.65083081e-01 -1.25847891e-03 5.68776743e+01] [ 2.52352633e-03 -8.54730068e-06 9.99996816e-01 4.40493486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.95, Y:56.91, Z:0.44 [[ 8.63649258e-01 -5.04088461e-01 -2.18710062e-03 2.22949952e+02] [ 5.04086889e-01 8.63652027e-01 -1.25890780e-03 5.69075707e+01] [ 2.52349478e-03 -1.52339581e-05 9.99996816e-01 4.42087037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.00, Y:56.94, Z:0.44 [[ 8.63349814e-01 -5.04601145e-01 -2.18685118e-03 2.22998120e+02] [ 5.04599574e-01 8.63352584e-01 -1.25934096e-03 5.69391292e+01] [ 2.52348850e-03 -1.62323850e-05 9.99996816e-01 4.39143317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.05, Y:56.97, Z:0.44 [[ 8.63566478e-01 -5.04230262e-01 -2.18674927e-03 2.23046879e+02] [ 5.04228689e-01 8.63569246e-01 -1.25951788e-03 5.69701426e+01] [ 2.52349645e-03 -1.49442982e-05 9.99996816e-01 4.37862629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.10, Y:57.00, Z:0.44 [[ 8.63766135e-01 -5.03888165e-01 -2.18651493e-03 2.23095494e+02] [ 5.03886590e-01 8.63768903e-01 -1.25992458e-03 5.70013185e+01] [ 2.52350468e-03 -1.34753695e-05 9.99996816e-01 4.37433549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:223.14, Y:57.03, Z:0.44 [[ 8.63621141e-01 -5.04136633e-01 -2.18628120e-03 2.23144596e+02] [ 5.04135057e-01 8.63623909e-01 -1.26033001e-03 5.70315505e+01] [ 2.52350325e-03 -1.37333559e-05 9.99996816e-01 4.36465169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.19, Y:57.06, Z:0.44 [[ 8.63548744e-01 -5.04260635e-01 -2.18604250e-03 2.23194844e+02] [ 5.04259059e-01 8.63551511e-01 -1.26074390e-03 5.70631646e+01] [ 2.52350383e-03 -1.36179210e-05 9.99996816e-01 4.35444754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:57.09, Z:0.43 [[ 8.62347747e-01 -5.06311747e-01 -2.18592845e-03 2.23245005e+02] [ 5.06310177e-01 8.62350517e-01 -1.26094161e-03 5.70939764e+01] [ 2.52346608e-03 -1.93876631e-05 9.99996816e-01 4.34801762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.30, Y:57.12, Z:0.44 [[ 8.61102856e-01 -5.08426096e-01 -2.18571680e-03 2.23295239e+02] [ 5.08424532e-01 8.61105629e-01 -1.26130838e-03 5.71239452e+01] [ 2.52341514e-03 -2.51557905e-05 9.99996816e-01 4.37764801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.34, Y:57.15, Z:0.44 [[ 8.61282604e-01 -5.08121540e-01 -2.18550570e-03 2.23344644e+02] [ 5.08119974e-01 8.61285376e-01 -1.26167407e-03 5.71538050e+01] [ 2.52342787e-03 -2.38411732e-05 9.99996816e-01 4.37814198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:57.18, Z:0.44 [[ 8.62569965e-01 -5.05933077e-01 -2.18542455e-03 2.23393855e+02] [ 5.05931504e-01 8.62572734e-01 -1.26181461e-03 5.71843952e+01] [ 2.52348138e-03 -1.72717492e-05 9.99996816e-01 4.38845982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.44, Y:57.21, Z:0.44 [[ 8.62938157e-01 -5.05304821e-01 -2.18531260e-03 2.23444439e+02] [ 5.05303245e-01 8.62940924e-01 -1.26200846e-03 5.72134504e+01] [ 2.52349464e-03 -1.52102930e-05 9.99996816e-01 4.38388608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:57.24, Z:0.44 [[ 8.62451265e-01 -5.06135398e-01 -2.18507350e-03 2.23496419e+02] [ 5.06133824e-01 8.62454033e-01 -1.26242231e-03 5.72411077e+01] [ 2.52348207e-03 -1.71618944e-05 9.99996816e-01 4.40376518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:57.27, Z:0.44 [[ 8.61923125e-01 -5.07034273e-01 -2.18486957e-03 2.23546738e+02] [ 5.07032700e-01 8.61925894e-01 -1.26277515e-03 5.72703048e+01] [ 2.52346594e-03 -1.93852142e-05 9.99996816e-01 4.39534653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.60, Y:57.30, Z:0.44 [[ 8.61656793e-01 -5.07486746e-01 -2.18479116e-03 2.23599056e+02] [ 5.07485175e-01 8.61659563e-01 -1.26291080e-03 5.72960274e+01] [ 2.52345669e-03 -2.05534520e-05 9.99996816e-01 4.38792423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.65, Y:57.32, Z:0.44 [[ 8.62823745e-01 -5.05500162e-01 -2.18454291e-03 2.23650007e+02] [ 5.05498583e-01 8.62826510e-01 -1.26334007e-03 5.73232538e+01] [ 2.52350015e-03 -1.42435318e-05 9.99996816e-01 4.40895889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.70, Y:57.35, Z:0.44 [[ 8.65568334e-01 -5.00786069e-01 -2.18446628e-03 2.23702068e+02] [ 5.00784476e-01 8.65571090e-01 -1.26347256e-03 5.73499860e+01] [ 2.52354032e-03 -3.24960597e-07 9.99996816e-01 4.41982131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.75, Y:57.38, Z:0.44 [[ 8.68781836e-01 -4.95190216e-01 -2.18425736e-03 2.23753293e+02] [ 4.95188603e-01 8.68784582e-01 -1.26383363e-03 5.73796259e+01] [ 2.52348717e-03 1.63763502e-05 9.99996816e-01 4.38433442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.80, Y:57.41, Z:0.44 [[ 8.70248575e-01 -4.92608005e-01 -2.18404167e-03 2.23803685e+02] [ 4.92606384e-01 8.70251316e-01 -1.26420626e-03 5.74073479e+01] [ 2.52342326e-03 2.43008303e-05 9.99996816e-01 4.35597968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:223.86, Y:57.44, Z:0.43 [[ 8.71121871e-01 -4.91062029e-01 -2.18393660e-03 2.23855466e+02] [ 4.91060402e-01 8.71124608e-01 -1.26438774e-03 5.74359438e+01] [ 2.52337373e-03 2.89910300e-05 9.99996816e-01 4.34214333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:57.47, Z:0.43 [[ 8.71611822e-01 -4.90191863e-01 -2.18372623e-03 2.23906002e+02] [ 4.90190232e-01 8.71614557e-01 -1.26475096e-03 5.74653413e+01] [ 2.52333820e-03 3.19306217e-05 9.99996816e-01 4.34803333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.96, Y:57.49, Z:0.44 [[ 8.72029259e-01 -4.89448877e-01 -2.18348188e-03 2.23955812e+02] [ 4.89447243e-01 8.72031992e-01 -1.26517269e-03 5.74942985e+01] [ 2.52330340e-03 3.45684146e-05 9.99996816e-01 4.35411218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.00, Y:57.52, Z:0.43 [[ 8.72147095e-01 -4.89238876e-01 -2.18323717e-03 2.24004545e+02] [ 4.89237240e-01 8.72149827e-01 -1.26559482e-03 5.75231267e+01] [ 2.52328811e-03 3.56639206e-05 9.99996816e-01 4.34605100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.05, Y:57.55, Z:0.44 [[ 8.72069198e-01 -4.89377714e-01 -2.18313174e-03 2.24053834e+02] [ 4.89376078e-01 8.72071930e-01 -1.26577666e-03 5.75540405e+01] [ 2.52329080e-03 3.54723843e-05 9.99996816e-01 4.36180271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.10, Y:57.58, Z:0.44 [[ 8.72103710e-01 -4.89316211e-01 -2.18289078e-03 2.24102362e+02] [ 4.89314574e-01 8.72106441e-01 -1.26619206e-03 5.75837393e+01] [ 2.52328141e-03 3.61305232e-05 9.99996816e-01 4.36336955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:57.62, Z:0.44 [[ 8.72191790e-01 -4.89159193e-01 -2.18278682e-03 2.24151033e+02] [ 4.89157555e-01 8.72194521e-01 -1.26637126e-03 5.76156375e+01] [ 2.52327185e-03 3.67919571e-05 9.99996816e-01 4.38469729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.20, Y:57.65, Z:0.44 [[ 8.71429144e-01 -4.90516548e-01 -2.18271347e-03 2.24201247e+02] [ 4.90514914e-01 8.71431877e-01 -1.26649768e-03 5.76470486e+01] [ 2.52332416e-03 3.30094804e-05 9.99996816e-01 4.44496173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.25, Y:57.68, Z:0.44 [[ 8.70493908e-01 -4.92174352e-01 -2.18260016e-03 2.24249620e+02] [ 4.92172723e-01 8.70496643e-01 -1.26669291e-03 5.76785329e+01] [ 2.52337988e-03 2.84321943e-05 9.99996816e-01 4.38181943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.30, Y:57.71, Z:0.44 [[ 8.70147250e-01 -4.92786973e-01 -2.18248752e-03 2.24300086e+02] [ 4.92785345e-01 8.70149986e-01 -1.26688696e-03 5.77100167e+01] [ 2.52339688e-03 2.68803435e-05 9.99996816e-01 4.37263275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.35, Y:57.74, Z:0.44 [[ 8.69619565e-01 -4.93717581e-01 -2.18228769e-03 2.24348371e+02] [ 4.93715956e-01 8.69622303e-01 -1.26723108e-03 5.77414019e+01] [ 2.52342031e-03 2.45786826e-05 9.99996816e-01 4.40544321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:57.77, Z:0.44 [[ 8.69316473e-01 -4.94251057e-01 -2.18207663e-03 2.24398755e+02] [ 4.94249432e-01 8.69319212e-01 -1.26759441e-03 5.77715453e+01] [ 2.52343101e-03 2.34505641e-05 9.99996816e-01 4.42398732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.45, Y:57.80, Z:0.44 [[ 8.69305493e-01 -4.94270370e-01 -2.18185546e-03 2.24447385e+02] [ 4.94268744e-01 8.69308231e-01 -1.26797499e-03 5.78013685e+01] [ 2.52342738e-03 2.38346692e-05 9.99996816e-01 4.41723932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.50, Y:57.83, Z:0.44 [[ 8.70228016e-01 -4.92644335e-01 -2.18168697e-03 2.24496825e+02] [ 4.92642703e-01 8.70230750e-01 -1.26826483e-03 5.78318085e+01] [ 2.52337457e-03 2.88874180e-05 9.99996816e-01 4.39330061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.55, Y:57.86, Z:0.44 [[ 8.72049775e-01 -4.89412331e-01 -2.18161167e-03 2.24546123e+02] [ 4.89410689e-01 8.72052503e-01 -1.26839434e-03 5.78642806e+01] [ 2.52324775e-03 3.83989324e-05 9.99996816e-01 4.36744136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:57.90, Z:0.44 [[ 8.72708148e-01 -4.88237371e-01 -2.18140083e-03 2.24595546e+02] [ 4.88235724e-01 8.72710873e-01 -1.26875685e-03 5.78964646e+01] [ 2.52318673e-03 4.22166271e-05 9.99996816e-01 4.35257623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.65, Y:57.93, Z:0.44 [[ 8.72238853e-01 -4.89075276e-01 -2.18118903e-03 2.24645877e+02] [ 4.89073631e-01 8.72241579e-01 -1.26912086e-03 5.79275723e+01] [ 2.52321940e-03 4.02144844e-05 9.99996816e-01 4.36829544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:224.70, Y:57.96, Z:0.44 [[ 8.72101488e-01 -4.89320180e-01 -2.18097927e-03 2.24696122e+02] [ 4.89318535e-01 8.72104214e-01 -1.26948122e-03 5.79586275e+01] [ 2.52322399e-03 3.99228831e-05 9.99996816e-01 4.39817627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.74, Y:57.99, Z:0.44 [[ 8.72708802e-01 -4.88236203e-01 -2.18076362e-03 2.24744296e+02] [ 4.88234554e-01 8.72711526e-01 -1.26985157e-03 5.79902490e+01] [ 2.52316506e-03 4.34864933e-05 9.99996816e-01 4.38332705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.79, Y:58.02, Z:0.44 [[ 8.73099883e-01 -4.87536501e-01 -2.18068744e-03 2.24793543e+02] [ 4.87534849e-01 8.73102605e-01 -1.26998238e-03 5.80216816e+01] [ 2.52312665e-03 4.56603423e-05 9.99996816e-01 4.38485278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.84, Y:58.05, Z:0.44 [[ 8.72577668e-01 -4.88470531e-01 -2.18047880e-03 2.24842878e+02] [ 4.88468881e-01 8.72580391e-01 -1.27034051e-03 5.80528142e+01] [ 2.52316694e-03 4.33747186e-05 9.99996816e-01 4.38805422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.89, Y:58.08, Z:0.44 [[ 8.71328654e-01 -4.90695040e-01 -2.18023877e-03 2.24893099e+02] [ 4.90693396e-01 8.71331381e-01 -1.27075232e-03 5.80825832e+01] [ 2.52326232e-03 3.74141378e-05 9.99996816e-01 4.36938567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76264 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:224.94, Y:58.11, Z:0.44 [[ 8.69947554e-01 -4.93139433e-01 -2.18003000e-03 2.24943118e+02] [ 4.93137796e-01 8.69950285e-01 -1.27111037e-03 5.81129779e+01] [ 2.52335237e-03 3.07441697e-05 9.99996816e-01 4.35550003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:58.14, Z:0.44 [[ 8.69176479e-01 -4.94497216e-01 -2.17981536e-03 2.24992744e+02] [ 4.94495583e-01 8.69179212e-01 -1.27147834e-03 5.81428381e+01] [ 2.52339270e-03 2.72299992e-05 9.99996816e-01 4.37214313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.04, Y:58.17, Z:0.44 [[ 8.68166152e-01 -4.96268860e-01 -2.17973950e-03 2.25044426e+02] [ 4.96267232e-01 8.68168888e-01 -1.27160838e-03 5.81711735e+01] [ 2.52344166e-03 2.22340667e-05 9.99996816e-01 4.39928667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.10, Y:58.20, Z:0.44 [[ 8.66568442e-01 -4.99053489e-01 -2.17952462e-03 2.25096218e+02] [ 4.99051868e-01 8.66571183e-01 -1.27197658e-03 5.81974776e+01] [ 2.52349758e-03 1.45589350e-05 9.99996816e-01 4.39290083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.15, Y:58.22, Z:0.44 [[ 8.65304813e-01 -5.01241289e-01 -2.17944859e-03 2.25148495e+02] [ 5.01239675e-01 8.65307558e-01 -1.27210684e-03 5.82238835e+01] [ 2.52352581e-03 8.33406480e-06 9.99996816e-01 4.36962695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.20, Y:58.25, Z:0.43 [[ 8.64493399e-01 -5.02639448e-01 -2.17923872e-03 2.25200310e+02] [ 5.02637837e-01 8.64496145e-01 -1.27246627e-03 5.82480784e+01] [ 2.52353521e-03 4.67084932e-06 9.99996816e-01 4.34766025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.25, Y:58.27, Z:0.44 [[ 8.64498747e-01 -5.02630250e-01 -2.17913470e-03 2.25253150e+02] [ 5.02628639e-01 8.64501493e-01 -1.27264438e-03 5.82739645e+01] [ 2.52353476e-03 4.90396404e-06 9.99996816e-01 4.38535357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.31, Y:58.30, Z:0.44 [[ 8.65752528e-01 -5.00467594e-01 -2.17891436e-03 2.25306412e+02] [ 5.00465975e-01 8.65755270e-01 -1.27302152e-03 5.82984896e+01] [ 2.52351260e-03 1.16491020e-05 9.99996816e-01 4.39549870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:58.32, Z:0.44 [[ 8.68295468e-01 -4.96042572e-01 -2.17883664e-03 2.25358736e+02] [ 4.96040939e-01 8.68298201e-01 -1.27315453e-03 5.83236314e+01] [ 2.52341878e-03 2.46821368e-05 9.99996816e-01 4.41824464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:58.35, Z:0.44 [[ 8.70533249e-01 -4.92104780e-01 -2.17875970e-03 2.25410500e+02] [ 4.92103134e-01 8.70535975e-01 -1.27328618e-03 5.83518277e+01] [ 2.52327891e-03 3.62634806e-05 9.99996816e-01 4.43105553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.46, Y:58.38, Z:0.44 [[ 8.75034300e-01 -4.84056017e-01 -2.17854675e-03 2.25459547e+02] [ 4.84054345e-01 8.75037010e-01 -1.27365041e-03 5.83823475e+01] [ 2.52282718e-03 5.99527776e-05 9.99996816e-01 4.38655811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:225.51, Y:58.41, Z:0.44 [[ 8.78777082e-01 -4.77227509e-01 -2.17847163e-03 2.25508399e+02] [ 4.77225815e-01 8.78779778e-01 -1.27377889e-03 5.84145891e+01] [ 2.52227914e-03 7.97447970e-05 9.99996816e-01 4.36730392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.56, Y:58.45, Z:0.44 [[ 8.80300615e-01 -4.74411300e-01 -2.17826514e-03 2.25557735e+02] [ 4.74409598e-01 8.80303306e-01 -1.27413191e-03 5.84465393e+01] [ 2.52199658e-03 8.82292175e-05 9.99996816e-01 4.40224664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.60, Y:58.48, Z:0.44 [[ 8.80552524e-01 -4.73943571e-01 -2.17805681e-03 2.25603858e+02] [ 4.73941866e-01 8.80555213e-01 -1.27448794e-03 5.84809992e+01] [ 2.52193464e-03 8.99812658e-05 9.99996816e-01 4.41197193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.65, Y:58.51, Z:0.44 [[ 8.80204952e-01 -4.74588768e-01 -2.17798245e-03 2.25652492e+02] [ 4.74587064e-01 8.80207642e-01 -1.27461501e-03 5.85146086e+01] [ 2.52199476e-03 8.82801434e-05 9.99996816e-01 4.42919004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.70, Y:58.55, Z:0.44 [[ 8.78593282e-01 -4.77565809e-01 -2.17776519e-03 2.25700272e+02] [ 4.77564114e-01 8.78595977e-01 -1.27498610e-03 5.85496551e+01] [ 2.52226550e-03 8.01717243e-05 9.99996816e-01 4.44900372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.75, Y:58.58, Z:0.45 [[ 8.77617649e-01 -4.79356360e-01 -2.17755379e-03 2.25748082e+02] [ 4.79354670e-01 8.77620347e-01 -1.27534704e-03 5.85840749e+01] [ 2.52241123e-03 7.54464940e-05 9.99996816e-01 4.45994757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.80, Y:58.62, Z:0.45 [[ 8.76748537e-01 -4.80944137e-01 -2.17734339e-03 2.25795691e+02] [ 4.80942450e-01 8.76751237e-01 -1.27570616e-03 5.86189222e+01] [ 2.52253190e-03 7.12966458e-05 9.99996816e-01 4.47327214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.84, Y:58.66, Z:0.45 [[ 8.74425662e-01 -4.85154637e-01 -2.17713380e-03 2.25842142e+02] [ 4.85152963e-01 8.74428370e-01 -1.27606374e-03 5.86561143e+01] [ 2.52283580e-03 5.95799658e-05 9.99996816e-01 4.47960004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.89, Y:58.69, Z:0.45 [[ 8.70923661e-01 -4.91413510e-01 -2.17692104e-03 2.25888727e+02] [ 4.91411854e-01 8.70926381e-01 -1.27642660e-03 5.86912929e+01] [ 2.52319124e-03 4.19053194e-05 9.99996816e-01 4.46515488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:58.72, Z:0.44 [[ 8.69110085e-01 -4.94613912e-01 -2.17668631e-03 2.25935843e+02] [ 4.94612265e-01 8.69112810e-01 -1.27682675e-03 5.87246998e+01] [ 2.52332223e-03 3.30872557e-05 9.99996816e-01 4.43820706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.98, Y:58.76, Z:0.44 [[ 8.68318996e-01 -4.96001394e-01 -2.17660814e-03 2.25982428e+02] [ 4.95999752e-01 8.68321724e-01 -1.27695999e-03 5.87624236e+01] [ 2.52337007e-03 2.92115228e-05 9.99996816e-01 4.42983028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:58.80, Z:0.44 [[ 8.68439531e-01 -4.95790323e-01 -2.17640837e-03 2.26028369e+02] [ 4.95788678e-01 8.68442258e-01 -1.27730039e-03 5.87995681e+01] [ 2.52335817e-03 3.02195229e-05 9.99996816e-01 4.42042076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.08, Y:58.84, Z:0.44 [[ 8.68023481e-01 -4.96518378e-01 -2.17619736e-03 2.26075053e+02] [ 4.96516735e-01 8.68026209e-01 -1.27765980e-03 5.88358574e+01] [ 2.52337791e-03 2.85203041e-05 9.99996816e-01 4.41079966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.12, Y:58.87, Z:0.44 [[ 8.67670180e-01 -4.97135519e-01 -2.17598287e-03 2.26122912e+02] [ 4.97133877e-01 8.67672908e-01 -1.27802500e-03 5.88712026e+01] [ 2.52339300e-03 2.71493795e-05 9.99996816e-01 4.41292275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.17, Y:58.91, Z:0.45 [[ 8.67694440e-01 -4.97093176e-01 -2.17576907e-03 2.26170433e+02] [ 4.97091533e-01 8.67697167e-01 -1.27838887e-03 5.89079211e+01] [ 2.52338704e-03 2.76945377e-05 9.99996816e-01 4.46592502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.22, Y:58.94, Z:0.45 [[ 8.67197894e-01 -4.97958914e-01 -2.17557802e-03 2.26219059e+02] [ 4.97957273e-01 8.67200622e-01 -1.27871391e-03 5.89422471e+01] [ 2.52340961e-03 2.55531129e-05 9.99996816e-01 4.45362157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.27, Y:58.98, Z:0.45 [[ 8.66241527e-01 -4.99620742e-01 -2.17537553e-03 2.26265667e+02] [ 4.99619105e-01 8.66244258e-01 -1.27905831e-03 5.89765262e+01] [ 2.52345062e-03 2.11142503e-05 9.99996816e-01 4.46275766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:226.32, Y:59.01, Z:0.45 [[ 8.65055166e-01 -5.01672033e-01 -2.17515952e-03 2.26315629e+02] [ 5.01670402e-01 8.65057900e-01 -1.27942555e-03 5.90079649e+01] [ 2.52349094e-03 1.55605312e-05 9.99996816e-01 4.46032294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:59.04, Z:0.44 [[ 8.63279388e-01 -5.04721674e-01 -2.17494305e-03 2.26365278e+02] [ 5.04720052e-01 8.63282128e-01 -1.27979343e-03 5.90382604e+01] [ 2.52352894e-03 7.08192305e-06 9.99996816e-01 4.39060278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56264000000002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:226.41, Y:59.07, Z:0.44 [[ 8.62978983e-01 -5.05235137e-01 -2.17486812e-03 2.26413315e+02] [ 5.05233516e-01 8.62981724e-01 -1.27992074e-03 5.90723129e+01] [ 2.52353237e-03 5.72843325e-06 9.99996816e-01 4.43331716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.46, Y:59.10, Z:0.44 [[ 8.63395588e-01 -5.04522873e-01 -2.17465276e-03 2.26461945e+02] [ 5.04521248e-01 8.63398327e-01 -1.28028655e-03 5.91040413e+01] [ 2.52352540e-03 8.23523239e-06 9.99996816e-01 4.43996080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.51, Y:59.13, Z:0.44 [[ 8.63069460e-01 -5.05080566e-01 -2.17443845e-03 2.26512752e+02] [ 5.05078943e-01 8.63072199e-01 -1.28065043e-03 5.91339867e+01] [ 2.52352902e-03 7.02719850e-06 9.99996816e-01 4.42752404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:59.17, Z:0.45 [[ 8.61649892e-01 -5.07498509e-01 -2.17423115e-03 2.26561600e+02] [ 5.07496893e-01 8.61652635e-01 -1.28100227e-03 5.91674886e+01] [ 2.52353875e-03 3.59916238e-07 9.99996816e-01 4.45258287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.61, Y:59.20, Z:0.45 [[ 8.60160491e-01 -5.10018826e-01 -2.17410611e-03 2.26611071e+02] [ 5.10017217e-01 8.60163238e-01 -1.28121447e-03 5.91975682e+01] [ 2.52352965e-03 -6.78148010e-06 9.99996816e-01 4.45821502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.66, Y:59.23, Z:0.45 [[ 8.60195687e-01 -5.09959464e-01 -2.17398890e-03 2.26660590e+02] [ 5.09957854e-01 8.60198434e-01 -1.28141331e-03 5.92292716e+01] [ 2.52353069e-03 -6.37651372e-06 9.99996816e-01 4.46790920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.71, Y:59.26, Z:0.45 [[ 8.60125972e-01 -5.10077040e-01 -2.17377109e-03 2.26710308e+02] [ 5.10075430e-01 8.60128719e-01 -1.28178270e-03 5.92600858e+01] [ 2.52353087e-03 -6.29263470e-06 9.99996816e-01 4.47689006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.76, Y:59.29, Z:0.45 [[ 8.60172781e-01 -5.09998101e-01 -2.17355342e-03 2.26758645e+02] [ 5.09996489e-01 8.60175527e-01 -1.28215171e-03 5.92949850e+01] [ 2.52353239e-03 -5.63261518e-06 9.99996816e-01 4.45003901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.81, Y:59.33, Z:0.44 [[ 8.58964956e-01 -5.12029765e-01 -2.17335323e-03 2.26807871e+02] [ 5.12028159e-01 8.58967706e-01 -1.28249095e-03 5.93265445e+01] [ 2.52351378e-03 -1.12032697e-05 9.99996816e-01 4.44992914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.86, Y:59.36, Z:0.45 [[ 8.57866951e-01 -5.13867270e-01 -2.17323030e-03 2.26856056e+02] [ 5.13865669e-01 8.57869704e-01 -1.28269922e-03 5.93579612e+01] [ 2.52348558e-03 -1.63631714e-05 9.99996816e-01 4.45227304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:59.39, Z:0.45 [[ 8.55412216e-01 -5.17943258e-01 -2.17311469e-03 2.26905198e+02] [ 5.17941670e-01 8.55414976e-01 -1.28289506e-03 5.93895375e+01] [ 2.52338170e-03 -2.81425410e-05 9.99996816e-01 4.46921371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.95, Y:59.42, Z:0.45 [[ 8.53887019e-01 -5.20453877e-01 -2.17285968e-03 2.26953881e+02] [ 5.20452296e-01 8.53889783e-01 -1.28332683e-03 5.94182076e+01] [ 2.52329510e-03 -3.50536895e-05 9.99996816e-01 4.46481080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.00, Y:59.45, Z:0.44 [[ 8.51777365e-01 -5.23899417e-01 -2.17275176e-03 2.27004751e+02] [ 5.23897847e-01 8.51780135e-01 -1.28350952e-03 5.94474517e+01] [ 2.52313668e-03 -4.50356084e-05 9.99996816e-01 4.43874695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.06, Y:59.47, Z:0.45 [[ 8.50486529e-01 -5.25992342e-01 -2.17253876e-03 2.27056847e+02] [ 5.25990778e-01 8.50489302e-01 -1.28386995e-03 5.94734970e+01] [ 2.52302674e-03 -5.08212500e-05 9.99996816e-01 4.45119334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.11, Y:59.50, Z:0.45 [[ 8.50604931e-01 -5.25800848e-01 -2.17246347e-03 2.27107637e+02] [ 5.25799282e-01 8.50607704e-01 -1.28399735e-03 5.95005390e+01] [ 2.52304105e-03 -5.01052575e-05 9.99996816e-01 4.45935849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:59.53, Z:0.45 [[ 8.51267832e-01 -5.24726938e-01 -2.17221485e-03 2.27159272e+02] [ 5.24725368e-01 8.51270602e-01 -1.28441781e-03 5.95262667e+01] [ 2.52311127e-03 -4.64326710e-05 9.99996816e-01 4.50146936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.21, Y:59.55, Z:0.44 [[ 8.52747015e-01 -5.22319644e-01 -2.17210183e-03 2.27211587e+02] [ 5.22318065e-01 8.52749781e-01 -1.28460891e-03 5.95512301e+01] [ 2.52323583e-03 -3.90816144e-05 9.99996816e-01 4.42393301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.26, Y:59.58, Z:0.44 [[ 8.55042367e-01 -5.18553598e-01 -2.17198847e-03 2.27264257e+02] [ 5.18552007e-01 8.55045125e-01 -1.28480054e-03 5.95768632e+01] [ 2.52338610e-03 -2.77300848e-05 9.99996816e-01 4.44628880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.31, Y:59.61, Z:0.44 [[ 8.58058327e-01 -5.13547652e-01 -2.17191116e-03 2.27313413e+02] [ 5.13546044e-01 8.58061076e-01 -1.28493122e-03 5.96072386e+01] [ 2.52350584e-03 -1.28304480e-05 9.99996816e-01 4.42482935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.37, Y:59.63, Z:0.45 [[ 8.61832209e-01 -5.07188847e-01 -2.17183408e-03 2.27365333e+02] [ 5.07187219e-01 8.61834946e-01 -1.28506150e-03 5.96346928e+01] [ 2.52353136e-03 5.98090321e-06 9.99996816e-01 4.46147786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.42, Y:59.66, Z:0.45 [[ 8.62954355e-01 -5.05277216e-01 -2.17161370e-03 2.27416167e+02] [ 5.05275581e-01 8.62957087e-01 -1.28543380e-03 5.96629160e+01] [ 2.52350985e-03 1.20073186e-05 9.99996816e-01 4.46442446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.47, Y:59.69, Z:0.45 [[ 8.62093671e-01 -5.06744301e-01 -2.17149706e-03 2.27469071e+02] [ 5.06742671e-01 8.62096406e-01 -1.28563082e-03 5.96893293e+01] [ 2.52352590e-03 7.94397472e-06 9.99996816e-01 4.47881115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88264 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:227.52, Y:59.72, Z:0.45 [[ 8.60953370e-01 -5.08679251e-01 -2.17129123e-03 2.27520228e+02] [ 5.08677625e-01 8.60956108e-01 -1.28597835e-03 5.97180626e+01] [ 2.52353695e-03 2.68013053e-06 9.99996816e-01 4.46549607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.57, Y:59.74, Z:0.46 [[ 8.59283127e-01 -5.11495645e-01 -2.17106293e-03 2.27574322e+02] [ 5.11494028e-01 8.59285869e-01 -1.28636366e-03 5.97427963e+01] [ 2.52353311e-03 -5.13513984e-06 9.99996816e-01 4.56541846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.63, Y:59.77, Z:0.45 [[ 8.58652832e-01 -5.12553023e-01 -2.17083162e-03 2.27626077e+02] [ 5.12551408e-01 8.58655576e-01 -1.28675389e-03 5.97685316e+01] [ 2.52352627e-03 -7.78792893e-06 9.99996816e-01 4.51743177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.68, Y:59.80, Z:0.45 [[ 8.58691276e-01 -5.12488615e-01 -2.17074609e-03 2.27677915e+02] [ 5.12486999e-01 8.58694020e-01 -1.28689817e-03 5.97958446e+01] [ 2.52352734e-03 -7.43091565e-06 9.99996816e-01 4.49662165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.73, Y:59.82, Z:0.45 [[ 8.60565197e-01 -5.09335676e-01 -2.17053294e-03 2.27731437e+02] [ 5.09334049e-01 8.60567934e-01 -1.28725757e-03 5.98216660e+01] [ 2.52353725e-03 2.24272661e-06 9.99996816e-01 4.46012984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.78, Y:59.85, Z:0.44 [[ 8.63952854e-01 -5.03568024e-01 -2.17032045e-03 2.27781214e+02] [ 5.03566379e-01 8.63955580e-01 -1.28761574e-03 5.98515159e+01] [ 2.52346257e-03 1.95388851e-05 9.99996816e-01 4.43210569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.83, Y:59.88, Z:0.44 [[ 8.65060673e-01 -5.01662558e-01 -2.17024522e-03 2.27832000e+02] [ 5.01660905e-01 8.65063395e-01 -1.28774251e-03 5.98814750e+01] [ 2.52341190e-03 2.52482185e-05 9.99996816e-01 4.42747580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:59.91, Z:0.45 [[ 8.65932665e-01 -5.00155887e-01 -2.17003229e-03 2.27883062e+02] [ 5.00154229e-01 8.65935383e-01 -1.28810123e-03 5.99110435e+01] [ 2.52335916e-03 3.00580985e-05 9.99996816e-01 4.50070768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.93, Y:59.94, Z:0.44 [[ 8.66587709e-01 -4.99020074e-01 -2.16991558e-03 2.27932654e+02] [ 4.99018412e-01 8.66590425e-01 -1.28829782e-03 5.99411222e+01] [ 2.52331453e-03 3.35952278e-05 9.99996816e-01 4.42757675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:59.97, Z:0.44 [[ 8.66720019e-01 -4.98790237e-01 -2.16979526e-03 2.27982836e+02] [ 4.98788574e-01 8.66722735e-01 -1.28850042e-03 5.99725653e+01] [ 2.52330231e-03 3.45000282e-05 9.99996816e-01 4.43845300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.03, Y:60.00, Z:0.44 [[ 8.65580217e-01 -5.00765596e-01 -2.16957679e-03 2.28032007e+02] [ 5.00763938e-01 8.65582935e-01 -1.28886819e-03 6.00012267e+01] [ 2.52336949e-03 2.91729932e-05 9.99996816e-01 4.42391542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.08, Y:60.03, Z:0.45 [[ 8.62978581e-01 -5.05235848e-01 -2.16946879e-03 2.28083319e+02] [ 5.05234203e-01 8.62981308e-01 -1.28904994e-03 6.00298315e+01] [ 2.52348526e-03 1.63326525e-05 9.99996816e-01 4.45520758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.13, Y:60.06, Z:0.45 [[ 8.61530549e-01 -5.07701100e-01 -2.16924893e-03 2.28133953e+02] [ 5.07699462e-01 8.61533280e-01 -1.28941982e-03 6.00593768e+01] [ 2.52352001e-03 9.54804713e-06 9.99996816e-01 4.47707164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:60.09, Z:0.45 [[ 8.60537003e-01 -5.09383315e-01 -2.16903027e-03 2.28186195e+02] [ 5.09381682e-01 8.60539737e-01 -1.28978755e-03 6.00868128e+01] [ 2.52353299e-03 5.04562597e-06 9.99996816e-01 4.45813202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.24, Y:60.12, Z:0.44 [[ 8.60635108e-01 -5.09217545e-01 -2.16881411e-03 2.28235785e+02] [ 5.09215910e-01 8.60637840e-01 -1.29015093e-03 6.01157147e+01] [ 2.52353098e-03 5.95453282e-06 9.99996816e-01 4.44631035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:60.15, Z:0.44 [[ 8.61207055e-01 -5.08249649e-01 -2.16870741e-03 2.28286986e+02] [ 5.08248011e-01 8.61209785e-01 -1.29033026e-03 6.01452950e+01] [ 2.52352194e-03 9.00029178e-06 9.99996816e-01 4.43712340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:60.18, Z:0.44 [[ 8.62917628e-01 -5.05339951e-01 -2.16849292e-03 2.28335059e+02] [ 5.05338303e-01 8.62920352e-01 -1.29069062e-03 6.01778212e+01] [ 2.52347421e-03 1.79371514e-05 9.99996816e-01 4.44287370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:60.21, Z:0.45 [[ 8.65354198e-01 -5.01156074e-01 -2.16824825e-03 2.28384868e+02] [ 5.01154412e-01 8.65356914e-01 -1.29110151e-03 6.02094780e+01] [ 2.52335198e-03 3.06329334e-05 9.99996816e-01 4.45962866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.43, Y:60.24, Z:0.45 [[ 8.66342631e-01 -4.99445439e-01 -2.16803400e-03 2.28433600e+02] [ 4.99443770e-01 8.66345343e-01 -1.29146119e-03 6.02424385e+01] [ 2.52328056e-03 3.60368155e-05 9.99996816e-01 4.47996778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.48, Y:60.27, Z:0.44 [[ 8.66349197e-01 -4.99434048e-01 -2.16781089e-03 2.28481556e+02] [ 4.99432379e-01 8.66351909e-01 -1.29183559e-03 6.02740122e+01] [ 2.52327378e-03 3.65057761e-05 9.99996816e-01 4.43995346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:60.31, Z:0.45 [[ 8.64764489e-01 -5.02172957e-01 -2.16771585e-03 2.28528934e+02] [ 5.02171296e-01 8.64767206e-01 -1.29199504e-03 6.03083813e+01] [ 2.52337455e-03 2.87067537e-05 9.99996816e-01 4.48152492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.58, Y:60.34, Z:0.45 [[ 8.63312402e-01 -5.04665233e-01 -2.16763834e-03 2.28577088e+02] [ 5.04663580e-01 8.63315123e-01 -1.29212507e-03 6.03396660e+01] [ 2.52344556e-03 2.15794737e-05 9.99996816e-01 4.46370597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.63, Y:60.37, Z:0.45 [[ 8.61250781e-01 -5.08175555e-01 -2.16752301e-03 2.28625521e+02] [ 5.08173912e-01 8.61253508e-01 -1.29231851e-03 6.03721814e+01] [ 2.52351147e-03 1.15316832e-05 9.99996816e-01 4.47926430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.67, Y:60.41, Z:0.45 [[ 8.58809848e-01 -5.12289906e-01 -2.16726670e-03 2.28674345e+02] [ 5.12288275e-01 8.58812583e-01 -1.29274820e-03 6.04054201e+01] [ 2.52353777e-03 -4.04350776e-08 9.99996816e-01 4.50084351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.72, Y:60.44, Z:0.45 [[ 8.55829415e-01 -5.17253628e-01 -2.16703992e-03 2.28723308e+02] [ 5.17252012e-01 8.55832159e-01 -1.29312825e-03 6.04359524e+01] [ 2.52349773e-03 -1.42085618e-05 9.99996816e-01 4.51628754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:228.77, Y:60.47, Z:0.45 [[ 8.53512981e-01 -5.21067075e-01 -2.16695901e-03 2.28772219e+02] [ 5.21065470e-01 8.53515731e-01 -1.29326382e-03 6.04653604e+01] [ 2.52341080e-03 -2.53100542e-05 9.99996816e-01 4.49518174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.82, Y:60.49, Z:0.45 [[ 8.51110875e-01 -5.24981507e-01 -2.16684968e-03 2.28822877e+02] [ 5.24979915e-01 8.51113633e-01 -1.29344698e-03 6.04940118e+01] [ 2.52327104e-03 -3.66857712e-05 9.99996816e-01 4.49350952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:60.52, Z:0.45 [[ 8.50804397e-01 -5.25478052e-01 -2.16660863e-03 2.28873149e+02] [ 5.25476461e-01 8.50807155e-01 -1.29385062e-03 6.05245138e+01] [ 2.52325623e-03 -3.76880390e-05 9.99996816e-01 4.49031226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.92, Y:60.55, Z:0.45 [[ 8.51846194e-01 -5.23787522e-01 -2.16638710e-03 2.28923568e+02] [ 5.23785924e-01 8.51848948e-01 -1.29422145e-03 6.05522250e+01] [ 2.52333161e-03 -3.22454531e-05 9.99996816e-01 4.50415149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.97, Y:60.58, Z:0.45 [[ 8.52929360e-01 -5.22021853e-01 -2.16613211e-03 2.28974484e+02] [ 5.22020249e-01 8.52932110e-01 -1.29464808e-03 6.05804816e+01] [ 2.52339822e-03 -2.65214624e-05 9.99996816e-01 4.49845930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.03, Y:60.61, Z:0.45 [[ 8.54003972e-01 -5.20261977e-01 -2.16587525e-03 2.29025024e+02] [ 5.20260365e-01 8.54006718e-01 -1.29507764e-03 6.06111242e+01] [ 2.52345167e-03 -2.08176006e-05 9.99996816e-01 4.54110420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.08, Y:60.64, Z:0.45 [[ 8.54320977e-01 -5.19741260e-01 -2.16564271e-03 2.29077306e+02] [ 5.19739646e-01 8.54323722e-01 -1.29546638e-03 6.06366485e+01] [ 2.52346727e-03 -1.88262781e-05 9.99996816e-01 4.51689594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:229.13, Y:60.67, Z:0.45 [[ 8.56127554e-01 -5.16760024e-01 -2.16555334e-03 2.29127133e+02] [ 5.16758400e-01 8.56130292e-01 -1.29561577e-03 6.06656815e+01] [ 2.52351825e-03 -9.85551975e-06 9.99996816e-01 4.48481704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.18, Y:60.69, Z:0.45 [[ 8.57947817e-01 -5.13732279e-01 -2.16547511e-03 2.29178265e+02] [ 5.13730645e-01 8.57950550e-01 -1.29574650e-03 6.06933448e+01] [ 2.52353736e-03 -7.88047271e-07 9.99996816e-01 4.50533852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.23, Y:60.72, Z:0.45 [[ 8.60089240e-01 -5.10139012e-01 -2.16522384e-03 2.29227302e+02] [ 5.10137366e-01 8.60091965e-01 -1.29616624e-03 6.07249715e+01] [ 2.52351659e-03 1.02570505e-05 9.99996816e-01 4.51923882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:60.75, Z:0.45 [[ 8.62167959e-01 -5.06617926e-01 -2.16496492e-03 2.29276524e+02] [ 5.06616268e-01 8.62170677e-01 -1.29659856e-03 6.07545054e+01] [ 2.52344935e-03 2.10792870e-05 9.99996816e-01 4.50413200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.33, Y:60.79, Z:0.45 [[ 8.63176836e-01 -5.04897082e-01 -2.16488471e-03 2.29325879e+02] [ 5.04895417e-01 8.63179550e-01 -1.29673248e-03 6.07851665e+01] [ 2.52340065e-03 2.62690672e-05 9.99996816e-01 4.50235405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.37, Y:60.82, Z:0.45 [[ 8.63901401e-01 -5.03656316e-01 -2.16462890e-03 2.29374880e+02] [ 5.03654646e-01 8.63904112e-01 -1.29715936e-03 6.08186550e+01] [ 2.52335431e-03 3.03923894e-05 9.99996816e-01 4.53930786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.42, Y:60.85, Z:0.46 [[ 8.63547609e-01 -5.04262673e-01 -2.16440467e-03 2.29423425e+02] [ 5.04261004e-01 8.63550321e-01 -1.29753340e-03 6.08520400e+01] [ 2.52337000e-03 2.90569974e-05 9.99996816e-01 4.55809958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.47, Y:60.88, Z:0.46 [[ 8.62958795e-01 -5.05269664e-01 -2.16418047e-03 2.29472713e+02] [ 5.05267998e-01 8.62961509e-01 -1.29790723e-03 6.08834117e+01] [ 2.52339760e-03 2.65493227e-05 9.99996816e-01 4.56929274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.52, Y:60.91, Z:0.46 [[ 8.62265441e-01 -5.06451998e-01 -2.16392390e-03 2.29521983e+02] [ 5.06450335e-01 8.62268156e-01 -1.29833486e-03 6.09141769e+01] [ 2.52342695e-03 2.35892937e-05 9.99996816e-01 4.55817508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.57, Y:60.95, Z:0.46 [[ 8.61499141e-01 -5.07754417e-01 -2.16384466e-03 2.29569829e+02] [ 5.07752757e-01 8.61501858e-01 -1.29846691e-03 6.09471280e+01] [ 2.52345850e-03 1.99300374e-05 9.99996816e-01 4.55472436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:229.62, Y:60.98, Z:0.45 [[ 8.60454779e-01 -5.09522219e-01 -2.16359989e-03 2.29619452e+02] [ 5.09520564e-01 8.60457499e-01 -1.29887464e-03 6.09797200e+01] [ 2.52349124e-03 1.52242586e-05 9.99996816e-01 4.52965315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.67, Y:61.01, Z:0.45 [[ 8.60383465e-01 -5.09642633e-01 -2.16339455e-03 2.29667699e+02] [ 5.09640977e-01 8.60386184e-01 -1.29921656e-03 6.10124160e+01] [ 2.52349093e-03 1.52699292e-05 9.99996816e-01 4.53448979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:61.04, Z:0.45 [[ 8.61494663e-01 -5.07762017e-01 -2.16314404e-03 2.29717157e+02] [ 5.07760354e-01 8.61497379e-01 -1.29963351e-03 6.10419398e+01] [ 2.52344745e-03 2.12685507e-05 9.99996816e-01 4.50425127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.76, Y:61.08, Z:0.45 [[ 8.62278422e-01 -5.06429900e-01 -2.16306686e-03 2.29764500e+02] [ 5.06428233e-01 8.62281135e-01 -1.29976196e-03 6.10755144e+01] [ 2.52341006e-03 2.53185681e-05 9.99996816e-01 4.51521633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.81, Y:61.11, Z:0.45 [[ 8.62480210e-01 -5.06086167e-01 -2.16281935e-03 2.29812150e+02] [ 5.06084498e-01 8.62482922e-01 -1.30017369e-03 6.11089450e+01] [ 2.52339467e-03 2.68047333e-05 9.99996816e-01 4.54527679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.86, Y:61.14, Z:0.45 [[ 8.62062130e-01 -5.06797994e-01 -2.16274278e-03 2.29861066e+02] [ 5.06796326e-01 8.62064843e-01 -1.30030105e-03 6.11400928e+01] [ 2.52341447e-03 2.48701948e-05 9.99996816e-01 4.54293166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.91, Y:61.17, Z:0.46 [[ 8.61680572e-01 -5.07446465e-01 -2.16249754e-03 2.29910479e+02] [ 5.07444799e-01 8.61683286e-01 -1.30070877e-03 6.11711732e+01] [ 2.52342805e-03 2.34473499e-05 9.99996816e-01 4.55031638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:61.20, Z:0.46 [[ 8.61868137e-01 -5.07127833e-01 -2.16224460e-03 2.29958262e+02] [ 5.07126164e-01 8.61870849e-01 -1.30112910e-03 6.12028995e+01] [ 2.52341437e-03 2.48709062e-05 9.99996816e-01 4.55130055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:230.01, Y:61.23, Z:0.45 [[ 8.61749329e-01 -5.07329695e-01 -2.16213505e-03 2.30007343e+02] [ 5.07328026e-01 8.61752041e-01 -1.30131112e-03 6.12340915e+01] [ 2.52341807e-03 2.44922814e-05 9.99996816e-01 4.54695730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.06, Y:61.27, Z:0.45 [[ 8.61622677e-01 -5.07544765e-01 -2.16187967e-03 2.30056546e+02] [ 5.07543097e-01 8.61625389e-01 -1.30173525e-03 6.12651707e+01] [ 2.52341932e-03 2.43575119e-05 9.99996816e-01 4.51535587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.11, Y:61.30, Z:0.45 [[ 8.60463452e-01 -5.09507580e-01 -2.16180090e-03 2.30106924e+02] [ 5.09505917e-01 8.60466167e-01 -1.30186605e-03 6.12962137e+01] [ 2.52346716e-03 1.87578023e-05 9.99996816e-01 4.53691293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:61.33, Z:0.45 [[ 8.59463373e-01 -5.11192761e-01 -2.16157404e-03 2.30156597e+02] [ 5.11191102e-01 8.59466091e-01 -1.30224262e-03 6.13267280e+01] [ 2.52349659e-03 1.42524181e-05 9.99996816e-01 4.51669518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12264000000002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:230.21, Y:61.36, Z:0.45 [[ 8.58122021e-01 -5.13441257e-01 -2.16149394e-03 2.30208015e+02] [ 5.13439605e-01 8.58124743e-01 -1.30237556e-03 6.13550996e+01] [ 2.52352477e-03 7.80055441e-06 9.99996816e-01 4.48928258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.26, Y:61.39, Z:0.45 [[ 8.58051336e-01 -5.13559377e-01 -2.16127787e-03 2.30257886e+02] [ 5.13557725e-01 8.58054058e-01 -1.30273402e-03 6.13853994e+01] [ 2.52352452e-03 7.87171547e-06 9.99996816e-01 4.49151303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.31, Y:61.42, Z:0.45 [[ 8.59158912e-01 -5.11704303e-01 -2.16102136e-03 2.30308758e+02] [ 5.11702644e-01 8.59161630e-01 -1.30315939e-03 6.14150893e+01] [ 2.52349890e-03 1.38206633e-05 9.99996816e-01 4.50294803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:61.44, Z:0.45 [[ 8.60269666e-01 -5.09834711e-01 -2.16079289e-03 2.30359471e+02] [ 5.09833045e-01 8.60272380e-01 -1.30353810e-03 6.14444399e+01] [ 2.52345942e-03 1.97506703e-05 9.99996816e-01 4.47376818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:61.47, Z:0.45 [[ 8.60667591e-01 -5.09162675e-01 -2.16056552e-03 2.30407932e+02] [ 5.09161006e-01 8.60670303e-01 -1.30391486e-03 6.14744841e+01] [ 2.52343936e-03 2.21615453e-05 9.99996816e-01 4.46301165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.46, Y:61.51, Z:0.45 [[ 8.62404993e-01 -5.06214343e-01 -2.16045340e-03 2.30455184e+02] [ 5.06212664e-01 8.62407698e-01 -1.30410061e-03 6.15082370e+01] [ 2.52334607e-03 3.10140055e-05 9.99996816e-01 4.45950206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.51, Y:61.54, Z:0.45 [[ 8.61746306e-01 -5.07334837e-01 -2.16020792e-03 2.30505270e+02] [ 5.07333161e-01 8.61749013e-01 -1.30450710e-03 6.15377941e+01] [ 2.52337894e-03 2.82090627e-05 9.99996816e-01 4.45628072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.55, Y:61.57, Z:0.45 [[ 8.59971729e-01 -5.10337103e-01 -2.15995345e-03 2.30554915e+02] [ 5.10335436e-01 8.59974442e-01 -1.30492831e-03 6.15674587e+01] [ 2.52345810e-03 1.99006671e-05 9.99996816e-01 4.46211343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.60, Y:61.60, Z:0.45 [[ 8.57024288e-01 -5.15271486e-01 -2.15987488e-03 2.30604934e+02] [ 5.15269833e-01 8.57027010e-01 -1.30505834e-03 6.15980779e+01] [ 2.52353046e-03 5.54832322e-06 9.99996816e-01 4.48181397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.66, Y:61.63, Z:0.45 [[ 8.55158547e-01 -5.18362031e-01 -2.15965912e-03 2.30655452e+02] [ 5.18360388e-01 8.55161274e-01 -1.30541529e-03 6.16284055e+01] [ 2.52353457e-03 -3.14470008e-06 9.99996816e-01 4.50171190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.71, Y:61.66, Z:0.45 [[ 8.53358025e-01 -5.21320840e-01 -2.15944450e-03 2.30706468e+02] [ 5.21319204e-01 8.53360757e-01 -1.30577023e-03 6.16574411e+01] [ 2.52351043e-03 -1.14703848e-05 9.99996816e-01 4.47043391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.76, Y:61.69, Z:0.44 [[ 8.53159948e-01 -5.21644937e-01 -2.15923020e-03 2.30756510e+02] [ 5.21643302e-01 8.53162681e-01 -1.30612450e-03 6.16884224e+01] [ 2.52350786e-03 -1.20148630e-05 9.99996816e-01 4.42837855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.81, Y:61.72, Z:0.44 [[ 8.53817065e-01 -5.20568687e-01 -2.15901348e-03 2.30807776e+02] [ 5.20567048e-01 8.53819795e-01 -1.30648263e-03 6.17166702e+01] [ 2.52352240e-03 -8.41410799e-06 9.99996816e-01 4.44457645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.86, Y:61.75, Z:0.44 [[ 8.54531047e-01 -5.19395831e-01 -2.15879900e-03 2.30857170e+02] [ 5.19394187e-01 8.54533774e-01 -1.30683694e-03 6.17461686e+01] [ 2.52353232e-03 -4.53491818e-06 9.99996816e-01 4.44844744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:61.78, Z:0.44 [[ 8.55800091e-01 -5.17302179e-01 -2.15855412e-03 2.30906864e+02] [ 5.17300527e-01 8.55802814e-01 -1.30724130e-03 6.17751769e+01] [ 2.52353546e-03 2.11604355e-06 9.99996816e-01 4.44015022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.96, Y:61.81, Z:0.44 [[ 8.57674523e-01 -5.14188443e-01 -2.15830721e-03 2.30955346e+02] [ 5.14186780e-01 8.57677238e-01 -1.30764884e-03 6.18061903e+01] [ 2.52350888e-03 1.17640591e-05 9.99996816e-01 4.40776506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.01, Y:61.84, Z:0.44 [[ 8.59125535e-01 -5.11760351e-01 -2.15820400e-03 2.31005120e+02] [ 5.11758680e-01 8.59128246e-01 -1.30781915e-03 6.18362743e+01] [ 2.52346400e-03 1.91011940e-05 9.99996816e-01 4.41957948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.05, Y:61.87, Z:0.44 [[ 8.59720857e-01 -5.10759622e-01 -2.15795970e-03 2.31053335e+02] [ 5.10757947e-01 8.59723565e-01 -1.30822212e-03 6.18679960e+01] [ 2.52343585e-03 2.25107760e-05 9.99996816e-01 4.41466976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:61.90, Z:0.44 [[ 8.60421332e-01 -5.09578723e-01 -2.15771442e-03 2.31101161e+02] [ 5.09577043e-01 8.60424037e-01 -1.30862656e-03 6.18998440e+01] [ 2.52339760e-03 2.64484734e-05 9.99996816e-01 4.36812759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:231.15, Y:61.93, Z:0.43 [[ 8.60915976e-01 -5.08742594e-01 -2.15763853e-03 2.31150262e+02] [ 5.08740911e-01 8.60918679e-01 -1.30875167e-03 6.19326235e+01] [ 2.52336903e-03 2.90462254e-05 9.99996816e-01 4.34888618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.20, Y:61.97, Z:0.45 [[ 8.61500037e-01 -5.07752923e-01 -2.15744189e-03 2.31198363e+02] [ 5.07751237e-01 8.61502738e-01 -1.30907575e-03 6.19655128e+01] [ 2.52332913e-03 3.23250257e-05 9.99996816e-01 4.46030032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.25, Y:62.00, Z:0.44 [[ 8.61392907e-01 -5.07934648e-01 -2.15719452e-03 2.31246108e+02] [ 5.07932961e-01 8.61395607e-01 -1.30948326e-03 6.19974371e+01] [ 2.52332980e-03 3.22693895e-05 9.99996816e-01 4.39528584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:231.29, Y:62.03, Z:0.44 [[ 8.60899463e-01 -5.08770539e-01 -2.15708026e-03 2.31294485e+02] [ 5.08768854e-01 8.60902165e-01 -1.30967144e-03 6.20304924e+01] [ 2.52335731e-03 3.00401834e-05 9.99996816e-01 4.39250004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.34, Y:62.06, Z:0.44 [[ 8.59506286e-01 -5.11120624e-01 -2.15685521e-03 2.31341780e+02] [ 5.11118946e-01 8.59508992e-01 -1.31004196e-03 6.20641677e+01] [ 2.52342592e-03 2.35797363e-05 9.99996816e-01 4.37781253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.39, Y:62.09, Z:0.44 [[ 8.58015313e-01 -5.13619579e-01 -2.15659975e-03 2.31391520e+02] [ 5.13617907e-01 8.58018023e-01 -1.31046237e-03 6.20945461e+01] [ 2.52348059e-03 1.67285270e-05 9.99996816e-01 4.37633480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.44, Y:62.13, Z:0.44 [[ 8.57039558e-01 -5.15246102e-01 -2.15652092e-03 2.31439736e+02] [ 5.15244435e-01 8.57042271e-01 -1.31059208e-03 6.21263322e+01] [ 2.52350705e-03 1.20938513e-05 9.99996816e-01 4.38523414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.49, Y:62.16, Z:0.44 [[ 8.55838911e-01 -5.17237962e-01 -2.15626498e-03 2.31487176e+02] [ 5.17236300e-01 8.55841627e-01 -1.31101304e-03 6.21587816e+01] [ 2.52352704e-03 6.71745569e-06 9.99996816e-01 4.36623987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.54, Y:62.19, Z:0.44 [[ 8.55198067e-01 -5.18296843e-01 -2.15618572e-03 2.31535807e+02] [ 5.18295185e-01 8.55200785e-01 -1.31114338e-03 6.21896007e+01] [ 2.52353320e-03 3.74660332e-06 9.99996816e-01 4.38781320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.58, Y:62.22, Z:0.44 [[ 8.54900008e-01 -5.18788327e-01 -2.15592678e-03 2.31583704e+02] [ 5.18786669e-01 8.54902726e-01 -1.31156902e-03 6.22230232e+01] [ 2.52353438e-03 2.79429580e-06 9.99996816e-01 4.40274595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:231.63, Y:62.26, Z:0.44 [[ 8.55659529e-01 -5.17534659e-01 -2.15566866e-03 2.31631476e+02] [ 5.17532996e-01 8.55662245e-01 -1.31199312e-03 6.22565597e+01] [ 2.52352620e-03 6.98976054e-06 9.99996816e-01 4.37819467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:62.29, Z:0.44 [[ 8.55878941e-01 -5.17171724e-01 -2.15558923e-03 2.31679240e+02] [ 5.17170060e-01 8.55881655e-01 -1.31212362e-03 6.22903739e+01] [ 2.52352251e-03 8.21276229e-06 9.99996816e-01 4.38111829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:62.32, Z:0.44 [[ 8.56540399e-01 -5.16075478e-01 -2.15537350e-03 2.31727390e+02] [ 5.16073809e-01 8.56543111e-01 -1.31247789e-03 6.23245503e+01] [ 2.52350798e-03 1.18585227e-05 9.99996816e-01 4.39811434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.78, Y:62.36, Z:0.44 [[ 8.57427129e-01 -5.14600887e-01 -2.15515947e-03 2.31775441e+02] [ 5.14599213e-01 8.57429838e-01 -1.31282924e-03 6.23592393e+01] [ 2.52348113e-03 1.66120348e-05 9.99996816e-01 4.44647360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.82, Y:62.39, Z:0.44 [[ 8.57695746e-01 -5.14153055e-01 -2.15493032e-03 2.31821555e+02] [ 5.14151379e-01 8.57698452e-01 -1.31320528e-03 6.23937429e+01] [ 2.52346890e-03 1.83701854e-05 9.99996816e-01 4.37843280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.87, Y:62.43, Z:0.44 [[ 8.57442242e-01 -5.14575708e-01 -2.15482460e-03 2.31869165e+02] [ 5.14574032e-01 8.57444949e-01 -1.31337873e-03 6.24269661e+01] [ 2.52347626e-03 1.73296189e-05 9.99996816e-01 4.37360048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.92, Y:62.46, Z:0.44 [[ 8.57041250e-01 -5.15243294e-01 -2.15470884e-03 2.31916400e+02] [ 5.15241620e-01 8.57043959e-01 -1.31356861e-03 6.24621122e+01] [ 2.52348761e-03 1.55868048e-05 9.99996816e-01 4.36168121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.96, Y:62.50, Z:0.44 [[ 8.56732294e-01 -5.15756856e-01 -2.15449759e-03 2.31964702e+02] [ 5.15755183e-01 8.56735003e-01 -1.31391502e-03 6.24954037e+01] [ 2.52349417e-03 1.44801306e-05 9.99996816e-01 4.37531107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34264000000002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:232.01, Y:62.53, Z:0.44 [[ 8.56632276e-01 -5.15922962e-01 -2.15427159e-03 2.32012702e+02] [ 5.15921288e-01 8.56634985e-01 -1.31428544e-03 6.25277985e+01] [ 2.52349445e-03 1.44247525e-05 9.99996816e-01 4.37304134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.06, Y:62.56, Z:0.44 [[ 8.55632863e-01 -5.17578752e-01 -2.15401554e-03 2.32061791e+02] [ 5.17577083e-01 8.55635574e-01 -1.31470496e-03 6.25596751e+01] [ 2.52351568e-03 1.00356835e-05 9.99996816e-01 4.38040729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.11, Y:62.59, Z:0.44 [[ 8.54336110e-01 -5.19716434e-01 -2.15379321e-03 2.32109286e+02] [ 5.19714771e-01 8.54338825e-01 -1.31506909e-03 6.25931438e+01] [ 2.52353218e-03 4.15286903e-06 9.99996816e-01 4.36063674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.16, Y:62.62, Z:0.44 [[ 8.52957370e-01 -5.21976136e-01 -2.15371504e-03 2.32157993e+02] [ 5.21974479e-01 8.52960089e-01 -1.31519710e-03 6.26236908e+01] [ 2.52353447e-03 -2.37722071e-06 9.99996816e-01 4.38566552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.21, Y:62.65, Z:0.44 [[ 8.51683774e-01 -5.24051630e-01 -2.15346168e-03 2.32207283e+02] [ 5.24049979e-01 8.51686497e-01 -1.31561181e-03 6.26549647e+01] [ 2.52352275e-03 -8.03631451e-06 9.99996816e-01 4.40020538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.26, Y:62.68, Z:0.44 [[ 8.49015286e-01 -5.28363897e-01 -2.15323694e-03 2.32258244e+02] [ 5.28362259e-01 8.49018016e-01 -1.31597953e-03 6.26826098e+01] [ 2.52345303e-03 -2.04023993e-05 9.99996816e-01 4.39364842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.31, Y:62.71, Z:0.44 [[ 8.47223819e-01 -5.31231742e-01 -2.15311695e-03 2.32308369e+02] [ 5.31230113e-01 8.47226555e-01 -1.31617583e-03 6.27114619e+01] [ 2.52337223e-03 -2.87050433e-05 9.99996816e-01 4.40269675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:232.36, Y:62.74, Z:0.44 [[ 8.46021218e-01 -5.33144880e-01 -2.15303939e-03 2.32361950e+02] [ 5.33143256e-01 8.46023957e-01 -1.31630270e-03 6.27372630e+01] [ 2.52330294e-03 -3.42584193e-05 9.99996816e-01 4.41447554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.41, Y:62.77, Z:0.44 [[ 8.48043911e-01 -5.29921588e-01 -2.15291484e-03 2.32412850e+02] [ 5.29919953e-01 8.48046644e-01 -1.31650637e-03 6.27662046e+01] [ 2.52341735e-03 -2.44173239e-05 9.99996816e-01 4.36885169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.46, Y:62.80, Z:0.43 [[ 8.51034700e-01 -5.25105042e-01 -2.15274775e-03 2.32462345e+02] [ 5.25103391e-01 8.51037423e-01 -1.31677954e-03 6.27969775e+01] [ 2.52351647e-03 -9.79005801e-06 9.99996816e-01 4.34302363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:62.83, Z:0.44 [[ 8.55576815e-01 -5.17671403e-01 -2.15252926e-03 2.32512918e+02] [ 5.17669727e-01 8.55579522e-01 -1.31713660e-03 6.28268502e+01] [ 2.52350391e-03 1.26123039e-05 9.99996816e-01 4.40967537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:62.86, Z:0.44 [[ 8.57596476e-01 -5.14318628e-01 -2.15229129e-03 2.32561494e+02] [ 5.14316941e-01 8.57599177e-01 -1.31752535e-03 6.28579317e+01] [ 2.52343107e-03 2.29452283e-05 9.99996816e-01 4.37781135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.61, Y:62.89, Z:0.43 [[ 8.58930120e-01 -5.12088290e-01 -2.15220667e-03 2.32609913e+02] [ 5.12086595e-01 8.58932816e-01 -1.31766357e-03 6.28895240e+01] [ 2.52336102e-03 2.96647431e-05 9.99996816e-01 4.33695071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.66, Y:62.92, Z:0.44 [[ 8.57794961e-01 -5.13987522e-01 -2.15208598e-03 2.32659991e+02] [ 5.13985833e-01 8.57797661e-01 -1.31786065e-03 6.29195815e+01] [ 2.52341825e-03 2.43125203e-05 9.99996816e-01 4.39702085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.71, Y:62.95, Z:0.43 [[ 8.56647364e-01 -5.15897919e-01 -2.15200529e-03 2.32710267e+02] [ 5.15896236e-01 8.56650067e-01 -1.31799240e-03 6.29486309e+01] [ 2.52346501e-03 1.88432844e-05 9.99996816e-01 4.34974999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.76, Y:62.98, Z:0.44 [[ 8.55639087e-01 -5.17568470e-01 -2.15192472e-03 2.32761023e+02] [ 5.17566792e-01 8.55641793e-01 -1.31812393e-03 6.29788469e+01] [ 2.52349612e-03 1.40735849e-05 9.99996816e-01 4.39754027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.81, Y:63.01, Z:0.44 [[ 8.53899706e-01 -5.20433149e-01 -2.15171478e-03 2.32811550e+02] [ 5.20431479e-01 8.53902417e-01 -1.31846655e-03 6.30071556e+01] [ 2.52352815e-03 6.01809082e-06 9.99996816e-01 4.37070500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:63.04, Z:0.44 [[ 8.52854599e-01 -5.22144045e-01 -2.15163406e-03 2.32862882e+02] [ 5.22142380e-01 8.52857313e-01 -1.31859827e-03 6.30365762e+01] [ 2.52353508e-03 1.11326424e-06 9.99996816e-01 4.37230614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:63.06, Z:0.43 [[ 8.52148665e-01 -5.23295352e-01 -2.15141021e-03 2.32914537e+02] [ 5.23293689e-01 8.52151380e-01 -1.31896340e-03 6.30632793e+01] [ 2.52353460e-03 -1.86648429e-06 9.99996816e-01 4.33122121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:63.09, Z:0.44 [[ 8.52789679e-01 -5.22250070e-01 -2.15129328e-03 2.32965189e+02] [ 5.22248404e-01 8.52792392e-01 -1.31915410e-03 6.30935660e+01] [ 2.52353486e-03 1.45151658e-06 9.99996816e-01 4.38810365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.02, Y:63.12, Z:0.44 [[ 8.53148828e-01 -5.21663158e-01 -2.15107327e-03 2.33016744e+02] [ 5.21661489e-01 8.53151540e-01 -1.31951275e-03 6.31224625e+01] [ 2.52353266e-03 3.60867446e-06 9.99996816e-01 4.43059946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:233.07, Y:63.15, Z:0.44 [[ 8.53177605e-01 -5.21616093e-01 -2.15084197e-03 2.33066296e+02] [ 5.21614423e-01 8.53180316e-01 -1.31988966e-03 6.31515537e+01] [ 2.52353172e-03 4.19010486e-06 9.99996816e-01 4.36820087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.12, Y:63.18, Z:0.44 [[ 8.53520980e-01 -5.21054038e-01 -2.15076027e-03 2.33117012e+02] [ 5.21052366e-01 8.53523690e-01 -1.32002278e-03 6.31802759e+01] [ 2.52352805e-03 6.00840949e-06 9.99996816e-01 4.37852095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.17, Y:63.21, Z:0.44 [[ 8.54421265e-01 -5.19576440e-01 -2.15068321e-03 2.33167948e+02] [ 5.19574763e-01 8.54423971e-01 -1.32014833e-03 6.32090121e+01] [ 2.52351326e-03 1.05220915e-05 9.99996816e-01 4.36932880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78264000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:63.24, Z:0.44 [[ 8.56056833e-01 -5.16877233e-01 -2.15047194e-03 2.33218048e+02] [ 5.16875546e-01 8.56059534e-01 -1.32049239e-03 6.32388876e+01] [ 2.52346446e-03 1.88901697e-05 9.99996816e-01 4.37977247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84264000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.27, Y:63.27, Z:0.44 [[ 8.56470064e-01 -5.16192219e-01 -2.15022677e-03 2.33267320e+02] [ 5.16190529e-01 8.56472763e-01 -1.32089149e-03 6.32682543e+01] [ 2.52344457e-03 2.13773239e-05 9.99996816e-01 4.36241324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:63.30, Z:0.44 [[ 8.55841777e-01 -5.17233246e-01 -2.15012322e-03 2.33317984e+02] [ 5.17231559e-01 8.55844477e-01 -1.32106002e-03 6.32975043e+01] [ 2.52346725e-03 1.85067664e-05 9.99996816e-01 4.42135392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.37, Y:63.33, Z:0.44 [[ 8.55471809e-01 -5.17844920e-01 -2.14989579e-03 2.33368185e+02] [ 5.17843234e-01 8.55474511e-01 -1.32143004e-03 6.33255650e+01] [ 2.52347688e-03 1.71371564e-05 9.99996816e-01 4.39279549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.42, Y:63.35, Z:0.44 [[ 8.55630796e-01 -5.17582186e-01 -2.14978367e-03 2.33417302e+02] [ 5.17580499e-01 8.55633497e-01 -1.32161242e-03 6.33545134e+01] [ 2.52346996e-03 1.81261874e-05 9.99996816e-01 4.37114921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:63.38, Z:0.44 [[ 8.55705360e-01 -5.17458902e-01 -2.14968025e-03 2.33467380e+02] [ 5.17457214e-01 8.55708060e-01 -1.32178062e-03 6.33849788e+01] [ 2.52346586e-03 1.86872107e-05 9.99996816e-01 4.43558694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:63.41, Z:0.44 [[ 8.54226880e-01 -5.19895968e-01 -2.14945180e-03 2.33517168e+02] [ 5.19894287e-01 8.54229584e-01 -1.32215202e-03 6.34138722e+01] [ 2.52350682e-03 1.19300834e-05 9.99996816e-01 4.41394102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.57, Y:63.44, Z:0.44 [[ 8.53533700e-01 -5.21033208e-01 -2.14937122e-03 2.33567858e+02] [ 5.21031530e-01 8.53536406e-01 -1.32228299e-03 6.34446687e+01] [ 2.52351994e-03 8.72291838e-06 9.99996816e-01 4.42633180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.62, Y:63.47, Z:0.44 [[ 8.51164995e-01 -5.24893830e-01 -2.14924740e-03 2.33621219e+02] [ 5.24892164e-01 8.51167708e-01 -1.32248422e-03 6.34709695e+01] [ 2.52353379e-03 -2.47084357e-06 9.99996816e-01 4.40376247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.67, Y:63.50, Z:0.44 [[ 8.49650409e-01 -5.27341981e-01 -2.14902282e-03 2.33672476e+02] [ 5.27340322e-01 8.49653126e-01 -1.32284907e-03 6.34976640e+01] [ 2.52351780e-03 -9.30713560e-06 9.99996816e-01 4.40859799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.72, Y:63.52, Z:0.45 [[ 8.49221941e-01 -5.28031701e-01 -2.14894346e-03 2.33724663e+02] [ 5.28030044e-01 8.49224660e-01 -1.32297796e-03 6.35242555e+01] [ 2.52351009e-03 -1.12047968e-05 9.99996816e-01 4.46215423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.77, Y:63.55, Z:0.44 [[ 8.50767792e-01 -5.25537389e-01 -2.14871401e-03 2.33774695e+02] [ 5.25535723e-01 8.50770505e-01 -1.32335052e-03 6.35522991e+01] [ 2.52353268e-03 -3.36196850e-06 9.99996816e-01 4.43440595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.83, Y:63.58, Z:0.44 [[ 8.55066643e-01 -5.18513665e-01 -2.14853653e-03 2.33825618e+02] [ 5.18511975e-01 8.55069342e-01 -1.32363861e-03 6.35804441e+01] [ 2.52347242e-03 1.77573039e-05 9.99996816e-01 4.42863510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.87, Y:63.61, Z:0.44 [[ 8.59444134e-01 -5.11225161e-01 -2.14828795e-03 2.33873603e+02] [ 5.11223448e-01 8.59446818e-01 -1.32404194e-03 6.36132851e+01] [ 2.52322280e-03 3.96849032e-05 9.99996816e-01 4.43299668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.92, Y:63.65, Z:0.44 [[ 8.61688299e-01 -5.07433406e-01 -2.14803528e-03 2.33922804e+02] [ 5.07431680e-01 8.61690975e-01 -1.32445173e-03 6.36455550e+01] [ 2.52301367e-03 5.12834100e-05 9.99996816e-01 4.44772875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.97, Y:63.68, Z:0.45 [[ 8.63212190e-01 -5.04836708e-01 -2.14781395e-03 2.33970865e+02] [ 5.04834973e-01 8.63214860e-01 -1.32481055e-03 6.36777779e+01] [ 2.52283792e-03 5.93010217e-05 9.99996816e-01 4.45584803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:63.71, Z:0.44 [[ 8.63126236e-01 -5.04983652e-01 -2.14756130e-03 2.34019516e+02] [ 5.04981916e-01 8.63128906e-01 -1.32521998e-03 6.37102633e+01] [ 2.52283666e-03 5.93525164e-05 9.99996816e-01 4.44789378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:63.74, Z:0.45 [[ 8.62352904e-01 -5.06303129e-01 -2.14734015e-03 2.34067215e+02] [ 5.06301397e-01 8.62355575e-01 -1.32557824e-03 6.37447677e+01] [ 2.52291515e-03 5.59149250e-05 9.99996816e-01 4.45469037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.12, Y:63.78, Z:0.45 [[ 8.61100234e-01 -5.08430700e-01 -2.14711758e-03 2.34115011e+02] [ 5.08428974e-01 8.61102909e-01 -1.32593864e-03 6.37763194e+01] [ 2.52303711e-03 5.01092839e-05 9.99996816e-01 4.45119669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.16, Y:63.81, Z:0.45 [[ 8.58394909e-01 -5.12984961e-01 -2.14701026e-03 2.34162967e+02] [ 5.12983248e-01 8.58397593e-01 -1.32611239e-03 6.38110793e+01] [ 2.52326415e-03 3.69478321e-05 9.99996816e-01 4.47531842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.21, Y:63.84, Z:0.45 [[ 8.55031839e-01 -5.18571061e-01 -2.14678063e-03 2.34211353e+02] [ 5.18569365e-01 8.55034534e-01 -1.32648403e-03 6.38435241e+01] [ 2.52344780e-03 2.09314137e-05 9.99996816e-01 4.46432854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.26, Y:63.88, Z:0.45 [[ 8.53090055e-01 -5.21759284e-01 -2.14655068e-03 2.34259645e+02] [ 5.21757597e-01 8.53092756e-01 -1.32685604e-03 6.38763251e+01] [ 2.52350629e-03 1.19485674e-05 9.99996816e-01 4.47049764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.31, Y:63.91, Z:0.45 [[ 8.50643967e-01 -5.25737801e-01 -2.14632797e-03 2.34310750e+02] [ 5.25736126e-01 8.50646674e-01 -1.32721620e-03 6.39062501e+01] [ 2.52353447e-03 5.86301939e-07 9.99996816e-01 4.46778220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.36, Y:63.94, Z:0.45 [[ 8.49639211e-01 -5.27360034e-01 -2.14611112e-03 2.34359304e+02] [ 5.27358363e-01 8.49641921e-01 -1.32756675e-03 6.39383057e+01] [ 2.52353162e-03 -3.81688450e-06 9.99996816e-01 4.46663249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.41, Y:63.97, Z:0.45 [[ 8.49164280e-01 -5.28124436e-01 -2.14586386e-03 2.34407926e+02] [ 5.28122767e-01 8.49166992e-01 -1.32796630e-03 6.39690854e+01] [ 2.52352821e-03 -5.61801146e-06 9.99996816e-01 4.49350821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28263999999996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:234.46, Y:64.00, Z:0.45 [[ 8.48800911e-01 -5.28708246e-01 -2.14560365e-03 2.34458154e+02] [ 5.28706577e-01 8.48803623e-01 -1.32838659e-03 6.39990956e+01] [ 2.52352509e-03 -6.85901056e-06 9.99996816e-01 4.48309116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.51, Y:64.03, Z:0.44 [[ 8.49152887e-01 -5.28142757e-01 -2.14537620e-03 2.34509047e+02] [ 5.28141086e-01 8.49155597e-01 -1.32875382e-03 6.40271053e+01] [ 2.52352991e-03 -4.74617227e-06 9.99996816e-01 4.44924512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40263999999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:64.06, Z:0.45 [[ 8.50360864e-01 -5.26195590e-01 -2.14529587e-03 2.34558363e+02] [ 5.26193912e-01 8.50363570e-01 -1.32888350e-03 6.40589005e+01] [ 2.52353409e-03 1.18889204e-06 9.99996816e-01 4.53752696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.61, Y:64.09, Z:0.45 [[ 8.53516750e-01 -5.21060990e-01 -2.14522655e-03 2.34608402e+02] [ 5.21059295e-01 8.53519446e-01 -1.32899539e-03 6.40896221e+01] [ 2.52348023e-03 1.65295962e-05 9.99996816e-01 4.51611563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.66, Y:64.12, Z:0.45 [[ 8.55921781e-01 -5.17100864e-01 -2.14517687e-03 2.34658420e+02] [ 5.17099157e-01 8.55924468e-01 -1.32907559e-03 6.41195085e+01] [ 2.52337550e-03 2.83155917e-05 9.99996816e-01 4.47303123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.71, Y:64.15, Z:0.45 [[ 8.57062677e-01 -5.15207693e-01 -2.14495871e-03 2.34707606e+02] [ 5.15205979e-01 8.57065360e-01 -1.32942757e-03 6.41531620e+01] [ 2.52330112e-03 3.43071949e-05 9.99996816e-01 4.52223830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:234.76, Y:64.19, Z:0.45 [[ 8.56501401e-01 -5.16140242e-01 -2.14484373e-03 2.34755700e+02] [ 5.16138530e-01 8.56504086e-01 -1.32961304e-03 6.41856839e+01] [ 2.52333422e-03 3.17789395e-05 9.99996816e-01 4.47603865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.81, Y:64.22, Z:0.45 [[ 8.55043381e-01 -5.18552039e-01 -2.14474968e-03 2.34805618e+02] [ 5.18550335e-01 8.55046070e-01 -1.32976474e-03 6.42160938e+01] [ 2.52341200e-03 2.48458694e-05 9.99996816e-01 4.51038286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.86, Y:64.24, Z:0.45 [[ 8.50733049e-01 -5.25593644e-01 -2.14467203e-03 2.34857000e+02] [ 5.25591962e-01 8.50735753e-01 -1.32988996e-03 6.42447900e+01] [ 2.52353089e-03 4.15896436e-06 9.99996816e-01 4.53566620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:234.91, Y:64.27, Z:0.45 [[ 8.46997658e-01 -5.31592296e-01 -2.14460582e-03 2.34909417e+02] [ 5.31590632e-01 8.47000373e-01 -1.32999673e-03 6.42721729e+01] [ 2.52349794e-03 -1.35482469e-05 9.99996816e-01 4.49162278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88264 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:234.96, Y:64.30, Z:0.45 [[ 8.45907836e-01 -5.33324792e-01 -2.14455631e-03 2.34960496e+02] [ 5.33323133e-01 8.45910555e-01 -1.33007655e-03 6.42996682e+01] [ 2.52346562e-03 -1.86193165e-05 9.99996816e-01 4.48144457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.01, Y:64.33, Z:0.45 [[ 8.46303566e-01 -5.32696607e-01 -2.14447796e-03 2.35011898e+02] [ 5.32694947e-01 8.46306283e-01 -1.33020287e-03 6.43264160e+01] [ 2.52347972e-03 -1.65971442e-05 9.99996816e-01 4.47992780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00264 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:235.06, Y:64.36, Z:0.45 [[ 8.46902592e-01 -5.31743738e-01 -2.14422708e-03 2.35063120e+02] [ 5.31742073e-01 8.46905306e-01 -1.33060714e-03 6.43558672e+01] [ 2.52349931e-03 -1.32811148e-05 9.99996816e-01 4.47342809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:235.12, Y:64.38, Z:0.45 [[ 8.47338920e-01 -5.31048169e-01 -2.14400717e-03 2.35115999e+02] [ 5.31046501e-01 8.47341633e-01 -1.33096140e-03 6.43818696e+01] [ 2.52351115e-03 -1.07921071e-05 9.99996816e-01 4.49372432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:64.41, Z:0.45 [[ 8.47685361e-01 -5.30494989e-01 -2.14378961e-03 2.35168375e+02] [ 5.30493318e-01 8.47688072e-01 -1.33131172e-03 6.44063876e+01] [ 2.52351908e-03 -8.73260544e-06 9.99996816e-01 4.50028507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.22, Y:64.43, Z:0.45 [[ 8.47959536e-01 -5.30056629e-01 -2.14371469e-03 2.35221141e+02] [ 5.30054957e-01 8.47962246e-01 -1.33143236e-03 6.44329899e+01] [ 2.52352367e-03 -7.28583242e-06 9.99996816e-01 4.48850890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.27, Y:64.46, Z:0.45 [[ 8.49414443e-01 -5.27722000e-01 -2.14351622e-03 2.35274677e+02] [ 5.27720320e-01 8.49417148e-01 -1.33175180e-03 6.44568469e+01] [ 2.52353416e-03 3.21523479e-08 9.99996816e-01 4.50716682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30264 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:64.48, Z:0.45 [[ 8.51276705e-01 -5.24712662e-01 -2.14325089e-03 2.35328543e+02] [ 5.24710971e-01 8.51279403e-01 -1.33217868e-03 6.44799101e+01] [ 2.52351636e-03 9.46541961e-06 9.99996816e-01 4.45790892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:235.38, Y:64.51, Z:0.45 [[ 8.52632763e-01 -5.22506246e-01 -2.14316902e-03 2.35380185e+02] [ 5.22504548e-01 8.52635457e-01 -1.33231038e-03 6.45075669e+01] [ 2.52348239e-03 1.61559196e-05 9.99996816e-01 4.49552491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:64.54, Z:0.45 [[ 8.55508590e-01 -5.17784183e-01 -2.14290449e-03 2.35432107e+02] [ 5.17782469e-01 8.55511273e-01 -1.33273571e-03 6.45353484e+01] [ 2.52334842e-03 3.06084710e-05 9.99996816e-01 4.49927191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:64.56, Z:0.46 [[ 8.58407438e-01 -5.12964013e-01 -2.14267294e-03 2.35483426e+02] [ 5.12962283e-01 8.58410111e-01 -1.33310787e-03 6.45643309e+01] [ 2.52312848e-03 4.52393029e-05 9.99996816e-01 4.55431475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:64.60, Z:0.45 [[ 8.62852119e-01 -5.05451907e-01 -2.14243956e-03 2.35532407e+02] [ 5.05450153e-01 8.62854776e-01 -1.33348283e-03 6.45950882e+01] [ 2.52262565e-03 6.77020766e-05 9.99996816e-01 4.51022667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.58, Y:64.63, Z:0.45 [[ 8.65115415e-01 -5.01568269e-01 -2.14235636e-03 2.35579020e+02] [ 5.01566502e-01 8.65118064e-01 -1.33361648e-03 6.46300324e+01] [ 2.52229090e-03 7.91979908e-05 9.99996816e-01 4.51553986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.63, Y:64.66, Z:0.45 [[ 8.64679967e-01 -5.02318590e-01 -2.14210083e-03 2.35627443e+02] [ 5.02316824e-01 8.64682617e-01 -1.33402681e-03 6.46642792e+01] [ 2.52234381e-03 7.74929727e-05 9.99996816e-01 4.53948390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72263999999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:235.68, Y:64.69, Z:0.45 [[ 8.60954198e-01 -5.08677974e-01 -2.14187481e-03 2.35679153e+02] [ 5.08676227e-01 8.60956860e-01 -1.33438960e-03 6.46922128e+01] [ 2.52283641e-03 5.93275308e-05 9.99996816e-01 4.53785247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.73, Y:64.72, Z:0.45 [[ 8.57172287e-01 -5.15025323e-01 -2.14165357e-03 2.35727626e+02] [ 5.15023595e-01 8.57174962e-01 -1.33474459e-03 6.47241072e+01] [ 2.52319908e-03 4.11039518e-05 9.99996816e-01 4.50269664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.78, Y:64.76, Z:0.45 [[ 8.52294859e-01 -5.23057250e-01 -2.14158041e-03 2.35775929e+02] [ 5.23055547e-01 8.52297550e-01 -1.33486196e-03 6.47563307e+01] [ 2.52347296e-03 1.75304783e-05 9.99996816e-01 4.51208019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90263999999996 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:64.79, Z:0.45 [[ 8.48836826e-01 -5.28650600e-01 -2.14150177e-03 2.35826884e+02] [ 5.28648915e-01 8.48839527e-01 -1.33498811e-03 6.47854234e+01] [ 2.52353361e-03 1.08448600e-06 9.99996816e-01 4.48751141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96263999999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.88, Y:64.82, Z:0.45 [[ 8.47699046e-01 -5.30473131e-01 -2.14127952e-03 2.35877547e+02] [ 5.30471450e-01 8.47701750e-01 -1.33534449e-03 6.48156961e+01] [ 2.52353077e-03 -3.91740412e-06 9.99996816e-01 4.53525708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.93, Y:64.85, Z:0.45 [[ 8.46822932e-01 -5.31870603e-01 -2.14106654e-03 2.35926626e+02] [ 5.31868926e-01 8.46825638e-01 -1.33568590e-03 6.48465600e+01] [ 2.52352210e-03 -7.67731172e-06 9.99996816e-01 4.48028107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.98, Y:64.87, Z:0.46 [[ 8.46308994e-01 -5.32687998e-01 -2.14098468e-03 2.35978237e+02] [ 5.32686323e-01 8.46311702e-01 -1.33581709e-03 6.48747540e+01] [ 2.52351412e-03 -9.95923574e-06 9.99996816e-01 4.57741710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.03, Y:64.90, Z:0.45 [[ 8.46409284e-01 -5.32528629e-01 -2.14074487e-03 2.36028865e+02] [ 5.32526953e-01 8.46411991e-01 -1.33620130e-03 6.49022540e+01] [ 2.52351757e-03 -9.03115877e-06 9.99996816e-01 4.47044728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.08, Y:64.93, Z:0.45 [[ 8.47539196e-01 -5.30728489e-01 -2.14066030e-03 2.36079580e+02] [ 5.30726806e-01 8.47541899e-01 -1.33633678e-03 6.49300112e+01] [ 2.52353129e-03 -3.50800329e-06 9.99996816e-01 4.47108769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.13, Y:64.96, Z:0.46 [[ 8.49964866e-01 -5.26835027e-01 -2.14058255e-03 2.36130260e+02] [ 5.26833332e-01 8.49967561e-01 -1.33646130e-03 6.49592657e+01] [ 2.52352035e-03 8.21491694e-06 9.99996816e-01 4.58215281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:236.18, Y:64.99, Z:0.46 [[ 8.52150900e-01 -5.23291756e-01 -2.14035207e-03 2.36180916e+02] [ 5.23290049e-01 8.52153588e-01 -1.33683032e-03 6.49880387e+01] [ 2.52346098e-03 1.91562203e-05 9.99996816e-01 4.55085034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.23, Y:65.02, Z:0.45 [[ 8.54504852e-01 -5.19439002e-01 -2.14026382e-03 2.36232901e+02] [ 5.19437283e-01 8.54507532e-01 -1.33697159e-03 6.50169545e+01] [ 2.52334674e-03 3.07158922e-05 9.99996816e-01 4.49740578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:65.05, Z:0.46 [[ 8.56153698e-01 -5.16716813e-01 -2.14005638e-03 2.36282594e+02] [ 5.16715084e-01 8.56156372e-01 -1.33730356e-03 6.50471196e+01] [ 2.52323013e-03 3.91379755e-05 9.99996816e-01 4.57050398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.33, Y:65.08, Z:0.46 [[ 8.57710368e-01 -5.14128726e-01 -2.13978165e-03 2.36333052e+02] [ 5.14126987e-01 8.57713035e-01 -1.33774300e-03 6.50782151e+01] [ 2.52309071e-03 4.72765493e-05 9.99996816e-01 4.58994223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.38, Y:65.11, Z:0.45 [[ 8.58323789e-01 -5.13103981e-01 -2.13955646e-03 2.36381648e+02] [ 5.13102239e-01 8.58326454e-01 -1.33810306e-03 6.51098044e+01] [ 2.52302392e-03 5.07144850e-05 9.99996816e-01 4.49487131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.43, Y:65.14, Z:0.45 [[ 8.57935419e-01 -5.13753091e-01 -2.13947017e-03 2.36429960e+02] [ 5.13751351e-01 8.57938086e-01 -1.33824101e-03 6.51427765e+01] [ 2.52305840e-03 4.89686762e-05 9.99996816e-01 4.50526294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:65.18, Z:0.46 [[ 8.56819145e-01 -5.15612622e-01 -2.13921018e-03 2.36477936e+02] [ 5.15610886e-01 8.56821815e-01 -1.33865649e-03 6.51773962e+01] [ 2.52315013e-03 4.39864495e-05 9.99996816e-01 4.55310458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.53, Y:65.21, Z:0.45 [[ 8.53885026e-01 -5.20457287e-01 -2.13898501e-03 2.36526646e+02] [ 5.20455565e-01 8.53887704e-01 -1.33901618e-03 6.52092238e+01] [ 2.52335373e-03 3.01192160e-05 9.99996816e-01 4.49322084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.58, Y:65.24, Z:0.45 [[ 8.51668584e-01 -5.24076377e-01 -2.13890509e-03 2.36576211e+02] [ 5.24074666e-01 8.51671269e-01 -1.33914382e-03 6.52410245e+01] [ 2.52345766e-03 1.95607493e-05 9.99996816e-01 4.52367350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:65.28, Z:0.45 [[ 8.49463310e-01 -5.27643356e-01 -2.13869866e-03 2.36623678e+02] [ 5.27641656e-01 8.49466002e-01 -1.33947343e-03 6.52754602e+01] [ 2.52351606e-03 9.36702477e-06 9.99996816e-01 4.53220622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92264 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:65.31, Z:0.46 [[ 8.48727202e-01 -5.28826591e-01 -2.13847435e-03 2.36672449e+02] [ 5.28824894e-01 8.48729896e-01 -1.33983145e-03 6.53091949e+01] [ 2.52352561e-03 6.27292536e-06 9.99996816e-01 4.61542369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:65.34, Z:0.46 [[ 8.47679279e-01 -5.30504729e-01 -2.13835819e-03 2.36720689e+02] [ 5.30503037e-01 8.47681976e-01 -1.34001680e-03 6.53413079e+01] [ 2.52353295e-03 1.49896101e-06 9.99996816e-01 4.55207158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.77, Y:65.37, Z:0.46 [[ 8.46414564e-01 -5.32520247e-01 -2.13828339e-03 2.36769881e+02] [ 5.32518560e-01 8.46417265e-01 -1.34013616e-03 6.53728777e+01] [ 2.52352962e-03 -4.36483151e-06 9.99996816e-01 4.59040394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.82, Y:65.40, Z:0.45 [[ 8.44372147e-01 -5.35752841e-01 -2.13799734e-03 2.36818893e+02] [ 5.35751164e-01 8.44374854e-01 -1.34059235e-03 6.54034053e+01] [ 2.52349735e-03 -1.34757209e-05 9.99996816e-01 4.51579558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.87, Y:65.44, Z:0.45 [[ 8.43192530e-01 -5.37607466e-01 -2.13790841e-03 2.36866872e+02] [ 5.37605794e-01 8.43195240e-01 -1.34073416e-03 6.54364285e+01] [ 2.52346289e-03 -1.88549257e-05 9.99996816e-01 4.51961817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.92, Y:65.47, Z:0.45 [[ 8.43522158e-01 -5.37090123e-01 -2.13764492e-03 2.36915044e+02] [ 5.37088449e-01 8.43524866e-01 -1.34115414e-03 6.54669241e+01] [ 2.52347728e-03 -1.68111580e-05 9.99996816e-01 4.49183505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:65.50, Z:0.45 [[ 8.44058810e-01 -5.36246358e-01 -2.13753189e-03 2.36962719e+02] [ 5.36244681e-01 8.44061516e-01 -1.34133426e-03 6.54992233e+01] [ 2.52349402e-03 -1.40751065e-05 9.99996816e-01 4.46280341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.01, Y:65.53, Z:0.45 [[ 8.44965727e-01 -5.34816184e-01 -2.13741745e-03 2.37011155e+02] [ 5.34814502e-01 8.44968431e-01 -1.34151660e-03 6.55318517e+01] [ 2.52351505e-03 -9.58629971e-06 9.99996816e-01 4.48698568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.06, Y:65.57, Z:0.45 [[ 8.44788273e-01 -5.35096444e-01 -2.13733896e-03 2.37058839e+02] [ 5.35094763e-01 8.44790977e-01 -1.34164164e-03 6.55657641e+01] [ 2.52351234e-03 -1.02757620e-05 9.99996816e-01 4.48969790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.11, Y:65.60, Z:0.45 [[ 8.44323038e-01 -5.35830235e-01 -2.13711540e-03 2.37108811e+02] [ 5.35828554e-01 8.44325742e-01 -1.34199764e-03 6.55970649e+01] [ 2.52350446e-03 -1.20479321e-05 9.99996816e-01 4.47373760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.16, Y:65.63, Z:0.45 [[ 8.44390548e-01 -5.35723844e-01 -2.13689216e-03 2.37157531e+02] [ 5.35722162e-01 8.44393252e-01 -1.34235302e-03 6.56308783e+01] [ 2.52350784e-03 -1.13102888e-05 9.99996816e-01 4.54201268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:65.67, Z:0.45 [[ 8.45429396e-01 -5.34082925e-01 -2.13667165e-03 2.37205107e+02] [ 5.34081237e-01 8.45432096e-01 -1.34270392e-03 6.56651403e+01] [ 2.52352603e-03 -5.99487326e-06 9.99996816e-01 4.50174838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.25, Y:65.70, Z:0.45 [[ 8.46387929e-01 -5.32562587e-01 -2.13662113e-03 2.37252131e+02] [ 5.32560894e-01 8.46390626e-01 -1.34278431e-03 6.57000206e+01] [ 2.52353278e-03 -1.36443332e-06 9.99996816e-01 4.52359669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.30, Y:65.73, Z:0.46 [[ 8.46566968e-01 -5.32277939e-01 -2.13636599e-03 2.37299890e+02] [ 5.32276244e-01 8.46569664e-01 -1.34319012e-03 6.57336519e+01] [ 2.52353311e-03 -3.64719695e-08 9.99996816e-01 4.55974516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:65.77, Z:0.45 [[ 8.45648655e-01 -5.33735692e-01 -2.13629664e-03 2.37348329e+02] [ 5.33734002e-01 8.45651353e-01 -1.34330042e-03 6.57681057e+01] [ 2.52352952e-03 -4.25396193e-06 9.99996816e-01 4.53737456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:65.80, Z:0.46 [[ 8.43049808e-01 -5.37831255e-01 -2.13608292e-03 2.37395933e+02] [ 5.37829577e-01 8.43052514e-01 -1.34364017e-03 6.58020840e+01] [ 2.52348176e-03 -1.60929817e-05 9.99996816e-01 4.62574956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.45, Y:65.83, Z:0.46 [[ 8.41176642e-01 -5.40756225e-01 -2.13585190e-03 2.37445655e+02] [ 5.40754556e-01 8.41179353e-01 -1.34400730e-03 6.58325414e+01] [ 2.52341484e-03 -2.44241041e-05 9.99996816e-01 4.57843839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.50, Y:65.86, Z:0.46 [[ 8.37904252e-01 -5.45813066e-01 -2.13578012e-03 2.37496341e+02] [ 5.45811412e-01 8.37906973e-01 -1.34412135e-03 6.58632612e+01] [ 2.52322406e-03 -3.94881684e-05 9.99996816e-01 4.57940896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.55, Y:65.89, Z:0.45 [[ 8.36681114e-01 -5.47686181e-01 -2.13554093e-03 2.37546351e+02] [ 5.47684533e-01 8.36683838e-01 -1.34450127e-03 6.58918219e+01] [ 2.52313735e-03 -4.46839145e-05 9.99996816e-01 4.53779183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.60, Y:65.92, Z:0.46 [[ 8.36673960e-01 -5.47697110e-01 -2.13545935e-03 2.37598049e+02] [ 5.47695462e-01 8.36676684e-01 -1.34463083e-03 6.59211356e+01] [ 2.52313947e-03 -4.45637909e-05 9.99996816e-01 4.58059672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.65, Y:65.95, Z:0.46 [[ 8.38847197e-01 -5.44362766e-01 -2.13528503e-03 2.37650072e+02] [ 5.44361105e-01 8.38849914e-01 -1.34490760e-03 6.59494518e+01] [ 2.52330129e-03 -3.41941480e-05 9.99996816e-01 4.55220986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.70, Y:65.98, Z:0.45 [[ 8.40440664e-01 -5.41899374e-01 -2.13521256e-03 2.37701515e+02] [ 5.41897705e-01 8.40443376e-01 -1.34502266e-03 6.59784553e+01] [ 2.52339218e-03 -2.66550502e-05 9.99996816e-01 4.52824841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:66.01, Z:0.45 [[ 8.44310525e-01 -5.35849959e-01 -2.13498439e-03 2.37752632e+02] [ 5.35848270e-01 8.44313225e-01 -1.34538473e-03 6.60061064e+01] [ 2.52351991e-03 -8.10520930e-06 9.99996816e-01 4.51424329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.80, Y:66.03, Z:0.45 [[ 8.47495248e-01 -5.30798688e-01 -2.13490490e-03 2.37804019e+02] [ 5.30796982e-01 8.47497937e-01 -1.34551086e-03 6.60336444e+01] [ 2.52352290e-03 7.11298444e-06 9.99996816e-01 4.52096471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.86, Y:66.06, Z:0.46 [[ 8.49744508e-01 -5.27190397e-01 -2.13465490e-03 2.37855059e+02] [ 5.27188679e-01 8.49747189e-01 -1.34590736e-03 6.60625943e+01] [ 2.52346644e-03 1.83114918e-05 9.99996816e-01 4.55222069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42264 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:237.91, Y:66.09, Z:0.45 [[ 8.51924119e-01 -5.23660901e-01 -2.13453382e-03 2.37906602e+02] [ 5.23659172e-01 8.51926793e-01 -1.34609936e-03 6.60922791e+01] [ 2.52336616e-03 2.90062951e-05 9.99996816e-01 4.53500780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.96, Y:66.12, Z:0.45 [[ 8.53415833e-01 -5.21226304e-01 -2.13432263e-03 2.37957824e+02] [ 5.21224567e-01 8.53418501e-01 -1.34643414e-03 6.61205615e+01] [ 2.52326731e-03 3.66068285e-05 9.99996816e-01 4.54131358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.01, Y:66.15, Z:0.45 [[ 8.54289921e-01 -5.19792437e-01 -2.13408770e-03 2.38006773e+02] [ 5.19790694e-01 8.54292585e-01 -1.34680639e-03 6.61506085e+01] [ 2.52319508e-03 4.12842012e-05 9.99996816e-01 4.51691971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.05, Y:66.18, Z:0.45 [[ 8.54350796e-01 -5.19692375e-01 -2.13390615e-03 2.38054600e+02] [ 5.19690631e-01 8.54353459e-01 -1.34709398e-03 6.61822033e+01] [ 2.52318457e-03 4.19197820e-05 9.99996816e-01 4.51426822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66263999999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:238.10, Y:66.21, Z:0.45 [[ 8.53036609e-01 -5.21846712e-01 -2.13382142e-03 2.38104989e+02] [ 5.21844974e-01 8.53039277e-01 -1.34722818e-03 6.62101174e+01] [ 2.52328008e-03 3.57109764e-05 9.99996816e-01 4.53007755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.15, Y:66.24, Z:0.45 [[ 8.51810664e-01 -5.23845435e-01 -2.13365403e-03 2.38153905e+02] [ 5.23843703e-01 8.51813336e-01 -1.34749324e-03 6.62420227e+01] [ 2.52335314e-03 3.01078840e-05 9.99996816e-01 4.53658288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.20, Y:66.27, Z:0.45 [[ 8.49853003e-01 -5.27015484e-01 -2.13356963e-03 2.38203929e+02] [ 5.27013762e-01 8.49855681e-01 -1.34762686e-03 6.62711939e+01] [ 2.52344649e-03 2.08641764e-05 9.99996816e-01 4.50214371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.25, Y:66.30, Z:0.45 [[ 8.48182258e-01 -5.29700203e-01 -2.13348608e-03 2.38253057e+02] [ 5.29698489e-01 8.48184941e-01 -1.34775912e-03 6.63044984e+01] [ 2.52349904e-03 1.30410217e-05 9.99996816e-01 4.51235728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.30, Y:66.34, Z:0.45 [[ 8.47228502e-01 -5.31224354e-01 -2.13336266e-03 2.38302140e+02] [ 5.31222644e-01 8.47231188e-01 -1.34795444e-03 6.63354997e+01] [ 2.52351761e-03 8.73486783e-06 9.99996816e-01 4.49533518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.35, Y:66.36, Z:0.45 [[ 8.46479377e-01 -5.32417236e-01 -2.13324213e-03 2.38352899e+02] [ 5.32415529e-01 8.46482065e-01 -1.34814517e-03 6.63634900e+01] [ 2.52352693e-03 5.40585007e-06 9.99996816e-01 4.52348536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:66.40, Z:0.45 [[ 8.45107710e-01 -5.34591814e-01 -2.13316242e-03 2.38401600e+02] [ 5.34590114e-01 8.45110403e-01 -1.34827128e-03 6.63959714e+01] [ 2.52353254e-03 -9.33082003e-07 9.99996816e-01 4.53354362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.45, Y:66.43, Z:0.45 [[ 8.44627797e-01 -5.35349731e-01 -2.13292862e-03 2.38450454e+02] [ 5.35348032e-01 8.44630491e-01 -1.34864105e-03 6.64260856e+01] [ 2.52353117e-03 -2.75942155e-06 9.99996816e-01 4.54291564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.50, Y:66.46, Z:0.46 [[ 8.44353782e-01 -5.35781804e-01 -2.13278474e-03 2.38499675e+02] [ 5.35780106e-01 8.44356476e-01 -1.34886854e-03 6.64581901e+01] [ 2.52352983e-03 -3.78137832e-06 9.99996816e-01 4.64272438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.55, Y:66.49, Z:0.46 [[ 8.43870933e-01 -5.36541985e-01 -2.13254994e-03 2.38548851e+02] [ 5.36540288e-01 8.43873627e-01 -1.34923966e-03 6.64884000e+01] [ 2.52352638e-03 -5.61483524e-06 9.99996816e-01 4.62164233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.60, Y:66.52, Z:0.46 [[ 8.43244151e-01 -5.37526516e-01 -2.13245968e-03 2.38598397e+02] [ 5.37524822e-01 8.43246847e-01 -1.34938230e-03 6.65199555e+01] [ 2.52351867e-03 -8.39127944e-06 9.99996816e-01 4.62080396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.65, Y:66.55, Z:0.46 [[ 8.42198805e-01 -5.39162895e-01 -2.13220947e-03 2.38647856e+02] [ 5.39161205e-01 8.42201504e-01 -1.34977755e-03 6.65497724e+01] [ 2.52349999e-03 -1.28235886e-05 9.99996816e-01 4.61449807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.70, Y:66.58, Z:0.46 [[ 8.42020941e-01 -5.39440626e-01 -2.13212056e-03 2.38699673e+02] [ 5.39438937e-01 8.42023641e-01 -1.34991797e-03 6.65785364e+01] [ 2.52349651e-03 -1.34896464e-05 9.99996816e-01 4.63384315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:66.61, Z:0.46 [[ 8.42589722e-01 -5.38551776e-01 -2.13188729e-03 2.38750571e+02] [ 5.38550084e-01 8.42592419e-01 -1.35028627e-03 6.66068339e+01] [ 2.52351114e-03 -1.03907418e-05 9.99996816e-01 4.56068617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.80, Y:66.63, Z:0.46 [[ 8.42778674e-01 -5.38256038e-01 -2.13179926e-03 2.38800429e+02] [ 5.38254344e-01 8.42781370e-01 -1.35042524e-03 6.66344503e+01] [ 2.52351524e-03 -9.34062526e-06 9.99996816e-01 4.57427082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:66.66, Z:0.46 [[ 8.42804467e-01 -5.38215651e-01 -2.13162437e-03 2.38850656e+02] [ 5.38213956e-01 8.42807162e-01 -1.35070124e-03 6.66634892e+01] [ 2.52351684e-03 -8.89294572e-06 9.99996816e-01 4.56975539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.90, Y:66.69, Z:0.45 [[ 8.43710423e-01 -5.36794355e-01 -2.13136986e-03 2.38904400e+02] [ 5.36792655e-01 8.43713115e-01 -1.35110274e-03 6.66896277e+01] [ 2.52352902e-03 -4.16422413e-06 9.99996816e-01 4.54399779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:66.72, Z:0.46 [[ 8.46445159e-01 -5.32471643e-01 -2.13125107e-03 2.38954448e+02] [ 5.32469929e-01 8.46447842e-01 -1.35129009e-03 6.67201070e+01] [ 2.52351652e-03 8.96584377e-06 9.99996816e-01 4.60482657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.01, Y:66.75, Z:0.46 [[ 8.48268590e-01 -5.29561948e-01 -2.13111730e-03 2.39005390e+02] [ 5.29560224e-01 8.48271267e-01 -1.35150103e-03 6.67501751e+01] [ 2.52346909e-03 1.78809242e-05 9.99996816e-01 4.60175296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.06, Y:66.78, Z:0.45 [[ 8.50666024e-01 -5.25702174e-01 -2.13090015e-03 2.39055318e+02] [ 5.25700437e-01 8.50668692e-01 -1.35184331e-03 6.67796941e+01] [ 2.52335701e-03 2.97520372e-05 9.99996816e-01 4.53260340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.10, Y:66.81, Z:0.46 [[ 8.51397069e-01 -5.24517389e-01 -2.13081129e-03 2.39104769e+02] [ 5.24515647e-01 8.51399734e-01 -1.35198337e-03 6.68108326e+01] [ 2.52331095e-03 3.34308165e-05 9.99996816e-01 4.59244722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.15, Y:66.84, Z:0.46 [[ 8.52200622e-01 -5.23210819e-01 -2.13056430e-03 2.39152416e+02] [ 5.23209073e-01 8.52203284e-01 -1.35237248e-03 6.68432980e+01] [ 2.52324981e-03 3.77620937e-05 9.99996816e-01 4.61252334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.20, Y:66.87, Z:0.46 [[ 8.52371163e-01 -5.22932941e-01 -2.13047629e-03 2.39201867e+02] [ 5.22931194e-01 8.52373825e-01 -1.35251112e-03 6.68746941e+01] [ 2.52323484e-03 3.87489676e-05 9.99996816e-01 4.60125506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.25, Y:66.91, Z:0.46 [[ 8.52990253e-01 -5.21922495e-01 -2.13024384e-03 2.39249283e+02] [ 5.21920743e-01 8.52992912e-01 -1.35287713e-03 6.69071618e+01] [ 2.52317990e-03 4.21725521e-05 9.99996816e-01 4.55845293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.30, Y:66.94, Z:0.46 [[ 8.53245995e-01 -5.21504300e-01 -2.13016256e-03 2.39296184e+02] [ 5.21502547e-01 8.53248653e-01 -1.35300510e-03 6.69423774e+01] [ 2.52315631e-03 4.35609806e-05 9.99996816e-01 4.60535630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.35, Y:66.97, Z:0.46 [[ 8.53330540e-01 -5.21365949e-01 -2.12992849e-03 2.39345064e+02] [ 5.21364195e-01 8.53333197e-01 -1.35337347e-03 6.69738050e+01] [ 2.52314153e-03 4.44064580e-05 9.99996816e-01 4.57657055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:67.01, Z:0.46 [[ 8.53261934e-01 -5.21478221e-01 -2.12980531e-03 2.39393850e+02] [ 5.21476467e-01 8.53264591e-01 -1.35356730e-03 6.70075384e+01] [ 2.52314332e-03 4.43041049e-05 9.99996816e-01 4.56683776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.44, Y:67.04, Z:0.46 [[ 8.52563214e-01 -5.22619776e-01 -2.12959179e-03 2.39440216e+02] [ 5.22618024e-01 8.52565873e-01 -1.35390315e-03 6.70435162e+01] [ 2.52319384e-03 4.13249698e-05 9.99996816e-01 4.59936551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.49, Y:67.08, Z:0.46 [[ 8.51077152e-01 -5.25036329e-01 -2.12937456e-03 2.39486816e+02] [ 5.25034584e-01 8.51079815e-01 -1.35424472e-03 6.70778800e+01] [ 2.52329538e-03 3.45714511e-05 9.99996816e-01 4.59982236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.54, Y:67.11, Z:0.46 [[ 8.49745889e-01 -5.27188194e-01 -2.12910284e-03 2.39535757e+02] [ 5.27186454e-01 8.49748556e-01 -1.35467176e-03 6.71087086e+01] [ 2.52336903e-03 2.86925810e-05 9.99996816e-01 4.57044271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:67.14, Z:0.45 [[ 8.48565291e-01 -5.29086396e-01 -2.12902062e-03 2.39584260e+02] [ 5.29084662e-01 8.48567961e-01 -1.35480097e-03 6.71423662e+01] [ 2.52342545e-03 2.32049204e-05 9.99996816e-01 4.53686804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:67.18, Z:0.46 [[ 8.48558806e-01 -5.29096797e-01 -2.12879661e-03 2.39633002e+02] [ 5.29095063e-01 8.48561476e-01 -1.35515287e-03 6.71752018e+01] [ 2.52342184e-03 2.35911255e-05 9.99996816e-01 4.56328984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:67.21, Z:0.45 [[ 8.49073924e-01 -5.28269761e-01 -2.12855862e-03 2.39679604e+02] [ 5.28268023e-01 8.49076592e-01 -1.35552659e-03 6.72091173e+01] [ 2.52339300e-03 2.64928288e-05 9.99996816e-01 4.54593376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.73, Y:67.24, Z:0.45 [[ 8.50207148e-01 -5.26443990e-01 -2.12847436e-03 2.39728403e+02] [ 5.26442246e-01 8.50209812e-01 -1.35565887e-03 6.72412340e+01] [ 2.52332825e-03 3.20720350e-05 9.99996816e-01 4.53564545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.77, Y:67.28, Z:0.46 [[ 8.51313293e-01 -5.24653360e-01 -2.12821781e-03 2.39773528e+02] [ 5.24651609e-01 8.51315952e-01 -1.35606151e-03 6.72775859e+01] [ 2.52324800e-03 3.78602930e-05 9.99996816e-01 4.56582720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:239.82, Y:67.31, Z:0.46 [[ 8.52556574e-01 -5.22630615e-01 -2.12794938e-03 2.39821457e+02] [ 5.22628857e-01 8.52559229e-01 -1.35648261e-03 6.73126813e+01] [ 2.52314222e-03 4.43504141e-05 9.99996816e-01 4.62653183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.87, Y:67.35, Z:0.46 [[ 8.52716500e-01 -5.22369643e-01 -2.12772478e-03 2.39869389e+02] [ 5.22367883e-01 8.52719153e-01 -1.35683481e-03 6.73465169e+01] [ 2.52312099e-03 4.55403443e-05 9.99996816e-01 4.58167607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.91, Y:67.38, Z:0.46 [[ 8.53409037e-01 -5.21237458e-01 -2.12767363e-03 2.39914308e+02] [ 5.21235694e-01 8.53411688e-01 -1.35691501e-03 6.73841698e+01] [ 2.52305648e-03 4.89840951e-05 9.99996816e-01 4.58608820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:67.42, Z:0.47 [[ 8.53284802e-01 -5.21440812e-01 -2.12759183e-03 2.39960456e+02] [ 5.21439048e-01 8.53287453e-01 -1.35704327e-03 6.74213136e+01] [ 2.52306515e-03 4.85349376e-05 9.99996816e-01 4.68550088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.01, Y:67.46, Z:0.46 [[ 8.52632906e-01 -5.22506078e-01 -2.12752077e-03 2.40006328e+02] [ 5.22504318e-01 8.52635559e-01 -1.35715465e-03 6.74576556e+01] [ 2.52312142e-03 4.55159198e-05 9.99996816e-01 4.60336760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:67.49, Z:0.46 [[ 8.51491500e-01 -5.24364090e-01 -2.12745053e-03 2.40051172e+02] [ 5.24362335e-01 8.51494157e-01 -1.35726475e-03 6.74943027e+01] [ 2.52321259e-03 4.01444656e-05 9.99996816e-01 4.62067273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:67.53, Z:0.47 [[ 8.50190611e-01 -5.26470702e-01 -2.12718573e-03 2.40098146e+02] [ 5.26468953e-01 8.50193271e-01 -1.35767963e-03 6.75303905e+01] [ 2.52329755e-03 3.43892328e-05 9.99996816e-01 4.68536255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.15, Y:67.57, Z:0.47 [[ 8.46167106e-01 -5.32913412e-01 -2.12695552e-03 2.40145455e+02] [ 5.32911682e-01 8.46169779e-01 -1.35804018e-03 6.75655938e+01] [ 2.52348331e-03 1.56494864e-05 9.99996816e-01 4.66648104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.19, Y:67.60, Z:0.46 [[ 8.42999754e-01 -5.37909744e-01 -2.12670430e-03 2.40193267e+02] [ 5.37908028e-01 8.43002436e-01 -1.35843349e-03 6.75997642e+01] [ 2.52353152e-03 1.18777793e-06 9.99996816e-01 4.62005460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.24, Y:67.63, Z:0.46 [[ 8.40038969e-01 -5.42521896e-01 -2.12662118e-03 2.40241736e+02] [ 5.42520195e-01 8.40041661e-01 -1.35856360e-03 6.76340897e+01] [ 2.52350089e-03 -1.24885773e-05 9.99996816e-01 4.60891321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:67.67, Z:0.46 [[ 8.40372346e-01 -5.42005349e-01 -2.12640176e-03 2.40288448e+02] [ 5.42003646e-01 8.40375036e-01 -1.35890695e-03 6.76678361e+01] [ 2.52350979e-03 -1.05296832e-05 9.99996816e-01 4.60973668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:67.70, Z:0.46 [[ 8.41750459e-01 -5.39862616e-01 -2.12627644e-03 2.40336645e+02] [ 5.39860905e-01 8.41753144e-01 -1.35910301e-03 6.76993344e+01] [ 2.52352878e-03 -3.86794042e-06 9.99996816e-01 4.59544055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.38, Y:67.73, Z:0.46 [[ 8.43548009e-01 -5.37049567e-01 -2.12601260e-03 2.40384890e+02] [ 5.37047846e-01 8.43550688e-01 -1.35951561e-03 6.77330786e+01] [ 2.52352665e-03 5.04619576e-06 9.99996816e-01 4.64802696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.43, Y:67.77, Z:0.47 [[ 8.44875398e-01 -5.34958916e-01 -2.12594757e-03 2.40433389e+02] [ 5.34957188e-01 8.44878073e-01 -1.35961729e-03 6.77655540e+01] [ 2.52350587e-03 1.14162670e-05 9.99996816e-01 4.66307123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:67.80, Z:0.46 [[ 8.46314628e-01 -5.32679106e-01 -2.12588043e-03 2.40483249e+02] [ 5.32677371e-01 8.46317298e-01 -1.35972226e-03 6.77973275e+01] [ 2.52346502e-03 1.83444363e-05 9.99996816e-01 4.60466205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66263999999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:240.53, Y:67.83, Z:0.46 [[ 8.47441217e-01 -5.30884983e-01 -2.12565814e-03 2.40532436e+02] [ 5.30883242e-01 8.47443882e-01 -1.36006967e-03 6.78278928e+01] [ 2.52341655e-03 2.41028143e-05 9.99996816e-01 4.59317570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.58, Y:67.86, Z:0.47 [[ 8.48259745e-01 -5.29576140e-01 -2.12557271e-03 2.40581201e+02] [ 5.29574394e-01 8.48262407e-01 -1.36020317e-03 6.78614930e+01] [ 2.52337457e-03 2.81567189e-05 9.99996816e-01 4.68334889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78263999999996 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:240.63, Y:67.90, Z:0.45 [[ 8.49342075e-01 -5.27838538e-01 -2.12533995e-03 2.40627741e+02] [ 5.27836786e-01 8.49344734e-01 -1.36056677e-03 6.78956326e+01] [ 2.52330587e-03 3.37539930e-05 9.99996816e-01 4.54366539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.68, Y:67.93, Z:0.46 [[ 8.50229181e-01 -5.26408418e-01 -2.12525084e-03 2.40676731e+02] [ 5.26406661e-01 8.50231837e-01 -1.36070594e-03 6.79277298e+01] [ 2.52324299e-03 3.81656989e-05 9.99996816e-01 4.56677713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.72, Y:67.96, Z:0.46 [[ 8.50550693e-01 -5.25888775e-01 -2.12502200e-03 2.40724081e+02] [ 5.25887015e-01 8.50553346e-01 -1.36106323e-03 6.79617141e+01] [ 2.52321245e-03 4.01318023e-05 9.99996816e-01 4.57226012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.77, Y:68.00, Z:0.46 [[ 8.50450521e-01 -5.26050754e-01 -2.12494138e-03 2.40771977e+02] [ 5.26048995e-01 8.50453175e-01 -1.36118909e-03 6.79951862e+01] [ 2.52321769e-03 3.98006925e-05 9.99996816e-01 4.59423633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.82, Y:68.03, Z:0.46 [[ 8.49493644e-01 -5.27594574e-01 -2.12471129e-03 2.40820496e+02] [ 5.27592818e-01 8.49496301e-01 -1.36154814e-03 6.80265412e+01] [ 2.52327979e-03 3.56440742e-05 9.99996816e-01 4.59596764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:68.06, Z:0.46 [[ 8.47968233e-01 -5.30042792e-01 -2.12463013e-03 2.40869059e+02] [ 5.30041044e-01 8.47970894e-01 -1.36167478e-03 6.80601398e+01] [ 2.52337041e-03 2.85157826e-05 9.99996816e-01 4.63084274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14264 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:240.92, Y:68.09, Z:0.47 [[ 8.46671194e-01 -5.32112183e-01 -2.12439775e-03 2.40917884e+02] [ 5.32110441e-01 8.46673859e-01 -1.36203723e-03 6.80923738e+01] [ 2.52342864e-03 2.27834704e-05 9.99996816e-01 4.66568759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:240.97, Y:68.12, Z:0.47 [[ 8.44828840e-01 -5.35032446e-01 -2.12417241e-03 2.40967923e+02] [ 5.35030712e-01 8.44831510e-01 -1.36238856e-03 6.81213280e+01] [ 2.52348987e-03 1.44876695e-05 9.99996816e-01 4.65249389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.02, Y:68.15, Z:0.46 [[ 8.44296063e-01 -5.35872789e-01 -2.12408623e-03 2.41016626e+02] [ 5.35871057e-01 8.44298735e-01 -1.36252292e-03 6.81517875e+01] [ 2.52350227e-03 1.21364075e-05 9.99996816e-01 4.64083830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.07, Y:68.18, Z:0.47 [[ 8.44557207e-01 -5.35461121e-01 -2.12400157e-03 2.41065774e+02] [ 5.35459387e-01 8.44559878e-01 -1.36265488e-03 6.81836895e+01] [ 2.52349522e-03 1.35234268e-05 9.99996816e-01 4.66302066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.11, Y:68.22, Z:0.46 [[ 8.46490133e-01 -5.32400173e-01 -2.12376222e-03 2.41113788e+02] [ 5.32398428e-01 8.46492797e-01 -1.36302782e-03 6.82152464e+01] [ 2.52342567e-03 2.31019352e-05 9.99996816e-01 4.62230120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:68.25, Z:0.46 [[ 8.47106748e-01 -5.31418524e-01 -2.12365937e-03 2.41162733e+02] [ 5.31416776e-01 8.47109410e-01 -1.36318804e-03 6.82469832e+01] [ 2.52339521e-03 2.62175672e-05 9.99996816e-01 4.63214325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:241.21, Y:68.28, Z:0.46 [[ 8.47039417e-01 -5.31525838e-01 -2.12342980e-03 2.41211288e+02] [ 5.31524090e-01 8.47042079e-01 -1.36354555e-03 6.82793798e+01] [ 2.52339408e-03 2.63227427e-05 9.99996816e-01 4.64742724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:68.31, Z:0.46 [[ 8.46648148e-01 -5.32148856e-01 -2.12321084e-03 2.41260904e+02] [ 5.32147109e-01 8.46650810e-01 -1.36388640e-03 6.83092597e+01] [ 2.52340877e-03 2.48713832e-05 9.99996816e-01 4.61875005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:241.31, Y:68.34, Z:0.47 [[ 8.45902982e-01 -5.33332576e-01 -2.12312668e-03 2.41310224e+02] [ 5.33330832e-01 8.45905647e-01 -1.36401740e-03 6.83409563e+01] [ 2.52343976e-03 2.14974652e-05 9.99996816e-01 4.66686824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.36, Y:68.37, Z:0.47 [[ 8.45488898e-01 -5.33988780e-01 -2.12289112e-03 2.41359117e+02] [ 5.33987037e-01 8.45491563e-01 -1.36438392e-03 6.83718303e+01] [ 2.52345224e-03 1.99751154e-05 9.99996816e-01 4.67935107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:241.41, Y:68.40, Z:0.46 [[ 8.46323093e-01 -5.32665670e-01 -2.12276995e-03 2.41408564e+02] [ 5.32663923e-01 8.46325755e-01 -1.36457242e-03 6.84036981e+01] [ 2.52341576e-03 2.41461831e-05 9.99996816e-01 4.60768881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.46, Y:68.44, Z:0.46 [[ 8.48090639e-01 -5.29846924e-01 -2.12255264e-03 2.41457725e+02] [ 5.29845167e-01 8.48093295e-01 -1.36491035e-03 6.84352431e+01] [ 2.52331621e-03 3.29434288e-05 9.99996816e-01 4.63592745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.50, Y:68.47, Z:0.47 [[ 8.51626599e-01 -5.24144666e-01 -2.12231862e-03 2.41504638e+02] [ 5.24142891e-01 8.51629242e-01 -1.36527414e-03 6.84704818e+01] [ 2.52302976e-03 5.03055575e-05 9.99996816e-01 4.65335377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.55, Y:68.50, Z:0.47 [[ 8.53144629e-01 -5.21670144e-01 -2.12210368e-03 2.41553370e+02] [ 5.21668360e-01 8.53147266e-01 -1.36560814e-03 6.85034776e+01] [ 2.52286395e-03 5.80269061e-05 9.99996816e-01 4.69754720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.60, Y:68.54, Z:0.47 [[ 8.53882335e-01 -5.20461771e-01 -2.12203642e-03 2.41601000e+02] [ 5.20459983e-01 8.53884970e-01 -1.36571265e-03 6.85369109e+01] [ 2.52277623e-03 6.17228655e-05 9.99996816e-01 4.68596982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.65, Y:68.57, Z:0.47 [[ 8.52814362e-01 -5.22209882e-01 -2.12194476e-03 2.41646953e+02] [ 5.22208099e-01 8.52817000e-01 -1.36585505e-03 6.85710606e+01] [ 2.52289357e-03 5.67240615e-05 9.99996816e-01 4.66419462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.70, Y:68.60, Z:0.47 [[ 8.51584067e-01 -5.24213768e-01 -2.12185113e-03 2.41695273e+02] [ 5.24211991e-01 8.51586709e-01 -1.36600049e-03 6.86041194e+01] [ 2.52301649e-03 5.09644495e-05 9.99996816e-01 4.67133439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.74, Y:68.64, Z:0.47 [[ 8.49422972e-01 -5.27708360e-01 -2.12162465e-03 2.41743520e+02] [ 5.27706593e-01 8.49425621e-01 -1.36635216e-03 6.86385746e+01] [ 2.52319779e-03 4.10155969e-05 9.99996816e-01 4.66150006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.79, Y:68.67, Z:0.46 [[ 8.47802585e-01 -5.30307719e-01 -2.12139165e-03 2.41789598e+02] [ 5.30305959e-01 8.47805238e-01 -1.36671382e-03 6.86744556e+01] [ 2.52330584e-03 3.37168781e-05 9.99996816e-01 4.64702798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.84, Y:68.71, Z:0.46 [[ 8.47013442e-01 -5.31567239e-01 -2.12112440e-03 2.41836901e+02] [ 5.31565482e-01 8.47016097e-01 -1.36712847e-03 6.87077980e+01] [ 2.52334722e-03 3.04596811e-05 9.99996816e-01 4.61402871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.89, Y:68.74, Z:0.46 [[ 8.44986947e-01 -5.34782723e-01 -2.12100186e-03 2.41885650e+02] [ 5.34780976e-01 8.44989608e-01 -1.36731855e-03 6.87408596e+01] [ 2.52344287e-03 2.10948797e-05 9.99996816e-01 4.62545094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40263999999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:68.77, Z:0.47 [[ 8.43381661e-01 -5.37310782e-01 -2.12077649e-03 2.41934016e+02] [ 5.37309042e-01 8.43384327e-01 -1.36766802e-03 6.87749907e+01] [ 2.52349243e-03 1.39537428e-05 9.99996816e-01 4.66542215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:68.81, Z:0.47 [[ 8.42125101e-01 -5.39278052e-01 -2.12055052e-03 2.41984035e+02] [ 5.39276317e-01 8.42127771e-01 -1.36801830e-03 6.88057323e+01] [ 2.52351672e-03 8.47987163e-06 9.99996816e-01 4.68248229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:68.84, Z:0.47 [[ 8.41484814e-01 -5.40276608e-01 -2.12032171e-03 2.42033205e+02] [ 5.40274875e-01 8.41487485e-01 -1.36837285e-03 6.88376872e+01] [ 2.52352402e-03 5.90842669e-06 9.99996816e-01 4.66064811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58263999999997 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:68.87, Z:0.46 [[ 8.41740196e-01 -5.39878642e-01 -2.12009384e-03 2.42083061e+02] [ 5.39876907e-01 8.41742866e-01 -1.36872580e-03 6.88679662e+01] [ 2.52351969e-03 7.52182364e-06 9.99996816e-01 4.63062556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.13, Y:68.90, Z:0.46 [[ 8.42942293e-01 -5.37999811e-01 -2.11986914e-03 2.42132756e+02] [ 5.37998069e-01 8.42944958e-01 -1.36907372e-03 6.88984740e+01] [ 2.52349441e-03 1.35646325e-05 9.99996816e-01 4.63534936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.18, Y:68.93, Z:0.47 [[ 8.44418617e-01 -5.35679668e-01 -2.11961541e-03 2.42182858e+02] [ 5.35677917e-01 8.44421277e-01 -1.36946645e-03 6.89296218e+01] [ 2.52344368e-03 2.09717952e-05 9.99996816e-01 4.71879148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:68.96, Z:0.47 [[ 8.46446033e-01 -5.32470300e-01 -2.11938715e-03 2.42231691e+02] [ 5.32468539e-01 8.46448686e-01 -1.36981961e-03 6.89621911e+01] [ 2.52334072e-03 3.09713947e-05 9.99996816e-01 4.70167142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:68.99, Z:0.47 [[ 8.47628973e-01 -5.30585180e-01 -2.11915495e-03 2.42281956e+02] [ 5.30583413e-01 8.47631621e-01 -1.37017873e-03 6.89936638e+01] [ 2.52325927e-03 3.70147207e-05 9.99996816e-01 4.67300512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:69.03, Z:0.48 [[ 8.50603996e-01 -5.25802579e-01 -2.11893904e-03 2.42329954e+02] [ 5.25800796e-01 8.50606634e-01 -1.37051254e-03 6.90284549e+01] [ 2.52300264e-03 5.16236097e-05 9.99996816e-01 4.78526681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:69.06, Z:0.47 [[ 8.52152078e-01 -5.23289927e-01 -2.11877030e-03 2.42376992e+02] [ 5.23288135e-01 8.52154709e-01 -1.37077337e-03 6.90625910e+01] [ 2.52283198e-03 5.93800135e-05 9.99996816e-01 4.69733761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:69.10, Z:0.47 [[ 8.51786607e-01 -5.23884612e-01 -2.11869968e-03 2.42425175e+02] [ 5.23882821e-01 8.51789240e-01 -1.37088251e-03 6.90960921e+01] [ 2.52286984e-03 5.77489921e-05 9.99996816e-01 4.67875625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.47, Y:69.13, Z:0.47 [[ 8.48370092e-01 -5.29399376e-01 -2.11847484e-03 2.42474359e+02] [ 5.29397601e-01 8.48372736e-01 -1.37122988e-03 6.91267868e+01] [ 2.52318454e-03 4.17949235e-05 9.99996816e-01 4.68672803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.52, Y:69.16, Z:0.47 [[ 8.45547991e-01 -5.33895222e-01 -2.11821428e-03 2.42521868e+02] [ 5.33893461e-01 8.45550643e-01 -1.37163225e-03 6.91598812e+01] [ 2.52336536e-03 2.88801370e-05 9.99996816e-01 4.66127846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.57, Y:69.19, Z:0.47 [[ 8.41939971e-01 -5.39567048e-01 -2.11809540e-03 2.42572740e+02] [ 5.39565304e-01 8.41942635e-01 -1.37181581e-03 6.91897447e+01] [ 2.52350143e-03 1.21357689e-05 9.99996816e-01 4.66738275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.62, Y:69.22, Z:0.47 [[ 8.40983896e-01 -5.41056005e-01 -2.11786019e-03 2.42621776e+02] [ 5.41054265e-01 8.40986563e-01 -1.37217884e-03 6.92204726e+01] [ 2.52351756e-03 8.10301378e-06 9.99996816e-01 4.67187140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:69.25, Z:0.47 [[ 8.41433944e-01 -5.40355840e-01 -2.11759128e-03 2.42669089e+02] [ 5.40354097e-01 8.41436609e-01 -1.37259371e-03 6.92533193e+01] [ 2.52350785e-03 1.06978197e-05 9.99996816e-01 4.69431251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.72, Y:69.29, Z:0.48 [[ 8.42662439e-01 -5.38438047e-01 -2.11732115e-03 2.42717972e+02] [ 5.38436296e-01 8.42665099e-01 -1.37301027e-03 6.92863470e+01] [ 2.52347361e-03 1.69416233e-05 9.99996816e-01 4.77951677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.77, Y:69.32, Z:0.47 [[ 8.42964716e-01 -5.37964688e-01 -2.11706983e-03 2.42767666e+02] [ 5.37962935e-01 8.42967374e-01 -1.37339768e-03 6.93160935e+01] [ 2.52346025e-03 1.88206909e-05 9.99996816e-01 4.74748599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:242.82, Y:69.35, Z:0.47 [[ 8.43824806e-01 -5.36614587e-01 -2.11698033e-03 2.42816171e+02] [ 5.36612829e-01 8.43827462e-01 -1.37353563e-03 6.93481894e+01] [ 2.52342539e-03 2.30246317e-05 9.99996816e-01 4.69021299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.87, Y:69.38, Z:0.46 [[ 8.43755967e-01 -5.36722821e-01 -2.11689552e-03 2.42866001e+02] [ 5.36721064e-01 8.43758622e-01 -1.37366632e-03 6.93784397e+01] [ 2.52342691e-03 2.28567438e-05 9.99996816e-01 4.63440850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:69.41, Z:0.47 [[ 8.43925352e-01 -5.36456448e-01 -2.11666361e-03 2.42916253e+02] [ 5.36454689e-01 8.43928006e-01 -1.37402358e-03 6.94093885e+01] [ 2.52341550e-03 2.40792150e-05 9.99996816e-01 4.68029521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.97, Y:69.44, Z:0.47 [[ 8.44371080e-01 -5.35754607e-01 -2.11653585e-03 2.42966532e+02] [ 5.35752845e-01 8.44373733e-01 -1.37422035e-03 6.94401125e+01] [ 2.52339216e-03 2.64118198e-05 9.99996816e-01 4.67251544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:69.47, Z:0.47 [[ 8.45548759e-01 -5.33894013e-01 -2.11629523e-03 2.43016573e+02] [ 5.33892245e-01 8.45551407e-01 -1.37459079e-03 6.94709142e+01] [ 2.52332221e-03 3.24099261e-05 9.99996816e-01 4.71451933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.07, Y:69.50, Z:0.47 [[ 8.46789430e-01 -5.31924039e-01 -2.11605631e-03 2.43065798e+02] [ 5.31922263e-01 8.46792073e-01 -1.37495850e-03 6.95027899e+01] [ 2.52323319e-03 3.87228652e-05 9.99996816e-01 4.70273848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:69.54, Z:0.46 [[ 8.48987808e-01 -5.28408199e-01 -2.11581829e-03 2.43113283e+02] [ 5.28406412e-01 8.48990443e-01 -1.37532466e-03 6.95358963e+01] [ 2.52304234e-03 4.96219160e-05 9.99996816e-01 4.64439287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.16, Y:69.57, Z:0.47 [[ 8.49875929e-01 -5.26978584e-01 -2.11573435e-03 2.43161584e+02] [ 5.26976792e-01 8.49878561e-01 -1.37545378e-03 6.95692285e+01] [ 2.52295195e-03 5.40221581e-05 9.99996816e-01 4.67687311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:69.60, Z:0.47 [[ 8.50289371e-01 -5.26311229e-01 -2.11550085e-03 2.43209514e+02] [ 5.26309434e-01 8.50292001e-01 -1.37581282e-03 6.96018637e+01] [ 2.52289919e-03 5.64309657e-05 9.99996816e-01 4.68654914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.26, Y:69.63, Z:0.47 [[ 8.49906488e-01 -5.26929300e-01 -2.11523035e-03 2.43256792e+02] [ 5.26927505e-01 8.49909119e-01 -1.37622858e-03 6.96349011e+01] [ 2.52292872e-03 5.50925474e-05 9.99996816e-01 4.68032282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:69.67, Z:0.48 [[ 8.48480213e-01 -5.29222877e-01 -2.11514674e-03 2.43304676e+02] [ 5.29221090e-01 8.48482848e-01 -1.37635706e-03 6.96700796e+01] [ 2.52306538e-03 4.84314702e-05 9.99996816e-01 4.77700867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:69.70, Z:0.47 [[ 8.47015278e-01 -5.31564339e-01 -2.11491834e-03 2.43351568e+02] [ 5.31562557e-01 8.47017917e-01 -1.37670794e-03 6.97045717e+01] [ 2.52318257e-03 4.18812545e-05 9.99996816e-01 4.68754365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:243.40, Y:69.74, Z:0.48 [[ 8.43082232e-01 -5.37780511e-01 -2.11484678e-03 2.43398601e+02] [ 5.37778749e-01 8.43084884e-01 -1.37681785e-03 6.97399132e+01] [ 2.52342116e-03 2.34510111e-05 9.99996816e-01 4.75389586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.45, Y:69.77, Z:0.47 [[ 8.39508403e-01 -5.43342589e-01 -2.11478166e-03 2.43447168e+02] [ 5.43340844e-01 8.39511067e-01 -1.37691787e-03 6.97729801e+01] [ 2.52352073e-03 6.88686796e-06 9.99996816e-01 4.70471248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.50, Y:69.80, Z:0.47 [[ 8.36997330e-01 -5.47202885e-01 -2.11472960e-03 2.43495724e+02] [ 5.47201152e-01 8.37000002e-01 -1.37699782e-03 6.98046039e+01] [ 2.52352586e-03 -4.63897751e-06 9.99996816e-01 4.70772931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.54, Y:69.84, Z:0.48 [[ 8.34298312e-01 -5.51309220e-01 -2.11445682e-03 2.43542727e+02] [ 5.51307499e-01 8.34300991e-01 -1.37741657e-03 6.98394660e+01] [ 2.52347587e-03 -1.65395858e-05 9.99996816e-01 4.82182169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:69.87, Z:0.48 [[ 8.33816310e-01 -5.52037944e-01 -2.11420611e-03 2.43591408e+02] [ 5.52036224e-01 8.33818990e-01 -1.37780128e-03 6.98718566e+01] [ 2.52346379e-03 -1.82851759e-05 9.99996816e-01 4.75311312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:69.90, Z:0.47 [[ 8.34219535e-01 -5.51428416e-01 -2.11415325e-03 2.43641127e+02] [ 5.51426695e-01 8.34222214e-01 -1.37788237e-03 6.99037670e+01] [ 2.52347710e-03 -1.63441467e-05 9.99996816e-01 4.73361248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.69, Y:69.94, Z:0.48 [[ 8.35617493e-01 -5.49307688e-01 -2.11392702e-03 2.43691043e+02] [ 5.49305959e-01 8.35620167e-01 -1.37822937e-03 6.99352471e+01] [ 2.52351204e-03 -9.52014386e-06 9.99996816e-01 4.81190678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:69.97, Z:0.48 [[ 8.37333139e-01 -5.46688893e-01 -2.11381226e-03 2.43739326e+02] [ 5.46687155e-01 8.37335807e-01 -1.37840537e-03 6.99673895e+01] [ 2.52352959e-03 -1.40951717e-06 9.99996816e-01 4.76134290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.79, Y:70.00, Z:0.47 [[ 8.39804294e-01 -5.42885145e-01 -2.11371822e-03 2.43788472e+02] [ 5.42883395e-01 8.39806954e-01 -1.37854955e-03 6.99988869e+01] [ 2.52350933e-03 1.02093032e-05 9.99996816e-01 4.74574713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:70.03, Z:0.47 [[ 8.41736973e-01 -5.39883692e-01 -2.11348520e-03 2.43837284e+02] [ 5.39881931e-01 8.41739626e-01 -1.37890670e-03 7.00313734e+01] [ 2.52345349e-03 1.96442806e-05 9.99996816e-01 4.71189897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:70.07, Z:0.48 [[ 8.44792884e-01 -5.35089261e-01 -2.11341854e-03 2.43884764e+02] [ 5.35087485e-01 8.44795526e-01 -1.37900886e-03 7.00659720e+01] [ 2.52329936e-03 3.41130575e-05 9.99996816e-01 4.79612982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:70.10, Z:0.48 [[ 8.47645456e-01 -5.30558871e-01 -2.11318452e-03 2.43931287e+02] [ 5.30557080e-01 8.47648089e-01 -1.37936738e-03 7.01010450e+01] [ 2.52307242e-03 4.80494807e-05 9.99996816e-01 4.77835318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:70.13, Z:0.48 [[ 8.48320009e-01 -5.29479648e-01 -2.11309457e-03 2.43979374e+02] [ 5.29477853e-01 8.48322639e-01 -1.37950516e-03 7.01345542e+01] [ 2.52300587e-03 5.14250525e-05 9.99996816e-01 4.76079244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.03, Y:70.17, Z:0.47 [[ 8.47613073e-01 -5.30610605e-01 -2.11289233e-03 2.44025361e+02] [ 5.30608813e-01 8.47615705e-01 -1.37981485e-03 7.01708587e+01] [ 2.52306512e-03 4.84298172e-05 9.99996816e-01 4.74222744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04263999999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:70.21, Z:0.47 [[ 8.44546554e-01 -5.35477968e-01 -2.11266384e-03 2.44070805e+02] [ 5.35476191e-01 8.44549196e-01 -1.38016461e-03 7.02080289e+01] [ 2.52329629e-03 3.43320750e-05 9.99996816e-01 4.72313530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:70.24, Z:0.48 [[ 8.41710667e-01 -5.39924708e-01 -2.11243707e-03 2.44118588e+02] [ 5.39922944e-01 8.41713317e-01 -1.38051161e-03 7.02419858e+01] [ 2.52343874e-03 2.14381082e-05 9.99996816e-01 4.81183670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:70.28, Z:0.49 [[ 8.37610021e-01 -5.46264580e-01 -2.11219188e-03 2.44165579e+02] [ 5.46262835e-01 8.37612684e-01 -1.38088665e-03 7.02775069e+01] [ 2.52352818e-03 2.83257162e-06 9.99996816e-01 4.85203981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.21, Y:70.31, Z:0.48 [[ 8.35076025e-01 -5.50130505e-01 -2.11194321e-03 2.44213490e+02] [ 5.50128771e-01 8.35078695e-01 -1.38126686e-03 7.03112862e+01] [ 2.52351582e-03 -8.37788144e-06 9.99996816e-01 4.77573431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:70.35, Z:0.49 [[ 8.29804023e-01 -5.58050915e-01 -2.11186929e-03 2.44261125e+02] [ 5.58049206e-01 8.29806710e-01 -1.38137988e-03 7.03465866e+01] [ 2.52332361e-03 -3.22523948e-05 9.99996816e-01 4.88310679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:70.38, Z:0.48 [[ 8.26419701e-01 -5.63050637e-01 -2.11163127e-03 2.44310699e+02] [ 5.63048943e-01 8.26422397e-01 -1.38174363e-03 7.03776447e+01] [ 2.52309100e-03 -4.70515930e-05 9.99996816e-01 4.84566717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40263999999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:70.41, Z:0.49 [[ 8.22570656e-01 -5.68658999e-01 -2.11157711e-03 2.44360053e+02] [ 5.68657324e-01 8.22573364e-01 -1.38182638e-03 7.04100579e+01] [ 2.52271510e-03 -6.41139573e-05 9.99996816e-01 4.86305948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:70.44, Z:0.48 [[ 8.21723306e-01 -5.69882752e-01 -2.11134784e-03 2.44409030e+02] [ 5.69881080e-01 8.21726016e-01 -1.38217661e-03 7.04399951e+01] [ 2.52262806e-03 -6.74504532e-05 9.99996816e-01 4.81801272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.46, Y:70.47, Z:0.48 [[ 8.22098077e-01 -5.69341984e-01 -2.11124203e-03 2.44458603e+02] [ 5.69340310e-01 8.22100785e-01 -1.38233821e-03 7.04720057e+01] [ 2.52267691e-03 -6.55976111e-05 9.99996816e-01 4.83841532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.51, Y:70.50, Z:0.48 [[ 8.22690971e-01 -5.68484924e-01 -2.11100312e-03 2.44508966e+02] [ 5.68483246e-01 8.22693677e-01 -1.38270296e-03 7.05000467e+01] [ 2.52275471e-03 -6.25326643e-05 9.99996816e-01 4.83414868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:70.53, Z:0.48 [[ 8.23834540e-01 -5.66826424e-01 -2.11091820e-03 2.44559436e+02] [ 5.66824741e-01 8.23837242e-01 -1.38283260e-03 7.05299334e+01] [ 2.52287908e-03 -5.72954058e-05 9.99996816e-01 4.84924350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.61, Y:70.56, Z:0.48 [[ 8.24866901e-01 -5.65323041e-01 -2.11068733e-03 2.44608514e+02] [ 5.65321351e-01 8.24869600e-01 -1.38318489e-03 7.05581550e+01] [ 2.52298810e-03 -5.22731763e-05 9.99996816e-01 4.83755914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:70.58, Z:0.48 [[ 8.25697339e-01 -5.64109431e-01 -2.11050761e-03 2.44658984e+02] [ 5.64107737e-01 8.25700035e-01 -1.38345906e-03 7.05845791e+01] [ 2.52306851e-03 -4.82352030e-05 9.99996816e-01 4.82348384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.71, Y:70.61, Z:0.48 [[ 8.27081604e-01 -5.62077901e-01 -2.11033231e-03 2.44712616e+02] [ 5.62076199e-01 8.27084295e-01 -1.38372641e-03 7.06093073e+01] [ 2.52318475e-03 -4.17129021e-05 9.99996816e-01 4.83756125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:70.64, Z:0.48 [[ 8.28342595e-01 -5.60217898e-01 -2.11010030e-03 2.44762758e+02] [ 5.60216189e-01 8.28345282e-01 -1.38408012e-03 7.06379784e+01] [ 2.52327808e-03 -3.56198310e-05 9.99996816e-01 4.80709714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.81, Y:70.66, Z:0.48 [[ 8.30877894e-01 -5.56450782e-01 -2.11001114e-03 2.44814224e+02] [ 5.56449061e-01 8.30880573e-01 -1.38421604e-03 7.06646962e+01] [ 2.52341536e-03 -2.39992106e-05 9.99996816e-01 4.83042432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.87, Y:70.69, Z:0.48 [[ 8.32444239e-01 -5.54104807e-01 -2.10976227e-03 2.44865798e+02] [ 5.54103078e-01 8.32446913e-01 -1.38459524e-03 7.06925896e+01] [ 2.52347597e-03 -1.64274361e-05 9.99996816e-01 4.82166474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.92, Y:70.72, Z:0.48 [[ 8.34508342e-01 -5.50991268e-01 -2.10949611e-03 2.44918888e+02] [ 5.50989528e-01 8.34511008e-01 -1.38500064e-03 7.07192845e+01] [ 2.52352098e-03 -6.51567958e-06 9.99996816e-01 4.81831117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.97, Y:70.75, Z:0.48 [[ 8.36115214e-01 -5.48549816e-01 -2.10926815e-03 2.44970216e+02] [ 5.48548066e-01 8.36117874e-01 -1.38534771e-03 7.07451975e+01] [ 2.52352904e-03 1.27532904e-06 9.99996816e-01 4.79319498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.02, Y:70.78, Z:0.48 [[ 8.37002502e-01 -5.47194996e-01 -2.10914550e-03 2.45020022e+02] [ 5.47193241e-01 8.37005159e-01 -1.38553443e-03 7.07752184e+01] [ 2.52352317e-03 5.58562142e-06 9.99996816e-01 4.83796115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:70.80, Z:0.48 [[ 8.38101123e-01 -5.45510824e-01 -2.10903130e-03 2.45072699e+02] [ 5.45509065e-01 8.38103777e-01 -1.38570824e-03 7.08031884e+01] [ 2.52350594e-03 1.08679380e-05 9.99996816e-01 4.78325217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.12, Y:70.83, Z:0.48 [[ 8.37963697e-01 -5.45721903e-01 -2.10883518e-03 2.45121703e+02] [ 5.45720143e-01 8.37966350e-01 -1.38600663e-03 7.08335853e+01] [ 2.52350710e-03 1.05894038e-05 9.99996816e-01 4.76478932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.17, Y:70.86, Z:0.48 [[ 8.37866436e-01 -5.45871220e-01 -2.10875111e-03 2.45171110e+02] [ 5.45869460e-01 8.37869089e-01 -1.38613453e-03 7.08640219e+01] [ 2.52350832e-03 1.02927627e-05 9.99996816e-01 4.78504668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.22, Y:70.89, Z:0.48 [[ 8.35640357e-01 -5.49272927e-01 -2.10867073e-03 2.45220719e+02] [ 5.49271177e-01 8.35643017e-01 -1.38625679e-03 7.08929328e+01] [ 2.52352930e-03 1.80065780e-07 9.99996816e-01 4.80773498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.27, Y:70.92, Z:0.49 [[ 8.34327091e-01 -5.51265689e-01 -2.10855851e-03 2.45272349e+02] [ 5.51263946e-01 8.34329755e-01 -1.38642746e-03 7.09216396e+01] [ 2.52352300e-03 -5.63829278e-06 9.99996816e-01 4.89035608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.32, Y:70.95, Z:0.48 [[ 8.32102324e-01 -5.54618136e-01 -2.10849179e-03 2.45321350e+02] [ 5.54616403e-01 8.32104995e-01 -1.38652893e-03 7.09517632e+01] [ 2.52348064e-03 -1.56701926e-05 9.99996816e-01 4.83736040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.37, Y:70.98, Z:0.49 [[ 8.30208029e-01 -5.57449713e-01 -2.10838157e-03 2.45374621e+02] [ 5.57447989e-01 8.30210706e-01 -1.38669651e-03 7.09787564e+01] [ 2.52341453e-03 -2.40664890e-05 9.99996816e-01 4.87685759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.43, Y:71.00, Z:0.48 [[ 8.29554314e-01 -5.58422058e-01 -2.10815739e-03 2.45426988e+02] [ 5.58420336e-01 8.29556993e-01 -1.38703724e-03 7.10045551e+01] [ 2.52338890e-03 -2.66152298e-05 9.99996816e-01 4.77709823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72263999999996 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:71.03, Z:0.48 [[ 8.29123105e-01 -5.59062101e-01 -2.10791619e-03 2.45478400e+02] [ 5.59060381e-01 8.29125784e-01 -1.38740371e-03 7.10341369e+01] [ 2.52337249e-03 -2.81239535e-05 9.99996816e-01 4.75900242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.53, Y:71.06, Z:0.48 [[ 8.30810154e-01 -5.56551925e-01 -2.10779995e-03 2.45531431e+02] [ 5.56550195e-01 8.30812828e-01 -1.38758028e-03 7.10604871e+01] [ 2.52344771e-03 -2.02806853e-05 9.99996816e-01 4.79188257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.58, Y:71.09, Z:0.48 [[ 8.32953752e-01 -5.53338599e-01 -2.10757010e-03 2.45581016e+02] [ 5.53336859e-01 8.32956418e-01 -1.38792930e-03 7.10905285e+01] [ 2.52350890e-03 -1.01152990e-05 9.99996816e-01 4.78970220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.63, Y:71.12, Z:0.48 [[ 8.37514811e-01 -5.46410561e-01 -2.10730763e-03 2.45631884e+02] [ 5.46408797e-01 8.37517462e-01 -1.38832770e-03 7.11190537e+01] [ 2.52350386e-03 1.12935803e-05 9.99996816e-01 4.78867638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96263999999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:245.68, Y:71.15, Z:0.47 [[ 8.40181921e-01 -5.42300563e-01 -2.10703746e-03 2.45680363e+02] [ 5.42298785e-01 8.40184563e-01 -1.38873761e-03 7.11503755e+01] [ 2.52341354e-03 2.41483791e-05 9.99996816e-01 4.74442466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.73, Y:71.18, Z:0.48 [[ 8.43685902e-01 -5.36832991e-01 -2.10695353e-03 2.45730995e+02] [ 5.36831196e-01 8.43688531e-01 -1.38886493e-03 7.11806118e+01] [ 2.52320105e-03 4.06873794e-05 9.99996816e-01 4.76024699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:71.21, Z:0.48 [[ 8.45645913e-01 -5.33740153e-01 -2.10673896e-03 2.45779805e+02] [ 5.33738347e-01 8.45648536e-01 -1.38919034e-03 7.12116969e+01] [ 2.52302738e-03 5.03157622e-05 9.99996816e-01 4.79296039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:71.24, Z:0.48 [[ 8.46903162e-01 -5.31742980e-01 -2.10646324e-03 2.45827010e+02] [ 5.31741168e-01 8.46905780e-01 -1.38960829e-03 7.12443926e+01] [ 2.52289035e-03 5.67704350e-05 9.99996816e-01 4.79800474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:245.88, Y:71.28, Z:0.48 [[ 8.48106571e-01 -5.29821486e-01 -2.10637998e-03 2.45875546e+02] [ 5.29819667e-01 8.48109185e-01 -1.38973449e-03 7.12774765e+01] [ 2.52275140e-03 6.26414133e-05 9.99996816e-01 4.77969127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:71.31, Z:0.47 [[ 8.47955990e-01 -5.30062452e-01 -2.10614978e-03 2.45922538e+02] [ 5.30060633e-01 8.47958603e-01 -1.39008328e-03 7.13138717e+01] [ 2.52275877e-03 6.23423556e-05 9.99996816e-01 4.74698544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.97, Y:71.35, Z:0.48 [[ 8.46973093e-01 -5.31631588e-01 -2.10593815e-03 2.45970332e+02] [ 5.31629773e-01 8.46975709e-01 -1.39040381e-03 7.13486720e+01] [ 2.52286104e-03 5.80551955e-05 9.99996816e-01 4.75432076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.02, Y:71.38, Z:0.47 [[ 8.44993629e-01 -5.34772225e-01 -2.10570399e-03 2.46016224e+02] [ 5.34770419e-01 8.44996251e-01 -1.39075834e-03 7.13840498e+01] [ 2.52305091e-03 4.91137342e-05 9.99996816e-01 4.74628013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.06, Y:71.42, Z:0.48 [[ 8.44111936e-01 -5.36162854e-01 -2.10562124e-03 2.46063164e+02] [ 5.36161052e-01 8.44114561e-01 -1.39088362e-03 7.14182744e+01] [ 2.52312568e-03 4.51093669e-05 9.99996816e-01 4.78135680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.11, Y:71.46, Z:0.48 [[ 8.41587973e-01 -5.40115961e-01 -2.10535128e-03 2.46108022e+02] [ 5.40114170e-01 8.41590606e-01 -1.39129214e-03 7.14551212e+01] [ 2.52330294e-03 3.37646719e-05 9.99996816e-01 4.78174186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.16, Y:71.49, Z:0.48 [[ 8.39307927e-01 -5.43652253e-01 -2.10526811e-03 2.46155990e+02] [ 5.43650473e-01 8.39310567e-01 -1.39141796e-03 7.14899185e+01] [ 2.52342128e-03 2.32981186e-05 9.99996816e-01 4.82162419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:71.53, Z:0.48 [[ 8.35390096e-01 -5.49653487e-01 -2.10509761e-03 2.46202353e+02] [ 5.49651725e-01 8.35392748e-01 -1.39167588e-03 7.15261369e+01] [ 2.52352277e-03 5.52171120e-06 9.99996816e-01 4.82227345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.25, Y:71.56, Z:0.48 [[ 8.32938682e-01 -5.53361294e-01 -2.10485064e-03 2.46249471e+02] [ 5.53359543e-01 8.32941341e-01 -1.39204931e-03 7.15603373e+01] [ 2.52352332e-03 -5.24746990e-06 9.99996816e-01 4.81789269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.30, Y:71.60, Z:0.48 [[ 8.31245120e-01 -5.55902078e-01 -2.10457767e-03 2.46295665e+02] [ 5.55900334e-01 8.31247784e-01 -1.39246188e-03 7.15954333e+01] [ 2.52349798e-03 -1.24582848e-05 9.99996816e-01 4.78574373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.34, Y:71.63, Z:0.48 [[ 8.32149883e-01 -5.54546790e-01 -2.10449346e-03 2.46340966e+02] [ 5.54545042e-01 8.32152544e-01 -1.39258913e-03 7.16341340e+01] [ 2.52351542e-03 -8.19353653e-06 9.99996816e-01 4.80516397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.39, Y:71.67, Z:0.48 [[ 8.33494560e-01 -5.52523656e-01 -2.10425709e-03 2.46386884e+02] [ 5.52521900e-01 8.33497216e-01 -1.39294621e-03 7.16705281e+01] [ 2.52352816e-03 -1.63503962e-06 9.99996816e-01 4.79411437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.43, Y:71.71, Z:0.48 [[ 8.34733344e-01 -5.50650359e-01 -2.10398833e-03 2.46433095e+02] [ 5.50648596e-01 8.34735995e-01 -1.39335203e-03 7.17064246e+01] [ 2.52352459e-03 4.51917856e-06 9.99996816e-01 4.81809935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.48, Y:71.74, Z:0.48 [[ 8.34600850e-01 -5.50851156e-01 -2.10374831e-03 2.46477753e+02] [ 5.50849392e-01 8.34603501e-01 -1.39371434e-03 7.17446232e+01] [ 2.52352486e-03 4.34669310e-06 9.99996816e-01 4.82534958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.52, Y:71.78, Z:0.49 [[ 8.33234562e-01 -5.52915672e-01 -2.10347028e-03 2.46524108e+02] [ 5.52913915e-01 8.33237217e-01 -1.39413383e-03 7.17790512e+01] [ 2.52352817e-03 -1.39749344e-06 9.99996816e-01 4.87021319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:71.81, Z:0.49 [[ 8.29951339e-01 -5.57831831e-01 -2.10338452e-03 2.46571624e+02] [ 5.57830089e-01 8.29954004e-01 -1.39426321e-03 7.18128750e+01] [ 2.52347680e-03 -1.61605555e-05 9.99996816e-01 4.91952552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16263999999995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:246.62, Y:71.85, Z:0.48 [[ 8.26663241e-01 -5.62693045e-01 -2.10314724e-03 2.46620429e+02] [ 5.62691318e-01 8.26665915e-01 -1.39462104e-03 7.18452543e+01] [ 2.52334370e-03 -3.05407426e-05 9.99996816e-01 4.81721383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.67, Y:71.88, Z:0.49 [[ 8.25774825e-01 -5.63996024e-01 -2.10291026e-03 2.46669290e+02] [ 5.63994300e-01 8.25777502e-01 -1.39497828e-03 7.18768652e+01] [ 2.52329819e-03 -3.40914597e-05 9.99996816e-01 4.86248245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:71.91, Z:0.48 [[ 8.26646966e-01 -5.62716955e-01 -2.10267648e-03 2.46719574e+02] [ 5.62715226e-01 8.26649640e-01 -1.39533057e-03 7.19074923e+01] [ 2.52335293e-03 -2.97622844e-05 9.99996816e-01 4.81757602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.77, Y:71.94, Z:0.48 [[ 8.29592132e-01 -5.58365896e-01 -2.10244019e-03 2.46769295e+02] [ 5.58364152e-01 8.29594796e-01 -1.39568652e-03 7.19394374e+01] [ 2.52347719e-03 -1.60766772e-05 9.99996816e-01 4.84014913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.82, Y:71.97, Z:0.48 [[ 8.31652640e-01 -5.55292235e-01 -2.10221073e-03 2.46818159e+02] [ 5.55290480e-01 8.31655297e-01 -1.39603205e-03 7.19705061e+01] [ 2.52352045e-03 -6.32386184e-06 9.99996816e-01 4.84369390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.87, Y:72.01, Z:0.48 [[ 8.34838912e-01 -5.50490302e-01 -2.10194629e-03 2.46865359e+02] [ 5.50488531e-01 8.34841558e-01 -1.39643009e-03 7.20052266e+01] [ 2.52351334e-03 8.69684677e-06 9.99996816e-01 4.84639172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.91, Y:72.04, Z:0.49 [[ 8.36806887e-01 -5.47494125e-01 -2.10170679e-03 2.46914448e+02] [ 5.47492344e-01 8.36809526e-01 -1.39679046e-03 7.20371331e+01] [ 2.52346283e-03 1.81754997e-05 9.99996816e-01 4.89052299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.96, Y:72.07, Z:0.48 [[ 8.38698800e-01 -5.44591505e-01 -2.10147066e-03 2.46961231e+02] [ 5.44589714e-01 8.38701432e-01 -1.39714563e-03 7.20719095e+01] [ 2.52338009e-03 2.73450564e-05 9.99996816e-01 4.83358243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:247.01, Y:72.11, Z:0.48 [[ 8.40028570e-01 -5.42538097e-01 -2.10137988e-03 2.47008529e+02] [ 5.42536298e-01 8.40031197e-01 -1.39728215e-03 7.21068419e+01] [ 2.52330345e-03 3.36820593e-05 9.99996816e-01 4.81481572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:247.06, Y:72.14, Z:0.49 [[ 8.40400676e-01 -5.41961520e-01 -2.10114985e-03 2.47056931e+02] [ 5.41959719e-01 8.40403302e-01 -1.39762797e-03 7.21415800e+01] [ 2.52327385e-03 3.58289056e-05 9.99996816e-01 4.86497972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.10, Y:72.18, Z:0.49 [[ 8.38413196e-01 -5.45031099e-01 -2.10092130e-03 2.47104776e+02] [ 5.45029307e-01 8.38415828e-01 -1.39797145e-03 7.21766169e+01] [ 2.52338358e-03 2.70140320e-05 9.99996816e-01 4.87090976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.15, Y:72.21, Z:0.49 [[ 8.35372563e-01 -5.49680150e-01 -2.10068524e-03 2.47153149e+02] [ 5.49678372e-01 8.35375205e-01 -1.39832608e-03 7.22098050e+01] [ 2.52349245e-03 1.34220011e-05 9.99996816e-01 4.88154293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:247.20, Y:72.24, Z:0.49 [[ 8.30747540e-01 -5.56645410e-01 -2.10042760e-03 2.47201234e+02] [ 5.56643653e-01 8.30750195e-01 -1.39871296e-03 7.22412939e+01] [ 2.52351779e-03 -7.21234311e-06 9.99996816e-01 4.89690329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:72.27, Z:0.49 [[ 8.27694102e-01 -5.61175607e-01 -2.10033709e-03 2.47253349e+02] [ 5.61173864e-01 8.27696767e-01 -1.39884887e-03 7.22710237e+01] [ 2.52344208e-03 -2.08353180e-05 9.99996816e-01 4.87591117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:247.30, Y:72.30, Z:0.48 [[ 8.26217408e-01 -5.63347481e-01 -2.10022854e-03 2.47301487e+02] [ 5.63345744e-01 8.26220077e-01 -1.39901182e-03 7.23027691e+01] [ 2.52338077e-03 -2.72668885e-05 9.99996816e-01 4.80932677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.35, Y:72.33, Z:0.48 [[ 8.26133675e-01 -5.63470266e-01 -2.10009379e-03 2.47353142e+02] [ 5.63468529e-01 8.26136344e-01 -1.39921407e-03 7.23294041e+01] [ 2.52337933e-03 -2.73988990e-05 9.99996816e-01 4.83044454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.40, Y:72.36, Z:0.49 [[ 8.26814565e-01 -5.62470679e-01 -2.10002262e-03 2.47404546e+02] [ 5.62468939e-01 8.26817232e-01 -1.39932088e-03 7.23587744e+01] [ 2.52341185e-03 -2.42186145e-05 9.99996816e-01 4.87464328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.45, Y:72.39, Z:0.49 [[ 8.30095435e-01 -5.57617395e-01 -2.09977014e-03 2.47454522e+02] [ 5.57615639e-01 8.30098091e-01 -1.39969964e-03 7.23900580e+01] [ 2.52351205e-03 -8.98038319e-06 9.99996816e-01 4.86852007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.50, Y:72.42, Z:0.48 [[ 8.34562881e-01 -5.50908694e-01 -2.09953355e-03 2.47504622e+02] [ 5.50906915e-01 8.34565522e-01 -1.40005443e-03 7.24189616e+01] [ 2.52350047e-03 1.17859056e-05 9.99996816e-01 4.84019115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.55, Y:72.45, Z:0.49 [[ 8.37759833e-01 -5.46034847e-01 -2.09944676e-03 2.47553108e+02] [ 5.46033052e-01 8.37762463e-01 -1.40018456e-03 7.24516662e+01] [ 2.52338725e-03 2.66510548e-05 9.99996816e-01 4.86985064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.60, Y:72.48, Z:0.49 [[ 8.40038498e-01 -5.42522732e-01 -2.09923112e-03 2.47602094e+02] [ 5.42520926e-01 8.40041120e-01 -1.40050778e-03 7.24847862e+01] [ 2.52324777e-03 3.76036433e-05 9.99996816e-01 4.89682987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.65, Y:72.52, Z:0.49 [[ 8.41497489e-01 -5.40256948e-01 -2.09900645e-03 2.47650709e+02] [ 5.40255134e-01 8.41500106e-01 -1.40084443e-03 7.25178484e+01] [ 2.52313009e-03 4.48080582e-05 9.99996816e-01 4.89698087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.70, Y:72.55, Z:0.49 [[ 8.42082563e-01 -5.39344559e-01 -2.09876767e-03 2.47700235e+02] [ 5.39342741e-01 8.42085177e-01 -1.40120208e-03 7.25510562e+01] [ 2.52307186e-03 4.79727255e-05 9.99996816e-01 4.88161745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.75, Y:72.58, Z:0.49 [[ 8.42055030e-01 -5.39387544e-01 -2.09859710e-03 2.47747830e+02] [ 5.39385725e-01 8.42057644e-01 -1.40145750e-03 7.25838296e+01] [ 2.52306845e-03 4.81510212e-05 9.99996816e-01 4.90182200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.80, Y:72.62, Z:0.49 [[ 8.41096139e-01 -5.40881578e-01 -2.09850228e-03 2.47796390e+02] [ 5.40879764e-01 8.41098756e-01 -1.40159947e-03 7.26170983e+01] [ 2.52314699e-03 4.38424864e-05 9.99996816e-01 4.88628940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.85, Y:72.65, Z:0.48 [[ 8.38555154e-01 -5.44812675e-01 -2.09826972e-03 2.47845472e+02] [ 5.44810872e-01 8.38557779e-01 -1.40194753e-03 7.26501375e+01] [ 2.52331918e-03 3.24501684e-05 9.99996816e-01 4.84974133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:72.68, Z:0.49 [[ 8.36684760e-01 -5.47680755e-01 -2.09821423e-03 2.47892870e+02] [ 5.47678961e-01 8.36687391e-01 -1.40203058e-03 7.26838695e+01] [ 2.52341456e-03 2.39098260e-05 9.99996816e-01 4.87262545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.94, Y:72.72, Z:0.48 [[ 8.33933844e-01 -5.51860437e-01 -2.09812259e-03 2.47940633e+02] [ 5.51858656e-01 8.33936483e-01 -1.40216770e-03 7.27166298e+01] [ 2.52350186e-03 1.14479862e-05 9.99996816e-01 4.81290802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.99, Y:72.75, Z:0.49 [[ 8.33710692e-01 -5.52197501e-01 -2.09803894e-03 2.47989467e+02] [ 5.52195720e-01 8.33713332e-01 -1.40229286e-03 7.27496631e+01] [ 2.52350565e-03 1.05784251e-05 9.99996816e-01 4.86543002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.04, Y:72.78, Z:0.49 [[ 8.34282864e-01 -5.51332661e-01 -2.09779616e-03 2.48036648e+02] [ 5.51330877e-01 8.34285501e-01 -1.40265596e-03 7.27834333e+01] [ 2.52349096e-03 1.36320333e-05 9.99996816e-01 4.86740221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.08, Y:72.82, Z:0.48 [[ 8.34423293e-01 -5.51120103e-01 -2.09770974e-03 2.48083187e+02] [ 5.51118318e-01 8.34425929e-01 -1.40278518e-03 7.28173866e+01] [ 2.52348652e-03 1.44303641e-05 9.99996816e-01 4.79377420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.13, Y:72.85, Z:0.48 [[ 8.34632245e-01 -5.50803610e-01 -2.09743316e-03 2.48131279e+02] [ 5.50801823e-01 8.34634880e-01 -1.40319860e-03 7.28498938e+01] [ 2.52347773e-03 1.58847916e-05 9.99996816e-01 4.83258573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.18, Y:72.88, Z:0.48 [[ 8.34520929e-01 -5.50972250e-01 -2.09731663e-03 2.48179101e+02] [ 5.50970463e-01 8.34523564e-01 -1.40337276e-03 7.28843600e+01] [ 2.52347960e-03 1.55844191e-05 9.99996816e-01 4.82525400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.23, Y:72.92, Z:0.48 [[ 8.34493502e-01 -5.51013791e-01 -2.09707912e-03 2.48226898e+02] [ 5.51012003e-01 8.34496137e-01 -1.40372758e-03 7.29180718e+01] [ 2.52347768e-03 1.58857720e-05 9.99996816e-01 4.79956862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.27, Y:72.95, Z:0.47 [[ 8.34166796e-01 -5.51508259e-01 -2.09683762e-03 2.48274758e+02] [ 5.51506472e-01 8.34169431e-01 -1.40408824e-03 7.29500534e+01] [ 2.52348410e-03 1.48242718e-05 9.99996816e-01 4.74927223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.33, Y:72.98, Z:0.48 [[ 8.33172141e-01 -5.53009754e-01 -2.09675284e-03 2.48325301e+02] [ 5.53007971e-01 8.33174779e-01 -1.40421483e-03 7.29804480e+01] [ 2.52350608e-03 1.04316413e-05 9.99996816e-01 4.77811224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.37, Y:73.01, Z:0.48 [[ 8.33085658e-01 -5.53140029e-01 -2.09652020e-03 2.48373541e+02] [ 5.53138246e-01 8.33088296e-01 -1.40456207e-03 7.30134150e+01] [ 2.52350595e-03 1.04550100e-05 9.99996816e-01 4.80975371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.42, Y:73.05, Z:0.49 [[ 8.34307799e-01 -5.51294932e-01 -2.09628638e-03 2.48422584e+02] [ 5.51293142e-01 8.34310432e-01 -1.40491096e-03 7.30465010e+01] [ 2.52347389e-03 1.64598650e-05 9.99996816e-01 4.86965365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.47, Y:73.08, Z:0.49 [[ 8.37704270e-01 -5.46120099e-01 -2.09605125e-03 2.48469903e+02] [ 5.46118292e-01 8.37706892e-01 -1.40526168e-03 7.30808491e+01] [ 2.52331822e-03 3.25017775e-05 9.99996816e-01 4.85932488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.52, Y:73.12, Z:0.49 [[ 8.41020147e-01 -5.40999740e-01 -2.09598258e-03 2.48516031e+02] [ 5.40997917e-01 8.41022758e-01 -1.40536409e-03 7.31168624e+01] [ 2.52307066e-03 4.80173077e-05 9.99996816e-01 4.88747607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.56, Y:73.15, Z:0.49 [[ 8.42558483e-01 -5.38600790e-01 -2.09573314e-03 2.48561617e+02] [ 5.38598958e-01 8.42561087e-01 -1.40573597e-03 7.31527272e+01] [ 2.52291370e-03 5.56550787e-05 9.99996816e-01 4.86917028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.61, Y:73.19, Z:0.49 [[ 8.43383349e-01 -5.37308231e-01 -2.09564410e-03 2.48606600e+02] [ 5.37306395e-01 8.43385950e-01 -1.40586869e-03 7.31921479e+01] [ 2.52282161e-03 5.96832632e-05 9.99996816e-01 4.87883991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:248.65, Y:73.23, Z:0.48 [[ 8.42275964e-01 -5.39042494e-01 -2.09541882e-03 2.48652557e+02] [ 5.39040663e-01 8.42278568e-01 -1.40620439e-03 7.32284199e+01] [ 2.52293028e-03 5.48962109e-05 9.99996816e-01 4.84922078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:248.70, Y:73.27, Z:0.49 [[ 8.39704565e-01 -5.43039459e-01 -2.09524443e-03 2.48696583e+02] [ 5.43037639e-01 8.39707178e-01 -1.40646418e-03 7.32667378e+01] [ 2.52315734e-03 4.32178052e-05 9.99996816e-01 4.85598695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.74, Y:73.30, Z:0.49 [[ 8.37643273e-01 -5.46213655e-01 -2.09511358e-03 2.48741934e+02] [ 5.46211845e-01 8.37645893e-01 -1.40665908e-03 7.33037125e+01] [ 2.52329968e-03 3.39026612e-05 9.99996816e-01 4.87715547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:248.79, Y:73.34, Z:0.48 [[ 8.34239842e-01 -5.51397768e-01 -2.09484172e-03 2.48786207e+02] [ 5.51395973e-01 8.34242472e-01 -1.40706382e-03 7.33424294e+01] [ 2.52345778e-03 1.87414070e-05 9.99996816e-01 4.81745444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:248.83, Y:73.38, Z:0.48 [[ 8.30572503e-01 -5.56906572e-01 -2.09460706e-03 2.48831157e+02] [ 5.56904794e-01 8.30575144e-01 -1.40741306e-03 7.33788207e+01] [ 2.52352614e-03 2.46187612e-06 9.99996816e-01 4.82343618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.88, Y:73.41, Z:0.48 [[ 8.27947761e-01 -5.60801319e-01 -2.09434641e-03 2.48877664e+02] [ 5.60799552e-01 8.27950409e-01 -1.40780082e-03 7.34138741e+01] [ 2.52351152e-03 -8.92298590e-06 9.99996816e-01 4.84592947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.92, Y:73.45, Z:0.49 [[ 8.24879126e-01 -5.65305265e-01 -2.09408591e-03 2.48924623e+02] [ 5.65303512e-01 8.24881783e-01 -1.40818820e-03 7.34485294e+01] [ 2.52342953e-03 -2.22090696e-05 9.99996816e-01 4.86611335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.97, Y:73.48, Z:0.48 [[ 8.23875963e-01 -5.66766278e-01 -2.09384905e-03 2.48972932e+02] [ 5.66764529e-01 8.23878623e-01 -1.40854031e-03 7.34809114e+01] [ 2.52339062e-03 -2.62568691e-05 9.99996816e-01 4.83889206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.02, Y:73.51, Z:0.48 [[ 8.23667226e-01 -5.67069588e-01 -2.09376450e-03 2.49020205e+02] [ 5.67067839e-01 8.23669887e-01 -1.40866597e-03 7.35136387e+01] [ 2.52338240e-03 -2.70345139e-05 9.99996816e-01 4.84920611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22263999999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:249.07, Y:73.55, Z:0.48 [[ 8.24935036e-01 -5.65223675e-01 -2.09368262e-03 2.49067981e+02] [ 5.65221920e-01 8.24937692e-01 -1.40878766e-03 7.35484938e+01] [ 2.52343785e-03 -2.12370178e-05 9.99996816e-01 4.80161992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.12, Y:73.58, Z:0.48 [[ 8.27444142e-01 -5.61544129e-01 -2.09346057e-03 2.49116032e+02] [ 5.61542361e-01 8.27446791e-01 -1.40911755e-03 7.35812247e+01] [ 2.52350892e-03 -9.60072735e-06 9.99996816e-01 4.77066773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.16, Y:73.62, Z:0.48 [[ 8.31889305e-01 -5.54937656e-01 -2.09337673e-03 2.49162607e+02] [ 5.54935867e-01 8.31891939e-01 -1.40924210e-03 7.36164389e+01] [ 2.52350473e-03 1.06436007e-05 9.99996816e-01 4.82675844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.21, Y:73.65, Z:0.49 [[ 8.34284254e-01 -5.51330573e-01 -2.09329520e-03 2.49210543e+02] [ 5.51328773e-01 8.34286880e-01 -1.40936319e-03 7.36505086e+01] [ 2.52343374e-03 2.17156412e-05 9.99996816e-01 4.86101148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.26, Y:73.69, Z:0.49 [[ 8.36747002e-01 -5.47585677e-01 -2.09306227e-03 2.49255044e+02] [ 5.47583864e-01 8.36749619e-01 -1.40970902e-03 7.36874159e+01] [ 2.52330553e-03 3.34426736e-05 9.99996816e-01 4.87247961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52263999999997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:73.72, Z:0.49 [[ 8.37220601e-01 -5.46861303e-01 -2.09297970e-03 2.49302486e+02] [ 5.46859487e-01 8.37223216e-01 -1.40983161e-03 7.37221780e+01] [ 2.52327355e-03 3.57742635e-05 9.99996816e-01 4.86859315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.35, Y:73.76, Z:0.48 [[ 8.36506742e-01 -5.47952635e-01 -2.09274080e-03 2.49349159e+02] [ 5.47950822e-01 8.36509359e-01 -1.41018613e-03 7.37556487e+01] [ 2.52331248e-03 3.29111653e-05 9.99996816e-01 4.83906838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.40, Y:73.79, Z:0.49 [[ 8.33598566e-01 -5.52366773e-01 -2.09265652e-03 2.49395885e+02] [ 5.52364973e-01 8.33601192e-01 -1.41031120e-03 7.37891831e+01] [ 2.52345002e-03 1.97232296e-05 9.99996816e-01 4.85953106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.44, Y:73.82, Z:0.49 [[ 8.29392739e-01 -5.58662068e-01 -2.09239440e-03 2.49444776e+02] [ 5.58660287e-01 8.29395379e-01 -1.41069998e-03 7.38224373e+01] [ 2.52352681e-03 1.08666051e-06 9.99996816e-01 4.91668276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.49, Y:73.86, Z:0.49 [[ 8.27535187e-01 -5.61409955e-01 -2.09215661e-03 2.49493830e+02] [ 5.61408182e-01 8.27537831e-01 -1.41105255e-03 7.38553870e+01] [ 2.52351769e-03 -6.85820028e-06 9.99996816e-01 4.91426808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.54, Y:73.89, Z:0.49 [[ 8.26993964e-01 -5.62206908e-01 -2.09191934e-03 2.49542754e+02] [ 5.62205137e-01 8.26996610e-01 -1.41140423e-03 7.38873413e+01] [ 2.52351141e-03 -8.86501900e-06 9.99996816e-01 4.90774520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.59, Y:73.92, Z:0.49 [[ 8.28202859e-01 -5.60424526e-01 -2.09167892e-03 2.49590501e+02] [ 5.60422747e-01 8.28205501e-01 -1.41176044e-03 7.39193160e+01] [ 2.52352516e-03 -3.00041410e-06 9.99996816e-01 4.91344094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.64, Y:73.95, Z:0.49 [[ 8.30926711e-01 -5.56377953e-01 -2.09149085e-03 2.49638938e+02] [ 5.56376161e-01 8.30929343e-01 -1.41203899e-03 7.39515683e+01] [ 2.52350849e-03 9.64526059e-06 9.99996816e-01 4.92426819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.69, Y:73.98, Z:0.49 [[ 8.32983158e-01 -5.53294392e-01 -2.09140602e-03 2.49686147e+02] [ 5.53292590e-01 8.32985784e-01 -1.41216463e-03 7.39845783e+01] [ 2.52345425e-03 1.91499043e-05 9.99996816e-01 4.92262848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.73, Y:74.02, Z:0.49 [[ 8.35277103e-01 -5.49825234e-01 -2.09113305e-03 2.49733411e+02] [ 5.49823421e-01 8.35279720e-01 -1.41256872e-03 7.40192346e+01] [ 2.52334696e-03 3.01323844e-05 9.99996816e-01 4.93552437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:249.78, Y:74.05, Z:0.49 [[ 8.35517093e-01 -5.49460477e-01 -2.09089221e-03 2.49779884e+02] [ 5.49458662e-01 8.35519708e-01 -1.41292513e-03 7.40533151e+01] [ 2.52332817e-03 3.16642628e-05 9.99996816e-01 4.92002600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.83, Y:74.09, Z:0.49 [[ 8.33825387e-01 -5.52024323e-01 -2.09061889e-03 2.49826972e+02] [ 5.52022514e-01 8.33828008e-01 -1.41332943e-03 7.40877903e+01] [ 2.52340881e-03 2.44012623e-05 9.99996816e-01 4.89293490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.87, Y:74.12, Z:0.49 [[ 8.31322319e-01 -5.55786678e-01 -2.09038142e-03 2.49874854e+02] [ 5.55784880e-01 8.31324948e-01 -1.41368058e-03 7.41189813e+01] [ 2.52349105e-03 1.34218296e-05 9.99996816e-01 4.87124294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.92, Y:74.15, Z:0.49 [[ 8.30123817e-01 -5.57575178e-01 -2.09019893e-03 2.49922211e+02] [ 5.57573386e-01 8.30126449e-01 -1.41395034e-03 7.41523699e+01] [ 2.52351303e-03 8.31455568e-06 9.99996816e-01 4.89529552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.97, Y:74.19, Z:0.49 [[ 8.29657174e-01 -5.58269294e-01 -2.09011853e-03 2.49969986e+02] [ 5.58267504e-01 8.29659807e-01 -1.41406917e-03 7.41868912e+01] [ 2.52351874e-03 6.34737728e-06 9.99996816e-01 4.89055656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:74.22, Z:0.49 [[ 8.29747388e-01 -5.58135203e-01 -2.08988637e-03 2.50020138e+02] [ 5.58133411e-01 8.29750019e-01 -1.41441222e-03 7.42186732e+01] [ 2.52351650e-03 7.16943597e-06 9.99996816e-01 4.86672571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.07, Y:74.25, Z:0.49 [[ 8.31720225e-01 -5.55191049e-01 -2.08966218e-03 2.50066968e+02] [ 5.55189247e-01 8.31722850e-01 -1.41474335e-03 7.42528452e+01] [ 2.52347263e-03 1.65126900e-05 9.99996816e-01 4.92202364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.11, Y:74.29, Z:0.49 [[ 8.33341473e-01 -5.52754578e-01 -2.08958201e-03 2.50113848e+02] [ 5.52752767e-01 8.33344092e-01 -1.41486176e-03 7.42868580e+01] [ 2.52341214e-03 2.40407428e-05 9.99996816e-01 4.92041703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.16, Y:74.32, Z:0.49 [[ 8.35341099e-01 -5.49728008e-01 -2.08931377e-03 2.50160574e+02] [ 5.49726187e-01 8.35343711e-01 -1.41525776e-03 7.43211722e+01] [ 2.52330194e-03 3.36724790e-05 9.99996816e-01 4.89469100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.21, Y:74.36, Z:0.49 [[ 8.36162312e-01 -5.48478098e-01 -2.08923067e-03 2.50206615e+02] [ 5.48476273e-01 8.36164921e-01 -1.41538042e-03 7.43563049e+01] [ 2.52324656e-03 3.75943138e-05 9.99996816e-01 4.91381539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.25, Y:74.39, Z:0.49 [[ 8.35659301e-01 -5.49244180e-01 -2.08896399e-03 2.50252715e+02] [ 5.49242356e-01 8.35661911e-01 -1.41577390e-03 7.43913255e+01] [ 2.52327321e-03 3.57571226e-05 9.99996816e-01 4.89977955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.30, Y:74.42, Z:0.49 [[ 8.33969333e-01 -5.51806840e-01 -2.08869679e-03 2.50301307e+02] [ 5.51805023e-01 8.33971948e-01 -1.41616800e-03 7.44234930e+01] [ 2.52336572e-03 2.84873030e-05 9.99996816e-01 4.92133949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.35, Y:74.46, Z:0.49 [[ 8.31682786e-01 -5.55247136e-01 -2.08841764e-03 2.50349096e+02] [ 5.55245330e-01 8.31685408e-01 -1.41657954e-03 7.44567074e+01] [ 2.52345821e-03 1.85606790e-05 9.99996816e-01 4.92975764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:74.49, Z:0.50 [[ 8.29831500e-01 -5.58010144e-01 -2.08833179e-03 2.50398500e+02] [ 5.58008345e-01 8.29834128e-01 -1.41670609e-03 7.44886673e+01] [ 2.52350535e-03 1.03207728e-05 9.99996816e-01 4.96105295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:74.52, Z:0.49 [[ 8.27399359e-01 -5.61610132e-01 -2.08810037e-03 2.50447689e+02] [ 5.61608344e-01 8.27401994e-01 -1.41704709e-03 7.45187123e+01] [ 2.52352642e-03 -2.30738785e-07 9.99996816e-01 4.94730318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.50, Y:74.55, Z:0.49 [[ 8.26161212e-01 -5.63429935e-01 -2.08801142e-03 2.50496988e+02] [ 5.63428152e-01 8.26163851e-01 -1.41717815e-03 7.45484927e+01] [ 2.52352015e-03 -5.62680287e-06 9.99996816e-01 4.92327485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.55, Y:74.58, Z:0.49 [[ 8.25521378e-01 -5.64366986e-01 -2.08792763e-03 2.50545255e+02] [ 5.64365206e-01 8.25524019e-01 -1.41730158e-03 7.45786944e+01] [ 2.52351263e-03 -8.34095241e-06 9.99996816e-01 4.90263131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.59, Y:74.61, Z:0.49 [[ 8.25733884e-01 -5.64056020e-01 -2.08781259e-03 2.50593806e+02] [ 5.64054239e-01 8.25736524e-01 -1.41747102e-03 7.46095202e+01] [ 2.52351618e-03 -7.18569029e-06 9.99996816e-01 4.92314929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:74.64, Z:0.50 [[ 8.26823318e-01 -5.62457858e-01 -2.08754817e-03 2.50644433e+02] [ 5.62456071e-01 8.26825954e-01 -1.41786035e-03 7.46396932e+01] [ 2.52352570e-03 -1.83414371e-06 9.99996816e-01 4.96651522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.70, Y:74.67, Z:0.49 [[ 8.28972640e-01 -5.59285263e-01 -2.08730799e-03 2.50695465e+02] [ 5.59283465e-01 8.28975268e-01 -1.41821384e-03 7.46672728e+01] [ 2.52351280e-03 8.26362882e-06 9.99996816e-01 4.94860580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.74, Y:74.70, Z:0.50 [[ 8.31263773e-01 -5.55874251e-01 -2.08718179e-03 2.50744344e+02] [ 5.55872442e-01 8.31266393e-01 -1.41839954e-03 7.46990061e+01] [ 2.52345586e-03 1.88573116e-05 9.99996816e-01 4.97715400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.79, Y:74.73, Z:0.50 [[ 8.35258776e-01 -5.49853091e-01 -2.08709631e-03 2.50792739e+02] [ 5.49851263e-01 8.35261382e-01 -1.41852531e-03 7.47284030e+01] [ 2.52325147e-03 3.72431735e-05 9.99996816e-01 4.96930814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:74.76, Z:0.49 [[ 8.39277999e-01 -5.43698523e-01 -2.08697792e-03 2.50839960e+02] [ 5.43696675e-01 8.39280592e-01 -1.41869946e-03 7.47618528e+01] [ 2.52290487e-03 5.60002923e-05 9.99996816e-01 4.92598616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.89, Y:74.79, Z:0.49 [[ 8.41338215e-01 -5.40504997e-01 -2.08689506e-03 2.50888835e+02] [ 5.40503139e-01 8.41340801e-01 -1.41882133e-03 7.47948547e+01] [ 2.52266999e-03 6.57352753e-05 9.99996816e-01 4.91673344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.94, Y:74.83, Z:0.49 [[ 8.42690272e-01 -5.38394606e-01 -2.08666184e-03 2.50935965e+02] [ 5.38392740e-01 8.42692852e-01 -1.41916426e-03 7.48293294e+01] [ 2.52248540e-03 7.24723321e-05 9.99996816e-01 4.94725962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.98, Y:74.86, Z:0.50 [[ 8.41761555e-01 -5.39845470e-01 -2.08657883e-03 2.50983215e+02] [ 5.39843608e-01 8.41764138e-01 -1.41928629e-03 7.48629736e+01] [ 2.52260251e-03 6.82743841e-05 9.99996816e-01 4.96333251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.03, Y:74.90, Z:0.50 [[ 8.39998949e-01 -5.42584015e-01 -2.08649668e-03 2.51029700e+02] [ 5.42582161e-01 8.40001538e-01 -1.41940705e-03 7.48954735e+01] [ 2.52280800e-03 6.02045569e-05 9.99996816e-01 4.95676526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:74.93, Z:0.50 [[ 8.37672445e-01 -5.46168950e-01 -2.08638833e-03 2.51077527e+02] [ 5.46167108e-01 8.37675042e-01 -1.41956629e-03 7.49281488e+01] [ 2.52303847e-03 4.96148862e-05 9.99996816e-01 4.95851543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.12, Y:74.96, Z:0.50 [[ 8.35764924e-01 -5.49083454e-01 -2.08613241e-03 2.51124412e+02] [ 5.49081620e-01 8.35767527e-01 -1.41994229e-03 7.49627227e+01] [ 2.52318854e-03 4.12810030e-05 9.99996816e-01 4.97751911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.17, Y:75.00, Z:0.50 [[ 8.34718502e-01 -5.50672926e-01 -2.08586646e-03 2.51170796e+02] [ 5.50671096e-01 8.34721107e-01 -1.42033285e-03 7.49961212e+01] [ 2.52325561e-03 3.69517382e-05 9.99996816e-01 4.96752934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92264 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:251.22, Y:75.03, Z:0.50 [[ 8.32914579e-01 -5.53397646e-01 -2.08575808e-03 2.51215652e+02] [ 5.53395824e-01 8.32917190e-01 -1.42049199e-03 7.50322200e+01] [ 2.52336068e-03 2.88986710e-05 9.99996816e-01 4.95237787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.26, Y:75.07, Z:0.50 [[ 8.32056780e-01 -5.54686547e-01 -2.08564781e-03 2.51262246e+02] [ 5.54684728e-01 8.32059393e-01 -1.42065388e-03 7.50656322e+01] [ 2.52340045e-03 2.51877040e-05 9.99996816e-01 4.95000138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04263999999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:251.31, Y:75.10, Z:0.50 [[ 8.31310580e-01 -5.55804255e-01 -2.08553964e-03 2.51307559e+02] [ 5.55802439e-01 8.31313196e-01 -1.42081266e-03 7.51026459e+01] [ 2.52343034e-03 2.19885755e-05 9.99996816e-01 5.00653734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.35, Y:75.14, Z:0.50 [[ 8.31303957e-01 -5.55814162e-01 -2.08526615e-03 2.51352408e+02] [ 5.55812346e-01 8.31306572e-01 -1.42121393e-03 7.51388268e+01] [ 2.52342629e-03 2.24440919e-05 9.99996816e-01 5.00204545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.40, Y:75.17, Z:0.50 [[ 8.30324589e-01 -5.57276170e-01 -2.08518202e-03 2.51400272e+02] [ 5.57274357e-01 8.30327207e-01 -1.42133735e-03 7.51736048e+01] [ 2.52346080e-03 1.81528795e-05 9.99996816e-01 5.00023263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.45, Y:75.21, Z:0.50 [[ 8.28212223e-01 -5.60410712e-01 -2.08494473e-03 2.51447705e+02] [ 5.60408909e-01 8.28214848e-01 -1.42168535e-03 7.52065133e+01] [ 2.52350988e-03 9.03558661e-06 9.99996816e-01 4.95101538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.50, Y:75.24, Z:0.50 [[ 8.27125950e-01 -5.62012737e-01 -2.08486142e-03 2.51495279e+02] [ 5.62010938e-01 8.27128578e-01 -1.42180750e-03 7.52416414e+01] [ 2.52352239e-03 4.29895894e-06 9.99996816e-01 4.99638021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.54, Y:75.27, Z:0.50 [[ 8.26071204e-01 -5.63561904e-01 -2.08462065e-03 2.51542350e+02] [ 5.63560110e-01 8.26073835e-01 -1.42216043e-03 7.52743581e+01] [ 2.52352602e-03 -3.25890898e-09 9.99996816e-01 5.01842054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.59, Y:75.31, Z:0.50 [[ 8.25691006e-01 -5.64118797e-01 -2.08451870e-03 2.51591005e+02] [ 5.64117004e-01 8.25693637e-01 -1.42230985e-03 7.53077003e+01] [ 2.52352555e-03 -1.52399509e-06 9.99996816e-01 5.02908131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.64, Y:75.34, Z:0.50 [[ 8.25826872e-01 -5.63919882e-01 -2.08428221e-03 2.51638517e+02] [ 5.63918088e-01 8.25829502e-01 -1.42265632e-03 7.53401636e+01] [ 2.52352593e-03 -4.96623575e-07 9.99996816e-01 5.03078919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.69, Y:75.37, Z:0.51 [[ 8.25043513e-01 -5.65065358e-01 -2.08401322e-03 2.51686879e+02] [ 5.65063566e-01 8.25046145e-01 -1.42305024e-03 7.53730443e+01] [ 2.52352347e-03 -3.52157238e-06 9.99996816e-01 5.06560700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.74, Y:75.40, Z:0.51 [[ 8.23955668e-01 -5.66650434e-01 -2.08377629e-03 2.51735991e+02] [ 5.66648646e-01 8.23958303e-01 -1.42339710e-03 7.54033748e+01] [ 2.52351336e-03 -7.95290394e-06 9.99996816e-01 5.06738170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.79, Y:75.43, Z:0.51 [[ 8.22450479e-01 -5.68832899e-01 -2.08369284e-03 2.51787416e+02] [ 5.68831118e-01 8.22453119e-01 -1.42351925e-03 7.54329904e+01] [ 2.52348426e-03 -1.44952357e-05 9.99996816e-01 5.08622531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.84, Y:75.46, Z:0.51 [[ 8.21963400e-01 -5.69536503e-01 -2.08344975e-03 2.51838003e+02] [ 5.69534723e-01 8.21966041e-01 -1.42387494e-03 7.54617156e+01] [ 2.52347370e-03 -1.62238894e-05 9.99996816e-01 5.05203891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.89, Y:75.49, Z:0.50 [[ 8.22497082e-01 -5.68765514e-01 -2.08336394e-03 2.51889334e+02] [ 5.68763732e-01 8.22499720e-01 -1.42400049e-03 7.54904201e+01] [ 2.52348863e-03 -1.37056012e-05 9.99996816e-01 5.02324665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.94, Y:75.52, Z:0.51 [[ 8.25367562e-01 -5.64591931e-01 -2.08313290e-03 2.51941300e+02] [ 5.64590134e-01 8.25370191e-01 -1.42433839e-03 7.55190772e+01] [ 2.52352576e-03 -5.13578349e-07 9.99996816e-01 5.05769428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:251.99, Y:75.55, Z:0.50 [[ 8.29105049e-01 -5.59088972e-01 -2.08289651e-03 2.51991909e+02] [ 5.59087157e-01 8.29107665e-01 -1.42468401e-03 7.55485805e+01] [ 2.52347058e-03 1.66920157e-05 9.99996816e-01 5.04470543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.04, Y:75.58, Z:0.50 [[ 8.31719393e-01 -5.55192321e-01 -2.08265687e-03 2.52041329e+02] [ 5.55190493e-01 8.31722000e-01 -1.42503423e-03 7.55786318e+01] [ 2.52335960e-03 2.89573115e-05 9.99996816e-01 5.04813886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.09, Y:75.61, Z:0.50 [[ 8.35751484e-01 -5.49103925e-01 -2.08238394e-03 2.52089581e+02] [ 5.49102077e-01 8.35754077e-01 -1.42543295e-03 7.56108988e+01] [ 2.52307169e-03 4.78663594e-05 9.99996816e-01 5.04146480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.14, Y:75.64, Z:0.51 [[ 8.37052063e-01 -5.47119282e-01 -2.08229946e-03 2.52136615e+02] [ 5.47117427e-01 8.37054651e-01 -1.42555635e-03 7.56445887e+01] [ 2.52294781e-03 5.40025603e-05 9.99996816e-01 5.05450322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.18, Y:75.68, Z:0.51 [[ 8.39976838e-01 -5.42618261e-01 -2.08202256e-03 2.52182512e+02] [ 5.42616392e-01 8.39979415e-01 -1.42596064e-03 7.56800402e+01] [ 2.52260838e-03 6.80343441e-05 9.99996816e-01 5.09237125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.23, Y:75.72, Z:0.51 [[ 8.40354356e-01 -5.42033414e-01 -2.08189419e-03 2.52228887e+02] [ 5.42031543e-01 8.40356932e-01 -1.42614803e-03 7.57150537e+01] [ 2.52255410e-03 7.00173861e-05 9.99996816e-01 5.11220438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.27, Y:75.75, Z:0.51 [[ 8.38570301e-01 -5.44789424e-01 -2.08161570e-03 2.52273964e+02] [ 5.44787560e-01 8.38572883e-01 -1.42655441e-03 7.57515244e+01] [ 2.52275823e-03 6.22278213e-05 9.99996816e-01 5.10245075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:75.79, Z:0.51 [[ 8.35111718e-01 -5.50076436e-01 -2.08152983e-03 2.52319778e+02] [ 5.50074588e-01 8.35114311e-01 -1.42667969e-03 7.57891013e+01] [ 2.52309823e-03 4.64402589e-05 9.99996816e-01 5.09855118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.36, Y:75.83, Z:0.51 [[ 8.33016338e-01 -5.53244475e-01 -2.08128256e-03 2.52364829e+02] [ 5.53242636e-01 8.33018937e-01 -1.42704032e-03 7.58252156e+01] [ 2.52324996e-03 3.72936564e-05 9.99996816e-01 5.07034412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.41, Y:75.86, Z:0.50 [[ 8.30115878e-01 -5.57587031e-01 -2.08119538e-03 2.52407929e+02] [ 5.57585205e-01 8.30118487e-01 -1.42716745e-03 7.58643726e+01] [ 2.52340882e-03 2.42706105e-05 9.99996816e-01 5.03727315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.45, Y:75.90, Z:0.51 [[ 8.27697520e-01 -5.61170637e-01 -2.08111199e-03 2.52453619e+02] [ 5.61168822e-01 8.27700136e-01 -1.42728905e-03 7.59008385e+01] [ 2.52348938e-03 1.35084474e-05 9.99996816e-01 5.05745735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:75.94, Z:0.51 [[ 8.22457663e-01 -5.68822522e-01 -2.08102742e-03 2.52498767e+02] [ 5.68820731e-01 8.22460296e-01 -1.42741234e-03 7.59384980e+01] [ 2.52350672e-03 -9.74532196e-06 9.99996816e-01 5.07374791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.55, Y:75.97, Z:0.51 [[ 8.16370447e-01 -5.77524859e-01 -2.08079137e-03 2.52545111e+02] [ 5.77523096e-01 8.16373098e-01 -1.42775636e-03 7.59725943e+01] [ 2.52326689e-03 -3.61269781e-05 9.99996816e-01 5.08523608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.59, Y:76.01, Z:0.51 [[ 8.12953025e-01 -5.82325552e-01 -2.08070875e-03 2.52592699e+02] [ 5.82323804e-01 8.12955687e-01 -1.42787675e-03 7.60060269e+01] [ 2.52301313e-03 -5.08495123e-05 9.99996816e-01 5.09288084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72263999999996 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:252.64, Y:76.04, Z:0.51 [[ 8.09123703e-01 -5.87634669e-01 -2.08044562e-03 2.52642432e+02] [ 5.87632937e-01 8.09126375e-01 -1.42826003e-03 7.60362949e+01] [ 2.52263854e-03 -6.68993260e-05 9.99996816e-01 5.11792955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78263999999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:252.69, Y:76.07, Z:0.51 [[ 8.07102476e-01 -5.90407712e-01 -2.08036462e-03 2.52692683e+02] [ 5.90405989e-01 8.07105153e-01 -1.42837801e-03 7.60652560e+01] [ 2.52239840e-03 -7.54122981e-05 9.99996816e-01 5.14963372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84263999999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:252.74, Y:76.09, Z:0.51 [[ 8.06089225e-01 -5.91790364e-01 -2.08009361e-03 2.52744785e+02] [ 5.91788644e-01 8.06091905e-01 -1.42877256e-03 7.60928658e+01] [ 2.52228045e-03 -7.92576159e-05 9.99996816e-01 5.12383606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90263999999996 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:252.80, Y:76.12, Z:0.51 [[ 8.07198845e-01 -5.90275951e-01 -2.07985868e-03 2.52799098e+02] [ 5.90274226e-01 8.07201521e-01 -1.42911447e-03 7.61182892e+01] [ 2.52243699e-03 -7.41074243e-05 9.99996816e-01 5.14734212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.85, Y:76.14, Z:0.51 [[ 8.09350493e-01 -5.87322275e-01 -2.07963074e-03 2.52850790e+02] [ 5.87320539e-01 8.09353162e-01 -1.42944608e-03 7.61449866e+01] [ 2.52270124e-03 -6.44869594e-05 9.99996816e-01 5.07954808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.90, Y:76.17, Z:0.51 [[ 8.13398410e-01 -5.81703276e-01 -2.07954339e-03 2.52904703e+02] [ 5.81701522e-01 8.13401067e-01 -1.42957314e-03 7.61699333e+01] [ 2.52309020e-03 -4.68610321e-05 9.99996816e-01 5.08725711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.96, Y:76.20, Z:0.51 [[ 8.18342017e-01 -5.74727779e-01 -2.07930454e-03 2.52956967e+02] [ 5.74726001e-01 8.18344658e-01 -1.42992047e-03 7.61959111e+01] [ 2.52340278e-03 -2.48663836e-05 9.99996816e-01 5.07399023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:253.01, Y:76.23, Z:0.51 [[ 8.22148253e-01 -5.69269644e-01 -2.07921993e-03 2.53007935e+02] [ 5.69267848e-01 8.22150882e-01 -1.43004349e-03 7.62263928e+01] [ 2.52351285e-03 -7.92529298e-06 9.99996816e-01 5.10920471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.06, Y:76.26, Z:0.51 [[ 8.27889589e-01 -5.60887249e-01 -2.07898471e-03 2.53059261e+02] [ 5.60885425e-01 8.27892200e-01 -1.43038536e-03 7.62556731e+01] [ 2.52346014e-03 1.81289252e-05 9.99996816e-01 5.13410126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.11, Y:76.29, Z:0.52 [[ 8.30916006e-01 -5.56393987e-01 -2.07873800e-03 2.53107442e+02] [ 5.56392149e-01 8.30918606e-01 -1.43074381e-03 7.62901243e+01] [ 2.52331934e-03 3.22344267e-05 9.99996816e-01 5.15861258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.16, Y:76.32, Z:0.50 [[ 8.33316667e-01 -5.52792014e-01 -2.07861332e-03 2.53156476e+02] [ 5.52790164e-01 8.33319259e-01 -1.43092493e-03 7.63207935e+01] [ 2.52315238e-03 4.33766002e-05 9.99996816e-01 5.04164082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.20, Y:76.36, Z:0.51 [[ 8.33185653e-01 -5.52989463e-01 -2.07852168e-03 2.53204915e+02] [ 5.52987613e-01 8.33188245e-01 -1.43105803e-03 7.63550273e+01] [ 2.52315984e-03 4.29402710e-05 9.99996816e-01 5.09937734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.25, Y:76.39, Z:0.51 [[ 8.32466621e-01 -5.54071300e-01 -2.07832311e-03 2.53251571e+02] [ 5.54069452e-01 8.32469215e-01 -1.43134635e-03 7.63895141e+01] [ 2.52320794e-03 4.00127166e-05 9.99996816e-01 5.09090914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.30, Y:76.42, Z:0.51 [[ 8.32419339e-01 -5.54142333e-01 -2.07823683e-03 2.53299307e+02] [ 5.54140485e-01 8.32421933e-01 -1.43147162e-03 7.64238616e+01] [ 2.52320894e-03 3.99494911e-05 9.99996816e-01 5.12225308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.34, Y:76.46, Z:0.51 [[ 8.30787172e-01 -5.56586342e-01 -2.07799307e-03 2.53344510e+02] [ 5.56584501e-01 8.30789770e-01 -1.43182538e-03 7.64592039e+01] [ 2.52330984e-03 3.29634254e-05 9.99996816e-01 5.11012135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:76.49, Z:0.51 [[ 8.27876405e-01 -5.60906712e-01 -2.07787270e-03 2.53392573e+02] [ 5.60904885e-01 8.27879013e-01 -1.43200005e-03 7.64934924e+01] [ 2.52344564e-03 2.00301103e-05 9.99996816e-01 5.12174995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.44, Y:76.53, Z:0.51 [[ 8.26039516e-01 -5.63608375e-01 -2.07762567e-03 2.53438353e+02] [ 5.63606555e-01 8.26042129e-01 -1.43235836e-03 7.65281426e+01] [ 2.52349550e-03 1.22211623e-05 9.99996816e-01 5.09844118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.49, Y:76.56, Z:0.51 [[ 8.23703261e-01 -5.67017303e-01 -2.07753879e-03 2.53485235e+02] [ 5.67015493e-01 8.23705881e-01 -1.43248436e-03 7.65625667e+01] [ 2.52352434e-03 1.94536170e-06 9.99996816e-01 5.11978625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.53, Y:76.60, Z:0.51 [[ 8.22901694e-01 -5.68179977e-01 -2.07726127e-03 2.53532022e+02] [ 5.68178171e-01 8.22904316e-01 -1.43288668e-03 7.65969366e+01] [ 2.52352479e-03 -1.12962795e-06 9.99996816e-01 5.12997451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:253.58, Y:76.63, Z:0.51 [[ 8.21681611e-01 -5.69942994e-01 -2.07697936e-03 2.53578297e+02] [ 5.69941191e-01 8.21684236e-01 -1.43329520e-03 7.66303999e+01] [ 2.52351775e-03 -6.04377715e-06 9.99996816e-01 5.11020707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.63, Y:76.66, Z:0.51 [[ 8.20409792e-01 -5.71772209e-01 -2.07686227e-03 2.53626661e+02] [ 5.71770413e-01 8.20412421e-01 -1.43346484e-03 7.66643601e+01] [ 2.52349896e-03 -1.14598100e-05 9.99996816e-01 5.13180111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:76.70, Z:0.51 [[ 8.20118241e-01 -5.72190317e-01 -2.07662255e-03 2.53674035e+02] [ 5.72188520e-01 8.20120870e-01 -1.43381203e-03 7.66976230e+01] [ 2.52349485e-03 -1.23241867e-05 9.99996816e-01 5.12842139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.72, Y:76.73, Z:0.52 [[ 8.20705860e-01 -5.71347162e-01 -2.07635047e-03 2.53721065e+02] [ 5.71345362e-01 8.20708487e-01 -1.43420593e-03 7.67325032e+01] [ 2.52350794e-03 -9.25200266e-06 9.99996816e-01 5.21865745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.77, Y:76.77, Z:0.52 [[ 8.22092545e-01 -5.69350100e-01 -2.07610965e-03 2.53769828e+02] [ 5.69348293e-01 8.22095167e-01 -1.43455446e-03 7.67650835e+01] [ 2.52352343e-03 -2.69295858e-06 9.99996816e-01 5.16915162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.82, Y:76.80, Z:0.52 [[ 8.23695049e-01 -5.67029238e-01 -2.07605409e-03 2.53816425e+02] [ 5.67027423e-01 8.23697665e-01 -1.43463485e-03 7.67988544e+01] [ 2.52352081e-03 4.52202120e-06 9.99996816e-01 5.17511732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.86, Y:76.83, Z:0.52 [[ 8.23783588e-01 -5.66900600e-01 -2.07596596e-03 2.53863638e+02] [ 5.66898784e-01 8.23786204e-01 -1.43476238e-03 7.68326707e+01] [ 2.52351977e-03 5.07112237e-06 9.99996816e-01 5.17562349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28263999999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:253.91, Y:76.87, Z:0.52 [[ 8.24162450e-01 -5.66349669e-01 -2.07569004e-03 2.53912320e+02] [ 5.66347851e-01 8.24165064e-01 -1.43516144e-03 7.68658519e+01] [ 2.52351442e-03 7.24357649e-06 9.99996816e-01 5.18883285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.96, Y:76.90, Z:0.53 [[ 8.25010360e-01 -5.65113793e-01 -2.07546490e-03 2.53961271e+02] [ 5.65111970e-01 8.25012970e-01 -1.43548694e-03 7.68991196e+01] [ 2.52349894e-03 1.14215412e-05 9.99996816e-01 5.27386488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40263999999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:254.01, Y:76.93, Z:0.52 [[ 8.25771620e-01 -5.64000820e-01 -2.07522834e-03 2.54007861e+02] [ 5.63998993e-01 8.25774227e-01 -1.43582885e-03 7.69330146e+01] [ 2.52347873e-03 1.52400184e-05 9.99996816e-01 5.16717578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.06, Y:76.97, Z:0.51 [[ 8.25563976e-01 -5.64304718e-01 -2.07513991e-03 2.54055410e+02] [ 5.64302891e-01 8.25566584e-01 -1.43595665e-03 7.69682163e+01] [ 2.52348328e-03 1.44666262e-05 9.99996816e-01 5.14575149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.10, Y:77.00, Z:0.52 [[ 8.24736872e-01 -5.65512852e-01 -2.07500006e-03 2.54102833e+02] [ 5.65511029e-01 8.24739483e-01 -1.43615870e-03 7.70027023e+01] [ 2.52350068e-03 1.10176201e-05 9.99996816e-01 5.16744837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:77.04, Z:0.52 [[ 8.23394004e-01 -5.67466307e-01 -2.07473762e-03 2.54151197e+02] [ 5.67464489e-01 8.23396618e-01 -1.43653774e-03 7.70353617e+01] [ 2.52351870e-03 5.49664517e-06 9.99996816e-01 5.16359616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:254.20, Y:77.07, Z:0.52 [[ 8.22316600e-01 -5.69026454e-01 -2.07467696e-03 2.54197897e+02] [ 5.69024641e-01 8.22319217e-01 -1.43662533e-03 7.70718937e+01] [ 2.52352456e-03 8.18542516e-07 9.99996816e-01 5.20615327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.25, Y:77.10, Z:0.51 [[ 8.21080213e-01 -5.70809057e-01 -2.07445447e-03 2.54247212e+02] [ 5.70807249e-01 8.21082834e-01 -1.43694654e-03 7.71036957e+01] [ 2.52352105e-03 -4.26527744e-06 9.99996816e-01 5.14842865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.29, Y:77.14, Z:0.52 [[ 8.19026085e-01 -5.73752533e-01 -2.07437798e-03 2.54294130e+02] [ 5.73750733e-01 8.19028712e-01 -1.43705695e-03 7.71389926e+01] [ 2.52349019e-03 -1.31887610e-05 9.99996816e-01 5.15026762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.34, Y:77.17, Z:0.51 [[ 8.17617434e-01 -5.75758134e-01 -2.07413470e-03 2.54342355e+02] [ 5.75756341e-01 8.17620065e-01 -1.43740799e-03 7.71686701e+01] [ 2.52345349e-03 -1.89463684e-05 9.99996816e-01 5.13325821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:254.39, Y:77.20, Z:0.51 [[ 8.17412213e-01 -5.76049453e-01 -2.07401456e-03 2.54390287e+02] [ 5.76047659e-01 8.17414844e-01 -1.43758132e-03 7.72027919e+01] [ 2.52344822e-03 -1.96347022e-05 9.99996816e-01 5.14459444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.44, Y:77.24, Z:0.51 [[ 8.17909611e-01 -5.75342999e-01 -2.07378329e-03 2.54438130e+02] [ 5.75341203e-01 8.17912240e-01 -1.43791486e-03 7.72356963e+01] [ 2.52346699e-03 -1.70485834e-05 9.99996816e-01 5.14869518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.49, Y:77.27, Z:0.52 [[ 8.18314310e-01 -5.74767248e-01 -2.07369439e-03 2.54485166e+02] [ 5.74765450e-01 8.18316937e-01 -1.43804305e-03 7.72700048e+01] [ 2.52347929e-03 -1.51166797e-05 9.99996816e-01 5.16139701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.53, Y:77.30, Z:0.52 [[ 8.18686885e-01 -5.74236436e-01 -2.07360860e-03 2.54532719e+02] [ 5.74234635e-01 8.18689511e-01 -1.43816675e-03 7.73047096e+01] [ 2.52348936e-03 -1.33296158e-05 9.99996816e-01 5.22897551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.58, Y:77.34, Z:0.51 [[ 8.19076321e-01 -5.73680819e-01 -2.07336984e-03 2.54580091e+02] [ 5.73679015e-01 8.19078945e-01 -1.43851089e-03 7.73372104e+01] [ 2.52349968e-03 -1.11985574e-05 9.99996816e-01 5.14695387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.63, Y:77.37, Z:0.52 [[ 8.18018051e-01 -5.75188812e-01 -2.07328540e-03 2.54629351e+02] [ 5.75187013e-01 8.18020678e-01 -1.43863258e-03 7.73702815e+01] [ 2.52347569e-03 -1.56994124e-05 9.99996816e-01 5.24809900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.68, Y:77.40, Z:0.53 [[ 8.15638156e-01 -5.78558641e-01 -2.07313631e-03 2.54679547e+02] [ 5.78556852e-01 8.15640790e-01 -1.43884739e-03 7.74019082e+01] [ 2.52339213e-03 -2.58483895e-05 9.99996816e-01 5.25701436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:77.43, Z:0.52 [[ 8.14390966e-01 -5.80312897e-01 -2.07287649e-03 2.54729951e+02] [ 5.80311113e-01 8.14393603e-01 -1.43922161e-03 7.74324049e+01] [ 2.52333621e-03 -3.08241851e-05 9.99996816e-01 5.20159340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.78, Y:77.46, Z:0.52 [[ 8.13267631e-01 -5.81886126e-01 -2.07281762e-03 2.54781255e+02] [ 5.81884347e-01 8.13270272e-01 -1.43930638e-03 7.74619867e+01] [ 2.52327337e-03 -3.55988373e-05 9.99996816e-01 5.23188982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.83, Y:77.49, Z:0.52 [[ 8.13213270e-01 -5.81962096e-01 -2.07257989e-03 2.54830562e+02] [ 5.81960317e-01 8.13215910e-01 -1.43964863e-03 7.74921676e+01] [ 2.52327588e-03 -3.54178812e-05 9.99996816e-01 5.22092095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48263999999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:254.88, Y:77.52, Z:0.52 [[ 8.14164804e-01 -5.80630154e-01 -2.07249589e-03 2.54880354e+02] [ 5.80628370e-01 8.14167442e-01 -1.43976955e-03 7.75212098e+01] [ 2.52333229e-03 -3.11402157e-05 9.99996816e-01 5.22243368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.93, Y:77.55, Z:0.52 [[ 8.16086127e-01 -5.77926586e-01 -2.07222043e-03 2.54929965e+02] [ 5.77924792e-01 8.16088758e-01 -1.44016590e-03 7.75505787e+01] [ 2.52342596e-03 -2.22881544e-05 9.99996816e-01 5.21555785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.98, Y:77.58, Z:0.52 [[ 8.20282400e-01 -5.71954972e-01 -2.07213443e-03 2.54977067e+02] [ 5.71953159e-01 8.20285017e-01 -1.44028962e-03 7.75831832e+01] [ 2.52352164e-03 -3.71960830e-06 9.99996816e-01 5.24314907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66263999999995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:255.03, Y:77.62, Z:0.52 [[ 8.24520406e-01 -5.65828425e-01 -2.07203340e-03 2.55025816e+02] [ 5.65826592e-01 8.24523009e-01 -1.44043496e-03 7.76153680e+01] [ 2.52347826e-03 1.52564193e-05 9.99996816e-01 5.23712727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.07, Y:77.65, Z:0.53 [[ 8.26840884e-01 -5.62432094e-01 -2.07176449e-03 2.55072690e+02] [ 5.62430249e-01 8.26843479e-01 -1.44082162e-03 7.76506616e+01] [ 2.52338928e-03 2.61072006e-05 9.99996816e-01 5.25009259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.12, Y:77.68, Z:0.52 [[ 8.27837841e-01 -5.60963652e-01 -2.07152307e-03 2.55120114e+02] [ 5.60961801e-01 8.27840432e-01 -1.44116864e-03 7.76849906e+01] [ 2.52333377e-03 3.10086267e-05 9.99996816e-01 5.22129806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.17, Y:77.72, Z:0.52 [[ 8.27511870e-01 -5.61444400e-01 -2.07128092e-03 2.55167013e+02] [ 5.61442550e-01 8.27514462e-01 -1.44151658e-03 7.77190273e+01] [ 2.52334633e-03 2.99668427e-05 9.99996816e-01 5.22866935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90263999999996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:255.21, Y:77.75, Z:0.51 [[ 8.25742078e-01 -5.64044087e-01 -2.07103756e-03 2.55213621e+02] [ 5.64042245e-01 8.25744674e-01 -1.44186614e-03 7.77541198e+01] [ 2.52342430e-03 2.24568665e-05 9.99996816e-01 5.14450316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.26, Y:77.79, Z:0.52 [[ 8.24762848e-01 -5.65474983e-01 -2.07079524e-03 2.55261149e+02] [ 5.65473144e-01 8.24765447e-01 -1.44221406e-03 7.77884935e+01] [ 2.52345634e-03 1.85054779e-05 9.99996816e-01 5.20749541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.31, Y:77.83, Z:0.52 [[ 8.24537029e-01 -5.65804207e-01 -2.07057447e-03 2.55306573e+02] [ 5.65802368e-01 8.24539629e-01 -1.44253096e-03 7.78266063e+01] [ 2.52346079e-03 1.78842533e-05 9.99996816e-01 5.21833451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.35, Y:77.86, Z:0.53 [[ 8.24877821e-01 -5.65307257e-01 -2.07032081e-03 2.55353477e+02] [ 5.65305416e-01 8.24880418e-01 -1.44289492e-03 7.78622605e+01] [ 2.52344606e-03 1.98484471e-05 9.99996816e-01 5.25865115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.40, Y:77.90, Z:0.52 [[ 8.26214376e-01 -5.63352039e-01 -2.07007636e-03 2.55398016e+02] [ 5.63350191e-01 8.26216969e-01 -1.44324553e-03 7.78994525e+01] [ 2.52338753e-03 2.62522882e-05 9.99996816e-01 5.19849554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20264 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:255.44, Y:77.94, Z:0.52 [[ 8.27146554e-01 -5.61982466e-01 -2.06998822e-03 2.55441819e+02] [ 5.61980614e-01 8.27149144e-01 -1.44337194e-03 7.79397406e+01] [ 2.52333871e-03 3.05868751e-05 9.99996816e-01 5.20835550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.49, Y:77.98, Z:0.51 [[ 8.27662839e-01 -5.61221829e-01 -2.06974017e-03 2.55487583e+02] [ 5.61219973e-01 8.27665426e-01 -1.44372755e-03 7.79761088e+01] [ 2.52330379e-03 3.33401236e-05 9.99996816e-01 5.14984246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.53, Y:78.02, Z:0.52 [[ 8.27046315e-01 -5.62129976e-01 -2.06949515e-03 2.55531705e+02] [ 5.62128122e-01 8.27048904e-01 -1.44407868e-03 7.80160824e+01] [ 2.52333361e-03 3.09985256e-05 9.99996816e-01 5.19374836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.58, Y:78.05, Z:0.52 [[ 8.25629676e-01 -5.64208611e-01 -2.06925031e-03 2.55576935e+02] [ 5.64206762e-01 8.25632269e-01 -1.44442944e-03 7.80519517e+01] [ 2.52339935e-03 2.50787923e-05 9.99996816e-01 5.20103008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.62, Y:78.09, Z:0.52 [[ 8.22590286e-01 -5.68630759e-01 -2.06916416e-03 2.55621638e+02] [ 5.68628924e-01 8.22592888e-01 -1.44455284e-03 7.80897024e+01] [ 2.52349690e-03 1.16885427e-05 9.99996816e-01 5.23773838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50264 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:255.67, Y:78.12, Z:0.52 [[ 8.20879813e-01 -5.71097236e-01 -2.06887740e-03 2.55667705e+02] [ 5.71095408e-01 8.20882420e-01 -1.44496341e-03 7.81245663e+01] [ 2.52351970e-03 4.61490469e-06 9.99996816e-01 5.21220375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:78.16, Z:0.52 [[ 8.18084025e-01 -5.75094991e-01 -2.06874556e-03 2.55712963e+02] [ 5.75093175e-01 8.18086641e-01 -1.44515214e-03 7.81607472e+01] [ 2.52351286e-03 -7.46557697e-06 9.99996816e-01 5.23146953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:255.76, Y:78.19, Z:0.52 [[ 8.16783693e-01 -5.76940309e-01 -2.06846751e-03 2.55760501e+02] [ 5.76938498e-01 8.16786312e-01 -1.44555001e-03 7.81946368e+01] [ 2.52349202e-03 -1.26768570e-05 9.99996816e-01 5.23858017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.81, Y:78.23, Z:0.53 [[ 8.15387887e-01 -5.78911320e-01 -2.06822279e-03 2.55808027e+02] [ 5.78909515e-01 8.15390510e-01 -1.44590006e-03 7.82297009e+01] [ 2.52345715e-03 -1.83444565e-05 9.99996816e-01 5.29435538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.85, Y:78.26, Z:0.52 [[ 8.14556735e-01 -5.80080209e-01 -2.06797480e-03 2.55853911e+02] [ 5.80078407e-01 8.14559360e-01 -1.44625465e-03 7.82643883e+01] [ 2.52343193e-03 -2.15310660e-05 9.99996816e-01 5.24836231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:78.30, Z:0.52 [[ 8.14073936e-01 -5.80757565e-01 -2.06788700e-03 2.55901849e+02] [ 5.80755765e-01 8.14076562e-01 -1.44638018e-03 7.82962972e+01] [ 2.52341457e-03 -2.34768890e-05 9.99996816e-01 5.24345307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.95, Y:78.33, Z:0.53 [[ 8.14491459e-01 -5.80171861e-01 -2.06761573e-03 2.55949632e+02] [ 5.80170057e-01 8.14494083e-01 -1.44676786e-03 7.83295474e+01] [ 2.52343478e-03 -2.11886750e-05 9.99996816e-01 5.25822518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.00, Y:78.36, Z:0.53 [[ 8.15195748e-01 -5.79181853e-01 -2.06734214e-03 2.55997410e+02] [ 5.79180045e-01 8.15198369e-01 -1.44715870e-03 7.83639954e+01] [ 2.52346200e-03 -1.76456983e-05 9.99996816e-01 5.27315111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.05, Y:78.40, Z:0.53 [[ 8.15569023e-01 -5.78656112e-01 -2.06710196e-03 2.56045710e+02] [ 5.78654301e-01 8.15571643e-01 -1.44750169e-03 7.83981342e+01] [ 2.52347544e-03 -1.55999024e-05 9.99996816e-01 5.25821921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.10, Y:78.43, Z:0.53 [[ 8.15478258e-01 -5.78784017e-01 -2.06686215e-03 2.56095740e+02] [ 5.78782206e-01 8.15480877e-01 -1.44784402e-03 7.84284907e+01] [ 2.52347554e-03 -1.55777182e-05 9.99996816e-01 5.27844458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:78.46, Z:0.53 [[ 8.15903963e-01 -5.78183753e-01 -2.06661387e-03 2.56143179e+02] [ 5.78181939e-01 8.15906580e-01 -1.44819832e-03 7.84609833e+01] [ 2.52348860e-03 -1.32880687e-05 9.99996816e-01 5.29260988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.19, Y:78.49, Z:0.53 [[ 8.17322312e-01 -5.76177029e-01 -2.06648848e-03 2.56191947e+02] [ 5.76175208e-01 8.17324924e-01 -1.44837723e-03 7.84943613e+01] [ 2.52351423e-03 -6.86840253e-06 9.99996816e-01 5.28197846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.24, Y:78.53, Z:0.53 [[ 8.18800283e-01 -5.74074757e-01 -2.06641859e-03 2.56239582e+02] [ 5.74072930e-01 8.18802890e-01 -1.44847693e-03 7.85279650e+01] [ 2.52352356e-03 -2.61651848e-07 9.99996816e-01 5.27461622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28263999999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:78.56, Z:0.53 [[ 8.20364912e-01 -5.71836639e-01 -2.06614126e-03 2.56286700e+02] [ 5.71834804e-01 8.20367514e-01 -1.44887241e-03 7.85611341e+01] [ 2.52351350e-03 7.11260539e-06 9.99996816e-01 5.27921045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.33, Y:78.59, Z:0.53 [[ 8.20456716e-01 -5.71704914e-01 -2.06586621e-03 2.56333333e+02] [ 5.71703077e-01 8.20459317e-01 -1.44926448e-03 7.85944825e+01] [ 2.52351081e-03 7.99670588e-06 9.99996816e-01 5.30517399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.38, Y:78.63, Z:0.53 [[ 8.19540947e-01 -5.73016901e-01 -2.06571680e-03 2.56380231e+02] [ 5.73015067e-01 8.19543551e-01 -1.44947741e-03 7.86292163e+01] [ 2.52351994e-03 4.21923869e-06 9.99996816e-01 5.32733278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.43, Y:78.66, Z:0.53 [[ 8.18493969e-01 -5.74511406e-01 -2.06548894e-03 2.56428173e+02] [ 5.74509577e-01 8.18496575e-01 -1.44980205e-03 7.86614118e+01] [ 2.52352344e-03 1.10537657e-08 9.99996816e-01 5.32500279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.48, Y:78.70, Z:0.53 [[ 8.16762757e-01 -5.76969958e-01 -2.06540133e-03 2.56476507e+02] [ 5.76968136e-01 8.16765369e-01 -1.44992685e-03 7.86956290e+01] [ 2.52351251e-03 -7.42450422e-06 9.99996816e-01 5.33867512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58263999999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:256.52, Y:78.73, Z:0.53 [[ 8.14947296e-01 -5.79531396e-01 -2.06516285e-03 2.56524836e+02] [ 5.79529582e-01 8.14949913e-01 -1.45026644e-03 7.87286839e+01] [ 2.52347922e-03 -1.49322435e-05 9.99996816e-01 5.31802609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.57, Y:78.76, Z:0.53 [[ 8.13153090e-01 -5.82046208e-01 -2.06492716e-03 2.56572274e+02] [ 5.82044401e-01 8.13155711e-01 -1.45060194e-03 7.87623420e+01] [ 2.52342467e-03 -2.23178481e-05 9.99996816e-01 5.31369425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70264 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:256.62, Y:78.79, Z:0.53 [[ 8.10878528e-01 -5.85210859e-01 -2.06465993e-03 2.56623156e+02] [ 5.85209061e-01 8.10881156e-01 -1.45098219e-03 7.87925302e+01] [ 2.52332437e-03 -3.16874011e-05 9.99996816e-01 5.30334342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.67, Y:78.82, Z:0.53 [[ 8.10489244e-01 -5.85749881e-01 -2.06442798e-03 2.56672578e+02] [ 5.85748084e-01 8.10491873e-01 -1.45131214e-03 7.88244300e+01] [ 2.52330801e-03 -3.29618545e-05 9.99996816e-01 5.29928001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.72, Y:78.86, Z:0.53 [[ 8.10682829e-01 -5.85481930e-01 -2.06419804e-03 2.56720709e+02] [ 5.85480131e-01 8.10685456e-01 -1.45163910e-03 7.88562954e+01] [ 2.52332379e-03 -3.17280413e-05 9.99996816e-01 5.32961465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.77, Y:78.89, Z:0.53 [[ 8.11486401e-01 -5.84367659e-01 -2.06392411e-03 2.56770520e+02] [ 5.84365856e-01 8.11489025e-01 -1.45202847e-03 7.88881327e+01] [ 2.52337024e-03 -2.77854264e-05 9.99996816e-01 5.34483460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:256.82, Y:78.92, Z:0.53 [[ 8.13385035e-01 -5.81722035e-01 -2.06368617e-03 2.56820965e+02] [ 5.81720223e-01 8.13387653e-01 -1.45236655e-03 7.89184490e+01] [ 2.52345048e-03 -1.91547609e-05 9.99996816e-01 5.34472277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.87, Y:78.95, Z:0.53 [[ 8.14883917e-01 -5.79620517e-01 -2.06344491e-03 2.56870594e+02] [ 5.79618697e-01 8.14886530e-01 -1.45270925e-03 7.89497648e+01] [ 2.52349355e-03 -1.22218461e-05 9.99996816e-01 5.33980974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.92, Y:78.98, Z:0.54 [[ 8.15170437e-01 -5.79217490e-01 -2.06319325e-03 2.56920020e+02] [ 5.79215668e-01 8.15173048e-01 -1.45306658e-03 7.89816509e+01] [ 2.52350111e-03 -1.05369296e-05 9.99996816e-01 5.38137186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.97, Y:79.01, Z:0.53 [[ 8.14625397e-01 -5.79983798e-01 -2.06293337e-03 2.56970940e+02] [ 5.79981977e-01 8.14628009e-01 -1.45343544e-03 7.90089788e+01] [ 2.52349231e-03 -1.24587539e-05 9.99996816e-01 5.31309454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.02, Y:79.04, Z:0.54 [[ 8.14551243e-01 -5.80087939e-01 -2.06267710e-03 2.57023106e+02] [ 5.80086118e-01 8.14553855e-01 -1.45379904e-03 7.90386495e+01] [ 2.52349287e-03 -1.23365332e-05 9.99996816e-01 5.37027918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.07, Y:79.07, Z:0.53 [[ 8.15712484e-01 -5.78453879e-01 -2.06245974e-03 2.57073204e+02] [ 5.78452051e-01 8.15715091e-01 -1.45410734e-03 7.90685767e+01] [ 2.52351356e-03 -6.90055258e-06 9.99996816e-01 5.34183590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:257.12, Y:79.10, Z:0.54 [[ 8.16974750e-01 -5.76669754e-01 -2.06237074e-03 2.57123037e+02] [ 5.76667920e-01 8.16977353e-01 -1.45423356e-03 7.90993805e+01] [ 2.52352269e-03 -1.23094775e-06 9.99996816e-01 5.36672018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.17, Y:79.13, Z:0.54 [[ 8.19232998e-01 -5.73457098e-01 -2.06211999e-03 2.57172755e+02] [ 5.73455253e-01 8.19235593e-01 -1.45458903e-03 7.91296841e+01] [ 2.52350650e-03 9.11378745e-06 9.99996816e-01 5.36059799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.22, Y:79.16, Z:0.54 [[ 8.21045839e-01 -5.70858545e-01 -2.06198660e-03 2.57219493e+02] [ 5.70856691e-01 8.21048428e-01 -1.45477809e-03 7.91630128e+01] [ 2.52346337e-03 1.73406514e-05 9.99996816e-01 5.35697360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.27, Y:79.20, Z:0.54 [[ 8.23039818e-01 -5.67979935e-01 -2.06190049e-03 2.57266288e+02] [ 5.67978072e-01 8.23042400e-01 -1.45490014e-03 7.91987612e+01] [ 2.52338561e-03 2.63264797e-05 9.99996816e-01 5.43218312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.31, Y:79.23, Z:0.54 [[ 8.22832685e-01 -5.68279969e-01 -2.06166554e-03 2.57314007e+02] [ 5.68278106e-01 8.22835267e-01 -1.45523299e-03 7.92324304e+01] [ 2.52339088e-03 2.58138757e-05 9.99996816e-01 5.38286923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.36, Y:79.27, Z:0.53 [[ 8.19639959e-01 -5.72875281e-01 -2.06158613e-03 2.57360662e+02] [ 5.72873433e-01 8.19642552e-01 -1.45534549e-03 7.92668951e+01] [ 2.52349517e-03 1.18313971e-05 9.99996816e-01 5.34244004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.41, Y:79.30, Z:0.53 [[ 8.16219379e-01 -5.77738414e-01 -2.06149877e-03 2.57408450e+02] [ 5.77736581e-01 8.16221983e-01 -1.45546922e-03 7.93005908e+01] [ 2.52352109e-03 -3.02106396e-06 9.99996816e-01 5.34650152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72263999999996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:257.46, Y:79.33, Z:0.53 [[ 8.10785997e-01 -5.85339062e-01 -2.06125688e-03 2.57458065e+02] [ 5.85337253e-01 8.10788617e-01 -1.45581171e-03 7.93302893e+01] [ 2.52338707e-03 -2.61786888e-05 9.99996816e-01 5.33563487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78263999999996 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:257.51, Y:79.36, Z:0.54 [[ 8.08156360e-01 -5.88964387e-01 -2.06113155e-03 2.57507714e+02] [ 5.88962589e-01 8.08158988e-01 -1.45598913e-03 7.93628753e+01] [ 2.52324773e-03 -3.72625002e-05 9.99996816e-01 5.41738831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84263999999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:257.56, Y:79.39, Z:0.54 [[ 8.05471065e-01 -5.92631517e-01 -2.06096955e-03 2.57558780e+02] [ 5.92629730e-01 8.05473701e-01 -1.45621840e-03 7.93914799e+01] [ 2.52305769e-03 -4.84500468e-05 9.99996816e-01 5.37993724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.61, Y:79.42, Z:0.54 [[ 8.04651934e-01 -5.93743225e-01 -2.06087469e-03 2.57610400e+02] [ 5.93741441e-01 8.04654572e-01 -1.45635264e-03 7.94206288e+01] [ 2.52299175e-03 -5.17697366e-05 9.99996816e-01 5.35111122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.66, Y:79.45, Z:0.54 [[ 8.05417694e-01 -5.92704051e-01 -2.06063162e-03 2.57660076e+02] [ 5.92702263e-01 8.05420329e-01 -1.45669648e-03 7.94515896e+01] [ 2.52306450e-03 -4.80918997e-05 9.99996816e-01 5.42724803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.71, Y:79.48, Z:0.54 [[ 8.07820202e-01 -5.89425378e-01 -2.06041054e-03 2.57709972e+02] [ 5.89423578e-01 8.07822829e-01 -1.45700912e-03 7.94819029e+01] [ 2.52324482e-03 -3.74531564e-05 9.99996816e-01 5.38514944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.76, Y:79.51, Z:0.54 [[ 8.09198481e-01 -5.87531763e-01 -2.06033569e-03 2.57759967e+02] [ 5.87529957e-01 8.09201104e-01 -1.45711496e-03 7.95124795e+01] [ 2.52332723e-03 -3.14137269e-05 9.99996816e-01 5.37599000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.81, Y:79.54, Z:0.54 [[ 8.11018028e-01 -5.85017533e-01 -2.06008882e-03 2.57810084e+02] [ 5.85015718e-01 8.11020644e-01 -1.45746390e-03 7.95422634e+01] [ 2.52341650e-03 -2.31548469e-05 9.99996816e-01 5.36323025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.86, Y:79.57, Z:0.54 [[ 8.12599920e-01 -5.82818262e-01 -2.06000110e-03 2.57859740e+02] [ 5.82816439e-01 8.12602531e-01 -1.45758788e-03 7.95731705e+01] [ 2.52347094e-03 -1.61667085e-05 9.99996816e-01 5.39038291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.91, Y:79.61, Z:0.54 [[ 8.12907797e-01 -5.82388763e-01 -2.05975381e-03 2.57909177e+02] [ 5.82386939e-01 8.12910406e-01 -1.45793725e-03 7.96061015e+01] [ 2.52348157e-03 -1.44051615e-05 9.99996816e-01 5.43228067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.96, Y:79.64, Z:0.54 [[ 8.13713654e-01 -5.81262288e-01 -2.05956754e-03 2.57957459e+02] [ 5.81260459e-01 8.13716260e-01 -1.45820034e-03 7.96375124e+01] [ 2.52350046e-03 -1.05876487e-05 9.99996816e-01 5.44680852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.00, Y:79.67, Z:0.54 [[ 8.14017907e-01 -5.80836127e-01 -2.05925330e-03 2.58004124e+02] [ 5.80834295e-01 8.14020512e-01 -1.45864396e-03 7.96711066e+01] [ 2.52350754e-03 -8.72263427e-06 9.99996816e-01 5.36476308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:79.70, Z:0.54 [[ 8.14540131e-01 -5.80103556e-01 -2.05899106e-03 2.58051119e+02] [ 5.80101722e-01 8.14542733e-01 -1.45901404e-03 7.97043668e+01] [ 2.52351544e-03 -5.99877719e-06 9.99996816e-01 5.39050718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.10, Y:79.74, Z:0.54 [[ 8.15602656e-01 -5.78608736e-01 -2.05870281e-03 2.58098282e+02] [ 5.78606895e-01 8.15605254e-01 -1.45942066e-03 7.97399013e+01] [ 2.52352237e-03 -8.72274274e-07 9.99996816e-01 5.42866032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.15, Y:79.78, Z:0.55 [[ 8.16602528e-01 -5.77196738e-01 -2.05845046e-03 2.58145778e+02] [ 5.77194892e-01 8.16605122e-01 -1.45977650e-03 7.97751142e+01] [ 2.52351942e-03 3.93009062e-06 9.99996816e-01 5.46053063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:258.19, Y:79.81, Z:0.55 [[ 8.16072961e-01 -5.77945228e-01 -2.05819872e-03 2.58192143e+02] [ 5.77943384e-01 8.16075556e-01 -1.46013135e-03 7.98095198e+01] [ 2.52352161e-03 2.05138130e-06 9.99996816e-01 5.45025883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.24, Y:79.84, Z:0.54 [[ 8.15492317e-01 -5.78764241e-01 -2.05791239e-03 2.58238127e+02] [ 5.78762398e-01 8.15494913e-01 -1.46053480e-03 7.98429898e+01] [ 2.52352240e-03 1.25977246e-08 9.99996816e-01 5.42635365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.28, Y:79.88, Z:0.54 [[ 8.13998034e-01 -5.80863983e-01 -2.05771767e-03 2.58284790e+02] [ 5.80862146e-01 8.14000635e-01 -1.46080908e-03 7.98794002e+01] [ 2.52351487e-03 -6.15457730e-06 9.99996816e-01 5.43482088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.33, Y:79.91, Z:0.55 [[ 8.13678654e-01 -5.81311289e-01 -2.05747397e-03 2.58332986e+02] [ 5.81309452e-01 8.13681256e-01 -1.46115224e-03 7.99133768e+01] [ 2.52351229e-03 -7.12067709e-06 9.99996816e-01 5.47998646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.38, Y:79.95, Z:0.54 [[ 8.14569795e-01 -5.80061908e-01 -2.05722550e-03 2.58378982e+02] [ 5.80060067e-01 8.14572393e-01 -1.46150199e-03 7.99483912e+01] [ 2.52352073e-03 -2.81898776e-06 9.99996816e-01 5.44582929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.43, Y:79.98, Z:0.55 [[ 8.15603390e-01 -5.78607708e-01 -2.05713785e-03 2.58425152e+02] [ 5.78605861e-01 8.15605984e-01 -1.46162534e-03 7.99837598e+01] [ 2.52352163e-03 1.83456492e-06 9.99996816e-01 5.46300160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.47, Y:80.02, Z:0.55 [[ 8.15709774e-01 -5.78457720e-01 -2.05685507e-03 2.58471397e+02] [ 5.78455873e-01 8.15712367e-01 -1.46202318e-03 8.00183961e+01] [ 2.52352071e-03 2.78670196e-06 9.99996816e-01 5.47278918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.52, Y:80.05, Z:0.54 [[ 8.15436634e-01 -5.78842696e-01 -2.05656940e-03 2.58518792e+02] [ 5.78840849e-01 8.15439227e-01 -1.46242490e-03 8.00515898e+01] [ 2.52352134e-03 2.08846055e-06 9.99996816e-01 5.44073415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.57, Y:80.09, Z:0.55 [[ 8.13996595e-01 -5.80866003e-01 -2.05648146e-03 2.58565376e+02] [ 5.80864162e-01 8.13999193e-01 -1.46254856e-03 8.00859931e+01] [ 2.52351899e-03 -4.02683093e-06 9.99996816e-01 5.45615390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16263999999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:258.61, Y:80.12, Z:0.55 [[ 8.13131255e-01 -5.82076742e-01 -2.05619174e-03 2.58612717e+02] [ 5.82074904e-01 8.13133855e-01 -1.46295577e-03 8.01196848e+01] [ 2.52351164e-03 -7.28254480e-06 9.99996816e-01 5.47705401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.66, Y:80.15, Z:0.55 [[ 8.11361484e-01 -5.84541114e-01 -2.05605824e-03 2.58661234e+02] [ 5.84539284e-01 8.11364089e-01 -1.46314336e-03 8.01527396e+01] [ 2.52347927e-03 -1.47086475e-05 9.99996816e-01 5.48332345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.71, Y:80.18, Z:0.55 [[ 8.09371794e-01 -5.87293003e-01 -2.05581423e-03 2.58709294e+02] [ 5.87291180e-01 8.09374405e-01 -1.46348613e-03 8.01847359e+01] [ 2.52341859e-03 -2.28571697e-05 9.99996816e-01 5.50132003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.76, Y:80.22, Z:0.55 [[ 8.06597822e-01 -5.91097054e-01 -2.05569258e-03 2.58759141e+02] [ 5.91095243e-01 8.06600441e-01 -1.46365699e-03 8.02152777e+01] [ 2.52328588e-03 -3.45275636e-05 9.99996816e-01 5.50218312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.81, Y:80.25, Z:0.55 [[ 8.05344168e-01 -5.92803969e-01 -2.05542070e-03 2.58808449e+02] [ 5.92802163e-01 8.05346790e-01 -1.46403869e-03 8.02471064e+01] [ 2.52321441e-03 -3.94028219e-05 9.99996816e-01 5.51695838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.86, Y:80.28, Z:0.55 [[ 8.04687883e-01 -5.93694523e-01 -2.05518363e-03 2.58858594e+02] [ 5.93692719e-01 8.04690506e-01 -1.46437141e-03 8.02771349e+01] [ 2.52317604e-03 -4.17856216e-05 9.99996816e-01 5.47777912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.91, Y:80.31, Z:0.55 [[ 8.04948422e-01 -5.93341230e-01 -2.05510002e-03 2.58908951e+02] [ 5.93339424e-01 8.04951044e-01 -1.46448874e-03 8.03081216e+01] [ 2.52319646e-03 -4.05339647e-05 9.99996816e-01 5.47962270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58263999999997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:258.96, Y:80.34, Z:0.55 [[ 8.04388736e-01 -5.94099771e-01 -2.05488753e-03 2.58959786e+02] [ 5.94097967e-01 8.04391360e-01 -1.46478684e-03 8.03366223e+01] [ 2.52316330e-03 -4.25464697e-05 9.99996816e-01 5.54509242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.01, Y:80.37, Z:0.55 [[ 8.03916388e-01 -5.94738783e-01 -2.05459537e-03 2.59008561e+02] [ 5.94736980e-01 8.03919012e-01 -1.46519651e-03 8.03668040e+01] [ 2.52313747e-03 -4.40483600e-05 9.99996816e-01 5.51728046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.06, Y:80.40, Z:0.55 [[ 8.03032358e-01 -5.95931885e-01 -2.05440036e-03 2.59059644e+02] [ 5.95930085e-01 8.03034985e-01 -1.46546990e-03 8.03952049e+01] [ 2.52307560e-03 -4.74592349e-05 9.99996816e-01 5.52422741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:259.11, Y:80.42, Z:0.55 [[ 8.01866814e-01 -5.97499283e-01 -2.05411499e-03 2.59112506e+02] [ 5.97497487e-01 8.01869444e-01 -1.46586979e-03 8.04209403e+01] [ 2.52298819e-03 -5.18962079e-05 9.99996816e-01 5.51605802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.16, Y:80.45, Z:0.55 [[ 8.01356247e-01 -5.98183873e-01 -2.05402684e-03 2.59162979e+02] [ 5.98182079e-01 8.01358878e-01 -1.46599330e-03 8.04493584e+01] [ 2.52294619e-03 -5.38991580e-05 9.99996816e-01 5.50974785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:259.22, Y:80.48, Z:0.55 [[ 8.02226615e-01 -5.97016114e-01 -2.05374030e-03 2.59215268e+02] [ 5.97014316e-01 8.02229242e-01 -1.46639461e-03 8.04757312e+01] [ 2.52303173e-03 -4.97315780e-05 9.99996816e-01 5.48733384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:259.27, Y:80.50, Z:0.55 [[ 8.04003075e-01 -5.94621593e-01 -2.05365214e-03 2.59266919e+02] [ 5.94619786e-01 8.04005696e-01 -1.46651806e-03 8.05046619e+01] [ 2.52317132e-03 -4.20571665e-05 9.99996816e-01 5.49399236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.32, Y:80.53, Z:0.55 [[ 8.08479042e-01 -5.88521386e-01 -2.05340123e-03 2.59318834e+02] [ 5.88519559e-01 8.08481649e-01 -1.46686930e-03 8.05317295e+01] [ 2.52342116e-03 -2.25337016e-05 9.99996816e-01 5.46365785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:80.56, Z:0.55 [[ 8.12442055e-01 -5.83038328e-01 -2.05311674e-03 2.59368207e+02] [ 5.83036482e-01 8.12444649e-01 -1.46726738e-03 8.05627964e+01] [ 2.52351683e-03 -4.97223847e-06 9.99996816e-01 5.46055351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.42, Y:80.59, Z:0.55 [[ 8.18235294e-01 -5.74879805e-01 -2.05282995e-03 2.59419384e+02] [ 5.74877932e-01 8.18237869e-01 -1.46766851e-03 8.05913081e+01] [ 2.52343619e-03 2.07715368e-05 9.99996816e-01 5.46442104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.47, Y:80.62, Z:0.55 [[ 8.20644877e-01 -5.71434836e-01 -2.05274104e-03 2.59467404e+02] [ 5.71432952e-01 8.20647444e-01 -1.46779286e-03 8.06237488e+01] [ 2.52332466e-03 3.15328155e-05 9.99996816e-01 5.47138747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.52, Y:80.66, Z:0.55 [[ 8.22438632e-01 -5.68850141e-01 -2.05246231e-03 2.59516213e+02] [ 5.68848248e-01 8.22441192e-01 -1.46818251e-03 8.06557616e+01] [ 2.52320538e-03 3.99504289e-05 9.99996816e-01 5.49190909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.56, Y:80.69, Z:0.55 [[ 8.22915169e-01 -5.68160552e-01 -2.05237545e-03 2.59563422e+02] [ 5.68158656e-01 8.22917727e-01 -1.46830391e-03 8.06890795e+01] [ 2.52316850e-03 4.22146841e-05 9.99996816e-01 5.50319510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.61, Y:80.72, Z:0.55 [[ 8.23156260e-01 -5.67811202e-01 -2.05208785e-03 2.59610472e+02] [ 5.67809304e-01 8.23158816e-01 -1.46870575e-03 8.07219466e+01] [ 2.52314179e-03 4.37797555e-05 9.99996816e-01 5.49829677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.66, Y:80.76, Z:0.55 [[ 8.22665619e-01 -5.68521829e-01 -2.05189384e-03 2.59656126e+02] [ 5.68519933e-01 8.22668176e-01 -1.46897675e-03 8.07570935e+01] [ 2.52317311e-03 4.19341194e-05 9.99996816e-01 5.46861701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.70, Y:80.79, Z:0.55 [[ 8.20529332e-01 -5.71600740e-01 -2.05180753e-03 2.59703602e+02] [ 5.71598853e-01 8.20531896e-01 -1.46909729e-03 8.07921755e+01] [ 2.52331063e-03 3.26265846e-05 9.99996816e-01 5.50009208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54263999999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:259.75, Y:80.83, Z:0.55 [[ 8.17682903e-01 -5.75665234e-01 -2.05155647e-03 2.59751506e+02] [ 5.75663359e-01 8.17685476e-01 -1.46944781e-03 8.08268776e+01] [ 2.52343795e-03 2.05364572e-05 9.99996816e-01 5.52082947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.80, Y:80.86, Z:0.55 [[ 8.14034200e-01 -5.80813321e-01 -2.05130449e-03 2.59799261e+02] [ 5.80811461e-01 8.14036785e-01 -1.46979948e-03 8.08589486e+01] [ 2.52351643e-03 5.04588777e-06 9.99996816e-01 5.47972266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.85, Y:80.89, Z:0.55 [[ 8.10672782e-01 -5.85495886e-01 -2.05115394e-03 2.59846829e+02] [ 5.85494041e-01 8.10675377e-01 -1.47000955e-03 8.08923880e+01] [ 2.52350454e-03 -9.24167359e-06 9.99996816e-01 5.51870348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.90, Y:80.92, Z:0.55 [[ 8.07035712e-01 -5.90499072e-01 -2.05086351e-03 2.59895755e+02] [ 5.90497242e-01 8.07038317e-01 -1.47041463e-03 8.09227492e+01] [ 2.52340391e-03 -2.43521305e-05 9.99996816e-01 5.50458802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.94, Y:80.95, Z:0.55 [[ 8.05538712e-01 -5.92539601e-01 -2.05070937e-03 2.59942927e+02] [ 5.92537776e-01 8.05541322e-01 -1.47062957e-03 8.09541551e+01] [ 2.52333739e-03 -3.04737216e-05 9.99996816e-01 5.50964743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.99, Y:80.99, Z:0.55 [[ 8.04706082e-01 -5.93669872e-01 -2.05054930e-03 2.59991411e+02] [ 5.93668051e-01 8.04708694e-01 -1.47085273e-03 8.09856353e+01] [ 2.52329580e-03 -3.37414666e-05 9.99996816e-01 5.50744761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.04, Y:81.02, Z:0.55 [[ 8.05422000e-01 -5.92698235e-01 -2.05027451e-03 2.60039707e+02] [ 5.92696410e-01 8.05424609e-01 -1.47123566e-03 8.10185158e+01] [ 2.52334033e-03 -3.02247770e-05 9.99996816e-01 5.50014748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.09, Y:81.05, Z:0.55 [[ 8.06311881e-01 -5.91487065e-01 -2.05002024e-03 2.60086611e+02] [ 5.91485235e-01 8.06314486e-01 -1.47158988e-03 8.10502794e+01] [ 2.52338740e-03 -2.59963063e-05 9.99996816e-01 5.48072061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02263999999997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:81.08, Z:0.55 [[ 8.07694035e-01 -5.89598291e-01 -2.04982305e-03 2.60134854e+02] [ 5.89596454e-01 8.07696636e-01 -1.47186450e-03 8.10835425e+01] [ 2.52344397e-03 -1.97522299e-05 9.99996816e-01 5.52172787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.18, Y:81.12, Z:0.55 [[ 8.07950052e-01 -5.89247413e-01 -2.04957350e-03 2.60182842e+02] [ 5.89245574e-01 8.07952651e-01 -1.47221192e-03 8.11150519e+01] [ 2.52345541e-03 -1.82284145e-05 9.99996816e-01 5.49232092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:81.15, Z:0.55 [[ 8.06892231e-01 -5.90695122e-01 -2.04942200e-03 2.60231739e+02] [ 5.90693287e-01 8.06894834e-01 -1.47242279e-03 8.11459953e+01] [ 2.52342098e-03 -2.24933086e-05 9.99996816e-01 5.47376623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:81.18, Z:0.55 [[ 8.06225224e-01 -5.91605180e-01 -2.04914474e-03 2.60280432e+02] [ 5.91603347e-01 8.06227828e-01 -1.47280854e-03 8.11780926e+01] [ 2.52339868e-03 -2.48654956e-05 9.99996816e-01 5.46007727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.33, Y:81.21, Z:0.55 [[ 8.06095221e-01 -5.91782305e-01 -2.04900028e-03 2.60331905e+02] [ 5.91780473e-01 8.06097824e-01 -1.47300948e-03 8.12070996e+01] [ 2.52339562e-03 -2.51724509e-05 9.99996816e-01 5.49343355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.38, Y:81.24, Z:0.55 [[ 8.08168043e-01 -5.88948399e-01 -2.04875702e-03 2.60381683e+02] [ 5.88946556e-01 8.08170640e-01 -1.47334775e-03 8.12379141e+01] [ 2.52347107e-03 -1.58958263e-05 9.99996816e-01 5.46785044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.43, Y:81.27, Z:0.55 [[ 8.10521448e-01 -5.85705375e-01 -2.04851491e-03 2.60427620e+02] [ 5.85703521e-01 8.10524036e-01 -1.47368430e-03 8.12710475e+01] [ 2.52351539e-03 -5.36966086e-06 9.99996816e-01 5.46789573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.48, Y:81.30, Z:0.55 [[ 8.14501558e-01 -5.80157751e-01 -2.04826406e-03 2.60475608e+02] [ 5.80155879e-01 8.14504134e-01 -1.47403288e-03 8.13049749e+01] [ 2.52349114e-03 1.22896465e-05 9.99996816e-01 5.48799671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50264 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:260.52, Y:81.34, Z:0.55 [[ 8.16099369e-01 -5.77907973e-01 -2.04801830e-03 2.60523556e+02] [ 5.77906092e-01 8.16101939e-01 -1.47437425e-03 8.13370789e+01] [ 2.52344434e-03 1.96736444e-05 9.99996816e-01 5.50344570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.57, Y:81.37, Z:0.55 [[ 8.16825148e-01 -5.76881690e-01 -2.04773017e-03 2.60570716e+02] [ 5.76879805e-01 8.16827715e-01 -1.47477432e-03 8.13720815e+01] [ 2.52341306e-03 2.33385690e-05 9.99996816e-01 5.52186451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.62, Y:81.41, Z:0.55 [[ 8.16978268e-01 -5.76664823e-01 -2.04747213e-03 2.60617678e+02] [ 5.76662936e-01 8.16980833e-01 -1.47513249e-03 8.14062732e+01] [ 2.52340250e-03 2.44498941e-05 9.99996816e-01 5.51005701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.67, Y:81.44, Z:0.55 [[ 8.16346473e-01 -5.77558867e-01 -2.04734523e-03 2.60666115e+02] [ 5.77556983e-01 8.16349040e-01 -1.47530859e-03 8.14393840e+01] [ 2.52342587e-03 2.19044322e-05 9.99996816e-01 5.49856047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.71, Y:81.47, Z:0.55 [[ 8.16215852e-01 -5.77743449e-01 -2.04709169e-03 2.60713400e+02] [ 5.77741565e-01 8.16218418e-01 -1.47566031e-03 8.14714878e+01] [ 2.52342702e-03 2.17673832e-05 9.99996816e-01 5.48821293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:81.51, Z:0.55 [[ 8.16490561e-01 -5.77355154e-01 -2.04693006e-03 2.60759838e+02] [ 5.77353268e-01 8.16493127e-01 -1.47588448e-03 8.15060143e+01] [ 2.52341383e-03 2.32439892e-05 9.99996816e-01 5.49066837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.81, Y:81.54, Z:0.55 [[ 8.16887362e-01 -5.76793593e-01 -2.04664524e-03 2.60808022e+02] [ 5.76791705e-01 8.16889925e-01 -1.47627934e-03 8.15390623e+01] [ 2.52339234e-03 2.54659424e-05 9.99996816e-01 5.48402690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.86, Y:81.57, Z:0.55 [[ 8.17386770e-01 -5.76085654e-01 -2.04635902e-03 2.60856663e+02] [ 5.76083762e-01 8.17389331e-01 -1.47667598e-03 8.15729076e+01] [ 2.52336388e-03 2.81412049e-05 9.99996816e-01 5.51470211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.90, Y:81.61, Z:0.55 [[ 8.17622025e-01 -5.75751716e-01 -2.04610580e-03 2.60902705e+02] [ 5.75749822e-01 8.17624584e-01 -1.47702676e-03 8.16064063e+01] [ 2.52334709e-03 2.96045615e-05 9.99996816e-01 5.50169188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.95, Y:81.64, Z:0.55 [[ 8.17495530e-01 -5.75931309e-01 -2.04594832e-03 2.60949476e+02] [ 5.75929415e-01 8.17498090e-01 -1.47724486e-03 8.16401478e+01] [ 2.52335041e-03 2.93192452e-05 9.99996816e-01 5.51004117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.00, Y:81.67, Z:0.55 [[ 8.17070341e-01 -5.76534364e-01 -2.04565816e-03 2.60997168e+02] [ 5.76532471e-01 8.17072902e-01 -1.47764656e-03 8.16730417e+01] [ 2.52336587e-03 2.79528266e-05 9.99996816e-01 5.51530245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.05, Y:81.71, Z:0.55 [[ 8.16625525e-01 -5.77164248e-01 -2.04536737e-03 2.61045252e+02] [ 5.77162356e-01 8.16628086e-01 -1.47804896e-03 8.17067435e+01] [ 2.52338146e-03 2.65034579e-05 9.99996816e-01 5.51053676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.09, Y:81.74, Z:0.55 [[ 8.16910233e-01 -5.76761205e-01 -2.04513201e-03 2.61090988e+02] [ 5.76759311e-01 8.16912793e-01 -1.47837456e-03 8.17443738e+01] [ 2.52336359e-03 2.81503784e-05 9.99996816e-01 5.50259106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.14, Y:81.78, Z:0.55 [[ 8.16976319e-01 -5.76667593e-01 -2.04487267e-03 2.61138376e+02] [ 5.76665697e-01 8.16978878e-01 -1.47873318e-03 8.17780070e+01] [ 2.52335528e-03 2.88820701e-05 9.99996816e-01 5.47220772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.18, Y:81.81, Z:0.55 [[ 8.16848321e-01 -5.76848888e-01 -2.04478228e-03 2.61184739e+02] [ 5.76846993e-01 8.16850879e-01 -1.47885817e-03 8.18148620e+01] [ 2.52335989e-03 2.84763051e-05 9.99996816e-01 5.45044243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.23, Y:81.85, Z:0.55 [[ 8.15576198e-01 -5.78646079e-01 -2.04453694e-03 2.61231163e+02] [ 5.78644189e-01 8.15578760e-01 -1.47919727e-03 8.18513076e+01] [ 2.52341260e-03 2.33386591e-05 9.99996816e-01 5.48175134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.28, Y:81.89, Z:0.55 [[ 8.14823693e-01 -5.79705245e-01 -2.04428270e-03 2.61277464e+02] [ 5.79703357e-01 8.14826257e-01 -1.47954856e-03 8.18855410e+01] [ 2.52343728e-03 2.04936781e-05 9.99996816e-01 5.49603479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.32, Y:81.92, Z:0.55 [[ 8.13200485e-01 -5.81980062e-01 -2.04413437e-03 2.61324214e+02] [ 5.81978181e-01 8.13203054e-01 -1.47975345e-03 8.19191654e+01] [ 2.52348332e-03 1.36946234e-05 9.99996816e-01 5.49615484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.37, Y:81.95, Z:0.55 [[ 8.11236177e-01 -5.84715047e-01 -2.04400994e-03 2.61371906e+02] [ 5.84713175e-01 8.11238752e-01 -1.47992531e-03 8.19530773e+01] [ 2.52351467e-03 5.40940534e-06 9.99996816e-01 5.52160082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.42, Y:81.99, Z:0.55 [[ 8.09362388e-01 -5.87306009e-01 -2.04376527e-03 2.61419875e+02] [ 5.87304144e-01 8.09364968e-01 -1.48026312e-03 8.19875452e+01] [ 2.52351944e-03 -2.24251650e-06 9.99996816e-01 5.54171165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.47, Y:82.02, Z:0.55 [[ 8.08009101e-01 -5.89166460e-01 -2.04350837e-03 2.61467049e+02] [ 5.89164599e-01 8.08011685e-01 -1.48061769e-03 8.20205161e+01] [ 2.52350892e-03 -7.61022373e-06 9.99996816e-01 5.53920918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.52, Y:82.05, Z:0.55 [[ 8.06430280e-01 -5.91325653e-01 -2.04321126e-03 2.61516705e+02] [ 5.91323799e-01 8.06432869e-01 -1.48102758e-03 8.20487326e+01] [ 2.52348232e-03 -1.38539588e-05 9.99996816e-01 5.50887782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82264 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:261.57, Y:82.08, Z:0.55 [[ 8.06755703e-01 -5.90881598e-01 -2.04291844e-03 2.61565891e+02] [ 5.90879741e-01 8.06758289e-01 -1.48143138e-03 8.20809761e+01] [ 2.52349193e-03 -1.19659034e-05 9.99996816e-01 5.52127458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:261.61, Y:82.11, Z:0.55 [[ 8.10088013e-01 -5.86304732e-01 -2.04266132e-03 2.61614518e+02] [ 5.86302860e-01 8.10090588e-01 -1.48178583e-03 8.21134422e+01] [ 2.52351875e-03 2.75876765e-06 9.99996816e-01 5.53653002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:82.15, Z:0.55 [[ 8.13395396e-01 -5.81707623e-01 -2.04236801e-03 2.61661983e+02] [ 5.81705735e-01 8.13397960e-01 -1.48218999e-03 8.21475491e+01] [ 2.52345919e-03 1.75493311e-05 9.99996816e-01 5.52309509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.71, Y:82.18, Z:0.55 [[ 8.17591650e-01 -5.75794862e-01 -2.04207563e-03 2.61708491e+02] [ 5.75792955e-01 8.17594200e-01 -1.48259271e-03 8.21817095e+01] [ 2.52325845e-03 3.63426602e-05 9.99996816e-01 5.51026401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.75, Y:82.22, Z:0.55 [[ 8.20629316e-01 -5.71457222e-01 -2.04178322e-03 2.61754464e+02] [ 5.71455300e-01 8.20631854e-01 -1.48299530e-03 8.22169772e+01] [ 2.52302072e-03 5.02015780e-05 9.99996816e-01 5.48810517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.80, Y:82.25, Z:0.55 [[ 8.21701384e-01 -5.69914614e-01 -2.04169298e-03 2.61799209e+02] [ 5.69912687e-01 8.21703918e-01 -1.48311952e-03 8.22517043e+01] [ 2.52291861e-03 5.50946264e-05 9.99996816e-01 5.48123323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.85, Y:82.29, Z:0.55 [[ 8.21929502e-01 -5.69585573e-01 -2.04154548e-03 2.61845886e+02] [ 5.69583644e-01 8.21932036e-01 -1.48332253e-03 8.22867377e+01] [ 2.52289075e-03 5.63556372e-05 9.99996816e-01 5.51132045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24264 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:261.89, Y:82.32, Z:0.55 [[ 8.21280376e-01 -5.70521145e-01 -2.04126087e-03 2.61890873e+02] [ 5.70519219e-01 8.21282911e-01 -1.48371410e-03 8.23228461e+01] [ 2.52294293e-03 5.39667169e-05 9.99996816e-01 5.54841451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.94, Y:82.36, Z:0.56 [[ 8.20296541e-01 -5.71934804e-01 -2.04097187e-03 2.61936241e+02] [ 5.71932880e-01 8.20299078e-01 -1.48411153e-03 8.23599964e+01] [ 2.52302238e-03 5.01126306e-05 9.99996816e-01 5.55499831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.98, Y:82.40, Z:0.55 [[ 8.19558031e-01 -5.72992556e-01 -2.04071396e-03 2.61980693e+02] [ 5.72990636e-01 8.19560570e-01 -1.48446609e-03 8.23962424e+01] [ 2.52307671e-03 4.72961149e-05 9.99996816e-01 5.54473243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:82.43, Z:0.55 [[ 8.19607798e-01 -5.72921367e-01 -2.04051470e-03 2.62027104e+02] [ 5.72919446e-01 8.19610337e-01 -1.48473992e-03 8.24330476e+01] [ 2.52306617e-03 4.78538653e-05 9.99996816e-01 5.54786755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:82.47, Z:0.55 [[ 8.20515820e-01 -5.71620176e-01 -2.04026832e-03 2.62071319e+02] [ 5.71618249e-01 8.20518355e-01 -1.48507841e-03 8.24698758e+01] [ 2.52297839e-03 5.22757227e-05 9.99996816e-01 5.51120301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.12, Y:82.51, Z:0.55 [[ 8.20859994e-01 -5.71125825e-01 -2.04011417e-03 2.62115951e+02] [ 5.71123896e-01 8.20862528e-01 -1.48529014e-03 8.25069391e+01] [ 2.52294084e-03 5.40573046e-05 9.99996816e-01 5.53488595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.16, Y:82.55, Z:0.55 [[ 8.20804511e-01 -5.71205562e-01 -2.03983011e-03 2.62159793e+02] [ 5.71203633e-01 8.20807044e-01 -1.48568017e-03 8.25452637e+01] [ 2.52293569e-03 5.42946151e-05 9.99996816e-01 5.53669821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.21, Y:82.58, Z:0.55 [[ 8.19985904e-01 -5.72380080e-01 -2.03970561e-03 2.62205222e+02] [ 5.72378154e-01 8.19988440e-01 -1.48585107e-03 8.25822317e+01] [ 2.52300657e-03 5.08940032e-05 9.99996816e-01 5.52081444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:82.62, Z:0.55 [[ 8.19225199e-01 -5.73468319e-01 -2.03945368e-03 2.62249545e+02] [ 5.73466396e-01 8.19227737e-01 -1.48619678e-03 8.26197646e+01] [ 2.52306379e-03 4.79717014e-05 9.99996816e-01 5.53709611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.29, Y:82.66, Z:0.55 [[ 8.17976274e-01 -5.75248343e-01 -2.03936433e-03 2.62293646e+02] [ 5.75246424e-01 8.17978815e-01 -1.48631937e-03 8.26574567e+01] [ 2.52315958e-03 4.26369433e-05 9.99996816e-01 5.53149375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84263999999996 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:262.34, Y:82.69, Z:0.55 [[ 8.16752498e-01 -5.76984574e-01 -2.03908315e-03 2.62340172e+02] [ 5.76982660e-01 8.16755043e-01 -1.48670503e-03 8.26928461e+01] [ 2.52323731e-03 3.77544247e-05 9.99996816e-01 5.53788779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.38, Y:82.73, Z:0.55 [[ 8.15186330e-01 -5.79195209e-01 -2.03883532e-03 2.62384382e+02] [ 5.79193301e-01 8.15188879e-01 -1.48704482e-03 8.27291982e+01] [ 2.52332512e-03 3.13388456e-05 9.99996816e-01 5.50678671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.43, Y:82.76, Z:0.55 [[ 8.11945422e-01 -5.83729797e-01 -2.03868465e-03 2.62430193e+02] [ 5.83727903e-01 8.11947981e-01 -1.48725135e-03 8.27644373e+01] [ 2.52345882e-03 1.75298073e-05 9.99996816e-01 5.52211317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02263999999997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:82.80, Z:0.55 [[ 8.08641826e-01 -5.88297750e-01 -2.03839986e-03 2.62479264e+02] [ 5.88295869e-01 8.08644395e-01 -1.48764158e-03 8.27971716e+01] [ 2.52351682e-03 3.78699210e-06 9.99996816e-01 5.54820835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.53, Y:82.83, Z:0.55 [[ 8.05899472e-01 -5.92048889e-01 -2.03815172e-03 2.62528575e+02] [ 5.92047019e-01 8.05902049e-01 -1.48798147e-03 8.28292706e+01] [ 2.52350842e-03 -7.51817279e-06 9.99996816e-01 5.52617772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:82.86, Z:0.55 [[ 8.03524975e-01 -5.95267555e-01 -2.03790572e-03 2.62577473e+02] [ 5.95265694e-01 8.03527559e-01 -1.48831831e-03 8.28605308e+01] [ 2.52346101e-03 -1.71944256e-05 9.99996816e-01 5.54045782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20264 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:262.63, Y:82.89, Z:0.55 [[ 8.03088491e-01 -5.95856294e-01 -2.03778400e-03 2.62626144e+02] [ 5.95854436e-01 8.03091076e-01 -1.48848495e-03 8.28918541e+01] [ 2.52344927e-03 -1.88374979e-05 9.99996816e-01 5.54132975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:262.68, Y:82.92, Z:0.55 [[ 8.04006613e-01 -5.94616864e-01 -2.03750955e-03 2.62677045e+02] [ 5.94615001e-01 8.04009194e-01 -1.48886053e-03 8.29221789e+01] [ 2.52347799e-03 -1.44800264e-05 9.99996816e-01 5.54391289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.73, Y:82.95, Z:0.55 [[ 8.05988660e-01 -5.91927470e-01 -2.03725918e-03 2.62727524e+02] [ 5.91925597e-01 8.05991234e-01 -1.48920304e-03 8.29519381e+01] [ 2.52351323e-03 -5.62509209e-06 9.99996816e-01 5.53275103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.77, Y:82.98, Z:0.55 [[ 8.06949409e-01 -5.90617052e-01 -2.03697441e-03 2.62774896e+02] [ 5.90615173e-01 8.06951980e-01 -1.48959245e-03 8.29846190e+01] [ 2.52351924e-03 -1.04224658e-06 9.99996816e-01 5.54018002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.82, Y:83.02, Z:0.56 [[ 8.09458617e-01 -5.87173398e-01 -2.03669061e-03 2.62823542e+02] [ 5.87171508e-01 8.09461179e-01 -1.48998039e-03 8.30155667e+01] [ 2.52349883e-03 1.01907700e-05 9.99996816e-01 5.56174746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.87, Y:83.05, Z:0.55 [[ 8.14267555e-01 -5.80486178e-01 -2.03639724e-03 2.62872709e+02] [ 5.80484265e-01 8.14270100e-01 -1.49038124e-03 8.30456407e+01] [ 2.52332310e-03 3.14725263e-05 9.99996816e-01 5.52748916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.92, Y:83.08, Z:0.55 [[ 8.17218726e-01 -5.76324047e-01 -2.03624418e-03 2.62921226e+02] [ 5.76322122e-01 8.17221262e-01 -1.49059033e-03 8.30783394e+01] [ 2.52312509e-03 4.46057585e-05 9.99996816e-01 5.54409376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:262.97, Y:83.11, Z:0.56 [[ 8.20590103e-01 -5.71513549e-01 -2.03596998e-03 2.62968032e+02] [ 5.71511608e-01 8.20592627e-01 -1.49096476e-03 8.31122158e+01] [ 2.52280852e-03 5.98904436e-05 9.99996816e-01 5.56537279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.01, Y:83.15, Z:0.56 [[ 8.22499945e-01 -5.68761546e-01 -2.03568369e-03 2.63014185e+02] [ 5.68759595e-01 8.22502462e-01 -1.49135554e-03 8.31477485e+01] [ 2.52258053e-03 6.88252198e-05 9.99996816e-01 5.57165138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:83.18, Z:0.56 [[ 8.25359233e-01 -5.64604279e-01 -2.03559578e-03 2.63060509e+02] [ 5.64602315e-01 8.25361740e-01 -1.49147552e-03 8.31847665e+01] [ 2.52219634e-03 8.17009979e-05 9.99996816e-01 5.55328194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.10, Y:83.23, Z:0.56 [[ 8.27222171e-01 -5.61871281e-01 -2.03546668e-03 2.63103758e+02] [ 5.61869308e-01 8.27224671e-01 -1.49165169e-03 8.32251497e+01] [ 2.52190450e-03 9.02610934e-05 9.99996816e-01 5.57758329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:83.26, Z:0.56 [[ 8.27751786e-01 -5.61090757e-01 -2.03520985e-03 2.63146964e+02] [ 5.61088781e-01 8.27754283e-01 -1.49200203e-03 8.32641430e+01] [ 2.52180222e-03 9.30739262e-05 9.99996816e-01 5.56762734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.19, Y:83.31, Z:0.55 [[ 8.27003820e-01 -5.62192618e-01 -2.03507446e-03 2.63188889e+02] [ 5.62190645e-01 8.27006319e-01 -1.49218667e-03 8.33062509e+01] [ 2.52191577e-03 8.99442493e-05 9.99996816e-01 5.53703544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.23, Y:83.35, Z:0.56 [[ 8.24663847e-01 -5.65619483e-01 -2.03483421e-03 2.63233606e+02] [ 5.65617519e-01 8.24666353e-01 -1.49251422e-03 8.33453692e+01] [ 2.52225443e-03 7.98846412e-05 9.99996816e-01 5.56586382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.28, Y:83.38, Z:0.56 [[ 8.18506216e-01 -5.74494069e-01 -2.03457573e-03 2.63277078e+02] [ 5.74492132e-01 8.18508743e-01 -1.49286649e-03 8.33840036e+01] [ 2.52296097e-03 5.30727508e-05 9.99996816e-01 5.56766706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.32, Y:83.42, Z:0.56 [[ 8.13407955e-01 -5.81690088e-01 -2.03448417e-03 2.63321670e+02] [ 5.81688173e-01 8.13410499e-01 -1.49299127e-03 8.34198637e+01] [ 2.52332900e-03 3.09755962e-05 9.99996816e-01 5.56518379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16263999999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:263.37, Y:83.46, Z:0.56 [[ 8.06682634e-01 -5.90981378e-01 -2.03432446e-03 2.63366117e+02] [ 5.90979492e-01 8.06685199e-01 -1.49320885e-03 8.34560777e+01] [ 2.52351806e-03 2.30160658e-06 9.99996816e-01 5.56516268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.41, Y:83.49, Z:0.56 [[ 8.02666154e-01 -5.96425107e-01 -2.03416378e-03 2.63413839e+02] [ 5.96423237e-01 8.02668731e-01 -1.49342770e-03 8.34912280e+01] [ 2.52347744e-03 -1.44986790e-05 9.99996816e-01 5.55968154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.46, Y:83.52, Z:0.55 [[ 8.01685721e-01 -5.97742309e-01 -2.03390548e-03 2.63460024e+02] [ 5.97740443e-01 8.01688301e-01 -1.49377941e-03 8.35248247e+01] [ 2.52345338e-03 -1.82059344e-05 9.99996816e-01 5.53629891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.51, Y:83.56, Z:0.56 [[ 8.02783941e-01 -5.96266558e-01 -2.03374696e-03 2.63508098e+02] [ 5.96264686e-01 8.02786517e-01 -1.49399519e-03 8.35579818e+01] [ 2.52348401e-03 -1.32961476e-05 9.99996816e-01 5.55792262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.55, Y:83.59, Z:0.56 [[ 8.04670056e-01 -5.93718760e-01 -2.03349983e-03 2.63554985e+02] [ 5.93716879e-01 8.04672626e-01 -1.49433149e-03 8.35919714e+01] [ 2.52351429e-03 -4.87936643e-06 9.99996816e-01 5.56559283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.60, Y:83.62, Z:0.56 [[ 8.07728160e-01 -5.89551598e-01 -2.03320588e-03 2.63602698e+02] [ 5.89549703e-01 8.07730719e-01 -1.49473133e-03 8.36237734e+01] [ 2.52350410e-03 8.66066370e-06 9.99996816e-01 5.55489638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52263999999997 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:263.65, Y:83.66, Z:0.56 [[ 8.09954253e-01 -5.86489535e-01 -2.03303976e-03 2.63650231e+02] [ 5.86487630e-01 8.09956804e-01 -1.49495724e-03 8.36576680e+01] [ 2.52345117e-03 1.84943042e-05 9.99996816e-01 5.59926077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.70, Y:83.69, Z:0.56 [[ 8.13774649e-01 -5.81176985e-01 -2.03290259e-03 2.63697502e+02] [ 5.81175063e-01 8.13777187e-01 -1.49514376e-03 8.36904257e+01] [ 2.52327289e-03 3.52377983e-05 9.99996816e-01 5.60297102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.74, Y:83.72, Z:0.56 [[ 8.16340216e-01 -5.77567762e-01 -2.03270001e-03 2.63743936e+02] [ 5.77565828e-01 8.16342745e-01 -1.49541911e-03 8.37242022e+01] [ 2.52308578e-03 4.67526955e-05 9.99996816e-01 5.58265452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.79, Y:83.76, Z:0.56 [[ 8.20290508e-01 -5.71943487e-01 -2.03253210e-03 2.63790404e+02] [ 5.71941535e-01 8.20293023e-01 -1.49564730e-03 8.37588729e+01] [ 2.52269764e-03 6.43757518e-05 9.99996816e-01 5.60727652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:83.80, Z:0.56 [[ 8.22879552e-01 -5.68212208e-01 -2.03225043e-03 2.63835561e+02] [ 5.68210243e-01 8.22882058e-01 -1.49602993e-03 8.37957875e+01] [ 2.52236489e-03 7.63069289e-05 9.99996816e-01 5.59489940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:263.88, Y:83.84, Z:0.56 [[ 8.26186689e-01 -5.63392781e-01 -2.03197106e-03 2.63879466e+02] [ 5.63390801e-01 8.26189183e-01 -1.49640929e-03 8.38352438e+01] [ 2.52185870e-03 9.15196343e-05 9.99996816e-01 5.62272170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.92, Y:83.87, Z:0.56 [[ 8.27513287e-01 -5.61442457e-01 -2.03172777e-03 2.63923691e+02] [ 5.61440470e-01 8.27515775e-01 -1.49673953e-03 8.38735709e+01] [ 2.52161990e-03 9.78776546e-05 9.99996816e-01 5.63861396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.97, Y:83.91, Z:0.56 [[ 8.27943146e-01 -5.60808364e-01 -2.03143500e-03 2.63965360e+02] [ 5.60806374e-01 8.27945632e-01 -1.49713679e-03 8.39140146e+01] [ 2.52152457e-03 1.00302442e-04 9.99996816e-01 5.59993116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.01, Y:83.95, Z:0.56 [[ 8.26550092e-01 -5.62859502e-01 -2.03134436e-03 2.64007680e+02] [ 5.62857519e-01 8.26552583e-01 -1.49725976e-03 8.39538838e+01] [ 2.52175981e-03 9.42027444e-05 9.99996816e-01 5.61646479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.05, Y:84.00, Z:0.56 [[ 8.23424182e-01 -5.67422674e-01 -2.03105870e-03 2.64049630e+02] [ 5.67420704e-01 8.23426683e-01 -1.49764717e-03 8.39957531e+01] [ 2.52222689e-03 8.07341432e-05 9.99996816e-01 5.64435967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.09, Y:84.03, Z:0.56 [[ 8.20876193e-01 -5.71102576e-01 -2.03080208e-03 2.64092855e+02] [ 5.71100615e-01 8.20878702e-01 -1.49799506e-03 8.40340974e+01] [ 2.52255101e-03 6.98761652e-05 9.99996816e-01 5.64941785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.13, Y:84.07, Z:0.56 [[ 8.17127648e-01 -5.76453193e-01 -2.03050929e-03 2.64134933e+02] [ 5.76451248e-01 8.17130169e-01 -1.49839183e-03 8.40724175e+01] [ 2.52294315e-03 5.38877791e-05 9.99996816e-01 5.63754202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.18, Y:84.11, Z:0.57 [[ 8.15141062e-01 -5.79258946e-01 -2.03038208e-03 2.64176397e+02] [ 5.79257010e-01 8.15143589e-01 -1.49856419e-03 8.41132840e+01] [ 2.52310965e-03 4.54281505e-05 9.99996816e-01 5.65196314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.22, Y:84.15, Z:0.57 [[ 8.14790659e-01 -5.79751723e-01 -2.03025704e-03 2.64221397e+02] [ 5.79749787e-01 8.14793187e-01 -1.49873357e-03 8.41501440e+01] [ 2.52313297e-03 4.41130223e-05 9.99996816e-01 5.65799000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36264 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:264.27, Y:84.19, Z:0.56 [[ 8.14752219e-01 -5.79805744e-01 -2.02996562e-03 2.64265290e+02] [ 5.79803807e-01 8.14754747e-01 -1.49912819e-03 8.41891613e+01] [ 2.52312725e-03 4.44362242e-05 9.99996816e-01 5.64639168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.31, Y:84.23, Z:0.56 [[ 8.15272201e-01 -5.79074364e-01 -2.02969954e-03 2.64306902e+02] [ 5.79072424e-01 8.15274726e-01 -1.49948834e-03 8.42299982e+01] [ 2.52307800e-03 4.71481294e-05 9.99996816e-01 5.58488430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.35, Y:84.27, Z:0.56 [[ 8.15255911e-01 -5.79097298e-01 -2.02960521e-03 2.64348731e+02] [ 5.79095358e-01 8.15258436e-01 -1.49961602e-03 8.42689055e+01] [ 2.52307635e-03 4.72358680e-05 9.99996816e-01 5.58101115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54263999999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:264.39, Y:84.31, Z:0.56 [[ 8.14055027e-01 -5.80784207e-01 -2.02947750e-03 2.64391466e+02] [ 5.80782272e-01 8.14057556e-01 -1.49978882e-03 8.43074684e+01] [ 2.52316516e-03 4.22260776e-05 9.99996816e-01 5.59066829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60263999999995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:264.43, Y:84.35, Z:0.56 [[ 8.11930725e-01 -5.83750272e-01 -2.02931572e-03 2.64433937e+02] [ 5.83748346e-01 8.11933260e-01 -1.50000769e-03 8.43468722e+01] [ 2.52329883e-03 3.32926351e-05 9.99996816e-01 5.61245988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:84.39, Z:0.56 [[ 8.10699467e-01 -5.85459014e-01 -2.02901712e-03 2.64476766e+02] [ 5.85457092e-01 8.10702006e-01 -1.50041150e-03 8.43860657e+01] [ 2.52335768e-03 2.84803404e-05 9.99996816e-01 5.60971130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.52, Y:84.43, Z:0.56 [[ 8.09981063e-01 -5.86452524e-01 -2.02871951e-03 2.64518364e+02] [ 5.86450604e-01 8.09983603e-01 -1.50081378e-03 8.44270603e+01] [ 2.52338557e-03 2.58869618e-05 9.99996816e-01 5.61336171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:84.47, Z:0.56 [[ 8.10022088e-01 -5.86395858e-01 -2.02842136e-03 2.64560562e+02] [ 5.86393937e-01 8.10024627e-01 -1.50121664e-03 8.44653438e+01] [ 2.52337848e-03 2.65646449e-05 9.99996816e-01 5.60786997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.60, Y:84.51, Z:0.56 [[ 8.09910685e-01 -5.86549716e-01 -2.02829458e-03 2.64602578e+02] [ 5.86547795e-01 8.09913224e-01 -1.50138791e-03 8.45061046e+01] [ 2.52338126e-03 2.62984001e-05 9.99996816e-01 5.60321897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90263999999996 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:264.65, Y:84.54, Z:0.56 [[ 8.09409297e-01 -5.87241413e-01 -2.02800479e-03 2.64645750e+02] [ 5.87239493e-01 8.09411837e-01 -1.50177925e-03 8.45440922e+01] [ 2.52339805e-03 2.46295799e-05 9.99996816e-01 5.62290834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.69, Y:84.58, Z:0.56 [[ 8.07231625e-01 -5.90231304e-01 -2.02787958e-03 2.64689527e+02] [ 5.90229393e-01 8.07234172e-01 -1.50194830e-03 8.45838434e+01] [ 2.52347060e-03 1.55060380e-05 9.99996816e-01 5.63883448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.74, Y:84.62, Z:0.56 [[ 8.05139819e-01 -5.93081580e-01 -2.02762311e-03 2.64735316e+02] [ 5.93079678e-01 8.05142372e-01 -1.50229446e-03 8.46214505e+01] [ 2.52350845e-03 7.01503290e-06 9.99996816e-01 5.62278328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.78, Y:84.66, Z:0.56 [[ 8.03030456e-01 -5.95934541e-01 -2.02736925e-03 2.64779748e+02] [ 5.95932646e-01 8.03033015e-01 -1.50263696e-03 8.46580536e+01] [ 2.52351771e-03 -1.51228070e-06 9.99996816e-01 5.60919273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14264 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.83, Y:84.69, Z:0.56 [[ 8.02594503e-01 -5.96521546e-01 -2.02724665e-03 2.64826299e+02] [ 5.96519653e-01 8.02597063e-01 -1.50280235e-03 8.46939882e+01] [ 2.52351619e-03 -3.15156040e-06 9.99996816e-01 5.60627148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.87, Y:84.73, Z:0.56 [[ 8.03970766e-01 -5.94665368e-01 -2.02698907e-03 2.64870445e+02] [ 5.94663468e-01 8.03973321e-01 -1.50314970e-03 8.47311124e+01] [ 2.52351620e-03 3.11206178e-06 9.99996816e-01 5.58984128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:84.77, Z:0.56 [[ 8.05046912e-01 -5.93207689e-01 -2.02669857e-03 2.64916582e+02] [ 5.93205783e-01 8.05049463e-01 -1.50354127e-03 8.47666889e+01] [ 2.52350484e-03 8.17194093e-06 9.99996816e-01 5.59551621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.96, Y:84.80, Z:0.56 [[ 8.06079554e-01 -5.91803723e-01 -2.02640517e-03 2.64960190e+02] [ 5.91801812e-01 8.06082101e-01 -1.50393660e-03 8.48043687e+01] [ 2.52348422e-03 1.30622876e-05 9.99996816e-01 5.59281280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.01, Y:84.84, Z:0.56 [[ 8.05915472e-01 -5.92027150e-01 -2.02628519e-03 2.65005895e+02] [ 5.92025240e-01 8.05918019e-01 -1.50409824e-03 8.48399810e+01] [ 2.52348674e-03 1.25640678e-05 9.99996816e-01 5.59316275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.05, Y:84.88, Z:0.56 [[ 8.04521914e-01 -5.93919510e-01 -2.02599125e-03 2.65052205e+02] [ 5.93917605e-01 8.04524465e-01 -1.50449406e-03 8.48753203e+01] [ 2.52350790e-03 7.12656624e-06 9.99996816e-01 5.58983948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.10, Y:84.91, Z:0.56 [[ 8.03122586e-01 -5.95810379e-01 -2.02590059e-03 2.65099346e+02] [ 5.95808479e-01 8.03125141e-01 -1.50461614e-03 8.49089513e+01] [ 2.52351761e-03 1.34245436e-06 9.99996816e-01 5.60580706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.15, Y:84.95, Z:0.56 [[ 8.00753005e-01 -5.98991253e-01 -2.02581331e-03 2.65145480e+02] [ 5.98989363e-01 8.00755567e-01 -1.50473363e-03 8.49463128e+01] [ 2.52350357e-03 -8.52064996e-06 9.99996816e-01 5.61276359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.19, Y:84.98, Z:0.56 [[ 7.98701885e-01 -6.01723521e-01 -2.02558073e-03 2.65192544e+02] [ 6.01721639e-01 7.98704453e-01 -1.50504665e-03 8.49798270e+01] [ 2.52346232e-03 -1.67521599e-05 9.99996816e-01 5.62963489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.24, Y:85.01, Z:0.56 [[ 7.97674771e-01 -6.03084454e-01 -2.02528400e-03 2.65240496e+02] [ 6.03082575e-01 7.97677341e-01 -1.50544585e-03 8.50123851e+01] [ 2.52343415e-03 -2.05573132e-05 9.99996816e-01 5.63636773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.29, Y:85.05, Z:0.57 [[ 7.97293789e-01 -6.03588032e-01 -2.02514671e-03 2.65285909e+02] [ 6.03586154e-01 7.97296361e-01 -1.50563051e-03 8.50477095e+01] [ 2.52342266e-03 -2.19206664e-05 9.99996816e-01 5.66524680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.33, Y:85.08, Z:0.57 [[ 7.97852757e-01 -6.02848968e-01 -2.02485325e-03 2.65331293e+02] [ 6.02847087e-01 7.97855326e-01 -1.50602507e-03 8.50833869e+01] [ 2.52344561e-03 -1.90906354e-05 9.99996816e-01 5.65204319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.38, Y:85.12, Z:0.56 [[ 7.99377681e-01 -6.00825452e-01 -2.02455899e-03 2.65377644e+02] [ 6.00823564e-01 7.99380245e-01 -1.50642054e-03 8.51187191e+01] [ 2.52348826e-03 -1.22037925e-05 9.99996816e-01 5.57740578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.42, Y:85.16, Z:0.56 [[ 8.00254925e-01 -5.99656533e-01 -2.02430429e-03 2.65423458e+02] [ 5.99654640e-01 8.00257485e-01 -1.50676273e-03 8.51554789e+01] [ 2.52350477e-03 -8.08916500e-06 9.99996816e-01 5.57808666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98263999999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:265.47, Y:85.19, Z:0.56 [[ 7.99834941e-01 -6.00216603e-01 -2.02405587e-03 2.65467681e+02] [ 6.00214711e-01 7.99837502e-01 -1.50709636e-03 8.51927336e+01] [ 2.52350005e-03 -9.43977406e-06 9.99996816e-01 5.61149086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.52, Y:85.23, Z:0.56 [[ 7.98097522e-01 -6.02524895e-01 -2.02377092e-03 2.65515178e+02] [ 6.02523009e-01 7.98100088e-01 -1.50747890e-03 8.52264894e+01] [ 2.52346532e-03 -1.62533675e-05 9.99996816e-01 5.63738819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:85.26, Z:0.56 [[ 7.95944159e-01 -6.05366666e-01 -2.02368227e-03 2.65561828e+02] [ 6.05364789e-01 7.95946731e-01 -1.50759790e-03 8.52606209e+01] [ 2.52339280e-03 -2.51022510e-05 9.99996816e-01 5.64699710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.61, Y:85.29, Z:0.57 [[ 7.93267631e-01 -6.08869749e-01 -2.02340188e-03 2.65609428e+02] [ 6.08867883e-01 7.93270211e-01 -1.50797413e-03 8.52929544e+01] [ 2.52326426e-03 -3.57573532e-05 9.99996816e-01 5.65676691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.66, Y:85.33, Z:0.56 [[ 7.92725058e-01 -6.09575991e-01 -2.02311028e-03 2.65656244e+02] [ 6.09574126e-01 7.92727639e-01 -1.50836524e-03 8.53263341e+01] [ 2.52323867e-03 -3.75167600e-05 9.99996816e-01 5.62166982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28263999999996 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:265.71, Y:85.36, Z:0.56 [[ 7.91639064e-01 -6.10985680e-01 -2.02297532e-03 2.65705383e+02] [ 6.10983819e-01 7.91641647e-01 -1.50854622e-03 8.53585400e+01] [ 2.52317165e-03 -4.17810720e-05 9.99996816e-01 5.63819185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.75, Y:85.39, Z:0.57 [[ 7.91754631e-01 -6.10835914e-01 -2.02272886e-03 2.65753647e+02] [ 6.10834052e-01 7.91757213e-01 -1.50887661e-03 8.53908424e+01] [ 2.52318619e-03 -4.08916207e-05 9.99996816e-01 5.65617715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:85.42, Z:0.56 [[ 7.93158496e-01 -6.09011913e-01 -2.02243860e-03 2.65803250e+02] [ 6.09010043e-01 7.93161074e-01 -1.50926557e-03 8.54218195e+01] [ 2.52328028e-03 -3.45986097e-05 9.99996816e-01 5.64177247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46263999999996 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:265.85, Y:85.45, Z:0.57 [[ 7.94189101e-01 -6.07667328e-01 -2.02234864e-03 2.65851904e+02] [ 6.07665454e-01 7.94191676e-01 -1.50938610e-03 8.54529538e+01] [ 2.52333707e-03 -3.01734127e-05 9.99996816e-01 5.65643919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.90, Y:85.48, Z:0.56 [[ 7.96309094e-01 -6.04886550e-01 -2.02206170e-03 2.65902033e+02] [ 6.04884666e-01 7.96311661e-01 -1.50977040e-03 8.54825464e+01] [ 2.52343112e-03 -2.08702221e-05 9.99996816e-01 5.64226527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.95, Y:85.51, Z:0.56 [[ 7.99910442e-01 -6.00115987e-01 -2.02177127e-03 2.65950817e+02] [ 6.00114086e-01 7.99912997e-01 -1.51015923e-03 8.55135373e+01] [ 2.52351181e-03 -5.30128421e-06 9.99996816e-01 5.64490415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.00, Y:85.55, Z:0.56 [[ 8.02817732e-01 -5.96221102e-01 -2.02147774e-03 2.65998831e+02] [ 5.96219189e-01 8.02820277e-01 -1.51055203e-03 8.55463609e+01] [ 2.52350632e-03 7.45413540e-06 9.99996816e-01 5.64120494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.05, Y:85.58, Z:0.56 [[ 8.05545761e-01 -5.92530119e-01 -2.02118640e-03 2.66046553e+02] [ 5.92528193e-01 8.05548296e-01 -1.51094175e-03 8.55793329e+01] [ 2.52344176e-03 1.95227976e-05 9.99996816e-01 5.64997030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.09, Y:85.61, Z:0.56 [[ 8.08963425e-01 -5.87855503e-01 -2.02089183e-03 2.66093778e+02] [ 5.87853561e-01 8.08965949e-01 -1.51133564e-03 8.56126053e+01] [ 2.52327965e-03 3.46267952e-05 9.99996816e-01 5.64975939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.14, Y:85.65, Z:0.57 [[ 8.10310803e-01 -5.85996860e-01 -2.02080070e-03 2.66141628e+02] [ 5.85994912e-01 8.10313321e-01 -1.51145749e-03 8.56467116e+01] [ 2.52319107e-03 4.05714050e-05 9.99996816e-01 5.65213961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:266.19, Y:85.68, Z:0.57 [[ 8.11792831e-01 -5.83942049e-01 -2.02054143e-03 2.66188733e+02] [ 5.83940094e-01 8.11795344e-01 -1.51180400e-03 8.56817752e+01] [ 2.52307205e-03 4.73964933e-05 9.99996816e-01 5.66348476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.24, Y:85.72, Z:0.57 [[ 8.12800282e-01 -5.82538943e-01 -2.02028424e-03 2.66236297e+02] [ 5.82536982e-01 8.12802791e-01 -1.51214762e-03 8.57168117e+01] [ 2.52297754e-03 5.21837319e-05 9.99996816e-01 5.67092385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.28, Y:85.75, Z:0.57 [[ 8.14723372e-01 -5.79846314e-01 -2.02002923e-03 2.66280358e+02] [ 5.79844344e-01 8.14725874e-01 -1.51248820e-03 8.57541122e+01] [ 2.52278079e-03 6.09569628e-05 9.99996816e-01 5.67262823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.32, Y:85.79, Z:0.57 [[ 8.15711827e-01 -5.78454956e-01 -2.01989358e-03 2.66324175e+02] [ 5.78452982e-01 8.15714325e-01 -1.51266934e-03 8.57903305e+01] [ 2.52266720e-03 6.54888050e-05 9.99996816e-01 5.66390155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.37, Y:85.83, Z:0.56 [[ 8.14797961e-01 -5.79741497e-01 -2.01975453e-03 2.66368808e+02] [ 5.79739526e-01 8.14800462e-01 -1.51285497e-03 8.58294469e+01] [ 2.52276173e-03 6.17396086e-05 9.99996816e-01 5.64677876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.41, Y:85.87, Z:0.57 [[ 8.11298759e-01 -5.84628297e-01 -2.01950663e-03 2.66413577e+02] [ 5.84626340e-01 8.11301271e-01 -1.51318582e-03 8.58656006e+01] [ 2.52307955e-03 4.69890064e-05 9.99996816e-01 5.66375404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.46, Y:85.90, Z:0.57 [[ 8.08253907e-01 -5.88830659e-01 -2.01921289e-03 2.66456978e+02] [ 5.88828715e-01 8.08256428e-01 -1.51357769e-03 8.59035418e+01] [ 2.52328275e-03 3.43845477e-05 9.99996816e-01 5.66949714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:85.94, Z:0.57 [[ 8.04939713e-01 -5.93353169e-01 -2.01892129e-03 2.66501573e+02] [ 5.93351238e-01 8.04942244e-01 -1.51396655e-03 8.59404205e+01] [ 2.52343189e-03 2.07223570e-05 9.99996816e-01 5.67627111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.55, Y:85.98, Z:0.57 [[ 8.00500813e-01 -5.99328269e-01 -2.01863080e-03 2.66548406e+02] [ 5.99326356e-01 8.00503358e-01 -1.51435378e-03 8.59751914e+01] [ 2.52351576e-03 2.42278772e-06 9.99996816e-01 5.69586912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.59, Y:86.01, Z:0.57 [[ 7.98423435e-01 -6.02092970e-01 -2.01832309e-03 2.66593730e+02] [ 6.02091065e-01 7.98425986e-01 -1.51476378e-03 8.60091506e+01] [ 2.52351023e-03 -5.79139839e-06 9.99996816e-01 5.66510968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.64, Y:86.05, Z:0.57 [[ 7.96856142e-01 -6.04165719e-01 -2.01818984e-03 2.66639312e+02] [ 6.04163820e-01 7.96858697e-01 -1.51494130e-03 8.60452532e+01] [ 2.52348772e-03 -1.21270031e-05 9.99996816e-01 5.69079903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54263999999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:266.69, Y:86.08, Z:0.57 [[ 7.95554916e-01 -6.05878126e-01 -2.01789048e-03 2.66687762e+02] [ 6.05876231e-01 7.95557475e-01 -1.51533993e-03 8.60767626e+01] [ 2.52345917e-03 -1.70557511e-05 9.99996816e-01 5.65494189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.74, Y:86.11, Z:0.57 [[ 7.94708279e-01 -6.06988205e-01 -2.01775204e-03 2.66736221e+02] [ 6.06986313e-01 7.94710840e-01 -1.51552425e-03 8.61096364e+01] [ 2.52343476e-03 -2.03482037e-05 9.99996816e-01 5.68116531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:86.15, Z:0.57 [[ 7.94721526e-01 -6.06970861e-01 -2.01749196e-03 2.66783482e+02] [ 6.06968968e-01 7.94724086e-01 -1.51587040e-03 8.61451513e+01] [ 2.52343861e-03 -1.98601749e-05 9.99996816e-01 5.70721620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.83, Y:86.18, Z:0.57 [[ 7.95554133e-01 -6.05879157e-01 -2.01722451e-03 2.66832143e+02] [ 6.05877260e-01 7.95556690e-01 -1.51622622e-03 8.61751927e+01] [ 2.52346632e-03 -1.59504223e-05 9.99996816e-01 5.69417248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.88, Y:86.21, Z:0.57 [[ 7.96688099e-01 -6.04387297e-01 -2.01709742e-03 2.66879429e+02] [ 6.04385395e-01 7.96690652e-01 -1.51639527e-03 8.62075277e+01] [ 2.52349270e-03 -1.10101554e-05 9.99996816e-01 5.68547715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.93, Y:86.24, Z:0.57 [[ 7.99124779e-01 -6.01161808e-01 -2.01696935e-03 2.66925805e+02] [ 6.01159895e-01 7.99127324e-01 -1.51656560e-03 8.62421089e+01] [ 2.52351664e-03 -5.95932908e-07 9.99996816e-01 5.69601449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.97, Y:86.28, Z:0.57 [[ 8.00615801e-01 -5.99174659e-01 -2.01668048e-03 2.66972989e+02] [ 5.99172739e-01 8.00618341e-01 -1.51694963e-03 8.62758565e+01] [ 2.52350916e-03 6.15387999e-06 9.99996816e-01 5.70380080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.02, Y:86.31, Z:0.57 [[ 8.02555528e-01 -5.96574017e-01 -2.01638068e-03 2.67021353e+02] [ 5.96572088e-01 8.02558061e-01 -1.51734804e-03 8.63080399e+01] [ 2.52347298e-03 1.48396246e-05 9.99996816e-01 5.70630789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02263999999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:267.07, Y:86.34, Z:0.57 [[ 8.03404015e-01 -5.95430872e-01 -2.01628722e-03 2.67067668e+02] [ 5.95428939e-01 8.03406545e-01 -1.51747221e-03 8.63436051e+01] [ 2.52344815e-03 1.85875024e-05 9.99996816e-01 5.72851161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.11, Y:86.38, Z:0.57 [[ 8.03709363e-01 -5.95018651e-01 -2.01599128e-03 2.67113468e+02] [ 5.95016715e-01 8.03711891e-01 -1.51786527e-03 8.63778228e+01] [ 2.52343431e-03 2.03740224e-05 9.99996816e-01 5.71579834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.16, Y:86.41, Z:0.57 [[ 8.04063898e-01 -5.94539472e-01 -2.01586298e-03 2.67160904e+02] [ 5.94537535e-01 8.04066425e-01 -1.51803565e-03 8.64102628e+01] [ 2.52341985e-03 2.20914617e-05 9.99996816e-01 5.68842118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.21, Y:86.44, Z:0.57 [[ 8.04923031e-01 -5.93375809e-01 -2.01573833e-03 2.67209082e+02] [ 5.93373867e-01 8.04925555e-01 -1.51820115e-03 8.64425488e+01] [ 2.52338313e-03 2.59486284e-05 9.99996816e-01 5.69797764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.26, Y:86.48, Z:0.57 [[ 8.05578685e-01 -5.92485375e-01 -2.01544950e-03 2.67255939e+02] [ 5.92483430e-01 8.05581206e-01 -1.51858448e-03 8.64783952e+01] [ 2.52334733e-03 2.92188529e-05 9.99996816e-01 5.74133189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.30, Y:86.51, Z:0.57 [[ 8.07402995e-01 -5.89996901e-01 -2.01518804e-03 2.67302966e+02] [ 5.89994947e-01 8.07405509e-01 -1.51893137e-03 8.65117697e+01] [ 2.52323872e-03 3.74389764e-05 9.99996816e-01 5.74261870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.35, Y:86.55, Z:0.57 [[ 8.08743440e-01 -5.88158131e-01 -2.01509604e-03 2.67349825e+02] [ 5.88156171e-01 8.08745949e-01 -1.51905340e-03 8.65455491e+01] [ 2.52314437e-03 4.33332970e-05 9.99996816e-01 5.74951999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44264 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:267.40, Y:86.58, Z:0.58 [[ 8.10635235e-01 -5.85547996e-01 -2.01481136e-03 2.67396748e+02] [ 5.85546027e-01 8.10637737e-01 -1.51943090e-03 8.65817527e+01] [ 2.52298184e-03 5.19394363e-05 9.99996816e-01 5.78069840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.44, Y:86.62, Z:0.57 [[ 8.12432522e-01 -5.83051746e-01 -2.01454609e-03 2.67442800e+02] [ 5.83049769e-01 8.12435017e-01 -1.51978252e-03 8.66165269e+01] [ 2.52279964e-03 6.01401147e-05 9.99996816e-01 5.74679674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.49, Y:86.65, Z:0.57 [[ 8.14764769e-01 -5.79788162e-01 -2.01445226e-03 2.67488957e+02] [ 5.79786175e-01 8.14767256e-01 -1.51990689e-03 8.66515180e+01] [ 2.52253376e-03 7.04150159e-05 9.99996816e-01 5.71061001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.53, Y:86.69, Z:0.57 [[ 8.15960061e-01 -5.78104767e-01 -2.01436147e-03 2.67534936e+02] [ 5.78102773e-01 8.15962544e-01 -1.52002721e-03 8.66887666e+01] [ 2.52237848e-03 7.57735411e-05 9.99996816e-01 5.71952120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.58, Y:86.72, Z:0.57 [[ 8.16095232e-01 -5.77913934e-01 -2.01410231e-03 2.67578855e+02] [ 5.77911939e-01 8.16097714e-01 -1.52037052e-03 8.67247652e+01] [ 2.52234760e-03 7.67933629e-05 9.99996816e-01 5.70584744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.62, Y:86.76, Z:0.57 [[ 8.14126314e-01 -5.80684328e-01 -2.01397473e-03 2.67624836e+02] [ 5.80682342e-01 8.14128802e-01 -1.52053951e-03 8.67596287e+01] [ 2.52258830e-03 6.84316648e-05 9.99996816e-01 5.69753898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:267.67, Y:86.79, Z:0.57 [[ 8.10843114e-01 -5.85260104e-01 -2.01388526e-03 2.67672215e+02] [ 5.85258131e-01 8.10845613e-01 -1.52065799e-03 8.67927880e+01] [ 2.52293048e-03 5.43723389e-05 9.99996816e-01 5.72805069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.72, Y:86.83, Z:0.57 [[ 8.05930155e-01 -5.92007206e-01 -2.01358865e-03 2.67720775e+02] [ 5.92005253e-01 8.05932669e-01 -1.52105066e-03 8.68250194e+01] [ 2.52328982e-03 3.38055360e-05 9.99996816e-01 5.73067794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.77, Y:86.86, Z:0.57 [[ 8.03091478e-01 -5.95852350e-01 -2.01349681e-03 2.67768938e+02] [ 5.95850409e-01 8.03094002e-01 -1.52117222e-03 8.68569227e+01] [ 2.52342125e-03 2.18975515e-05 9.99996816e-01 5.73910320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.82, Y:86.89, Z:0.57 [[ 8.03027857e-01 -5.95938090e-01 -2.01319571e-03 2.67817549e+02] [ 5.95936148e-01 8.03030381e-01 -1.52157061e-03 8.68887206e+01] [ 2.52341920e-03 2.21274881e-05 9.99996816e-01 5.72326695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.86, Y:86.92, Z:0.57 [[ 8.05906435e-01 -5.92039497e-01 -2.01310255e-03 2.67864046e+02] [ 5.92037543e-01 8.05908948e-01 -1.52169384e-03 8.69236250e+01] [ 2.52328022e-03 3.45105695e-05 9.99996816e-01 5.68179794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:86.96, Z:0.57 [[ 8.07937293e-01 -5.89265033e-01 -2.01295128e-03 2.67909832e+02] [ 5.89263069e-01 8.07939799e-01 -1.52189392e-03 8.69589610e+01] [ 2.52314233e-03 4.34370074e-05 9.99996816e-01 5.67720478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16263999999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:267.96, Y:86.99, Z:0.57 [[ 8.09514668e-01 -5.87096204e-01 -2.01266048e-03 2.67957202e+02] [ 5.87094232e-01 8.09517168e-01 -1.52227840e-03 8.69921311e+01] [ 2.52300708e-03 5.06853312e-05 9.99996816e-01 5.66106505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.00, Y:87.03, Z:0.57 [[ 8.09783764e-01 -5.86724982e-01 -2.01253086e-03 2.68003788e+02] [ 5.86723009e-01 8.09786264e-01 -1.52244974e-03 8.70273723e+01] [ 2.52297915e-03 5.20569190e-05 9.99996816e-01 5.65514534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.05, Y:87.06, Z:0.57 [[ 8.09735028e-01 -5.86792242e-01 -2.01227986e-03 2.68050831e+02] [ 5.86790269e-01 8.09737526e-01 -1.52278144e-03 8.70633936e+01] [ 2.52297485e-03 5.22632299e-05 9.99996816e-01 5.68269154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.10, Y:87.10, Z:0.57 [[ 8.09010079e-01 -5.87791327e-01 -2.01201890e-03 2.68096503e+02] [ 5.87789356e-01 8.09012579e-01 -1.52312616e-03 8.70981262e+01] [ 2.52302894e-03 4.95811252e-05 9.99996816e-01 5.70742247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.14, Y:87.13, Z:0.57 [[ 8.07195114e-01 -5.90281290e-01 -2.01190867e-03 2.68144277e+02] [ 5.90279326e-01 8.07197620e-01 -1.52327174e-03 8.71328062e+01] [ 2.52316670e-03 4.19894103e-05 9.99996816e-01 5.73966174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46263999999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:268.19, Y:87.17, Z:0.58 [[ 8.05607340e-01 -5.92446425e-01 -2.01164799e-03 2.68189602e+02] [ 5.92444467e-01 8.05609851e-01 -1.52361592e-03 8.71694889e+01] [ 2.52326425e-03 3.56464464e-05 9.99996816e-01 5.77076755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.24, Y:87.21, Z:0.58 [[ 8.04618704e-01 -5.93788426e-01 -2.01155614e-03 2.68235369e+02] [ 5.93786471e-01 8.04621218e-01 -1.52373718e-03 8.72051954e+01] [ 2.52331825e-03 3.15926092e-05 9.99996816e-01 5.78707887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.28, Y:87.24, Z:0.58 [[ 8.04846960e-01 -5.93479002e-01 -2.01125680e-03 2.68280929e+02] [ 5.93477046e-01 8.04849472e-01 -1.52413219e-03 8.72395536e+01] [ 2.52329943e-03 3.30584180e-05 9.99996816e-01 5.79029416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:268.32, Y:87.28, Z:0.58 [[ 8.05529276e-01 -5.92552564e-01 -2.01112785e-03 2.68324666e+02] [ 5.92550604e-01 8.05531786e-01 -1.52430233e-03 8.72777187e+01] [ 2.52325666e-03 3.61751334e-05 9.99996816e-01 5.78987984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.37, Y:87.31, Z:0.58 [[ 8.05844588e-01 -5.92123684e-01 -2.01083282e-03 2.68368523e+02] [ 5.92121722e-01 8.05847096e-01 -1.52469143e-03 8.73148231e+01] [ 2.52322969e-03 3.80065422e-05 9.99996816e-01 5.79017930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.41, Y:87.35, Z:0.58 [[ 8.06776511e-01 -5.90853297e-01 -2.01067031e-03 2.68411052e+02] [ 5.90851331e-01 8.06779015e-01 -1.52490571e-03 8.73547192e+01] [ 2.52316217e-03 4.22508804e-05 9.99996816e-01 5.80024945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:87.39, Z:0.58 [[ 8.08211444e-01 -5.88888971e-01 -2.01038411e-03 2.68454685e+02] [ 5.88886998e-01 8.08213943e-01 -1.52528293e-03 8.73937081e+01] [ 2.52304276e-03 4.88620578e-05 9.99996816e-01 5.82508903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.49, Y:87.44, Z:0.58 [[ 8.10911865e-01 -5.85164854e-01 -2.01008824e-03 2.68494268e+02] [ 5.85162869e-01 8.10914354e-01 -1.52567273e-03 8.74358353e+01] [ 2.52277947e-03 6.09571183e-05 9.99996816e-01 5.81476111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.54, Y:87.48, Z:0.58 [[ 8.12654783e-01 -5.82741936e-01 -2.00995987e-03 2.68535339e+02] [ 5.82739943e-01 8.12657265e-01 -1.52584183e-03 8.74779816e+01] [ 2.52258052e-03 6.86987635e-05 9.99996816e-01 5.80334320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.58, Y:87.52, Z:0.58 [[ 8.12727569e-01 -5.82640421e-01 -2.00967002e-03 2.68578930e+02] [ 5.82638426e-01 8.12730051e-01 -1.52622349e-03 8.75153798e+01] [ 2.52255872e-03 6.94929288e-05 9.99996816e-01 5.77923465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.62, Y:87.56, Z:0.58 [[ 8.11503162e-01 -5.84344573e-01 -2.00947382e-03 2.68620394e+02] [ 5.84342583e-01 8.11505648e-01 -1.52648178e-03 8.75586345e+01] [ 2.52269070e-03 6.45236739e-05 9.99996816e-01 5.78031873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.66, Y:87.60, Z:0.58 [[ 8.10310405e-01 -5.85997449e-01 -2.00921556e-03 2.68663153e+02] [ 5.85995463e-01 8.10312894e-01 -1.52682163e-03 8.75977706e+01] [ 2.52280686e-03 5.98082508e-05 9.99996816e-01 5.77158206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.71, Y:87.64, Z:0.58 [[ 8.09070560e-01 -5.87708085e-01 -2.00892072e-03 2.68705490e+02] [ 5.87706104e-01 8.09073052e-01 -1.52720948e-03 8.76376035e+01] [ 2.52291697e-03 5.49652612e-05 9.99996816e-01 5.78350049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.75, Y:87.68, Z:0.58 [[ 8.06991745e-01 -5.90559302e-01 -2.00882957e-03 2.68745932e+02] [ 5.90557328e-01 8.06994244e-01 -1.52732936e-03 8.76818610e+01] [ 2.52309246e-03 4.62131571e-05 9.99996816e-01 5.77212416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.79, Y:87.72, Z:0.58 [[ 8.04329839e-01 -5.94179666e-01 -2.00857840e-03 2.68789131e+02] [ 5.94177703e-01 8.04332346e-01 -1.52765960e-03 8.77228837e+01] [ 2.52326885e-03 3.52896975e-05 9.99996816e-01 5.79680680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.83, Y:87.76, Z:0.58 [[ 8.01729841e-01 -5.97683217e-01 -2.00831321e-03 2.68833488e+02] [ 5.97681265e-01 8.01732356e-01 -1.52800814e-03 8.77601495e+01] [ 2.52339451e-03 2.47185432e-05 9.99996816e-01 5.80668742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.88, Y:87.80, Z:0.58 [[ 7.97696971e-01 -6.03055147e-01 -2.00817248e-03 2.68877283e+02] [ 6.03053210e-01 7.97699499e-01 -1.52819308e-03 8.77982115e+01] [ 2.52350288e-03 8.00012831e-06 9.99996816e-01 5.79327607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.92, Y:87.83, Z:0.58 [[ 7.94994734e-01 -6.06613008e-01 -2.00787953e-03 2.68921075e+02] [ 6.06611082e-01 7.94997270e-01 -1.52857789e-03 8.78342340e+01] [ 2.52351397e-03 -2.79060352e-06 9.99996816e-01 5.78831699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.97, Y:87.87, Z:0.58 [[ 7.90285723e-01 -6.12735216e-01 -2.00775312e-03 2.68967407e+02] [ 6.12733309e-01 7.90288273e-01 -1.52874391e-03 8.78696846e+01] [ 2.52341897e-03 -2.20727286e-05 9.99996816e-01 5.80273651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60263999999995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:269.01, Y:87.90, Z:0.58 [[ 7.87263203e-01 -6.16613833e-01 -2.00750198e-03 2.69013773e+02] [ 6.16611938e-01 7.87265762e-01 -1.52907362e-03 8.79045414e+01] [ 2.52328552e-03 -3.40662869e-05 9.99996816e-01 5.81270633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66263999999995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:269.06, Y:87.94, Z:0.58 [[ 7.87064419e-01 -6.16867548e-01 -2.00721509e-03 2.69060572e+02] [ 6.16865653e-01 7.87066977e-01 -1.52945013e-03 8.79393227e+01] [ 2.52328087e-03 -3.44062723e-05 9.99996816e-01 5.81991884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.11, Y:87.97, Z:0.58 [[ 7.88672898e-01 -6.14809753e-01 -2.00707981e-03 2.69107830e+02] [ 6.14807850e-01 7.88675451e-01 -1.52962763e-03 8.79739813e+01] [ 2.52336456e-03 -2.75925703e-05 9.99996816e-01 5.80279979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.15, Y:88.01, Z:0.58 [[ 7.90587820e-01 -6.12345386e-01 -2.00682587e-03 2.69153447e+02] [ 6.12343475e-01 7.90590367e-01 -1.52996072e-03 8.80101282e+01] [ 2.52344159e-03 -1.92984170e-05 9.99996816e-01 5.79335896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.20, Y:88.05, Z:0.58 [[ 7.93700499e-01 -6.08305426e-01 -2.00653472e-03 2.69198876e+02] [ 6.08303502e-01 7.93703035e-01 -1.53034248e-03 8.80464840e+01] [ 2.52350833e-03 -5.94850525e-06 9.99996816e-01 5.79098983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.25, Y:88.08, Z:0.58 [[ 7.95129134e-01 -6.06436836e-01 -2.00624521e-03 2.69245014e+02] [ 6.06434904e-01 7.95131665e-01 -1.53072192e-03 8.80812079e+01] [ 2.52351525e-03 4.64473374e-07 9.99996816e-01 5.78389392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.29, Y:88.12, Z:0.58 [[ 7.97029959e-01 -6.03936437e-01 -2.00595448e-03 2.69290269e+02] [ 6.03934497e-01 7.97032483e-01 -1.53110281e-03 8.81174806e+01] [ 2.52349966e-03 8.86969789e-06 9.99996816e-01 5.78594006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02263999999997 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:269.34, Y:88.15, Z:0.58 [[ 7.98101601e-01 -6.02519553e-01 -2.00586448e-03 2.69335218e+02] [ 6.02517607e-01 7.98104121e-01 -1.53122072e-03 8.81539008e+01] [ 2.52347913e-03 1.35010382e-05 9.99996816e-01 5.80811251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.38, Y:88.19, Z:0.58 [[ 7.98927444e-01 -6.01424074e-01 -2.00557148e-03 2.69381240e+02] [ 6.01422124e-01 7.98929961e-01 -1.53160438e-03 8.81903166e+01] [ 2.52345489e-03 1.74457092e-05 9.99996816e-01 5.78654929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.43, Y:88.22, Z:0.58 [[ 7.99126946e-01 -6.01158966e-01 -2.00531571e-03 2.69428104e+02] [ 6.01157015e-01 7.99129462e-01 -1.53193919e-03 8.82248407e+01] [ 2.52344584e-03 1.87042824e-05 9.99996816e-01 5.75660188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:88.26, Z:0.58 [[ 7.98696577e-01 -6.01730635e-01 -2.00522557e-03 2.69474756e+02] [ 6.01728685e-01 7.98699094e-01 -1.53205717e-03 8.82599052e+01] [ 2.52345758e-03 1.70470678e-05 9.99996816e-01 5.76167782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.52, Y:88.30, Z:0.58 [[ 7.97571973e-01 -6.03220465e-01 -2.00493522e-03 2.69522285e+02] [ 6.03218518e-01 7.97574492e-01 -1.53243705e-03 8.82952000e+01] [ 2.52348257e-03 1.28147874e-05 9.99996816e-01 5.77225809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.57, Y:88.33, Z:0.58 [[ 7.97817207e-01 -6.02896082e-01 -2.00467915e-03 2.69571026e+02] [ 6.02894134e-01 7.97819725e-01 -1.53277195e-03 8.83289805e+01] [ 2.52347477e-03 1.42625421e-05 9.99996816e-01 5.79594192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.62, Y:88.36, Z:0.58 [[ 7.99979989e-01 -6.00023332e-01 -2.00442259e-03 2.69615921e+02] [ 6.00021374e-01 7.99982500e-01 -1.53310738e-03 8.83634283e+01] [ 2.52340319e-03 2.37588306e-05 9.99996816e-01 5.79117646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.66, Y:88.40, Z:0.58 [[ 8.04696536e-01 -5.93682970e-01 -2.00429758e-03 2.69660319e+02] [ 5.93680991e-01 8.04699030e-01 -1.53327080e-03 8.83983752e+01] [ 2.52313308e-03 4.39043250e-05 9.99996816e-01 5.78085046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.71, Y:88.43, Z:0.58 [[ 8.07393599e-01 -5.90009796e-01 -2.00410142e-03 2.69706095e+02] [ 5.90007806e-01 8.07396085e-01 -1.53352715e-03 8.84347585e+01] [ 2.52289968e-03 5.57245228e-05 9.99996816e-01 5.78099904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.75, Y:88.47, Z:0.58 [[ 8.10198606e-01 -5.86152031e-01 -2.00392001e-03 2.69749872e+02] [ 5.86150028e-01 8.10201081e-01 -1.53376417e-03 8.84721405e+01] [ 2.52259714e-03 6.80558173e-05 9.99996816e-01 5.77580480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:88.51, Z:0.58 [[ 8.10691247e-01 -5.85470483e-01 -2.00379309e-03 2.69793074e+02] [ 5.85468478e-01 8.10693721e-01 -1.53392996e-03 8.85098455e+01] [ 2.52253319e-03 7.03859020e-05 9.99996816e-01 5.76624423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.84, Y:88.55, Z:0.57 [[ 8.10785531e-01 -5.85339908e-01 -2.00367067e-03 2.69836502e+02] [ 5.85337902e-01 8.10788004e-01 -1.53408985e-03 8.85485779e+01] [ 2.52251616e-03 7.09934696e-05 9.99996816e-01 5.74273203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:269.88, Y:88.59, Z:0.58 [[ 8.10000974e-01 -5.86425108e-01 -2.00358260e-03 2.69879954e+02] [ 5.86423105e-01 8.10003449e-01 -1.53420487e-03 8.85870645e+01] [ 2.52260508e-03 6.77603082e-05 9.99996816e-01 5.76228446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.92, Y:88.63, Z:0.58 [[ 8.07669863e-01 -5.89631563e-01 -2.00329289e-03 2.69922184e+02] [ 5.89629569e-01 8.07672345e-01 -1.53458307e-03 8.86283969e+01] [ 2.52284288e-03 5.82357762e-05 9.99996816e-01 5.79574812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.97, Y:88.67, Z:0.58 [[ 8.05455764e-01 -5.92652513e-01 -2.00303685e-03 2.69965638e+02] [ 5.92650527e-01 8.05458253e-01 -1.53491720e-03 8.86670621e+01] [ 2.52303509e-03 4.92070588e-05 9.99996816e-01 5.79314582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92264 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:270.01, Y:88.70, Z:0.58 [[ 8.03981888e-01 -5.94650413e-01 -2.00274153e-03 2.70009912e+02] [ 5.94648432e-01 8.03984381e-01 -1.53530243e-03 8.87047366e+01] [ 2.52314113e-03 4.34282361e-05 9.99996816e-01 5.79494159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.05, Y:88.74, Z:0.58 [[ 7.99435034e-01 -6.00749213e-01 -2.00244849e-03 2.70052560e+02] [ 6.00747251e-01 7.99437541e-01 -1.53568454e-03 8.87440812e+01] [ 2.52339377e-03 2.47146015e-05 9.99996816e-01 5.78332867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.10, Y:88.78, Z:0.58 [[ 7.95904782e-01 -6.05418508e-01 -2.00215447e-03 2.70097563e+02] [ 6.05416560e-01 7.95907300e-01 -1.53606777e-03 8.87810102e+01] [ 2.52349322e-03 1.04262160e-05 9.99996816e-01 5.79219948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.14, Y:88.82, Z:0.58 [[ 7.91160596e-01 -6.11605185e-01 -2.00206438e-03 2.70141633e+02] [ 6.11603256e-01 7.91163129e-01 -1.53618518e-03 8.88182544e+01] [ 2.52349834e-03 -9.09991185e-06 9.99996816e-01 5.79509232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16263999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.19, Y:88.85, Z:0.58 [[ 7.88867716e-01 -6.14559778e-01 -2.00177959e-03 2.70188657e+02] [ 6.14557857e-01 7.88870255e-01 -1.53655619e-03 8.88524981e+01] [ 2.52345001e-03 -1.80698018e-05 9.99996816e-01 5.79674276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.23, Y:88.89, Z:0.58 [[ 7.86903451e-01 -6.17072891e-01 -2.00149245e-03 2.70233570e+02] [ 6.17070978e-01 7.86905996e-01 -1.53693013e-03 8.88884256e+01] [ 2.52338433e-03 -2.56472758e-05 9.99996816e-01 5.79447198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.28, Y:88.92, Z:0.58 [[ 7.86145413e-01 -6.18038337e-01 -2.00120544e-03 2.70280607e+02] [ 6.18036425e-01 7.86147959e-01 -1.53730375e-03 8.89242255e+01] [ 2.52335623e-03 -2.82735682e-05 9.99996816e-01 5.77066129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.33, Y:88.96, Z:0.57 [[ 7.85557792e-01 -6.18785061e-01 -2.00095134e-03 2.70327019e+02] [ 6.18783152e-01 7.85560339e-01 -1.53763442e-03 8.89585994e+01] [ 2.52333322e-03 -3.02542791e-05 9.99996816e-01 5.72273454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.38, Y:88.99, Z:0.57 [[ 7.85210039e-01 -6.19226285e-01 -2.00086175e-03 2.70375100e+02] [ 6.19224376e-01 7.85212587e-01 -1.53775098e-03 8.89914659e+01] [ 2.52331766e-03 -3.15248625e-05 9.99996816e-01 5.73818942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.42, Y:89.02, Z:0.58 [[ 7.87054862e-01 -6.16879763e-01 -2.00056495e-03 2.70423239e+02] [ 6.16877846e-01 7.87057404e-01 -1.53813702e-03 8.90243861e+01] [ 2.52340506e-03 -2.35059755e-05 9.99996816e-01 5.75104907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.47, Y:89.06, Z:0.57 [[ 7.89007228e-01 -6.14380658e-01 -2.00047340e-03 2.70469871e+02] [ 6.14378733e-01 7.89009763e-01 -1.53825607e-03 8.90601110e+01] [ 2.52346782e-03 -1.53531536e-05 9.99996816e-01 5.73861641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.52, Y:89.09, Z:0.57 [[ 7.91335125e-01 -6.11379358e-01 -2.00021332e-03 2.70516615e+02] [ 6.11377422e-01 7.91337653e-01 -1.53859419e-03 8.90937445e+01] [ 2.52350884e-03 -5.34163359e-06 9.99996816e-01 5.71565287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.56, Y:89.13, Z:0.58 [[ 7.92279266e-01 -6.10155361e-01 -2.00009309e-03 2.70563710e+02] [ 6.10153421e-01 7.92281790e-01 -1.53875047e-03 8.91296567e+01] [ 2.52351418e-03 -1.24354820e-06 9.99996816e-01 5.75007303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:89.16, Z:0.58 [[ 7.91770576e-01 -6.10815321e-01 -1.99983530e-03 2.70612250e+02] [ 6.10813382e-01 7.91773101e-01 -1.53908543e-03 8.91612229e+01] [ 2.52351276e-03 -2.92360007e-06 9.99996816e-01 5.77508393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76264 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:270.66, Y:89.20, Z:0.58 [[ 7.90239905e-01 -6.12794333e-01 -1.99969932e-03 2.70658984e+02] [ 6.12792399e-01 7.90242435e-01 -1.53926208e-03 8.91953438e+01] [ 2.52349834e-03 -9.01422801e-06 9.99996816e-01 5.77362255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82264 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:270.71, Y:89.23, Z:0.58 [[ 7.88167262e-01 -6.15457853e-01 -1.99960967e-03 2.70706386e+02] [ 6.15455928e-01 7.88169799e-01 -1.53937854e-03 8.92271030e+01] [ 2.52345456e-03 -1.73838545e-05 9.99996816e-01 5.75350639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88264 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:270.76, Y:89.26, Z:0.57 [[ 7.85774684e-01 -6.18509619e-01 -1.99948914e-03 2.70756776e+02] [ 6.18507703e-01 7.85777227e-01 -1.53953508e-03 8.92580572e+01] [ 2.52337029e-03 -2.69717409e-05 9.99996816e-01 5.74874099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94264 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:270.80, Y:89.29, Z:0.57 [[ 7.84978641e-01 -6.19519601e-01 -1.99923459e-03 2.70804079e+02] [ 6.19517688e-01 7.84981187e-01 -1.53986557e-03 8.92909488e+01] [ 2.52333844e-03 -2.97996092e-05 9.99996816e-01 5.73380194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00264 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:270.85, Y:89.32, Z:0.58 [[ 7.85041835e-01 -6.19439521e-01 -1.99914500e-03 2.70854290e+02] [ 6.19437607e-01 7.85044380e-01 -1.53998186e-03 8.93222481e+01] [ 2.52334318e-03 -2.93954080e-05 9.99996816e-01 5.79269215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06264 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:270.90, Y:89.35, Z:0.57 [[ 7.86565753e-01 -6.17503296e-01 -1.99887894e-03 2.70903500e+02] [ 6.17501375e-01 7.86568293e-01 -1.54032714e-03 8.93529353e+01] [ 2.52341187e-03 -2.27419173e-05 9.99996816e-01 5.73256141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12264 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:270.95, Y:89.39, Z:0.57 [[ 7.88046268e-01 -6.15612771e-01 -1.99878525e-03 2.70949165e+02] [ 6.15610844e-01 7.88048803e-01 -1.54044870e-03 8.93864507e+01] [ 2.52346021e-03 -1.65290248e-05 9.99996816e-01 5.72775502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18264 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:271.00, Y:89.42, Z:0.57 [[ 7.89580557e-01 -6.13643667e-01 -1.99865455e-03 2.70997322e+02] [ 6.13641733e-01 7.89583086e-01 -1.54061826e-03 8.94194682e+01] [ 2.52349446e-03 -1.00156137e-05 9.99996816e-01 5.72797836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24264 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:271.04, Y:89.46, Z:0.59 [[ 7.91993596e-01 -6.10526126e-01 -1.99837272e-03 2.71044167e+02] [ 6.10524181e-01 7.91996117e-01 -1.54098373e-03 8.94558636e+01] [ 2.52351427e-03 3.94378379e-07 9.99996816e-01 5.85548580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30264 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:271.09, Y:89.49, Z:0.58 [[ 7.93803088e-01 -6.08171576e-01 -1.99817970e-03 2.71092032e+02] [ 6.08169623e-01 7.93805602e-01 -1.54123398e-03 8.94888050e+01] [ 2.52350094e-03 8.20409788e-06 9.99996816e-01 5.77143432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36264 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:271.14, Y:89.53, Z:0.59 [[ 7.94916081e-01 -6.06716104e-01 -1.99805410e-03 2.71137132e+02] [ 6.06714146e-01 7.94918592e-01 -1.54139679e-03 8.95274091e+01] [ 2.52348061e-03 1.30334132e-05 9.99996816e-01 5.92084176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:271.18, Y:89.56, Z:0.59 [[ 7.95190260e-01 -6.06356710e-01 -1.99791537e-03 2.71182643e+02] [ 6.06354750e-01 7.95192769e-01 -1.54157659e-03 8.95643595e+01] [ 2.52347316e-03 1.44012101e-05 9.99996816e-01 5.93380555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48263999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:271.23, Y:89.60, Z:0.60 [[ 7.93744983e-01 -6.08247410e-01 -1.99763083e-03 2.71226200e+02] [ 6.08245455e-01 7.93747497e-01 -1.54194521e-03 8.96019136e+01] [ 2.52349866e-03 8.86140230e-06 9.99996816e-01 5.95525383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54263999999995 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:271.27, Y:89.63, Z:0.59 [[ 7.90686519e-01 -6.12217967e-01 -1.99748380e-03 2.71274620e+02] [ 6.12216025e-01 7.90689042e-01 -1.54213566e-03 8.96347301e+01] [ 2.52351171e-03 -3.54572177e-06 9.99996816e-01 5.91703764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60263999999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:271.32, Y:89.67, Z:0.59 [[ 7.85725392e-01 -6.18572243e-01 -1.99720469e-03 2.71322042e+02] [ 6.18570320e-01 7.85727930e-01 -1.54249705e-03 8.96684954e+01] [ 2.52340537e-03 -2.34324501e-05 9.99996816e-01 5.90315424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66263999999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:271.37, Y:89.70, Z:0.59 [[ 7.83240157e-01 -6.21716067e-01 -1.99710533e-03 2.71367793e+02] [ 6.21714154e-01 7.83242702e-01 -1.54262568e-03 8.97034935e+01] [ 2.52329335e-03 -3.33822712e-05 9.99996816e-01 5.93361588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72263999999996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:271.42, Y:89.74, Z:0.60 [[ 7.80079363e-01 -6.25677392e-01 -1.99701044e-03 2.71417289e+02] [ 6.25675492e-01 7.80081918e-01 -1.54274852e-03 8.97366533e+01] [ 2.52309460e-03 -4.60142102e-05 9.99996816e-01 5.99210275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78263999999996 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:271.46, Y:89.77, Z:0.60 [[ 7.79283194e-01 -6.26668745e-01 -1.99687949e-03 2.71464515e+02] [ 6.26666848e-01 7.79285751e-01 -1.54291800e-03 8.97695715e+01] [ 2.52303822e-03 -4.90081077e-05 9.99996816e-01 5.98319601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84263999999996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:271.51, Y:89.80, Z:0.60 [[ 7.79090043e-01 -6.26908859e-01 -1.99675304e-03 2.71511167e+02] [ 6.26906962e-01 7.79092600e-01 -1.54308162e-03 8.98047645e+01] [ 2.52302706e-03 -4.95788551e-05 9.99996816e-01 5.99016204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90263999999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:271.56, Y:89.84, Z:0.60 [[ 7.80331767e-01 -6.25362573e-01 -1.99647653e-03 2.71559162e+02] [ 6.25360670e-01 7.80334320e-01 -1.54343929e-03 8.98387637e+01] [ 2.52312832e-03 -4.41231919e-05 9.99996816e-01 6.01570367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96263999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:271.61, Y:89.87, Z:0.59 [[ 7.82246255e-01 -6.22966140e-01 -1.99619966e-03 2.71608588e+02] [ 6.22964228e-01 7.82248801e-01 -1.54379729e-03 8.98699566e+01] [ 2.52325823e-03 -3.59313310e-05 9.99996816e-01 5.85524151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02263999999997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:271.66, Y:89.90, Z:0.59 [[ 7.83636277e-01 -6.21216710e-01 -1.99610008e-03 2.71655792e+02] [ 6.21214793e-01 7.83638818e-01 -1.54392604e-03 8.99026817e+01] [ 2.52333416e-03 -3.01304472e-05 9.99996816e-01 5.91654736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08263999999997 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:271.70, Y:89.94, Z:0.61 [[ 7.84162162e-01 -6.20552754e-01 -1.99600130e-03 2.71703206e+02] [ 6.20550833e-01 7.84164702e-01 -1.54405373e-03 8.99371683e+01] [ 2.52336056e-03 -2.78317633e-05 9.99996816e-01 6.05363823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:271.75, Y:89.97, Z:0.60 [[ 7.83832560e-01 -6.20969029e-01 -1.99585503e-03 2.71750991e+02] [ 6.20967109e-01 7.83835100e-01 -1.54424278e-03 8.99693136e+01] [ 2.52334817e-03 -2.89325547e-05 9.99996816e-01 6.03465957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:271.80, Y:90.00, Z:0.60 [[ 7.83403706e-01 -6.21509977e-01 -1.99553997e-03 2.71801497e+02] [ 6.21508058e-01 7.83406247e-01 -1.54464981e-03 8.99995917e+01] [ 2.52333375e-03 -3.01597871e-05 9.99996816e-01 6.02085851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26264 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:271.85, Y:90.03, Z:0.60 [[ 7.83768220e-01 -6.21050237e-01 -1.99526635e-03 2.71849833e+02] [ 6.21048316e-01 7.83770759e-01 -1.54500317e-03 9.00334806e+01] [ 2.52335601e-03 -2.82324192e-05 9.99996816e-01 6.04559020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32264 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:271.90, Y:90.07, Z:0.60 [[ 7.85796290e-01 -6.18482183e-01 -1.99499262e-03 2.71897879e+02] [ 6.18480253e-01 7.85798822e-01 -1.54535654e-03 9.00656764e+01] [ 2.52343834e-03 -1.95281012e-05 9.99996816e-01 6.00316747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.95, Y:90.10, Z:0.60 [[ 7.87082761e-01 -6.16844185e-01 -1.99489748e-03 2.71945921e+02] [ 6.16842249e-01 7.87085289e-01 -1.54547936e-03 9.00996000e+01] [ 2.52347441e-03 -1.41168876e-05 9.99996816e-01 6.02905740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:271.99, Y:90.13, Z:0.59 [[ 7.87772535e-01 -6.15963030e-01 -1.99462122e-03 2.71993770e+02] [ 6.15961090e-01 7.87775061e-01 -1.54583582e-03 9.01322763e+01] [ 2.52349056e-03 -1.08420550e-05 9.99996816e-01 5.90189588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50264 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:272.04, Y:90.17, Z:0.59 [[ 7.89079460e-01 -6.14287904e-01 -1.99434957e-03 2.72042519e+02] [ 6.14285958e-01 7.89081980e-01 -1.54618621e-03 9.01656321e+01] [ 2.52350879e-03 -5.03715592e-06 9.99996816e-01 5.91418906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:272.09, Y:90.20, Z:0.59 [[ 7.89566805e-01 -6.13661375e-01 -1.99409194e-03 2.72089117e+02] [ 6.13659427e-01 7.89569323e-01 -1.54651839e-03 9.01993460e+01] [ 2.52351243e-03 -2.61373268e-06 9.99996816e-01 5.91046415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62264 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:272.14, Y:90.23, Z:0.61 [[ 7.90073014e-01 -6.13009508e-01 -1.99393802e-03 2.72135844e+02] [ 6.13007557e-01 7.90075530e-01 -1.54671681e-03 9.02340999e+01] [ 2.52351375e-03 -2.79859028e-07 9.99996816e-01 6.05610652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68264 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:272.18, Y:90.27, Z:0.61 [[ 7.88656575e-01 -6.14830734e-01 -1.99367453e-03 2.72184394e+02] [ 6.14828788e-01 7.88659095e-01 -1.54705637e-03 9.02676478e+01] [ 2.52350736e-03 -5.67231438e-06 9.99996816e-01 6.05855828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:90.30, Z:0.59 [[ 7.87230499e-01 -6.16655632e-01 -1.99339370e-03 2.72232545e+02] [ 6.16653690e-01 7.87233023e-01 -1.54741815e-03 9.02997700e+01] [ 2.52348946e-03 -1.10588198e-05 9.99996816e-01 5.94986885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80264 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:272.28, Y:90.33, Z:0.60 [[ 7.86864334e-01 -6.17122797e-01 -1.99324383e-03 2.72281870e+02] [ 6.17120857e-01 7.86866859e-01 -1.54761117e-03 9.03315194e+01] [ 2.52348364e-03 -1.23123061e-05 9.99996816e-01 5.97991763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86264 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:272.33, Y:90.36, Z:0.60 [[ 7.87572142e-01 -6.16219238e-01 -1.99297737e-03 2.72329344e+02] [ 6.16217294e-01 7.87574663e-01 -1.54795424e-03 9.03641749e+01] [ 2.52349766e-03 -8.98148706e-06 9.99996816e-01 5.96455201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:272.38, Y:90.40, Z:0.60 [[ 7.88935181e-01 -6.14473195e-01 -1.99288338e-03 2.72377827e+02] [ 6.14471245e-01 7.88937699e-01 -1.54807522e-03 9.03983137e+01] [ 2.52351156e-03 -3.23852660e-06 9.99996816e-01 5.98983322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98263999999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:272.43, Y:90.43, Z:0.60 [[ 7.91982091e-01 -6.10541070e-01 -1.99261981e-03 2.72426640e+02] [ 6.10539106e-01 7.91984597e-01 -1.54841440e-03 9.04319702e+01] [ 2.52349479e-03 9.74415801e-06 9.99996816e-01 5.98527084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04263999999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:272.47, Y:90.47, Z:0.60 [[ 7.95833062e-01 -6.05512814e-01 -1.99235598e-03 2.72473264e+02] [ 6.05510834e-01 7.95835555e-01 -1.54875380e-03 9.04659121e+01] [ 2.52337800e-03 2.61563504e-05 9.99996816e-01 5.96528889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10263999999995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:272.52, Y:90.50, Z:0.60 [[ 7.98367463e-01 -6.02167273e-01 -1.99226270e-03 2.72519524e+02] [ 6.02165282e-01 7.98369948e-01 -1.54887379e-03 9.05015836e+01] [ 2.52324377e-03 3.68990049e-05 9.99996816e-01 5.97964956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16263999999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:272.57, Y:90.54, Z:0.60 [[ 8.00165561e-01 -5.99775881e-01 -1.99200238e-03 2.72566033e+02] [ 5.99773882e-01 8.00168039e-01 -1.54920851e-03 9.05369902e+01] [ 2.52311454e-03 4.48722961e-05 9.99996816e-01 5.99983717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22263999999996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:272.61, Y:90.57, Z:0.60 [[ 8.00469490e-01 -5.99370194e-01 -1.99173510e-03 2.72612662e+02] [ 5.99368192e-01 8.00471966e-01 -1.54955206e-03 9.05719847e+01] [ 2.52308343e-03 4.65864811e-05 9.99996816e-01 6.04853156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.66, Y:90.61, Z:0.60 [[ 7.98778741e-01 -6.01621606e-01 -1.99161473e-03 2.72658449e+02] [ 6.01619611e-01 7.98781223e-01 -1.54970676e-03 9.06078577e+01] [ 2.52320152e-03 3.96783316e-05 9.99996816e-01 6.03487588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34263999999996 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:272.71, Y:90.64, Z:0.60 [[ 7.96514105e-01 -6.04616668e-01 -1.99151913e-03 2.72705359e+02] [ 6.04614682e-01 7.96516594e-01 -1.54982960e-03 9.06434537e+01] [ 2.52333085e-03 3.03594270e-05 9.99996816e-01 6.02475912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.75, Y:90.68, Z:0.60 [[ 7.92952669e-01 -6.09279985e-01 -1.99125824e-03 2.72753427e+02] [ 6.09278013e-01 7.92955169e-01 -1.55016473e-03 9.06781302e+01] [ 2.52346286e-03 1.59773978e-05 9.99996816e-01 6.04637763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46263999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.80, Y:90.71, Z:0.60 [[ 7.91303226e-01 -6.11420674e-01 -1.99101000e-03 2.72797945e+02] [ 6.11418708e-01 7.91305731e-01 -1.55048350e-03 9.07137502e+01] [ 2.52349529e-03 9.56183532e-06 9.99996816e-01 6.03461361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52263999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.85, Y:90.75, Z:0.61 [[ 7.89544551e-01 -6.13690018e-01 -1.99083640e-03 2.72845344e+02] [ 6.13688059e-01 7.89547061e-01 -1.55070637e-03 9.07487140e+01] [ 2.52351205e-03 2.59923789e-06 9.99996816e-01 6.05198187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58263999999997 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:90.78, Z:0.61 [[ 7.86313385e-01 -6.17824651e-01 -1.99057857e-03 2.72893153e+02] [ 6.17822704e-01 7.86315904e-01 -1.55103726e-03 9.07816160e+01] [ 2.52349265e-03 -1.02232763e-05 9.99996816e-01 6.07801699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:90.82, Z:0.61 [[ 7.83643901e-01 -6.21207111e-01 -1.99042903e-03 2.72941562e+02] [ 6.21205174e-01 7.83646429e-01 -1.55122914e-03 9.08156401e+01] [ 2.52342718e-03 -2.08535559e-05 9.99996816e-01 6.12336329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70264 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:272.99, Y:90.85, Z:0.61 [[ 7.81796074e-01 -6.23531024e-01 -1.99017397e-03 2.72989479e+02] [ 6.23529094e-01 7.81798606e-01 -1.55155631e-03 9.08492335e+01] [ 2.52335873e-03 -2.79307418e-05 9.99996816e-01 6.13284471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:273.04, Y:90.88, Z:0.61 [[ 7.81030443e-01 -6.24489781e-01 -1.98989658e-03 2.73038605e+02] [ 6.24487854e-01 7.81032978e-01 -1.55191199e-03 9.08825092e+01] [ 2.52332803e-03 -3.05757334e-05 9.99996816e-01 6.14406128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:273.09, Y:90.91, Z:0.61 [[ 7.83297204e-01 -6.21644216e-01 -1.98963845e-03 2.73087436e+02] [ 6.21642279e-01 7.83299731e-01 -1.55224285e-03 9.09134257e+01] [ 2.52342605e-03 -2.09758986e-05 9.99996816e-01 6.12795978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.13, Y:90.95, Z:0.61 [[ 7.86296434e-01 -6.17846227e-01 -1.98948760e-03 2.73134461e+02] [ 6.17844277e-01 7.86298951e-01 -1.55243617e-03 9.09467229e+01] [ 2.52349884e-03 -8.51850161e-06 9.99996816e-01 6.14190869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:273.18, Y:90.98, Z:0.62 [[ 7.92659179e-01 -6.09661766e-01 -1.98919484e-03 2.73182025e+02] [ 6.09659789e-01 7.92661675e-01 -1.55281121e-03 9.09806250e+01] [ 2.52344814e-03 1.81179502e-05 9.99996816e-01 6.16720496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00264 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:273.23, Y:91.01, Z:0.61 [[ 7.97128971e-01 -6.03805802e-01 -1.98909942e-03 2.73228607e+02] [ 6.03803806e-01 7.97131452e-01 -1.55293343e-03 9.10148850e+01] [ 2.52324392e-03 3.68624293e-05 9.99996816e-01 6.14414153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06264 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:273.27, Y:91.05, Z:0.62 [[ 8.02769196e-01 -5.96286561e-01 -1.98895710e-03 2.73273839e+02] [ 5.96284541e-01 8.02771657e-01 -1.55311569e-03 9.10532131e+01] [ 2.52278040e-03 6.08090593e-05 9.99996816e-01 6.18937922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12264 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:273.32, Y:91.09, Z:0.61 [[ 8.04554523e-01 -5.93875462e-01 -1.98869267e-03 2.73318204e+02] [ 5.93873435e-01 8.04556978e-01 -1.55345420e-03 9.10918167e+01] [ 2.52257490e-03 6.88068552e-05 9.99996816e-01 6.09951725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18264 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.36, Y:91.13, Z:0.63 [[ 8.06075236e-01 -5.91809734e-01 -1.98842903e-03 2.73362748e+02] [ 5.91807699e-01 8.06077685e-01 -1.55379159e-03 9.11300479e+01] [ 2.52237725e-03 7.57053147e-05 9.99996816e-01 6.25333647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.41, Y:91.17, Z:0.62 [[ 8.05609869e-01 -5.92443065e-01 -1.98815742e-03 2.73406416e+02] [ 5.92441032e-01 8.05612319e-01 -1.55413905e-03 9.11675095e+01] [ 2.52242301e-03 7.41637232e-05 9.99996816e-01 6.23932384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.45, Y:91.21, Z:0.62 [[ 8.03731580e-01 -5.94988735e-01 -1.98806289e-03 2.73447987e+02] [ 5.94986708e-01 8.03734036e-01 -1.55425996e-03 9.12100359e+01] [ 2.52264098e-03 6.63368181e-05 9.99996816e-01 6.24245431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36264 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.49, Y:91.25, Z:0.63 [[ 8.01132777e-01 -5.98483351e-01 -1.98780828e-03 2.73491106e+02] [ 5.98481335e-01 8.01135241e-01 -1.55458552e-03 9.12503156e+01] [ 2.52289682e-03 5.57632604e-05 9.99996816e-01 6.25355572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42264 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:273.53, Y:91.29, Z:0.63 [[ 7.94540013e-01 -6.07208546e-01 -1.98755171e-03 2.73533681e+02] [ 6.07206555e-01 7.94542498e-01 -1.55491348e-03 9.12918005e+01] [ 2.52335106e-03 2.85865496e-05 9.99996816e-01 6.26470311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48263999999995 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:273.58, Y:91.33, Z:0.63 [[ 7.88933890e-01 -6.14474872e-01 -1.98729535e-03 2.73577065e+02] [ 6.14472904e-01 7.88936393e-01 -1.55524106e-03 9.13303797e+01] [ 2.52350618e-03 5.84322998e-06 9.99996816e-01 6.26795797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54263999999995 meters Centerline goodness : 0.996808 with order 1 Centerline is valid? [True, True] Translation: X:273.62, Y:91.37, Z:0.59 [[ 7.78484941e-01 -6.27660137e-01 -1.98700467e-03 2.73618655e+02] [ 6.27658211e-01 7.78487476e-01 -1.55561235e-03 9.13732774e+01] [ 2.52325411e-03 -3.61390069e-05 9.99996816e-01 5.86918867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60263999999995 meters Centerline goodness : 0.994928 with order 1 Centerline is valid? [True, True] Translation: X:273.67, Y:91.41, Z:0.63 [[ 7.73951864e-01 -6.33241316e-01 -1.98673738e-03 2.73666040e+02] [ 6.33239407e-01 7.73954412e-01 -1.55595365e-03 9.14065743e+01] [ 2.52293830e-03 -5.38471714e-05 9.99996816e-01 6.31770454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66263999999995 meters Centerline goodness : 0.990499 with order 1 Centerline is valid? [True, True] Translation: X:273.71, Y:91.44, Z:0.61 [[ 7.69632858e-01 -6.38483609e-01 -1.98648421e-03 2.73714088e+02] [ 6.38481716e-01 7.69635418e-01 -1.55627680e-03 9.14402087e+01] [ 2.52252583e-03 -7.05720878e-05 9.99996816e-01 6.12457014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72263999999996 meters Centerline goodness : 0.987600 with order 1 Centerline is valid? [True, True] Translation: X:273.75, Y:91.48, Z:0.57 [[ 7.62163081e-01 -6.47382030e-01 -1.98617584e-03 2.73754677e+02] [ 6.47380166e-01 7.62165663e-01 -1.55667025e-03 9.14810036e+01] [ 2.52155537e-03 -9.93742462e-05 9.99996816e-01 5.65055159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78263999999996 meters Centerline goodness : 0.982130 with order 1 Centerline is valid? [True, True] Translation: X:273.81, Y:91.51, Z:0.61 [[ 7.65099078e-01 -6.43909510e-01 -1.98581400e-03 2.73806213e+02] [ 6.43907633e-01 7.65101651e-01 -1.55713170e-03 9.15072072e+01] [ 2.52200148e-03 -8.73207619e-05 9.99996816e-01 6.13487239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84263999999996 meters Centerline goodness : 0.093496 with order 1 Centerline is valid? [True, False] Translation: X:273.70, Y:91.40, Z:0.60 [[ 7.68417010e-01 -6.39899421e-01 -8.00185869e-03 2.73697623e+02] [ 6.39899352e-01 7.68140333e-01 2.21189332e-02 9.13977449e+01] [-8.00734217e-03 -2.21169487e-02 9.99723323e-01 5.99009785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90263999999996 meters Centerline goodness : 0.089786 with order 1 Centerline is valid? [False, False] Translation: X:273.57, Y:91.28, Z:0.59 [[ 7.74661799e-01 -6.32313668e-01 -8.86123730e-03 2.73569756e+02] [ 6.32127321e-01 7.73888694e-01 3.88759515e-02 9.12808773e+01] [-1.77241842e-02 -3.57171448e-02 9.99204753e-01 5.85764207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96263999999996 meters Centerline goodness : 0.128315 with order 1 Centerline is valid? [False, False] Translation: X:273.44, Y:91.17, Z:0.58 [[ 7.79489787e-01 -6.26353012e-01 -8.80776568e-03 2.73440896e+02] [ 6.25914473e-01 7.78228096e-01 5.09127029e-02 9.11690182e+01] [-2.50348741e-02 -4.51988399e-02 9.98664268e-01 5.75952105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02263999999997 meters Centerline goodness : 0.134274 with order 1 Centerline is valid? [False, False] Translation: X:273.34, Y:91.08, Z:0.56 [[ 7.84584750e-01 -6.19998582e-01 -5.34123904e-03 2.73337996e+02] [ 6.19126973e-01 7.82961016e-01 6.04469928e-02 9.10800847e+01] [-3.32950679e-02 -5.07326939e-02 9.98157118e-01 5.64876389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08263999999997 meters Centerline goodness : 0.139442 with order 1 Centerline is valid? [False, False] Translation: X:273.24, Y:91.00, Z:0.56 [[ 7.87655482e-01 -6.16115164e-01 -9.73235611e-04 2.73237444e+02] [ 6.14872020e-01 7.85963932e-01 6.47541212e-02 9.09976136e+01] [-3.91310679e-02 -5.16023539e-02 9.97900775e-01 5.57024417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14264 meters Centerline goodness : 0.138236 with order 1 Centerline is valid? [False, False] Translation: X:273.12, Y:90.89, Z:0.55 [[ 7.91851716e-01 -6.10713271e-01 4.00822855e-04 2.73117134e+02] [ 6.09077685e-01 7.89778676e-01 7.26224324e-02 9.08938254e+01] [-4.46680446e-02 -5.72620654e-02 9.97359425e-01 5.50701429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20264 meters Centerline goodness : 0.146039 with order 1 Centerline is valid? [False, False] Translation: X:273.05, Y:90.84, Z:0.54 [[ 7.95592588e-01 -6.05820677e-01 3.70683908e-03 2.73046472e+02] [ 6.03713475e-01 7.93306875e-01 7.87035103e-02 9.08375266e+01] [-5.06208748e-02 -6.03780608e-02 9.96891176e-01 5.44970629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26264 meters Centerline goodness : 0.089518 with order 1 Centerline is valid? [False, False] Translation: X:272.96, Y:90.78, Z:0.54 [[ 7.98464135e-01 -6.01843763e-01 1.54632091e-02 2.72958876e+02] [ 5.99265511e-01 7.96983141e-01 7.54898662e-02 9.07768660e+01] [-5.77570221e-02 -5.10093828e-02 9.97026664e-01 5.38292966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32264 meters Centerline goodness : 0.088989 with order 1 Centerline is valid? [False, False] Translation: X:272.86, Y:90.70, Z:0.54 [[ 7.99857957e-01 -5.99913251e-01 1.82027276e-02 2.72863077e+02] [ 5.96930031e-01 7.98304802e-01 7.98998200e-02 9.06981726e+01] [-6.24642857e-02 -5.30427521e-02 9.96636684e-01 5.35209481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38264 meters Centerline goodness : 0.087595 with order 1 Centerline is valid? [False, False] Translation: X:272.77, Y:90.62, Z:0.53 [[ 8.00460901e-01 -5.99020339e-01 2.09040550e-02 2.72768967e+02] [ 5.95425802e-01 7.98691743e-01 8.69460382e-02 9.06189989e+01] [-6.87783414e-02 -5.71500904e-02 9.95993678e-01 5.28491009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44264 meters Centerline goodness : 0.088067 with order 1 Centerline is valid? [False, False] Translation: X:272.67, Y:90.54, Z:0.52 [[ 8.01140198e-01 -5.98054675e-01 2.24719641e-02 2.72671420e+02] [ 5.93773247e-01 7.98981743e-01 9.51919365e-02 9.05363995e+01] [-7.48846717e-02 -6.29188357e-02 9.95205258e-01 5.23766189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50264 meters Centerline goodness : 0.085689 with order 1 Centerline is valid? [False, False] Translation: X:272.61, Y:90.48, Z:0.52 [[ 8.01498769e-01 -5.97507466e-01 2.41774973e-02 2.72608959e+02] [ 5.92560055e-01 7.99002278e-01 1.02312958e-01 9.04801062e+01] [-8.04506319e-02 -6.76770911e-02 9.94458399e-01 5.17957381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56264 meters Centerline goodness : 0.086005 with order 1 Centerline is valid? [False, False] Translation: X:272.55, Y:90.42, Z:0.51 [[ 8.03010948e-01 -5.95458472e-01 2.45484438e-02 2.72547599e+02] [ 5.89861342e-01 7.99993028e-01 1.09885178e-01 9.04232114e+01] [-8.50706437e-02 -7.37588226e-02 9.93641093e-01 5.14134658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62264 meters Centerline goodness : 0.087352 with order 1 Centerline is valid? [False, False] Translation: X:272.49, Y:90.37, Z:0.51 [[ 8.04241505e-01 -5.93783964e-01 2.48234843e-02 2.72488595e+02] [ 5.87604986e-01 8.00737123e-01 1.16363398e-01 9.03705102e+01] [-8.89718054e-02 -7.89978714e-02 9.92896447e-01 5.09364727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68264 meters Centerline goodness : 0.086596 with order 1 Centerline is valid? [False, False] Translation: X:272.45, Y:90.33, Z:0.50 [[ 8.05573303e-01 -5.92016922e-01 2.38247309e-02 2.72454746e+02] [ 5.85032374e-01 8.01144473e-01 1.26113661e-01 9.03315193e+01] [-9.37484728e-02 -8.76555593e-02 9.91729664e-01 5.02468019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74264 meters Centerline goodness : 0.089044 with order 1 Centerline is valid? [False, False] Translation: X:272.42, Y:90.29, Z:0.50 [[ 8.06582154e-01 -5.90679220e-01 2.28754858e-02 2.72415030e+02] [ 5.82681840e-01 8.00986169e-01 1.37488292e-01 9.02885118e+01] [-9.95344248e-02 -9.75664726e-02 9.90239204e-01 4.95591348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80264 meters Centerline goodness : 0.089867 with order 1 Centerline is valid? [False, False] Translation: X:272.39, Y:90.26, Z:0.48 [[ 8.08942256e-01 -5.87399390e-01 2.39663115e-02 2.72393091e+02] [ 5.78430381e-01 8.02549686e-01 1.46055799e-01 9.02566782e+01] [-1.05027243e-01 -1.04287865e-01 9.88986006e-01 4.83283880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86264 meters Centerline goodness : 0.092366 with order 1 Centerline is valid? [False, False] Translation: X:272.34, Y:90.21, Z:0.48 [[ 8.12078815e-01 -5.83080617e-01 2.33450965e-02 2.72336376e+02] [ 5.73525525e-01 8.04875228e-01 1.52460945e-01 9.02054121e+01] [-1.07686912e-01 -1.10421295e-01 9.88033738e-01 4.78391218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92264 meters SLAMing on 307.98263999999995 meters Centerline goodness : 0.067457 with order 1 Centerline is valid? [False, False] Translation: X:272.35, Y:90.20, Z:0.47 [[ 8.19051918e-01 -5.73441366e-01 1.78593193e-02 2.72349344e+02] [ 5.63578473e-01 8.10011585e-01 1.62051030e-01 9.02036889e+01] [-1.07393019e-01 -1.22663079e-01 9.86620752e-01 4.66585031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04263999999995 meters Centerline goodness : 0.790061 with order 1 Centerline is valid? [False, False] Translation: X:272.36, Y:90.21, Z:0.46 [[ 8.23149372e-01 -5.67647764e-01 1.41819185e-02 2.72358779e+02] [ 5.57798257e-01 8.13034812e-01 1.66839740e-01 9.02059353e+01] [-1.06236599e-01 -1.29423378e-01 9.85882029e-01 4.57688881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10263999999995 meters Centerline goodness : 0.765348 with order 3 Centerline is valid? [False, False] Translation: X:272.36, Y:90.20, Z:0.46 [[ 8.25795928e-01 -5.63845215e-01 1.18177380e-02 2.72361890e+02] [ 5.53943074e-01 8.14870831e-01 1.70682748e-01 9.02046882e+01] [-1.05868581e-01 -1.34402764e-01 9.85255165e-01 4.55230011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16263999999995 meters Centerline goodness : 0.752657 with order 2 Centerline is valid? [False, False] Translation: X:272.37, Y:90.21, Z:0.45 [[ 8.27637286e-01 -5.61175413e-01 9.93368988e-03 2.72369611e+02] [ 5.51293184e-01 8.16129161e-01 1.73231113e-01 9.02090948e+01] [-1.05320216e-01 -1.37896153e-01 9.84831104e-01 4.45239198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22263999999996 meters Centerline goodness : 0.743359 with order 2 Centerline is valid? [False, False] Translation: X:272.37, Y:90.21, Z:0.44 [[ 8.29709551e-01 -5.58146352e-01 7.39666453e-03 2.72372948e+02] [ 5.48296471e-01 8.17408598e-01 1.76675304e-01 9.02089332e+01] [-1.04656774e-01 -1.42533622e-01 9.84241396e-01 4.43049632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28263999999996 meters Centerline goodness : 0.723739 with order 2 Centerline is valid? [False, False] Translation: X:272.38, Y:90.21, Z:0.43 [[ 8.29240008e-01 -5.58838538e-01 7.77799268e-03 2.72380876e+02] [ 5.48989363e-01 8.17075644e-01 1.76062692e-01 9.02135055e+01] [-1.04745826e-01 -1.41728193e-01 9.84348227e-01 4.33490050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34263999999996 meters Centerline goodness : 0.727995 with order 1 Centerline is valid? [False, False] Translation: X:272.38, Y:90.21, Z:0.43 [[ 8.29324060e-01 -5.58714478e-01 7.72890870e-03 2.72384953e+02] [ 5.48835393e-01 8.17100676e-01 1.76426182e-01 9.02122840e+01] [-1.04887159e-01 -1.42072579e-01 9.84283529e-01 4.31237101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40263999999996 meters Centerline goodness : 0.711560 with order 2 Centerline is valid? [False, False] Translation: X:272.39, Y:90.21, Z:0.43 [[ 8.29381034e-01 -5.58626161e-01 7.99446904e-03 2.72387745e+02] [ 5.48678347e-01 8.17140864e-01 1.76728265e-01 9.02140504e+01] [-1.05257640e-01 -1.42188679e-01 9.84227214e-01 4.27054548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46263999999996 meters Centerline goodness : 0.706224 with order 3 Centerline is valid? [False, False] Translation: X:272.39, Y:90.22, Z:0.42 [[ 8.30294884e-01 -5.57282452e-01 6.83189351e-03 2.72393639e+02] [ 5.47378798e-01 8.17722368e-01 1.78063416e-01 9.02161615e+01] [-1.04818209e-01 -1.44105509e-01 9.83995297e-01 4.21431835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52263999999997 meters Centerline goodness : 0.644246 with order 3 Centerline is valid? [False, False] Translation: X:272.40, Y:90.22, Z:0.41 [[ 8.31235699e-01 -5.55885679e-01 6.19074714e-03 2.72400394e+02] [ 5.46015861e-01 8.18468461e-01 1.78818506e-01 9.02195058e+01] [-1.04469578e-01 -1.45260080e-01 9.83862600e-01 4.14548831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58263999999997 meters Centerline goodness : 0.669672 with order 2 Centerline is valid? [False, False] Translation: X:272.41, Y:90.22, Z:0.41 [[ 8.31624624e-01 -5.55303957e-01 6.16439872e-03 2.72405056e+02] [ 5.45393258e-01 8.18772998e-01 1.79323651e-01 9.02205034e+01] [-1.04626376e-01 -1.45767942e-01 9.83770821e-01 4.09945524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3594.01 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%| | 0/10288 [00:00